From 97edff950f389cc9c7880ed2e7ba4b3a652e3539 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Fri, 12 Jul 2019 16:38:45 +0200
Subject: [PATCH 001/612] fix World::getTransform (#1553)

... which was broken in 3e8feeb637 (#1439)
---
 moveit_core/collision_detection/src/world.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
index 4fbf16e76c..f2a404ec8f 100644
--- a/moveit_core/collision_detection/src/world.cpp
+++ b/moveit_core/collision_detection/src/world.cpp
@@ -168,6 +168,7 @@ const Eigen::Isometry3d& World::getTransform(const std::string& name) const
 
 const Eigen::Isometry3d& World::getTransform(const std::string& name, bool& frame_found) const
 {
+  frame_found = true;
   std::map<std::string, ObjectPtr>::const_iterator it = objects_.find(name);
   if (it != objects_.end())
     return it->second->shape_poses_[0];
@@ -180,10 +181,7 @@ const Eigen::Isometry3d& World::getTransform(const std::string& name, bool& fram
       {
         auto it = object.second->subframe_poses_.find(name.substr(object.first.length() + 1));
         if (it != object.second->subframe_poses_.end())
-        {
-          frame_found = true;
           return it->second;
-        }
       }
     }
   }

From 56b7c61a88287bf027415d96ce038de668d2e05a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 12 Jul 2019 21:18:20 +0200
Subject: [PATCH 002/612] add RobotTrajectory::getDuration() (#1554)

---
 .../include/moveit/robot_trajectory/robot_trajectory.h    | 2 ++
 moveit_core/robot_trajectory/src/robot_trajectory.cpp     | 8 ++++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 64f4fe309e..7b3a4b9507 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -202,6 +202,8 @@ class RobotTrajectory
 
   void clear();
 
+  double getDuration() const;
+
   double getAverageSegmentDuration() const;
 
   void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory) const;
diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index b0d5de749f..0c96f9c8dd 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -66,13 +66,17 @@ const std::string& RobotTrajectory::getGroupName() const
   return EMPTY;
 }
 
+double RobotTrajectory::getDuration() const
+{
+  return std::accumulate(duration_from_previous_.begin(), duration_from_previous_.end(), 0.0);
+}
+
 double RobotTrajectory::getAverageSegmentDuration() const
 {
   if (duration_from_previous_.empty())
     return 0.0;
   else
-    return std::accumulate(duration_from_previous_.begin(), duration_from_previous_.end(), 0.0) /
-           (double)duration_from_previous_.size();
+    return getDuration() / static_cast<double>(duration_from_previous_.size());
 }
 
 void RobotTrajectory::swap(RobotTrajectory& other)

From b853c6bc48c41af7475db8cbb4d11078bb8725eb Mon Sep 17 00:00:00 2001
From: Bianca Homberg <bianca@ironox.com>
Date: Tue, 16 Jul 2019 03:05:06 -0700
Subject: [PATCH 003/612] Ensure that if time parameterization fails, error is
 appropriately propogated (#1562)

---
 .../src/add_iterative_spline_parameterization.cpp            | 5 ++++-
 .../src/add_time_optimal_parameterization.cpp                | 5 ++++-
 .../src/add_time_parameterization.cpp                        | 5 ++++-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
index 6904160457..bf4f89a2b8 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
@@ -68,7 +68,10 @@ class AddIterativeSplineParameterization : public planning_request_adapter::Plan
       ROS_DEBUG("Running '%s'", getDescription().c_str());
       if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                          req.max_acceleration_scaling_factor))
-        ROS_WARN("Time parametrization for the solution path failed.");
+      {
+        ROS_ERROR("Time parametrization for the solution path failed.");
+        result = false;
+      }
     }
 
     return result;
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
index 805e6b7329..336307fedb 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
@@ -71,7 +71,10 @@ class AddTimeOptimalParameterization : public planning_request_adapter::Planning
       TimeOptimalTrajectoryGeneration totg;
       if (!totg.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                   req.max_acceleration_scaling_factor))
-        ROS_WARN("Time parametrization for the solution path failed.");
+      {
+        ROS_ERROR("Time parametrization for the solution path failed.");
+        result = false;
+      }
     }
 
     return result;
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
index be06624689..e3d1b17522 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
@@ -67,7 +67,10 @@ class AddTimeParameterization : public planning_request_adapter::PlanningRequest
       ROS_DEBUG("Running '%s'", getDescription().c_str());
       if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                          req.max_acceleration_scaling_factor))
-        ROS_WARN("Time parametrization for the solution path failed.");
+      {
+        ROS_ERROR("Time parametrization for the solution path failed.");
+        result = false;
+      }
     }
 
     return result;

From 6c7e84c4c5185cf86c4b1daa1bdf898fd9a1e3fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 19 Jul 2019 12:10:27 +0200
Subject: [PATCH 004/612] Use portable string() on filesystem::path. (#1571)

---
 .../src/tools/moveit_config_data.cpp          |  2 +-
 .../widgets/configuration_files_widget.cpp    |  4 ++--
 .../src/widgets/start_screen_widget.cpp       | 20 +++++++++----------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index b563b7e882..124246f6c1 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -1693,7 +1693,7 @@ std::string MoveItConfigData::appendPaths(const std::string& path1, const std::s
 {
   fs::path result = path1;
   result /= path2;
-  return result.make_preferred().native();
+  return result.make_preferred().string();
 }
 
 srdf::Model::Group* MoveItConfigData::findGroupByName(const std::string& name)
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 1f87a5a506..4b1097d974 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -183,7 +183,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   fs::path template_package_path = config_data_->setup_assistant_path_;
   template_package_path /= "templates";
   template_package_path /= "moveit_config_pkg_template";
-  config_data_->template_package_path_ = template_package_path.make_preferred().native();
+  config_data_->template_package_path_ = template_package_path.make_preferred().string();
 
   if (!fs::is_directory(config_data_->template_package_path_))
   {
@@ -1008,7 +1008,7 @@ const std::string ConfigurationFilesWidget::getPackageName(std::string package_p
   std::string package_name;
   fs::path fs_package_path = package_path;
 
-  package_name = fs_package_path.filename().c_str();
+  package_name = fs_package_path.filename().string();
 
   // check for empty
   if (package_name.empty())
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 8a8fadbd27..fe54c91fa2 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -400,14 +400,14 @@ bool StartScreenWidget::loadExistingFiles()
   fs::path kinematics_yaml_path = config_data_->config_pkg_path_;
   kinematics_yaml_path /= "config/kinematics.yaml";
 
-  if (!config_data_->inputKinematicsYAML(kinematics_yaml_path.make_preferred().native()))
+  if (!config_data_->inputKinematicsYAML(kinematics_yaml_path.make_preferred().string()))
   {
     QMessageBox::warning(this, "No Kinematic YAML File",
                          QString("Failed to parse kinematics yaml file. This file is not critical but any previous "
                                  "kinematic solver settings have been lost. To re-populate this file edit each "
                                  "existing planning group and choose a solver, then save each change. \n\nFile error "
                                  "at location ")
-                             .append(kinematics_yaml_path.make_preferred().native().c_str()));
+                             .append(kinematics_yaml_path.make_preferred().string().c_str()));
   }
 
   // Load 3d_sensors config file
@@ -416,11 +416,11 @@ bool StartScreenWidget::loadExistingFiles()
   // Load ros controllers yaml file if available-----------------------------------------------
   fs::path ros_controllers_yaml_path = config_data_->config_pkg_path_;
   ros_controllers_yaml_path /= "config/ros_controllers.yaml";
-  config_data_->inputROSControllersYAML(ros_controllers_yaml_path.make_preferred().native());
+  config_data_->inputROSControllersYAML(ros_controllers_yaml_path.make_preferred().string());
 
   fs::path ompl_yaml_path = config_data_->config_pkg_path_;
   ompl_yaml_path /= "config/ompl_planning.yaml";
-  config_data_->inputOMPLYAML(ompl_yaml_path.make_preferred().native());
+  config_data_->inputOMPLYAML(ompl_yaml_path.make_preferred().string());
 
   // DONE LOADING --------------------------------------------------------------------------
 
@@ -645,7 +645,7 @@ bool StartScreenWidget::extractPackageNameFromPath()
 
   // Copy path into vector of parts
   for (fs::path::iterator it = urdf_directory.begin(); it != urdf_directory.end(); ++it)
-    path_parts.push_back(it->native());
+    path_parts.push_back(it->string());
 
   bool package_found = false;
 
@@ -670,7 +670,7 @@ bool StartScreenWidget::extractPackageNameFromPath()
     // check if this directory has a package.xml
     package_path = sub_path;
     package_path /= "package.xml";
-    ROS_DEBUG_STREAM("Checking for " << package_path.make_preferred().native());
+    ROS_DEBUG_STREAM("Checking for " << package_path.make_preferred().string());
 
     // Check if the files exist
     if (fs::is_regular_file(package_path) || fs::is_regular_file(sub_path / "manifest.xml"))
@@ -711,7 +711,7 @@ bool StartScreenWidget::extractPackageNameFromPath()
 
     // Success
     config_data_->urdf_pkg_name_ = package_name;
-    config_data_->urdf_pkg_relative_path_ = relative_path.make_preferred().native();
+    config_data_->urdf_pkg_relative_path_ = relative_path.make_preferred().string();
   }
 
   ROS_DEBUG_STREAM("URDF Package Name: " << config_data_->urdf_pkg_name_);
@@ -781,12 +781,12 @@ bool StartScreenWidget::load3DSensorsFile()
 
   if (!fs::is_regular_file(sensors_3d_yaml_path))
   {
-    return config_data_->input3DSensorsYAML(default_sensors_3d_yaml_path.make_preferred().native());
+    return config_data_->input3DSensorsYAML(default_sensors_3d_yaml_path.make_preferred().string());
   }
   else
   {
-    return config_data_->input3DSensorsYAML(default_sensors_3d_yaml_path.make_preferred().native(),
-                                            sensors_3d_yaml_path.make_preferred().native());
+    return config_data_->input3DSensorsYAML(default_sensors_3d_yaml_path.make_preferred().string(),
+                                            sensors_3d_yaml_path.make_preferred().string());
   }
 }
 

From fd0a52ebcc04accd1a9e0ef73fc7314ebbd3fc27 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 25 Jul 2019 08:56:02 -0600
Subject: [PATCH 005/612] MoveIt benchmark improvements (#1510)

* Add pseudo experiment all_experiments to allow comparing all entries

* Expose loadBenchmarkQueryData() for setting up custom queries

* Add benchmark entry for comparing the 'final' result trajectory

Different planners don't always use the same description pattern in
their MotionPlanDetailedResponse. This makes it difficult to compare
benchmark results. This adds an extra field where all values of the
last solution trajectory are stored.

* Add trajectory similarity function to measure repeatability

* Address requested changes

* Fill empty fields in all_experiments

* Improve variable and function names

* Add helper function computeTrajectoryDistance()
---
 .../moveit/benchmarks/BenchmarkExecutor.h     |  21 ++
 .../scripts/moveit_benchmark_statistics.py    |  51 ++++-
 .../benchmarks/src/BenchmarkExecutor.cpp      | 209 +++++++++++++++---
 3 files changed, 238 insertions(+), 43 deletions(-)

diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index ed88584133..b2aafebe90 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -141,9 +141,30 @@ class BenchmarkExecutor
   virtual bool initializeBenchmarks(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
                                     std::vector<BenchmarkRequest>& queries);
 
+  /// Initialize benchmark query data from start states and constraints
+  virtual bool loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
+                                      std::vector<StartState>& start_states,
+                                      std::vector<PathConstraints>& path_constraints,
+                                      std::vector<PathConstraints>& goal_constraints,
+                                      std::vector<TrajectoryConstraints>& traj_constraints,
+                                      std::vector<BenchmarkRequest>& queries);
+
   virtual void collectMetrics(PlannerRunData& metrics, const planning_interface::MotionPlanDetailedResponse& mp_res,
                               bool solved, double total_time);
 
+  /// Compute the similarity of each (final) trajectory to all other (final) trajectories in the experiment and write
+  /// the results to planner_data metrics
+  void computeAveragePathSimilarities(PlannerBenchmarkData& planner_data,
+                                      const std::vector<planning_interface::MotionPlanDetailedResponse>& responses,
+                                      const std::vector<bool>& solved);
+
+  /// Helper function used by computeAveragePathSimilarities() for computing a heuristic distance metric between two
+  /// robot trajectories. This function aligns both trajectories in a greedy fashion and computes the mean waypoint
+  /// distance averaged over all aligned waypoints. Using a greedy approach is more efficient than dynamic time warping,
+  /// and seems to be sufficient for similar trajectories.
+  bool computeTrajectoryDistance(const robot_trajectory::RobotTrajectory& traj_first,
+                                 const robot_trajectory::RobotTrajectory& traj_second, double& result_distance);
+
   virtual void writeOutput(const BenchmarkRequest& brequest, const std::string& start_time, double benchmark_duration);
 
   void shiftConstraintsByOffset(moveit_msgs::Constraints& constraints, const std::vector<double>& offset);
diff --git a/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py b/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
index fd84005a33..666e64c60d 100755
--- a/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
+++ b/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
@@ -112,7 +112,7 @@ def readBenchmarkLog(dbname, filenames):
 
     # create all tables if they don't already exist
     c.executescript("""CREATE TABLE IF NOT EXISTS experiments
-        (id INTEGER PRIMARY KEY AUTOINCREMENT, name VARCHAR(512),
+        (id INTEGER PRIMARY KEY ON CONFLICT REPLACE AUTOINCREMENT, name VARCHAR(512),
         totaltime REAL, timelimit REAL, memorylimit REAL, runcount INTEGER,
         version VARCHAR(128), hostname VARCHAR(1024), cpuinfo TEXT,
         date DATETIME, seed INTEGER, setup TEXT);
@@ -130,7 +130,19 @@ def readBenchmarkLog(dbname, filenames):
         (runid INTEGER, time REAL, PRIMARY KEY (runid, time),
         FOREIGN KEY (runid) REFERENCES runs(id) ON DELETE CASCADE)""")
 
-    for filename in filenames:
+    # add placeholder entry for all_experiments
+    allExperimentsName = "all_experiments"
+    allExperimentsValues = {
+        "totaltime": 0.0, "timelimit": 0.0, "memorylimit": 0.0, "runcount": 0, "version": "0.0.0",
+        "hostname": "",   "cpuinfo": "",    "date": 0,          "seed": 0,     "setup": ""
+    }
+    addAllExperiments = len(filenames) > 0
+    if addAllExperiments:
+        c.execute('INSERT INTO experiments VALUES (?,?,?,?,?,?,?,?,?,?,?,?)',
+                  (None, allExperimentsName) + tuple(allExperimentsValues.values()))
+        allExperimentsId = c.lastrowid
+
+    for i, filename in enumerate(filenames):
         print('Processing ' + filename)
         logfile = open(filename,'r')
         start_pos = logfile.tell()
@@ -155,7 +167,19 @@ def readBenchmarkLog(dbname, filenames):
         nrruns = -1
         if nrrunsOrNone != None:
             nrruns = int(nrrunsOrNone)
+            allExperimentsValues['runcount'] += nrruns
         totaltime = float(readRequiredLogValue("total time", logfile, 0, {-3 : "collect", -2 : "the", -1 : "data"}))
+        # fill in fields of all_experiments
+        allExperimentsValues['totaltime'] += totaltime
+        allExperimentsValues['memorylimit'] = max(allExperimentsValues['memorylimit'], totaltime)
+        allExperimentsValues['timelimit'] = max(allExperimentsValues['timelimit'], totaltime)
+        # copy the fields of the first file to all_experiments so that they are not empty
+        if (i==0):
+            allExperimentsValues['version'] = version
+            allExperimentsValues['date'] = date
+            allExperimentsValues['setup'] = expsetup
+            allExperimentsValues['hostname'] = hostname
+            allExperimentsValues['cpuinfo'] = cpuinfo
         numEnums = 0
         numEnumsOrNone = readOptionalLogValue(logfile, 0, {-2 : "enum"})
         if numEnumsOrNone != None:
@@ -213,13 +237,17 @@ def readBenchmarkLog(dbname, filenames):
             numRuns = int(logfile.readline().split()[0])
             runIds = []
             for j in range(numRuns):
-                values = tuple([experimentId, plannerId] + \
-                    [None if len(x) == 0 or x == 'nan' or x == 'inf' else x
-                    for x in logfile.readline().split('; ')[:-1]])
+                runValues = [None if len(x) == 0 or x == 'nan' or x == 'inf' else x
+                    for x in logfile.readline().split('; ')[:-1]]
+                values = tuple([experimentId, plannerId] + runValues)
                 c.execute(insertFmtStr, values)
                 # extract primary key of each run row so we can reference them
                 # in the planner progress data table if needed
                 runIds.append(c.lastrowid)
+                # add all run data to all_experiments
+                if addAllExperiments:
+                    values = tuple([allExperimentsId, plannerId] + runValues)
+                    c.execute(insertFmtStr, values)
 
             nextLine = logfile.readline().strip()
 
@@ -259,6 +287,15 @@ def readBenchmarkLog(dbname, filenames):
 
                 logfile.readline()
         logfile.close()
+
+    if addAllExperiments:
+        updateString = "UPDATE experiments SET"
+        for i, (key, val) in enumerate(allExperimentsValues.items()):
+            if i > 0:
+                updateString += ","
+            updateString += " " + str(key) + "='" + str(val) + "'"
+        updateString += "WHERE id='" + str(allExperimentsId) + "'"
+        c.execute(updateString)
     conn.commit()
     c.close()
 
@@ -541,9 +578,9 @@ def computeViews(dbname):
     (options, args) = parser.parse_args()
 
     if len(args) == 0:
-	parser.error("No arguments were provided. Please provide full path of log file")
+        parser.error("No arguments were provided. Please provide full path of log file")
 
-    if len(args) == 1:
+    if len(args) > 0:
         readBenchmarkLog(options.dbname, args)
         # If we update the database, we recompute the views as well
         options.view = True
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index aa59bed3f9..ede31252e9 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -281,45 +281,16 @@ bool BenchmarkExecutor::initializeBenchmarks(const BenchmarkOptions& opts, movei
   if (!plannerConfigurationsExist(opts.getPlannerConfigurations(), opts.getGroupName()))
     return false;
 
-  try
-  {
-    warehouse_ros::DatabaseConnection::Ptr conn = dbloader.loadDatabase();
-    conn->setParams(opts.getHostName(), opts.getPort(), 20);
-    if (conn->connect())
-    {
-      pss_ = new moveit_warehouse::PlanningSceneStorage(conn);
-      psws_ = new moveit_warehouse::PlanningSceneWorldStorage(conn);
-      rs_ = new moveit_warehouse::RobotStateStorage(conn);
-      cs_ = new moveit_warehouse::ConstraintsStorage(conn);
-      tcs_ = new moveit_warehouse::TrajectoryConstraintsStorage(conn);
-    }
-    else
-    {
-      ROS_ERROR("Failed to connect to DB");
-      return false;
-    }
-  }
-  catch (std::exception& e)
-  {
-    ROS_ERROR("Failed to initialize benchmark server: '%s'", e.what());
-    return false;
-  }
-
   std::vector<StartState> start_states;
   std::vector<PathConstraints> path_constraints;
   std::vector<PathConstraints> goal_constraints;
   std::vector<TrajectoryConstraints> traj_constraints;
   std::vector<BenchmarkRequest> queries;
 
-  bool ok = loadPlanningScene(opts.getSceneName(), scene_msg) && loadStates(opts.getStartStateRegex(), start_states) &&
-            loadPathConstraints(opts.getGoalConstraintRegex(), goal_constraints) &&
-            loadPathConstraints(opts.getPathConstraintRegex(), path_constraints) &&
-            loadTrajectoryConstraints(opts.getTrajectoryConstraintRegex(), traj_constraints) &&
-            loadQueries(opts.getQueryRegex(), opts.getSceneName(), queries);
-
-  if (!ok)
+  if (!loadBenchmarkQueryData(opts, scene_msg, start_states, path_constraints, goal_constraints, traj_constraints,
+                              queries))
   {
-    ROS_ERROR("Failed to load benchmark stuff");
+    ROS_ERROR("Failed to load benchmark query data");
     return false;
   }
 
@@ -429,6 +400,44 @@ bool BenchmarkExecutor::initializeBenchmarks(const BenchmarkOptions& opts, movei
   return true;
 }
 
+bool BenchmarkExecutor::loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
+                                               std::vector<StartState>& start_states,
+                                               std::vector<PathConstraints>& path_constraints,
+                                               std::vector<PathConstraints>& goal_constraints,
+                                               std::vector<TrajectoryConstraints>& traj_constraints,
+                                               std::vector<BenchmarkRequest>& queries)
+{
+  try
+  {
+    warehouse_ros::DatabaseConnection::Ptr warehouse_connection = dbloader.loadDatabase();
+    warehouse_connection->setParams(opts.getHostName(), opts.getPort(), 20);
+    if (warehouse_connection->connect())
+    {
+      pss_ = new moveit_warehouse::PlanningSceneStorage(warehouse_connection);
+      psws_ = new moveit_warehouse::PlanningSceneWorldStorage(warehouse_connection);
+      rs_ = new moveit_warehouse::RobotStateStorage(warehouse_connection);
+      cs_ = new moveit_warehouse::ConstraintsStorage(warehouse_connection);
+      tcs_ = new moveit_warehouse::TrajectoryConstraintsStorage(warehouse_connection);
+    }
+    else
+    {
+      ROS_ERROR("Failed to connect to DB");
+      return false;
+    }
+  }
+  catch (std::exception& e)
+  {
+    ROS_ERROR("Failed to initialize benchmark server: '%s'", e.what());
+    return false;
+  }
+
+  return loadPlanningScene(opts.getSceneName(), scene_msg) && loadStates(opts.getStartStateRegex(), start_states) &&
+         loadPathConstraints(opts.getGoalConstraintRegex(), goal_constraints) &&
+         loadPathConstraints(opts.getPathConstraintRegex(), path_constraints) &&
+         loadTrajectoryConstraints(opts.getTrajectoryConstraintRegex(), traj_constraints) &&
+         loadQueries(opts.getQueryRegex(), opts.getSceneName(), queries);
+}
+
 void BenchmarkExecutor::shiftConstraintsByOffset(moveit_msgs::Constraints& constraints,
                                                  const std::vector<double>& offset)
 {
@@ -765,6 +774,9 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
     {
       // This container stores all of the benchmark data for this planner
       PlannerBenchmarkData planner_data(runs);
+      // This vector stores all motion plan results for further evaluation
+      std::vector<planning_interface::MotionPlanDetailedResponse> responses(runs);
+      std::vector<bool> solved(runs);
 
       request.planner_id = planner.second[i];
 
@@ -781,9 +793,8 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
           pre_event_fn(request);
 
         // Solve problem
-        planning_interface::MotionPlanDetailedResponse mp_res;
         ros::WallTime start = ros::WallTime::now();
-        bool solved = context->solve(mp_res);
+        solved[j] = context->solve(responses[j]);
         double total_time = (ros::WallTime::now() - start).toSec();
 
         // Collect data
@@ -791,14 +802,16 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
 
         // Post-run events
         for (PostRunEventFunction& post_event_fn : post_event_fns_)
-          post_event_fn(request, mp_res, planner_data[j]);
-        collectMetrics(planner_data[j], mp_res, solved, total_time);
+          post_event_fn(request, responses[j], planner_data[j]);
+        collectMetrics(planner_data[j], responses[j], solved[j], total_time);
         double metrics_time = (ros::WallTime::now() - start).toSec();
         ROS_DEBUG("Spent %lf seconds collecting metrics", metrics_time);
 
         ++progress;
       }
 
+      computeAveragePathSimilarities(planner_data, responses, solved);
+
       // Planner completion events
       for (PlannerCompletionEventFunction& planner_completion_fn : planner_completion_fns_)
         planner_completion_fn(request, planner_data);
@@ -889,6 +902,15 @@ void BenchmarkExecutor::collectMetrics(PlannerRunData& metrics,
       metrics["path_" + mp_res.description_[j] + "_clearance REAL"] = moveit::core::toString(clearance);
       metrics["path_" + mp_res.description_[j] + "_smoothness REAL"] = moveit::core::toString(smoothness);
       metrics["path_" + mp_res.description_[j] + "_time REAL"] = moveit::core::toString(mp_res.processing_time_[j]);
+
+      if (j == mp_res.trajectory_.size() - 1)
+      {
+        metrics["final_path_correct BOOLEAN"] = boost::lexical_cast<std::string>(correct);
+        metrics["final_path_length REAL"] = moveit::core::toString(traj_len);
+        metrics["final_path_clearance REAL"] = moveit::core::toString(clearance);
+        metrics["final_path_smoothness REAL"] = moveit::core::toString(smoothness);
+        metrics["final_path_time REAL"] = moveit::core::toString(mp_res.processing_time_[j]);
+      }
       process_time -= mp_res.processing_time_[j];
     }
     if (process_time <= 0.0)
@@ -897,6 +919,121 @@ void BenchmarkExecutor::collectMetrics(PlannerRunData& metrics,
   }
 }
 
+void BenchmarkExecutor::computeAveragePathSimilarities(
+    PlannerBenchmarkData& planner_data, const std::vector<planning_interface::MotionPlanDetailedResponse>& responses,
+    const std::vector<bool>& solved)
+{
+  ROS_INFO("Computing result path similarity");
+  const size_t result_count = planner_data.size();
+  size_t unsolved = std::count_if(solved.begin(), solved.end(), [](bool s) { return !s; });
+  std::vector<double> average_distances(responses.size());
+  for (size_t first_traj_i = 0; first_traj_i < result_count; ++first_traj_i)
+  {
+    // If trajectory was not solved there is no valid average distance so it's set to max double only
+    if (!solved[first_traj_i])
+    {
+      average_distances[first_traj_i] = std::numeric_limits<double>::max();
+      continue;
+    }
+    // Iterate all result trajectories that haven't been compared yet
+    for (size_t second_traj_i = first_traj_i + 1; second_traj_i < result_count; ++second_traj_i)
+    {
+      // Ignore if other result has not been solved
+      if (!solved[second_traj_i])
+        continue;
+
+      // Get final trajectories
+      const robot_trajectory::RobotTrajectory& traj_first = *responses[first_traj_i].trajectory_.back();
+      const robot_trajectory::RobotTrajectory& traj_second = *responses[second_traj_i].trajectory_.back();
+
+      // Compute trajectory distance
+      double trajectory_distance;
+      if (!computeTrajectoryDistance(traj_first, traj_second, trajectory_distance))
+        continue;
+
+      // Add average distance to counters of both trajectories
+      average_distances[first_traj_i] += trajectory_distance;
+      average_distances[second_traj_i] += trajectory_distance;
+    }
+    // Normalize average distance by number of actual comparisons
+    average_distances[first_traj_i] /= result_count - unsolved - 1;
+  }
+
+  // Store results in planner_data
+  for (size_t i = 0; i < result_count; ++i)
+    planner_data[i]["average_waypoint_distance REAL"] = moveit::core::toString(average_distances[i]);
+}
+
+bool BenchmarkExecutor::computeTrajectoryDistance(const robot_trajectory::RobotTrajectory& traj_first,
+                                                  const robot_trajectory::RobotTrajectory& traj_second,
+                                                  double& result_distance)
+{
+  // Abort if trajectories are empty
+  if (traj_first.empty() || traj_second.empty())
+    return false;
+
+  // Waypoint counter
+  size_t pos_first = 0;
+  size_t pos_second = 0;
+  const size_t max_pos_first = traj_first.getWayPointCount() - 1;
+  const size_t max_pos_second = traj_second.getWayPointCount() - 1;
+
+  // Compute total distance between pairwise waypoints of both trajectories.
+  // The selection of waypoint pairs is based on what steps results in the minimal distance between the next pair of
+  // waypoints. We first check what steps are still possible or if we reached the end of the trajectories. Then we
+  // compute the pairwise waypoint distances of the pairs from increasing both, the first, or the second trajectory.
+  // Finally we select the pair that results in the minimal distance, summarize the total distance and iterate
+  // accordingly. After that we compute the average trajectory distance by normalizing over the number of steps.
+  double total_distance = 0;
+  size_t steps = 0;
+  double current_distance = traj_first.getWayPoint(pos_first).distance(traj_second.getWayPoint(pos_second));
+  while (true)
+  {
+    // Keep track of total distance and number of comparisons
+    total_distance += current_distance;
+    ++steps;
+    if (pos_first == max_pos_first && pos_second == max_pos_second)  // end reached
+      break;
+
+    // Determine what steps are still possible
+    bool can_up_first = pos_first < max_pos_first;
+    bool can_up_second = pos_second < max_pos_second;
+    bool can_up_both = can_up_first && can_up_second;
+
+    // Compute pair-wise waypoint distances (increasing both, first, or second trajectories).
+    double up_both = std::numeric_limits<double>::max();
+    double up_first = std::numeric_limits<double>::max();
+    double up_second = std::numeric_limits<double>::max();
+    if (can_up_both)
+      up_both = traj_first.getWayPoint(pos_first + 1).distance(traj_second.getWayPoint(pos_second + 1));
+    if (can_up_first)
+      up_first = traj_first.getWayPoint(pos_first + 1).distance(traj_second.getWayPoint(pos_second));
+    if (can_up_second)
+      up_second = traj_first.getWayPoint(pos_first).distance(traj_second.getWayPoint(pos_second + 1));
+
+    // Select actual step, store new distance value and iterate trajectory positions
+    if (can_up_both && up_both < up_first && up_both < up_second)
+    {
+      ++pos_first;
+      ++pos_second;
+      current_distance = up_both;
+    }
+    else if ((can_up_first && up_first < up_second) || !can_up_second)
+    {
+      ++pos_first;
+      current_distance = up_first;
+    }
+    else if (can_up_second)
+    {
+      ++pos_second;
+      current_distance = up_second;
+    }
+  }
+  // Normalize trajectory distance by number of comparison steps
+  result_distance = total_distance / static_cast<double>(steps);
+  return true;
+}
+
 void BenchmarkExecutor::writeOutput(const BenchmarkRequest& brequest, const std::string& start_time,
                                     double benchmark_duration)
 {

From 3cb561de9efb1a41792baabb9a62d72dcc2c1693 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Wed, 31 Jul 2019 22:13:13 +0900
Subject: [PATCH 006/612] JogArm: Remove dependency on move_group node (#1569)

---
 moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h | 5 +----
 moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp   | 6 +++---
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
index e610dba2c1..ebc161f263 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
@@ -42,7 +42,6 @@
 
 #include <jog_arm/jog_arm_data.h>
 #include <jog_arm/low_pass_filter.h>
-#include <moveit/move_group_interface/move_group_interface.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <std_msgs/Bool.h>
@@ -54,14 +53,12 @@ namespace jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(const JogArmParameters parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
+  JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
            const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 
 protected:
   ros::NodeHandle nh_;
 
-  moveit::planning_interface::MoveGroupInterface move_group_;
-
   sensor_msgs::JointState incoming_jts_;
 
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
index 55c76fb190..6839481eff 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
@@ -42,9 +42,9 @@
 namespace jog_arm
 {
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(const JogArmParameters parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
+JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
                    const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
-  : move_group_(parameters.move_group_name), tf_listener_(tf_buffer_), parameters_(parameters)
+  : tf_listener_(tf_buffer_), parameters_(parameters)
 {
   // Publish collision status
   warning_pub_ = nh_.advertise<std_msgs::Bool>(parameters_.warning_topic, 1);
@@ -72,7 +72,7 @@ JogCalcs::JogCalcs(const JogArmParameters parameters, JogArmShared& shared_varia
 
   resetVelocityFilters();
 
-  jt_state_.name = move_group_.getJointNames();
+  jt_state_.name = joint_model_group_->getVariableNames();
   num_joints_ = jt_state_.name.size();
   jt_state_.position.resize(num_joints_);
   jt_state_.velocity.resize(num_joints_);

From bc45aecc465daff77efe2b6c4f92f7c972925bbe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 31 Jul 2019 15:23:19 +0200
Subject: [PATCH 007/612] clang-tidy fixup (#1586)

---
 .../move_group_interface/src/wrap_python_move_group.cpp         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index c367477343..b3940182df 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -486,7 +486,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
   std::string retimeTrajectory(const std::string& ref_state_str, const std::string& traj_str,
                                double velocity_scaling_factor, double acceleration_scaling_factor,
-                               std::string algorithm)
+                               const std::string& algorithm)
   {
     // Convert reference state message to object
     moveit_msgs::RobotState ref_state_msg;

From 985e34c2f6e9a91f4fe2bec9168eca366454e238 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Fri, 2 Aug 2019 06:42:48 -0400
Subject: [PATCH 008/612] Remove ! from MoveIt name (#1590)

---
 .docker/README.md                             |   2 +-
 .docker/ci/Dockerfile                         |   2 +-
 .docker/release/Dockerfile                    |   2 +-
 .github/CODEOWNERS                            |   2 +-
 .github/config.yml                            |   4 +-
 CONTRIBUTING.md                               |   2 +-
 MIGRATION.md                                  |   2 +-
 README.md                                     |   8 ++--
 moveit.rosinstall                             |   4 +-
 moveit/CHANGELOG.rst                          |   4 +-
 moveit/package.xml                            |   2 +-
 moveit/scripts/README.md                      |   4 +-
 moveit/scripts/create_maintainer_table.py     |   2 +-
 moveit/scripts/create_readme_table.py         |   4 +-
 moveit/scripts/maintainer_table_template.html |   4 +-
 moveit_commander/README.md                    |   2 +-
 .../bin/moveit_commander_cmdline.py           |   2 +-
 moveit_commander/package.xml                  |   2 +-
 moveit_core/CMakeLists.txt                    |   2 +-
 moveit_core/README.md                         |   2 +-
 .../background_processing.h                   |   2 +-
 .../controller_manager/controller_manager.h   |  12 +++---
 .../include/moveit/exceptions/exceptions.h    |   2 +-
 .../dox/constraint_representation.dox         |   2 +-
 moveit_core/package.xml                       |   4 +-
 .../planning_interface/planning_interface.h   |   4 +-
 .../planning_scene/dox/planning_scene.dox     |   2 +-
 .../include/moveit/robot_model/robot_model.h  |   4 +-
 .../include/moveit/robot_state/conversions.h  |  36 +++++++++---------
 .../moveit/sensor_manager/sensor_manager.h    |   2 +-
 moveit_core/transforms/src/transforms.cpp     |   2 +-
 .../moveit/utils/robot_model_test_utils.h     |   2 +-
 .../utils/src/robot_model_test_utils.cpp      |   2 +-
 moveit_experimental/README.md                 |   4 +-
 .../jog_arm/config/sia5_simulated_config.yaml |   2 +-
 .../src/jog_arm/collision_check_thread.cpp    |   2 +-
 .../jog_arm/src/jog_arm/jog_calcs.cpp         |   2 +-
 .../test/arm_setup/config/jog_settings.yaml   |   2 +-
 .../src/kinematics_cache_ros.cpp              |   2 +-
 .../kinematics_constraint_aware.h             |   2 +-
 .../kinematics_request_response.h             |   2 +-
 moveit_experimental/package.xml               |   4 +-
 .../cached_ik_kinematics_plugin/README.md     |   2 +-
 .../ikfast_kinematics_plugin/README.md        |   4 +-
 .../scripts/create_ikfast_moveit_plugin.py    |   6 +--
 .../ikfast61_moveit_plugin_template.cpp       |   6 +--
 .../kdl_kinematics_plugin.h                   |   2 +-
 .../lma_kinematics_plugin.h                   |   2 +-
 moveit_kinematics/package.xml                 |   4 +-
 .../srv_kinematics_plugin.h                   |   4 +-
 .../test/test_kinematics_plugin.cpp           |   2 +-
 moveit_planners/README.md                     |   2 +-
 .../chomp/chomp_interface/CHANGELOG.rst       |   2 +-
 .../chomp/chomp_interface/package.xml         |   4 +-
 .../rrbot_chomp_planning_pipeline.launch.xml  |   2 +-
 .../chomp/chomp_motion_planner/CHANGELOG.rst  |   2 +-
 .../chomp/chomp_motion_planner/package.xml    |   2 +-
 .../chomp/chomp_optimizer_adapter/package.xml |   2 +-
 moveit_planners/moveit_planners/package.xml   |   2 +-
 moveit_planners/ompl/CHANGELOG.rst            |   2 +-
 .../moveit/ompl_interface/ompl_interface.h    |   2 +-
 .../model_based_state_space.h                 |   4 +-
 .../src/detail/state_validity_checker.cpp     |   2 +-
 moveit_planners/ompl/package.xml              |   4 +-
 moveit_plugins/README.md                      |   2 +-
 .../moveit_fake_controller_manager/README.md  |   4 +-
 .../package.xml                               |   2 +-
 moveit_plugins/moveit_plugins/package.xml     |   4 +-
 .../moveit_ros_control_interface/README.md    |  12 +++---
 .../moveit_core_plugins.xml                   |   4 +-
 .../moveit_ros_control_interface/package.xml  |   4 +-
 .../gripper_controller_handle.h               |   2 +-
 .../package.xml                               |   2 +-
 .../src/moveit_simple_controller_manager.cpp  |   2 +-
 moveit_ros/README.md                          |   4 +-
 moveit_ros/benchmarks/CHANGELOG.rst           |   4 +-
 moveit_ros/benchmarks/README.md               |   2 +-
 moveit_ros/benchmarks/examples/demo1.yaml     |   2 +-
 moveit_ros/benchmarks/examples/demo2.yaml     |   2 +-
 .../benchmarks/examples/demo_obstacles.yaml   |   2 +-
 .../examples/demo_panda_all_planners.yaml     |   2 +-
 moveit_ros/benchmarks/package.xml             |   4 +-
 .../benchmarks/src/BenchmarkExecutor.cpp      |   2 +-
 moveit_ros/manipulation/package.xml           |   4 +-
 moveit_ros/move_group/package.xml             |   2 +-
 .../test_cancel_before_plan_execution.test    |   2 +-
 moveit_ros/moveit_ros/CHANGELOG.rst           |   2 +-
 moveit_ros/moveit_ros/package.xml             |   4 +-
 moveit_ros/occupancy_map_monitor/package.xml  |   4 +-
 moveit_ros/perception/package.xml             |   4 +-
 .../semantic_world/src/semantic_world.cpp     |   2 +-
 moveit_ros/planning/package.xml               |   4 +-
 .../plan_execution/src/plan_with_sensing.cpp  |   2 +-
 .../src/print_planning_scene_info.cpp         |   2 +-
 .../planning/rdf_loader/src/rdf_loader.cpp    |   2 +-
 .../dox/trajectory_execution.dox              |   4 +-
 .../move_group_interface.h                    |   2 +-
 moveit_ros/planning_interface/package.xml     |   4 +-
 .../py_bindings_tools/roscpp_initializer.h    |   2 +-
 moveit_ros/robot_interaction/CHANGELOG.rst    |   2 +-
 moveit_ros/robot_interaction/package.xml      |   4 +-
 .../src/motion_planning_frame_context.cpp     |   2 +-
 .../ui/motion_planning_rviz_plugin_frame.ui   |   2 +-
 moveit_ros/visualization/package.xml          |   4 +-
 .../moveitjoy_module.py                       |   2 +-
 moveit_ros/warehouse/CHANGELOG.rst            |   2 +-
 moveit_ros/warehouse/package.xml              |   4 +-
 .../warehouse/src/initialize_demo_db.cpp      |   2 +-
 moveit_runtime/package.xml                    |   2 +-
 moveit_setup_assistant/CHANGELOG.rst          |   2 +-
 moveit_setup_assistant/README.md              |   2 +-
 .../tools/moveit_config_data.h                |   6 +--
 .../launch/setup_assistant.launch             |   2 +-
 moveit_setup_assistant/package.xml            |   4 +-
 .../resources/source/MoveIt_Setup_Asst_Sm.xcf | Bin 375316 -> 375312 bytes
 .../src/collisions_updater.cpp                |   2 +-
 .../src/tools/moveit_config_data.cpp          |   8 ++--
 .../src/widgets/author_information_widget.cpp |   6 +--
 .../widgets/configuration_files_widget.cpp    |  29 +++++++-------
 .../src/widgets/group_edit_widget.cpp         |   4 +-
 .../src/widgets/perception_widget.cpp         |   2 +-
 .../src/widgets/planning_groups_widget.cpp    |   2 +-
 .../src/widgets/robot_poses_widget.cpp        |   6 +--
 .../src/widgets/ros_controllers_widget.cpp    |   4 +-
 .../src/widgets/setup_assistant_widget.cpp    |  10 ++---
 .../src/widgets/simulation_widget.cpp         |   2 +-
 .../src/widgets/start_screen_widget.cpp       |  18 ++++-----
 .../src/widgets/start_screen_widget.h         |   4 +-
 .../launch/chomp_planning_pipeline.launch.xml |   2 +-
 .../launch/demo.launch                        |   4 +-
 .../launch/demo_gazebo.launch                 |   4 +-
 .../launch/edit_configuration_package.launch  |   2 +-
 .../launch/ompl_planning_pipeline.launch.xml  |   2 +-
 .../launch/trajectory_execution.launch.xml    |   2 +-
 .../package.xml.template                      |   2 +-
 .../test/moveit_config_data_test.cpp          |   2 +-
 136 files changed, 243 insertions(+), 244 deletions(-)

diff --git a/.docker/README.md b/.docker/README.md
index a0cf726f20..b24af099ec 100644
--- a/.docker/README.md
+++ b/.docker/README.md
@@ -1,3 +1,3 @@
-# MoveIt! Docker Containers
+# MoveIt Docker Containers
 
 For more information see [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) documentation.
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index dd4c77c91f..830c8abd09 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -33,7 +33,7 @@ RUN \
         clang clang-format-3.9 clang-tidy clang-tools \
         ccache && \
     #
-    # Download all dependencies of MoveIt!
+    # Download all dependencies of MoveIt
     rosdep update && \
     rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     #
diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
index e06998b1a2..4611c98b20 100644
--- a/.docker/release/Dockerfile
+++ b/.docker/release/Dockerfile
@@ -1,5 +1,5 @@
 # moveit/moveit:melodic-release
-# Full debian-based install of MoveIt! using apt-get
+# Full debian-based install of MoveIt using apt-get
 
 FROM ros:melodic-ros-base
 MAINTAINER Dave Coleman dave@picknik.ai
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index a6d58c6912..ca05e3da91 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,4 +1,4 @@
-# MoveIt! is a large project with pull requests being created often. In order
+# MoveIt is a large project with pull requests being created often. In order
 # to ensure quick review turn around time from our maintainer team, we're
 # leveraging an automated "triage" approach to auto-assign reviews to new pull
 # requests. If you already know who should review your PR, then you can assign
diff --git a/.github/config.yml b/.github/config.yml
index fed71ab355..2810cc56b6 100644
--- a/.github/config.yml
+++ b/.github/config.yml
@@ -11,12 +11,12 @@ newIssueWelcomeComment: >
 
 # Comment to be posted to on PRs from first time contributors in your repository
 newPRWelcomeComment: >
-  Thanks for helping in improving MoveIt!
+  Thanks for helping in improving MoveIt
 
 # Configuration for first-pr-merge - https://github.com/behaviorbot/first-pr-merge
 
 # Comment to be posted to on pull requests merged by a first time user
 firstPRMergeComment: >
-  Congrats on getting your first MoveIt! pull request merged and improving open source robotics!
+  Congrats on getting your first MoveIt pull request merged and improving open source robotics!
 
 # It is recommended to include as many gifs and emojis as possible!
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index eeafb30ddf..609c244cf6 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -1,4 +1,4 @@
-# Contributing to MoveIt!
+# Contributing to MoveIt
 
 Thanks for getting involved! Information on contributing can be found at
 [http://moveit.ros.org/documentation/contributing/](http://moveit.ros.org/documentation/contributing/)
diff --git a/MIGRATION.md b/MIGRATION.md
index 05740746a4..5eca3c2660 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -1,6 +1,6 @@
 # Migration Notes
 
-API changes in MoveIt! releases
+API changes in MoveIt releases
 
 ## ROS Noetic (upcoming changes in master)
 - Extended the return value of `MoveitCommander.MoveGroup.plan()` from `trajectory` to a tuple of `(success, trajectory, planning_time, error_code)` to better match the C++ MoveGroupInterface ([790](https://github.com/ros-planning/moveit/pull/790/))
diff --git a/README.md b/README.md
index 0ffd0e0e3b..182da15475 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
-<img src="http://moveit.ros.org/assets/images/moveit2_logo_black.png" alt="MoveIt! Logo" width="200"/>
+<img src="http://moveit.ros.org/assets/images/moveit2_logo_black.png" alt="MoveIt Logo" width="200"/>
 
-The MoveIt! Motion Planning Framework
+The MoveIt Motion Planning Framework
 
 Currently we support ROS Indigo, Kinetic, and Melodic.
 
-- [Overview of MoveIt!](http://moveit.ros.org)
+- [Overview of MoveIt](http://moveit.ros.org)
 - [Installation Instructions](http://moveit.ros.org/install/)
 - [Documentation](http://moveit.ros.org/documentation/)
 - [Get Involved](http://moveit.ros.org/documentation/contributing/)
@@ -32,7 +32,7 @@ build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Idev__mo
 [![Docker Automated build](https://img.shields.io/docker/automated/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Pulls](https://img.shields.io/docker/pulls/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Stars](https://img.shields.io/docker/stars/moveit/moveit.svg)](https://registry.hub.docker.com/moveit/moveit/)
 ## ROS Buildfarm
 
-MoveIt! Package | Indigo Source | Indigo Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
+MoveIt Package | Indigo Source | Indigo Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
 --------------- | ------------- | ------------- | -------------- | -------------- | -------------- | --------------
 moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)
 moveit_chomp_optimizer_adapter |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)
diff --git a/moveit.rosinstall b/moveit.rosinstall
index f0ef21afa0..ecab1ac02f 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -1,5 +1,5 @@
-# This file is intended for users who want to build MoveIt! from source.
-# Used with wstool, users can download source of all packages of MoveIt!.
+# This file is intended for users who want to build MoveIt from source.
+# Used with wstool, users can download source of all packages of MoveIt.
 - git:
     local-name: moveit_msgs
     uri: https://github.com/ros-planning/moveit_msgs.git
diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
index 9f03a155e1..482cd91835 100644
--- a/moveit/CHANGELOG.rst
+++ b/moveit/CHANGELOG.rst
@@ -64,7 +64,7 @@ Changelog for package moveit
 
 0.10.2 (2018-10-24)
 -------------------
-* [fix] Text refrences to MoveIt! (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
+* [fix] Text refrences to MoveIt (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
 * [fix] Eigen alignment issuses due to missing aligned allocation (`#1039 <https://github.com/ros-planning/moveit/issues/1039>`_)
 * [fix][chomp] changelogs: migration from tf -> tf2 only accidentally became part of 0.9.12's changelog
 * [fix] Chomp package handling issue `#1086 <https://github.com/ros-planning/moveit/issues/1086>`_ that was introduced in `ubi-agni/hotfix-#1012 <https://github.com/ubi-agni/hotfix-/issues/1012>`_
@@ -82,7 +82,7 @@ Changelog for package moveit
 * [capability][chomp] Failure recovery options for CHOMP by tweaking parameters (`#987 <https://github.com/ros-planning/moveit/issues/987>`_)
 * [capability] New screen for automatically generating interfaces to low level controllers(`#951 <https://github.com/ros-planning/moveit/issues/951>`_, `#994 <https://github.com/ros-planning/moveit/issues/994>`_, `#908 <https://github.com/ros-planning/moveit/issues/908>`_)
 * [capability][moveit_setup_assistant] Perception screen for using laser scanner point clouds. (`#969 <https://github.com/ros-planning/moveit/issues/969>`_)
-* [enhancement][GUI][moveit_setup_assistant] Logo for MoveIt! 2.0, cleanup appearance (`#1059 <https://github.com/ros-planning/moveit/issues/1059>`_)
+* [enhancement][GUI][moveit_setup_assistant] Logo for MoveIt 2.0, cleanup appearance (`#1059 <https://github.com/ros-planning/moveit/issues/1059>`_)
 * [enhancement][GUI][moveit_setup_assistant] added a setup assistant window icon (`#1028 <https://github.com/ros-planning/moveit/issues/1028>`_)
 * [capability][chomp] Addition of CHOMP planning adapter for optimizing result of other planners (`#1012 <https://github.com/ros-planning/moveit/issues/1012>`_)
 * [capability][chomp] Failure recovery options for CHOMP by tweaking parameters (`#987 <https://github.com/ros-planning/moveit/issues/987>`_)
diff --git a/moveit/package.xml b/moveit/package.xml
index 0a60b4860e..5a50dbd315 100644
--- a/moveit/package.xml
+++ b/moveit/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>moveit</name>
   <version>1.0.1</version>
-  <description>Meta package that contains all essential package of MoveIt!. Until Summer 2016 MoveIt! had been developed over multiple repositories, where developers' usability and maintenance effort was non-trivial. See <a href = "http://discourse.ros.org/t/migration-to-one-github-repo-for-moveit/266/34">the detailed discussion for the merge of several repositories</a>.</description>
+  <description>Meta package that contains all essential package of MoveIt. Until Summer 2016 MoveIt had been developed over multiple repositories, where developers' usability and maintenance effort was non-trivial. See <a href = "http://discourse.ros.org/t/migration-to-one-github-repo-for-moveit/266/34">the detailed discussion for the merge of several repositories</a>.</description>
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
diff --git a/moveit/scripts/README.md b/moveit/scripts/README.md
index ddc705b86f..e2da938586 100644
--- a/moveit/scripts/README.md
+++ b/moveit/scripts/README.md
@@ -1,8 +1,8 @@
-# Utility Scripts for MoveIt!
+# Utility Scripts for MoveIt
 
 ## README Markdown Buildfarm Table Generator
 
-This Python script will generate Github-style Markdown table with Jenkins badges for every package recursively from the current folder. It will order all packages alphabetically, but start with all MoveIt! packages first. For generating an updated README for a new ROS distribution, first update the `create_readme_table.py` script and add/remove the current MoveIt!-supported ROS distros and their corresponding Ubuntu distribution in the specified Python dictionary. Then, in the main MoveIt! `README.md` file, remove the "## ROS Buildfarm" header and the following table. Finally, from your catkin workspace with every MoveIt! package, run the `create_readme_table.py` script. For example:
+This Python script will generate Github-style Markdown table with Jenkins badges for every package recursively from the current folder. It will order all packages alphabetically, but start with all MoveIt packages first. For generating an updated README for a new ROS distribution, first update the `create_readme_table.py` script and add/remove the current MoveIt-supported ROS distros and their corresponding Ubuntu distribution in the specified Python dictionary. Then, in the main MoveIt `README.md` file, remove the "## ROS Buildfarm" header and the following table. Finally, from your catkin workspace with every MoveIt package, run the `create_readme_table.py` script. For example:
 
     cd ~/ws_moveit/src
     python moveit/moveit/scripts/create_readme_table.py >> moveit/README.md
diff --git a/moveit/scripts/create_maintainer_table.py b/moveit/scripts/create_maintainer_table.py
index af7615c2a9..1557530ee2 100644
--- a/moveit/scripts/create_maintainer_table.py
+++ b/moveit/scripts/create_maintainer_table.py
@@ -98,7 +98,7 @@ def populate_package_data(path, package):
 
 def list_moveit_packages():
     """
-    Creates MoveIt! List
+    Creates MoveIt List
     """
     output = ''
     packages = find_packages(os.getcwd())
diff --git a/moveit/scripts/create_readme_table.py b/moveit/scripts/create_readme_table.py
index 9a5af08554..e854893b0b 100644
--- a/moveit/scripts/create_readme_table.py
+++ b/moveit/scripts/create_readme_table.py
@@ -11,7 +11,7 @@
 def create_header(ros_ubuntu_dict):
   ros_distros =  sorted(ros_ubuntu_dict.keys())
   section_header = "## ROS Buildfarm\n"
-  header="MoveIt! Package"
+  header="MoveIt Package"
   header_lines = '-'*len(header)
   for ros in ros_distros:
       source = ' '.join([ros.capitalize(), "Source"])
@@ -49,7 +49,7 @@ def create_line(package, ros_ubuntu_dict):
 
 def create_moveit_buildfarm_table():
     """
-    Creates MoveIt! buildfarm badge table
+    Creates MoveIt buildfarm badge table
     """
     # Update the following dictionary with the appropriate ROS-Ubuntu
     # combinations for supported distribitions. For instance, in Noetic,
diff --git a/moveit/scripts/maintainer_table_template.html b/moveit/scripts/maintainer_table_template.html
index b5c94f4020..584b1d68d6 100644
--- a/moveit/scripts/maintainer_table_template.html
+++ b/moveit/scripts/maintainer_table_template.html
@@ -2,7 +2,7 @@
 <html lang="en">
   <head>
     <meta charset="utf-8">
-    <title>MoveIt! Package Tracking</title>
+    <title>MoveIt Package Tracking</title>
     <meta name="viewport" content="width=device-width, initial-scale=1.0">
     <meta name="description" content="">
     <meta name="author" content="">
@@ -23,7 +23,7 @@
     </style>
   </head>
   <body>
-    <h1>MoveIt! Package Tracking</h1>
+    <h1>MoveIt Package Tracking</h1>
     <table>
       <tr>
         <td>Package</td>
diff --git a/moveit_commander/README.md b/moveit_commander/README.md
index ecd51ed3b1..1b8f538576 100644
--- a/moveit_commander/README.md
+++ b/moveit_commander/README.md
@@ -1 +1 @@
-# MoveIt! Commander
+# MoveIt Commander
diff --git a/moveit_commander/bin/moveit_commander_cmdline.py b/moveit_commander/bin/moveit_commander_cmdline.py
index eb3c524c74..2dffaa7630 100755
--- a/moveit_commander/bin/moveit_commander_cmdline.py
+++ b/moveit_commander/bin/moveit_commander_cmdline.py
@@ -151,7 +151,7 @@ def sigint_handler(signal, frame):
     rospy.init_node('move_group_interface_cmdline', anonymous=True, disable_signals=True)
 
     parser = argparse.ArgumentParser(usage = """%(prog)s [options] [<group_name>]""",
-                                     description = "Command Line Interface to MoveIt!")
+                                     description = "Command Line Interface to MoveIt")
     parser.add_argument("-i", "--interactive", action="store_true", dest="interactive", default=True,
                         help="Run the command processing script in interactive mode (default)")
     parser.add_argument("-s", "--service", action="store_true", dest="service", default=False,
diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
index 6680232adc..a962c6a2df 100644
--- a/moveit_commander/package.xml
+++ b/moveit_commander/package.xml
@@ -7,7 +7,7 @@
 
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
   <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 9fd0c3bc6e..4e450735db 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -174,7 +174,7 @@ string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_MINOR "${${PROJ
 string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_PATCH "${${PROJECT_NAME}_VERSION}")
 set(MOVEIT_VERSION_EXTRA "Alpha")
 set(MOVEIT_VERSION "${MOVEIT_VERSION_MAJOR}.${MOVEIT_VERSION_MINOR}.${MOVEIT_VERSION_PATCH}-${MOVEIT_VERSION_EXTRA}")
-message(STATUS " *** Building MoveIt! ${MOVEIT_VERSION} ***")
+message(STATUS " *** Building MoveIt ${MOVEIT_VERSION} ***")
 configure_file("version/version.h.in" "${VERSION_FILE_PATH}/moveit/version.h")
 #catkin_lint: ignore_once external_file
 install(FILES "${VERSION_FILE_PATH}/moveit/version.h" DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/moveit)
diff --git a/moveit_core/README.md b/moveit_core/README.md
index 2a54efedd4..5e602a457c 100644
--- a/moveit_core/README.md
+++ b/moveit_core/README.md
@@ -1,4 +1,4 @@
-# MoveIt! Core
+# MoveIt Core
 
 This repository includes core libraries used by MoveIt:
  - representation of kinematic models
diff --git a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
index 30cd7380ae..270be22622 100644
--- a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
+++ b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
@@ -47,7 +47,7 @@
 namespace moveit
 {
 /** \brief This namespace includes classes and functions that are
-    helpful in the implementation of other MoveIt! components. This is
+    helpful in the implementation of other MoveIt components. This is
     not code specific to the functionality provided by MoveIt. */
 namespace tools
 {
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index da193cb0c2..2a32ff04a8 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -42,7 +42,7 @@
 #include <moveit_msgs/RobotTrajectory.h>
 #include <moveit/macros/class_forward.h>
 
-/// Namespace for the base class of a MoveIt! controller manager
+/// Namespace for the base class of a MoveIt controller manager
 namespace moveit_controller_manager
 {
 /// The reported execution status
@@ -101,7 +101,7 @@ struct ExecutionStatus
 
 MOVEIT_CLASS_FORWARD(MoveItControllerHandle);
 
-/** \brief MoveIt! sends commands to a controller via a handle that satisfies this interface. */
+/** \brief MoveIt sends commands to a controller via a handle that satisfies this interface. */
 class MoveItControllerHandle
 {
 public:
@@ -149,7 +149,7 @@ class MoveItControllerHandle
 
 MOVEIT_CLASS_FORWARD(MoveItControllerManager);
 
-/** @brief MoveIt! does not enforce how controllers are implemented.
+/** @brief MoveIt does not enforce how controllers are implemented.
     To make your controllers usable by MoveIt, this interface needs to be implemented.
     The main purpose of this interface is to expose the set of known controllers and
     potentially to allow activating and deactivating them, if multiple controllers are available.
@@ -157,7 +157,7 @@ MOVEIT_CLASS_FORWARD(MoveItControllerManager);
 class MoveItControllerManager
 {
 public:
-  /** \brief Each controller known to MoveIt! has a state. This
+  /** \brief Each controller known to MoveIt has a state. This
       structure describes that controller's state. */
   struct ControllerState
   {
@@ -165,12 +165,12 @@ class MoveItControllerManager
     {
     }
 
-    /** \brief A controller can be active or inactive. This means that MoveIt! could activate the controller when
+    /** \brief A controller can be active or inactive. This means that MoveIt could activate the controller when
        needed, and de-activate controllers that overlap (control the same set of joints) */
     bool active_;
 
     /** \brief It is often the case that multiple controllers could be used to execute a motion. Marking a controller as
-       default makes MoveIt! prefer this controller when multiple options are available. */
+       default makes MoveIt prefer this controller when multiple options are available. */
     bool default_;
   };
 
diff --git a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
index 2dd4f93464..7918eef07d 100644
--- a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
+++ b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
@@ -39,7 +39,7 @@
 
 #include <stdexcept>
 
-/** \brief Main namespace for MoveIt! */
+/** \brief Main namespace for MoveIt */
 namespace moveit
 {
 /** \brief This may be thrown during construction of objects if errors occur */
diff --git a/moveit_core/kinematic_constraints/dox/constraint_representation.dox b/moveit_core/kinematic_constraints/dox/constraint_representation.dox
index 886a3100e9..d786835f0c 100644
--- a/moveit_core/kinematic_constraints/dox/constraint_representation.dox
+++ b/moveit_core/kinematic_constraints/dox/constraint_representation.dox
@@ -1,7 +1,7 @@
 /**
 \page constraint_representation Representation and Evaluation of Constraints
 
-Constraints are integral component of MoveIt! and they are used both to constrain robot motion as well as to define planning goals. There following set of constraints are defined in the kinematic_constraints namespace:
+Constraints are integral component of MoveIt and they are used both to constrain robot motion as well as to define planning goals. There following set of constraints are defined in the kinematic_constraints namespace:
 - kinematic_constraints::JointConstraint
 - kinematic_constraints::OrientationConstraint
 - kinematic_constraints::PositionConstraint
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index b12b48f6f3..121f19f3b3 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -1,7 +1,7 @@
 <package format="2">
   <name>moveit_core</name>
   <version>1.0.1</version>
-  <description>Core libraries used by MoveIt!</description>
+  <description>Core libraries used by MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
   <author email="acorn.pooley@sri.com">Acorn Pooley</author>
@@ -9,7 +9,7 @@
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
   <url type="website">http://moveit.ros.org</url>
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
index 68214f4a92..93748f43ef 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -48,7 +48,7 @@ namespace planning_scene
 MOVEIT_CLASS_FORWARD(PlanningScene);
 }
 
-/** \brief This namespace includes the base class for MoveIt! planners */
+/** \brief This namespace includes the base class for MoveIt planners */
 namespace planning_interface
 {
 /**
@@ -147,7 +147,7 @@ class PlanningContext
 
 MOVEIT_CLASS_FORWARD(PlannerManager);
 
-/** \brief Base class for a MoveIt! planner */
+/** \brief Base class for a MoveIt planner */
 class PlannerManager
 {
 public:
diff --git a/moveit_core/planning_scene/dox/planning_scene.dox b/moveit_core/planning_scene/dox/planning_scene.dox
index 447b8f52b7..8bd31301b4 100644
--- a/moveit_core/planning_scene/dox/planning_scene.dox
+++ b/moveit_core/planning_scene/dox/planning_scene.dox
@@ -2,7 +2,7 @@
 
 \page planning_scene_overview Planning Scene
 
-The planning scene (planning_scene::PlanningScene) is the central class for motion planning in MoveIt!. A planning scene represents all the information needed to compute motion plans: The robot's current state, its representation (geometric, kinematic, dynamic) and the world representation. Using this information, things like forward kinematics, inverse kinematics, evaluation of constraints, collision checking, are all possible.
+The planning scene (planning_scene::PlanningScene) is the central class for motion planning in MoveIt. A planning scene represents all the information needed to compute motion plans: The robot's current state, its representation (geometric, kinematic, dynamic) and the world representation. Using this information, things like forward kinematics, inverse kinematics, evaluation of constraints, collision checking, are all possible.
 
 The planning_scene::PlanningScene class is tightly connected to the planning_scene_monitor::PlannningSceneMonitor class, which maintains a planning scene using information from the ROS Parameter Server and subscription to topics.
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 2131a6f1a8..5e0b98061d 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -54,10 +54,10 @@
 #include <Eigen/Geometry>
 #include <iostream>
 
-/** \brief Main namespace for MoveIt! */
+/** \brief Main namespace for MoveIt */
 namespace moveit
 {
-/** \brief Core components of MoveIt! */
+/** \brief Core components of MoveIt */
 namespace core
 {
 MOVEIT_CLASS_FORWARD(RobotModel);
diff --git a/moveit_core/robot_state/include/moveit/robot_state/conversions.h b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
index dadd10adbc..655329acff 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/conversions.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
@@ -47,18 +47,18 @@ namespace moveit
 namespace core
 {
 /**
- * @brief Convert a joint state to a MoveIt! robot state
+ * @brief Convert a joint state to a MoveIt robot state
  * @param joint_state The input joint state to be converted
- * @param state The resultant MoveIt! robot state
+ * @param state The resultant MoveIt robot state
  * @return True if successful, false if failed for any reason
  */
 bool jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state);
 
 /**
- * @brief Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state
+ * @brief Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state
  * @param tf An instance of a transforms object
  * @param robot_state The input robot state msg
- * @param state The resultant MoveIt! robot state
+ * @param state The resultant MoveIt robot state
  * @param copy_attached_bodies Flag to include attached objects in robot state copy
  * @return True if successful, false if failed for any reason
  */
@@ -66,9 +66,9 @@ bool robotStateMsgToRobotState(const Transforms& tf, const moveit_msgs::RobotSta
                                bool copy_attached_bodies = true);
 
 /**
- * @brief Convert a robot state msg (with accompanying extra transforms) to a MoveIt! robot state
+ * @brief Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state
  * @param robot_state The input robot state msg
- * @param state The resultant MoveIt! robot state
+ * @param state The resultant MoveIt robot state
  * @param copy_attached_bodies Flag to include attached objects in robot state copy
  * @return True if successful, false if failed for any reason
  */
@@ -76,8 +76,8 @@ bool robotStateMsgToRobotState(const moveit_msgs::RobotState& robot_state, Robot
                                bool copy_attached_bodies = true);
 
 /**
- * @brief Convert a MoveIt! robot state to a robot state message
- * @param state The input MoveIt! robot state object
+ * @brief Convert a MoveIt robot state to a robot state message
+ * @param state The input MoveIt robot state object
  * @param robot_state The resultant RobotState *message
  * @param copy_attached_bodies Flag to include attached objects in robot state copy
  */
@@ -86,33 +86,33 @@ void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState&
 
 /**
  * @brief Convert AttachedBodies to AttachedCollisionObjects
- * @param attached_bodies The input MoveIt! attached body objects
+ * @param attached_bodies The input MoveIt attached body objects
  * @param attached_collision_objs The resultant AttachedCollisionObject messages
  */
 void attachedBodiesToAttachedCollisionObjectMsgs(
     const std::vector<const AttachedBody*>& attached_bodies,
     std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objs);
 /**
- * @brief Convert a MoveIt! robot state to a joint state message
- * @param state The input MoveIt! robot state object
+ * @brief Convert a MoveIt robot state to a joint state message
+ * @param state The input MoveIt robot state object
  * @param robot_state The resultant JointState message
  */
 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState& joint_state);
 
 /**
- * @brief Convert a joint trajectory point to a MoveIt! robot state
+ * @brief Convert a joint trajectory point to a MoveIt robot state
  * @param joint_trajectory The input msg
  * @param point_id The index of the trajectory point in the joint trajectory.
- * @param state The resultant MoveIt! robot state
+ * @param state The resultant MoveIt robot state
  * @return True if successful, false if failed for any reason
  */
 bool jointTrajPointToRobotState(const trajectory_msgs::JointTrajectory& trajectory, std::size_t point_id,
                                 RobotState& state);
 
 /**
- * @brief Convert a MoveIt! robot state to common separated values (CSV) on a single line that is
+ * @brief Convert a MoveIt robot state to common separated values (CSV) on a single line that is
  *        outputted to a stream e.g. for file saving
- * @param state - The input MoveIt! robot state object
+ * @param state - The input MoveIt robot state object
  * @param out - a file stream, or any other stream
  * @param include_header - flag to prefix the output with a line of joint names.
  * @param separator - allows to override the comma seperator with any symbol, such as a white space
@@ -121,9 +121,9 @@ void robotStateToStream(const RobotState& state, std::ostream& out, bool include
                         const std::string& separator = ",");
 
 /**
- * @brief Convert a MoveIt! robot state to common separated values (CSV) on a single line that is
+ * @brief Convert a MoveIt robot state to common separated values (CSV) on a single line that is
  *        outputted to a stream e.g. for file saving. This version can order by joint model groups
- * @param state - The input MoveIt! robot state object
+ * @param state - The input MoveIt robot state object
  * @param out - a file stream, or any other stream
  * @param joint_group_ordering - output joints based on ordering of joint groups
  * @param include_header - flag to prefix the output with a line of joint names.
@@ -135,7 +135,7 @@ void robotStateToStream(const RobotState& state, std::ostream& out,
 
 /**
  * \brief Convert a string of joint values from a file (CSV) or input source into a RobotState
- * @param state - the output MoveIt! robot state object
+ * @param state - the output MoveIt robot state object
  * @param line - the input string of joint values
  * @param separator - allows to override the comma seperator with any symbol, such as a white space
  * \return true on success
diff --git a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
index 66c05d4036..a8f1a1615b 100644
--- a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
+++ b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
@@ -43,7 +43,7 @@
 #include <moveit_msgs/RobotTrajectory.h>
 #include <geometry_msgs/PointStamped.h>
 
-/// Namespace for the base class of a MoveIt! sensor manager
+/// Namespace for the base class of a MoveIt sensor manager
 namespace moveit_sensor_manager
 {
 /** \brief Define the frame of reference and the frustum of a sensor (usually this is a visual sensor) */
diff --git a/moveit_core/transforms/src/transforms.cpp b/moveit_core/transforms/src/transforms.cpp
index b853319172..190fb10d0d 100644
--- a/moveit_core/transforms/src/transforms.cpp
+++ b/moveit_core/transforms/src/transforms.cpp
@@ -47,7 +47,7 @@ Transforms::Transforms(const std::string& target_frame) : target_frame_(target_f
 {
   boost::trim(target_frame_);
   if (target_frame_.empty())
-    ROS_ERROR_NAMED("transforms", "The target frame for MoveIt! Transforms cannot be empty.");
+    ROS_ERROR_NAMED("transforms", "The target frame for MoveIt Transforms cannot be empty.");
   else
   {
     transforms_map_[target_frame_] = Eigen::Isometry3d::Identity();
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index fa9bbf989c..079cf49749 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of MoveIt! nor the names of its
+ *   * Neither the name of MoveIt nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index 9a083176a3..50221182ec 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of MoveIt! nor the names of its
+ *   * Neither the name of MoveIt nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
diff --git a/moveit_experimental/README.md b/moveit_experimental/README.md
index 2d250777f5..7ef8ed18c2 100644
--- a/moveit_experimental/README.md
+++ b/moveit_experimental/README.md
@@ -1,5 +1,5 @@
-# Experimental Packages for MoveIt!
+# Experimental Packages for MoveIt
 
-This repository includes possibly broken/unmaintained/unfinished libraries that are being worked on or have been worked on in the past. They are not part of MoveIt! officially.
+This repository includes possibly broken/unmaintained/unfinished libraries that are being worked on or have been worked on in the past. They are not part of MoveIt officially.
 
 No support is offered for code in this repository, but you are welcome to use it if you see fit.
diff --git a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml b/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
index 0ce6b2614e..3a0a253ce0 100644
--- a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
+++ b/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
@@ -14,7 +14,7 @@ move_group_name: arm  # Often 'manipulator' or 'arm'
 lower_singularity_threshold: 15  # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
 hard_stop_singularity_threshold: 30 # Stop when the condition number hits this. Larger --> closer to singularity
 collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
-planning_frame: base_link  # The MoveIt! planning frame. Often 'base_link'
+planning_frame: base_link  # The MoveIt planning frame. Often 'base_link'
 low_pass_filter_coeff: 2.  # Larger-> more smoothing of jog commands, but more lag.
 publish_period: 0.008  # 1/Nominal publish rate [seconds]
 publish_delay: 0.005  # delay between calculation and execution start of command
diff --git a/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp b/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp
index 47ecd0b10d..3b165a3e95 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp
@@ -49,7 +49,7 @@ CollisionCheckThread::CollisionCheckThread(const jog_arm::JogArmParameters param
   // If user specified true in yaml file
   if (parameters.check_collisions)
   {
-    // MoveIt! Setup
+    // MoveIt Setup
     while (ros::ok() && !model_loader_ptr)
     {
       ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
index 6839481eff..2690865c67 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
@@ -49,7 +49,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   // Publish collision status
   warning_pub_ = nh_.advertise<std_msgs::Bool>(parameters_.warning_topic, 1);
 
-  // MoveIt! Setup
+  // MoveIt Setup
   while (ros::ok() && !model_loader_ptr)
   {
     ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
diff --git a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
index 15668db878..d9e3ff0db3 100644
--- a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -14,7 +14,7 @@ move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
 lower_singularity_threshold:  30  # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
 hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity
 collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
-planning_frame: base_link  # The MoveIt! planning frame. Often 'base_link'
+planning_frame: base_link  # The MoveIt planning frame. Often 'base_link'
 low_pass_filter_coeff: 2.  # Larger-> more smoothing to jog commands, but more lag.
 publish_period: 0.01  # 1/Nominal publish rate [seconds]
 publish_delay: 0.005  # delay between calculation and execution start of command
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
index 40342b1d31..edc2f0cb64 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
@@ -40,7 +40,7 @@
 // ROS
 #include <boost/shared_ptr.hpp>
 
-// MoveIt!
+// MoveIt
 #include <planning_models/kinematic_state.h>
 #include <rdf_loader/rdf_loader.h>
 #include <urdf_interface/model.h>
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
index 4e8ab4348d..2ec2f70299 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
@@ -51,7 +51,7 @@
 // Plugin
 #include <moveit/kinematics_base/kinematics_base.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/planning_scene/planning_scene.h>
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
index b2f62e462b..6d2086a08a 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
@@ -44,7 +44,7 @@
 // ROS msgs
 #include <geometry_msgs/PoseStamped.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit_msgs/MoveItErrorCodes.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
diff --git a/moveit_experimental/package.xml b/moveit_experimental/package.xml
index e34d9ee6dc..222652ff6a 100644
--- a/moveit_experimental/package.xml
+++ b/moveit_experimental/package.xml
@@ -1,8 +1,8 @@
 <package format="2">
   <name>moveit_experimental</name>
   <version>1.0.1</version>
-  <description>Experimental packages for MoveIt!</description>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <description>Experimental packages for MoveIt</description>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
   <url type="website">http://moveit.ros.org</url>
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/README.md b/moveit_kinematics/cached_ik_kinematics_plugin/README.md
index 571d53ab2c..77aa5697cd 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/README.md
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/README.md
@@ -46,7 +46,7 @@ This illustrates two points: (1) if the IK solver is slow, significant improveme
 
 Below is a complete list of all arguments:
 
-- `robot`: the name of the corresponding MoveIt! config package
+- `robot`: the name of the corresponding MoveIt config package
 - `group`: the joint group to measure (by default performance is reported for all joint groups)
 - `tip`: the name of the end effector (by default the default end effectors are used)
 - `num`: the number of IK calls per joint group
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/README.md b/moveit_kinematics/ikfast_kinematics_plugin/README.md
index 2f90c02007..c29d897011 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/README.md
+++ b/moveit_kinematics/ikfast_kinematics_plugin/README.md
@@ -1,9 +1,9 @@
-MoveIt! IKFast
+MoveIt IKFast
 ==========
 * Authors: Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST, Mathias Lüdtke, Fraunhofer IPA
 * Date: 5/24/2013
 
-Generates a IKFast kinematics plugin for MoveIt! using [OpenRave](http://openrave.org/) generated cpp files.
+Generates a IKFast kinematics plugin for MoveIt using [OpenRave](http://openrave.org/) generated cpp files.
 
 Tested on ROS Hydro and greater with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with greater than 7dof.
 
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
index ab5abaaead..e9ce8770d7 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -1,7 +1,7 @@
 #! /usr/bin/env python
 from __future__ import print_function
 '''
-IKFast Plugin Generator for MoveIt!
+IKFast Plugin Generator for MoveIt
 
 Creates a kinematics plugin using the output of IKFast from OpenRAVE.
 This plugin and the move_group node can be used as a general
@@ -71,13 +71,13 @@ def get_pkg_dir(pkg_name):
 
 def create_parser():
   parser = argparse.ArgumentParser(
-      description="Generate an IKFast MoveIt! kinematic plugin")
+      description="Generate an IKFast MoveIt kinematic plugin")
   parser.add_argument("robot_name",
                       help="The name of your robot")
   parser.add_argument("planning_group_name",
                       help="The name of the planning group for which your IKFast solution was generated")
   parser.add_argument("ikfast_plugin_pkg",
-                      help="The name of the MoveIt! IKFast Kinematics Plugin to be created/updated")
+                      help="The name of the MoveIt IKFast Kinematics Plugin to be created/updated")
   parser.add_argument("base_link_name",
                       help="The name of the base link that was used when generating your IKFast solution")
   parser.add_argument("eef_link_name",
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index c76082e880..b2fd03982a 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -34,11 +34,11 @@
  *********************************************************************/
 
 /*
- * IKFast Kinematics Solver Plugin for MoveIt! wrapping an ikfast solver from OpenRAVE.
+ * IKFast Kinematics Solver Plugin for MoveIt wrapping an ikfast solver from OpenRAVE.
  *
  * AUTO-GENERATED by create_ikfast_moveit_plugin.py in moveit_kinematics package.
  *
- * This file, including the ikfast cpp from OpenRAVE below, forms a MoveIt! kinematics plugin.
+ * This file, including the ikfast cpp from OpenRAVE below, forms a MoveIt kinematics plugin.
  */
 
 #include <ros/ros.h>
@@ -940,7 +940,7 @@ bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose
 
   if (!consistency_limits.empty())
   {
-    // MoveIt! replaced consistency_limit (scalar) w/ consistency_limits (vector)
+    // MoveIt replaced consistency_limit (scalar) w/ consistency_limits (vector)
     // Assume [0]th free_params element for now.  Probably wrong.
     double max_limit = fmin(joint_max_vector_[free_params_[0]], initial_guess + consistency_limits[free_params_[0]]);
     double min_limit = fmax(joint_min_vector_[free_params_[0]], initial_guess - consistency_limits[free_params_[0]]);
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 6f094a50e0..9c4a150045 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -53,7 +53,7 @@
 #include <kdl/chainfksolver.hpp>
 #include <kdl/chainiksolver.hpp>
 
-// MoveIt!
+// MoveIt
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
 #include <moveit/robot_model/robot_model.h>
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index 996080593a..0ec6c0667d 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -53,7 +53,7 @@
 #include <kdl/chainfksolver.hpp>
 #include <kdl/chainiksolver.hpp>
 
-// MoveIt!
+// MoveIt
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 649b3ef22a..64ddccb0b9 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>moveit_kinematics</name>
   <version>1.0.1</version>
-  <description>Package for all inverse kinematics solvers in MoveIt!</description>
+  <description>Package for all inverse kinematics solvers in MoveIt</description>
 
   <author email="dave@picknik.ai">Dave Coleman</author>
   <author email="isucan@google.com">Ioan Sucan</author>
@@ -11,7 +11,7 @@
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
   <maintainer email="jorge.nicho@swri.org">Jorge Nicho</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index b19d1e880a..50449662fe 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 /* Author: Dave Coleman, Masaki Murooka
-   Desc:   Connects MoveIt! to any inverse kinematics solver via a ROS service call
+   Desc:   Connects MoveIt to any inverse kinematics solver via a ROS service call
            Supports planning groups with multiple tip frames
            \todo: better support for mimic joints
            \todo: better support for redundant joints
@@ -55,7 +55,7 @@
 #include <moveit_msgs/KinematicSolverInfo.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_state/robot_state.h>
 
diff --git a/moveit_kinematics/test/test_kinematics_plugin.cpp b/moveit_kinematics/test/test_kinematics_plugin.cpp
index 682a519909..1235bfd9f9 100644
--- a/moveit_kinematics/test/test_kinematics_plugin.cpp
+++ b/moveit_kinematics/test/test_kinematics_plugin.cpp
@@ -43,7 +43,7 @@
 #include <tf2_eigen/tf2_eigen.h>
 #include <xmlrpcpp/XmlRpcValue.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/rdf_loader/rdf_loader.h>
 #include <moveit/robot_model/robot_model.h>
diff --git a/moveit_planners/README.md b/moveit_planners/README.md
index 0f0f685d07..5d35579eac 100644
--- a/moveit_planners/README.md
+++ b/moveit_planners/README.md
@@ -1,3 +1,3 @@
-# MoveIt! Planners
+# MoveIt Planners
 
 Interfaces for the motion planning libraries used in MoveIt
diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
index 3b2e6e9912..7184007695 100644
--- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
@@ -48,7 +48,7 @@ Changelog for package chomp_interface
 0.10.1 (2018-05-25)
 -------------------
 * [fix] dependencies for chomp interface test (`#778 <https://github.com/ros-planning/moveit/issues/778>`_)
-* [maintenance] MoveIt! tf2 migration (`#830 <https://github.com/ros-planning/moveit/issues/830>`_)
+* [maintenance] MoveIt tf2 migration (`#830 <https://github.com/ros-planning/moveit/issues/830>`_)
 * Contributors: Bence Magyar, Dave Coleman, Ian McMahon, Mikael Arguedas, Robert Haschke, Stephan, Will Baker
 
 0.9.11 (2017-12-25)
diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml
index e7f232010e..bc27808754 100644
--- a/moveit_planners/chomp/chomp_interface/package.xml
+++ b/moveit_planners/chomp/chomp_interface/package.xml
@@ -1,13 +1,13 @@
 <package format="2">
   <name>moveit_planners_chomp</name>
-  <description>The interface for using CHOMP within MoveIt!</description>
+  <description>The interface for using CHOMP within MoveIt</description>
 
   <version>1.0.1</version>
   <author email="gjones@willowgarage.com">Gil Jones</author>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml b/moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
index b3146c917b..4b3a1f6f54 100644
--- a/moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
+++ b/moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-	<!-- CHOMP Plugin for MoveIt! -->
+	<!-- CHOMP Plugin for MoveIt -->
 	<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
 	<arg name="start_state_max_bounds_error" value="0.1" />
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
index 0dc05a2151..d32082addf 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
@@ -50,7 +50,7 @@ Changelog for package chomp_motion_planner
 0.10.1 (2018-05-25)
 -------------------
 * [fix] for chomp fixed base joint bug (`#870 <https://github.com/ros-planning/moveit/issues/870>`_)
-* [maintenance] MoveIt! tf2 migration (`#830 <https://github.com/ros-planning/moveit/issues/830>`_)
+* [maintenance] MoveIt tf2 migration (`#830 <https://github.com/ros-planning/moveit/issues/830>`_)
 * [maintenance] switch to ROS_LOGGER from CONSOLE_BRIDGE (`#874 <https://github.com/ros-planning/moveit/issues/874>`_)
 * Contributors: Bence Magyar, Dave Coleman, Ian McMahon, Mike Lautman, Xiaojian Ma
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml
index 8abb126185..81c05a1bf6 100644
--- a/moveit_planners/chomp/chomp_motion_planner/package.xml
+++ b/moveit_planners/chomp/chomp_motion_planner/package.xml
@@ -7,7 +7,7 @@
   <author email="mail@mrinal.net">Mrinal Kalakrishnan</author>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
   <url>http://ros.org/wiki/chomp_motion_planner</url>
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
index f5a6d016a7..4861c4e43c 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
@@ -6,7 +6,7 @@
   <version>1.0.1</version>
   <author email="raghavendersahdev@gmail.com">Raghavender Sahdev</author>
   <maintainer email="raghavendersahdev@gmail.com">Raghavender Sahdev</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml
index 77d65918bf..a3ef9a50aa 100644
--- a/moveit_planners/moveit_planners/package.xml
+++ b/moveit_planners/moveit_planners/package.xml
@@ -6,7 +6,7 @@
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
 
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst
index 06a4259f1c..37a663ac0b 100644
--- a/moveit_planners/ompl/CHANGELOG.rst
+++ b/moveit_planners/ompl/CHANGELOG.rst
@@ -117,7 +117,7 @@ Changelog for package moveit_planners_ompl
 * renamed newGoal to new_goal for keeping with formatting
 * setting GroupStateValidityCallbackFn member for constraint_sampler member and implementing callbacks for state validity checking
 * added functions to check validit of state, and also to act as callback for constraint sampler
-* Added copy function from MoveIt! robot_state joint values to ompl state
+* Added copy function from MoveIt robot_state joint values to ompl state
 * fix for demo constraints database linking error
 * Namespaced less useful debug output to allow to be easily silenced using ros console
 * Contributors: Dave Coleman, Dave Hershberger, Sachin Chitta, arjungm
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index ef25ce8452..317272df62 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -48,7 +48,7 @@
 #include <map>
 #include <ros/ros.h>
 
-/** \brief The MoveIt! interface to OMPL */
+/** \brief The MoveIt interface to OMPL */
 namespace ompl_interface
 {
 /** @class OMPLInterface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
index 3ef5246888..1bfa1379e6 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -241,10 +241,10 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
   virtual void copyToOMPLState(ompl::base::State* state, const robot_state::RobotState& rstate) const;
 
   /**
-   * \brief Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL
+   * \brief Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL
    * state.
    * \param state - output OMPL state with single joint modified
-   * \param robot_state - input MoveIt! state to get the joint value from
+   * \param robot_state - input MoveIt state to get the joint value from
    * \param joint_model - the joint to copy values of
    * \param ompl_state_joint_index - the index of the joint in the ompl state (passed in for efficiency, you should
    * cache this index)
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
index 5d47880ea6..5deb25fce8 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
@@ -119,7 +119,7 @@ bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base:
     return false;
   }
 
-  // convert ompl state to MoveIt! robot state
+  // convert ompl state to MoveIt robot state
   robot_state::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
index 1f2f7e6fc0..f7c87e00f2 100644
--- a/moveit_planners/ompl/package.xml
+++ b/moveit_planners/ompl/package.xml
@@ -1,12 +1,12 @@
 <package format="2">
   <name>moveit_planners_ompl</name>
   <version>1.0.1</version>
-  <description>MoveIt! interface to OMPL</description>
+  <description>MoveIt interface to OMPL</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/README.md b/moveit_plugins/README.md
index 62065de1f1..b6400b3a55 100644
--- a/moveit_plugins/README.md
+++ b/moveit_plugins/README.md
@@ -1,4 +1,4 @@
-# MoveIt! Plugins
+# MoveIt Plugins
 
 This is a collection of plugins for MoveIt:
  - moveit_simple_controller_manager - A very basic controller manager plugin. Can connect to FollowJointTrajectoryAction and GripperCommandAction servers.
diff --git a/moveit_plugins/moveit_fake_controller_manager/README.md b/moveit_plugins/moveit_fake_controller_manager/README.md
index 102a296a23..cacbba6f9a 100644
--- a/moveit_plugins/moveit_fake_controller_manager/README.md
+++ b/moveit_plugins/moveit_fake_controller_manager/README.md
@@ -1,6 +1,6 @@
-# MoveIt! Fake Controller Manager
+# MoveIt Fake Controller Manager
 
-This package implements a series of fake trajectory controllers for MoveIt! -- to be used in simulation.
+This package implements a series of fake trajectory controllers for MoveIt -- to be used in simulation.
 For example, the `demo.launch` generated by MoveIt's `setup_assistant`, employs fake controllers for nice visualization in `rviz`.
 
 For configuration, edit the file `config/fake_controllers.yaml`, and adjust the desired controller type.
diff --git a/moveit_plugins/moveit_fake_controller_manager/package.xml b/moveit_plugins/moveit_fake_controller_manager/package.xml
index 05c2662a48..d87a4a53bb 100644
--- a/moveit_plugins/moveit_fake_controller_manager/package.xml
+++ b/moveit_plugins/moveit_fake_controller_manager/package.xml
@@ -6,7 +6,7 @@
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml
index 265fa36725..c64dc69235 100644
--- a/moveit_plugins/moveit_plugins/package.xml
+++ b/moveit_plugins/moveit_plugins/package.xml
@@ -1,13 +1,13 @@
 <package format="2">
   <name>moveit_plugins</name>
   <version>1.0.1</version>
-  <description>Metapackage for MoveIt! plugins.</description>
+  <description>Metapackage for MoveIt plugins.</description>
 
   <author email="mferguson@fetchrobotics.com">Michael Ferguson</author>
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/moveit_ros_control_interface/README.md b/moveit_plugins/moveit_ros_control_interface/README.md
index d13be1b5a2..355006d366 100644
--- a/moveit_plugins/moveit_ros_control_interface/README.md
+++ b/moveit_plugins/moveit_ros_control_interface/README.md
@@ -1,4 +1,4 @@
-# MoveIt! ROS Control Plugin
+# MoveIt ROS Control Plugin
 
 This package provides plugins of base class `moveit_controller_manager::MoveItControllerManager` and a new plugin base class for `moveit_controller_manager::MoveItControllerHandle` allocators.
 The allocator class is necessary because `moveit_controller_manager::MoveItControllerHandle` needs a name passed to the constructor.
@@ -7,7 +7,7 @@ Two variantes are provided, `moveit_ros_control_interface::MoveItControllerManag
 
 ## moveit_ros_control_interface::MoveItControllerManager
 This plugin interfaces a single ros_control-driven node in the namespace given in the `~ros_control_namespace` ROS parameter.
-It polls all controllers via the `list_controllers` service and passes their properties to MoveIt!.
+It polls all controllers via the `list_controllers` service and passes their properties to MoveIt.
 The polling is throttled to 1 Hertz.
 
 ### Handle plugins
@@ -17,7 +17,7 @@ These plugins should be registered with lookup names that match the correspondin
 Currently plugins for `position_controllers/JointTrajectoryController`, `velocity_controllers/JointTrajectoryController` and `effort_controllers/JointTrajectoryController` are available, which simply wrap `moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle` instances.
 
 ### Setup
-In your MoveIt! launch file (e.g. `ROBOT_moveit_config/launch/ROBOT_moveit_controller_manager.launch.xml`) set the `moveit_controller_manager` parameter:
+In your MoveIt launch file (e.g. `ROBOT_moveit_config/launch/ROBOT_moveit_controller_manager.launch.xml`) set the `moveit_controller_manager` parameter:
 ```
 <param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
 ```
@@ -42,8 +42,8 @@ controller_list:
 ```
 
 ### Controller switching
-MoveIt! can decide which controllers have to be started and stopped.
-Since only controller names with registered allocator plugins are handed over to MoveIt!, this implementation takes care of stopping other conflicting controllers based on their claimed resources and the resources for the to-be-started controllers.
+MoveIt can decide which controllers have to be started and stopped.
+Since only controller names with registered allocator plugins are handed over to MoveIt, this implementation takes care of stopping other conflicting controllers based on their claimed resources and the resources for the to-be-started controllers.
 
 ### Namespaces
 All controller names get prefixed by the namespace of the ros_control node.
@@ -56,7 +56,7 @@ It spawns `moveit_ros_control_interface::MoveItControllerManager` instances with
 
 
 ### Setup
-Just set the `moveit_controller_manager` parameter in your MoveIt! launch file (e.g. `ROBOT_moveit_config/launch/ROBOT_moveit_controller_manager.launch.xml`)
+Just set the `moveit_controller_manager` parameter in your MoveIt launch file (e.g. `ROBOT_moveit_config/launch/ROBOT_moveit_controller_manager.launch.xml`)
 ```
 <param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItMultiControllerManager" />
 ```
diff --git a/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml b/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
index f7461f59d5..3bd7e971cc 100644
--- a/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
+++ b/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
@@ -1,10 +1,10 @@
 <class_libraries>
   <library path="lib/libmoveit_ros_control_interface_plugin">
     <class type="moveit_ros_control_interface::MoveItControllerManager" base_class_type="moveit_controller_manager::MoveItControllerManager">
-        <description>ros_control controller manager interface for MoveIt!</description>
+        <description>ros_control controller manager interface for MoveIt</description>
     </class>
     <class type="moveit_ros_control_interface::MoveItMultiControllerManager" base_class_type="moveit_controller_manager::MoveItControllerManager">
-        <description>multiple ros_control controller managers interface for MoveIt!</description>
+        <description>multiple ros_control controller managers interface for MoveIt</description>
     </class>
   </library>
 </class_libraries>
diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml
index 98d0206d4b..92bd877cdc 100644
--- a/moveit_plugins/moveit_ros_control_interface/package.xml
+++ b/moveit_plugins/moveit_ros_control_interface/package.xml
@@ -2,12 +2,12 @@
 <package format="2">
   <name>moveit_ros_control_interface</name>
   <version>1.0.1</version>
-  <description>ros_control controller manager interface for MoveIt!</description>
+  <description>ros_control controller manager interface for MoveIt</description>
 
   <author email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</author>
 
   <maintainer email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
index 8574dee376..e965d1b446 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
@@ -102,7 +102,7 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
 
     if (gripper_joint_indexes.empty())
     {
-      ROS_WARN_NAMED("GripperController", "No command_joint was specified for the MoveIt! controller gripper handle. \
+      ROS_WARN_NAMED("GripperController", "No command_joint was specified for the MoveIt controller gripper handle. \
                       Please see GripperControllerHandle::addCommandJoint() and \
                       GripperControllerHandle::setCommandJoint(). Assuming index 0.");
       gripper_joint_indexes.push_back(0);
diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml
index aad84299c3..a53dea01fc 100644
--- a/moveit_plugins/moveit_simple_controller_manager/package.xml
+++ b/moveit_plugins/moveit_simple_controller_manager/package.xml
@@ -7,7 +7,7 @@
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
index 2f15a4189a..e9921962db 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
@@ -145,7 +145,7 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
           continue;
         }
 
-        /* add list of joints, used by controller manager and MoveIt! */
+        /* add list of joints, used by controller manager and MoveIt */
         for (int j = 0; j < controller_list[i]["joints"].size(); ++j)
           new_handle->addJoint(std::string(controller_list[i]["joints"][j]));
 
diff --git a/moveit_ros/README.md b/moveit_ros/README.md
index ba995b41ef..5755639551 100644
--- a/moveit_ros/README.md
+++ b/moveit_ros/README.md
@@ -1,6 +1,6 @@
-#MoveIt! ROS
+#MoveIt ROS
 
-This repository includes components of MoveIt! that use ROS. This is where much of the functionality MoveIt! provides is put together. Libraries from MoveIt! Core and various plugins are used to provide that functionality.
+This repository includes components of MoveIt that use ROS. This is where much of the functionality MoveIt provides is put together. Libraries from MoveIt Core and various plugins are used to provide that functionality.
 - planning
 - planning interfaces
 - benchmarking
diff --git a/moveit_ros/benchmarks/CHANGELOG.rst b/moveit_ros/benchmarks/CHANGELOG.rst
index 98e4914f29..0bfdc8ef5a 100644
--- a/moveit_ros/benchmarks/CHANGELOG.rst
+++ b/moveit_ros/benchmarks/CHANGELOG.rst
@@ -155,13 +155,13 @@ Changelog for package moveit_ros_benchmarks
   as a symlink pointing to the versioned file.
   Because this sets each library's SONAME to the *full version*, this enforces
   that *every* binary links with the versioned library file from now on and
-  has to be relinked with *each* new release of MoveIt!.
+  has to be relinked with *each* new release of MoveIt.
   The alternative would be to set the SONAME to `$MAJOR.$MINOR` and ignore the patch version,
   but because we currently stay with one `$MAJOR.$MINOR` number within each ROS distribution,
   we had (and likely will have) ABI changes in the `$PATCH` version releases too.
   The reason for this commit is that it is practically impossible to maintain full ABI compatibility
   within each ROS distribution and still add the the features/patches the community asks for.
-  This has resulted in more than one ABI-incompatible MoveIt! release in the recent past
+  This has resulted in more than one ABI-incompatible MoveIt release in the recent past
   within a ROS distribution. Because the libraries have not been versioned up to now,
   there was no way to indicate the incompatible changes and users who did not rebuild
   their whole workspace with the new release encountered weird and hard-to-track segfaults
diff --git a/moveit_ros/benchmarks/README.md b/moveit_ros/benchmarks/README.md
index 775e391586..ada7c8a485 100644
--- a/moveit_ros/benchmarks/README.md
+++ b/moveit_ros/benchmarks/README.md
@@ -1,4 +1,4 @@
-# MoveIt! ROS Benchmarks
+# MoveIt ROS Benchmarks
 
 This package provides methods to benchmark motion planning algorithms and aggregate/plot statistics. Results can be viewed in [Planner Arena](http://plannerarena.org/).
 
diff --git a/moveit_ros/benchmarks/examples/demo1.yaml b/moveit_ros/benchmarks/examples/demo1.yaml
index 92227c3814..b930a8187a 100644
--- a/moveit_ros/benchmarks/examples/demo1.yaml
+++ b/moveit_ros/benchmarks/examples/demo1.yaml
@@ -1,5 +1,5 @@
 # This is an example configuration that loads the "Kitchen" scene from the
-# local MoveIt! warehouse and benchmarks the "manipulator" group in the Pick1
+# local MoveIt warehouse and benchmarks the "manipulator" group in the Pick1
 # query using the Start1 initial state (all pre-stored in the local warehouse)
 
 # Three different planners from OMPL are run a total of 50 times each, with a
diff --git a/moveit_ros/benchmarks/examples/demo2.yaml b/moveit_ros/benchmarks/examples/demo2.yaml
index 9151abf075..ba6048b01a 100644
--- a/moveit_ros/benchmarks/examples/demo2.yaml
+++ b/moveit_ros/benchmarks/examples/demo2.yaml
@@ -1,5 +1,5 @@
 # This is an example configuration that loads the "Kitchen" scene from the
-# local MoveIt! warehouse and benchmarks the "manipulator" group over all pairs
+# local MoveIt warehouse and benchmarks the "manipulator" group over all pairs
 # of motion plan queries and start states in the Kitchen scene.
 
 # Five planners from two different plugins are run a total of 50 times each, with a
diff --git a/moveit_ros/benchmarks/examples/demo_obstacles.yaml b/moveit_ros/benchmarks/examples/demo_obstacles.yaml
index 70c7604e03..8616b78596 100644
--- a/moveit_ros/benchmarks/examples/demo_obstacles.yaml
+++ b/moveit_ros/benchmarks/examples/demo_obstacles.yaml
@@ -1,5 +1,5 @@
 # This is an example configuration that loads the "Kitchen" scene from the
-# local MoveIt! warehouse and benchmarks the "manipulator" group over all pairs
+# local MoveIt warehouse and benchmarks the "manipulator" group over all pairs
 # of motion plan queries and start states in the Kitchen scene.
 
 # Five planners from two different plugins are run a total of 50 times each, with a
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
index 00ac5066e6..aaa20a017d 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
@@ -1,5 +1,5 @@
 # This is an example configuration that loads the "Kitchen" scene from the
-# local MoveIt! warehouse and benchmarks the "manipulator" group over all pairs
+# local MoveIt warehouse and benchmarks the "manipulator" group over all pairs
 # of motion plan queries and start states in the Kitchen scene.
 
 # Five planners from two different plugins are run a total of 50 times each, with a
diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml
index cbb64dbe81..acc1789072 100644
--- a/moveit_ros/benchmarks/package.xml
+++ b/moveit_ros/benchmarks/package.xml
@@ -2,12 +2,12 @@
   <name>moveit_ros_benchmarks</name>
   <version>1.0.1</version>
 
-  <description>Enhanced tools for benchmarks in MoveIt!</description>
+  <description>Enhanced tools for benchmarks in MoveIt</description>
 
   <author email="rluna@rice.edu">Ryan Luna</author>
 
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <url type="website">http://moveit.ros.org</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index ede31252e9..b48dd98a95 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -1063,7 +1063,7 @@ void BenchmarkExecutor::writeOutput(const BenchmarkRequest& brequest, const std:
     return;
   }
 
-  out << "MoveIt! version " << MOVEIT_VERSION << std::endl;
+  out << "MoveIt version " << MOVEIT_VERSION << std::endl;
   out << "Experiment " << brequest.name << std::endl;
   out << "Running on " << hostname << std::endl;
   out << "Starting at " << start_time << std::endl;
diff --git a/moveit_ros/manipulation/package.xml b/moveit_ros/manipulation/package.xml
index d8168e7329..6b1c82dddc 100644
--- a/moveit_ros/manipulation/package.xml
+++ b/moveit_ros/manipulation/package.xml
@@ -1,14 +1,14 @@
 <package format="2">
   <name>moveit_ros_manipulation</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! used for manipulation</description>
+  <description>Components of MoveIt used for manipulation</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
 
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml
index ffed75a12d..9c1130b9f1 100644
--- a/moveit_ros/move_group/package.xml
+++ b/moveit_ros/move_group/package.xml
@@ -7,7 +7,7 @@
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
index 51977ca919..edf4699d93 100644
--- a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
+++ b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
@@ -13,7 +13,7 @@
 	<!-- Given the published joint states, publish tf for the robot links -->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
-	<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+	<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
 	<include file="$(find moveit_resources)/fanuc_moveit_config/launch/move_group.launch">
 		<arg name="allow_trajectory_execution" value="true"/>
 		<arg name="fake_execution" value="true"/>
diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst
index d3a8959214..be0815f44c 100644
--- a/moveit_ros/moveit_ros/CHANGELOG.rst
+++ b/moveit_ros/moveit_ros/CHANGELOG.rst
@@ -30,7 +30,7 @@ Changelog for package moveit_ros
 
 0.10.2 (2018-10-24)
 -------------------
-* Fix references to MoveIt! (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
+* Fix references to MoveIt (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
 * Contributors: Mohmmad Ayman
 
 0.10.1 (2018-05-25)
diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml
index a64adef04d..60671d1f8f 100644
--- a/moveit_ros/moveit_ros/package.xml
+++ b/moveit_ros/moveit_ros/package.xml
@@ -1,7 +1,7 @@
 <package format="2">
   <name>moveit_ros</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! that use ROS</description>
+  <description>Components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
   <author email="acorn.pooley@sri.com">Acorn Pooley</author>
@@ -9,7 +9,7 @@
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
index 8c1e95689d..28c302748d 100644
--- a/moveit_ros/occupancy_map_monitor/package.xml
+++ b/moveit_ros/occupancy_map_monitor/package.xml
@@ -2,14 +2,14 @@
 <package format="2">
   <name>moveit_ros_occupancy_map_monitor</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! connecting to occupancy map</description>
+  <description>Components of MoveIt connecting to occupancy map</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="jon.binney@gmail.com">Jon Binney</author>
   <author email="gedikli@willowgarage.com">Suat Gedikli</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml
index 61033ec542..0d3a038102 100644
--- a/moveit_ros/perception/package.xml
+++ b/moveit_ros/perception/package.xml
@@ -1,14 +1,14 @@
 <package format="2">
   <name>moveit_ros_perception</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! connecting to perception</description>
+  <description>Components of MoveIt connecting to perception</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="jon.binney@gmail.com">Jon Binney</author>
   <author email="gedikli@willowgarage.com">Suat Gedikli</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/perception/semantic_world/src/semantic_world.cpp b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
index aa6d99403d..5407d287b7 100644
--- a/moveit_ros/perception/semantic_world/src/semantic_world.cpp
+++ b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
@@ -38,7 +38,7 @@
 #include <visualization_msgs/MarkerArray.h>
 #include <geometry_msgs/Quaternion.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit/semantic_world/semantic_world.h>
 #include <geometric_shapes/shape_operations.h>
 #include <moveit_msgs/PlanningScene.h>
diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml
index ee9e4f923e..c5f426ebe1 100644
--- a/moveit_ros/planning/package.xml
+++ b/moveit_ros/planning/package.xml
@@ -2,13 +2,13 @@
 <package format="2">
   <name>moveit_ros_planning</name>
   <version>1.0.1</version>
-  <description>Planning components of MoveIt! that use ROS</description>
+  <description>Planning components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
index 6c62e6d411..8095e07b78 100644
--- a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
@@ -248,7 +248,7 @@ bool plan_execution::PlanWithSensing::lookAt(const std::set<collision_detection:
 {
   if (!sensor_manager_)
   {
-    ROS_WARN("It seems looking around would be useful, but no MoveIt! Sensor Manager is loaded. Did you set "
+    ROS_WARN("It seems looking around would be useful, but no MoveIt Sensor Manager is loaded. Did you set "
              "~moveit_sensor_manager ?");
     return false;
   }
diff --git a/moveit_ros/planning/planning_components_tools/src/print_planning_scene_info.cpp b/moveit_ros/planning/planning_components_tools/src/print_planning_scene_info.cpp
index 6811f7b4e0..f7f64c761d 100644
--- a/moveit_ros/planning/planning_components_tools/src/print_planning_scene_info.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/print_planning_scene_info.cpp
@@ -38,7 +38,7 @@
 
 #include <ros/ros.h>
 
-// MoveIt!
+// MoveIt
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
index eb655c1710..11a37c9329 100644
--- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
+++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */
 
-// MoveIt!
+// MoveIt
 #include <moveit/rdf_loader/rdf_loader.h>
 #include <moveit/profiler/profiler.h>
 
diff --git a/moveit_ros/planning/trajectory_execution_manager/dox/trajectory_execution.dox b/moveit_ros/planning/trajectory_execution_manager/dox/trajectory_execution.dox
index bb4b9068a4..ab7a5e683e 100644
--- a/moveit_ros/planning/trajectory_execution_manager/dox/trajectory_execution.dox
+++ b/moveit_ros/planning/trajectory_execution_manager/dox/trajectory_execution.dox
@@ -1,11 +1,11 @@
 /** \page trajectory_execution Trajectory Execution Manager
 
-@b MoveIt! includes a library for managing controllers and the execution of trajectories. This code exists in the trajectory_execution_manager namespace.
+@b MoveIt includes a library for managing controllers and the execution of trajectories. This code exists in the trajectory_execution_manager namespace.
 
 The trajectory_execution_manager::TrajectoryExecutionManager class allows two main operations:
  - trajectory_execution_manager::TrajectoryExecutionManager::push() adds trajectories specified as a moveit_msgs::RobotTrajectory message type to a queue of trajectories to be executed in sequence. Each trajectory can be specified for any set of joints in the robot. Because controllers may only be available for certain groups of joints, this function may decide to split one trajectory into multiple ones and pass them to corresponding controllers (this time in parallel, using the same time stamp for the trajectory points). This approach assumes that controllers respect the time stamps specified for the waypoints.
  - trajectory_execution_manager::TrajectoryExecutionManager::execute() passes the appropriate trajectories to different controllers, monitors execution, optionally waits for completion of the execution and, very importantly, switches active controllers as needed (optionally) to be able to execute the specified trajectories.
 
-The functionality of the trajectory execution in MoveIt! usually needs robot-specific interaction with controllers. For this reason, the concept of a controller manager specific to MoveIt! (moveit_controller_manager::MoveItControllerManager) was defined. This is an abstract class that defines the functionality needed by trajectory_execution_manager::TrajectoryExecutionManager and needs to be implemented for each robot type. Often, the implementation of these plugins are quite similar and it is easy to modify existing code to achieve the desired functionality (see for example pr2_moveit_controller_manager::Pr2MoveItControllerManager).
+The functionality of the trajectory execution in MoveIt usually needs robot-specific interaction with controllers. For this reason, the concept of a controller manager specific to MoveIt (moveit_controller_manager::MoveItControllerManager) was defined. This is an abstract class that defines the functionality needed by trajectory_execution_manager::TrajectoryExecutionManager and needs to be implemented for each robot type. Often, the implementation of these plugins are quite similar and it is easy to modify existing code to achieve the desired functionality (see for example pr2_moveit_controller_manager::Pr2MoveItControllerManager).
 
 */
\ No newline at end of file
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 727b626fbe..1f919b0960 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -58,7 +58,7 @@
 
 namespace moveit
 {
-/** \brief Simple interface to MoveIt! components */
+/** \brief Simple interface to MoveIt components */
 namespace planning_interface
 {
 class MoveItErrorCode : public moveit_msgs::MoveItErrorCodes
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 3690783e3f..5c57d296b1 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -1,13 +1,13 @@
 <package format="2">
   <name>moveit_ros_planning_interface</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! that offer simpler interfaces to planning and execution</description>
+  <description>Components of MoveIt that offer simpler interfaces to planning and execution</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
index 3796d64760..e1e54a6bc9 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
@@ -42,7 +42,7 @@
 
 namespace moveit
 {
-/** \brief Tools for creating python bindings for MoveIt! */
+/** \brief Tools for creating python bindings for MoveIt */
 namespace py_bindings_tools
 {
 /** \brief The constructor of this class ensures that ros::init() has
diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst
index 93a596b313..9851f4f460 100644
--- a/moveit_ros/robot_interaction/CHANGELOG.rst
+++ b/moveit_ros/robot_interaction/CHANGELOG.rst
@@ -46,7 +46,7 @@ Changelog for package moveit_ros_robot_interaction
 
 0.10.2 (2018-10-24)
 -------------------
-* [fix] Text refrences to MoveIt! (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
+* [fix] Text refrences to MoveIt (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
 * Contributors: Mohmmad Ayman, Robert Haschke, mike lautman
 
 0.10.1 (2018-05-25)
diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml
index 25cc5b7107..83116910cf 100644
--- a/moveit_ros/robot_interaction/package.xml
+++ b/moveit_ros/robot_interaction/package.xml
@@ -1,13 +1,13 @@
 <package format="2">
   <name>moveit_ros_robot_interaction</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! that offer interaction via interactive markers</description>
+  <description>Components of MoveIt that offer interaction via interactive markers</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
   <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
index f2773ed915..87c1321723 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
@@ -81,7 +81,7 @@ void MotionPlanningFrame::planningAlgorithmIndexChanged(int index)
 
 void MotionPlanningFrame::resetDbButtonClicked()
 {
-  if (QMessageBox::warning(this, "Data about to be deleted", "The following dialog will allow you to drop a MoveIt! "
+  if (QMessageBox::warning(this, "Data about to be deleted", "The following dialog will allow you to drop a MoveIt "
                                                              "Warehouse database. Are you sure you want to continue?",
                            QMessageBox::Yes | QMessageBox::No) == QMessageBox::No)
     return;
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index b0debfae37..0f6825b916 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -11,7 +11,7 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>MoveIt! Planning Frame</string>
+   <string>MoveIt Planning Frame</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_5">
    <item>
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index 7b93f92cb1..a0f4183906 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -1,7 +1,7 @@
 <package format="2">
   <name>moveit_ros_visualization</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! that offer visualization</description>
+  <description>Components of MoveIt that offer visualization</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="dave@picknik.ai">Dave Coleman</author>
@@ -9,7 +9,7 @@
 
   <maintainer email="jon.binney@gmail.com">Jon Binney</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
index 0ad0a176d6..3868b0e3ad 100644
--- a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
+++ b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
@@ -35,7 +35,7 @@
 # ********************************************************************/
 
 #   Author: Ryohei Ueda, Dave Coleman
-#   Desc:   Interface between PS3/XBox controller and MoveIt! Motion Planning Rviz Plugin
+#   Desc:   Interface between PS3/XBox controller and MoveIt Motion Planning Rviz Plugin
 
 from __future__ import print_function
 
diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst
index e3d3c6dd37..ee636c4c9d 100644
--- a/moveit_ros/warehouse/CHANGELOG.rst
+++ b/moveit_ros/warehouse/CHANGELOG.rst
@@ -32,7 +32,7 @@ Changelog for package moveit_ros_warehouse
 
 0.10.2 (2018-10-24)
 -------------------
-* [fix] Text refrences to MoveIt! (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
+* [fix] Text refrences to MoveIt (`#1020 <https://github.com/ros-planning/moveit/issues/1020>`_)
 * [enhancement] warehouse: added params for timeout + #retries (`#1008 <https://github.com/ros-planning/moveit/issues/1008>`_)
 * [maintenance] various compiler warnings (`#1038 <https://github.com/ros-planning/moveit/issues/1038>`_)
 * Contributors: Mohmmad Ayman, Robert Haschke, dg-shadow, mike lautman
diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml
index 976cdd1c79..14512ec42f 100644
--- a/moveit_ros/warehouse/package.xml
+++ b/moveit_ros/warehouse/package.xml
@@ -1,12 +1,12 @@
 <package format="2">
   <name>moveit_ros_warehouse</name>
   <version>1.0.1</version>
-  <description>Components of MoveIt! connecting to MongoDB</description>
+  <description>Components of MoveIt connecting to MongoDB</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
 
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
index 28cc32568f..595cae59c1 100644
--- a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
+++ b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
@@ -132,7 +132,7 @@ int main(int argc, char** argv)
     cs.addConstraints(cmsg, psm.getRobotModel()->getName(), jmg->getName());
     ROS_INFO("Added default constraint: '%s'", cmsg.name.c_str());
   }
-  ROS_INFO("Default MoveIt! Warehouse was reset.");
+  ROS_INFO("Default MoveIt Warehouse was reset.");
 
   ros::shutdown();
 
diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml
index 8efd4a159f..f331186799 100644
--- a/moveit_runtime/package.xml
+++ b/moveit_runtime/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>moveit_runtime</name>
   <version>1.0.1</version>
-  <description>moveit_runtime meta package contains MoveIt! packages that are essential for its runtime (e.g. running MoveIt! on robots).</description>
+  <description>moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).</description>
 
   <author email="gm130s@gmail.com">Isaac I. Y. Saito</author>
   <maintainer email="gm130s@gmail.com">Isaac I. Y. Saito</maintainer>
diff --git a/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/CHANGELOG.rst
index a117cec6fa..dba4173b1f 100644
--- a/moveit_setup_assistant/CHANGELOG.rst
+++ b/moveit_setup_assistant/CHANGELOG.rst
@@ -51,7 +51,7 @@ Changelog for package moveit_setup_assistant
 * [capability][chomp] Failure recovery options for CHOMP by tweaking parameters (`#987 <https://github.com/ros-planning/moveit/issues/987>`_)
 * [capability] New screen for automatically generating interfaces to low level controllers(`#951 <https://github.com/ros-planning/moveit/issues/951>`_, `#994 <https://github.com/ros-planning/moveit/issues/994>`_, `#908 <https://github.com/ros-planning/moveit/issues/908>`_)
 * [capability] Perception screen for using laser scanner point clouds. (`#969 <https://github.com/ros-planning/moveit/issues/969>`_)
-* [enhancement][GUI] Logo for MoveIt! 2.0, cleanup appearance (`#1059 <https://github.com/ros-planning/moveit/issues/1059>`_)
+* [enhancement][GUI] Logo for MoveIt 2.0, cleanup appearance (`#1059 <https://github.com/ros-planning/moveit/issues/1059>`_)
 * [enhancement][GUI] added a setup assistant window icon (`#1028 <https://github.com/ros-planning/moveit/issues/1028>`_)
 * [enhancement][GUI] Planning Groups screen (`#1017 <https://github.com/ros-planning/moveit/issues/1017>`_)
 * [enhancement] use panda for test, and write test file in tmp dir (`#1042 <https://github.com/ros-planning/moveit/issues/1042>`_)
diff --git a/moveit_setup_assistant/README.md b/moveit_setup_assistant/README.md
index 07feef853a..f346ead9ae 100644
--- a/moveit_setup_assistant/README.md
+++ b/moveit_setup_assistant/README.md
@@ -1 +1 @@
-# MoveIt! Setup Assistant
+# MoveIt Setup Assistant
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index 788cfa0111..59b598bc45 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -175,7 +175,7 @@ class GenericParameter
 MOVEIT_CLASS_FORWARD(MoveItConfigData);
 
 /** \brief This class is shared with all widgets and contains the common configuration data
-    needed for generating each robot's MoveIt! configuration package.
+    needed for generating each robot's MoveIt configuration package.
 
     All SRDF data is contained in a subclass of this class -
     srdf_writer.cpp. This class also contains the functions for writing
@@ -203,7 +203,7 @@ class MoveItConfigData
   };
   unsigned long changes;  // bitfield of changes (composed of InformationFields)
 
-  // All of the data needed for creating a MoveIt! Configuration Files
+  // All of the data needed for creating a MoveIt Configuration Files
 
   // ******************************************************************************************
   // URDF Data
@@ -411,7 +411,7 @@ class MoveItConfigData
   bool createFullSRDFPath(const std::string& package_path);
 
   /**
-   * Input .setup_assistant file - contains data used for the MoveIt! Setup Assistant
+   * Input .setup_assistant file - contains data used for the MoveIt Setup Assistant
    *
    * @param file_path path to .setup_assistant file
    * @return true if the file was read correctly
diff --git a/moveit_setup_assistant/launch/setup_assistant.launch b/moveit_setup_assistant/launch/setup_assistant.launch
index 4d908ba325..852c19c4ce 100644
--- a/moveit_setup_assistant/launch/setup_assistant.launch
+++ b/moveit_setup_assistant/launch/setup_assistant.launch
@@ -1,4 +1,4 @@
-<!-- Launch the MoveIt! Setup Assistant, or just use rosrun -->
+<!-- Launch the MoveIt Setup Assistant, or just use rosrun -->
 <launch>
 
   <!-- Debug Info -->
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 6db06b5a51..99c93b56e0 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -2,13 +2,13 @@
   <name>moveit_setup_assistant</name>
   <version>1.0.1</version>
 
-  <description>Generates a configuration package that makes it easy to use MoveIt!</description>
+  <description>Generates a configuration package that makes it easy to use MoveIt</description>
 
   <author email="dave@picknik.ai">Dave Coleman</author>
 
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_setup_assistant/resources/source/MoveIt_Setup_Asst_Sm.xcf b/moveit_setup_assistant/resources/source/MoveIt_Setup_Asst_Sm.xcf
index a3935559fdfbbb8d36e572704d1b2a534e02501e..a468ef57307a08794ec3366349620ec59989c688 100644
GIT binary patch
delta 60
zcmbR8MQp+su?<TZCof~%$F2~ZT2fk|u-RWsk8$%X=Di$~BX|xrOYyc#@iGE26A&{4
MG0S!-Ue;f00IvKK=l}o!

delta 67
zcmbR6MQq9!u?<TZ85JilW!%T1s1Tf5Qd*#}*;`DHaq|r3y&OP^P@aQ~ip^rY?P9!)
SK+FWh%s|YtU5uCY*BSr@FceMz

diff --git a/moveit_setup_assistant/src/collisions_updater.cpp b/moveit_setup_assistant/src/collisions_updater.cpp
index b5f16d98c4..e6d2e015b9 100644
--- a/moveit_setup_assistant/src/collisions_updater.cpp
+++ b/moveit_setup_assistant/src/collisions_updater.cpp
@@ -127,7 +127,7 @@ int main(int argc, char* argv[])
   uint32_t never_trials = 0;
 
   po::options_description desc("Allowed options");
-  desc.add_options()("help", "show help")("config-pkg", po::value(&config_pkg_path), "path to MoveIt! config package")(
+  desc.add_options()("help", "show help")("config-pkg", po::value(&config_pkg_path), "path to MoveIt config package")(
       "urdf", po::value(&urdf_path),
       "path to URDF ( or xacro)")("srdf", po::value(&srdf_path),
                                   "path to SRDF ( or xacro)")("output", po::value(&output_path), "output path for SRDF")
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 124246f6c1..527efe5463 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -63,7 +63,7 @@ MoveItConfigData::MoveItConfigData() : config_pkg_generated_timestamp_(0)
   // Not in debug mode
   debug_ = false;
 
-  // Get MoveIt! Setup Assistant package path
+  // Get MoveIt Setup Assistant package path
   setup_assistant_path_ = ros::package::getPath("moveit_setup_assistant");
   if (setup_assistant_path_.empty())
   {
@@ -148,7 +148,7 @@ void MoveItConfigData::loadAllowedCollisionMatrix()
 }
 
 // ******************************************************************************************
-// Output MoveIt! Setup Assistant hidden settings file
+// Output MoveIt Setup Assistant hidden settings file
 // ******************************************************************************************
 bool MoveItConfigData::outputSetupAssistantFile(const std::string& file_path)
 {
@@ -825,7 +825,7 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
   {
     emitter << YAML::Comment("MoveIt-specific simulation settings");
     emitter << YAML::Key << "moveit_sim_hw_interface" << YAML::Value << YAML::BeginMap;
-    // MoveIt! Simulation Controller settings for setting initial pose
+    // MoveIt Simulation Controller settings for setting initial pose
     {
       emitter << YAML::Key << "joint_model_group";
       emitter << YAML::Value << "controllers_initial_group_";
@@ -1522,7 +1522,7 @@ bool MoveItConfigData::createFullSRDFPath(const std::string& package_path)
 }
 
 // ******************************************************************************************
-// Input .setup_assistant file - contains data used for the MoveIt! Setup Assistant
+// Input .setup_assistant file - contains data used for the MoveIt Setup Assistant
 // ******************************************************************************************
 bool MoveItConfigData::inputSetupAssistantYAML(const std::string& file_path)
 {
diff --git a/moveit_setup_assistant/src/widgets/author_information_widget.cpp b/moveit_setup_assistant/src/widgets/author_information_widget.cpp
index fc9dc50727..a73c84e2ec 100644
--- a/moveit_setup_assistant/src/widgets/author_information_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/author_information_widget.cpp
@@ -47,7 +47,7 @@
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************
-// Outer User Interface for MoveIt! Configuration Assistant
+// Outer User Interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 AuthorInformationWidget::AuthorInformationWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
   : SetupScreenWidget(parent), config_data_(config_data)
@@ -66,7 +66,7 @@ AuthorInformationWidget::AuthorInformationWidget(QWidget* parent, const MoveItCo
   layout->addWidget(header);
 
   QLabel* name_title = new QLabel(this);
-  name_title->setText("Name of the maintainer this MoveIt! configuration:");
+  name_title->setText("Name of the maintainer this MoveIt configuration:");
   layout->addWidget(name_title);
 
   name_edit_ = new QLineEdit(this);
@@ -74,7 +74,7 @@ AuthorInformationWidget::AuthorInformationWidget(QWidget* parent, const MoveItCo
   layout->addWidget(name_edit_);
 
   QLabel* email_title = new QLabel(this);
-  email_title->setText("Email of the maintainer of this MoveIt! configuration:");
+  email_title->setText("Email of the maintainer of this MoveIt configuration:");
   layout->addWidget(email_title);
 
   email_edit_ = new QLineEdit(this);
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 4b1097d974..5356e9801b 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -60,7 +60,7 @@ namespace fs = boost::filesystem;
 const std::string SETUP_ASSISTANT_FILE = ".setup_assistant";
 
 // ******************************************************************************************
-// Outer User Interface for MoveIt! Configuration Assistant
+// Outer User Interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 ConfigurationFilesWidget::ConfigurationFilesWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
   : SetupScreenWidget(parent), config_data_(config_data), has_generated_pkg_(false), first_focusGiven_(true)
@@ -82,7 +82,7 @@ ConfigurationFilesWidget::ConfigurationFilesWidget(QWidget* parent, const MoveIt
 
   // Stack Path Dialog
   stack_path_ = new LoadPathWidget("Configuration Package Save Path",
-                                   "Specify the desired directory for the MoveIt! configuration package to be "
+                                   "Specify the desired directory for the MoveIt configuration package to be "
                                    "generated. Overwriting an existing configuration package directory is acceptable. "
                                    "Example: <i>/u/robot/ros/panda_moveit_config</i>",
                                    this, true);  // is directory
@@ -225,7 +225,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   // config/ --------------------------------------------------------------------------------------
   file.file_name_ = "config/";
   file.rel_path_ = file.file_name_;
-  file.description_ = "Folder containing all MoveIt! configuration files for your robot. This folder is required and "
+  file.description_ = "Folder containing all MoveIt configuration files for your robot. This folder is required and "
                       "cannot be disabled.";
   file.gen_func_ = boost::bind(&ConfigurationFilesWidget::createFolder, this, _1);
   file.write_on_changes = 0;
@@ -325,9 +325,8 @@ bool ConfigurationFilesWidget::loadGenFiles()
   // launch/ --------------------------------------------------------------------------------------
   file.file_name_ = "launch/";
   file.rel_path_ = file.file_name_;
-  file.description_ =
-      "Folder containing all MoveIt! launch files for your robot. This folder is required and cannot be "
-      "disabled.";
+  file.description_ = "Folder containing all MoveIt launch files for your robot. "
+                      "This folder is required and cannot be disabled.";
   file.gen_func_ = boost::bind(&ConfigurationFilesWidget::createFolder, this, _1);
   file.write_on_changes = 0;
   gen_files_.push_back(file);
@@ -445,7 +444,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.file_name_ = robot_name + "_moveit_controller_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
   template_path = config_data_->appendPaths(template_launch_path, "moveit_controller_manager.launch.xml");
-  file.description_ = "Placeholder for settings specific to the MoveIt! controller manager implemented for you robot.";
+  file.description_ = "Placeholder for settings specific to the MoveIt controller manager implemented for you robot.";
   file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
   file.write_on_changes = 0;
   gen_files_.push_back(file);
@@ -454,7 +453,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.file_name_ = robot_name + "_moveit_sensor_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
   template_path = config_data_->appendPaths(template_launch_path, "moveit_sensor_manager.launch.xml");
-  file.description_ = "Placeholder for settings specific to the MoveIt! sensor manager implemented for you robot.";
+  file.description_ = "Placeholder for settings specific to the MoveIt sensor manager implemented for you robot.";
   file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
   file.write_on_changes = 0;
   gen_files_.push_back(file);
@@ -520,7 +519,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   template_path = config_data_->appendPaths(
       template_launch_path, "edit_configuration_package.launch");  // named this so that this launch file is not mixed
                                                                    // up with the SA's real launch file
-  file.description_ = "Launch file for easily re-starting the MoveIt! Setup Assistant to edit this robot's generated "
+  file.description_ = "Launch file for easily re-starting the MoveIt Setup Assistant to edit this robot's generated "
                       "configuration package.";
   file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
   file.write_on_changes = 0;
@@ -552,7 +551,7 @@ bool ConfigurationFilesWidget::loadGenFiles()
   // .setup_assistant ------------------------------------------------------------------
   file.file_name_ = SETUP_ASSISTANT_FILE;
   file.rel_path_ = file.file_name_;
-  file.description_ = "MoveIt! Setup Assistant's hidden settings file. You should not need to edit this file.";
+  file.description_ = "MoveIt Setup Assistant's hidden settings file. You should not need to edit this file.";
   file.gen_func_ = boost::bind(&MoveItConfigData::outputSetupAssistantFile, config_data_, _1);
   file.write_on_changes = -1;  // write on any changes
   gen_files_.push_back(file);
@@ -635,7 +634,7 @@ bool ConfigurationFilesWidget::checkDependencies()
     if (!required_actions)
     {
       dep_message.append("</ul><br/>Press Ok to continue generating files.");
-      if (QMessageBox::question(this, "Incomplete MoveIt! Setup Assistant Steps", dep_message,
+      if (QMessageBox::question(this, "Incomplete MoveIt Setup Assistant Steps", dep_message,
                                 QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
       {
         return false;  // abort
@@ -643,7 +642,7 @@ bool ConfigurationFilesWidget::checkDependencies()
     }
     else
     {
-      QMessageBox::warning(this, "Incomplete MoveIt! Setup Assistant Steps", dep_message);
+      QMessageBox::warning(this, "Incomplete MoveIt Setup Assistant Steps", dep_message);
       return false;
     }
   }
@@ -885,7 +884,7 @@ bool ConfigurationFilesWidget::generatePackage()
   if (new_package_path.empty())
   {
     QMessageBox::warning(this, "Error Generating", "No package path provided. Please choose a directory location to "
-                                                   "generate the MoveIt! configuration files.");
+                                                   "generate the MoveIt configuration files.");
     return false;
   }
 
@@ -913,7 +912,7 @@ bool ConfigurationFilesWidget::generatePackage()
     {
       QMessageBox::warning(
           this, "Incorrect Folder/Package",
-          QString("The chosen package location already exists but was not previously created using this MoveIt! Setup "
+          QString("The chosen package location already exists but was not previously created using this MoveIt Setup "
                   "Assistant. "
                   "If this is a mistake, add the missing file: ")
               .append(setup_assistant_file.c_str()));
@@ -986,7 +985,7 @@ void ConfigurationFilesWidget::exitSetupAssistant()
 {
   if (has_generated_pkg_ ||
       QMessageBox::question(this, "Exit Setup Assistant",
-                            QString("Are you sure you want to exit the MoveIt! Setup Assistant?"),
+                            QString("Are you sure you want to exit the MoveIt Setup Assistant?"),
                             QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Ok)
   {
     QApplication::quit();
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index c822edd000..ed1643ea86 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -250,7 +250,7 @@ void GroupEditWidget::setSelected(const std::string& group_name)
                          QString("Unable to find the kinematic solver '")
                              .append(kin_solver.c_str())
                              .append("'. Trying running rosmake for this package. Until fixed, this setting will be "
-                                     "lost the next time the MoveIt! configuration files are generated"));
+                                     "lost the next time the MoveIt configuration files are generated"));
     return;
   }
   else
@@ -318,7 +318,7 @@ void GroupEditWidget::loadKinematicPlannersComboBox()
   // Warn if no plugins are found
   if (classes.empty())
   {
-    QMessageBox::warning(this, "Missing Kinematic Solvers", "No MoveIt!-compatible kinematics solvers found. Try "
+    QMessageBox::warning(this, "Missing Kinematic Solvers", "No MoveIt-compatible kinematics solvers found. Try "
                                                             "installing moveit_kinematics (sudo apt-get install "
                                                             "ros-${ROS_DISTRO}-moveit-kinematics)");
     return;
diff --git a/moveit_setup_assistant/src/widgets/perception_widget.cpp b/moveit_setup_assistant/src/widgets/perception_widget.cpp
index cc13ee2226..6af5bc8dfe 100644
--- a/moveit_setup_assistant/src/widgets/perception_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/perception_widget.cpp
@@ -57,7 +57,7 @@ PerceptionWidget::PerceptionWidget(QWidget* parent, const MoveItConfigDataPtr& c
 
   HeaderWidget* header =
       new HeaderWidget("Setup 3D Perception Sensors",
-                       "Configure your 3D sensors to work with Moveit! "
+                       "Configure your 3D sensors to work with Moveit "
                        "Please see <a "
                        "href='http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/perception_pipeline/"
                        "perception_pipeline_tutorial.html'>Perception Documentation</a> "
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index a014914fc7..195bf6395b 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -374,7 +374,7 @@ void PlanningGroupsWidget::loadGroupsTreeRecursive(srdf::Model::Group& group_it,
   {
     warn_once = false;
     QMessageBox::warning(this, "Group with Multiple Kinematic Chains",
-                         "Warning: this MoveIt! Setup Assistant is only designed to handle one kinematic chain per "
+                         "Warning: this MoveIt Setup Assistant is only designed to handle one kinematic chain per "
                          "group. The loaded SRDF has more than one kinematic chain for a group. A possible loss of "
                          "data may occur.");
   }
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 501cb4a87e..6d8c9ab840 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -49,7 +49,7 @@
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************
-// Outer User Interface for MoveIt! Configuration Assistant
+// Outer User Interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 RobotPosesWidget::RobotPosesWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
   : SetupScreenWidget(parent), config_data_(config_data)
@@ -93,7 +93,7 @@ RobotPosesWidget::RobotPosesWidget(QWidget* parent, const MoveItConfigDataPtr& c
   pub_robot_state_ = nh.advertise<moveit_msgs::DisplayRobotState>(MOVEIT_ROBOT_STATE, 1);
 
   // Set the planning scene
-  config_data_->getPlanningScene()->setName("MoveIt! Planning Scene");
+  config_data_->getPlanningScene()->setName("MoveIt Planning Scene");
 
   // Collision Detection initializtion -------------------------------
 
@@ -144,7 +144,7 @@ QWidget* RobotPosesWidget::createContentsWidget()
   controls_layout->setAlignment(btn_default, Qt::AlignLeft);
 
   // Set play button
-  QPushButton* btn_play = new QPushButton("&MoveIt!", this);
+  QPushButton* btn_play = new QPushButton("&MoveIt", this);
   btn_play->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
   btn_play->setMaximumWidth(300);
   connect(btn_play, SIGNAL(clicked()), this, SLOT(playPoses()));
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index 05f27403bf..815045ca34 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -49,7 +49,7 @@
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************
-// Outer User Interface for MoveIt! Configuration Assistant
+// Outer User Interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 ROSControllersWidget::ROSControllersWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
   : SetupScreenWidget(parent), config_data_(config_data)
@@ -64,7 +64,7 @@ ROSControllersWidget::ROSControllersWidget(QWidget* parent, const MoveItConfigDa
 
   // Top Header Area ------------------------------------------------
   moveit_setup_assistant::HeaderWidget* header = new moveit_setup_assistant::HeaderWidget(
-      "Setup ROS Controllers", "Configure MoveIt! to work with ROS Control to control the robot's physical hardware",
+      "Setup ROS Controllers", "Configure MoveIt to work with ROS Control to control the robot's physical hardware",
       this);
   layout->addWidget(header);
 
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 1f7f0595b4..a2b1a1fb07 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -58,7 +58,7 @@
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************
-// Outer User Interface for MoveIt! Configuration Assistant
+// Outer User Interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program_options::variables_map& args)
   : QWidget(parent)
@@ -66,7 +66,7 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   rviz_manager_ = nullptr;
   rviz_render_panel_ = nullptr;
 
-  // Create object to hold all MoveIt! configuration data
+  // Create object to hold all MoveIt configuration data
   config_data_.reset(new MoveItConfigData());
 
   // Set debug mode flag if necessary
@@ -164,7 +164,7 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   this->setLayout(layout);
 
   // Title
-  this->setWindowTitle("MoveIt! Setup Assistant");  // title of window
+  this->setWindowTitle("MoveIt Setup Assistant");  // title of window
 
   // Show screen before message
   QApplication::processEvents();
@@ -391,7 +391,7 @@ void SetupAssistantWidget::loadRviz()
   // Set the fixed and target frame
   rviz_manager_->setFixedFrame(QString::fromStdString(config_data_->getRobotModel()->getModelFrame()));
 
-  // Create the MoveIt! Rviz Plugin and attach to display
+  // Create the MoveIt Rviz Plugin and attach to display
   robot_state_display_ = new moveit_rviz_plugin::RobotStateDisplay();
   robot_state_display_->setName("Robot State");
 
@@ -484,7 +484,7 @@ void SetupAssistantWidget::closeEvent(QCloseEvent* event)
   if (!config_data_->debug_)
   {
     if (QMessageBox::question(this, "Exit Setup Assistant",
-                              QString("Are you sure you want to exit the MoveIt! Setup Assistant?"),
+                              QString("Are you sure you want to exit the MoveIt Setup Assistant?"),
                               QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
     {
       event->ignore();
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.cpp b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
index abac044fb7..e5bc3ed2df 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
@@ -63,7 +63,7 @@ SimulationWidget::SimulationWidget(QWidget* parent, const MoveItConfigDataPtr& c
 
   HeaderWidget* header =
       new HeaderWidget("Simulate With Gazebo", "The following tool will auto-generate the URDF changes needed "
-                                               "for Gazebo compatibility with ROSControl and MoveIt!. The "
+                                               "for Gazebo compatibility with ROSControl and MoveIt. The "
                                                "needed changes are shown in green.",
                        this);
   layout->addWidget(header);
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index fe54c91fa2..10320c3b1f 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -65,7 +65,7 @@ namespace moveit_setup_assistant
 namespace fs = boost::filesystem;
 
 // ******************************************************************************************
-// Start screen user interface for MoveIt! Configuration Assistant
+// Start screen user interface for MoveIt Configuration Assistant
 // ******************************************************************************************
 StartScreenWidget::StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
   : SetupScreenWidget(parent), config_data_(config_data)
@@ -104,9 +104,9 @@ StartScreenWidget::StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr&
 
   // Top Label Area ---------------------------------------------------
   HeaderWidget* header =
-      new HeaderWidget("MoveIt! Setup Assistant", "These tools will assist you in creating a Semantic Robot "
-                                                  "Description Format (SRDF) file, various yaml configuration and many "
-                                                  "roslaunch files for utilizing all aspects of MoveIt! functionality.",
+      new HeaderWidget("MoveIt Setup Assistant", "These tools will assist you in creating a Semantic Robot "
+                                                 "Description Format (SRDF) file, various yaml configuration and many "
+                                                 "roslaunch files for utilizing all aspects of MoveIt functionality.",
                        this);
   layout->addWidget(header);
 
@@ -120,8 +120,8 @@ StartScreenWidget::StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr&
 
   // Stack Path Dialog
   stack_path_ =
-      new LoadPathArgsWidget("Load MoveIt! Configuration Package",
-                             "Specify the package name or path of an existing MoveIt! configuration package to be "
+      new LoadPathArgsWidget("Load MoveIt Configuration Package",
+                             "Specify the package name or path of an existing MoveIt configuration package to be "
                              "edited for your robot. Example package name: <i>panda_moveit_config</i>",
                              "optional xacro arguments:", this, true);  // directory
   // user needs to select option before this is shown
@@ -332,7 +332,7 @@ bool StartScreenWidget::loadPackageSettings(bool show_warnings)
     if (show_warnings)
       QMessageBox::warning(
           this, "Incorrect Directory/Package",
-          QString("The chosen package location exists but was not created using MoveIt! Setup Assistant. "
+          QString("The chosen package location exists but was not created using MoveIt Setup Assistant. "
                   "If this is a mistake, provide the missing file: ")
               .append(setup_assistant_path.c_str()));
     return false;
@@ -827,9 +827,9 @@ SelectModeWidget::SelectModeWidget(QWidget* parent) : QFrame(parent)
   widget_instructions_->setWordWrap(true);
   widget_instructions_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
   widget_instructions_->setText(
-      "All settings for MoveIt! are stored in the MoveIt! configuration package. Here you have "
+      "All settings for MoveIt are stored in the MoveIt configuration package. Here you have "
       "the option to create a new configuration package or load an existing one. Note: "
-      "changes to a MoveIt! configuration package outside this Setup Assistant are likely to be "
+      "changes to a MoveIt configuration package outside this Setup Assistant are likely to be "
       "overwritten by this tool.");
 
   layout->addWidget(widget_instructions_);
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.h b/moveit_setup_assistant/src/widgets/start_screen_widget.h
index 6e0a83a37f..8a75e38c58 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.h
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.h
@@ -59,7 +59,7 @@ class SelectModeWidget;
 class LoadPathArgsWidget;
 
 /**
- * \brief Start screen user interface for MoveIt! Configuration Assistant
+ * \brief Start screen user interface for MoveIt Configuration Assistant
  */
 class StartScreenWidget : public SetupScreenWidget
 {
@@ -71,7 +71,7 @@ class StartScreenWidget : public SetupScreenWidget
   // ******************************************************************************************
 
   /**
-   * \brief Start screen user interface for MoveIt! Configuration Assistant
+   * \brief Start screen user interface for MoveIt Configuration Assistant
    */
   StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
index 33d6ce4a57..1f83008b8d 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt! -->
+   <!-- CHOMP Plugin for MoveIt -->
    <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
    <arg name="start_state_max_bounds_error" value="0.1" />
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
index a66b756773..7cb5bebbf7 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
@@ -14,7 +14,7 @@
   <!--
   By default, hide joint_state_publisher's GUI
 
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
   The latter one maintains and publishes the current joint configuration of the simulated robot.
   It also provides a GUI to move the simulated robot around "manually".
   This corresponds to moving around the real robot without the use of MoveIt.
@@ -38,7 +38,7 @@
   <!-- Given the published joint states, publish tf for the robot links -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
   <include file="$(find [GENERATED_PACKAGE_NAME])/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
index ec5d85541d..cf4d1981c9 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
@@ -11,7 +11,7 @@
   <!--
   By default, hide joint_state_publisher's GUI
 
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
   The latter one maintains and publishes the current joint configuration of the simulated robot.
   It also provides a GUI to move the simulated robot around "manually".
   This corresponds to moving around the real robot without the use of MoveIt.
@@ -48,7 +48,7 @@
   <!-- Given the published joint states, publish tf for the robot links -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
   <include file="$(find [GENERATED_PACKAGE_NAME])/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="false"/>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
index 6a313304a9..04d28dac6e 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
@@ -1,4 +1,4 @@
-<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 <launch>
 
   <!-- Debug Info -->
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
index 7b2ad777a2..eb408ed545 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
@@ -1,6 +1,6 @@
 <launch>
 
-  <!-- OMPL Plugin for MoveIt! -->
+  <!-- OMPL Plugin for MoveIt -->
   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 
   <!-- The request adapters (plugins) used when planning with OMPL.
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
index 9354d7a7c1..aec604748b 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
@@ -2,7 +2,7 @@
 
   <!-- This file makes it easy to include the settings for trajectory execution  -->
 
-  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
   <arg name="moveit_manage_controllers" default="true"/>
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
index ba305540fc..bf69cdf642 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
@@ -3,7 +3,7 @@
   <name>[GENERATED_PACKAGE_NAME]</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the [ROBOT_NAME] with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the [ROBOT_NAME] with the MoveIt Motion Planning Framework
   </description>
   <author email="[AUTHOR_EMAIL]">[AUTHOR_NAME]</author>
   <maintainer email="[AUTHOR_EMAIL]">[AUTHOR_NAME]</maintainer>
diff --git a/moveit_setup_assistant/test/moveit_config_data_test.cpp b/moveit_setup_assistant/test/moveit_config_data_test.cpp
index 911be67575..9cd489015d 100644
--- a/moveit_setup_assistant/test/moveit_config_data_test.cpp
+++ b/moveit_setup_assistant/test/moveit_config_data_test.cpp
@@ -106,7 +106,7 @@ TEST_F(MoveItConfigData, ReadingControllers)
   // ros_controller.yaml written correctly
   EXPECT_EQ(config_data->outputROSControllersYAML(test_file), true);
 
-  // Reset MoveIt! config MoveItConfigData
+  // Reset MoveIt config MoveItConfigData
   config_data.reset(new moveit_setup_assistant::MoveItConfigData());
 
   // Initially no controllers

From 8e9cc3cfcf01ce0df09f010a023e364c6fb6c6a2 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 7 Aug 2019 05:44:53 -0600
Subject: [PATCH 009/612] Small tweaks to the pull request template (#1582)

---
 .github/PULL_REQUEST_TEMPLATE.md | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index 81764f54b6..e653cc1ef4 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -4,11 +4,10 @@ Please explain the changes you made, including a reference to the related issue
 
 ### Checklist
 - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
-- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)
+- [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/)
+- [ ] Document API changes relevant to the user in the MIGRATION.md notes
+- [ ] Create tests, which fail without this PR [reference](https://ros-planning.github.io/moveit_tutorials/)
 - [ ] Include a screenshot if changing a GUI
-- [ ] Document API changes relevant to the user in the moveit/MIGRATION.md notes
-- [ ] Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)
-- [ ] Decide if this should be cherry-picked to other current ROS branches
-- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers
 
 [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

From bd3a2396750b1ba4fd632511c2496bc81ab54661 Mon Sep 17 00:00:00 2001
From: SansoneG <50736605+SansoneG@users.noreply.github.com>
Date: Wed, 7 Aug 2019 14:12:37 +0200
Subject: [PATCH 010/612] Change 2nd order Butterworth low pass filter to 1st
 order (#1483)

---
 .../jog_arm/include/jog_arm/low_pass_filter.h     |  9 +++++----
 .../jog_arm/src/jog_arm/low_pass_filter.cpp       | 15 ++++-----------
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h b/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
index e9c9a767c7..d6b4402072 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
@@ -44,8 +44,9 @@ namespace jog_arm
 {
 /**
  * Class LowPassFilter - Filter a signal to soften jerks.
- * This is a second-order Butterworth low-pass filter.
- * See https://ccrma.stanford.edu/~jos/filters/Example_Second_Order_Butterworth_Lowpass.html
+ * This is a first-order Butterworth low-pass filter.
+ *
+ * TODO: Use ROS filters package (http://wiki.ros.org/filters, https://github.com/ros/filters)
  */
 class LowPassFilter
 {
@@ -55,8 +56,8 @@ class LowPassFilter
   void reset(double data);
 
 private:
-  double previous_measurements_[3] = { 0., 0., 0. };
-  double previous_filtered_measurements_[2] = { 0., 0. };
+  double previous_measurements_[2] = { 0., 0. };
+  double previous_filtered_measurement_ = 0.;
   // Larger filter_coeff-> more smoothing of jog commands, but more lag.
   // Rough plot, with cutoff frequency on the y-axis:
   // https://www.wolframalpha.com/input/?i=plot+arccot(c)
diff --git a/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp b/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp
index fcec7bdaa1..719011f9e1 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp
@@ -50,28 +50,21 @@ void LowPassFilter::reset(double data)
 {
   previous_measurements_[0] = data;
   previous_measurements_[1] = data;
-  previous_measurements_[2] = data;
 
-  previous_filtered_measurements_[0] = data;
-  previous_filtered_measurements_[1] = data;
+  previous_filtered_measurement_ = data;
 }
 
 double LowPassFilter::filter(double new_measurement)
 {
   // Push in the new measurement
-  previous_measurements_[2] = previous_measurements_[1];
   previous_measurements_[1] = previous_measurements_[0];
   previous_measurements_[0] = new_measurement;
 
-  double new_filtered_msrmt =
-      (1. / (1. + filter_coeff_ * filter_coeff_ + 1.414 * filter_coeff_)) *
-      (previous_measurements_[2] + 2. * previous_measurements_[1] + previous_measurements_[0] -
-       (filter_coeff_ * filter_coeff_ - 1.414 * filter_coeff_ + 1.) * previous_filtered_measurements_[1] -
-       (-2. * filter_coeff_ * filter_coeff_ + 2.) * previous_filtered_measurements_[0]);
+  double new_filtered_msrmt = (1. / (1. + filter_coeff_)) * (previous_measurements_[1] + previous_measurements_[0] -
+                                                             (-filter_coeff_ + 1.) * previous_filtered_measurement_);
 
   // Store the new filtered measurement
-  previous_filtered_measurements_[1] = previous_filtered_measurements_[0];
-  previous_filtered_measurements_[0] = new_filtered_msrmt;
+  previous_filtered_measurement_ = new_filtered_msrmt;
 
   return new_filtered_msrmt;
 }

From f2bd6e9315831e10b83d3729d34bdcb74adb6ee1 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 7 Aug 2019 07:53:20 -0600
Subject: [PATCH 011/612] Rename lm to link_model (#1592)

---
 .../include/moveit/robot_state/robot_state.h  |  4 +-
 moveit_core/robot_state/src/robot_state.cpp   | 64 ++++++++++---------
 2 files changed, 35 insertions(+), 33 deletions(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 62750a6992..c65a5e7eeb 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1592,10 +1592,10 @@ as the new values that correspond to the group */
   void getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies) const;
 
   /** \brief Get all bodies attached to a particular group the model corresponding to this state */
-  void getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const JointModelGroup* lm) const;
+  void getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const JointModelGroup* group) const;
 
   /** \brief Get all bodies attached to a particular link in the model corresponding to this state */
-  void getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const LinkModel* lm) const;
+  void getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const LinkModel* link_model) const;
 
   /** \brief Remove the attached body named \e id. Return false if the object was not found (and thus not removed).
    * Return true on success. */
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index cc945513c5..756ba3a97c 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -912,11 +912,11 @@ void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bo
       attached_bodies.push_back(it.second);
 }
 
-void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const LinkModel* lm) const
+void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const LinkModel* link_model) const
 {
   attached_bodies.clear();
   for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
-    if (it.second->getAttachedLink() == lm)
+    if (it.second->getAttachedLink() == link_model)
       attached_bodies.push_back(it.second);
 }
 
@@ -1109,12 +1109,12 @@ void RobotState::getRobotMarkers(visualization_msgs::MarkerArray& arr, const std
   for (const std::string& link_name : link_names)
   {
     ROS_DEBUG_NAMED(LOGNAME, "Trying to get marker for link '%s'", link_name.c_str());
-    const LinkModel* lm = robot_model_->getLinkModel(link_name);
-    if (!lm)
+    const LinkModel* link_model = robot_model_->getLinkModel(link_name);
+    if (!link_model)
       continue;
     if (include_attached)
       for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
-        if (it.second->getAttachedLink() == lm)
+        if (it.second->getAttachedLink() == link_model)
         {
           for (std::size_t j = 0; j < it.second->getShapes().size(); ++j)
           {
@@ -1132,37 +1132,38 @@ void RobotState::getRobotMarkers(visualization_msgs::MarkerArray& arr, const std
           }
         }
 
-    if (lm->getShapes().empty())
+    if (link_model->getShapes().empty())
       continue;
 
-    for (std::size_t j = 0; j < lm->getShapes().size(); ++j)
+    for (std::size_t j = 0; j < link_model->getShapes().size(); ++j)
     {
       visualization_msgs::Marker mark;
       mark.header.frame_id = robot_model_->getModelFrame();
       mark.header.stamp = tm;
 
       // we prefer using the visual mesh, if a mesh is available and we have one body to render
-      const std::string& mesh_resource = lm->getVisualMeshFilename();
-      if (mesh_resource.empty() || lm->getShapes().size() > 1)
+      const std::string& mesh_resource = link_model->getVisualMeshFilename();
+      if (mesh_resource.empty() || link_model->getShapes().size() > 1)
       {
-        if (!shapes::constructMarkerFromShape(lm->getShapes()[j].get(), mark))
+        if (!shapes::constructMarkerFromShape(link_model->getShapes()[j].get(), mark))
           continue;
         // if the object is invisible (0 volume) we skip it
         if (fabs(mark.scale.x * mark.scale.y * mark.scale.z) < std::numeric_limits<float>::epsilon())
           continue;
-        mark.pose = tf2::toMsg(global_collision_body_transforms_[lm->getFirstCollisionBodyTransformIndex() + j]);
+        mark.pose =
+            tf2::toMsg(global_collision_body_transforms_[link_model->getFirstCollisionBodyTransformIndex() + j]);
       }
       else
       {
         mark.type = mark.MESH_RESOURCE;
         mark.mesh_use_embedded_materials = false;
         mark.mesh_resource = mesh_resource;
-        const Eigen::Vector3d& mesh_scale = lm->getVisualMeshScale();
+        const Eigen::Vector3d& mesh_scale = link_model->getVisualMeshScale();
 
         mark.scale.x = mesh_scale[0];
         mark.scale.y = mesh_scale[1];
         mark.scale.z = mesh_scale[2];
-        mark.pose = tf2::toMsg(global_link_transforms_[lm->getLinkIndex()] * lm->getVisualMeshOrigin());
+        mark.pose = tf2::toMsg(global_link_transforms_[link_model->getLinkIndex()] * link_model->getVisualMeshOrigin());
       }
 
       arr.markers.push_back(mark);
@@ -1435,13 +1436,14 @@ bool RobotState::setToIKSolverFrame(Eigen::Isometry3d& pose, const std::string&
   // Bring the pose to the frame of the IK solver
   if (!Transforms::sameFrame(ik_frame, robot_model_->getModelFrame()))
   {
-    const LinkModel* lm = getLinkModel((!ik_frame.empty() && ik_frame[0] == '/') ? ik_frame.substr(1) : ik_frame);
-    if (!lm)
+    const LinkModel* link_model =
+        getLinkModel((!ik_frame.empty() && ik_frame[0] == '/') ? ik_frame.substr(1) : ik_frame);
+    if (!link_model)
     {
       ROS_ERROR_STREAM_NAMED(LOGNAME, "IK frame '" << ik_frame << "' does not exist.");
       return false;
     }
-    pose = getGlobalLinkTransform(lm).inverse() * pose;
+    pose = getGlobalLinkTransform(link_model).inverse() * pose;
   }
   return true;
 }
@@ -1592,13 +1594,13 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is
         }
         if (pose_frame != solver_tip_frame)
         {
-          const robot_model::LinkModel* lm = getLinkModel(pose_frame);
-          if (!lm)
+          const robot_model::LinkModel* link_model = getLinkModel(pose_frame);
+          if (!link_model)
           {
             ROS_ERROR_STREAM_NAMED(LOGNAME, "Pose frame '" << pose_frame << "' does not exist.");
             return false;
           }
-          const robot_model::LinkTransformMap& fixed_links = lm->getAssociatedFixedTransforms();
+          const robot_model::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
           for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
             if (Transforms::sameFrame(fixed_link.first->getName(), solver_tip_frame))
             {
@@ -1803,10 +1805,10 @@ bool RobotState::setFromIKSubgroups(const JointModelGroup* jmg, const EigenSTL::
       }
       if (pose_frame != solver_tip_frame)
       {
-        const robot_model::LinkModel* lm = getLinkModel(pose_frame);
-        if (!lm)
+        const robot_model::LinkModel* link_model = getLinkModel(pose_frame);
+        if (!link_model)
           return false;
-        const robot_model::LinkTransformMap& fixed_links = lm->getAssociatedFixedTransforms();
+        const robot_model::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
         for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
           if (fixed_link.first->getName() == solver_tip_frame)
           {
@@ -2125,8 +2127,8 @@ void RobotState::printTransforms(std::ostream& out) const
   }
 
   out << "Link poses:" << std::endl;
-  const std::vector<const LinkModel*>& lm = robot_model_->getLinkModels();
-  for (const LinkModel* link : lm)
+  const std::vector<const LinkModel*>& link_model = robot_model_->getLinkModels();
+  for (const LinkModel* link : link_model)
   {
     out << "  " << link->getName() << ": ";
     printTransform(global_link_transforms_[link->getLinkIndex()], out);
@@ -2173,19 +2175,19 @@ void RobotState::getStateTreeJointString(std::ostream& ss, const JointModel* jm,
     ss << pfx << jm->getVariableNames()[i] << std::setw(12) << position_[jm->getFirstVariableIndex() + i] << std::endl;
   }
 
-  const LinkModel* lm = jm->getChildLinkModel();
+  const LinkModel* link_model = jm->getChildLinkModel();
 
-  ss << pfx << "Link: " << lm->getName() << std::endl;
-  getPoseString(ss, lm->getJointOriginTransform(), pfx + "joint_origin:");
+  ss << pfx << "Link: " << link_model->getName() << std::endl;
+  getPoseString(ss, link_model->getJointOriginTransform(), pfx + "joint_origin:");
   if (variable_joint_transforms_)
   {
     getPoseString(ss, variable_joint_transforms_[jm->getJointIndex()], pfx + "joint_variable:");
-    getPoseString(ss, global_link_transforms_[lm->getLinkIndex()], pfx + "link_global:");
+    getPoseString(ss, global_link_transforms_[link_model->getLinkIndex()], pfx + "link_global:");
   }
 
-  for (std::vector<const JointModel*>::const_iterator it = lm->getChildJointModels().begin();
-       it != lm->getChildJointModels().end(); ++it)
-    getStateTreeJointString(ss, *it, pfx, it + 1 == lm->getChildJointModels().end());
+  for (std::vector<const JointModel*>::const_iterator it = link_model->getChildJointModels().begin();
+       it != link_model->getChildJointModels().end(); ++it)
+    getStateTreeJointString(ss, *it, pfx, it + 1 == link_model->getChildJointModels().end());
 }
 
 std::ostream& operator<<(std::ostream& out, const RobotState& s)

From 5199813dc7359cd56c4c6dcf31789423a07f3284 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 7 Aug 2019 10:06:34 -0500
Subject: [PATCH 012/612] Sudden stop for critical issues, filtered
 deceleration otherwise (#1468)

Use special suddenHalt() function to stop at critical issues.
Otherwise, e.g. if no new commands are received, use filtered deceleration.
---
 .../jog_arm/config/sia5_simulated_config.yaml |  2 +-
 .../jog_arm/include/jog_arm/jog_arm_data.h    |  2 +-
 .../jog_arm/include/jog_arm/jog_calcs.h       |  7 +-
 .../jog_arm/src/jog_arm/jog_calcs.cpp         | 69 +++++++++++--------
 .../jog_arm/src/jog_arm/jog_ros_interface.cpp | 20 ++++--
 5 files changed, 61 insertions(+), 39 deletions(-)

diff --git a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml b/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
index 3a0a253ce0..879f49e699 100644
--- a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
+++ b/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
@@ -8,7 +8,7 @@ scale: # Only used if command_in_type=="unitless"
 cartesian_command_in_topic: jog_arm_server/delta_jog_cmds # Topic for xyz commands
 joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands
 command_frame: base_link  # If incoming cmds have no frame, this is the default
-incoming_command_timeout: 5  # Stop jogging if X seconds elapse without a new cmd
+incoming_command_timeout: 0.5  # Stop jogging if X seconds elapse without a new cmd
 joint_topic: joint_states
 move_group_name: arm  # Often 'manipulator' or 'arm'
 lower_singularity_threshold: 15  # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
index 119de4adc9..fa2129c8dc 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
@@ -75,7 +75,7 @@ struct JogArmShared
   trajectory_msgs::JointTrajectory outgoing_command;
 
   // Timestamp of incoming commands
-  ros::Time incoming_cmd_stamp = ros::Time(0.);
+  ros::Time latest_nonzero_cmd_stamp = ros::Time(0.);
 
   // Indicates no collision, etc, so outgoing commands can be sent
   bool ok_to_publish = false;
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
index ebc161f263..ff278e76fe 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
@@ -63,7 +63,7 @@ class JogCalcs
 
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
 
-  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
+  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
 
   // Parse the incoming joint msg for the joints of our MoveGroup
   bool updateJoints();
@@ -80,8 +80,9 @@ class JogCalcs
   // Reset the data stored in low-pass filters so the trajectory won't jump when jogging is resumed.
   void resetVelocityFilters();
 
-  // Avoid a singularity or other issue. Is handled differently for position vs. velocity control.
-  void halt(trajectory_msgs::JointTrajectory& jt_traj);
+  // Suddenly halt for a joint limit or other critical issue.
+  // Is handled differently for position vs. velocity control.
+  void suddenHalt(trajectory_msgs::JointTrajectory& jt_traj);
 
   void publishWarning(bool active) const;
 
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
index 2690865c67..64bd635bf2 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
@@ -124,18 +124,12 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   // Now do jogging calcs
   while (ros::ok())
   {
-    // If user commands are all zero, reset the low-pass filters when commands resume
+    // Flag that incoming commands are all zero. May be used to skip calculations/publication
     pthread_mutex_lock(&mutex);
     bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
     bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
-    pthread_mutex_unlock(&mutex);
-
-    if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
-      // Reset low-pass filters
-      resetVelocityFilters();
 
     // Pull data from the shared variables.
-    pthread_mutex_lock(&mutex);
     incoming_jts_ = shared_variables.joints;
     pthread_mutex_unlock(&mutex);
 
@@ -165,41 +159,39 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
       joint_deltas = shared_variables.joint_command_deltas;
       pthread_mutex_unlock(&mutex);
 
-      if (!jointJogCalcs(joint_deltas, shared_variables))
+      if (!jointJogCalcs(joint_deltas, shared_variables, mutex))
         continue;
     }
 
-    // Halt if the command is stale or inputs are all zero, or commands were zero
+    // Skip publishing if the command is stale and outgoing velocities are all nearly zero.
+    // (It takes some time for the low-pass velocity filters to settle at zero.)
     pthread_mutex_lock(&mutex);
-    bool stale_command = shared_variables.command_is_stale;
+    bool skip_publication =
+        shared_variables.command_is_stale &&
+        (std::all_of(outgoing_command_.points[0].velocities.begin(), outgoing_command_.points[0].velocities.end(),
+                     [](double i) { return i < 0.000001; }));
     pthread_mutex_unlock(&mutex);
 
-    if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
-    {
-      halt(outgoing_command_);
-      zero_cartesian_cmd_flag = true;
-      zero_joint_cmd_flag = true;
-    }
-
-    bool valid_nonzero_command = !zero_cartesian_cmd_flag && !zero_joint_cmd_flag;
-
     // Send the newest target joints
     if (!outgoing_command_.joint_names.empty())
     {
       pthread_mutex_lock(&mutex);
-      // If everything normal, share the new traj to be published
-      if (valid_nonzero_command)
+      // If everything normal, share the new traj to be published.
+      if (!skip_publication)
       {
         shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
       }
       // Skip the jogging publication if all inputs have been zero for several cycles in a row.
-      // num_halt_msgs_to_publish == 0 signifies that we shoud keep republishing forever.
+      // num_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
       else if ((parameters_.num_halt_msgs_to_publish != 0) &&
                (zero_velocity_count > parameters_.num_halt_msgs_to_publish))
       {
         shared_variables.ok_to_publish = false;
+        // Reset the velocity filters so robot doesn't jump when commands resume
+        resetVelocityFilters();
       }
+      // The command is stale but we are publishing num_halt_msgs_to_publish
       else
       {
         shared_variables.outgoing_command = outgoing_command_;
@@ -306,6 +298,17 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   // Include a velocity estimate for velocity-controlled robots
   Eigen::VectorXd joint_vel(delta_theta_ / parameters_.publish_period);
 
+  // Smoothly halt if the command is stale
+  // Positions are set to original positions, and velocities are set to zero.
+  // The filters will be applied after this.
+  pthread_mutex_lock(&mutex);
+  if (shared_variables.command_is_stale)
+  {
+    joint_vel.setZero();
+    jt_state_ = original_jt_state_;
+  }
+  pthread_mutex_unlock(&mutex);
+
   lowPassFilterVelocities(joint_vel);
   lowPassFilterPositions();
 
@@ -318,7 +321,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   if (!checkIfJointsWithinURDFBounds(outgoing_command_))
   {
-    halt(outgoing_command_);
+    suddenHalt(outgoing_command_);
     publishWarning(true);
   }
   else
@@ -333,7 +336,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   return true;
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
@@ -357,6 +360,17 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& sh
   // Include a velocity estimate for velocity-controlled robots
   Eigen::VectorXd joint_vel(delta / parameters_.publish_period);
 
+  // Smoothly halt if the command is stale
+  // Positions are set to original positions, and velocities are set to zero.
+  // The filters will be applied after this.
+  pthread_mutex_lock(&mutex);
+  if (shared_variables.command_is_stale)
+  {
+    joint_vel.setZero();
+    jt_state_ = original_jt_state_;
+  }
+  pthread_mutex_unlock(&mutex);
+
   lowPassFilterVelocities(joint_vel);
   lowPassFilterPositions();
 
@@ -369,7 +383,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& sh
   // check if new joint state is valid
   if (!checkIfJointsWithinURDFBounds(outgoing_command_))
   {
-    halt(outgoing_command_);
+    suddenHalt(outgoing_command_);
     publishWarning(true);
   }
   else
@@ -628,8 +642,9 @@ void JogCalcs::publishWarning(bool active) const
   warning_pub_.publish(status);
 }
 
-// Avoid a singularity or other issue. Needs to be handled differently for position vs. velocity control
-void JogCalcs::halt(trajectory_msgs::JointTrajectory& jt_traj)
+// Suddenly halt for a joint limit or other critical issue.
+// Is handled differently for position vs. velocity control.
+void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& jt_traj)
 {
   for (std::size_t i = 0; i < num_joints_; ++i)
   {
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
index 0486a530ef..76315b79fb 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
@@ -104,7 +104,7 @@ JogROSInterface::JogROSInterface()
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
     // Check for stale cmds
-    if ((ros::Time::now() - shared_variables_.incoming_cmd_stamp) <
+    if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
         ros::Duration(ros_parameters_.incoming_command_timeout))
     {
       // Mark that incoming commands are not stale
@@ -137,12 +137,12 @@ JogROSInterface::JogROSInterface()
     }
     else if (shared_variables_.command_is_stale)
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "Stale command. "
-                                                 "Try a larger 'incoming_command_timeout' parameter?");
+      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                  "Try a larger 'incoming_command_timeout' parameter?");
     }
     else
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(2, LOGNAME, "All-zero command. Doing nothing.");
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
 
     pthread_mutex_unlock(&shared_variables_mutex_);
@@ -189,7 +189,7 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
     shared_variables_.command_deltas.header.frame_id = ros_parameters_.command_frame;
   }
 
-  // Check if input is all zeros. Flag it if so to skip calculations/publication
+  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_halt_msgs_to_publish
   shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.y == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.z == 0.0 &&
@@ -197,7 +197,10 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
                                               shared_variables_.command_deltas.twist.angular.y == 0.0 &&
                                               shared_variables_.command_deltas.twist.angular.z == 0.0;
 
-  shared_variables_.incoming_cmd_stamp = msg->header.stamp;
+  if (!shared_variables_.zero_cartesian_cmd_flag)
+  {
+    shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
+  }
   pthread_mutex_unlock(&shared_variables_mutex_);
 }
 
@@ -215,7 +218,10 @@ void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
   };
   shared_variables_.zero_joint_cmd_flag = all_zeros;
 
-  shared_variables_.incoming_cmd_stamp = msg->header.stamp;
+  if (!shared_variables_.zero_joint_cmd_flag)
+  {
+    shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
+  }
   pthread_mutex_unlock(&shared_variables_mutex_);
 }
 

From 9cf3e34adc249a7e7accce2c5f0ada836d3e264c Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 12:54:26 -0600
Subject: [PATCH 013/612] Document discretization behavior in KinematicsBase
 (#1602)

---
 .../include/moveit/kinematics_base/kinematics_base.h   | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index c6536f4805..a3323e95ae 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -174,12 +174,18 @@ class KinematicsBase
   /**
    * @brief Given the desired poses of all end-effectors, compute joint angles that are able to reach it.
    *
-   * This is a default implementation that returns only one solution and so its result is equivalent to calling
+   * The default implementation returns only one solution and so its result is equivalent to calling
    * 'getPositionIK(...)' with a zero initialized seed.
    *
+   * Some planners (e.g. IKFast) support getting multiple joint solutions for a single pose.
+   * This can be enabled using the |DiscretizationMethods| enum and choosing an option that is not |NO_DISCRETIZATION|.
+   *
    * @param ik_poses  The desired pose of each tip link
    * @param ik_seed_state an initial guess solution for the inverse kinematics
-   * @param solutions A vector of vectors where each entry is a valid joint solution
+   * @param solutions A vector of valid joint vectors. This return has two variant behaviors:
+   *                  1) Return a joint solution for every input |ik_poses|, e.g. multi-arm support
+   *                  2) Return multiple joint solutions for a single |ik_poses| input, e.g. underconstrained IK
+   *                  TODO(dave): This dual behavior is confusing and should be changed in a future refactor of this API
    * @param result A struct that reports the results of the query
    * @param options An option struct which contains the type of redundancy discretization used. This default
    *                implementation only supports the KinematicSearches::NO_DISCRETIZATION method; requesting any

From ee7605a93db9513bdc29679bbe4aa1210908c823 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 8 Aug 2019 21:10:03 +0200
Subject: [PATCH 014/612] jog_arm: Use UR5 example (#1605)

Switch from Motoman to UR5 example.
Add quick start instructions in README
---
 moveit_experimental/jog_arm/README.md         | 57 ++++++++++++++++++-
 .../jog_arm/config/sia5_simulated_config.yaml | 34 -----------
 .../jog_arm/config/ur_simulated_config.yaml   | 55 ++++++++++++++++++
 .../jog_arm/launch/spacenav_cpp.launch        |  2 +-
 .../launch/spacenav_teleop_tools.launch       |  2 +-
 .../teleop_examples/spacenav_to_twist.cpp     |  4 +-
 6 files changed, 114 insertions(+), 40 deletions(-)
 delete mode 100644 moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
 create mode 100644 moveit_experimental/jog_arm/config/ur_simulated_config.yaml

diff --git a/moveit_experimental/jog_arm/README.md b/moveit_experimental/jog_arm/README.md
index 8dfa5dcd09..cb82683b32 100644
--- a/moveit_experimental/jog_arm/README.md
+++ b/moveit_experimental/jog_arm/README.md
@@ -1,5 +1,58 @@
 ## Jog Arm
 
-See the [tutorial](https://ros-planning.github.io/moveit_tutorials/doc/arm_jogging/arm_jogging_tutorial.html)
+#### Quick Start Guide for UR5 example
 
-Run tests with `catkin run_tests --no-deps --this`
+Clone the `universal_robot` repo into your catkin workspace:
+
+    git clone https://github.com/ros-industrial/universal_robot.git
+
+Run `rosdep install` from the `src` folder to install dependencies.
+
+    rosdep install --from-paths . --ignore-src -y
+
+Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
+
+    roslaunch ur_gazebo ur5.launch
+
+    roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
+
+    roslaunch ur5_moveit_config moveit_rviz.launch
+
+In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
+
+Switch to a compatible type of `ros-control` controller. It should be a `JointGroupVelocityController` or a `JointGroupPositionController`, not a trajectory controller like MoveIt usually requires.
+
+```sh
+rosservice call /controller_manager/switch_controller "start_controllers:
+- 'joint_group_position_controller'
+stop_controllers:
+- 'arm_controller'
+strictness: 2"
+```
+
+Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
+
+    roslaunch moveit_experimental spacenav_cpp.launch
+
+If you dont have a SpaceNavigator, send commands like this:
+
+```sh
+rostopic pub -r 100 /jog_arm_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
+twist:
+  linear:
+    x: 0.0
+    y: 0.01
+    z: -0.01
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 0.0"
+```
+
+If you see a warning about "close to singularity", try changing the direction of motion.
+
+#### Running Tests
+
+Run tests from the jog\_arm folder:
+
+    catkin run_tests --no-deps --this
diff --git a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml b/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
deleted file mode 100644
index 879f49e699..0000000000
--- a/moveit_experimental/jog_arm/config/sia5_simulated_config.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
-check_collisions: true # Check collisions?
-command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale: # Only used if command_in_type=="unitless"
-  linear: 0.375  # Max linear velocity [m/s]
-  rotational: 0.750  # Max angular velocity [rad/s]
-  joint: 1.25  # Max joint angular/linear velocity. [m/s] or [rad/s]
-cartesian_command_in_topic: jog_arm_server/delta_jog_cmds # Topic for xyz commands
-joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands
-command_frame: base_link  # If incoming cmds have no frame, this is the default
-incoming_command_timeout: 0.5  # Stop jogging if X seconds elapse without a new cmd
-joint_topic: joint_states
-move_group_name: arm  # Often 'manipulator' or 'arm'
-lower_singularity_threshold: 15  # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
-hard_stop_singularity_threshold: 30 # Stop when the condition number hits this. Larger --> closer to singularity
-collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
-planning_frame: base_link  # The MoveIt planning frame. Often 'base_link'
-low_pass_filter_coeff: 2.  # Larger-> more smoothing of jog commands, but more lag.
-publish_period: 0.008  # 1/Nominal publish rate [seconds]
-publish_delay: 0.005  # delay between calculation and execution start of command
-collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-num_halt_msgs_to_publish: 4 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish
-# Publish boolean warnings to this topic
-warning_topic: jog_arm_server/warning
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-command_out_topic: sia5_controller/command # Find this topic by 'rostopic list' or 'rostopic list | grep command' or 'rqt_graph'
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController)
-# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
-command_out_type: trajectory_msgs/JointTrajectory
-# Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
diff --git a/moveit_experimental/jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/jog_arm/config/ur_simulated_config.yaml
new file mode 100644
index 0000000000..8e6d32fb73
--- /dev/null
+++ b/moveit_experimental/jog_arm/config/ur_simulated_config.yaml
@@ -0,0 +1,55 @@
+###############################################
+# Modify all parameters related to jogging here
+###############################################
+use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_frame:  world  # TF frame that incoming cmds are given in
+command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale: # Only used if command_in_type=="unitless"
+  linear:  0.6  # Max linear velocity. Meters per publish_period. Units is [m/s]
+  rotational:  0.3 # Max angular velocity. Rads per publish_period. Units is [rad/s]
+  joint: 0.3  # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
+low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
+
+## Properties of outgoing commands
+publish_period: 0.008  # 1/Nominal publish rate [seconds]
+publish_delay: 0.005  # delay between calculation and execution start of command
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
+# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
+command_out_type: std_msgs/Float64MultiArray
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: false
+publish_joint_accelerations: false
+
+## MoveIt properties
+move_group_name:  manipulator  # Often 'manipulator' or 'arm'
+planning_frame: world  # The MoveIt! planning frame. Often 'base_link'
+
+## Stopping behaviour
+incoming_command_timeout:  2  # Stop jogging if X seconds elapse without a new cmd
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_halt_msgs_to_publish: 4
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold:  17  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: jog_arm_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+joint_topic:  joint_states
+warning_topic: jog_arm_server/halted # Publish boolean warnings to this topic
+command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
+
+## Collision checking
+check_collisions: true # Check collisions?
+collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
+hard_stop_collision_proximity_threshold: 0.0005 # Stop when a collision is this far [m]
diff --git a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch b/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
index 22a577bf85..197f0f56aa 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
+++ b/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
@@ -11,7 +11,7 @@
 
   <node name="jog_arm_server" pkg="moveit_experimental" type="jog_arm_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/sia5_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch b/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
index e49ddbfa54..6041c2d613 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
+++ b/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
@@ -10,7 +10,7 @@
   <!-- This node does the jogging calculations -->
   <node name="jog_arm_server" pkg="moveit_experimental" type="jog_arm_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/sia5_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/ur_simulated_config.yaml" />
   </node>
 
   <!-- teleop_tools translates a joystick command into a twist message -->
diff --git a/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp b/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp
index 69f4bf0cf3..f795d07529 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp
@@ -40,8 +40,8 @@ class SpaceNavToTwist
 
     // Joint jogging with the buttons
     control_msgs::JointJog joint_deltas;
-    // This example is for a Motoman SIA5. joint_s is the base joint.
-    joint_deltas.joint_names.push_back("joint_s");
+    // This example is for a UR5.
+    joint_deltas.joint_names.push_back("shoulder_pan_joint");
 
     // Button 0: positive on the wrist joint
     // Button 1: negative on the wrist joint

From e43d73d43c2862cfff36325bc6d9aeacec44af78 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 13:13:58 -0600
Subject: [PATCH 015/612] Switch moveit_msgs to master branch (#1604)

---
 moveit.rosinstall | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit.rosinstall b/moveit.rosinstall
index ecab1ac02f..cca53db4e4 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -3,7 +3,7 @@
 - git:
     local-name: moveit_msgs
     uri: https://github.com/ros-planning/moveit_msgs.git
-    version: melodic-devel
+    version: master
 - git:
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git

From 254ad5ea2fff66a4b29a12f8d255ce5856de79f4 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 13:46:49 -0600
Subject: [PATCH 016/612] README: Remove ROS Indigo badges, Add FOSS badge
 (#1588)

---
 README.md                             | 78 +++++++++++++++------------
 moveit/scripts/create_readme_table.py |  2 +-
 2 files changed, 46 insertions(+), 34 deletions(-)

diff --git a/README.md b/README.md
index 182da15475..8de31d4900 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 The MoveIt Motion Planning Framework
 
-Currently we support ROS Indigo, Kinetic, and Melodic.
+Currently we support ROS Kinetic and Melodic for ROS 1.
 
 - [Overview of MoveIt](http://moveit.ros.org)
 - [Installation Instructions](http://moveit.ros.org/install/)
@@ -20,43 +20,55 @@ For MoveIt 2.0 development, see [moveit2](https://github.com/ros-planning/moveit
 
 ## Continuous Integration Status
 
-service    | Indigo | Kinetic | Melodic | Master
----------- | ------ | ------- | ------- | ------
-Travis     | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=indigo-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=kinetic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=melodic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=master)](https://travis-ci.org/ros-planning/moveit/branches) |
-build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Idev__moveit__ubuntu_trusty_amd64)](http://build.ros.org/job/Idev__moveit__ubuntu_trusty_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__moveit__ubuntu_xenial_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__moveit__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__moveit__ubuntu_bionic_amd64) | N/A |
+service    | Kinetic | Melodic | Master
+---------- | ------- | ------- | ------
+Travis     | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=kinetic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=melodic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=master)](https://travis-ci.org/ros-planning/moveit/branches) |
+build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__moveit__ubuntu_xenial_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__moveit__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__moveit__ubuntu_bionic_amd64) | N/A |
 
+## Licenses
+
+[![FOSSA Status](https://app.fossa.com/api/projects/git%2Bgithub.com%2Fros-planning%2Fmoveit.svg?type=shield)](https://app.fossa.com/projects/git%2Bgithub.com%2Fros-planning%2Fmoveit?ref=badge_shield)
 
 ## Docker Containers
 
 [![Docker Build](https://img.shields.io/docker/build/moveit/moveit.svg)](https://hub.docker.com/r/moveit/moveit/builds)
 [![Docker Automated build](https://img.shields.io/docker/automated/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Pulls](https://img.shields.io/docker/pulls/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Stars](https://img.shields.io/docker/stars/moveit/moveit.svg)](https://registry.hub.docker.com/moveit/moveit/)
+
 ## ROS Buildfarm
 
-MoveIt Package | Indigo Source | Indigo Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
---------------- | ------------- | ------------- | -------------- | -------------- | -------------- | --------------
-moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)
-moveit_chomp_optimizer_adapter |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)
-moveit_commander | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_commander__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_commander__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_commander__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_commander__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_commander__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_commander__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_commander__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_commander__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)
-moveit_core | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_core__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_core__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_core__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_core__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_core__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_core__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_core__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_core__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)
-moveit_experimental |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_experimental__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_experimental__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_experimental__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_experimental__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)
-moveit_fake_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_fake_controller_manager__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_fake_controller_manager__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_fake_controller_manager__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_fake_controller_manager__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)
-moveit_kinematics | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_kinematics__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_kinematics__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_kinematics__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_kinematics__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_kinematics__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_kinematics__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_kinematics__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_kinematics__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)
-moveit_planners | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_planners__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_planners__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_planners__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_planners__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)
-moveit_planners_chomp |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)
-moveit_planners_ompl | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_planners_ompl__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_planners_ompl__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_planners_ompl__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_planners_ompl__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)
-moveit_plugins | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_plugins__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_plugins__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_plugins__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_plugins__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_plugins__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_plugins__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_plugins__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_plugins__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)
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-moveit_ros_benchmarks | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_benchmarks__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_benchmarks__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_benchmarks__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_benchmarks__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)
-moveit_ros_control_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_control_interface__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_control_interface__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_control_interface__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_control_interface__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)
-moveit_ros_manipulation | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_manipulation__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_manipulation__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_manipulation__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_manipulation__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)
-moveit_ros_move_group | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_move_group__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_move_group__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_move_group__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_move_group__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)
-moveit_ros_perception | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_perception__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_perception__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_perception__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_perception__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_perception__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_perception__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)
-moveit_ros_planning | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_planning__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_planning__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_planning__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_planning__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)
-moveit_ros_planning_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_planning_interface__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_planning_interface__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_planning_interface__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_planning_interface__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)
-moveit_ros_robot_interaction | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_robot_interaction__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_robot_interaction__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_robot_interaction__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_robot_interaction__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)
-moveit_ros_visualization | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_visualization__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_visualization__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_visualization__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_visualization__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)
-moveit_ros_warehouse | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_ros_warehouse__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_ros_warehouse__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_ros_warehouse__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_ros_warehouse__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)
-moveit_runtime | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_runtime__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_runtime__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_runtime__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_runtime__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_runtime__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_runtime__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_runtime__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_runtime__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)
-moveit_setup_assistant | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_setup_assistant__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_setup_assistant__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_setup_assistant__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_setup_assistant__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)
-moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Isrc_uT__moveit_simple_controller_manager__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__moveit_simple_controller_manager__ubuntu_trusty__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__moveit_simple_controller_manager__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__moveit_simple_controller_manager__ubuntu_trusty_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)
-chomp_motion_planner |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)
+MoveIt Package | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
+--------------- | -------------- | -------------- | -------------- | --------------
+moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)
+moveit_base |  |  |  |
+moveit_chomp_optimizer_adapter | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)
+moveit_commander | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_commander__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_commander__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_commander__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_commander__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)
+moveit_core | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_core__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_core__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_core__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_core__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)
+moveit_experimental | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_experimental__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_experimental__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_experimental__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_experimental__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)
+moveit_fake_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)
+moveit_kinematics | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_kinematics__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_kinematics__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_kinematics__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_kinematics__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)
+moveit_msgs | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_msgs__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_msgs__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_msgs__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_msgs__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary)
+moveit_planners | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)
+moveit_planners_chomp | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)
+moveit_planners_ompl | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)
+moveit_plugins | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_plugins__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_plugins__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_plugins__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_plugins__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)
+moveit_resources | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_resources__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_resources__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_resources__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_resources__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary)
+moveit_ros | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary)
+moveit_ros_benchmarks | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)
+moveit_ros_control_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)
+moveit_ros_manipulation | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)
+moveit_ros_move_group | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)
+moveit_ros_occupancy_map_monitor |  |  |  |
+moveit_ros_perception | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_perception__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_perception__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)
+moveit_ros_planning | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)
+moveit_ros_planning_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)
+moveit_ros_robot_interaction | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)
+moveit_ros_visualization | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)
+moveit_ros_warehouse | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)
+moveit_runtime | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_runtime__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_runtime__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_runtime__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_runtime__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)
+moveit_setup_assistant | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)
+moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)
+moveit_tutorials |  |  |  |
+moveit_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)
+chomp_motion_planner | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)
+geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__geometric_shapes__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__geometric_shapes__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__geometric_shapes__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__geometric_shapes__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)
+srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)
\ No newline at end of file
diff --git a/moveit/scripts/create_readme_table.py b/moveit/scripts/create_readme_table.py
index e854893b0b..9cbaed3e52 100644
--- a/moveit/scripts/create_readme_table.py
+++ b/moveit/scripts/create_readme_table.py
@@ -55,7 +55,7 @@ def create_moveit_buildfarm_table():
     # combinations for supported distribitions. For instance, in Noetic,
     # remove {"indigo":"trusty"} and add {"noetic":"fbuntu"} with "fbuntu"
     # being whatever the 20.04 distro is named
-    supported_distro_ubuntu_dict = {"indigo":"trusty", "kinetic":"xenial", "melodic":"bionic"}
+    supported_distro_ubuntu_dict = {"kinetic":"xenial", "melodic":"bionic"}
 
     all_packages = sorted([package.name for _, package in find_packages(os.getcwd()).items()])
     moveit_packages = list()

From 81960face532f74ffef2f1e10d9b03af9e433c44 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 8 Aug 2019 21:53:07 +0200
Subject: [PATCH 017/612] TrajectoryMonitor: disable recording with zero
 sampling frequency disables recording (#1542)

---
 .../cfg/PlanExecutionDynamicReconfigure.cfg    |  2 +-
 .../plan_execution/src/plan_execution.cpp      |  9 +++++++--
 .../trajectory_monitor.h                       |  2 +-
 .../src/trajectory_monitor.cpp                 | 18 ++++++++++++------
 4 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg b/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg
index fd8be081d6..cfc09ea25a 100755
--- a/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg
+++ b/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg
@@ -4,6 +4,6 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("max_replan_attempts", int_t, 1, "Set the maximum number of times a sensor can be pointed to parts of the environment doring a motion plan", 5, 0, 1000)
-gen.add("record_trajectory_state_frequency", double_t, 6, "The frequency at which to record states when monitoring trajectories", 10.0, 1.0, 1000.0)
+gen.add("record_trajectory_state_frequency", double_t, 6, "The frequency at which to record states when monitoring trajectories", 0.0, 0.0, 1000.0)
 
 exit(gen.generate(PACKAGE, PACKAGE, "PlanExecutionDynamicReconfigure"))
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index afd1694f00..6621592343 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -391,8 +391,13 @@ moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor(E
   }
 
   if (!trajectory_monitor_ && planning_scene_monitor_->getStateMonitor())
-    trajectory_monitor_.reset(
-        new planning_scene_monitor::TrajectoryMonitor(planning_scene_monitor_->getStateMonitor()));
+  {
+    // Pass current value of reconfigurable parameter plan_execution/record_trajectory_state_frequency
+    double sampling_frequency = 0.0;
+    node_handle_.getParam("plan_execution/record_trajectory_state_frequency", sampling_frequency);
+    trajectory_monitor_ = std::make_shared<planning_scene_monitor::TrajectoryMonitor>(
+        planning_scene_monitor_->getStateMonitor(), sampling_frequency);
+  }
 
   // start recording trajectory states
   if (trajectory_monitor_)
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index 3c753cffe6..76e5e4562c 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -57,7 +57,7 @@ class TrajectoryMonitor
 public:
   /** @brief Constructor.
    */
-  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 5.0);
+  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 0.0);
 
   ~TrajectoryMonitor();
 
diff --git a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
index 69b6e53851..3631760f0c 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
@@ -40,10 +40,12 @@
 #include <limits>
 #include <memory>
 
+static const std::string LOGNAME = "TrajectoryMonitor";
+
 planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
                                                              double sampling_frequency)
   : current_state_monitor_(state_monitor)
-  , sampling_frequency_(5.0)
+  , sampling_frequency_(sampling_frequency)
   , trajectory_(current_state_monitor_->getRobotModel(), "")
 {
   setSamplingFrequency(sampling_frequency);
@@ -56,10 +58,14 @@ planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor()
 
 void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency(double sampling_frequency)
 {
+  if (sampling_frequency != sampling_frequency_)
+    return;  // silently return if nothing changes
+
   if (sampling_frequency <= std::numeric_limits<double>::epsilon())
-    ROS_ERROR("The sampling frequency for trajectory states should be positive");
+    ROS_INFO_NAMED(LOGNAME, "Disabling trajectory recording");
   else
-    sampling_frequency_ = sampling_frequency;
+    ROS_DEBUG_NAMED(LOGNAME, "Setting trajectory sampling frequency to %.1f", sampling_frequency);
+  sampling_frequency_ = sampling_frequency;
 }
 
 bool planning_scene_monitor::TrajectoryMonitor::isActive() const
@@ -69,10 +75,10 @@ bool planning_scene_monitor::TrajectoryMonitor::isActive() const
 
 void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor()
 {
-  if (!record_states_thread_)
+  if (sampling_frequency_ > std::numeric_limits<double>::epsilon() && !record_states_thread_)
   {
     record_states_thread_.reset(new boost::thread(boost::bind(&TrajectoryMonitor::recordStates, this)));
-    ROS_DEBUG("Started trajectory monitor");
+    ROS_DEBUG_NAMED(LOGNAME, "Started trajectory monitor");
   }
 }
 
@@ -83,7 +89,7 @@ void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor()
     std::unique_ptr<boost::thread> copy;
     copy.swap(record_states_thread_);
     copy->join();
-    ROS_DEBUG("Stopped trajectory monitor");
+    ROS_DEBUG_NAMED(LOGNAME, "Stopped trajectory monitor");
   }
 }
 

From 9e646a3c72bb15e222cc0b35fa195be44f5764e8 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Fri, 9 Aug 2019 05:45:55 -0700
Subject: [PATCH 018/612] Use CMAKE_CXX_STANDARD to enforce c++14 for
 portability (#1607)

* favor CMAKE_CXX_STANDARD to enforce c++14

* update all cmake_minimum_required usage
---
 moveit/CMakeLists.txt                                       | 2 +-
 moveit_commander/CMakeLists.txt                             | 2 +-
 moveit_core/CMakeLists.txt                                  | 5 +++--
 moveit_experimental/CMakeLists.txt                          | 5 +++--
 .../collision_distance_field_ros/CMakeLists.txt             | 2 +-
 .../kinematics_cache/v1/kinematics_cache/CMakeLists.txt     | 2 +-
 .../kinematics_cache/v1/kinematics_cache_ros/CMakeLists.txt | 2 +-
 moveit_kinematics/CMakeLists.txt                            | 5 +++--
 .../ikfast_kinematics_plugin/templates/CMakeLists.txt       | 5 +++--
 moveit_planners/chomp/chomp_interface/CMakeLists.txt        | 5 +++--
 moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt   | 5 +++--
 .../chomp/chomp_optimizer_adapter/CMakeLists.txt            | 5 +++--
 moveit_planners/moveit_planners/CMakeLists.txt              | 2 +-
 moveit_planners/ompl/CMakeLists.txt                         | 5 +++--
 moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt     | 2 +-
 moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt  | 2 +-
 .../moveit_fake_controller_manager/CMakeLists.txt           | 5 +++--
 moveit_plugins/moveit_plugins/CMakeLists.txt                | 2 +-
 moveit_plugins/moveit_ros_control_interface/CMakeLists.txt  | 5 +++--
 .../moveit_simple_controller_manager/CMakeLists.txt         | 5 +++--
 moveit_ros/benchmarks/CMakeLists.txt                        | 5 +++--
 moveit_ros/manipulation/CMakeLists.txt                      | 5 +++--
 moveit_ros/move_group/CMakeLists.txt                        | 5 +++--
 moveit_ros/moveit_ros/CMakeLists.txt                        | 2 +-
 moveit_ros/occupancy_map_monitor/CMakeLists.txt             | 5 +++--
 moveit_ros/perception/CMakeLists.txt                        | 5 +++--
 moveit_ros/planning/CMakeLists.txt                          | 5 +++--
 moveit_ros/planning_interface/CMakeLists.txt                | 5 +++--
 moveit_ros/robot_interaction/CMakeLists.txt                 | 5 +++--
 moveit_ros/visualization/CMakeLists.txt                     | 6 ++++--
 moveit_ros/warehouse/CMakeLists.txt                         | 5 +++--
 moveit_runtime/CMakeLists.txt                               | 2 +-
 moveit_setup_assistant/CMakeLists.txt                       | 6 ++++--
 .../templates/moveit_config_pkg_template/CMakeLists.txt     | 2 +-
 34 files changed, 80 insertions(+), 56 deletions(-)

diff --git a/moveit/CMakeLists.txt b/moveit/CMakeLists.txt
index 9d8f3239d4..9acc0a9b9e 100644
--- a/moveit/CMakeLists.txt
+++ b/moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_commander/CMakeLists.txt b/moveit_commander/CMakeLists.txt
index 70ba103732..74a0c315af 100644
--- a/moveit_commander/CMakeLists.txt
+++ b/moveit_commander/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_commander)
 
 find_package(catkin REQUIRED)
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 4e450735db..813c41187e 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_core)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Warnings
 add_compile_options(-Wall -Wextra
diff --git a/moveit_experimental/CMakeLists.txt b/moveit_experimental/CMakeLists.txt
index 085c96e33d..cc5640e27c 100644
--- a/moveit_experimental/CMakeLists.txt
+++ b/moveit_experimental/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_experimental)
 
-add_definitions(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_experimental/collision_distance_field_ros/CMakeLists.txt b/moveit_experimental/collision_distance_field_ros/CMakeLists.txt
index f8f1c9ccad..9094b77a6b 100644
--- a/moveit_experimental/collision_distance_field_ros/CMakeLists.txt
+++ b/moveit_experimental/collision_distance_field_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.1.3)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are:
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache/CMakeLists.txt b/moveit_experimental/kinematics_cache/v1/kinematics_cache/CMakeLists.txt
index a8109a42b3..6b319e9beb 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache/CMakeLists.txt
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.1.3)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are:
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/CMakeLists.txt b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/CMakeLists.txt
index b8b6ee1e04..81aa86cb8c 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/CMakeLists.txt
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.1.3)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are:
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 2f66a856fb..9383ecfb6c 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_kinematics)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index 5706256fb2..de49b96da2 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(_PACKAGE_NAME_)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
   moveit_core
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
index 2cddd07a5b..3e03d56474 100644
--- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_chomp)
 
-add_definitions(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 # find catkin in isolation so that CATKIN_ENABLE_TESTING is defined
 find_package(catkin REQUIRED)
diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
index 2ec61daeb2..69655a2c84 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(chomp_motion_planner)
 
-add_definitions(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
index f5a743686c..91d6b6a455 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_chomp_optimizer_adapter)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
   moveit_core
diff --git a/moveit_planners/moveit_planners/CMakeLists.txt b/moveit_planners/moveit_planners/CMakeLists.txt
index e6e2b34540..753bb7b4d9 100644
--- a/moveit_planners/moveit_planners/CMakeLists.txt
+++ b/moveit_planners/moveit_planners/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index e68728812f..677f51f1d4 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -1,8 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_ompl)
 
 # At least C++11 required for OMPL
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt b/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
index 2b0568a402..b93b07f3fc 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
+++ b/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.1.3)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are:
diff --git a/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt b/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
index 36c26c49b3..557e38a8fd 100644
--- a/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
+++ b/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.1.3)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are:
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index 6408e9062b..d0e7a81bfe 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_fake_controller_manager)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_plugins/moveit_plugins/CMakeLists.txt b/moveit_plugins/moveit_plugins/CMakeLists.txt
index 03c972ba5f..9afdc1d9d8 100644
--- a/moveit_plugins/moveit_plugins/CMakeLists.txt
+++ b/moveit_plugins/moveit_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_plugins)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index e460655d1c..8b61d3b039 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_control_interface)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
   actionlib
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index af29fd503f..ec00ba8601 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_simple_controller_manager)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index d6ce5fad68..1b41bfcd22 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -1,9 +1,10 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_benchmarks)
 
 set(MOVEIT_LIB_NAME moveit_ros_benchmarks)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
index 13db73b68f..7173cbb2cc 100644
--- a/moveit_ros/manipulation/CMakeLists.txt
+++ b/moveit_ros/manipulation/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_manipulation)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 71a0bf2759..82578d5bf4 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_move_group)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/moveit_ros/CMakeLists.txt b/moveit_ros/moveit_ros/CMakeLists.txt
index 75cf534418..5425d0c2e5 100644
--- a/moveit_ros/moveit_ros/CMakeLists.txt
+++ b/moveit_ros/moveit_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index 218148cca1..56305e5bde 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -1,8 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_occupancy_map_monitor)
 set(MOVEIT_LIB_NAME ${PROJECT_NAME})
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 894fa3d28b..9e203bf937 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_perception)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 option(WITH_OPENGL "Build the parts that depend on OpenGL" ON)
 
diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index 8f9b64aa03..b3833b5447 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 55686b8ff8..d1b5594b18 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning_interface)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index 08ef6ef7fd..8050ff8d75 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_robot_interaction)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 5d79b0c50b..ba60500eb6 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -1,7 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_visualization)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
   # suppress warning in Ogre
   add_compile_options(-Wno-deprecated-register)
diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
index 2cb1205312..9efe441920 100644
--- a/moveit_ros/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/CMakeLists.txt
@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_warehouse)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_runtime/CMakeLists.txt b/moveit_runtime/CMakeLists.txt
index 18700d6157..0224cde26c 100644
--- a/moveit_runtime/CMakeLists.txt
+++ b/moveit_runtime/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_runtime)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index dc6339422f..fa15457b8b 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -1,7 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_setup_assistant)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
   # suppress warning in Ogre
   add_compile_options(-Wno-deprecated-register)
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/CMakeLists.txt b/moveit_setup_assistant/templates/moveit_config_pkg_template/CMakeLists.txt
index f95c9c1029..e0c28ee223 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/CMakeLists.txt
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project([GENERATED_PACKAGE_NAME])
 
 find_package(catkin REQUIRED)

From 57edb1e9f1869ef6ef9a29c272d11f9da592fbfb Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Fri, 9 Aug 2019 17:06:41 +0200
Subject: [PATCH 019/612] PSI: use LOGNAME

---
 .../src/planning_scene_interface.cpp                | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index ea61ff3d02..c8eb32b7bd 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -45,6 +45,8 @@ namespace moveit
 {
 namespace planning_interface
 {
+static const std::string LOGNAME = "planning_scene_interface";
+
 class PlanningSceneInterface::PlanningSceneInterfaceImpl
 {
 public:
@@ -89,7 +91,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
     if (!planning_scene_service_.call(request, response))
     {
-      ROS_WARN_NAMED("planning_scene_interface", "Could not call planning scene service to get object names");
+      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object names");
       return result;
     }
 
@@ -133,7 +135,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
     if (!planning_scene_service_.call(request, response))
     {
-      ROS_WARN_NAMED("planning_scene_interface", "Could not call planning scene service to get object names");
+      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object names");
       return result;
     }
 
@@ -160,7 +162,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
     if (!planning_scene_service_.call(request, response))
     {
-      ROS_WARN_NAMED("planning_scene_interface", "Could not call planning scene service to get object geometries");
+      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object geometries");
       return result;
     }
 
@@ -184,8 +186,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     request.components.components = request.components.ROBOT_STATE_ATTACHED_OBJECTS;
     if (!planning_scene_service_.call(request, response))
     {
-      ROS_WARN_NAMED("planning_scene_interface",
-                     "Could not call planning scene service to get attached object geometries");
+      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get attached object geometries");
       return result;
     }
 
@@ -208,7 +209,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     request.scene = planning_scene;
     if (!apply_planning_scene_service_.call(request, response))
     {
-      ROS_WARN_NAMED("planning_scene_interface", "Failed to call ApplyPlanningScene service");
+      ROS_WARN_NAMED(LOGNAME, "Failed to call ApplyPlanningScene service");
       return false;
     }
     return response.success;

From 39670f65d9dddeb67f455f2deeec3ff378074abd Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Fri, 9 Aug 2019 16:53:48 +0200
Subject: [PATCH 020/612] PSI: wait for its two services

They constitute the main functionality of the class, so it makes sense to wait.
---
 .../src/planning_scene_interface.cpp             | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index c8eb32b7bd..aaec69288f 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -53,11 +53,14 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
   explicit PlanningSceneInterfaceImpl(const std::string& ns = "")
   {
     node_handle_ = ros::NodeHandle(ns);
+    planning_scene_diff_publisher_ = node_handle_.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
     planning_scene_service_ =
         node_handle_.serviceClient<moveit_msgs::GetPlanningScene>(move_group::GET_PLANNING_SCENE_SERVICE_NAME);
     apply_planning_scene_service_ =
         node_handle_.serviceClient<moveit_msgs::ApplyPlanningScene>(move_group::APPLY_PLANNING_SCENE_SERVICE_NAME);
-    planning_scene_diff_publisher_ = node_handle_.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
+
+    waitForService(planning_scene_service_);
+    waitForService(apply_planning_scene_service_);
   }
 
   std::vector<std::string> getKnownObjectNames(bool with_type)
@@ -249,6 +252,17 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
   }
 
 private:
+  void waitForService(ros::ServiceClient& srv)
+  {
+    ros::Duration time_before_warning(5.0);
+    srv.waitForExistence(time_before_warning);
+    if (!srv.exists())
+    {
+      ROS_WARN_STREAM_NAMED(LOGNAME, "service '" << srv.getService() << "' not advertised yet. Continue waiting...");
+      srv.waitForExistence();
+    }
+  }
+
   ros::NodeHandle node_handle_;
   ros::ServiceClient planning_scene_service_;
   ros::ServiceClient apply_planning_scene_service_;

From 295b3b2a1a829ca63f30533a3b3e1678b8a4dacf Mon Sep 17 00:00:00 2001
From: Mohmmad Ayman <no.future2e1@gmail.com>
Date: Fri, 9 Aug 2019 19:22:47 +0200
Subject: [PATCH 021/612] Add joint state controller config by default (#1024)

Hide joint state controller option in controllers screen and improve documentation
---
 .../tools/moveit_config_data.h                | 10 ++++++
 .../src/tools/moveit_config_data.cpp          | 32 ++++++++++++++++---
 .../src/widgets/controller_edit_widget.cpp    |  7 ++--
 3 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index 59b598bc45..c30ad62283 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -482,6 +482,16 @@ class MoveItConfigData
    */
   std::vector<std::map<std::string, GenericParameter> > getSensorPluginConfig();
 
+  /**
+   * \brief Helper function to get the default start state group for moveit_sim_hw_interface
+   */
+  std::string getDefaultStartStateGroup();
+
+  /**
+   * \brief Helper function to get the default start pose for moveit_sim_hw_interface
+   */
+  std::string getDefaultStartPose();
+
   /**
    * \brief Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order
    * \param jm1 - a pointer to the first joint model to compare
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 527efe5463..77b4704390 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -787,6 +787,26 @@ void MoveItConfigData::outputFollowJointTrajectoryYAML(YAML::Emitter& emitter,
   }
 }
 
+// ******************************************************************************************
+// Helper function to get the default start state group for moveit_sim_hw_interface
+// ******************************************************************************************
+std::string MoveItConfigData::getDefaultStartStateGroup()
+{
+  if (!srdf_->srdf_model_->getGroups().empty())
+    return srdf_->srdf_model_->getGroups()[0].name_;
+  return "todo_no_group_selected";
+}
+
+// ******************************************************************************************
+// Helper function to get the default start pose for moveit_sim_hw_interface
+// ******************************************************************************************
+std::string MoveItConfigData::getDefaultStartPose()
+{
+  if (!srdf_->group_states_.empty())
+    return srdf_->group_states_[0].name_;
+  return "todo_no_pose_selected";
+}
+
 // ******************************************************************************************
 // Output controllers config files
 // ******************************************************************************************
@@ -823,19 +843,23 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
   emitter << YAML::BeginMap;
 
   {
-    emitter << YAML::Comment("MoveIt-specific simulation settings");
+    emitter << YAML::Comment("Simulation settings for using moveit_sim_controllers");
     emitter << YAML::Key << "moveit_sim_hw_interface" << YAML::Value << YAML::BeginMap;
     // MoveIt Simulation Controller settings for setting initial pose
     {
+      // Use the first planning group if initial joint_model_group was not set, else write a default value
       emitter << YAML::Key << "joint_model_group";
-      emitter << YAML::Value << "controllers_initial_group_";
+      emitter << YAML::Value << getDefaultStartStateGroup();
+
+      // Use the first robot pose if initial joint_model_group_pose was not set, else write a default value
       emitter << YAML::Key << "joint_model_group_pose";
-      emitter << YAML::Value << "controllers_initial_pose_";
+      emitter << YAML::Value << getDefaultStartPose();
+
       emitter << YAML::EndMap;
     }
     // Settings for ros_control control loop
     emitter << YAML::Newline;
-    emitter << YAML::Comment("Settings for ros_control control loop");
+    emitter << YAML::Comment("Settings for ros_control_boilerplate control loop");
     emitter << YAML::Key << "generic_hw_control_loop" << YAML::Value << YAML::BeginMap;
     {
       emitter << YAML::Key << "loop_hz";
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
index 2d4140a4e8..5840fe2894 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
@@ -195,12 +195,11 @@ void ControllerEditWidget::loadControllersTypesComboBox()
     return;
   has_loaded_ = true;
 
-  const std::array<std::string, 9> default_types = {
+  const std::array<std::string, 8> default_types = {
     "effort_controllers/JointTrajectoryController",   "effort_controllers/JointPositionController",
     "effort_controllers/JointVelocityController",     "effort_controllers/JointEffortController",
-    "joint_state_controller/JointStateController",    "position_controllers/JointPositionController",
-    "position_controllers/JointTrajectoryController", "velocity_controllers/JointTrajectoryController",
-    "velocity_controllers/JointvelocityController"
+    "position_controllers/JointPositionController",   "position_controllers/JointTrajectoryController",
+    "velocity_controllers/JointTrajectoryController", "velocity_controllers/JointVelocityController"
   };
 
   // Remove all old items

From 58224a68dcf2712c798469748210a85e1894e1bd Mon Sep 17 00:00:00 2001
From: Raphael Druon <raphdruon@gmail.com>
Date: Mon, 12 Aug 2019 17:04:30 +0900
Subject: [PATCH 022/612] Update occupancy grid when loaded from file (#1594)

---
 moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
index b2200d936c..284f429bb7 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -330,6 +330,9 @@ bool OccupancyMapMonitor::loadMapCallback(moveit_msgs::LoadMap::Request& request
   }
   tree_->unlockWrite();
 
+  if (response.success)
+    tree_->triggerUpdateCallback();
+
   return true;
 }
 

From 73feeb8ba53fac1e8bac3b07cf60320b9217caea Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 12 Aug 2019 11:57:06 +0200
Subject: [PATCH 023/612] Separate moveit_experimental packages (#1606)

* Make jog_arm an own package located in the moveit_experimental folder.

* adapt package location

* minor cleanup
---
 moveit_experimental/CMakeLists.txt            | 50 ---------------
 .../CATKIN_IGNORE                             |  0
 moveit_experimental/jog_arm/CMakeLists.txt    | 64 +++++++++++++++----
 moveit_experimental/jog_arm/README.md         |  2 +-
 .../jog_arm/launch/spacenav_cpp.launch        | 17 +++--
 .../launch/spacenav_teleop_tools.launch       | 13 ++--
 moveit_experimental/jog_arm/package.xml       | 18 ++++++
 .../test/launch/jog_arm_integration_test.test | 12 ++--
 .../kinematics_cache/CATKIN_IGNORE            |  0
 .../kinematics_constraint_aware/CATKIN_IGNORE |  0
 moveit_experimental/package.xml               | 26 --------
 11 files changed, 92 insertions(+), 110 deletions(-)
 delete mode 100644 moveit_experimental/CMakeLists.txt
 create mode 100644 moveit_experimental/collision_distance_field_ros/CATKIN_IGNORE
 create mode 100644 moveit_experimental/kinematics_cache/CATKIN_IGNORE
 create mode 100644 moveit_experimental/kinematics_constraint_aware/CATKIN_IGNORE
 delete mode 100644 moveit_experimental/package.xml

diff --git a/moveit_experimental/CMakeLists.txt b/moveit_experimental/CMakeLists.txt
deleted file mode 100644
index cc5640e27c..0000000000
--- a/moveit_experimental/CMakeLists.txt
+++ /dev/null
@@ -1,50 +0,0 @@
-cmake_minimum_required(VERSION 3.1.3)
-project(moveit_experimental)
-
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-find_package(catkin REQUIRED
-COMPONENTS
-  control_msgs
-  geometry_msgs
-  joy_teleop
-  moveit_ros_planning_interface
-  rosparam_shortcuts
-  spacenav_node
-  tf2_ros
-)
-find_package(Eigen3 REQUIRED)
-
-set(THIS_PACKAGE_INCLUDE_DIRS
-  jog_arm/include
-)
-
-catkin_package(
-  INCLUDE_DIRS
-    ${THIS_PACKAGE_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIR}
-  LIBRARIES
-  CATKIN_DEPENDS
-    control_msgs
-    geometry_msgs
-    joy_teleop
-    moveit_ros_planning_interface
-    rosparam_shortcuts
-    spacenav_node
-    tf2_ros
-  DEPENDS
-    EIGEN3
-)
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-  ${THIS_PACKAGE_INCLUDE_DIRS}
-)
-
-add_subdirectory(jog_arm)
diff --git a/moveit_experimental/collision_distance_field_ros/CATKIN_IGNORE b/moveit_experimental/collision_distance_field_ros/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_experimental/jog_arm/CMakeLists.txt b/moveit_experimental/jog_arm/CMakeLists.txt
index 329a117dc6..733d4dd328 100644
--- a/moveit_experimental/jog_arm/CMakeLists.txt
+++ b/moveit_experimental/jog_arm/CMakeLists.txt
@@ -1,31 +1,67 @@
-set(JOG_ARM_NAME jog_arm)
+cmake_minimum_required(VERSION 2.8.3)
+project(jog_arm)
 
-add_executable(${JOG_ARM_NAME}_server
+add_compile_options(-std=c++11)
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  control_msgs
+  geometry_msgs
+  moveit_ros_planning_interface
+  rosparam_shortcuts
+  tf2_ros
+)
+find_package(Eigen3 REQUIRED)
+
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+  CATKIN_DEPENDS
+    control_msgs
+    geometry_msgs
+    moveit_ros_planning_interface
+    rosparam_shortcuts
+    tf2_ros
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+add_executable(${PROJECT_NAME}_server
   src/jog_arm/collision_check_thread.cpp
   src/jog_arm/jog_arm_server.cpp
   src/jog_arm/jog_calcs.cpp
   src/jog_arm/jog_ros_interface.cpp
   src/jog_arm/low_pass_filter.cpp
 )
-add_dependencies(${JOG_ARM_NAME}_server ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${JOG_ARM_NAME}_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
 
-add_executable(${JOG_ARM_NAME}_spacenav_to_twist
+add_dependencies(${PROJECT_NAME}_server ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
+
+add_executable(${PROJECT_NAME}_spacenav_to_twist
   src/jog_arm/teleop_examples/spacenav_to_twist.cpp
 )
-add_dependencies(${JOG_ARM_NAME}_spacenav_to_twist ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${JOG_ARM_NAME}_spacenav_to_twist ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME}_spacenav_to_twist ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_spacenav_to_twist ${catkin_LIBRARIES})
 
-install(TARGETS ${JOG_ARM_NAME}_server ${JOG_ARM_NAME}_spacenav_to_twist
+install(
+  TARGETS
+    ${PROJECT_NAME}_server
+    ${PROJECT_NAME}_spacenav_to_twist
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(
-  DIRECTORY
-    include/
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
diff --git a/moveit_experimental/jog_arm/README.md b/moveit_experimental/jog_arm/README.md
index cb82683b32..7e3626d94d 100644
--- a/moveit_experimental/jog_arm/README.md
+++ b/moveit_experimental/jog_arm/README.md
@@ -32,7 +32,7 @@ strictness: 2"
 
 Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
 
-    roslaunch moveit_experimental spacenav_cpp.launch
+    roslaunch jog_arm spacenav_cpp.launch
 
 If you dont have a SpaceNavigator, send commands like this:
 
diff --git a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch b/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
index 197f0f56aa..4b5b023842 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
+++ b/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
@@ -1,17 +1,20 @@
 <launch>
   <!-- The package has 2 examples of converting controller commands to jog commands.
-  This is the lower-latency C++ example. You can modify it in your own package for
-  your own type of gamepad or joystick.
-  It reduces latency (slightly) compared to spacenav_teleop_tools.launch. We don't plan to accept pull requests for other controller types using this method because it would be too much to maintain. But, we do plan to accept teleop_tools config files (see 
-  spacenav_teleop_tools.launch)-->
+       This is the lower-latency C++ example. You can modify it in your own package for
+       your own type of gamepad or joystick.
+       It reduces latency (slightly) compared to spacenav_teleop_tools.launch.
+       We don't plan to accept pull requests for other controller types using this method,
+       because it would be too much to maintain.
+       But, we do plan to accept teleop_tools config files (see spacenav_teleop_tools.launch)
+  -->
 
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
-  <node name="spacenav_to_twist" pkg="moveit_experimental" type="jog_arm_spacenav_to_twist" output="screen" />
+  <node name="spacenav_to_twist" pkg="jog_arm" type="jog_arm_spacenav_to_twist" output="screen" />
 
-  <node name="jog_arm_server" pkg="moveit_experimental" type="jog_arm_server" output="screen" >
+  <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find jog_arm)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch b/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
index 6041c2d613..5df96be11b 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
+++ b/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
@@ -1,21 +1,22 @@
 <launch>
   <!-- The package has 2 examples of converting controller commands to jog commands.
-  This is the higher-latency, Python-based teleop_tools example. You can modify
-  it in your own package for your own type of gamepad or joystick.
-  We do plan to accept pull requests of config files for other controller types using this method.-->
+       This is the higher-latency, Python-based teleop_tools example.
+       You can modify it in your own package for your own type of gamepad or joystick.
+       We do plan to accept pull requests of config files for other controller types using this method.
+  -->
 
   <!-- This node publishes commands from the controller -->
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
   <!-- This node does the jogging calculations -->
-  <node name="jog_arm_server" pkg="moveit_experimental" type="jog_arm_server" output="screen" >
+  <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find jog_arm)/config/ur_simulated_config.yaml" />
   </node>
 
   <!-- teleop_tools translates a joystick command into a twist message -->
   <arg name="cmd_vel" default="spacenav/joy" />
-  <arg name="teleop_config" default="$(find moveit_experimental)/jog_arm/config/spacenav_via_teleop_tools.yaml" />
+  <arg name="teleop_config" default="$(find jog_arm)/config/spacenav_via_teleop_tools.yaml" />
   <rosparam file="$(arg teleop_config)" command="load" />
 
   <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
diff --git a/moveit_experimental/jog_arm/package.xml b/moveit_experimental/jog_arm/package.xml
index 063cf7020e..6bf404a71d 100644
--- a/moveit_experimental/jog_arm/package.xml
+++ b/moveit_experimental/jog_arm/package.xml
@@ -16,4 +16,22 @@
   <author email="andyz@utexas.edu">Andy Zelenak</author>
   <author>Blake Anderson</author>
   <author email="alex@machinekoder.com">Alexander Rössler</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>control_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>rosparam_shortcuts</depend>
+  <depend>tf2_ros</depend>
+
+  <exec_depend>joy_teleop</exec_depend>
+
+  <test_depend>rostest</test_depend>
+  <test_depend>ros_pytest</test_depend>
+  <test_depend>moveit_resources</test_depend>
+
+  <export>
+  </export>
+
 </package>
diff --git a/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test b/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test
index f9c48abc8c..8845fd0815 100644
--- a/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test
+++ b/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test
@@ -10,7 +10,7 @@
        These aren't suitable for actually jogging a robot in RViz, but they are good enough to 
        test jog node output.
   -->
-  <include file="$(find moveit_experimental)/jog_arm/test/arm_setup/launch/panda_move_group.launch">
+  <include file="$(find jog_arm)/test/arm_setup/launch/panda_move_group.launch">
     <arg name="fake_execution" value="true"/>
   </include>
 
@@ -19,20 +19,20 @@
   </node>
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_experimental)/jog_arm/test/arm_setup/config/initial_position.yaml" />
+	  <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/initial_position.yaml" />
   </node>
 
   <group ns="jog_arm_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_experimental)/jog_arm/test/arm_setup/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
-    <node name="jog_arm_server" pkg="moveit_experimental" type="jog_arm_server" output="screen">
+    <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen">
       <param name="parameter_ns" type="string" value="jog_arm_server"/>
-      <rosparam command="load" file="$(find moveit_experimental)/jog_arm/test/arm_setup/config/jog_settings.yaml"/>
+      <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
     </node>
   </group>
 
-  <param name="test_module" value="$(find moveit_experimental)/jog_arm/test/integration" />
+  <param name="test_module" value="$(find jog_arm)/test/integration" />
   <test test-name="jog_arm_integration_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/kinematics_cache/CATKIN_IGNORE b/moveit_experimental/kinematics_cache/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_experimental/kinematics_constraint_aware/CATKIN_IGNORE b/moveit_experimental/kinematics_constraint_aware/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_experimental/package.xml b/moveit_experimental/package.xml
deleted file mode 100644
index 222652ff6a..0000000000
--- a/moveit_experimental/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<package format="2">
-  <name>moveit_experimental</name>
-  <version>1.0.1</version>
-  <description>Experimental packages for MoveIt</description>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
-
-  <license>BSD</license>
-  <url type="website">http://moveit.ros.org</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <depend>control_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>joy_teleop</depend>
-  <depend>moveit_ros_planning_interface</depend>
-  <depend>rosparam_shortcuts</depend>
-  <depend>spacenav_node</depend>
-  <depend>tf2_ros</depend>
-
-  <test_depend>ros_pytest</test_depend>
-  <test_depend>rostest</test_depend>
-
-  <export>
-  </export>
-
-</package>

From ae3d522ceb2059b9fd9163be3dbfba5f9a46003e Mon Sep 17 00:00:00 2001
From: Jonathan Binney <jon.binney@gmail.com>
Date: Tue, 13 Aug 2019 00:44:54 -0700
Subject: [PATCH 024/612] Switch from include guards to pragma once (#1615)

---
 .../moveit/background_processing/background_processing.h     | 5 +----
 moveit_core/backtrace/include/moveit/backtrace/backtrace.h   | 5 +----
 .../allvalid/collision_detector_allocator_allvalid.h         | 5 +----
 .../collision_detection/allvalid/collision_robot_allvalid.h  | 5 +----
 .../collision_detection/allvalid/collision_world_allvalid.h  | 5 +----
 .../include/moveit/collision_detection/collision_common.h    | 5 +----
 .../collision_detection/collision_detector_allocator.h       | 5 +----
 .../include/moveit/collision_detection/collision_matrix.h    | 5 +----
 .../moveit/collision_detection/collision_octomap_filter.h    | 5 +----
 .../include/moveit/collision_detection/collision_plugin.h    | 5 +----
 .../include/moveit/collision_detection/collision_robot.h     | 5 +----
 .../include/moveit/collision_detection/collision_tools.h     | 5 +----
 .../include/moveit/collision_detection/collision_world.h     | 5 +----
 .../include/moveit/collision_detection/world.h               | 5 +----
 .../include/moveit/collision_detection/world_diff.h          | 5 +----
 .../moveit/collision_detection_fcl/collision_common.h        | 5 +----
 .../collision_detector_allocator_fcl.h                       | 5 +----
 .../collision_detector_fcl_plugin_loader.h                   | 4 +---
 .../moveit/collision_detection_fcl/collision_robot_fcl.h     | 5 +----
 .../moveit/collision_detection_fcl/collision_world_fcl.h     | 5 +----
 .../include/moveit/collision_detection_fcl/fcl_compat.h      | 4 +---
 .../collision_common_distance_field.h                        | 4 +---
 .../collision_detector_allocator_distance_field.h            | 5 +----
 .../collision_detector_allocator_hybrid.h                    | 5 +----
 .../collision_distance_field_types.h                         | 5 +----
 .../collision_robot_distance_field.h                         | 5 +----
 .../moveit/collision_distance_field/collision_robot_hybrid.h | 5 +----
 .../collision_world_distance_field.h                         | 5 +----
 .../moveit/collision_distance_field/collision_world_hybrid.h | 5 +----
 .../include/moveit/constraint_samplers/constraint_sampler.h  | 5 +----
 .../constraint_samplers/constraint_sampler_allocator.h       | 5 +----
 .../moveit/constraint_samplers/constraint_sampler_manager.h  | 5 +----
 .../moveit/constraint_samplers/constraint_sampler_tools.h    | 5 +----
 .../moveit/constraint_samplers/default_constraint_samplers.h | 5 +----
 .../moveit/constraint_samplers/union_constraint_sampler.h    | 5 +----
 moveit_core/constraint_samplers/test/pr2_arm_ik.h            | 4 +---
 .../constraint_samplers/test/pr2_arm_kinematics_plugin.h     | 5 +----
 .../include/moveit/controller_manager/controller_manager.h   | 5 +----
 .../include/moveit/distance_field/distance_field.h           | 5 +----
 .../include/moveit/distance_field/find_internal_points.h     | 5 +----
 .../moveit/distance_field/propagation_distance_field.h       | 5 +----
 .../include/moveit/distance_field/voxel_grid.h               | 4 +---
 .../include/moveit/dynamics_solver/dynamics_solver.h         | 4 +---
 .../exceptions/include/moveit/exceptions/exceptions.h        | 5 +----
 .../moveit/kinematic_constraints/kinematic_constraint.h      | 5 +----
 .../include/moveit/kinematic_constraints/utils.h             | 4 +---
 .../include/moveit/kinematics_base/kinematics_base.h         | 5 +----
 .../include/moveit/kinematics_metrics/kinematics_metrics.h   | 5 +----
 moveit_core/macros/include/moveit/macros/class_forward.h     | 5 +----
 moveit_core/macros/include/moveit/macros/console_colors.h    | 5 +----
 moveit_core/macros/include/moveit/macros/declare_ptr.h       | 5 +----
 moveit_core/macros/include/moveit/macros/deprecation.h       | 5 +----
 .../include/moveit/planning_interface/planning_interface.h   | 5 +----
 .../include/moveit/planning_interface/planning_request.h     | 5 +----
 .../include/moveit/planning_interface/planning_response.h    | 5 +----
 .../planning_request_adapter/planning_request_adapter.h      | 5 +----
 .../include/moveit/planning_scene/planning_scene.h           | 5 +----
 moveit_core/profiler/include/moveit/profiler/profiler.h      | 5 +----
 moveit_core/robot_model/include/moveit/robot_model/aabb.h    | 5 +----
 .../include/moveit/robot_model/fixed_joint_model.h           | 5 +----
 .../include/moveit/robot_model/floating_joint_model.h        | 5 +----
 .../robot_model/include/moveit/robot_model/joint_model.h     | 5 +----
 .../include/moveit/robot_model/joint_model_group.h           | 5 +----
 .../robot_model/include/moveit/robot_model/link_model.h      | 5 +----
 .../include/moveit/robot_model/planar_joint_model.h          | 5 +----
 .../include/moveit/robot_model/prismatic_joint_model.h       | 5 +----
 .../include/moveit/robot_model/revolute_joint_model.h        | 5 +----
 .../robot_model/include/moveit/robot_model/robot_model.h     | 5 +----
 .../robot_state/include/moveit/robot_state/attached_body.h   | 5 +----
 .../include/moveit/robot_state/cartesian_interpolator.h      | 5 +----
 .../robot_state/include/moveit/robot_state/conversions.h     | 5 +----
 .../robot_state/include/moveit/robot_state/robot_state.h     | 5 +----
 .../include/moveit/robot_trajectory/robot_trajectory.h       | 5 +----
 .../include/moveit/sensor_manager/sensor_manager.h           | 5 +----
 .../iterative_spline_parameterization.h                      | 5 +----
 .../trajectory_processing/iterative_time_parameterization.h  | 5 +----
 .../time_optimal_trajectory_generation.h                     | 5 +----
 .../include/moveit/trajectory_processing/trajectory_tools.h  | 5 +----
 .../transforms/include/moveit/transforms/transforms.h        | 5 +----
 moveit_core/utils/include/moveit/utils/lexical_casts.h       | 5 +----
 .../utils/include/moveit/utils/robot_model_test_utils.h      | 5 +----
 .../collision_distance_field_ros_helpers.h                   | 4 +---
 .../collision_robot_distance_field_ros.h                     | 5 +----
 .../hybrid_collision_robot_ros.h                             | 5 +----
 .../jog_arm/include/jog_arm/collision_check_thread.h         | 5 +----
 moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h   | 4 +---
 moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h      | 5 +----
 .../jog_arm/include/jog_arm/jog_ros_interface.h              | 5 +----
 .../jog_arm/include/jog_arm/low_pass_filter.h                | 4 +---
 .../include/kinematics_cache/kinematics_cache.h              | 5 +----
 .../include/kinematics_cache_ros/kinematics_cache_ros.h      | 5 +----
 .../include/moveit/kinematics_cache/kinematics_cache.h       | 5 +----
 .../kinematics_constraint_aware.h                            | 5 +----
 .../kinematics_request_response.h                            | 5 +----
 .../cached_ik_kinematics_plugin.h                            | 4 +---
 .../cached_ik_kinematics_plugin/detail/GreedyKCenters.h      | 5 +----
 .../cached_ik_kinematics_plugin/detail/NearestNeighbors.h    | 5 +----
 .../detail/NearestNeighborsGNAT.h                            | 5 +----
 .../kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp    | 4 +---
 .../include/moveit/kdl_kinematics_plugin/joint_mimic.hpp     | 5 +----
 .../moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h     | 5 +----
 .../moveit/lma_kinematics_plugin/lma_kinematics_plugin.h     | 5 +----
 .../moveit/srv_kinematics_plugin/srv_kinematics_plugin.h     | 5 +----
 .../include/chomp_interface/chomp_interface.h                | 5 +----
 .../include/chomp_interface/chomp_planning_context.h         | 5 +----
 .../include/chomp_motion_planner/chomp_cost.h                | 5 +----
 .../include/chomp_motion_planner/chomp_optimizer.h           | 5 +----
 .../include/chomp_motion_planner/chomp_parameters.h          | 5 +----
 .../include/chomp_motion_planner/chomp_planner.h             | 5 +----
 .../include/chomp_motion_planner/chomp_trajectory.h          | 5 +----
 .../include/chomp_motion_planner/chomp_utils.h               | 5 +----
 .../include/chomp_motion_planner/multivariate_gaussian.h     | 5 +----
 .../cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h    | 5 +----
 .../include/moveit/ompl_interface/constraints_library.h      | 5 +----
 .../moveit/ompl_interface/detail/constrained_goal_sampler.h  | 5 +----
 .../moveit/ompl_interface/detail/constrained_sampler.h       | 5 +----
 .../ompl_interface/detail/constrained_valid_state_sampler.h  | 5 +----
 .../moveit/ompl_interface/detail/constraint_approximations.h | 5 +----
 .../moveit/ompl_interface/detail/projection_evaluators.h     | 5 +----
 .../moveit/ompl_interface/detail/state_validity_checker.h    | 5 +----
 .../moveit/ompl_interface/detail/threadsafe_state_storage.h  | 4 +---
 .../moveit/ompl_interface/model_based_planning_context.h     | 5 +----
 .../include/moveit/ompl_interface/ompl_interface.h           | 5 +----
 .../parameterization/joint_space/joint_model_state_space.h   | 5 +----
 .../joint_space/joint_model_state_space_factory.h            | 5 +----
 .../parameterization/model_based_state_space.h               | 5 +----
 .../parameterization/model_based_state_space_factory.h       | 5 +----
 .../parameterization/work_space/pose_model_state_space.h     | 5 +----
 .../work_space/pose_model_state_space_factory.h              | 5 +----
 .../include/moveit/ompl_interface/planning_context_manager.h | 5 +----
 .../sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h     | 5 +----
 .../core/sbpl_interface/include/sbpl_interface/bresenham.h   | 5 +----
 .../include/sbpl_interface/dummy_environment.h               | 5 +----
 .../include/sbpl_interface/environment_chain3d.h             | 5 +----
 .../include/sbpl_interface/environment_chain3d_types.h       | 5 +----
 .../sbpl_interface/include/sbpl_interface/sbpl_interface.h   | 5 +----
 .../include/sbpl_interface/sbpl_meta_interface.h             | 5 +----
 .../core/sbpl_interface/include/sbpl_interface/sbpl_params.h | 5 +----
 .../include/moveit_ros_control_interface/ControllerHandle.h  | 5 +----
 .../action_based_controller_handle.h                         | 5 +----
 .../follow_joint_trajectory_controller_handle.h              | 5 +----
 .../gripper_controller_handle.h                              | 5 +----
 .../benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h | 5 +----
 .../benchmarks/include/moveit/benchmarks/BenchmarkOptions.h  | 5 +----
 .../move_group_pick_place_capability/capability_names.h      | 5 +----
 .../src/pick_place_action_capability.h                       | 5 +----
 .../include/moveit/pick_place/approach_and_translate_stage.h | 5 +----
 .../include/moveit/pick_place/manipulation_pipeline.h        | 5 +----
 .../pick_place/include/moveit/pick_place/manipulation_plan.h | 5 +----
 .../include/moveit/pick_place/manipulation_stage.h           | 5 +----
 .../pick_place/include/moveit/pick_place/pick_place.h        | 5 +----
 .../pick_place/include/moveit/pick_place/pick_place_params.h | 5 +----
 .../pick_place/include/moveit/pick_place/plan_stage.h        | 5 +----
 .../include/moveit/pick_place/reachable_valid_pose_filter.h  | 5 +----
 .../move_group/include/moveit/move_group/capability_names.h  | 5 +----
 .../include/moveit/move_group/move_group_capability.h        | 5 +----
 .../include/moveit/move_group/move_group_context.h           | 5 +----
 moveit_ros/move_group/include/moveit/move_group/node_name.h  | 5 +----
 .../apply_planning_scene_service_capability.h                | 5 +----
 .../default_capabilities/cartesian_path_service_capability.h | 5 +----
 .../default_capabilities/clear_octomap_service_capability.h  | 5 +----
 .../execute_trajectory_action_capability.h                   | 5 +----
 .../get_planning_scene_service_capability.h                  | 5 +----
 .../src/default_capabilities/kinematics_service_capability.h | 5 +----
 .../src/default_capabilities/move_action_capability.h        | 5 +----
 .../src/default_capabilities/plan_service_capability.h       | 5 +----
 .../default_capabilities/query_planners_service_capability.h | 5 +----
 .../state_validation_service_capability.h                    | 5 +----
 .../include/moveit/occupancy_map_monitor/occupancy_map.h     | 5 +----
 .../moveit/occupancy_map_monitor/occupancy_map_monitor.h     | 5 +----
 .../moveit/occupancy_map_monitor/occupancy_map_updater.h     | 5 +----
 .../depth_image_octomap_updater.h                            | 5 +----
 .../moveit/lazy_free_space_updater/lazy_free_space_updater.h | 5 +----
 .../include/moveit/mesh_filter/depth_self_filter_nodelet.h   | 5 +----
 .../mesh_filter/include/moveit/mesh_filter/filter_job.h      | 4 +---
 .../mesh_filter/include/moveit/mesh_filter/gl_mesh.h         | 4 +---
 .../mesh_filter/include/moveit/mesh_filter/gl_renderer.h     | 4 +---
 .../mesh_filter/include/moveit/mesh_filter/mesh_filter.h     | 4 +---
 .../include/moveit/mesh_filter/mesh_filter_base.h            | 5 +----
 .../mesh_filter/include/moveit/mesh_filter/sensor_model.h    | 5 +----
 .../include/moveit/mesh_filter/stereo_camera_model.h         | 4 +---
 .../include/moveit/mesh_filter/transform_provider.h          | 4 +---
 .../include/moveit/point_containment_filter/shape_mask.h     | 5 +----
 .../pointcloud_octomap_updater/pointcloud_octomap_updater.h  | 5 +----
 .../include/moveit/semantic_world/semantic_world.h           | 5 +----
 .../moveit/collision_plugin_loader/collision_plugin_loader.h | 5 +----
 .../constraint_sampler_manager_loader.h                      | 5 +----
 .../kinematics_plugin_loader/kinematics_plugin_loader.h      | 5 +----
 .../include/moveit/plan_execution/plan_execution.h           | 4 +---
 .../include/moveit/plan_execution/plan_representation.h      | 4 +---
 .../include/moveit/plan_execution/plan_with_sensing.h        | 4 +---
 .../include/moveit/planning_pipeline/planning_pipeline.h     | 5 +----
 .../moveit/planning_scene_monitor/current_state_monitor.h    | 5 +----
 .../moveit/planning_scene_monitor/planning_scene_monitor.h   | 5 +----
 .../moveit/planning_scene_monitor/trajectory_monitor.h       | 5 +----
 .../rdf_loader/include/moveit/rdf_loader/rdf_loader.h        | 4 +---
 .../include/moveit/robot_model_loader/robot_model_loader.h   | 4 +---
 .../trajectory_execution_manager.h                           | 5 +----
 .../test/test_moveit_controller_manager.h                    | 4 +---
 .../common_planning_interface_objects/common_objects.h       | 5 +----
 .../moveit/move_group_interface/move_group_interface.h       | 5 +----
 .../planning_scene_interface/planning_scene_interface.h      | 5 +----
 .../include/moveit/py_bindings_tools/py_conversions.h        | 5 +----
 .../include/moveit/py_bindings_tools/roscpp_initializer.h    | 5 +----
 .../include/moveit/py_bindings_tools/serialize_msg.h         | 5 +----
 .../include/moveit/robot_interaction/interaction.h           | 5 +----
 .../include/moveit/robot_interaction/interaction_handler.h   | 5 +----
 .../moveit/robot_interaction/interactive_marker_helpers.h    | 5 +----
 .../include/moveit/robot_interaction/kinematic_options.h     | 5 +----
 .../include/moveit/robot_interaction/kinematic_options_map.h | 5 +----
 .../include/moveit/robot_interaction/locked_robot_state.h    | 5 +----
 .../include/moveit/robot_interaction/robot_interaction.h     | 5 +----
 .../motion_planning_rviz_plugin/motion_planning_display.h    | 5 +----
 .../motion_planning_rviz_plugin/motion_planning_frame.h      | 5 +----
 .../motion_planning_param_widget.h                           | 5 +----
 .../planning_scene_rviz_plugin/planning_scene_display.h      | 5 +----
 .../moveit/robot_state_rviz_plugin/robot_state_display.h     | 5 +----
 .../include/moveit/rviz_plugin_render_tools/octomap_render.h | 4 +---
 .../moveit/rviz_plugin_render_tools/planning_link_updater.h  | 5 +----
 .../moveit/rviz_plugin_render_tools/planning_scene_render.h  | 5 +----
 .../include/moveit/rviz_plugin_render_tools/render_shapes.h  | 5 +----
 .../rviz_plugin_render_tools/robot_state_visualization.h     | 5 +----
 .../moveit/rviz_plugin_render_tools/trajectory_panel.h       | 5 +----
 .../rviz_plugin_render_tools/trajectory_visualization.h      | 5 +----
 .../moveit/trajectory_rviz_plugin/trajectory_display.h       | 5 +----
 .../warehouse/include/moveit/warehouse/constraints_storage.h | 5 +----
 .../include/moveit/warehouse/moveit_message_storage.h        | 5 +----
 .../include/moveit/warehouse/planning_scene_storage.h        | 5 +----
 .../include/moveit/warehouse/planning_scene_world_storage.h  | 5 +----
 .../warehouse/include/moveit/warehouse/state_storage.h       | 5 +----
 .../moveit/warehouse/trajectory_constraints_storage.h        | 5 +----
 .../warehouse/include/moveit/warehouse/warehouse_connector.h | 5 +----
 .../setup_assistant/tools/compute_default_collisions.h       | 5 +----
 .../moveit/setup_assistant/tools/moveit_config_data.h        | 5 +----
 moveit_setup_assistant/src/tools/collision_linear_model.h    | 5 +----
 moveit_setup_assistant/src/tools/collision_matrix_model.h    | 5 +----
 moveit_setup_assistant/src/tools/rotated_header_view.h       | 5 +----
 .../src/widgets/author_information_widget.h                  | 5 +----
 .../src/widgets/configuration_files_widget.h                 | 5 +----
 moveit_setup_assistant/src/widgets/controller_edit_widget.h  | 5 +----
 .../src/widgets/default_collisions_widget.h                  | 5 +----
 moveit_setup_assistant/src/widgets/double_list_widget.h      | 5 +----
 moveit_setup_assistant/src/widgets/end_effectors_widget.h    | 5 +----
 moveit_setup_assistant/src/widgets/group_edit_widget.h       | 5 +----
 moveit_setup_assistant/src/widgets/header_widget.h           | 5 +----
 moveit_setup_assistant/src/widgets/kinematic_chain_widget.h  | 5 +----
 moveit_setup_assistant/src/widgets/navigation_widget.h       | 5 +----
 moveit_setup_assistant/src/widgets/passive_joints_widget.h   | 5 +----
 moveit_setup_assistant/src/widgets/perception_widget.h       | 5 +----
 moveit_setup_assistant/src/widgets/planning_groups_widget.h  | 5 +----
 moveit_setup_assistant/src/widgets/robot_poses_widget.h      | 5 +----
 moveit_setup_assistant/src/widgets/ros_controllers_widget.h  | 5 +----
 moveit_setup_assistant/src/widgets/setup_assistant_widget.h  | 5 +----
 moveit_setup_assistant/src/widgets/setup_screen_widget.h     | 5 +----
 moveit_setup_assistant/src/widgets/simulation_widget.h       | 5 +----
 moveit_setup_assistant/src/widgets/start_screen_widget.h     | 5 +----
 moveit_setup_assistant/src/widgets/virtual_joints_widget.h   | 5 +----
 257 files changed, 257 insertions(+), 1002 deletions(-)

diff --git a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
index 270be22622..b87a82f997 100644
--- a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
+++ b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_BACKGROUND_PROCESSING_
-#define MOVEIT_BACKGROUND_PROCESSING_
+#pragma once
 
 #include <deque>
 #include <string>
@@ -113,5 +112,3 @@ class BackgroundProcessing : private boost::noncopyable
 };
 }
 }
-
-#endif
diff --git a/moveit_core/backtrace/include/moveit/backtrace/backtrace.h b/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
index c00033f9bc..224c0fe2dc 100644
--- a/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
+++ b/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_BACKTRACE_
-#define MOVEIT_BACKTRACE_
+#pragma once
 
 #include <iostream>
 
@@ -63,5 +62,3 @@ void get_backtrace(std::ostream& out)
 }
 #endif
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
index 549a6d6990..0382b492d7 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALL_VALID_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALL_VALID_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>
@@ -52,5 +51,3 @@ class CollisionDetectorAllocatorAllValid
   static const std::string NAME;  // defined in collision_world_allvalid.cpp
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
index 9ac86aa6bb..9ce0e2dc15 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
-#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
+#pragma once
 
 #include <moveit/collision_detection/collision_robot.h>
 
@@ -84,5 +83,3 @@ class CollisionRobotAllValid : public CollisionRobot
                      const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h
index c950579668..dcf045b554 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
-#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
+#pragma once
 
 #include <moveit/collision_detection/collision_world.h>
 
@@ -75,5 +74,3 @@ class CollisionWorldAllValid : public CollisionWorld
   void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 601755b0bb..c4ec8f25a5 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_COMMON_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_COMMON_
+#pragma once
 
 #include <boost/array.hpp>
 #include <boost/function.hpp>
@@ -382,5 +381,3 @@ struct DistanceResult
   }
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index aed7eac019..018d6be5e0 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
+#pragma once
 
 #include <moveit/collision_detection/collision_robot.h>
 #include <moveit/collision_detection/collision_world.h>
@@ -108,5 +107,3 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
   }
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
index 59eb26e535..1b9e36e36e 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_
+#pragma once
 
 #include <moveit/collision_detection/collision_common.h>
 #include <moveit/macros/class_forward.h>
@@ -278,5 +277,3 @@ class AllowedCollisionMatrix
   std::map<std::string, DecideContactFn> default_allowed_contacts_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
index 466d58a685..1460b80ff0 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
@@ -34,8 +34,7 @@
 
 /* Author: Adam Leeper */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_OCTOMAP_FILTER_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_OCTOMAP_FILTER_
+#pragma once
 
 #include <moveit/collision_detection/collision_common.h>
 #include <moveit/collision_detection/collision_world.h>
@@ -62,5 +61,3 @@ int refineContactNormals(const World::ObjectConstPtr& object, CollisionResult& r
                          double cell_bbx_search_distance = 1.0, double allowed_angle_divergence = 0.0,
                          bool estimate_depth = false, double iso_value = 0.5, double metaball_radius_multiple = 1.5);
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
index 156318f4bc..5142e41bb9 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
-#define MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection/collision_robot.h>
@@ -94,5 +93,3 @@ class CollisionPlugin
 };
 
 }  // namespace collision_detection
-
-#endif  // MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h
index 1b6d476a89..2249b56c73 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_
+#pragma once
 
 #include <moveit/collision_detection/collision_matrix.h>
 #include <moveit/macros/class_forward.h>
@@ -309,5 +308,3 @@ class CollisionRobot
   std::map<std::string, double> link_scale_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
index 6893c41444..8b06686148 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
+#pragma once
 
 #include <moveit/collision_detection/collision_common.h>
 #include <moveit_msgs/CostSource.h>
@@ -72,5 +71,3 @@ bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource
 void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
 void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
index e8478bc1ac..717e72ec09 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
+#pragma once
 
 #include <boost/utility.hpp>
 
@@ -278,5 +277,3 @@ class CollisionWorld : private boost::noncopyable
   WorldConstPtr world_const_;  // always same as world_
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index f461043f4a..82b299673e 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Acorn Pooley, Sachin Chitta */
 
-#ifndef MOVEIT_COLLISION_DETECTION_WORLD_
-#define MOVEIT_COLLISION_DETECTION_WORLD_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 
@@ -300,5 +299,3 @@ class World
   std::vector<Observer*> observers_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 5f2013d7f0..84ae6a522c 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
-#define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
+#pragma once
 
 #include <moveit/collision_detection/world.h>
 #include <moveit/macros/class_forward.h>
@@ -126,5 +125,3 @@ class WorldDiff
   WorldWeakPtr world_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index f9fce66b21..347a9426d1 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_COMMON_
-#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_COMMON_
+#pragma once
 
 #include <moveit/collision_detection/world.h>
 #include <moveit/collision_detection/collision_world.h>
@@ -298,5 +297,3 @@ inline void fcl2costsource(const fcl::CostSourced& fcs, CostSource& cs)
   cs.cost = fcs.cost_density;
 }
 }
-
-#endif
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
index 6b7ec1ce52..a72b4fd5d6 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_FCL_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_FCL_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_robot_fcl.h>
@@ -51,5 +50,3 @@ class CollisionDetectorAllocatorFCL
   static const std::string NAME;  // defined in collision_world_fcl.cpp
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
index 18d7e8c40f..e1d749474c 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -2,8 +2,7 @@
  * collision_detector_fcl_plugin_loader.h
  */
 
-#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
-#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_plugin.h>
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
@@ -16,4 +15,3 @@ class CollisionDetectorFCLPluginLoader : public CollisionPlugin
   virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const;
 };
 }
-#endif  // MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
\ No newline at end of file
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
index a46794e999..917658bab3 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
-#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
+#pragma once
 
 #include <moveit/collision_detection_fcl/collision_common.h>
 
@@ -96,5 +95,3 @@ class CollisionRobotFCL : public CollisionRobot
   std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
index e6d9557630..65cc476471 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
-#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
+#pragma once
 
 #include <moveit/collision_detection_fcl/collision_robot_fcl.h>
 #include <moveit/collision_detection_fcl/fcl_compat.h>
@@ -97,5 +96,3 @@ class CollisionWorldFCL : public CollisionWorld
   World::ObserverHandle observer_handle_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
index 9eeda077cd..123fac3c08 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
@@ -34,8 +34,7 @@
 
 /* Author: Benjamin Scholz */
 
-#ifndef MOVEIT_COLLISION_DETECTION_FCL_COMPAT_
-#define MOVEIT_COLLISION_DETECTION_FCL_COMPAT_
+#pragma once
 
 #include <fcl/config.h>
 
@@ -98,4 +97,3 @@ class DynamicAABBTreeCollisionManager;
 using DynamicAABBTreeCollisionManagerd = fcl::DynamicAABBTreeCollisionManager;
 }
 #endif
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
index fa5910a581..024be61cfe 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DETECTION_DISTANCE_FIELD_COLLISION_COMMON_
-#define MOVEIT_COLLISION_DETECTION_DISTANCE_FIELD_COLLISION_COMMON_
+#pragma once
 
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/macros/class_forward.h>
@@ -180,4 +179,3 @@ PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const rob
 void getBodySphereVisualizationMarkers(const GroupStateRepresentationPtr& gsr, const std::string& reference_frame,
                                        visualization_msgs::MarkerArray& body_marker_array);
 }
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
index 53c71b9f35..9581cefa7b 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_DISTANCE_FIELD_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_DISTANCE_FIELD_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_distance_field/collision_robot_distance_field.h>
@@ -52,5 +51,3 @@ class CollisionDetectorAllocatorDistanceField
   static const std::string NAME;  // defined in collision_world_distance_field.cpp
 };
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
index 6eb3277ee7..a2c643b282 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_HYBRID_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_HYBRID_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_distance_field/collision_robot_hybrid.h>
@@ -52,5 +51,3 @@ class CollisionDetectorAllocatorHybrid
   static const std::string NAME;  // defined in collision_world_hybrid.cpp
 };
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index 364386fb34..9816e4be1e 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_DISTANCE_FIELD_TYPES_
-#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_DISTANCE_FIELD_TYPES_
+#pragma once
 
 #include <vector>
 #include <string>
@@ -524,5 +523,3 @@ void getCollisionMarkers(const std::string& frame_id, const std::string& ns, con
                          const std::vector<PosedBodySphereDecompositionVectorPtr>& posed_vector_decompositions,
                          const std::vector<GradientInfo>& gradients, visualization_msgs::MarkerArray& arr);
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
index 2c968dac76..dd13b12043 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_DISTANCE_FIELD_
-#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_DISTANCE_FIELD_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection/collision_robot.h>
@@ -263,5 +262,3 @@ class CollisionRobotDistanceField : public CollisionRobot
   planning_scene::PlanningScenePtr planning_scene_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
index 528fe3b226..7b188ce97e 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_HYBRID_H_
-#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_HYBRID_H_
+#pragma once
 
 #include <moveit/collision_detection_fcl/collision_robot_fcl.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
@@ -97,5 +96,3 @@ class CollisionRobotHybrid : public collision_detection::CollisionRobotFCL
   CollisionRobotDistanceFieldPtr crobot_distance_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
index d2a5e950fb..ff05802ab9 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_DISTANCE_FIELD_
-#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_DISTANCE_FIELD_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection/collision_world.h>
@@ -199,5 +198,3 @@ class CollisionWorldDistanceField : public CollisionWorld
   World::ObserverHandle observer_handle_;
 };
 }
-
-#endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
index 9b70e3c6dc..bb3d07e8cf 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_HYBRID_H_
-#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_HYBRID_H_
+#pragma once
 
 #include <moveit/collision_detection_fcl/collision_world_fcl.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
@@ -115,5 +114,3 @@ class CollisionWorldHybrid : public CollisionWorldFCL
   CollisionWorldDistanceFieldPtr cworld_distance_;
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
index ce2f2ed073..f86cc069fa 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
-#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
+#pragma once
 
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/kinematic_constraints/kinematic_constraint.h>
@@ -296,5 +295,3 @@ class ConstraintSampler
   bool verbose_;  ///< True if verbosity is on
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
index abc68a0e28..89db5e830e 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_ALLOCATOR_
-#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_ALLOCATOR_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler.h>
 #include <moveit/macros/class_forward.h>
@@ -62,5 +61,3 @@ class ConstraintSamplerAllocator
                           const moveit_msgs::Constraints& constr) const = 0;
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
index 05c88548e8..630e307c97 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
-#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler_allocator.h>
 #include <moveit/macros/class_forward.h>
@@ -144,5 +143,3 @@ class ConstraintSamplerManager
       sampler_alloc_; /**< \brief Holds the constraint sampler allocators, which will be tested in order  */
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
index ce405b9d51..f222aea111 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
-#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler.h>
 #include <visualization_msgs/MarkerArray.h>
@@ -55,5 +54,3 @@ double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const robot_st
 double countSamplesPerSecond(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                              const std::string& group);
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
index 77a048bdb8..399e3cc7ef 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_
-#define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler.h>
 #include <moveit/macros/class_forward.h>
@@ -526,5 +525,3 @@ class IKConstraintSampler : public ConstraintSampler
   Eigen::Isometry3d eef_to_ik_tip_transform_; /**< \brief Holds the transformation from end effector to IK tip frame */
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
index a50c16298a..7b00590491 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
-#define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler.h>
 
@@ -169,5 +168,3 @@ class UnionConstraintSampler : public ConstraintSampler
   std::vector<ConstraintSamplerPtr> samplers_; /**< \brief Holder for sorted internal list of samplers*/
 };
 }
-
-#endif
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.h b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
index 8ba4052ca9..46d4a7ef32 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef PR2_ARM_IK_H
-#define PR2_ARM_IK_H
+#pragma once
 
 #include <urdf_model/model.h>
 #include <urdf/model.h>
@@ -190,4 +189,3 @@ class PR2ArmIK
   std::vector<bool> continuous_joint_;
 };
 }
-#endif  // PR2_ARM_IK_H
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index 94bd16926e..a3cca94e0c 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef PR2_ARM_IK_NODE_H
-#define PR2_ARM_IK_NODE_H
+#pragma once
 
 #include <kdl/config.h>
 #include <kdl/frames.hpp>
@@ -261,5 +260,3 @@ class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
                              moveit_msgs::MoveItErrorCodes& error_code) const;
 };
 }
-
-#endif
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index 2a32ff04a8..7af922b3bc 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
-#define MOVEIT_MOVEIT_CONTROLLER_MANAGER_
+#pragma once
 
 #include <vector>
 #include <string>
@@ -209,5 +208,3 @@ class MoveItControllerManager
                                  const std::vector<std::string>& deactivate) = 0;
 };
 }
-
-#endif
diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index d1164a4935..b4bfa238d7 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan, Ken Anderson, E. Gil Jones */
 
-#ifndef MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H
-#define MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/macros/deprecation.h>
@@ -627,5 +626,3 @@ class DistanceField
 };
 
 }  // namespace distance_field
-
-#endif  // MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H
diff --git a/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h b/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
index be419651f9..27363466e1 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley */
 
-#ifndef MOVEIT_DISTANCE_FIELD__FIND_INTERNAL_POINTS_
-#define MOVEIT_DISTANCE_FIELD__FIND_INTERNAL_POINTS_
+#pragma once
 
 #include <eigen_stl_containers/eigen_stl_containers.h>
 #include <geometric_shapes/bodies.h>
@@ -54,5 +53,3 @@ namespace distance_field
  */
 void findInternalPointsConvex(const bodies::Body& body, double resolution, EigenSTL::vector_Vector3d& points);
 }
-
-#endif
diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index 66cbf2daa2..a278a7f6d6 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan, Ken Anderson */
 
-#ifndef MOVEIT_DISTANCE_FIELD_PROPAGATION_DISTANCE_FIELD_
-#define MOVEIT_DISTANCE_FIELD_PROPAGATION_DISTANCE_FIELD_
+#pragma once
 
 #include <moveit/distance_field/voxel_grid.h>
 #include <moveit/distance_field/distance_field.h>
@@ -611,5 +610,3 @@ inline double PropagationDistanceField::getDistance(const PropDistanceFieldVoxel
   return sqrt_table_[object.distance_square_] - sqrt_table_[object.negative_distance_square_];
 }
 }
-
-#endif
diff --git a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
index f85cfbdcd7..6cecf4e050 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan, Acorn Pooley */
 
-#ifndef MOVEIT_DISTANCE_FIELD_VOXEL_GRID_
-#define MOVEIT_DISTANCE_FIELD_VOXEL_GRID_
+#pragma once
 
 #include <algorithm>
 #include <cmath>
@@ -579,4 +578,3 @@ inline bool VoxelGrid<T>::worldToGrid(const Eigen::Vector3d& world, Eigen::Vecto
 }
 
 }  // namespace distance_field
-#endif
diff --git a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
index 3e73f8b036..1f579d0c6f 100644
--- a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
+++ b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
-#define MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
+#pragma once
 
 // KDL
 #include <kdl/chain.hpp>
@@ -151,4 +150,3 @@ class DynamicsSolver
   double gravity_;  // Norm of the gravity vector passed in initialize()
 };
 }
-#endif
diff --git a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
index 7918eef07d..34394e987c 100644
--- a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
+++ b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley, Ioan Sucan */
 
-#ifndef MOVEIT_EXCEPTIONS_
-#define MOVEIT_EXCEPTIONS_
+#pragma once
 
 #include <stdexcept>
 
@@ -56,5 +55,3 @@ class Exception : public std::runtime_error
   explicit Exception(const std::string& what_arg);
 };
 }
-
-#endif
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 936ebf82fe..4d15e35d63 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_KINEMATIC_CONSTRAINTS_KINEMATIC_CONSTRAINT_
-#define MOVEIT_KINEMATIC_CONSTRAINTS_KINEMATIC_CONSTRAINT_
+#pragma once
 
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
@@ -1069,5 +1068,3 @@ class KinematicConstraintSet
   moveit_msgs::Constraints all_constraints_; /**<  \brief Messages corresponding to all internal constraints */
 };
 }
-
-#endif
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index e5e9e5f74f..f2dfe6f84a 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
-#define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
+#pragma once
 
 #include <moveit_msgs/MotionPlanRequest.h>
 #include <geometry_msgs/PointStamped.h>
@@ -216,4 +215,3 @@ bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints&
  */
 bool resolveConstraintFrames(const robot_state::RobotState& state, moveit_msgs::Constraints& constraints);
 }
-#endif
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index a3323e95ae..59fc3ee7c4 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta, Dave Coleman */
 
-#ifndef MOVEIT_KINEMATICS_BASE_KINEMATICS_BASE_
-#define MOVEIT_KINEMATICS_BASE_KINEMATICS_BASE_
+#pragma once
 
 #include <geometry_msgs/PoseStamped.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
@@ -665,5 +664,3 @@ class KinematicsBase
   std::string removeSlash(const std::string& str) const;
 };
 };
-
-#endif
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index c92a7d5063..da5c213e49 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
-#define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
+#pragma once
 
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/planning_scene/planning_scene.h>
@@ -158,5 +157,3 @@ class KinematicsMetrics
   double penalty_multiplier_;
 };
 }
-
-#endif
diff --git a/moveit_core/macros/include/moveit/macros/class_forward.h b/moveit_core/macros/include/moveit/macros/class_forward.h
index 57bb5ce56b..1c5ab03544 100644
--- a/moveit_core/macros/include/moveit/macros/class_forward.h
+++ b/moveit_core/macros/include/moveit/macros/class_forward.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MACROS_CLASS_FORWARD_
-#define MOVEIT_MACROS_CLASS_FORWARD_
+#pragma once
 
 #include <moveit/macros/declare_ptr.h>
 
@@ -58,5 +57,3 @@
 #define MOVEIT_STRUCT_FORWARD(C)                                                                                       \
   struct C;                                                                                                            \
   MOVEIT_DECLARE_PTR(C, C);
-
-#endif
diff --git a/moveit_core/macros/include/moveit/macros/console_colors.h b/moveit_core/macros/include/moveit/macros/console_colors.h
index 4ea7b65d39..0da6ae80de 100644
--- a/moveit_core/macros/include/moveit/macros/console_colors.h
+++ b/moveit_core/macros/include/moveit/macros/console_colors.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSOLE_COLORS_
-#define MOVEIT_CONSOLE_COLORS_
+#pragma once
 
 #define MOVEIT_CONSOLE_COLOR_RESET "\033[0m"
 #define MOVEIT_CONSOLE_COLOR_GRAY "\033[90m"
@@ -46,5 +45,3 @@
 #define MOVEIT_CONSOLE_COLOR_BLUE "\033[94m"
 #define MOVEIT_CONSOLE_COLOR_PURPLE "\033[95m"
 #define MOVEIT_CONSOLE_COLOR_CYAN "\033[96m"
-
-#endif
diff --git a/moveit_core/macros/include/moveit/macros/declare_ptr.h b/moveit_core/macros/include/moveit/macros/declare_ptr.h
index 36506e618a..fc3eeb6e39 100644
--- a/moveit_core/macros/include/moveit/macros/declare_ptr.h
+++ b/moveit_core/macros/include/moveit/macros/declare_ptr.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_MACROS_DECLARE_PTR_
-#define MOVEIT_MACROS_DECLARE_PTR_
+#pragma once
 
 #include <memory>
 
@@ -70,5 +69,3 @@
   typedef std::shared_ptr<const Type> ConstPtr;                                                                        \
   typedef std::weak_ptr<Type> WeakPtr;                                                                                 \
   typedef std::weak_ptr<const Type> ConstWeakPtr;
-
-#endif
diff --git a/moveit_core/macros/include/moveit/macros/deprecation.h b/moveit_core/macros/include/moveit/macros/deprecation.h
index 1a69e998f0..20f24b06ac 100644
--- a/moveit_core/macros/include/moveit/macros/deprecation.h
+++ b/moveit_core/macros/include/moveit/macros/deprecation.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_MACROS_DEPRECATION_
-#define MOVEIT_MACROS_DEPRECATION_
+#pragma once
 
 /** \def MOVEIT_DEPRECATED
     Macro that marks functions as deprecated */
@@ -47,5 +46,3 @@
 #else
 #define MOVEIT_DEPRECATED /* Nothing */
 #endif
-
-#endif
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
index 93748f43ef..9cf2f206f4 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_
-#define MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_interface/planning_request.h>
@@ -213,5 +212,3 @@ class PlannerManager
 };
 
 }  // planning_interface
-
-#endif
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
index 6138283043..a738f0a0df 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_
-#define MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_
+#pragma once
 
 #include <moveit_msgs/MotionPlanRequest.h>
 
@@ -46,5 +45,3 @@ namespace planning_interface
 typedef moveit_msgs::MotionPlanRequest MotionPlanRequest;
 
 }  // planning_interface
-
-#endif
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
index c902ffd741..e05209921d 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_
-#define MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_
+#pragma once
 
 #include <moveit/robot_trajectory/robot_trajectory.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
@@ -68,5 +67,3 @@ struct MotionPlanDetailedResponse
 };
 
 }  // planning_interface
-
-#endif
diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index e950bfba11..fd2b34a424 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
-#define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_interface/planning_interface.h>
@@ -134,5 +133,3 @@ class PlanningRequestAdapterChain
   std::vector<PlanningRequestAdapterConstPtr> adapters_;
 };
 }
-
-#endif
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 6503f7793a..32adb11f61 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Acorn Pooley */
 
-#ifndef MOVEIT_PLANNING_SCENE_PLANNING_SCENE_
-#define MOVEIT_PLANNING_SCENE_PLANNING_SCENE_
+#pragma once
 
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
@@ -1056,5 +1055,3 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   std::unique_ptr<ObjectTypeMap> object_types_;
 };
 }
-
-#endif
diff --git a/moveit_core/profiler/include/moveit/profiler/profiler.h b/moveit_core/profiler/include/moveit/profiler/profiler.h
index b996af16f7..554ec2b755 100644
--- a/moveit_core/profiler/include/moveit/profiler/profiler.h
+++ b/moveit_core/profiler/include/moveit/profiler/profiler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PROFILER_
-#define MOVEIT_PROFILER_
+#pragma once
 
 #define MOVEIT_ENABLE_PROFILING 1
 
@@ -448,5 +447,3 @@ class Profiler
 }
 
 #endif
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/aabb.h b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
index 2ed8ebf382..5c1b84df13 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/aabb.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
@@ -34,8 +34,7 @@
 
 /* Author: Martin Pecka */
 
-#ifndef MOVEIT_ROBOT_MODEL_AABB_H
-#define MOVEIT_ROBOT_MODEL_AABB_H
+#pragma once
 
 #include <Eigen/Geometry>
 
@@ -52,5 +51,3 @@ class AABB : public Eigen::AlignedBox3d
 };
 }
 }
-
-#endif  // MOVEIT_ROBOT_MODEL_AABB_H
diff --git a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
index 265b13576c..d10b1622a7 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 
@@ -68,5 +67,3 @@ class FixedJointModel : public JointModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
index a39a8471e5..6d721d9bf5 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 
@@ -91,5 +90,3 @@ class FloatingJointModel : public JointModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
index 982ae78bb8..aa07321d73 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_
+#pragma once
 
 #include <string>
 #include <vector>
@@ -521,5 +520,3 @@ class JointModel
 std::ostream& operator<<(std::ostream& out, const VariableBounds& b);
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
index d46e1fc748..108e1a5ab3 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_GROUP_
-#define MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_GROUP_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 #include <moveit/robot_model/link_model.h>
@@ -745,5 +744,3 @@ class JointModelGroup
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index decebc2a82..d586dfded0 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
+#pragma once
 
 #include <string>
 #include <vector>
@@ -283,5 +282,3 @@ class LinkModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
index 0900e0b8d9..3524250e41 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 
@@ -86,5 +85,3 @@ class PlanarJointModel : public JointModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
index f745947e18..87678c55a5 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 
@@ -86,5 +85,3 @@ class PrismaticJointModel : public JointModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
index 33adc02839..76322c2b04 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
+#pragma once
 
 #include <moveit/robot_model/joint_model.h>
 
@@ -97,5 +96,3 @@ class RevoluteJointModel : public JointModel
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 5e0b98061d..835c675c04 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_MODEL_
-#define MOVEIT_CORE_ROBOT_MODEL_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/exceptions/exceptions.h>
@@ -621,5 +620,3 @@ class RobotModel
 
 namespace robot_model = moveit::core;
 namespace robot_state = moveit::core;
-
-#endif
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index 3453d3233d..bf5a4f5ec6 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_ROBOT_STATE_ATTACHED_BODY_
-#define MOVEIT_ROBOT_STATE_ATTACHED_BODY_
+#pragma once
 
 #include <moveit/robot_model/link_model.h>
 #include <moveit/transforms/transforms.h>
@@ -184,5 +183,3 @@ class AttachedBody
 };
 }
 }
-
-#endif
diff --git a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
index a5447f2f85..ecf843c99a 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
@@ -36,8 +36,7 @@
 
 /* Author: Ioan Sucan, Mike Lautman */
 
-#ifndef MOVEIT_CORE_ROBOT_STATE_CARTESIAN_INTERPOLATOR_
-#define MOVEIT_CORE_ROBOT_STATE_CARTESIAN_INTERPOLATOR_
+#pragma once
 
 #include <moveit/robot_state/robot_state.h>
 
@@ -215,5 +214,3 @@ class CartesianInterpolator
 
 }  // end of namespace core
 }  // end of namespace moveit
-
-#endif
diff --git a/moveit_core/robot_state/include/moveit/robot_state/conversions.h b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
index 655329acff..e5d1017d33 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/conversions.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Dave Coleman */
 
-#ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_
-#define MOVEIT_ROBOT_STATE_CONVERSIONS_
+#pragma once
 
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/transforms/transforms.h>
@@ -143,5 +142,3 @@ void robotStateToStream(const RobotState& state, std::ostream& out,
 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
 }
 }
-
-#endif
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index c65a5e7eeb..126b20baf9 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CORE_ROBOT_STATE_
-#define MOVEIT_CORE_ROBOT_STATE_
+#pragma once
 
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/attached_body.h>
@@ -1837,5 +1836,3 @@ as the new values that correspond to the group */
 std::ostream& operator<<(std::ostream& out, const RobotState& s);
 }
 }
-
-#endif
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 7b3a4b9507..1601cd4279 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Adam Leeper */
 
-#ifndef MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_
-#define MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/macros/deprecation.h>
@@ -265,5 +264,3 @@ class RobotTrajectory
   std::deque<double> duration_from_previous_;
 };
 }
-
-#endif
diff --git a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
index a8f1a1615b..222e703504 100644
--- a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
+++ b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
-#define MOVEIT_MOVEIT_SENSOR_MANAGER_
+#pragma once
 
 #include <vector>
 #include <string>
@@ -103,5 +102,3 @@ class MoveItSensorManager
                              moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
 };
 }
-
-#endif
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
index c3cb24cb12..67f4683047 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
@@ -35,8 +35,7 @@
 
 /* Author: Ken Anderson */
 
-#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
-#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
+#pragma once
 
 #include <trajectory_msgs/JointTrajectory.h>
 #include <moveit_msgs/JointLimits.h>
@@ -85,5 +84,3 @@ class IterativeSplineParameterization
                      /// If false, move the 2nd and 2nd-last points.
 };
 }
-
-#endif
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
index 59b883f089..64e3d2b5b9 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
@@ -34,8 +34,7 @@
 
 /* Author: Ken Anderson */
 
-#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
-#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
+#pragma once
 
 #include <trajectory_msgs/JointTrajectory.h>
 #include <moveit_msgs/JointLimits.h>
@@ -69,5 +68,3 @@ class IterativeParabolicTimeParameterization
   double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
 };
 }
-
-#endif
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
index 21db426fd1..3e8268a92c 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
@@ -36,8 +36,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef MOVEIT_TRAJECTORY_PROCESSING_TIME_OPTIMAL_TRAJECTORY_GENERATION_H
-#define MOVEIT_TRAJECTORY_PROCESSING_TIME_OPTIMAL_TRAJECTORY_GENERATION_H
+#pragma once
 
 #include <Eigen/Core>
 #include <list>
@@ -174,5 +173,3 @@ class TimeOptimalTrajectoryGeneration
   const double resample_dt_;
 };
 }  // namespace trajectory_processing
-
-#endif  // MOVEIT_TRAJECTORY_PROCESSING_TIME_OPTIMAL_TRAJECTORY_GENERATION_H
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
index 0c7658d39f..4c818af3e8 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_TRAJECTORY_PROCESSING_TRAJECTORY_TOOLS_
-#define MOVEIT_TRAJECTORY_PROCESSING_TRAJECTORY_TOOLS_
+#pragma once
 
 #include <moveit_msgs/RobotTrajectory.h>
 
@@ -44,5 +43,3 @@ namespace trajectory_processing
 bool isTrajectoryEmpty(const moveit_msgs::RobotTrajectory& trajectory);
 std::size_t trajectoryWaypointCount(const moveit_msgs::RobotTrajectory& trajectory);
 }
-
-#endif
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 949a61341f..6833b606aa 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_TRANSFORMS_
-#define MOVEIT_TRANSFORMS_
+#pragma once
 
 #include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/Pose.h>
@@ -200,5 +199,3 @@ class Transforms : private boost::noncopyable
 };
 }
 }
-
-#endif
diff --git a/moveit_core/utils/include/moveit/utils/lexical_casts.h b/moveit_core/utils/include/moveit/utils/lexical_casts.h
index ce0fbcb5b5..3dc0e84ab8 100644
--- a/moveit_core/utils/include/moveit/utils/lexical_casts.h
+++ b/moveit_core/utils/include/moveit/utils/lexical_casts.h
@@ -34,8 +34,7 @@
 
 /* Author: Simon Schmeisser */
 
-#ifndef MOVEIT_CORE_UTILS_LEXICAL_CASTS_
-#define MOVEIT_CORE_UTILS_LEXICAL_CASTS_
+#pragma once
 
 /** \file lexical_casts.h
  *  \brief locale-agnostic conversion functions from floating point numbers to strings
@@ -68,5 +67,3 @@ double toDouble(const std::string& s);
 float toFloat(const std::string& s);
 }
 }
-
-#endif
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 079cf49749..652d7111b6 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -35,8 +35,7 @@
 /* Author: Bryce Willey */
 /** \brief convenience functions and classes used for making simple robot models for testing. */
 
-#ifndef MOVEIT_CORE_UTILS_TEST_
-#define MOVEIT_CORE_UTILS_TEST_
+#pragma once
 
 #include <urdf_parser/urdf_parser.h>
 #include <urdf_model/model.h>
@@ -196,5 +195,3 @@ class RobotModelBuilder
 };
 }
 }
-
-#endif
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
index c90f312dc6..0495d74d2a 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
@@ -34,8 +34,7 @@
 
 /** \author E. Gil Jones */
 
-#ifndef COLLISION_DISTANCE_FIELD_HELPERS_H_
-#define COLLISION_DISTANCE_FIELD_HELPERS_H_
+#pragma once
 
 #include <ros/ros.h>
 #include <planning_models/robot_model.h>
@@ -126,4 +125,3 @@ static inline bool loadLinkBodySphereDecompositions(
   return true;
 }
 }
-#endif
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
index 8c9861b953..1fb7a58e56 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
@@ -34,8 +34,7 @@
 
 /** \author E. Gil Jones */
 
-#ifndef _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
-#define _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
+#pragma once
 
 #include <ros/ros.h>
 #include <collision_distance_field_ros/collision_distance_field_ros_helpers.h>
@@ -63,5 +62,3 @@ class CollisionRobotDistanceFieldROS : public CollisionRobotDistanceField
   }
 };
 }
-
-#endif
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
index 193d9debd2..8cb1c75f98 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
@@ -34,8 +34,7 @@
 
 /** \author E. Gil Jones */
 
-#ifndef _COLLISION_ROBOT_HYBRID_ROS_H_
-#define _COLLISION_ROBOT_HYBRID_ROS_H_
+#pragma once
 
 #include <ros/ros.h>
 #include <collision_distance_field_ros/collision_distance_field_ros_helpers.h>
@@ -63,5 +62,3 @@ class CollisionRobotHybridROS : public CollisionRobotHybrid
   }
 };
 }
-
-#endif
diff --git a/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h b/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h
index 1049f26967..4b3680b5f3 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h
@@ -37,8 +37,7 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef JOG_ARM_COLLISION_CHECK_THREAD_H
-#define JOG_ARM_COLLISION_CHECK_THREAD_H
+#pragma once
 
 #include <jog_arm/jog_arm_data.h>
 #include <jog_arm/low_pass_filter.h>
@@ -54,5 +53,3 @@ class CollisionCheckThread
                        pthread_mutex_t& mutex, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 };
 }
-
-#endif  // JOG_ARM_COLLISION_CHECK_THREAD_H
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
index fa2129c8dc..cc8309dd62 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
@@ -37,8 +37,7 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef JOG_ARM_JOG_ARM_DATA_H
-#define JOG_ARM_JOG_ARM_DATA_H
+#pragma once
 
 #include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -93,4 +92,3 @@ struct JogArmParameters
   bool use_gazebo, check_collisions, publish_joint_positions, publish_joint_velocities, publish_joint_accelerations;
 };
 }
-#endif  // JOG_ARM_DATA_H
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
index ff278e76fe..f9ba6da0c9 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
@@ -37,8 +37,7 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef JOG_ARM_JOG_CALCS_H
-#define JOG_ARM_JOG_CALCS_H
+#pragma once
 
 #include <jog_arm/jog_arm_data.h>
 #include <jog_arm/low_pass_filter.h>
@@ -135,5 +134,3 @@ class JogCalcs
   uint num_joints_;
 };
 }  // namespace jog_arm
-
-#endif  // JOG_ARM_JOG_CALCS_H
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h b/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h
index 636e920afe..ef5f7d8d66 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h
@@ -39,8 +39,7 @@
 
 // Server node for arm jogging with MoveIt.
 
-#ifndef JOG_ARM_JOG_ROS_INTERFACE_H
-#define JOG_ARM_JOG_ROS_INTERFACE_H
+#pragma once
 
 #include <Eigen/Eigenvalues>
 #include <jog_arm/collision_check_thread.h>
@@ -87,5 +86,3 @@ class JogROSInterface
   JogArmParameters ros_parameters_;
 };
 }  // namespace jog_arm
-
-#endif  // JOG_ARM_JOG_ROS_INTERFACE_H
diff --git a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h b/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
index d6b4402072..d1a3e937db 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
@@ -37,8 +37,7 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef JOG_ARM_LOW_PASS_FILTER_H
-#define JOG_ARM_LOW_PASS_FILTER_H
+#pragma once
 
 namespace jog_arm
 {
@@ -64,4 +63,3 @@ class LowPassFilter
   double filter_coeff_ = 10.;
 };
 }  // namespace jog_arm
-#endif  // JOG_ARM_LOW_PASS_FILTER_H
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h b/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
index 1d9f7fd217..952965a57e 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
@@ -35,8 +35,7 @@
 * Author: Sachin Chitta
 *********************************************************************/
 
-#ifndef KINEMATICS_CACHE_H_
-#define KINEMATICS_CACHE_H_
+#pragma once
 
 #include <kinematics_base/kinematics_base.h>
 #include <planning_models/robot_model.h>
@@ -184,5 +183,3 @@ class KinematicsCache
 
 typedef std::shared_ptr<KinematicsCache> KinematicsCachePtr;
 }
-
-#endif
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
index ceaa9f86e6..187c133f40 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
@@ -35,8 +35,7 @@
 * Author: Sachin Chitta
 *********************************************************************/
 
-#ifndef KINEMATICS_CACHE_ROS_H_
-#define KINEMATICS_CACHE_ROS_H_
+#pragma once
 
 #include <kinematics_cache/kinematics_cache.h>
 #include <planning_models/robot_model.h>
@@ -70,5 +69,3 @@ class KinematicsCacheROS : public kinematics_cache::KinematicsCache
   planning_models::RobotModelPtr kinematic_model_; /** A kinematics model */
 };
 }
-
-#endif
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
index 0a7c793614..233ad5f27c 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
@@ -35,8 +35,7 @@
 * Author: Sachin Chitta
 *********************************************************************/
 
-#ifndef KINEMATICS_CACHE_H_
-#define KINEMATICS_CACHE_H_
+#pragma once
 
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_model/robot_model.h>
@@ -182,5 +181,3 @@ class KinematicsCache
 
 typedef std::shared_ptr<KinematicsCache> KinematicsCachePtr;
 }
-
-#endif
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
index 2ec2f70299..4200f2761e 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
@@ -35,8 +35,7 @@
 * Author: Sachin Chitta
 *********************************************************************/
 
-#ifndef MOVEIT_KINEMATICS_CONSTRAINT_AWARE_
-#define MOVEIT_KINEMATICS_CONSTRAINT_AWARE_
+#pragma once
 
 // System
 #include <boost/function.hpp>
@@ -141,5 +140,3 @@ class KinematicsConstraintAware
   unsigned int ik_attempts_;
 };
 }
-
-#endif
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
index 6d2086a08a..b54fd335e3 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
@@ -35,8 +35,7 @@
 * Author: Sachin Chitta
 *********************************************************************/
 
-#ifndef MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
-#define MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
+#pragma once
 
 // System
 #include <boost/shared_ptr.hpp>
@@ -105,5 +104,3 @@ class KinematicsResponse
   bool result_;
 };
 }
-
-#endif
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 649d89f7df..1d4a76286f 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -34,8 +34,7 @@
 
 /* Author: Mark Moll */
 
-#ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_PLUGIN_
-#define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_PLUGIN_
+#pragma once
 
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
@@ -348,4 +347,3 @@ class CachedMultiTipIKKinematicsPlugin : public CachedIKKinematicsPlugin<Kinemat
 }
 
 #include "cached_ik_kinematics_plugin-inl.h"
-#endif
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
index 53b6abe086..f954d054a0 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
@@ -36,8 +36,7 @@
 
 // This file is a slightly modified version of <ompl/datastructures/GreedyKCenters.h>
 
-#ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_GREEDY_K_CENTERS_
-#define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_GREEDY_K_CENTERS_
+#pragma once
 
 #include <functional>
 #include <random>
@@ -129,5 +128,3 @@ class GreedyKCenters
   std::mt19937 generator_{ std::random_device{}() };
 };
 }
-
-#endif
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
index dc026872fe..e3fc410078 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
@@ -36,8 +36,7 @@
 
 // This file is a slightly modified version of <ompl/datastructures/NearestNeighbors.h>
 
-#ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_
-#define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_
+#pragma once
 
 #include <vector>
 #include <functional>
@@ -116,5 +115,3 @@ class NearestNeighbors
   DistanceFunction distFun_;
 };
 }
-
-#endif
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
index 6d3b72f55e..dc21099fc6 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
@@ -36,8 +36,7 @@
 
 // This file is a slightly modified version of <ompl/datastructures/NearestNeighborsGNAT.h>
 
-#ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_GNAT_
-#define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_GNAT_
+#pragma once
 
 #include "NearestNeighbors.h"
 #include "GreedyKCenters.h"
@@ -720,5 +719,3 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   std::unordered_set<const _T*> removed_;
 };
 }
-
-#endif
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index 9cff711601..afefc41f3c 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -23,8 +23,7 @@
 // linear relationship to that of another joint.
 // Copyright  (C)  2013  Sachin Chitta, Willow Garage
 
-#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_Mimic_HPP
-#define KDL_CHAIN_IKSOLVERVEL_PINV_Mimic_HPP
+#pragma once
 
 #include <kdl/config.h>
 #include <kdl/chainiksolver.hpp>
@@ -116,4 +115,3 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
   Jacobian jac_reduced_;  // reduced Jacobian with contributions of mimic joints mapped onto active DoFs
 };
 }
-#endif
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
index 6814441850..45ad0a0c47 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
-#define MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
+#pragma once
 
 namespace kdl_kinematics_plugin
 {
@@ -71,5 +70,3 @@ class JointMimic
   }
 };
 }
-
-#endif
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 9c4a150045..6e13e834f4 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */
 
-#ifndef MOVEIT_ROS_PLANNING_KDL_KINEMATICS_PLUGIN_
-#define MOVEIT_ROS_PLANNING_KDL_KINEMATICS_PLUGIN_
+#pragma once
 
 // ROS
 #include <ros/ros.h>
@@ -196,5 +195,3 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
   double orientation_vs_position_weight_;
 };
 }
-
-#endif
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index 0ec6c0667d..79c1155d67 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -34,8 +34,7 @@
 
 /* Author: Francisco Suarez-Ruiz */
 
-#ifndef MOVEIT_ROS_PLANNING_LMA_KINEMATICS_PLUGIN_H
-#define MOVEIT_ROS_PLANNING_LMA_KINEMATICS_PLUGIN_H
+#pragma once
 
 // ROS
 #include <ros/ros.h>
@@ -182,5 +181,3 @@ class LMAKinematicsPlugin : public kinematics::KinematicsBase
   double orientation_vs_position_weight_;
 };
 }
-
-#endif
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index 50449662fe..f0a1494648 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -39,8 +39,7 @@
            \todo: better support for redundant joints
 */
 
-#ifndef MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_
-#define MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_
+#pragma once
 
 // ROS
 #include <ros/ros.h>
@@ -159,5 +158,3 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
   std::shared_ptr<ros::ServiceClient> ik_service_client_;
 };
 }
-
-#endif
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
index 1272a130cc..464da4ab92 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef CHOMP_INTERFACE_CHOMP_INTERFACE_H
-#define CHOMP_INTERFACE_CHOMP_INTERFACE_H
+#pragma once
 
 #include <chomp_motion_planner/chomp_planner.h>
 #include <chomp_motion_planner/chomp_parameters.h>
@@ -64,5 +63,3 @@ class CHOMPInterface : public chomp::ChompPlanner
   chomp::ChompParameters params_;
 };
 }
-
-#endif
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
index 69169f8a66..2dee290b9b 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
@@ -34,8 +34,7 @@
 
 /* Author: Chittaranjan Srinivas Swaminathan */
 
-#ifndef CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H
-#define CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 #include <chomp_interface/chomp_interface.h>
@@ -65,5 +64,3 @@ class CHOMPPlanningContext : public planning_interface::PlanningContext
 };
 
 } /* namespace chomp_interface */
-
-#endif /* CHOMP_PLANNING_CONTEXT_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
index bda7cbd3f9..a60b1e1c71 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef CHOMP_COST_H_
-#define CHOMP_COST_H_
+#pragma once
 
 #include <eigen3/Eigen/Core>
 #include <chomp_motion_planner/chomp_trajectory.h>
@@ -97,5 +96,3 @@ inline double ChompCost::getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const
 }
 
 }  // namespace chomp
-
-#endif /* CHOMP_COST_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
index fba516334b..f98009e133 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef CHOMP_OPTIMIZER_H_
-#define CHOMP_OPTIMIZER_H_
+#pragma once
 
 #include <chomp_motion_planner/chomp_parameters.h>
 #include <chomp_motion_planner/chomp_trajectory.h>
@@ -224,5 +223,3 @@ class ChompOptimizer
   bool isCurrentTrajectoryMeshToMeshCollisionFree() const;
 };
 }
-
-#endif /* CHOMP_OPTIMIZER_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h
index f1446c9d8a..ab78f274ca 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef CHOMP_PARAMETERS_H_
-#define CHOMP_PARAMETERS_H_
+#pragma once
 
 #include <ros/ros.h>
 
@@ -98,5 +97,3 @@ class ChompParameters
 };
 
 }  // namespace chomp
-
-#endif /* CHOMP_PARAMETERS_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
index 30d77fa7a0..a4d85fb673 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef _CHOMP_PLANNER_H_
-#define _CHOMP_PLANNER_H_
+#pragma once
 
 #include <chomp_motion_planner/chomp_parameters.h>
 #include <moveit/planning_interface/planning_request.h>
@@ -55,5 +54,3 @@ class ChompPlanner
              planning_interface::MotionPlanDetailedResponse& res) const;
 };
 }
-
-#endif
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
index 359ce88b24..559237aa12 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef CHOMP_TRAJECTORY_H_
-#define CHOMP_TRAJECTORY_H_
+#pragma once
 
 #include <trajectory_msgs/JointTrajectory.h>
 #include <moveit/robot_model/robot_model.h>
@@ -308,5 +307,3 @@ inline double ChompTrajectory::getDuration() const
   return duration_;
 }
 }
-
-#endif /* CHOMP_TRAJECTORY_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_utils.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_utils.h
index 0b9a5214ae..b5fb5b7a66 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_utils.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_utils.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef CHOMP_UTILS_H_
-#define CHOMP_UTILS_H_
+#pragma once
 
 #include <iostream>
 #include <Eigen/Core>
@@ -86,5 +85,3 @@ static inline double shortestAngularDistance(double start, double end)
 }
 
 }  // namespace chomp
-
-#endif /* CHOMP_UTILS_H_ */
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
index d906439cef..a1935d640e 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
@@ -34,8 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#ifndef MULTIVARIATE_GAUSSIAN_H_
-#define MULTIVARIATE_GAUSSIAN_H_
+#pragma once
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Cholesky>
@@ -93,5 +92,3 @@ void MultivariateGaussian::sample(Eigen::MatrixBase<Derived>& output)
   output = mean_ + covariance_cholesky_ * output;
 }
 }
-
-#endif /* MULTIVARIATE_GAUSSIAN_H_ */
diff --git a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
index fba9e700d3..4e85adddb2 100644
--- a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
+++ b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
@@ -43,8 +43,7 @@
 
 // Author: Blaise Gassend
 
-#ifndef __ompl_interface_ros__OMPLDYNAMICRECONFIGURECONFIG_H__
-#define __ompl_interface_ros__OMPLDYNAMICRECONFIGURECONFIG_H__
+#pragma once
 
 #include <dynamic_reconfigure/config_tools.h>
 #include <moveit/macros/class_forward.h>
@@ -532,5 +531,3 @@ inline const OMPLDynamicReconfigureConfigStatics* OMPLDynamicReconfigureConfig::
   return statics;
 }
 }
-
-#endif  // __OMPLDYNAMICRECONFIGURERECONFIGURATOR_H__
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h
index 7615ad1561..18c3888fc4 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_CONSTRAINTS_LIBRARY_
-#define MOVEIT_OMPL_INTERFACE_CONSTRAINTS_LIBRARY_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/ompl_interface/planning_context_manager.h>
@@ -200,5 +199,3 @@ class ConstraintsLibrary
   std::map<std::string, ConstraintApproximationPtr> constraint_approximations_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index 4eb0b16ec2..d054ab8e15 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
+#pragma once
 
 #include <ompl/base/goals/GoalLazySamples.h>
 #include <moveit/kinematic_constraints/kinematic_constraint.h>
@@ -73,5 +72,3 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
   unsigned int verbose_display_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
index a0554bfbf7..cb72a22811 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
+#pragma once
 
 #include <ompl/base/StateSampler.h>
 #include <moveit/constraint_samplers/constraint_sampler.h>
@@ -78,5 +77,3 @@ class ConstrainedSampler : public ompl::base::StateSampler
   double inv_dim_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
index 7a504f7fbe..61e9b0d15d 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
+#pragma once
 
 #include <ompl/base/StateSampler.h>
 #include <ompl/base/ValidStateSampler.h>
@@ -70,5 +69,3 @@ class ValidConstrainedSampler : public ompl::base::ValidStateSampler
   ompl::RNG rng_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
index 5636257e46..ccf47358ae 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
+#pragma once
 
 #include <moveit/macros/declare_ptr.h>
 #include <planning_scene/planning_scene.h>
@@ -75,5 +74,3 @@ struct ConstraintApproximation
 
 MOVEIT_DECLARE_PTR(ConstraintApproximations, std::vector<ConstraintApproximation>)
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
index 8fd837ad9d..63c0b0917f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
+#pragma once
 
 #include <ompl/config.h>
 #include <ompl/base/ProjectionEvaluator.h>
@@ -83,5 +82,3 @@ class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
   std::vector<unsigned int> variables_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
index c485879007..23e02f87fb 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
-#define MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
+#pragma once
 
 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
 #include <moveit/collision_detection/collision_common.h>
@@ -89,5 +88,3 @@ class StateValidityChecker : public ompl::base::StateValidityChecker
   bool verbose_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
index a19b69bfda..a276ede06e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
-#define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
+#pragma once
 
 #include <moveit/robot_state/robot_state.h>
 #include <thread>
@@ -58,4 +57,3 @@ class TSStateStorage
   mutable std::mutex lock_;
 };
 }
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 90f5034502..022aa4ab29 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_MODEL_BASED_PLANNING_CONTEXT_
-#define MOVEIT_OMPL_INTERFACE_MODEL_BASED_PLANNING_CONTEXT_
+#pragma once
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
 #include <moveit/ompl_interface/detail/constrained_valid_state_sampler.h>
@@ -377,5 +376,3 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
   bool simplify_solutions_;
 };
 }  // namespace ompl_interface
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index 317272df62..5dc11716ee 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_
-#define MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_
+#pragma once
 
 #include <moveit/ompl_interface/planning_context_manager.h>
 #include <moveit/ompl_interface/constraints_library.h>
@@ -193,5 +192,3 @@ class OMPLInterface
   constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
index 6b4dbb5229..4a8c9073fa 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_
+#pragma once
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
 
@@ -49,5 +48,3 @@ class JointModelStateSpace : public ModelBasedStateSpace
   JointModelStateSpace(const ModelBasedStateSpaceSpecification& spec);
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
index 5ff8e4dab2..246f8a48e1 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_FACTORY_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_FACTORY_
+#pragma once
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
 
@@ -53,5 +52,3 @@ class JointModelStateSpaceFactory : public ModelBasedStateSpaceFactory
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
index 1bfa1379e6..106a4a2c41 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_
+#pragma once
 
 #include <ompl/base/StateSpace.h>
 #include <moveit/robot_model/robot_model.h>
@@ -270,5 +269,3 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
   double tag_snap_to_segment_complement_;
 };
 }  // namespace ompl_interface
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
index f369b52588..0bd363d9b2 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
@@ -75,5 +74,3 @@ class ModelBasedStateSpaceFactory
   std::string type_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index 9f6fbaf9ee..a0d632c527 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_
+#pragma once
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
 #include <ompl/base/spaces/SE3StateSpace.h>
@@ -136,5 +135,3 @@ class PoseModelStateSpace : public ModelBasedStateSpace
   double jump_factor_;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
index fc6d616d11..11f45ad066 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_FACTORY_
-#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_FACTORY_
+#pragma once
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
 
@@ -53,5 +52,3 @@ class PoseModelStateSpaceFactory : public ModelBasedStateSpaceFactory
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
 };
 }
-
-#endif
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 4d08768b4b..c8d2f9fcb7 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OMPL_INTERFACE_PLANNING_CONTEXT_MANAGER_
-#define MOVEIT_OMPL_INTERFACE_PLANNING_CONTEXT_MANAGER_
+#pragma once
 
 #include <moveit/ompl_interface/model_based_planning_context.h>
 #include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
@@ -229,5 +228,3 @@ class PlanningContextManager
   CachedContextsPtr cached_contexts_;
 };
 }
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
index 8b60176b72..cf5700adf4 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
@@ -34,8 +34,7 @@
 
 /** \Author: Benjamin Cohen /bcohen@willowgarage.com, E. Gil Jones **/
 
-#ifndef _SBPL_BFS_3D_H_
-#define _SBPL_BFS_3D_H_
+#pragma once
 
 #include <boost/thread.hpp>
 
@@ -77,5 +76,3 @@ class BFS_3D
   int getDistance(int, int, int);
 };
 }
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bresenham.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bresenham.h
index 748bddf830..4f8f7847b9 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bresenham.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bresenham.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef _BRESENHAM3D_
-#define _BRESENHAM3D_
+#pragma once
 
 #include <vector>
 #include <iostream>
@@ -56,5 +55,3 @@ void get_bresenham3d_parameters(int p1x, int p1y, int p1z, int p2x, int p2y, int
 void get_current_point3d(bresenham3d_param_t* params, int* x, int* y, int* z);
 
 int get_next_point3d(bresenham3d_param_t* params);
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/dummy_environment.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/dummy_environment.h
index 3f9c43ba34..8dda73802e 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/dummy_environment.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/dummy_environment.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef _DUMMY_ENVIRONMENT_H_
-#define _DUMMY_ENVIRONMENT_H_
+#pragma once
 
 class DummyEnvironment : public DiscreteSpaceInformation
 {
@@ -100,5 +99,3 @@ class DummyEnvironment : public DiscreteSpaceInformation
   {
   }
 };
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
index e33fdec39e..5158a7f49d 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
@@ -34,8 +34,7 @@
 
 /** \Author: Benjamin Cohen /bcohen@willowgarage.com, E. Gil Jones **/
 
-#ifndef _ENVIRONMENT_CHAIN3D_H_
-#define _ENVIRONMENT_CHAIN3D_H_
+#pragma once
 
 #include <time.h>
 #include <stdio.h>
@@ -334,5 +333,3 @@ inline void EnvironmentChain3D::convertJointAnglesToCoord(const std::vector<doub
 // }
 
 }  // namespace
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
index 438863e0ff..c125eba38c 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
@@ -34,8 +34,7 @@
 
 /** \Author: Benjamin Cohen /bcohen@willowgarage.com, E. Gil Jones **/
 
-#ifndef _ENVIRONMENT_CHAIN3D_TYPES_H_
-#define _ENVIRONMENT_CHAIN3D_TYPES_H_
+#pragma once
 
 #include <vector>
 #include <planning_models/robot_model.h>
@@ -318,5 +317,3 @@ class SingleJointMotionPrimitive : public JointMotionPrimitive
   double delta_;
 };
 }
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
index 753211ccdb..61f5c91d80 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_SBPL_INTERFACE_H_
-#define MOVEIT_SBPL_INTERFACE_H_
+#pragma once
 
 #include <sbpl/headers.h>
 #include <planning_scene/planning_scene.h>
@@ -68,5 +67,3 @@ class SBPLInterface
   // SBPLPlanner *planner_;
 };
 }
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
index 654d41b11d..dc41e7037f 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_SBPL_META_INTERFACE_H_
-#define MOVEIT_SBPL_META_INTERFACE_H_
+#pragma once
 
 #include <sbpl/headers.h>
 #include <planning_scene/planning_scene.h>
@@ -77,5 +76,3 @@ class SBPLMetaInterface
   PlanningStatistics last_planning_statistics_;
 };
 }
-
-#endif
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
index 17e309740f..56c5a53f51 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef _SBPL_PARAMS_H_
-#define _SBPL_PARAMS_H_
+#pragma once
 
 #include <iostream>
 #include <string>
@@ -204,5 +203,3 @@ class SBPLParams
   std::vector<std::string> motion_primitive_type_names_;
 };
 }
-
-#endif
diff --git a/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h b/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
index c9527dfacd..9d39837d79 100644
--- a/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
+++ b/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
@@ -34,8 +34,7 @@
 
 /* Author: Mathias Lüdtke */
 
-#ifndef MOVEIT_ROS_CONTROL_INTERFACE_CONTROLLER_HANDLE_H
-#define MOVEIT_ROS_CONTROL_INTERFACE_CONTROLLER_HANDLE_H
+#pragma once
 
 #include <moveit/controller_manager/controller_manager.h>
 #include <moveit/macros/class_forward.h>
@@ -58,5 +57,3 @@ class ControllerHandleAllocator
 };
 
 }  // namespace moveit_ros_control_interface
-
-#endif  // MOVEIT_ROS_CONTROL_INTERFACE_CONTROLLER_HANDLE_H
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
index bfdee6d098..f3a5b8d059 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -35,8 +35,7 @@
 
 /* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
 
-#ifndef MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE
-#define MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE
+#pragma once
 
 #include <actionlib/client/simple_action_client.h>
 #include <moveit/controller_manager/controller_manager.h>
@@ -186,5 +185,3 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
 };
 
 }  // end namespace moveit_simple_controller_manager
-
-#endif  // MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
index dc01ccf011..4675b1c332 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
@@ -35,8 +35,7 @@
 
 /* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
 
-#ifndef MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE
-#define MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE
+#pragma once
 
 #include <moveit_simple_controller_manager/action_based_controller_handle.h>
 #include <control_msgs/FollowJointTrajectoryAction.h>
@@ -77,5 +76,3 @@ class FollowJointTrajectoryControllerHandle
 };
 
 }  // end namespace moveit_simple_controller_manager
-
-#endif  // MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
index e965d1b446..f081853850 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
@@ -35,8 +35,7 @@
 
 /* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
 
-#ifndef MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE
-#define MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE
+#pragma once
 
 #include <moveit_simple_controller_manager/action_based_controller_handle.h>
 #include <control_msgs/GripperCommandAction.h>
@@ -218,5 +217,3 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
 };
 
 }  // end namespace moveit_simple_controller_manager
-
-#endif  // MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index b2aafebe90..9dfc5b8023 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -34,8 +34,7 @@
 
 /* Author: Ryan Luna */
 
-#ifndef MOVEIT_ROS_BENCHMARKS_BENCHMARK_EXECUTOR_
-#define MOVEIT_ROS_BENCHMARKS_BENCHMARK_EXECUTOR_
+#pragma once
 
 #include <moveit/benchmarks/BenchmarkOptions.h>
 
@@ -226,5 +225,3 @@ class BenchmarkExecutor
   std::vector<QueryCompletionEventFunction> query_end_fns_;
 };
 }
-
-#endif
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
index 0bc10321af..dbd46c4cdb 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
@@ -34,8 +34,7 @@
 
 /* Author: Ryan Luna */
 
-#ifndef MOVEIT_ROS_BENCHMARK_BENCHMARK_OPTIONS_
-#define MOVEIT_ROS_BENCHMARK_BENCHMARK_OPTIONS_
+#pragma once
 
 #include <string>
 #include <map>
@@ -109,5 +108,3 @@ class BenchmarkOptions
   moveit_msgs::WorkspaceParameters workspace_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h b/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
index 8058e204a4..95afa9e2b0 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_CAPABILITY_NAMES
-#define MOVEIT_MOVE_GROUP_PICK_PLACE_CAPABILITY_NAMES
+#pragma once
 
 #include <string>
 
@@ -44,5 +43,3 @@ namespace move_group
 static const std::string PICKUP_ACTION = "pickup";  // name of 'pickup' action
 static const std::string PLACE_ACTION = "place";    // name of 'place' action
 }
-
-#endif
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
index d76e6244f2..3ba4abdb2f 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <actionlib/server/simple_action_server.h>
@@ -101,5 +100,3 @@ class MoveGroupPickPlaceAction : public MoveGroupCapability
   ros::ServiceClient grasp_planning_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
index 2709de5136..fc1737229c 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_PICK_PLACE_APPROACH_AND_TRANSLATE_STAGE_
-#define MOVEIT_PICK_PLACE_APPROACH_AND_TRANSLATE_STAGE_
+#pragma once
 
 #include <moveit/pick_place/manipulation_stage.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
@@ -62,5 +61,3 @@ class ApproachAndTranslateStage : public ManipulationStage
   double jump_factor_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
index f1bc6a920f..12b9dbf855 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_
-#define MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_
+#pragma once
 
 #include <moveit/pick_place/manipulation_stage.h>
 #include <boost/thread.hpp>
@@ -117,5 +116,3 @@ class ManipulationPipeline
   bool stop_processing_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
index cc3ff2fe74..a8415864cf 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
-#define MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
@@ -143,5 +142,3 @@ struct ManipulationPlan
   std::size_t id_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
index 5b36f9fb21..4b6e1f7b32 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_PICK_PLACE_MANIPULATION_STAGE_
-#define MOVEIT_PICK_PLACE_MANIPULATION_STAGE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/pick_place/manipulation_plan.h>
@@ -84,5 +83,3 @@ class ManipulationStage
   bool verbose_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
index 1507ebeaee..722dd3f79c 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PICK_PLACE_PICK_PLACE_
-#define MOVEIT_PICK_PLACE_PICK_PLACE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/pick_place/manipulation_pipeline.h>
@@ -165,5 +164,3 @@ class PickPlace : private boost::noncopyable, public std::enable_shared_from_thi
   constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
index baabe4963d..08ae38837f 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PICK_PLACE_PICK_PLACE_PARAMS_
-#define MOVEIT_PICK_PLACE_PICK_PLACE_PARAMS_
+#pragma once
 
 namespace pick_place
 {
@@ -52,5 +51,3 @@ struct PickPlaceParams
 // Get access to a global variable that contains the pick & place params.
 const PickPlaceParams& GetGlobalPickPlaceParams();
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
index 58a33e98d8..4810e44edf 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_PICK_PLACE_PLAN_STAGE_
-#define MOVEIT_PICK_PLACE_PLAN_STAGE_
+#pragma once
 
 #include <moveit/pick_place/manipulation_stage.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
@@ -58,5 +57,3 @@ class PlanStage : public ManipulationStage
   planning_pipeline::PlanningPipelinePtr planning_pipeline_;
 };
 }
-
-#endif
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
index 7fe44f06bf..802c5dafe0 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_
-#define MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_
+#pragma once
 
 #include <moveit/pick_place/manipulation_stage.h>
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
@@ -60,5 +59,3 @@ class ReachableAndValidPoseFilter : public ManipulationStage
   constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/include/moveit/move_group/capability_names.h b/moveit_ros/move_group/include/moveit/move_group/capability_names.h
index 7b76ff727b..53f36e07a5 100644
--- a/moveit_ros/move_group/include/moveit/move_group/capability_names.h
+++ b/moveit_ros/move_group/include/moveit/move_group/capability_names.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES
-#define MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES
+#pragma once
 
 #include <string>
 
@@ -64,5 +63,3 @@ static const std::string APPLY_PLANNING_SCENE_SERVICE_NAME =
 static const std::string CLEAR_OCTOMAP_SERVICE_NAME =
     "clear_octomap";  // name of the service that can be used to clear the octomap
 }
-
-#endif
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
index e92735fe81..c34ef2363d 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_CAPABILITY_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
@@ -99,5 +98,3 @@ class MoveGroupCapability
   MoveGroupContextPtr context_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
index 845e155b3f..7808a6f3ea 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_CONTEXT_
-#define MOVEIT_MOVE_GROUP_CONTEXT_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 
@@ -81,5 +80,3 @@ struct MoveGroupContext
   bool debug_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/include/moveit/move_group/node_name.h b/moveit_ros/move_group/include/moveit/move_group/node_name.h
index 220dca0498..79d0ca4f16 100644
--- a/moveit_ros/move_group/include/moveit/move_group/node_name.h
+++ b/moveit_ros/move_group/include/moveit/move_group/node_name.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_NODE_NAME
-#define MOVEIT_MOVE_GROUP_NODE_NAME
+#pragma once
 
 #include <string>
 
@@ -43,5 +42,3 @@ namespace move_group
 {
 static const std::string NODE_NAME = "move_group";  // name of node
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
index 3bcd7aeec2..9970cc8fef 100644
--- a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Michael 'v4hn' Goerner */
 
-#ifndef MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/ApplyPlanningScene.h>
@@ -59,5 +58,3 @@ class ApplyPlanningSceneService : public MoveGroupCapability
   ros::ServiceServer service_;
 };
 }
-
-#endif  // MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_
diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
index cf1fbe9a47..e90efe670c 100644
--- a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/GetCartesianPath.h>
@@ -57,5 +56,3 @@ class MoveGroupCartesianPathService : public MoveGroupCapability
   bool display_computed_paths_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
index 401a31f8f6..2c5e68b542 100644
--- a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: David Hershberger */
 
-#ifndef MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <std_srvs/Empty.h>
@@ -55,5 +54,3 @@ class ClearOctomapService : public MoveGroupCapability
   ros::ServiceServer service_;
 };
 }
-
-#endif  // MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_
diff --git a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.h b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.h
index c143b1e20b..f98965c8ba 100644
--- a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.h
@@ -38,8 +38,7 @@
  * Author: Kentaro Wada
  * */
 
-#ifndef MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <actionlib/server/simple_action_server.h>
@@ -66,5 +65,3 @@ class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
 };
 
 }  // namespace move_group
-
-#endif  // MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
diff --git a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
index 63fd7c35e7..c1cbfde2a7 100644
--- a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_GET_PLANNING_SCENE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_GET_PLANNING_SCENE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/GetPlanningScene.h>
@@ -56,5 +55,3 @@ class MoveGroupGetPlanningSceneService : public MoveGroupCapability
   ros::ServiceServer get_scene_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
index d1f10a96a5..30e300ef47 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/GetPositionIK.h>
@@ -63,5 +62,3 @@ class MoveGroupKinematicsService : public MoveGroupCapability
   ros::ServiceServer ik_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.h b/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
index d8af647a38..56917e6a67 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <actionlib/server/simple_action_server.h>
@@ -71,5 +70,3 @@ class MoveGroupMoveAction : public MoveGroupCapability
   bool preempt_requested_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
index b3d7a94250..6ca33b6791 100644
--- a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_PLAN_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_PLAN_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/GetMotionPlan.h>
@@ -55,5 +54,3 @@ class MoveGroupPlanService : public MoveGroupCapability
   ros::ServiceServer plan_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
index 656c228a08..5d3a8b632f 100644
--- a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Robert Haschke */
 
-#ifndef MOVEIT_MOVE_GROUP_QUERY_PLANNERS_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_QUERY_PLANNERS_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/QueryPlannerInterfaces.h>
@@ -63,5 +62,3 @@ class MoveGroupQueryPlannersService : public MoveGroupCapability
   ros::ServiceServer set_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
index 2806a9586c..86dc6c8d52 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVE_GROUP_STATE_VALIDATION_SERVICE_CAPABILITY_
-#define MOVEIT_MOVE_GROUP_STATE_VALIDATION_SERVICE_CAPABILITY_
+#pragma once
 
 #include <moveit/move_group/move_group_capability.h>
 #include <moveit_msgs/GetStateValidity.h>
@@ -55,5 +54,3 @@ class MoveGroupStateValidationService : public MoveGroupCapability
   ros::ServiceServer validity_service_;
 };
 }
-
-#endif
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index e1cff913dd..70413b3d2c 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Jon Binney */
 
-#ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
-#define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
+#pragma once
 
 #include <octomap/octomap.h>
 #include <boost/thread/shared_mutex.hpp>
@@ -116,5 +115,3 @@ class OccMapTree : public octomap::OcTree
 typedef std::shared_ptr<OccMapTree> OccMapTreePtr;
 typedef std::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
 }
-
-#endif
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
index 1558c434ae..ece0658606 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Jon Binney */
 
-#ifndef MOVEIT_PERCEPTION_OCCUPANCY_MAP_MONITOR_
-#define MOVEIT_PERCEPTION_OCCUPANCY_MAP_MONITOR_
+#pragma once
 
 #include <vector>
 #include <string>
@@ -160,5 +159,3 @@ class OccupancyMapMonitor
   bool active_;
 };
 }
-
-#endif
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
index cd91709567..07c2a0b0c8 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Jon Binney */
 
-#ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
-#define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/occupancy_map_monitor/occupancy_map.h>
@@ -112,5 +111,3 @@ class OccupancyMapUpdater
   static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
 };
 }
-
-#endif
diff --git a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
index d223e8d4b4..199c79204d 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
+++ b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
-#define MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
+#pragma once
 
 #include <ros/ros.h>
 #include <tf2_ros/buffer.h>
@@ -107,5 +106,3 @@ class DepthImageOctomapUpdater : public OccupancyMapUpdater
   ros::WallTime last_depth_callback_start_;
 };
 }
-
-#endif
diff --git a/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h b/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
index cad8b0a48c..270ad565f1 100644
--- a/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
+++ b/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
-#define MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
+#pragma once
 
 #include <moveit/occupancy_map_monitor/occupancy_map.h>
 #include <boost/thread.hpp>
@@ -89,5 +88,3 @@ class LazyFreeSpaceUpdater
   boost::thread process_thread_;
 };
 }
-
-#endif /* MOVEIT_OCCUPANCY_MAP_UPDATER_H_ */
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/depth_self_filter_nodelet.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/depth_self_filter_nodelet.h
index 6ab4d6ab37..323bc03326 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/depth_self_filter_nodelet.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/depth_self_filter_nodelet.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_DEPTH_SELF_FILTER_NODELET_
-#define MOVEIT_DEPTH_SELF_FILTER_NODELET_
+#pragma once
 
 #include <nodelet/nodelet.h>
 #include <image_transport/image_transport.h>
@@ -132,5 +131,3 @@ class DepthSelfFiltering : public nodelet::Nodelet
 };
 
 }  // namespace mesh_filter
-
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
index a1f098f244..a817245040 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_FILTER_JOB_
-#define MOVEIT_MESH_FILTER_FILTER_JOB_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <boost/thread/condition.hpp>
@@ -142,4 +141,3 @@ class FilterJob<void> : public Job
   boost::function<void()> exec_;
 };
 }
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
index 2ba940d7f7..a605425870 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_GLMESH_
-#define MOVEIT_MESH_FILTER_GLMESH_
+#pragma once
 
 #include <Eigen/Eigen>
 #include <GL/glew.h>
@@ -85,4 +84,3 @@ class GLMesh
   unsigned int mesh_label_;
 };
 }  // namespace mesh_filter
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
index 67fa5abb1b..8ae3ee9f55 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_GLRENDERER_
-#define MOVEIT_MESH_FILTER_GLRENDERER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <GL/glew.h>
@@ -303,4 +302,3 @@ class GLRenderer
   static bool glutInitialized_;
 };
 }  // namespace mesh_filter
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
index e488aa2883..ed27f7b136 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_MESHFILTER_
-#define MOVEIT_MESH_FILTER_MESHFILTER_
+#pragma once
 
 #include <map>
 #include <moveit/macros/declare_ptr.h>
@@ -112,4 +111,3 @@ const typename SensorType::Parameters& MeshFilter<SensorType>::parameters() cons
 }
 
 }  // namespace mesh_filter
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
index 86f85270e0..dc8ee5f3f2 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_MESH_FILTER_BASE_
-#define MOVEIT_MESH_FILTER_MESH_FILTER_BASE_
+#pragma once
 
 #include <map>
 #include <moveit/macros/class_forward.h>
@@ -294,5 +293,3 @@ class MeshFilterBase
   float shadow_threshold_;
 };
 }  // namespace mesh_filter
-
-#endif /* __MESH_FILTER_MESH_FILTER_BASE_H__ */
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
index 87239b0bd2..8c76cdccef 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_SENSOR_MODEL_
-#define MOVEIT_MESH_FILTER_SENSOR_MODEL_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <Eigen/Eigen>
@@ -170,5 +169,3 @@ class SensorModel
   virtual ~SensorModel();
 };
 }  // namespace mesh_filter
-
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
index 2dfac68ad6..d6dc185be1 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_
-#define MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_
+#pragma once
 
 #include <moveit/mesh_filter/sensor_model.h>
 #include <string>
@@ -164,4 +163,3 @@ class StereoCameraModel : public SensorModel
   static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
 };
 }  // namespace mesh_filter
-#endif
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
index fe5547edad..eb03286787 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
@@ -34,8 +34,7 @@
 
 /* Author: Suat Gedikli */
 
-#ifndef MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
-#define MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
+#pragma once
 
 #include <string>
 #include <boost/thread/thread.hpp>
@@ -167,4 +166,3 @@ class TransformProvider
   /** \brief update interval in micro seconds*/
   unsigned long interval_us_;
 };
-#endif
diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index 2b6ee820bd..2fdf49c7b7 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_POINT_CONTAINMENT_FILTER_SELF_MASK_
-#define MOVEIT_POINT_CONTAINMENT_FILTER_SELF_MASK_
+#pragma once
 
 #include <sensor_msgs/PointCloud2.h>
 #include <geometric_shapes/bodies.h>
@@ -129,5 +128,3 @@ class ShapeMask
   std::vector<bodies::BoundingSphere> bspheres_;
 };
 }
-
-#endif
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index cf56d68dfe..80ecbfaa11 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -34,8 +34,7 @@
 
 /* Author: Jon Binney, Ioan Sucan */
 
-#ifndef MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
-#define MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
+#pragma once
 
 #include <ros/ros.h>
 #include <tf2_ros/transform_listener.h>
@@ -101,5 +100,3 @@ class PointCloudOctomapUpdater : public OccupancyMapUpdater
   std::vector<int> mask_;
 };
 }
-
-#endif
diff --git a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
index bed034f0c9..b53e280328 100644
--- a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
+++ b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
@@ -34,8 +34,7 @@
 
 /* Author: Sachin Chitta */
 
-#ifndef MOVEIT_SEMANTIC_WORLD_
-#define MOVEIT_SEMANTIC_WORLD_
+#pragma once
 
 #include <ros/ros.h>
 #include <moveit/macros/class_forward.h>
@@ -164,5 +163,3 @@ class SemanticWorld
 };
 }
 }
-
-#endif
diff --git a/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h b/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
index 4527ae450e..b5709e824a 100644
--- a/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
+++ b/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
@@ -32,8 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
-#define MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
+#pragma once
 
 #include <ros/ros.h>
 #include <moveit/macros/class_forward.h>
@@ -68,5 +67,3 @@ class CollisionPluginLoader
 };
 
 }  // namespace collision_detection
-
-#endif  // MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
index 5d24813893..84246d1851 100644
--- a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
+++ b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_
-#define MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_
+#pragma once
 
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
 #include <moveit/macros/class_forward.h>
@@ -62,5 +61,3 @@ class ConstraintSamplerManagerLoader
   HelperPtr impl_;
 };
 }
-
-#endif
diff --git a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
index 9bc06594e3..f4c6b0a356 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
+++ b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Dave Coleman */
 
-#ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_
-#define MOVEIT_KINEMATICS_PLUGIN_LOADER_
+#pragma once
 
 #include <boost/function.hpp>
 #include <moveit/macros/class_forward.h>
@@ -115,5 +114,3 @@ class KinematicsPluginLoader
   double default_solver_timeout_;
 };
 }
-
-#endif
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
index e673c04031..11023522a9 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLAN_EXECUTION_PLAN_EXECUTION_
-#define MOVEIT_PLAN_EXECUTION_PLAN_EXECUTION_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/plan_execution/plan_representation.h>
@@ -166,4 +165,3 @@ class PlanExecution
   DynamicReconfigureImpl* reconfigure_impl_;
 };
 }
-#endif
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
index c400874990..809cb259c7 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
-#define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
+#pragma once
 
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
@@ -83,4 +82,3 @@ struct ExecutableMotionPlan
 /// The signature of a function that can compute a motion plan
 typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
 }
-#endif
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
index 55a7d57f8a..b0b468cd19 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLAN_EXECUTION_PLAN_WITH_SENSING_
-#define MOVEIT_PLAN_EXECUTION_PLAN_WITH_SENSING_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/plan_execution/plan_representation.h>
@@ -135,4 +134,3 @@ class PlanWithSensing
   DynamicReconfigureImpl* reconfigure_impl_;
 };
 }
-#endif
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
index f08af40a04..313f770999 100644
--- a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
-#define MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/planning_request_adapter/planning_request_adapter.h>
@@ -197,5 +196,3 @@ class PlanningPipeline
 
 MOVEIT_CLASS_FORWARD(PlanningPipeline);
 }
-
-#endif
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index 709586792e..806db00daf 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
-#define MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
+#pragma once
 
 #include <ros/ros.h>
 #include <tf2_ros/buffer.h>
@@ -213,5 +212,3 @@ class CurrentStateMonitor
 
 MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
 }
-
-#endif
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index d03afd28ec..49db508c9f 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_SCENE_MONITOR_PLANNING_SCENE_MONITOR_
-#define MOVEIT_PLANNING_SCENE_MONITOR_PLANNING_SCENE_MONITOR_
+#pragma once
 
 #include <ros/ros.h>
 #include <ros/callback_queue.h>
@@ -702,5 +701,3 @@ class LockedPlanningSceneRW : public LockedPlanningSceneRO
   }
 };
 }
-
-#endif
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index 76e5e4562c..f7638161a7 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
-#define MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
@@ -107,5 +106,3 @@ class TrajectoryMonitor
   TrajectoryStateAddedCallback state_add_callback_;
 };
 }
-
-#endif
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index 76efd13c8e..bf506a96bf 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */
 
-#ifndef MOVEIT_PLANNING_RDF_LOADER_
-#define MOVEIT_PLANNING_RDF_LOADER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <urdf/model.h>
@@ -102,4 +101,3 @@ class RDFLoader
   urdf::ModelInterfaceSharedPtr urdf_;
 };
 }
-#endif
diff --git a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
index def0d10d75..c39d9f1056 100644
--- a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
+++ b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
-#define MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_model/robot_model.h>
@@ -134,4 +133,3 @@ class RobotModelLoader
   kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
 };
 }
-#endif
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index ea2f1a0d6d..1800068f42 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_TRAJECTORY_EXECUTION_MANAGER_TRAJECTORY_EXECUTION_MANAGER_
-#define MOVEIT_TRAJECTORY_EXECUTION_MANAGER_TRAJECTORY_EXECUTION_MANAGER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_model/robot_model.h>
@@ -362,5 +361,3 @@ class TrajectoryExecutionManager
   bool wait_for_trajectory_completion_;
 };
 }
-
-#endif
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
index 731d2e65c4..46584f00cd 100644
--- a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef TEST_MOVEIT_CONTROLLER_MANAGER_
-#define TEST_MOVEIT_CONTROLLER_MANAGER_
+#pragma once
 
 #include <moveit/controller_manager/controller_manager.h>
 
@@ -160,4 +159,3 @@ class TestMoveItControllerManager : public moveit_controller_manager::MoveItCont
   std::map<std::string, std::vector<std::string> > controller_joints_;
 };
 }
-#endif
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
index bffa91d836..10248a0f96 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_
-#define MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_
+#pragma once
 
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 
@@ -73,5 +72,3 @@ planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot
 
 }  // namespace planning interface
 }  // namespace moveit
-
-#endif  // end of MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 1f919b0960..ae4d3a3b7d 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#ifndef MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_INTERFACE_
-#define MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_INTERFACE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/macros/deprecation.h>
@@ -1003,5 +1002,3 @@ class MoveGroupInterface
 };
 }  // namespace planning_interface
 }  // namespace moveit
-
-#endif
diff --git a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
index d421b5484a..9dc25385e0 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
+++ b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
-#define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
@@ -146,5 +145,3 @@ class PlanningSceneInterface
 };
 }
 }
-
-#endif
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
index fbf4d191ff..47825360ba 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PY_BINDINGS_TOOLS_PY_CONVERSIONS_
-#define MOVEIT_PY_BINDINGS_TOOLS_PY_CONVERSIONS_
+#pragma once
 
 #include <boost/python.hpp>
 #include <boost/python/stl_iterator.hpp>
@@ -95,5 +94,3 @@ boost::python::list listFromString(const std::vector<std::string>& v)
 }
 }
 }
-
-#endif
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
index e1e54a6bc9..1effb467a5 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PY_BINDINGS_TOOLS_ROSCPP_INITIALIZER_
-#define MOVEIT_PY_BINDINGS_TOOLS_ROSCPP_INITIALIZER_
+#pragma once
 
 #include <boost/python.hpp>
 #include <string>
@@ -73,5 +72,3 @@ void roscpp_init();
 void roscpp_shutdown();
 }
 }
-
-#endif
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
index 5000fccbbe..5b9a9a306f 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
-#define MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
+#pragma once
 
 #include <ros/ros.h>
 
@@ -71,5 +70,3 @@ void deserializeMsg(const std::string& data, T& msg)
 }
 }
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
index 1fdafbf667..b0027cf0f2 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_INTERACTION_
-#define MOVEIT_ROBOT_INTERACTION_INTERACTION_
+#pragma once
 
 #include <visualization_msgs/InteractiveMarkerFeedback.h>
 #include <visualization_msgs/InteractiveMarker.h>
@@ -175,5 +174,3 @@ struct JointInteraction
   double size;
 };
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index 5cc6ed89a5..3ea644e86a 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Adam Leeper */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_INTERACTION_HANDLER_
-#define MOVEIT_ROBOT_INTERACTION_INTERACTION_HANDLER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_interaction/locked_robot_state.h>
@@ -311,5 +310,3 @@ class InteractionHandler : public LockedRobotState
   static std::string fixName(std::string name);
 };
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
index 5810e7d244..16e821eab0 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Acorn Pooley, Adam Leeper */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
-#define MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
+#pragma once
 
 #include <visualization_msgs/InteractiveMarker.h>
 #include <geometry_msgs/PoseStamped.h>
@@ -69,5 +68,3 @@ void addPositionControl(visualization_msgs::InteractiveMarker& int_marker, bool
 void addViewPlaneControl(visualization_msgs::InteractiveMarker& int_marker, double radius,
                          const std_msgs::ColorRGBA& color, bool position = true, bool orientation = true);
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
index 43b8e7bbc2..8a0248a60a 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
-#define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
+#pragma once
 
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_state/robot_state.h>
@@ -89,5 +88,3 @@ struct KinematicOptions
   kinematics::KinematicsQueryOptions options_;
 };
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
index 033fd0ac4b..f9c6a986b9 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
@@ -34,8 +34,7 @@
 
 /* Author: Acorn Pooley */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
-#define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
+#pragma once
 
 #include <moveit/robot_interaction/kinematic_options.h>
 #include <boost/thread.hpp>
@@ -104,5 +103,3 @@ class KinematicOptionsMap
   M_options options_;
 };
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
index 286a86a95d..fd6b3f3616 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
@@ -35,8 +35,7 @@
 
 /* Author: Ioan Sucan, Acorn Pooley */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_LOCKED_ROBOT_STATE_
-#define MOVEIT_ROBOT_INTERACTION_LOCKED_ROBOT_STATE_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
@@ -109,5 +108,3 @@ class LockedRobotState
   robot_state::RobotStatePtr state_;
 };
 }
-
-#endif
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index a5ebcc0001..494386af0f 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Adam Leeper */
 
-#ifndef MOVEIT_ROBOT_INTERACTION_ROBOT_INTERACTION_
-#define MOVEIT_ROBOT_INTERACTION_ROBOT_INTERACTION_
+#pragma once
 
 #include <visualization_msgs/InteractiveMarkerFeedback.h>
 #include <visualization_msgs/InteractiveMarker.h>
@@ -234,5 +233,3 @@ class RobotInteraction
   KinematicOptionsMapPtr kinematic_options_map_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index a8c30c9cb0..52cd9b5640 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan, Dave Coleman, Adam Leeper, Sachin Chitta */
 
-#ifndef MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_DISPLAY_
-#define MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_DISPLAY_
+#pragma once
 
 #include <rviz/display.h>
 #include <rviz/selection/selection_manager.h>
@@ -301,5 +300,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index d49e100204..c212905f5f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_FRAME_
-#define MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_FRAME_
+#pragma once
 
 #include <QWidget>
 #include <QTreeWidgetItem>
@@ -365,5 +364,3 @@ void MotionPlanningFrame::waitForAction(const T& action, const ros::NodeHandle&
     ROS_DEBUG("Connected to '%s'", name.c_str());
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 91242225c4..99658c4f2d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Robert Haschke */
 
-#ifndef MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_PARAM_WIDGET_
-#define MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_MOTION_PLANNING_PARAM_WIDGET_
+#pragma once
 
 #include <rviz/properties/property_tree_widget.h>
 #include <moveit/macros/class_forward.h>
@@ -77,5 +76,3 @@ private Q_SLOTS:
   std::string planner_id_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index b18c4a0140..06e30bef58 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_SCENE_DISPLAY_
-#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_SCENE_DISPLAY_
+#pragma once
 
 #include <rviz/display.h>
 
@@ -213,5 +212,3 @@ protected Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index c1692d94d7..e087dd3a62 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_VISUALIZATION_ROBOT_STATE_DISPLAY_RVIZ_ROBOT_STATE_DISPLAY_
-#define MOVEIT_VISUALIZATION_ROBOT_STATE_DISPLAY_RVIZ_ROBOT_STATE_DISPLAY_
+#pragma once
 
 #include <rviz/display.h>
 
@@ -146,5 +145,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index 92bd6dd2bb..9c4f3c60b2 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -34,8 +34,7 @@
 
 /* Author: Julius Kammerl */
 
-#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
-#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
+#pragma once
 
 #include <memory>
 #include <vector>
@@ -100,4 +99,3 @@ class OcTreeRender
   std::size_t octree_depth_;
 };
 }
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
index 0f8f417f37..0d757ef7c5 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
-#define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
+#pragma once
 
 #include <rviz/robot/link_updater.h>
 #include <moveit/robot_state/robot_state.h>
@@ -58,5 +57,3 @@ class PlanningLinkUpdater : public rviz::LinkUpdater
   robot_state::RobotStateConstPtr kinematic_state_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
index 84106db313..987425752c 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_PLANNING_SCENE_RENDER_
-#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_PLANNING_SCENE_RENDER_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_scene/planning_scene.h>
@@ -88,5 +87,3 @@ class PlanningSceneRender
   RobotStateVisualizationPtr scene_robot_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index fa891bcccd..808d91b710 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
-#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
+#pragma once
 
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
 #include <moveit/macros/class_forward.h>
@@ -79,5 +78,3 @@ class RenderShapes
   std::vector<OcTreeRenderPtr> octree_voxel_grids_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 24f246dcc3..49b299f1d1 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
-#define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
@@ -105,5 +104,3 @@ class RobotStateVisualization
   bool collision_visible_;
 };
 }
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
index e4c7d731d1..c552f7ec84 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
@@ -34,8 +34,7 @@
 
 /* Author: Yannick Jonetzko */
 
-#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TRAJECTORY_PANEL_
-#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TRAJECTORY_PANEL_
+#pragma once
 
 #ifndef Q_MOC_RUN
 #include <ros/ros.h>
@@ -93,5 +92,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 1c309a46d7..23aa020bf6 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_VISUALIZATION
-#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_VISUALIZATION
+#pragma once
 
 #include <boost/thread/mutex.hpp>
 #include <moveit/macros/class_forward.h>
@@ -170,5 +169,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
index 209778d44f..d4c0ab28a8 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
@@ -36,8 +36,7 @@
    Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
 */
 
-#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY
-#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY
+#pragma once
 
 #include <rviz/display.h>
 
@@ -96,5 +95,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_rviz_plugin
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
index 4bee5469a5..7e507bb257 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
+#pragma once
 
 #include "moveit/warehouse/moveit_message_storage.h"
 #include <moveit/macros/class_forward.h>
@@ -84,5 +83,3 @@ class ConstraintsStorage : public MoveItMessageStorage
   ConstraintsCollection constraints_collection_;
 };
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
index 6b8b179258..f6b6be0c3e 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_MOVEIT_MESSAGE_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_MOVEIT_MESSAGE_STORAGE_
+#pragma once
 
 #include <warehouse_ros/database_connection.h>
 #include <vector>
@@ -66,5 +65,3 @@ class MoveItMessageStorage
 /// \brief Load a database connection
 typename warehouse_ros::DatabaseConnection::Ptr loadDatabase();
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
index ec7d65c4b3..1878942ecd 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
+#pragma once
 
 #include "moveit/warehouse/moveit_message_storage.h"
 #include <moveit/macros/class_forward.h>
@@ -120,5 +119,3 @@ class PlanningSceneStorage : public MoveItMessageStorage
   RobotTrajectoryCollection robot_trajectory_collection_;
 };
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
index bafb6ab688..fec6384e54 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_
+#pragma once
 
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit_msgs/PlanningSceneWorld.h>
@@ -73,5 +72,3 @@ class PlanningSceneWorldStorage : public MoveItMessageStorage
   PlanningSceneWorldCollection planning_scene_world_collection_;
 };
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
index fed8808143..ce592f9fa0 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
+#pragma once
 
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit/macros/class_forward.h>
@@ -79,5 +78,3 @@ class RobotStateStorage : public MoveItMessageStorage
   RobotStateCollection state_collection_;
 };
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
index 1b0cbe501d..7246618a41 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
@@ -34,8 +34,7 @@
 
 /* Author: Mario Prats, Ioan Sucan */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
-#define MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
+#pragma once
 
 #include "moveit/warehouse/moveit_message_storage.h"
 #include <moveit/macros/class_forward.h>
@@ -87,5 +86,3 @@ class TrajectoryConstraintsStorage : public MoveItMessageStorage
   TrajectoryConstraintsCollection constraints_collection_;
 };
 }
-
-#endif
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
index d61df45bae..3555097ccd 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
@@ -34,8 +34,7 @@
 
 /* Author: E. Gil Jones */
 
-#ifndef MOVEIT_MOVEIT_WAREHOUSE_WAREHOUSE_CONNECTOR_
-#define MOVEIT_MOVEIT_WAREHOUSE_WAREHOUSE_CONNECTOR_
+#pragma once
 
 #include <string>
 
@@ -55,5 +54,3 @@ class WarehouseConnector
   int child_pid_;
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
index 207e24bd13..c19bc2e0f5 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
+#pragma once
 
 #include <map>
 #include <moveit/macros/class_forward.h>
@@ -110,5 +109,3 @@ const std::string disabledReasonToString(DisabledReason reason);
  */
 DisabledReason disabledReasonFromString(const std::string& reason);
 }
-
-#endif
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index c30ad62283..0e42bac586 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_
+#pragma once
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_scene/planning_scene.h>                     // for getting kinematic model
@@ -525,5 +524,3 @@ class MoveItConfigData
 };
 
 }  // namespace
-
-#endif
diff --git a/moveit_setup_assistant/src/tools/collision_linear_model.h b/moveit_setup_assistant/src/tools/collision_linear_model.h
index 9744170243..9b702fcc73 100644
--- a/moveit_setup_assistant/src/tools/collision_linear_model.h
+++ b/moveit_setup_assistant/src/tools/collision_linear_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Robert Haschke */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H
+#pragma once
 
 #include <QAbstractProxyModel>
 #include <QSortFilterProxyModel>
@@ -100,5 +99,3 @@ private Q_SLOTS:
   QVector<int> sort_columns_;  // sorting history
   QVector<int> sort_orders_;   // corresponding sort orders
 };
-
-#endif  // MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H
diff --git a/moveit_setup_assistant/src/tools/collision_matrix_model.h b/moveit_setup_assistant/src/tools/collision_matrix_model.h
index dccbc2eed1..ed5d67e894 100644
--- a/moveit_setup_assistant/src/tools/collision_matrix_model.h
+++ b/moveit_setup_assistant/src/tools/collision_matrix_model.h
@@ -34,8 +34,7 @@
 
 /* Author: Robert Haschke */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_
+#pragma once
 
 #include <QAbstractTableModel>
 
@@ -79,5 +78,3 @@ public Q_SLOTS:
   QList<QString> q_names;                    // names of links
   QList<int> visual_to_index;                // map from visual index to actual index
 };
-
-#endif  // MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_
diff --git a/moveit_setup_assistant/src/tools/rotated_header_view.h b/moveit_setup_assistant/src/tools/rotated_header_view.h
index 27854b7140..5bf288d84c 100644
--- a/moveit_setup_assistant/src/tools/rotated_header_view.h
+++ b/moveit_setup_assistant/src/tools/rotated_header_view.h
@@ -34,8 +34,7 @@
 
 /* Author: Robert Haschke */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROTATED_HEADERVIEW_H
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROTATED_HEADERVIEW_H
+#pragma once
 
 #include <QHeaderView>
 
@@ -50,5 +49,3 @@ class RotatedHeaderView : public QHeaderView
   int sectionSizeHint(int logicalIndex) const;
 };
 }
-
-#endif  // MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROTATED_HEADERVIEW_H
diff --git a/moveit_setup_assistant/src/widgets/author_information_widget.h b/moveit_setup_assistant/src/widgets/author_information_widget.h
index 15ed0036ec..94763edf93 100644
--- a/moveit_setup_assistant/src/widgets/author_information_widget.h
+++ b/moveit_setup_assistant/src/widgets/author_information_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman, Michael 'v4hn' Goerner */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_AUTHOR_INFORMATION_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_AUTHOR_INFORMATION_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QString>
@@ -86,5 +85,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.h b/moveit_setup_assistant/src/widgets/configuration_files_widget.h
index f0787af004..da0946e4dd 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.h
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_CONFIGURATION_FILES_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_CONFIGURATION_FILES_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QPushButton>
@@ -205,5 +204,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.h b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
index 2113005c8a..f7a2679164 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
@@ -33,8 +33,7 @@
 
 /* Author: Mohamad Ayman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_CONTROLLER_EDIT_WIDGET_H
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_CONTROLLER_EDIT_WIDGET_H
+#pragma once
 
 #include <QWidget>
 #include <QLabel>
@@ -142,5 +141,3 @@ private Q_SLOTS:
   moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index cef78d3c0b..d69cedefd3 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
+#pragma once
 
 #include <QLabel>
 #include <QVBoxLayout>
@@ -257,5 +256,3 @@ class MonitorThread : public QThread
   bool canceled_;
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.h b/moveit_setup_assistant/src/widgets/double_list_widget.h
index c4e511bd14..1d983134aa 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.h
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DOUBLE_LIST_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DOUBLE_LIST_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QLabel>
@@ -141,5 +140,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.h b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
index 1c5b17247c..a6be88ed6f 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.h
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_END_EFFECTORS_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_END_EFFECTORS_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -184,5 +183,3 @@ private Q_SLOTS:
 };
 
 }  // namespace
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.h b/moveit_setup_assistant/src/widgets/group_edit_widget.h
index e5ae0ec884..60a6a67b6e 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_GROUP_EDIT_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_GROUP_EDIT_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QLabel>
@@ -127,5 +126,3 @@ private Q_SLOTS:
   // ******************************************************************************************
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/header_widget.h b/moveit_setup_assistant/src/widgets/header_widget.h
index 40793d36a0..a5661beb83 100644
--- a/moveit_setup_assistant/src/widgets/header_widget.h
+++ b/moveit_setup_assistant/src/widgets/header_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_HEADER_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_HEADER_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QLabel>
@@ -119,5 +118,3 @@ class LoadPathArgsWidget : public LoadPathWidget
   void setArgsEnabled(bool enabled = true);
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
index da63182675..4c5764cdfd 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QLabel>
@@ -135,5 +134,3 @@ private Q_SLOTS:
   // ******************************************************************************************
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.h b/moveit_setup_assistant/src/widgets/navigation_widget.h
index 962a7d1dc0..76084c869e 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.h
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_NAVIGATION_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_NAVIGATION_WIDGET_
+#pragma once
 
 #include <QListView>
 #include <QStandardItemModel>
@@ -84,5 +83,3 @@ class NavDelegate : public QStyledItemDelegate
   void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const override;
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.h b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
index c7dc8dd1d5..344b133d3a 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PASSIVE_JOINTS_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PASSIVE_JOINTS_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -102,5 +101,3 @@ private Q_SLOTS:
 };
 
 }  // namespace
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/perception_widget.h b/moveit_setup_assistant/src/widgets/perception_widget.h
index 336fe8a80e..e9c6952d6d 100644
--- a/moveit_setup_assistant/src/widgets/perception_widget.h
+++ b/moveit_setup_assistant/src/widgets/perception_widget.h
@@ -33,8 +33,7 @@
 
 /* Author: Mohamad Ayman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PERCEPTION_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PERCEPTION_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -125,5 +124,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.h b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
index 85bcf64259..0d40c6cc9e 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.h
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_
+#pragma once
 
 // Qt
 class QPushButton;
@@ -232,5 +231,3 @@ class PlanGroupType
 };
 
 Q_DECLARE_METATYPE(PlanGroupType);
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index 6614273cca..bdf6aa3e2f 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -295,5 +294,3 @@ private Q_SLOTS:
 
 // Declare std::string as metatype so we can use it in a signal
 Q_DECLARE_METATYPE(std::string)
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
index 57fc7d3c8b..c1c05e609b 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
@@ -33,8 +33,7 @@
 
 /* Author: Mohamad Ayman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROS_CONTROLLERS_WIDGET_H
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROS_CONTROLLERS_WIDGET_H
+#pragma once
 
 // Qt
 #include <QVBoxLayout>
@@ -160,5 +159,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
index 48ccf7d26a..51f07cf56f 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -237,5 +236,3 @@ private Q_SLOTS:
   // ******************************************************************************************
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/setup_screen_widget.h b/moveit_setup_assistant/src/widgets/setup_screen_widget.h
index 805350e9d5..7898b4f25e 100644
--- a/moveit_setup_assistant/src/widgets/setup_screen_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_screen_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_SCREEN_WIDGET_
-#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_SCREEN_WIDGET_
+#pragma once
 
 #include <QWidget>
 
@@ -75,5 +74,3 @@ class SetupScreenWidget : public QWidget
   /// Event for telling rviz to unhighlight all links of the robot
   void unhighlightAll();
 };
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.h b/moveit_setup_assistant/src/widgets/simulation_widget.h
index 2b3ac58331..029874d065 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.h
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.h
@@ -33,8 +33,7 @@
 
 /* Author: Mohamad Ayman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_SIMULATION_WIDGET_H
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_SIMULATION_WIDGET_H
+#pragma once
 
 // Qt
 #include <QScrollArea>
@@ -93,5 +92,3 @@ private Q_SLOTS:
 };
 
 }  // namespace moveit_setup_assistant
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.h b/moveit_setup_assistant/src/widgets/start_screen_widget.h
index 8a75e38c58..d06dd6a6ce 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.h
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_
+#pragma once
 
 #include <QWidget>
 #include <QLineEdit>
@@ -190,5 +189,3 @@ private Q_SLOTS:
   QLabel* widget_instructions_;
 };
 }
-
-#endif
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
index b1bb87a68b..e3c6f5d4ec 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
@@ -34,8 +34,7 @@
 
 /* Author: Dave Coleman */
 
-#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_VIRTUAL_JOINTS_WIDGET_
-#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_VIRTUAL_JOINTS_WIDGET_
+#pragma once
 
 // Qt
 #include <QWidget>
@@ -188,5 +187,3 @@ private Q_SLOTS:
 };
 
 }  // namespace
-
-#endif

From a6f8ff994172ba504fecfeddbaf9de02a75010e1 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 13 Aug 2019 04:49:19 -0500
Subject: [PATCH 025/612] Update jog_arm README with rviz config (#1614)

---
 moveit_experimental/jog_arm/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/jog_arm/README.md b/moveit_experimental/jog_arm/README.md
index 7e3626d94d..af983f78d6 100644
--- a/moveit_experimental/jog_arm/README.md
+++ b/moveit_experimental/jog_arm/README.md
@@ -16,7 +16,7 @@ Build and subsequently source the catkin workspace. Startup the robot and MoveIt
 
     roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
 
-    roslaunch ur5_moveit_config moveit_rviz.launch
+    roslaunch ur5_moveit_config moveit_rviz.launch config:=true
 
 In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
 

From 9ddbfb25c92c35559090a6c8a3a1a2b501fa6653 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Tue, 13 Aug 2019 11:44:42 -0700
Subject: [PATCH 026/612] Fix binary artifact install locations. (#1575)

---
 moveit_core/background_processing/CMakeLists.txt  |  3 ++-
 moveit_core/collision_detection/CMakeLists.txt    |  3 ++-
 .../collision_detection_fcl/CMakeLists.txt        |  3 ++-
 .../collision_distance_field/CMakeLists.txt       |  2 +-
 moveit_core/constraint_samplers/CMakeLists.txt    |  3 ++-
 moveit_core/distance_field/CMakeLists.txt         |  3 ++-
 moveit_core/dynamics_solver/CMakeLists.txt        |  3 ++-
 moveit_core/exceptions/CMakeLists.txt             |  3 ++-
 moveit_core/kinematic_constraints/CMakeLists.txt  |  3 ++-
 moveit_core/kinematics_base/CMakeLists.txt        |  3 ++-
 moveit_core/kinematics_metrics/CMakeLists.txt     |  3 ++-
 moveit_core/planning_interface/CMakeLists.txt     |  3 ++-
 .../planning_request_adapter/CMakeLists.txt       |  3 ++-
 moveit_core/planning_scene/CMakeLists.txt         |  3 ++-
 moveit_core/profiler/CMakeLists.txt               |  3 ++-
 moveit_core/robot_model/CMakeLists.txt            |  3 ++-
 moveit_core/robot_state/CMakeLists.txt            |  3 ++-
 moveit_core/robot_trajectory/CMakeLists.txt       |  3 ++-
 moveit_core/trajectory_processing/CMakeLists.txt  |  3 ++-
 moveit_core/transforms/CMakeLists.txt             |  3 ++-
 moveit_core/utils/CMakeLists.txt                  |  3 ++-
 .../v2/kinematics_cache/CMakeLists.txt            |  5 ++++-
 .../kinematics_constraint_aware/CMakeLists.txt    |  5 ++++-
 .../cached_ik_kinematics_plugin/CMakeLists.txt    | 15 ++++++++++++---
 .../templates/CMakeLists.txt                      |  4 +++-
 .../kdl_kinematics_plugin/CMakeLists.txt          |  5 ++++-
 .../lma_kinematics_plugin/CMakeLists.txt          |  5 ++++-
 .../srv_kinematics_plugin/CMakeLists.txt          |  5 ++++-
 moveit_kinematics/test/CMakeLists.txt             |  3 ++-
 .../chomp/chomp_interface/CMakeLists.txt          |  2 +-
 .../chomp/chomp_motion_planner/CMakeLists.txt     |  2 +-
 .../chomp/chomp_optimizer_adapter/CMakeLists.txt  |  2 +-
 .../ompl/ompl_interface/CMakeLists.txt            |  5 ++++-
 .../moveit_fake_controller_manager/CMakeLists.txt |  5 ++++-
 .../moveit_ros_control_interface/CMakeLists.txt   |  2 +-
 .../CMakeLists.txt                                |  5 ++++-
 moveit_ros/benchmarks/CMakeLists.txt              |  8 +++++++-
 .../CMakeLists.txt                                |  3 ++-
 moveit_ros/manipulation/pick_place/CMakeLists.txt |  5 ++++-
 moveit_ros/move_group/CMakeLists.txt              |  7 +++++--
 moveit_ros/occupancy_map_monitor/CMakeLists.txt   |  9 +++++++--
 .../depth_image_octomap_updater/CMakeLists.txt    |  5 ++++-
 .../lazy_free_space_updater/CMakeLists.txt        |  5 ++++-
 moveit_ros/perception/mesh_filter/CMakeLists.txt  |  5 ++++-
 .../point_containment_filter/CMakeLists.txt       |  5 ++++-
 .../pointcloud_octomap_updater/CMakeLists.txt     |  3 ++-
 .../perception/semantic_world/CMakeLists.txt      |  3 ++-
 .../collision_plugin_loader/CMakeLists.txt        |  5 ++++-
 .../CMakeLists.txt                                |  5 ++++-
 .../kinematics_plugin_loader/CMakeLists.txt       |  5 ++++-
 moveit_ros/planning/plan_execution/CMakeLists.txt |  5 ++++-
 .../planning/planning_pipeline/CMakeLists.txt     |  5 ++++-
 .../CMakeLists.txt                                |  6 +++++-
 .../planning_scene_monitor/CMakeLists.txt         |  5 ++++-
 moveit_ros/planning/rdf_loader/CMakeLists.txt     |  5 ++++-
 .../planning/robot_model_loader/CMakeLists.txt    |  5 ++++-
 .../trajectory_execution_manager/CMakeLists.txt   |  5 ++++-
 .../CMakeLists.txt                                |  3 ++-
 .../move_group_interface/CMakeLists.txt           |  6 ++++--
 .../planning_scene_interface/CMakeLists.txt       |  6 +++---
 .../py_bindings_tools/CMakeLists.txt              |  6 +++---
 .../robot_interface/CMakeLists.txt                |  3 +--
 moveit_ros/robot_interaction/CMakeLists.txt       |  5 ++++-
 .../motion_planning_rviz_plugin/CMakeLists.txt    |  3 ++-
 .../planning_scene_rviz_plugin/CMakeLists.txt     |  3 ++-
 .../robot_state_rviz_plugin/CMakeLists.txt        |  3 ++-
 .../rviz_plugin_render_tools/CMakeLists.txt       |  3 ++-
 .../trajectory_rviz_plugin/CMakeLists.txt         |  3 ++-
 moveit_ros/warehouse/warehouse/CMakeLists.txt     |  7 ++++++-
 moveit_setup_assistant/CMakeLists.txt             |  9 +++++++--
 70 files changed, 220 insertions(+), 81 deletions(-)

diff --git a/moveit_core/background_processing/CMakeLists.txt b/moveit_core/background_processing/CMakeLists.txt
index 0e09ddc409..f0b7ab4712 100644
--- a/moveit_core/background_processing/CMakeLists.txt
+++ b/moveit_core/background_processing/CMakeLists.txt
@@ -7,6 +7,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index bfc4e8db6b..21d3bcb5d3 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -31,6 +31,7 @@ endif()
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 8e73a17709..74149b6552 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -17,7 +17,8 @@ target_link_libraries(collision_detector_fcl_plugin ${catkin_LIBRARIES} ${MOVEIT
 
 install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
index 491b47f0e8..ad1850a61e 100644
--- a/moveit_core/collision_distance_field/CMakeLists.txt
+++ b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -30,7 +30,7 @@ endif()
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/constraint_samplers/CMakeLists.txt b/moveit_core/constraint_samplers/CMakeLists.txt
index e988eb2108..958e37b563 100644
--- a/moveit_core/constraint_samplers/CMakeLists.txt
+++ b/moveit_core/constraint_samplers/CMakeLists.txt
@@ -19,7 +19,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
index ac60b52783..3955c94fd3 100644
--- a/moveit_core/distance_field/CMakeLists.txt
+++ b/moveit_core/distance_field/CMakeLists.txt
@@ -12,7 +12,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_core/dynamics_solver/CMakeLists.txt b/moveit_core/dynamics_solver/CMakeLists.txt
index 61324a752d..07028fc9e5 100644
--- a/moveit_core/dynamics_solver/CMakeLists.txt
+++ b/moveit_core/dynamics_solver/CMakeLists.txt
@@ -8,6 +8,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/exceptions/CMakeLists.txt b/moveit_core/exceptions/CMakeLists.txt
index 6b80cf3c28..70ab423d27 100644
--- a/moveit_core/exceptions/CMakeLists.txt
+++ b/moveit_core/exceptions/CMakeLists.txt
@@ -7,5 +7,6 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/kinematic_constraints/CMakeLists.txt b/moveit_core/kinematic_constraints/CMakeLists.txt
index ea45aa72f0..18ff796f70 100644
--- a/moveit_core/kinematic_constraints/CMakeLists.txt
+++ b/moveit_core/kinematic_constraints/CMakeLists.txt
@@ -12,7 +12,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_core/kinematics_base/CMakeLists.txt b/moveit_core/kinematics_base/CMakeLists.txt
index f4d98357ef..2ec7a736f4 100644
--- a/moveit_core/kinematics_base/CMakeLists.txt
+++ b/moveit_core/kinematics_base/CMakeLists.txt
@@ -13,6 +13,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/kinematics_metrics/CMakeLists.txt b/moveit_core/kinematics_metrics/CMakeLists.txt
index 8438c8641d..6a43296df8 100644
--- a/moveit_core/kinematics_metrics/CMakeLists.txt
+++ b/moveit_core/kinematics_metrics/CMakeLists.txt
@@ -8,6 +8,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/planning_interface/CMakeLists.txt b/moveit_core/planning_interface/CMakeLists.txt
index 33c0e1a789..8a876192b5 100644
--- a/moveit_core/planning_interface/CMakeLists.txt
+++ b/moveit_core/planning_interface/CMakeLists.txt
@@ -11,6 +11,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/planning_request_adapter/CMakeLists.txt b/moveit_core/planning_request_adapter/CMakeLists.txt
index 87038c1d31..401e955ded 100644
--- a/moveit_core/planning_request_adapter/CMakeLists.txt
+++ b/moveit_core/planning_request_adapter/CMakeLists.txt
@@ -8,6 +8,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
index 13174d3f1d..cfa146e3ec 100644
--- a/moveit_core/planning_scene/CMakeLists.txt
+++ b/moveit_core/planning_scene/CMakeLists.txt
@@ -18,7 +18,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
diff --git a/moveit_core/profiler/CMakeLists.txt b/moveit_core/profiler/CMakeLists.txt
index 92671fd8cd..803b7ebdb8 100644
--- a/moveit_core/profiler/CMakeLists.txt
+++ b/moveit_core/profiler/CMakeLists.txt
@@ -7,5 +7,6 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt
index a3383680b3..40a6199da4 100644
--- a/moveit_core/robot_model/CMakeLists.txt
+++ b/moveit_core/robot_model/CMakeLists.txt
@@ -27,5 +27,6 @@ endif()
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index d2cffe5f6c..90b30c9db7 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -19,7 +19,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 # Unit tests
diff --git a/moveit_core/robot_trajectory/CMakeLists.txt b/moveit_core/robot_trajectory/CMakeLists.txt
index 9bcfe4ae86..29b89e5aa2 100644
--- a/moveit_core/robot_trajectory/CMakeLists.txt
+++ b/moveit_core/robot_trajectory/CMakeLists.txt
@@ -8,6 +8,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_core/trajectory_processing/CMakeLists.txt b/moveit_core/trajectory_processing/CMakeLists.txt
index fdd392a586..7c51bfbec5 100644
--- a/moveit_core/trajectory_processing/CMakeLists.txt
+++ b/moveit_core/trajectory_processing/CMakeLists.txt
@@ -13,7 +13,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_core/transforms/CMakeLists.txt b/moveit_core/transforms/CMakeLists.txt
index 411b925a68..ac2bd777b3 100644
--- a/moveit_core/transforms/CMakeLists.txt
+++ b/moveit_core/transforms/CMakeLists.txt
@@ -8,7 +8,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 # Unit tests
diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index 05f4bb4878..9ea399702a 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -22,6 +22,7 @@ install(
     ${MOVEIT_LIB_NAME}
     ${MOVEIT_TEST_LIB_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/CMakeLists.txt b/moveit_experimental/kinematics_cache/v2/kinematics_cache/CMakeLists.txt
index d22d017782..6dcd3680b0 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/CMakeLists.txt
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/CMakeLists.txt
@@ -9,6 +9,9 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_model ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_experimental/kinematics_constraint_aware/CMakeLists.txt b/moveit_experimental/kinematics_constraint_aware/CMakeLists.txt
index 8aaa5b86dc..12d18cecef 100644
--- a/moveit_experimental/kinematics_constraint_aware/CMakeLists.txt
+++ b/moveit_experimental/kinematics_constraint_aware/CMakeLists.txt
@@ -7,5 +7,8 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
index 05005fa6a5..b295d3eb50 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -9,7 +9,10 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 target_link_libraries(${MOVEIT_LIB_NAME}
     ${Boost_FILESYSTEM_LIBRARY}
     ${catkin_LIBRARIES})
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 if(trac_ik_kinematics_plugin_FOUND)
     include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
@@ -27,7 +30,10 @@ if(trac_ik_kinematics_plugin_FOUND)
     target_link_libraries(${MOVEIT_LIB_NAME} ${trac_ik_kinematics_plugin_LIBRARIES})
     set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK")
 endif()
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 # This is just for testing purposes; the arms from Universal Robots have
 # analytic solvers, so caching just adds extra overhead.
@@ -42,7 +48,10 @@ if(ur_kinematics_FOUND)
             moveit_cached_ik_kinematics_base
             ${ur${UR}_pluginlib}
             ${catkin_LIBRARIES})
-        install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+        install(TARGETS ${MOVEIT_LIB_NAME} 
+                LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+                ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+                RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
     endforeach()
 endif()
 
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index de49b96da2..e4020ed280 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -26,7 +26,9 @@ target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable)
 
 install(TARGETS
   ${IKFAST_LIBRARY_NAME}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(
   FILES
diff --git a/moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt
index 9388ae6f26..cd3ffc0891 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt
@@ -7,5 +7,8 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
index 0397388312..1dadddcd56 100644
--- a/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
@@ -5,5 +5,8 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt
index b7829f2412..2cf14dd877 100644
--- a/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt
@@ -5,5 +5,8 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_kinematics/test/CMakeLists.txt b/moveit_kinematics/test/CMakeLists.txt
index b7dee1f18d..be739327c6 100644
--- a/moveit_kinematics/test/CMakeLists.txt
+++ b/moveit_kinematics/test/CMakeLists.txt
@@ -36,5 +36,6 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(benchmark_ik
       ${catkin_LIBRARIES} ${moveit_ros_planning_LIBRARIES}
       ${Boost_PROGRAM_OPTIONS_LIBRARY})
-  install(TARGETS benchmark_ik DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  install(TARGETS benchmark_ik
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 endif()
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
index 3e03d56474..a811145448 100644
--- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -54,7 +54,7 @@ install(DIRECTORY include/chomp_interface/
 install(TARGETS ${PROJECT_NAME} chomp_planner_plugin
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
 if(CATKIN_ENABLE_TESTING)
diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
index 69655a2c84..d02a10255a 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -34,5 +34,5 @@ install(DIRECTORY include/${PROJECT_NAME}/
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
index 91d6b6a455..0e69e70585 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -24,5 +24,5 @@ install(FILES chomp_optimizer_adapter_plugin_description.xml
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index cc9181efee..0f7c18bbb9 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -40,8 +40,11 @@ add_library(moveit_ompl_planner_plugin src/ompl_planner_manager.cpp)
 set_target_properties(moveit_ompl_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(moveit_ompl_planner_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner moveit_ompl_planner_plugin moveit_generate_state_database
+install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner_plugin
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+install(TARGETS moveit_ompl_planner moveit_generate_state_database
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index d0e7a81bfe..7a24177c77 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -32,7 +32,10 @@ add_library(${PROJECT_NAME}
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${PROJECT_NAME} 
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) 
 
 install(FILES moveit_fake_controller_manager_plugin_description.xml
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index 8b61d3b039..c590d3de6d 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -69,7 +69,7 @@ target_link_libraries(${PROJECT_NAME}_trajectory_plugin
 install(TARGETS ${PROJECT_NAME}_plugin ${PROJECT_NAME}_trajectory_plugin
 ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
 ## Mark cpp header files for installation
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index ec00ba8601..48c02ea8b5 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -33,7 +33,10 @@ add_library(${PROJECT_NAME}
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${PROJECT_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(FILES moveit_simple_controller_manager_plugin_description.xml
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 1b41bfcd22..2463628a58 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -43,8 +43,14 @@ target_link_libraries(moveit_run_benchmark ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES
 
 install(
   TARGETS
-    ${MOVEIT_LIB_NAME} moveit_run_benchmark
+    ${MOVEIT_LIB_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(
+  TARGETS
+    moveit_run_benchmark
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/CMakeLists.txt b/moveit_ros/manipulation/move_group_pick_place_capability/CMakeLists.txt
index 8cdfecab66..036197fc58 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/CMakeLists.txt
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/CMakeLists.txt
@@ -11,6 +11,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_pick_place_planner ${catkin_LIBR
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/manipulation/pick_place/CMakeLists.txt b/moveit_ros/manipulation/pick_place/CMakeLists.txt
index 4e41c8a4e5..fb371ae640 100644
--- a/moveit_ros/manipulation/pick_place/CMakeLists.txt
+++ b/moveit_ros/manipulation/pick_place/CMakeLists.txt
@@ -14,5 +14,8 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 82578d5bf4..783f29faa7 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -67,10 +67,13 @@ target_link_libraries(move_group moveit_move_group_capabilities_base ${catkin_LI
 target_link_libraries(moveit_move_group_default_capabilities moveit_move_group_capabilities_base ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 target_link_libraries(list_move_group_capabilities ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS move_group list_move_group_capabilities moveit_move_group_capabilities_base moveit_move_group_default_capabilities
+install(TARGETS move_group list_move_group_capabilities
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(TARGETS moveit_move_group_capabilities_base moveit_move_group_default_capabilities
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index 56305e5bde..bdb0bae0f1 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -56,8 +56,13 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp)
 target_link_libraries(moveit_ros_occupancy_map_server ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} moveit_ros_occupancy_map_server
-  LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}
+install(TARGETS ${MOVEIT_LIB_NAME}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(TARGETS moveit_ros_occupancy_map_server
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/perception/depth_image_octomap_updater/CMakeLists.txt b/moveit_ros/perception/depth_image_octomap_updater/CMakeLists.txt
index 81485c633d..4222cd346a 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/CMakeLists.txt
+++ b/moveit_ros/perception/depth_image_octomap_updater/CMakeLists.txt
@@ -10,5 +10,8 @@ add_library(${MOVEIT_LIB_NAME} src/updater_plugin.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt b/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
index ce935b1f36..e9092875c1 100644
--- a/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
+++ b/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
@@ -8,5 +8,8 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_dependencies(${MOVEIT_LIB_NAME} ${sensor_msgs_EXPORTED_TARGETS})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/perception/mesh_filter/CMakeLists.txt b/moveit_ros/perception/mesh_filter/CMakeLists.txt
index 940772f8da..f08902a474 100644
--- a/moveit_ros/perception/mesh_filter/CMakeLists.txt
+++ b/moveit_ros/perception/mesh_filter/CMakeLists.txt
@@ -22,5 +22,8 @@ if (CATKIN_ENABLE_TESTING)
   endif()
 endif()
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/perception/point_containment_filter/CMakeLists.txt b/moveit_ros/perception/point_containment_filter/CMakeLists.txt
index ed76980c0a..a672692acb 100644
--- a/moveit_ros/perception/point_containment_filter/CMakeLists.txt
+++ b/moveit_ros/perception/point_containment_filter/CMakeLists.txt
@@ -6,5 +6,8 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_F
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/CMakeLists.txt b/moveit_ros/perception/pointcloud_octomap_updater/CMakeLists.txt
index 503c46fb2f..425a12beed 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/CMakeLists.txt
+++ b/moveit_ros/perception/pointcloud_octomap_updater/CMakeLists.txt
@@ -14,4 +14,5 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/perception/semantic_world/CMakeLists.txt b/moveit_ros/perception/semantic_world/CMakeLists.txt
index 6ed3c99610..0c6ef4f3f0 100644
--- a/moveit_ros/perception/semantic_world/CMakeLists.txt
+++ b/moveit_ros/perception/semantic_world/CMakeLists.txt
@@ -9,4 +9,5 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/planning/collision_plugin_loader/CMakeLists.txt b/moveit_ros/planning/collision_plugin_loader/CMakeLists.txt
index 86eea90717..6ad2115652 100644
--- a/moveit_ros/planning/collision_plugin_loader/CMakeLists.txt
+++ b/moveit_ros/planning/collision_plugin_loader/CMakeLists.txt
@@ -4,5 +4,8 @@ add_library(${MOVEIT_LIB_NAME} src/collision_plugin_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt b/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt
index 8e0dd2dc28..8e11bfaafa 100644
--- a/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt
+++ b/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt
@@ -4,5 +4,8 @@ add_library(${MOVEIT_LIB_NAME} src/constraint_sampler_manager_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt b/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt
index ebcc035b60..48ce472264 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt
+++ b/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt
@@ -4,5 +4,8 @@ add_library(${MOVEIT_LIB_NAME} src/kinematics_plugin_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_rdf_loader ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/plan_execution/CMakeLists.txt b/moveit_ros/planning/plan_execution/CMakeLists.txt
index 6d2a0c24fe..6b579cfb11 100644
--- a/moveit_ros/planning/plan_execution/CMakeLists.txt
+++ b/moveit_ros/planning/plan_execution/CMakeLists.txt
@@ -11,5 +11,8 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   ${catkin_LIBRARIES} ${Boost_LIBRARIES}
   )
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/planning_pipeline/CMakeLists.txt b/moveit_ros/planning/planning_pipeline/CMakeLists.txt
index 853d2efb11..abeb034e3a 100644
--- a/moveit_ros/planning/planning_pipeline/CMakeLists.txt
+++ b/moveit_ros/planning/planning_pipeline/CMakeLists.txt
@@ -4,5 +4,8 @@ add_library(${MOVEIT_LIB_NAME} src/planning_pipeline.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
index f3a9dbae8d..b32ffe5349 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
+++ b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
@@ -19,6 +19,10 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 add_executable(moveit_list_request_adapter_plugins src/list.cpp)
 target_link_libraries(moveit_list_request_adapter_plugins ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} moveit_list_request_adapter_plugins
+install(TARGETS ${MOVEIT_LIB_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(TARGETS moveit_list_request_adapter_plugins
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
index 9ad23d6175..6329feef36 100644
--- a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
+++ b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
@@ -14,5 +14,8 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 add_executable(demo_scene demos/demo_scene.cpp)
 target_link_libraries(demo_scene ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/rdf_loader/CMakeLists.txt b/moveit_ros/planning/rdf_loader/CMakeLists.txt
index 0a0dbe5055..0b91cafd81 100644
--- a/moveit_ros/planning/rdf_loader/CMakeLists.txt
+++ b/moveit_ros/planning/rdf_loader/CMakeLists.txt
@@ -4,5 +4,8 @@ add_library(${MOVEIT_LIB_NAME} src/rdf_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/robot_model_loader/CMakeLists.txt b/moveit_ros/planning/robot_model_loader/CMakeLists.txt
index 13af8cdd78..9790d1bcc3 100644
--- a/moveit_ros/planning/robot_model_loader/CMakeLists.txt
+++ b/moveit_ros/planning/robot_model_loader/CMakeLists.txt
@@ -8,5 +8,8 @@ add_library(${MOVEIT_LIB_NAME} src/robot_model_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_rdf_loader moveit_kinematics_plugin_loader ${catkin_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
index 51b7336ac1..14a2c23be8 100644
--- a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
+++ b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
@@ -5,7 +5,10 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_planning_scene_monitor moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${moveit_ros_planning_EXPORTED_TARGETS}) # don't build until necessary msgs are finish
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 add_library(test_controller_manager_plugin test/test_moveit_controller_manager_plugin.cpp)
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/CMakeLists.txt b/moveit_ros/planning_interface/common_planning_interface_objects/CMakeLists.txt
index f5b6953406..71b61285a4 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/CMakeLists.txt
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/CMakeLists.txt
@@ -6,6 +6,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${PYTHON_LIBRARIES}
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
index eacfa2aecb..6ff6444e7a 100644
--- a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
@@ -14,11 +14,13 @@ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECT
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt b/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
index 7658b2583e..11489f296c 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
@@ -12,10 +12,10 @@ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECT
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt b/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
index 6d1e6899a6..1f3cb1c93b 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
+++ b/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
@@ -6,7 +6,8 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_roscpp_initializer.cpp)
 target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
@@ -15,7 +16,6 @@ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_r
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning_interface/robot_interface/CMakeLists.txt b/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
index 56cb7b4098..0c6a4a22bf 100644
--- a/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
@@ -8,5 +8,4 @@ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_r
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index 8050ff8d75..d18735a809 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -54,7 +54,10 @@ if (CATKIN_ENABLE_TESTING)
     ${Boost_LIBRARIES})
 endif()
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION})
+install(TARGETS ${MOVEIT_LIB_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index 41c9b07b59..6f4ce1f245 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -36,4 +36,5 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 77a06066ac..109bb569f6 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -14,4 +14,5 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
index 6a4d92f2f7..8db0bf29fc 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
@@ -15,5 +15,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
index 9baca76cfb..a9769d25d1 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
@@ -35,4 +35,5 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
index 081058868c..97b09ca864 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
@@ -27,5 +27,6 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRAR
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/warehouse/warehouse/CMakeLists.txt b/moveit_ros/warehouse/warehouse/CMakeLists.txt
index 2a459f97c0..5f1b0e000c 100644
--- a/moveit_ros/warehouse/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/warehouse/CMakeLists.txt
@@ -32,12 +32,17 @@ target_link_libraries(moveit_warehouse_services ${catkin_LIBRARIES} ${MOVEIT_LIB
 install(
   TARGETS
     ${MOVEIT_LIB_NAME}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(
+  TARGETS
     moveit_save_to_warehouse
     moveit_warehouse_broadcast
     moveit_warehouse_import_from_text
     moveit_warehouse_save_as_text
     moveit_init_demo_warehouse
     moveit_warehouse_services
-  LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index fa15457b8b..f01787d422 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -141,9 +141,14 @@ set_target_properties(${PROJECT_NAME}_updater
                       PROPERTIES OUTPUT_NAME collisions_updater
                       PREFIX "")
 
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_widgets ${PROJECT_NAME}_tools ${PROJECT_NAME}_updater
-  LIBRARY DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_updater
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(TARGETS ${PROJECT_NAME}_widgets ${PROJECT_NAME}_tools
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

From 889447f2dfe6bb997f7a32dd61069008018b0ec8 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 13 Aug 2019 13:41:37 -0600
Subject: [PATCH 027/612] Remove packages without Jenkins badges (#1617)

---
 README.md | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/README.md b/README.md
index 8de31d4900..0b330cc1bc 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,6 @@ build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__mo
 MoveIt Package | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
 --------------- | -------------- | -------------- | -------------- | --------------
 moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)
-moveit_base |  |  |  |
 moveit_chomp_optimizer_adapter | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)
 moveit_commander | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_commander__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_commander__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_commander__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_commander__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)
 moveit_core | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_core__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_core__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_core__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_core__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)
@@ -57,7 +56,6 @@ moveit_ros_benchmarks | [![Build Status](http://build.ros.org/buildStatus/icon?j
 moveit_ros_control_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)
 moveit_ros_manipulation | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)
 moveit_ros_move_group | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)
-moveit_ros_occupancy_map_monitor |  |  |  |
 moveit_ros_perception | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_perception__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_perception__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)
 moveit_ros_planning | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)
 moveit_ros_planning_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)
@@ -67,7 +65,6 @@ moveit_ros_warehouse | [![Build Status](http://build.ros.org/buildStatus/icon?jo
 moveit_runtime | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_runtime__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_runtime__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_runtime__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_runtime__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)
 moveit_setup_assistant | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)
 moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)
-moveit_tutorials |  |  |  |
 moveit_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)
 chomp_motion_planner | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)
 geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__geometric_shapes__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__geometric_shapes__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__geometric_shapes__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__geometric_shapes__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)

From eae8f02070fd05ea4c53b476624a469eea7ca362 Mon Sep 17 00:00:00 2001
From: Jonathan Binney <jon.binney@gmail.com>
Date: Tue, 13 Aug 2019 21:31:22 -0700
Subject: [PATCH 028/612] Use standard cmake text for metapackages (#1620)

---
 moveit/CMakeLists.txt                          | 2 +-
 moveit_planners/moveit_planners/CMakeLists.txt | 2 +-
 moveit_plugins/moveit_plugins/CMakeLists.txt   | 2 +-
 moveit_ros/moveit_ros/CMakeLists.txt           | 2 +-
 moveit_runtime/CMakeLists.txt                  | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit/CMakeLists.txt b/moveit/CMakeLists.txt
index 9acc0a9b9e..9d8f3239d4 100644
--- a/moveit/CMakeLists.txt
+++ b/moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(moveit)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_planners/moveit_planners/CMakeLists.txt b/moveit_planners/moveit_planners/CMakeLists.txt
index 753bb7b4d9..e6e2b34540 100644
--- a/moveit_planners/moveit_planners/CMakeLists.txt
+++ b/moveit_planners/moveit_planners/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(moveit_planners)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_plugins/moveit_plugins/CMakeLists.txt b/moveit_plugins/moveit_plugins/CMakeLists.txt
index 9afdc1d9d8..03c972ba5f 100644
--- a/moveit_plugins/moveit_plugins/CMakeLists.txt
+++ b/moveit_plugins/moveit_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(moveit_plugins)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_ros/moveit_ros/CMakeLists.txt b/moveit_ros/moveit_ros/CMakeLists.txt
index 5425d0c2e5..75cf534418 100644
--- a/moveit_ros/moveit_ros/CMakeLists.txt
+++ b/moveit_ros/moveit_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(moveit_ros)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_runtime/CMakeLists.txt b/moveit_runtime/CMakeLists.txt
index 0224cde26c..18700d6157 100644
--- a/moveit_runtime/CMakeLists.txt
+++ b/moveit_runtime/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(moveit_runtime)
 find_package(catkin REQUIRED)
 catkin_metapackage()

From d7e0dfde20cd9c601190aca1f20db71b5a898255 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Wed, 14 Aug 2019 09:17:13 +0300
Subject: [PATCH 029/612] Use QDir::currentPath() rather than getenv("PWD")
 (#1618)

---
 .../src/widgets/setup_assistant_widget.cpp               | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index a2b1a1fb07..511463a968 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -47,6 +47,7 @@
 #include <QCloseEvent>
 #include <QMessageBox>
 #include <QString>
+#include <QDir>
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 // Rviz
 #include <rviz/render_panel.h>
@@ -113,13 +114,7 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   }
   else
   {
-    // Open the directory where the MSA was started from.
-    // cf. http://stackoverflow.com/a/7413516/577001
-    QString pwdir("");
-    char* pwd;
-    pwd = getenv("PWD");
-    pwdir.append(pwd);
-    start_screen_widget_->stack_path_->setPath(pwdir);
+    start_screen_widget_->stack_path_->setPath(QDir::currentPath());
   }
 
   // Add Navigation Buttons (but do not load widgets yet except start screen)

From f231ad7155090720ccaab265607e19f5fb2c7fc8 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Wed, 14 Aug 2019 00:29:46 -0700
Subject: [PATCH 030/612] remove GCC extension and alternative operator usage.
 (#1583)

replace the gcc extension and alternative operator usage

Also guard use of Linux-specific abi header
---
 .../planning_request_adapter.h                     |  8 +++++++-
 moveit_core/robot_state/src/robot_state.cpp        |  2 +-
 moveit_core/utils/src/robot_model_test_utils.cpp   | 14 +++++++-------
 .../chomp_motion_planner/src/chomp_trajectory.cpp  |  2 +-
 .../src/current_state_monitor.cpp                  | 10 +++++-----
 5 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index fd2b34a424..9c11302a02 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -40,7 +40,9 @@
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <boost/function.hpp>
+#if !defined(_MSC_VER)
 #include <cxxabi.h>
+#endif
 
 /** \brief Generic interface to adapting motion planning requests */
 namespace planning_request_adapter
@@ -70,8 +72,12 @@ class PlanningRequestAdapter
     // Get name of derived adapter
     std::string adapter_name = typeid(*this).name();
     // Try to demangle the name
-    int status;
+    int status = 1;
+#if defined(_MSC_VER)
+    std::string demangled_name = adapter_name;
+#else
     std::string demangled_name = abi::__cxa_demangle(adapter_name.c_str(), NULL, NULL, &status);
+#endif
     if (status == 0)
       adapter_name = demangled_name;
     ROS_WARN_NAMED("planning_request_adapter", "Implementation of function initialize() is missing from '%s'."
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 756ba3a97c..abf7034f98 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1232,7 +1232,7 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
     const JointModel* pjm = link->getParentJointModel();
     if (pjm->getVariableCount() > 0)
     {
-      if (not group->hasJointModel(pjm->getName()))
+      if (!group->hasJointModel(pjm->getName()))
       {
         link = pjm->getParentLinkModel();
         continue;
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index 50221182ec..e8bf5d3407 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -120,14 +120,14 @@ void RobotModelBuilder::addChain(const std::string& section, const std::string&
     return;
   }
   // First link should already be added.
-  if (not urdf_model_->getLink(link_names[0]))
+  if (!urdf_model_->getLink(link_names[0]))
   {
     ROS_ERROR_NAMED(LOGNAME, "Link %s not present in builder yet!", link_names[0].c_str());
     is_valid_ = false;
     return;
   }
 
-  if (not joint_origins.empty() && link_names.size() - 1 != joint_origins.size())
+  if (!joint_origins.empty() && link_names.size() - 1 != joint_origins.size())
   {
     ROS_ERROR_NAMED(LOGNAME, "There should be one more link (%zu) than there are joint origins (%zu)",
                     link_names.size(), joint_origins.size());
@@ -152,7 +152,7 @@ void RobotModelBuilder::addChain(const std::string& section, const std::string&
     joint->name = link_names[i - 1] + "-" + link_names[i] + "-joint";
     // Default to Identity transform for origins.
     joint->parent_to_joint_origin_transform.clear();
-    if (not joint_origins.empty())
+    if (!joint_origins.empty())
     {
       geometry_msgs::Pose o = joint_origins[i - 1];
       joint->parent_to_joint_origin_transform.position = urdf::Vector3(o.position.x, o.position.y, o.position.z);
@@ -197,7 +197,7 @@ void RobotModelBuilder::addChain(const std::string& section, const std::string&
 void RobotModelBuilder::addInertial(const std::string& link_name, double mass, geometry_msgs::Pose origin, double ixx,
                                     double ixy, double ixz, double iyy, double iyz, double izz)
 {
-  if (not urdf_model_->getLink(link_name))
+  if (!urdf_model_->getLink(link_name))
   {
     ROS_ERROR_NAMED(LOGNAME, "Link %s not present in builder yet!", link_name.c_str());
     is_valid_ = false;
@@ -260,7 +260,7 @@ void RobotModelBuilder::addCollisionMesh(const std::string& link_name, const std
 void RobotModelBuilder::addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& collision,
                                          geometry_msgs::Pose origin)
 {
-  if (not urdf_model_->getLink(link_name))
+  if (!urdf_model_->getLink(link_name))
   {
     ROS_ERROR_NAMED(LOGNAME, "Link %s not present in builder yet!", link_name.c_str());
     is_valid_ = false;
@@ -278,7 +278,7 @@ void RobotModelBuilder::addLinkCollision(const std::string& link_name, const urd
 void RobotModelBuilder::addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis,
                                       geometry_msgs::Pose origin)
 {
-  if (not urdf_model_->getLink(link_name))
+  if (!urdf_model_->getLink(link_name))
   {
     ROS_ERROR_NAMED(LOGNAME, "Link %s not present in builder yet!", link_name.c_str());
     is_valid_ = false;
@@ -290,7 +290,7 @@ void RobotModelBuilder::addLinkVisual(const std::string& link_name, const urdf::
 
   urdf::LinkSharedPtr link;
   urdf_model_->getLink(link_name, link);
-  if (not link->visual_array.empty())
+  if (!link->visual_array.empty())
   {
     link->visual_array.push_back(vis);
   }
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
index 8580682a20..e1f56aa0e7 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
@@ -155,7 +155,7 @@ void ChompTrajectory::fillInMinJerk()
 
   // calculate the spline coefficients for each joint:
   // (these are for the special case of zero start and end vel and acc)
-  double coeff[num_joints_][6];
+  std::vector<double[6]> coeff(num_joints_);
   for (size_t i = 0; i < num_joints_; i++)
   {
     double x0 = (*this)(start_index, i);
diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
index 43f1da2158..64ae7465d2 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
@@ -443,20 +443,20 @@ void planning_scene_monitor::CurrentStateMonitor::tfCallback()
         continue;
       joint_time_[joint] = latest_common_time;
 
-      double new_values[joint->getStateSpaceDimension()];
+      std::vector<double> new_values(joint->getStateSpaceDimension());
       const robot_model::LinkModel* link = joint->getChildLinkModel();
       if (link->jointOriginTransformIsIdentity())
-        joint->computeVariablePositions(tf2::transformToEigen(transf), new_values);
+        joint->computeVariablePositions(tf2::transformToEigen(transf), new_values.data());
       else
         joint->computeVariablePositions(link->getJointOriginTransform().inverse() * tf2::transformToEigen(transf),
-                                        new_values);
+                                        new_values.data());
 
-      if (joint->distance(new_values, robot_state_.getJointPositions(joint)) > 1e-5)
+      if (joint->distance(new_values.data(), robot_state_.getJointPositions(joint)) > 1e-5)
       {
         changes = true;
       }
 
-      robot_state_.setJointPositions(joint, new_values);
+      robot_state_.setJointPositions(joint, new_values.data());
       update = true;
     }
   }

From 70537f037a87fbfa8bb51586cac247fd59a58e53 Mon Sep 17 00:00:00 2001
From: Daniel Wang <daniel.wang@canonical.com>
Date: Wed, 14 Aug 2019 18:46:27 -0700
Subject: [PATCH 031/612] fix the invalid iterator issue (#1623)

Signed-off-by: Daniel Wang <daniel.wang@canonical.com>
---
 moveit_setup_assistant/src/tools/moveit_config_data.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 77b4704390..0bbd81f4c2 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -775,7 +775,7 @@ void MoveItConfigData::outputFollowJointTrajectoryYAML(YAML::Emitter& emitter,
             emitter << YAML::EndMap;
           }
         }
-        ros_controllers_config_output.erase(controller_it);
+        controller_it = ros_controllers_config_output.erase(controller_it);
         emitter << YAML::EndMap;
       }
       else

From 4acd3a75e4f5fdf3fdd1ac147648529758968c36 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Wed, 7 Aug 2019 14:01:55 -0600
Subject: [PATCH 032/612] Support benchmarking of full planning pipelines
 (#1531)

... instead of planning plugins only
---
 moveit_ros/benchmarks/README.md               |   2 +-
 moveit_ros/benchmarks/examples/demo1.yaml     |   4 +-
 moveit_ros/benchmarks/examples/demo2.yaml     |   6 +-
 .../benchmarks/examples/demo_fanuc.launch     |   2 +-
 .../benchmarks/examples/demo_obstacles.yaml   |   8 +-
 .../benchmarks/examples/demo_panda.launch     |   2 +-
 .../examples/demo_panda_all_planners.launch   |   6 +-
 .../examples/demo_panda_all_planners.yaml     |   8 +-
 .../demo_panda_all_planners_obstacles.launch  |   6 +-
 .../moveit/benchmarks/BenchmarkExecutor.h     |   5 +-
 .../moveit/benchmarks/BenchmarkOptions.h      |   6 +-
 .../benchmarks/src/BenchmarkExecutor.cpp      | 189 +++++++++---------
 .../benchmarks/src/BenchmarkOptions.cpp       |  44 ++--
 moveit_ros/benchmarks/src/RunBenchmark.cpp    |   6 +-
 14 files changed, 148 insertions(+), 146 deletions(-)

diff --git a/moveit_ros/benchmarks/README.md b/moveit_ros/benchmarks/README.md
index ada7c8a485..4823b68253 100644
--- a/moveit_ros/benchmarks/README.md
+++ b/moveit_ros/benchmarks/README.md
@@ -2,4 +2,4 @@
 
 This package provides methods to benchmark motion planning algorithms and aggregate/plot statistics. Results can be viewed in [Planner Arena](http://plannerarena.org/).
 
-For more information and usage example please see [moveit tutorials](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/benchmarking_tutorial.html).
+For more information and usage example please see [moveit tutorials](https://ros-planning.github.io/moveit_tutorials/doc/benchmarking/benchmarking_tutorial.html).
diff --git a/moveit_ros/benchmarks/examples/demo1.yaml b/moveit_ros/benchmarks/examples/demo1.yaml
index b930a8187a..7d6e9882a2 100644
--- a/moveit_ros/benchmarks/examples/demo1.yaml
+++ b/moveit_ros/benchmarks/examples/demo1.yaml
@@ -18,8 +18,8 @@ benchmark_config:
         output_directory: /tmp/moveit_benchmarks/
         queries: Pick1
         start_states: Start1
-    planners:
-        - plugin: ompl_interface/OMPLPlanner
+    planning_pipelines:
+        - name: ompl
           planners:
             - RRTConnectkConfigDefault
             - BKPIECEkConfigDefault
diff --git a/moveit_ros/benchmarks/examples/demo2.yaml b/moveit_ros/benchmarks/examples/demo2.yaml
index ba6048b01a..cb25a6c6c6 100644
--- a/moveit_ros/benchmarks/examples/demo2.yaml
+++ b/moveit_ros/benchmarks/examples/demo2.yaml
@@ -18,12 +18,12 @@ benchmark_config:
         output_directory: /home/benchmarks/
         queries: .*
         start_states: .*
-    planners:
-        - plugin: ompl_interface/OMPLPlanner
+    planning_pipelines:
+        - name: ompl
           planners:
             - RRTConnectkConfigDefault
             - BKPIECEkConfigDefault
             - KPIECEkConfigDefault
-        - plugin: my_plugin_ns/my_plugin
+        - name: my_pipeline
           planners:
             - MyPlanner
diff --git a/moveit_ros/benchmarks/examples/demo_fanuc.launch b/moveit_ros/benchmarks/examples/demo_fanuc.launch
index 75b4f91b8d..cfecc6f5c5 100644
--- a/moveit_ros/benchmarks/examples/demo_fanuc.launch
+++ b/moveit_ros/benchmarks/examples/demo_fanuc.launch
@@ -8,7 +8,7 @@
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark" file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
diff --git a/moveit_ros/benchmarks/examples/demo_obstacles.yaml b/moveit_ros/benchmarks/examples/demo_obstacles.yaml
index 8616b78596..d6a3c3b504 100644
--- a/moveit_ros/benchmarks/examples/demo_obstacles.yaml
+++ b/moveit_ros/benchmarks/examples/demo_obstacles.yaml
@@ -18,16 +18,16 @@ benchmark_config:
         output_directory: /tmp/moveit_benchmarks/
         queries: .*
         start_states: .*
-    planners:
-        - plugin: ompl_interface/OMPLPlanner
+    planning_pipelines:
+        - name: ompl
           planners:
             - RRTConnectkConfigDefault
             - BKPIECEkConfigDefault
             - KPIECEkConfigDefault
-        - plugin: chomp_interface/CHOMPPlanner
+        - name: chomp
           planners:
             - CHOMP
-        - plugin: stomp_moveit/StompPlannerManager
+        - name: stomp
           planners:
             - STOMP
 
diff --git a/moveit_ros/benchmarks/examples/demo_panda.launch b/moveit_ros/benchmarks/examples/demo_panda.launch
index f82b5ef8c8..66742658e5 100644
--- a/moveit_ros/benchmarks/examples/demo_panda.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda.launch
@@ -8,7 +8,7 @@
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
index 161cd4478b..f0d60f6105 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
@@ -8,15 +8,15 @@
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="chomp" />
   </include>
 
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="stomp" />
   </include>
 
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
index aaa20a017d..3fc13adebc 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
@@ -18,16 +18,16 @@ benchmark_config:
         output_directory: /tmp/moveit_benchmarks/
         queries: .*
         start_states: .*
-    planners:
-        - plugin: ompl_interface/OMPLPlanner
+    planning_pipelines:
+        - name: ompl
           planners:
             - RRTConnectkConfigDefault
             - BKPIECEkConfigDefault
             - KPIECEkConfigDefault
-        - plugin: chomp_interface/CHOMPPlanner
+        - name: chomp
           planners:
             - CHOMP
-        - plugin: stomp_moveit/StompPlannerManager
+        - name: stomp
           planners:
             - STOMP
 
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
index 205bab2081..25b0a50715 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
@@ -8,15 +8,15 @@
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="chomp" />
   </include>
 
-  <include ns="moveit_run_benchmark" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="stomp" />
   </include>
 
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index 9dfc5b8023..92a0a82a36 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -45,7 +45,7 @@
 #include <moveit/warehouse/state_storage.h>
 #include <moveit/warehouse/constraints_storage.h>
 #include <moveit/warehouse/trajectory_constraints_storage.h>
-#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
 #include <warehouse_ros/database_loader.h>
 #include <pluginlib/class_loader.hpp>
 
@@ -212,8 +212,7 @@ class BenchmarkExecutor
 
   BenchmarkOptions options_;
 
-  std::shared_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader_;
-  std::map<std::string, planning_interface::PlannerManagerPtr> planner_interfaces_;
+  std::map<std::string, planning_pipeline::PlanningPipelinePtr> planning_pipelines_;
 
   std::vector<PlannerBenchmarkData> benchmark_data_;
 
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
index dbd46c4cdb..0006d42f39 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
@@ -68,8 +68,8 @@ class BenchmarkOptions
   const std::string& getPathConstraintRegex() const;
   const std::string& getTrajectoryConstraintRegex() const;
   void getGoalOffsets(std::vector<double>& offsets) const;
-  const std::map<std::string, std::vector<std::string>>& getPlannerConfigurations() const;
-  void getPlannerPluginList(std::vector<std::string>& plugin_list) const;
+  const std::map<std::string, std::vector<std::string>>& getPlanningPipelineConfigurations() const;
+  void getPlanningPipelineNames(std::vector<std::string>& planning_pipeline_names) const;
 
   const std::string& getWorkspaceFrameID() const;
   const moveit_msgs::WorkspaceParameters& getWorkspaceParameters() const;
@@ -103,7 +103,7 @@ class BenchmarkOptions
   double goal_offsets[6];
 
   /// planner configurations
-  std::map<std::string, std::vector<std::string>> planners_;
+  std::map<std::string, std::vector<std::string>> planning_pipelines_;
 
   moveit_msgs::WorkspaceParameters workspace_;
 };
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index b48dd98a95..4f717cd97a 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -71,17 +71,6 @@ BenchmarkExecutor::BenchmarkExecutor(const std::string& robot_description_param)
   tcs_ = nullptr;
   psm_ = new planning_scene_monitor::PlanningSceneMonitor(robot_description_param);
   planning_scene_ = psm_->getPlanningScene();
-
-  // Initialize the class loader for planner plugins
-  try
-  {
-    planner_plugin_loader_.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-        "moveit_core", "planning_interface::PlannerManager"));
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
-  }
 }
 
 BenchmarkExecutor::~BenchmarkExecutor()
@@ -94,46 +83,39 @@ BenchmarkExecutor::~BenchmarkExecutor()
   delete psm_;
 }
 
-void BenchmarkExecutor::initialize(const std::vector<std::string>& plugin_classes)
+void BenchmarkExecutor::initialize(const std::vector<std::string>& planning_pipeline_names)
 {
-  planner_interfaces_.clear();
+  planning_pipelines_.clear();
 
-  // Load the planning plugins
-  const std::vector<std::string>& classes = planner_plugin_loader_->getDeclaredClasses();
-
-  for (const std::string& planner_plugin_name : plugin_classes)
+  ros::NodeHandle pnh("~");
+  for (const std::string& planning_pipeline_name : planning_pipeline_names)
   {
-    std::vector<std::string>::const_iterator it = std::find(classes.begin(), classes.end(), planner_plugin_name);
-    if (it == classes.end())
-    {
-      ROS_ERROR("Failed to find plugin_class %s", planner_plugin_name.c_str());
-      return;
-    }
-
-    try
-    {
-      planning_interface::PlannerManagerPtr p = planner_plugin_loader_->createUniqueInstance(planner_plugin_name);
-      p->initialize(planning_scene_->getRobotModel(), "");
+    // Initialize planning pipelines from configured child namespaces
+    ros::NodeHandle child_nh(pnh, planning_pipeline_name);
+    planning_pipeline::PlanningPipelinePtr pipeline(new planning_pipeline::PlanningPipeline(
+        planning_scene_->getRobotModel(), child_nh, "planning_plugin", "request_adapters"));
 
-      p->getPlannerConfigurations();
-      planner_interfaces_[planner_plugin_name] = p;
-    }
-    catch (pluginlib::PluginlibException& ex)
+    // Verify the pipeline has successfully initialized a planner
+    if (!pipeline->getPlannerManager())
     {
-      ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what());
+      ROS_ERROR("Failed to initialize planning pipeline '%s'", planning_pipeline_name.c_str());
+      continue;
     }
+
+    // Disable visualizations and store pipeline
+    pipeline->displayComputedMotionPlans(false);
+    pipeline->checkSolutionPaths(false);
+    planning_pipelines_[planning_pipeline_name] = pipeline;
   }
 
-  // error check
-  if (planner_interfaces_.empty())
-    ROS_ERROR("No planning plugins have been loaded. Nothing to do for the benchmarking service.");
+  // Error check
+  if (planning_pipelines_.empty())
+    ROS_ERROR("No planning pipelines have been loaded. Nothing to do for the benchmarking service.");
   else
   {
-    std::stringstream ss;
-    for (std::map<std::string, planning_interface::PlannerManagerPtr>::const_iterator it = planner_interfaces_.begin();
-         it != planner_interfaces_.end(); ++it)
-      ss << it->first << " ";
-    ROS_INFO("Available planner instances: %s", ss.str().c_str());
+    ROS_INFO("Available planning pipelines:");
+    for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& entry : planning_pipelines_)
+      ROS_INFO_STREAM("Pipeline: " << entry.first << ", Planner: " << entry.second->getPlannerPluginName());
   }
 }
 
@@ -206,9 +188,9 @@ void BenchmarkExecutor::addQueryCompletionEvent(const QueryCompletionEventFuncti
 
 bool BenchmarkExecutor::runBenchmarks(const BenchmarkOptions& opts)
 {
-  if (planner_interfaces_.empty())
+  if (planning_pipelines_.empty())
   {
-    ROS_ERROR("No planning interfaces configured.  Did you call BenchmarkExecutor::initialize?");
+    ROS_ERROR("No planning pipelines configured.  Did you call BenchmarkExecutor::initialize?");
     return false;
   }
 
@@ -217,7 +199,7 @@ bool BenchmarkExecutor::runBenchmarks(const BenchmarkOptions& opts)
 
   if (initializeBenchmarks(opts, scene_msg, queries))
   {
-    if (!queriesAndPlannersCompatible(queries, opts.getPlannerConfigurations()))
+    if (!queriesAndPlannersCompatible(queries, opts.getPlanningPipelineConfigurations()))
       return false;
 
     for (std::size_t i = 0; i < queries.size(); ++i)
@@ -241,7 +223,7 @@ bool BenchmarkExecutor::runBenchmarks(const BenchmarkOptions& opts)
 
       ROS_INFO("Benchmarking query '%s' (%lu of %lu)", queries[i].name.c_str(), i + 1, queries.size());
       ros::WallTime start_time = ros::WallTime::now();
-      runBenchmark(queries[i].request, options_.getPlannerConfigurations(), options_.getNumRuns());
+      runBenchmark(queries[i].request, options_.getPlanningPipelineConfigurations(), options_.getNumRuns());
       double duration = (ros::WallTime::now() - start_time).toSec();
 
       for (QueryCompletionEventFunction& query_end_fn : query_end_fns_)
@@ -259,14 +241,15 @@ bool BenchmarkExecutor::queriesAndPlannersCompatible(const std::vector<Benchmark
                                                      const std::map<std::string, std::vector<std::string>>& planners)
 {
   // Make sure that the planner interfaces can service the desired queries
-  for (std::map<std::string, planning_interface::PlannerManagerPtr>::const_iterator it = planner_interfaces_.begin();
-       it != planner_interfaces_.end(); ++it)
+  for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
   {
     for (const BenchmarkRequest& request : requests)
     {
-      if (!it->second->canServiceRequest(request.request))
+      if (!pipeline_entry.second->getPlannerManager()->canServiceRequest(request.request))
       {
-        ROS_ERROR("Interface '%s' cannot service the benchmark request '%s'", it->first.c_str(), request.name.c_str());
+        ROS_ERROR("Interface '%s' in pipeline '%s' cannot service the benchmark request '%s'",
+                  pipeline_entry.second->getPlannerPluginName().c_str(), pipeline_entry.first.c_str(),
+                  request.name.c_str());
         return false;
       }
     }
@@ -278,7 +261,7 @@ bool BenchmarkExecutor::queriesAndPlannersCompatible(const std::vector<Benchmark
 bool BenchmarkExecutor::initializeBenchmarks(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
                                              std::vector<BenchmarkRequest>& requests)
 {
-  if (!plannerConfigurationsExist(opts.getPlannerConfigurations(), opts.getGroupName()))
+  if (!plannerConfigurationsExist(opts.getPlanningPipelineConfigurations(), opts.getGroupName()))
     return false;
 
   std::vector<StartState> start_states;
@@ -484,6 +467,10 @@ void BenchmarkExecutor::createRequestCombinations(const BenchmarkRequest& breque
   {
     for (const StartState& start_state : start_states)
     {
+      // Skip start states that have the same name as the goal
+      if (start_state.name == brequest.name)
+        continue;
+
       BenchmarkRequest new_brequest = brequest;
       new_brequest.request.start_state = start_state.state;
 
@@ -504,33 +491,29 @@ void BenchmarkExecutor::createRequestCombinations(const BenchmarkRequest& breque
   }
 }
 
-bool BenchmarkExecutor::plannerConfigurationsExist(const std::map<std::string, std::vector<std::string>>& planners,
-                                                   const std::string& group_name)
+bool BenchmarkExecutor::plannerConfigurationsExist(
+    const std::map<std::string, std::vector<std::string>>& pipeline_configurations, const std::string& group_name)
 {
   // Make sure planner plugins exist
-  for (std::map<std::string, std::vector<std::string>>::const_iterator it = planners.begin(); it != planners.end();
-       ++it)
+  for (const std::pair<std::string, std::vector<std::string>>& pipeline_config_entry : pipeline_configurations)
   {
-    bool plugin_exists = false;
-    for (std::map<std::string, planning_interface::PlannerManagerPtr>::const_iterator planner_it =
-             planner_interfaces_.begin();
-         planner_it != planner_interfaces_.end() && !plugin_exists; ++planner_it)
+    bool pipeline_exists = false;
+    for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
     {
-      plugin_exists = planner_it->first == it->first;
+      pipeline_exists = pipeline_entry.first == pipeline_config_entry.first;
     }
 
-    if (!plugin_exists)
+    if (!pipeline_exists)
     {
-      ROS_ERROR("Planning plugin '%s' does NOT exist", it->first.c_str());
+      ROS_ERROR("Planning pipeline '%s' does NOT exist", pipeline_config_entry.first.c_str());
       return false;
     }
   }
 
-  // Make sure planning algorithms exist within those plugins
-  for (std::map<std::string, std::vector<std::string>>::const_iterator it = planners.begin(); it != planners.end();
-       ++it)
+  // Make sure planners exist within those pipelines
+  for (const std::pair<std::string, std::vector<std::string>>& entry : pipeline_configurations)
   {
-    planning_interface::PlannerManagerPtr pm = planner_interfaces_[it->first];
+    planning_interface::PlannerManagerPtr pm = planning_pipelines_[entry.first]->getPlannerManager();
     const planning_interface::PlannerConfigurationMap& config_map = pm->getPlannerConfigurations();
 
     // if the planner is chomp or stomp skip this function and return true for checking planner configurations for the
@@ -539,24 +522,22 @@ bool BenchmarkExecutor::plannerConfigurationsExist(const std::map<std::string, s
     if (pm->getDescription().compare("stomp") || pm->getDescription().compare("chomp"))
       continue;
 
-    for (std::size_t i = 0; i < it->second.size(); ++i)
+    for (std::size_t i = 0; i < entry.second.size(); ++i)
     {
       bool planner_exists = false;
-      for (planning_interface::PlannerConfigurationMap::const_iterator map_it = config_map.begin();
-           map_it != config_map.end() && !planner_exists; ++map_it)
+      for (const std::pair<std::string, planning_interface::PlannerConfigurationSettings>& config_entry : config_map)
       {
-        std::string planner_name = group_name + "[" + it->second[i] + "]";
-        planner_exists = (map_it->second.group == group_name && map_it->second.name == planner_name);
+        std::string planner_name = group_name + "[" + entry.second[i] + "]";
+        planner_exists = (config_entry.second.group == group_name && config_entry.second.name == planner_name);
       }
 
       if (!planner_exists)
       {
-        ROS_ERROR("Planner '%s' does NOT exist for group '%s' in pipeline '%s'", it->second[i].c_str(),
-                  group_name.c_str(), it->first.c_str());
+        ROS_ERROR("Planner '%s' does NOT exist for group '%s' in pipeline '%s'", entry.second[i].c_str(),
+                  group_name.c_str(), entry.first.c_str());
         std::cout << "There are " << config_map.size() << " planner entries: " << std::endl;
-        for (planning_interface::PlannerConfigurationMap::const_iterator map_it = config_map.begin();
-             map_it != config_map.end() && !planner_exists; ++map_it)
-          std::cout << map_it->second.name << std::endl;
+        for (const auto& config_map_entry : config_map)
+          std::cout << config_map_entry.second.name << std::endl;
         return false;
       }
     }
@@ -756,21 +737,24 @@ bool BenchmarkExecutor::loadTrajectoryConstraints(const std::string& regex,
 }
 
 void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
-                                     const std::map<std::string, std::vector<std::string>>& planners, int runs)
+                                     const std::map<std::string, std::vector<std::string>>& pipeline_map, int runs)
 {
   benchmark_data_.clear();
 
   unsigned int num_planners = 0;
-  for (const std::pair<const std::string, std::vector<std::string>>& planner : planners)
-    num_planners += planner.second.size();
+  for (const std::pair<const std::string, std::vector<std::string>>& pipeline_entry : pipeline_map)
+    num_planners += pipeline_entry.second.size();
 
   boost::progress_display progress(num_planners * runs, std::cout);
 
-  // Iterate through all planner plugins
-  for (const std::pair<const std::string, std::vector<std::string>>& planner : planners)
+  // Iterate through all planning pipelines
+  for (const std::pair<const std::string, std::vector<std::string>>& pipeline_entry : pipeline_map)
   {
-    // Iterate through all planners associated with the plugin
-    for (std::size_t i = 0; i < planner.second.size(); ++i)
+    planning_pipeline::PlanningPipelinePtr planning_pipeline = planning_pipelines_[pipeline_entry.first];
+    // Use the planning context if the pipeline only contains the planner plugin
+    bool use_planning_context = planning_pipeline->getAdapterPluginNames().empty();
+    // Iterate through all planners configured for the pipeline
+    for (const std::string& planner_id : pipeline_entry.second)
     {
       // This container stores all of the benchmark data for this planner
       PlannerBenchmarkData planner_data(runs);
@@ -778,14 +762,17 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
       std::vector<planning_interface::MotionPlanDetailedResponse> responses(runs);
       std::vector<bool> solved(runs);
 
-      request.planner_id = planner.second[i];
+      request.planner_id = planner_id;
 
       // Planner start events
       for (PlannerStartEventFunction& planner_start_fn : planner_start_fns_)
         planner_start_fn(request, planner_data);
 
-      planning_interface::PlanningContextPtr context =
-          planner_interfaces_[planner.first]->getPlanningContext(planning_scene_, request);
+      planning_interface::PlanningContextPtr planning_context;
+      if (use_planning_context)
+        planning_context = planning_pipeline->getPlannerManager()->getPlanningContext(planning_scene_, request);
+
+      // Iterate runs
       for (int j = 0; j < runs; ++j)
       {
         // Pre-run events
@@ -794,7 +781,23 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::MotionPlanRequest request,
 
         // Solve problem
         ros::WallTime start = ros::WallTime::now();
-        solved[j] = context->solve(responses[j]);
+        if (use_planning_context)
+        {
+          solved[j] = planning_context->solve(responses[j]);
+        }
+        else
+        {
+          // The planning pipeline does not support MotionPlanDetailedResponse
+          planning_interface::MotionPlanResponse response;
+          solved[j] = planning_pipeline->generatePlan(planning_scene_, request, response);
+          responses[j].error_code_ = response.error_code_;
+          if (response.trajectory_)
+          {
+            responses[j].description_.push_back("plan");
+            responses[j].trajectory_.push_back(response.trajectory_);
+            responses[j].processing_time_.push_back(response.planning_time_);
+          }
+        }
         double total_time = (ros::WallTime::now() - start).toSec();
 
         // Collect data
@@ -1037,11 +1040,11 @@ bool BenchmarkExecutor::computeTrajectoryDistance(const robot_trajectory::RobotT
 void BenchmarkExecutor::writeOutput(const BenchmarkRequest& brequest, const std::string& start_time,
                                     double benchmark_duration)
 {
-  const std::map<std::string, std::vector<std::string>>& planners = options_.getPlannerConfigurations();
+  const std::map<std::string, std::vector<std::string>>& pipelines = options_.getPlanningPipelineConfigurations();
 
   size_t num_planners = 0;
-  for (const std::pair<const std::string, std::vector<std::string>>& planner : planners)
-    num_planners += planner.second.size();
+  for (const std::pair<const std::string, std::vector<std::string>>& pipeline : pipelines)
+    num_planners += pipeline.second.size();
 
   std::string hostname = getHostname();
   if (hostname.empty())
@@ -1091,12 +1094,12 @@ void BenchmarkExecutor::writeOutput(const BenchmarkRequest& brequest, const std:
   out << num_planners << " planners" << std::endl;
 
   size_t run_id = 0;
-  for (const std::pair<const std::string, std::vector<std::string>>& planner : planners)
+  for (const std::pair<const std::string, std::vector<std::string>>& pipeline : pipelines)
   {
-    for (std::size_t i = 0; i < planner.second.size(); ++i, ++run_id)
+    for (std::size_t i = 0; i < pipeline.second.size(); ++i, ++run_id)
     {
-      // Write the name of the planner.
-      out << planner.second[i] << std::endl;
+      // Write the name of the planner and the used pipeline
+      out << pipeline.second[i] << " (" << pipeline.first << ")" << std::endl;
 
       // in general, we could have properties specific for a planner;
       // right now, we do not include such properties
diff --git a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
index 134d1d4017..1ed9c512a1 100644
--- a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
@@ -142,16 +142,16 @@ void BenchmarkOptions::getGoalOffsets(std::vector<double>& offsets) const
   memcpy(&offsets[0], goal_offsets, 6 * sizeof(double));
 }
 
-const std::map<std::string, std::vector<std::string>>& BenchmarkOptions::getPlannerConfigurations() const
+const std::map<std::string, std::vector<std::string>>& BenchmarkOptions::getPlanningPipelineConfigurations() const
 {
-  return planners_;
+  return planning_pipelines_;
 }
 
-void BenchmarkOptions::getPlannerPluginList(std::vector<std::string>& plugin_list) const
+void BenchmarkOptions::getPlanningPipelineNames(std::vector<std::string>& planning_pipeline_names) const
 {
-  plugin_list.clear();
-  for (const std::pair<const std::string, std::vector<std::string>>& planner : planners_)
-    plugin_list.push_back(planner.first);
+  planning_pipeline_names.clear();
+  for (const std::pair<const std::string, std::vector<std::string>>& planning_pipeline : planning_pipelines_)
+    planning_pipeline_names.push_back(planning_pipeline.first);
 }
 
 const std::string& BenchmarkOptions::getWorkspaceFrameID() const
@@ -237,48 +237,48 @@ void BenchmarkOptions::readWorkspaceParameters(ros::NodeHandle& nh)
 
 void BenchmarkOptions::readPlannerConfigs(ros::NodeHandle& nh)
 {
-  planners_.clear();
+  planning_pipelines_.clear();
 
-  XmlRpc::XmlRpcValue planner_configs;
-  if (nh.getParam("benchmark_config/planners", planner_configs))
+  XmlRpc::XmlRpcValue pipeline_configs;
+  if (nh.getParam("benchmark_config/planning_pipelines", pipeline_configs))
   {
-    if (planner_configs.getType() != XmlRpc::XmlRpcValue::TypeArray)
+    if (pipeline_configs.getType() != XmlRpc::XmlRpcValue::TypeArray)
     {
-      ROS_ERROR("Expected a list of planner configurations to benchmark");
+      ROS_ERROR("Expected a list of planning pipeline configurations to benchmark");
       return;
     }
 
-    for (int i = 0; i < planner_configs.size(); ++i)  // NOLINT(modernize-loop-convert)
+    for (int i = 0; i < pipeline_configs.size(); ++i)  // NOLINT(modernize-loop-convert)
     {
-      if (planner_configs[i].getType() != XmlRpc::XmlRpcValue::TypeStruct)
+      if (pipeline_configs[i].getType() != XmlRpc::XmlRpcValue::TypeStruct)
       {
-        ROS_WARN("Improper YAML type for planner configurations");
+        ROS_WARN("Improper YAML type for planning pipeline configurations");
         continue;
       }
-      if (!planner_configs[i].hasMember("plugin") || !planner_configs[i].hasMember("planners"))
+      if (!pipeline_configs[i].hasMember("name") || !pipeline_configs[i].hasMember("planners"))
       {
         ROS_WARN("Malformed YAML for planner configurations");
         continue;
       }
 
-      if (planner_configs[i]["planners"].getType() != XmlRpc::XmlRpcValue::TypeArray)
+      if (pipeline_configs[i]["planners"].getType() != XmlRpc::XmlRpcValue::TypeArray)
       {
         ROS_WARN("Expected a list of planners to benchmark");
         continue;
       }
 
-      const std::string plugin = planner_configs[i]["plugin"];
-      ROS_INFO("Reading in planner names for plugin '%s'", plugin.c_str());
+      const std::string pipeline_name = pipeline_configs[i]["name"];
+      ROS_INFO("Reading in planner names for planning pipeline '%s'", pipeline_name.c_str());
 
       std::vector<std::string> planners;
-      planners.reserve(planner_configs[i]["planners"].size());
-      for (int j = 0; j < planner_configs[i]["planners"].size(); ++j)
-        planners.emplace_back(planner_configs[i]["planners"][j]);
+      planners.reserve(pipeline_configs[i]["planners"].size());
+      for (int j = 0; j < pipeline_configs[i]["planners"].size(); ++j)
+        planners.emplace_back(pipeline_configs[i]["planners"][j]);
 
       for (std::size_t j = 0; j < planners.size(); ++j)
         ROS_INFO("  [%lu]: %s", j, planners[j].c_str());
 
-      planners_[plugin] = planners;
+      planning_pipelines_[pipeline_name] = planners;
     }
   }
 }
diff --git a/moveit_ros/benchmarks/src/RunBenchmark.cpp b/moveit_ros/benchmarks/src/RunBenchmark.cpp
index 14082cbcdc..19496e54e6 100644
--- a/moveit_ros/benchmarks/src/RunBenchmark.cpp
+++ b/moveit_ros/benchmarks/src/RunBenchmark.cpp
@@ -51,9 +51,9 @@ int main(int argc, char** argv)
   // Setup benchmark server
   moveit_ros_benchmarks::BenchmarkExecutor server;
 
-  std::vector<std::string> plugins;
-  opts.getPlannerPluginList(plugins);
-  server.initialize(plugins);
+  std::vector<std::string> planning_pipelines;
+  opts.getPlanningPipelineNames(planning_pipelines);
+  server.initialize(planning_pipelines);
 
   // Running benchmarks
   if (!server.runBenchmarks(opts))

From af106bed1f1188ce85b4c7b6558c9d26ea773a65 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Thu, 15 Aug 2019 16:53:09 +0300
Subject: [PATCH 033/612] newRobotStateCallback(): use new .hide member of
 DisplayRobotState msg to visually hide the robot

---
 .../robot_state_rviz_plugin/src/robot_state_display.cpp        | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 0865765a83..d843923605 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -314,6 +314,9 @@ void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::DisplayRobotSta
     setStatus(rviz::StatusProperty::Error, "RobotState", e.what());
     return;
   }
+
+  robot_->setVisible(!state_msg->hide);
+
   update_state_ = true;
 }
 

From f6a24033bf784d4a299bd185a92480fa6bb592ef Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid.github@gmail.com>
Date: Thu, 15 Aug 2019 16:17:10 -0600
Subject: [PATCH 034/612] MVP TrajOpt Planner Plugin (#1593)

* added solve from tesseract.
added launch file
improved test_trajopt node
edited package.xml

* TrajOpt Planner (Empty Template) (#1478)

* Created EmptyPlan, a MoveIt planning plugin template

* added trajopt from example_planner

* fixed trajopt_planner_mannager

* modified emaptyplan_planner_manager.cpp

* applied Dave's modifications

* The rest of the modifications from Dave's comments

* removed moveit_ros_planning dependency from package.xml

* fixed clangformat error and dependency issu

* added include directory

* edited package.xml

* added include

* remove include

* remove version_gte from package.xml

* updated the setup assitant to work with trajopt planner

* removed unsuded part in initialize() from trajopt_planner_manager.cpp, kept the initialize() itself for later use

* Update moveit_planners/trajopt/src/trajopt_planner_manager.cpp

Co-Authored-By: Dave Coleman <dave@picknik.ai>

* added README
added description to trajopt_interface_plugin_description.xml

* updated resp req
updated planning context
working trajopt without any velocity constraint

* added trajopt_interface class

* changed the architectrue and used TrajoptInterface class to contain the solve function details. Created a TrajOptInterface object in TrajoptPlanningContext class instead

* added kinematic_terms
in problem_description, added comments anout term_type
added ProblemInfo, TermInfo, InitInfo, BasicInfo
in kinematic_terms, added  operator()
added ConstructProblem
added some param for problem_info

* moved rotVec and concat from kinematics_term header to implementation
in problem_Description, added term_type
used MotionPlaneRequest from planning_interface instead that of moveit_msgs for solve function input
added generateInitiaTrajectory
added basic_info to problem_info

* added panda_omple_planning
added checkParameterSize function in problem_description
added JointPoseTermInfo::hatch in problem_description
added res.error.code.val to check the request in trajopt_interface.cpp
convert req.goal_constraint to JointPoseTermInfo in trajopt_interface.cpp
feed the response with the trajopt solution in trajopt_interface.cpp
remove comments from trajopt_planning_context.cpp

* addressed the comments
fixed start state
corrected the yaml file
multiple joint constraints

* addressed some comments
leave setup assistant changes for later on another PR
cleaned up test_trajopt
added unittest

* added kinematic DOF of the active joint model group to TrajOptProblem class
added name_ for ROS_DEBUG_STREAM_NAMED
addressed the comments
moved launch file to moveit_tutorial
moved yaml file to panda_moveit_config
used bullet for collision checking

* handled reading the request from MotionPlanning Display in RViz

* Added comments about initial trajectory
changed my email address
renamed rotVec and concat
added tesseract license

* clang format

* applied Henning's comments

* added catkin ignore to ignore this package for now as it has dependencies. The next PR wont have any dependencies

* clang format

* addressed the comments

* renamed hatch to addObjectiveTerms

* added a unittest for goal tolerance

* addressed Dave's comments

* added catkin_ignore

* addressed Bryce's comments
---
 .gitignore                                    |   6 +-
 moveit_planners/trajopt/CATKIN_IGNORE         |   0
 moveit_planners/trajopt/CMakeLists.txt        | 113 ++++
 moveit_planners/trajopt/README.md             |   1 +
 .../trajopt_interface/kinematic_terms.h       |  93 +++
 .../trajopt_interface/problem_description.h   | 367 +++++++++++
 .../trajopt_interface/trajopt_interface.h     |  77 +++
 .../trajopt_planning_context.h                |  32 +
 moveit_planners/trajopt/package.xml           |  32 +
 .../trajopt/src/kinematic_terms.cpp           |  64 ++
 .../trajopt/src/problem_description.cpp       | 599 ++++++++++++++++++
 .../trajopt/src/trajopt_interface.cpp         | 463 ++++++++++++++
 .../trajopt/src/trajopt_planner_manager.cpp   | 141 +++++
 .../trajopt/src/trajopt_planning_context.cpp  |  76 +++
 .../trajopt/test/trajectory_test.cpp          | 212 +++++++
 .../trajopt/test/trajectory_test.test         |  10 +
 .../trajopt_interface_plugin_description.xml  |   7 +
 .../launch/run_benchmark_trajopt.launch       |  22 +
 .../trajopt_planning_pipeline.launch.xml      |  22 +
 19 files changed, 2334 insertions(+), 3 deletions(-)
 create mode 100644 moveit_planners/trajopt/CATKIN_IGNORE
 create mode 100644 moveit_planners/trajopt/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/README.md
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface/problem_description.h
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
 create mode 100644 moveit_planners/trajopt/package.xml
 create mode 100644 moveit_planners/trajopt/src/kinematic_terms.cpp
 create mode 100644 moveit_planners/trajopt/src/problem_description.cpp
 create mode 100644 moveit_planners/trajopt/src/trajopt_interface.cpp
 create mode 100644 moveit_planners/trajopt/src/trajopt_planner_manager.cpp
 create mode 100644 moveit_planners/trajopt/src/trajopt_planning_context.cpp
 create mode 100644 moveit_planners/trajopt/test/trajectory_test.cpp
 create mode 100644 moveit_planners/trajopt/test/trajectory_test.test
 create mode 100644 moveit_planners/trajopt/trajopt_interface_plugin_description.xml
 create mode 100644 moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
 create mode 100644 moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml

diff --git a/.gitignore b/.gitignore
index 9877f9248d..808fe85341 100644
--- a/.gitignore
+++ b/.gitignore
@@ -51,10 +51,10 @@ qtcreator-*
 # Vim
 *.swp
 
-# Catkin custom files
-CATKIN_IGNORE
-
 # Continous Integration
 .moveit_ci
 
 *.pyc
+
+#gdb
+*.gdb
diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/CMakeLists.txt
new file mode 100644
index 0000000000..f93e000d34
--- /dev/null
+++ b/moveit_planners/trajopt/CMakeLists.txt
@@ -0,0 +1,113 @@
+cmake_minimum_required(VERSION 2.8.12)
+project(moveit_planners_trajopt)
+
+add_compile_options(-std=c++14)
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(catkin REQUIRED
+    COMPONENTS
+      moveit_core
+      moveit_visual_tools
+      moveit_ros_planning
+      moveit_ros_planning_interface
+      pluginlib
+      roscpp
+      rosparam_shortcuts
+      trajopt
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES
+      ${PROJECT_NAME}
+    INCLUDE_DIRS
+    CATKIN_DEPENDS
+      roscpp
+      pluginlib
+      moveit_core
+      moveit_visual_tools
+      moveit_ros_planning_interface
+      rosparam_shortcuts
+)
+
+# The following include_directory should have include folder of the new planner.
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(
+  ${PROJECT_NAME}
+  src/trajopt_interface.cpp
+  src/problem_description.cpp
+  src/kinematic_terms.cpp
+  src/trajopt_planning_context.cpp
+)
+
+target_link_libraries(
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+set_target_properties(
+  ${PROJECT_NAME}
+  PROPERTIES
+  VERSION
+  "${${PROJECT_NAME}_VERSION}"
+)
+
+# TrajOpt planning plugin
+add_library(moveit_trajopt_planner_plugin src/trajopt_planner_manager.cpp)
+set_target_properties(moveit_trajopt_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+install(
+  TARGETS
+    moveit_trajopt_planner_plugin
+  ARCHIVE DESTINATION
+    ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION
+    ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION
+    ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(
+  DIRECTORY
+    include/trajopt_interface/
+  DESTINATION
+    ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(FILES trajopt_interface_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+
+  add_rostest_gtest(trajectory_test test/trajectory_test.test test/trajectory_test.cpp)
+  target_link_libraries(
+    trajectory_test
+    ${LIBRARY_NAME}
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}
+  )
+
+endif()
diff --git a/moveit_planners/trajopt/README.md b/moveit_planners/trajopt/README.md
new file mode 100644
index 0000000000..98824eadb2
--- /dev/null
+++ b/moveit_planners/trajopt/README.md
@@ -0,0 +1 @@
+As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
\ No newline at end of file
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
new file mode 100644
index 0000000000..96274cf9c7
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -0,0 +1,93 @@
+#pragma once
+
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <Eigen/Geometry>
+
+namespace trajopt_interface
+{
+/**
+ * @brief Extracts the vector part of quaternion
+ */
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
+{
+  Eigen::Quaterniond quaternion;
+  quaternion = matrix;
+  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
+}
+
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
+{
+  Eigen::VectorXd out(vector_a.size() + vector_b.size());
+  out.topRows(vector_a.size()) = vector_a;
+  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
+  return out;
+}
+
+/**
+ * @brief Appends b to a of type T
+ */
+template <typename T>
+inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
+{
+  std::vector<T> out;
+  out.insert(out.end(), vector_a.begin(), vector_a.end());
+  out.insert(out.end(), vector_b.begin(), vector_b.end());
+  return out;
+}
+
+/**
+ * @brief Used to calculate the error for StaticCartPoseTermInfo
+ * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
+ */
+struct CartPoseErrCalculator : public sco::VectorOfVector
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  Eigen::Isometry3d target_pose_inv_;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string link_;
+  Eigen::Isometry3d tcp_;
+
+  CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
+                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+    : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
+};
+
+// TODO(omid): The following should be added and adjusted from trajopt
+// JointPosEqCost
+// JointPosIneqCost
+// JointPosEqConstraint
+// JointPosIneqConstraint
+
+struct JointVelErrCalculator : sco::VectorOfVector
+{
+  /** @brief Velocity target */
+  double target_;
+  /** @brief Upper tolerance */
+  double upper_tol_;
+  /** @brief Lower tolerance */
+  double lower_tol_;
+  JointVelErrCalculator() : target_(0.0), upper_tol_(0.0), lower_tol_(0.0)
+  {
+  }
+  JointVelErrCalculator(double target, double upper_tol, double lower_tol)
+    : target_(target), upper_tol_(upper_tol), lower_tol_(lower_tol)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
+};
+
+struct JointVelJacobianCalculator : sco::MatrixOfVector
+{
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
+};
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
new file mode 100644
index 0000000000..825c82262d
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -0,0 +1,367 @@
+#pragma once
+#include <trajopt/common.hpp>
+#include <trajopt/json_marshal.hpp>
+#include <trajopt_sco/optimizers.hpp>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <memory>
+
+namespace trajopt_interface
+{
+/**
+@brief Used to apply cost/constraint to joint-space velocity
+
+Term is applied to every step between first_step and last_step. It applies two limits, upper_limits/lower_limits,
+to the joint velocity subject to the following cases.
+
+* term_type = TT_COST
+** upper_limit = lower_limit = 0 - Cost is applied with a SQUARED error scaled for each joint by coeffs
+** upper_limit != lower_limit - 2 hinge costs are applied scaled for each joint by coeffs. If velocity < upper_limit and
+velocity > lower_limit, no penalty.
+
+* term_type = TT_CNT
+** upper_limit = lower_limit = 0 - Equality constraint is applied
+** upper_limit != lower_limit - 2 Inequality constraints are applied. These are both satisfied when velocity <
+upper_limit and velocity > lower_limit
+
+Note: coeffs, upper_limits, and lower_limits are optional. If a term is not given it will default to 0 for all joints.
+If one value is given, this will be broadcast to all joints.
+
+Note: Velocity is calculated numerically using forward finite difference
+
+\f{align*}{
+  cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2
+\f}
+where j indexes over DOF, and \f$c_j\f$ are the coeffs.
+*/
+
+struct TermInfo;
+MOVEIT_CLASS_FORWARD(TermInfo);
+
+class TrajOptProblem;
+MOVEIT_CLASS_FORWARD(TrajOptProblem);
+
+struct JointPoseTermInfo;
+MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
+
+struct CartPoseTermInfo;
+MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
+
+struct JointVelTermInfo;
+MOVEIT_CLASS_FORWARD(JointVelTermInfo);
+
+struct ProblemInfo;
+TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
+
+enum TermType
+{
+  TT_COST = 0x1,      // 0000 0001
+  TT_CNT = 0x2,       // 0000 0010
+  TT_USE_TIME = 0x4,  // 0000 0100
+};
+
+struct BasicInfo
+{
+  /** @brief If true, first time step is fixed with a joint level constraint
+      If this is false, the starting point of the trajectory will
+      not be the current position of the robot. The use case example is: if we are trying to execute a process like
+      sanding the critical part which is the actual process path not how we get to the start of the process path. So we
+     plan the
+      process path first leaving the start free to hopefully get the most optimal and then we plan from the current
+     location with
+      start fixed to the start of the process path. It depends on what we want the default behavior to be
+   */
+  bool start_fixed;
+  /** @brief Number of time steps (rows) in the optimization matrix */
+  int n_steps;
+  sco::IntVec dofs_fixed;        // optional
+  sco::ModelType convex_solver;  // which convex solver to use
+
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool use_time = false;
+  /** @brief The upper limit of 1/dt values allowed in the optimization*/
+  double dt_upper_lim = 1.0;
+  /** @brief The lower limit of 1/dt values allowed in the optimization*/
+  double dt_lower_lim = 1.0;
+};
+
+/**
+Initialization info read from json
+*/
+struct InitInfo
+{
+  /** @brief Methods of initializing the optimization matrix. This defines how robot moves from the current
+      state to the start state
+
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env)
+    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
+    GIVEN_TRAJ: Initializes the matrix to a given trajectory
+
+    In all cases the dt column (if present) is appended the selected method is defined.
+ */
+  enum Type
+  {
+    STATIONARY,
+    JOINT_INTERPOLATED,
+    GIVEN_TRAJ,
+  };
+  /** @brief Specifies the type of initialization to use */
+  Type type;
+  /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
+      to create initialization matrix. We need to give the goal information to this init info
+   */
+  trajopt::TrajArray data;
+  //  Eigen::VectorXd data_vec;
+  //  trajopt::TrajArray data_trajectory;
+  /** @brief Default value the final column of the optimization is initialized too if time is being used */
+  double dt = 1.0;
+};
+
+/**
+When cost or constraint element of JSON doc is read, one of these guys gets
+constructed to hold the parameters.
+Then it later gets converted to a Cost object by the addObjectiveTerms method
+*/
+struct TermInfo
+{
+  std::string name;
+  int term_type;
+  int getSupportedTypes()
+  {
+    return supported_term_types_;
+  }
+  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
+  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
+
+  static TermInfoPtr fromName(const std::string& type);
+
+  /**
+   * Registers a user-defined TermInfo so you can use your own cost
+   * see function RegisterMakers.cpp
+   */
+  using MakerFunc = TermInfoPtr (*)(void);
+  static void RegisterMaker(const std::string& type, MakerFunc);
+
+  virtual ~TermInfo() = default;
+
+protected:
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types)
+  {
+  }
+
+private:
+  static std::map<std::string, MakerFunc> name_to_maker_;
+  int supported_term_types_;
+};
+
+struct ProblemInfo
+{
+public:
+  BasicInfo basic_info;
+  sco::BasicTrustRegionSQPParameters opt_info;
+  std::vector<TermInfoPtr> cost_infos;
+  std::vector<TermInfoPtr> cnt_infos;
+  InitInfo init_info;
+
+  planning_scene::PlanningSceneConstPtr planning_scene;
+  std::string planning_group_name;
+
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
+    : planning_scene(ps), planning_group_name(pg)
+  {
+  }
+};
+
+/**
+ * Holds all the data for a trajectory optimization problem
+ * so you can modify it programmatically, e.g. add your own costs
+ */
+class TrajOptProblem : public sco::OptProb
+{
+public:
+  TrajOptProblem();
+  TrajOptProblem(const ProblemInfo& problem_info);
+  virtual ~TrajOptProblem() = default;
+  /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i, int start_col, int num_col)
+  {
+    return matrix_traj_vars.rblock(i, start_col, num_col);
+  }
+  /** @brief Returns the values of all joints for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i)
+  {
+    return matrix_traj_vars.row(i);
+  }
+  /** @brief Returns the value of the specified joint j for the specified timestep i.*/
+  sco::Var& GetVar(int i, int j)
+  {
+    return matrix_traj_vars.at(i, j);
+  }
+  trajopt::VarArray& GetVars()
+  {
+    return matrix_traj_vars;
+  }
+  /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
+  int GetNumSteps()
+  {
+    return matrix_traj_vars.rows();
+  }
+  /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
+   * Note that this is not necessarily the same as the kinematic DOF.*/
+  int GetNumDOF()
+  {
+    return matrix_traj_vars.cols();
+  }
+  /** @brief Returns the kinematic DOF of the active joint model group
+   */
+  int GetActiveGroupNumDOF()
+  {
+    return dof_;
+  }
+  planning_scene::PlanningSceneConstPtr GetPlanningScene()
+  {
+    return planning_scene_;
+  }
+  void SetInitTraj(const trajopt::TrajArray& x)
+  {
+    matrix_init_traj = x;
+  }
+  trajopt::TrajArray GetInitTraj()
+  {
+    return matrix_init_traj;
+  }
+  //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
+  /** @brief Returns TrajOptProb.has_time */
+  bool GetHasTime()
+  {
+    return has_time;
+  }
+  /** @brief Sets TrajOptProb.has_time  */
+  void SetHasTime(bool tmp)
+  {
+    has_time = tmp;
+  }
+
+private:
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool has_time;
+  /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
+  trajopt::VarArray matrix_traj_vars;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string planning_group_;
+  /** @brief Kinematic DOF of the active joint model group  */
+  int dof_;
+  trajopt::TrajArray matrix_init_traj;
+};
+
+/** @brief This term is used when the goal frame is fixed in cartesian space
+
+  Set term_type == TT_COST or TT_CNT for cost or constraint.
+*/
+struct CartPoseTermInfo : public TermInfo
+{
+  //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** @brief Timestep at which to apply term */
+  int timestep;
+  /** @brief  Cartesian position */
+  Eigen::Vector3d xyz;
+  /** @brief Rotation quaternion */
+  Eigen::Vector4d wxyz;
+  /** @brief coefficients for position and rotation */
+  Eigen::Vector3d pos_coeffs, rot_coeffs;
+  /** @brief Link which should reach desired pose */
+  std::string link;
+  /** @brief Static transform applied to the link */
+  Eigen::Isometry3d tcp;
+
+  CartPoseTermInfo();
+
+  /** @brief Used to add term to pci from json */
+  //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void addObjectiveTerms(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new CartPoseTermInfo());
+    return out;
+  }
+};
+
+/**
+  \brief Joint space position cost
+    Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space
+    position waypoints
+
+  \f{align*}{
+  \sum_i c_i (x_i - xtarg_i)^2
+  \f}
+  where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
+ */
+struct JointPoseTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of position targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0 */
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointPoseTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
+
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void addObjectiveTerms(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointPoseTermInfo());
+    return out;
+  }
+};
+
+struct JointVelTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of velocity targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of velocity upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of velocity lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0*/
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
+
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void addObjectiveTerms(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointVelTermInfo());
+    return out;
+  }
+};
+
+void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
+                               trajopt::TrajArray& init_traj);
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
new file mode 100644
index 0000000000..74432fa83c
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -0,0 +1,77 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+#pragma once
+
+#include <ros/ros.h>
+#include <trajopt_sco/sco_common.hpp>
+#include <moveit/planning_interface/planning_interface.h>
+#include "problem_description.h"
+
+namespace trajopt_interface
+{
+MOVEIT_CLASS_FORWARD(TrajOptInterface);
+
+class TrajOptInterface
+{
+public:
+  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
+
+  const sco::BasicTrustRegionSQPParameters& getParams() const
+  {
+    return params_;
+  }
+
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+             const planning_interface::MotionPlanRequest& req, moveit_msgs::MotionPlanDetailedResponse& res);
+
+protected:
+  /** @brief Configure everything using the param server */
+  void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
+  void setDefaultTrajOPtParams();
+  void setProblemInfoParam(ProblemInfo& problem_info);
+  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                          const std::vector<std::string>& group_joint_names);
+
+  ros::NodeHandle nh_;  /// The ROS node handle
+  sco::BasicTrustRegionSQPParameters params_;
+  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
+  TrajOptProblemPtr trajopt_problem_;
+  std::string name_;
+};
+
+void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
+}
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
new file mode 100644
index 0000000000..12676f57e7
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/trajopt_interface.h>
+
+namespace trajopt_interface
+{
+MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
+
+class TrajOptPlanningContext : public planning_interface::PlanningContext
+{
+public:
+  TrajOptPlanningContext(const std::string& name, const std::string& group,
+                         const robot_model::RobotModelConstPtr& model);
+  ~TrajOptPlanningContext() override
+  {
+  }
+
+  bool solve(planning_interface::MotionPlanResponse& res) override;
+  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
+
+  bool terminate() override;
+  void clear() override;
+
+private:
+  moveit::core::RobotModelConstPtr robot_model_;
+
+  TrajOptInterfacePtr trajopt_interface_;
+};
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/package.xml b/moveit_planners/trajopt/package.xml
new file mode 100644
index 0000000000..050d71b5d4
--- /dev/null
+++ b/moveit_planners/trajopt/package.xml
@@ -0,0 +1,32 @@
+<package format="2">
+  <name>moveit_planners_trajopt</name>
+  <version>1.0.1</version>
+  <description>TrajOpt planning plugin, an optimization based motion planner </description>
+
+  <author email="omid.github@gmail.com">Omid Heidari</author>
+
+  <maintainer email="omid.github@gmail.com">Omid Heidari</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>pluginlib</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_planning</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_visual_tools</depend>
+  <depend>roscpp</depend>
+  <depend>rosparam_shortcuts</depend>
+  <depend>trajopt</depend>
+
+  <export>
+    <moveit_core plugin="${prefix}/trajopt_interface_plugin_description.xml"/>
+  </export>
+
+</package>
diff --git a/moveit_planners/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/src/kinematic_terms.cpp
new file mode 100644
index 0000000000..92d75fb78b
--- /dev/null
+++ b/moveit_planners/trajopt/src/kinematic_terms.cpp
@@ -0,0 +1,64 @@
+#include <Eigen/Geometry>
+#include <boost/format.hpp>
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+
+#include "trajopt_interface/kinematic_terms.h"
+
+using namespace std;
+using namespace sco;
+using namespace Eigen;
+
+namespace trajopt_interface
+{
+VectorXd CartPoseErrCalculator::operator()(const VectorXd& dof_vals) const
+{
+  // TODO: create the actual error function from information in planning scene
+  VectorXd err;
+  return err;
+}
+
+VectorXd JointVelErrCalculator::operator()(const VectorXd& var_vals) const
+{
+  assert(var_vals.rows() % 2 == 0);
+  // var_vals = (theta_t1, theta_t2, theta_t3 ... 1/dt_1, 1/dt_2, 1/dt_3 ...)
+  int half = static_cast<int>(var_vals.rows() / 2);
+  int num_vels = half - 1;
+  // (x1-x0)*(1/dt)
+  VectorXd vel = (var_vals.segment(1, num_vels) - var_vals.segment(0, num_vels)).array() *
+                 var_vals.segment(half + 1, num_vels).array();
+
+  // Note that for equality terms tols are 0, so error is effectively doubled
+  VectorXd result(vel.rows() * 2);
+  result.topRows(vel.rows()) = -(upper_tol_ - (vel.array() - target_));
+  result.bottomRows(vel.rows()) = lower_tol_ - (vel.array() - target_);
+  return result;
+}
+
+MatrixXd JointVelJacobianCalculator::operator()(const VectorXd& var_vals) const
+{
+  // var_vals = (theta_t1, theta_t2, theta_t3 ... 1/dt_1, 1/dt_2, 1/dt_3 ...)
+  int num_vals = static_cast<int>(var_vals.rows());
+  int half = num_vals / 2;
+  int num_vels = half - 1;
+  MatrixXd jac = MatrixXd::Zero(num_vels * 2, num_vals);
+
+  for (int i = 0; i < num_vels; i++)
+  {
+    // v = (j_i+1 - j_i)*(1/dt)
+    // We calculate v with the dt from the second pt
+    int time_index = i + half + 1;
+    jac(i, i) = -1.0 * var_vals(time_index);
+    jac(i, i + 1) = 1.0 * var_vals(time_index);
+    jac(i, time_index) = var_vals(i + 1) - var_vals(i);
+    // All others are 0
+  }
+
+  // bottom half is negative velocities
+  jac.bottomRows(num_vels) = -jac.topRows(num_vels);
+
+  return jac;
+}
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/src/problem_description.cpp
new file mode 100644
index 0000000000..7cd678282c
--- /dev/null
+++ b/moveit_planners/trajopt/src/problem_description.cpp
@@ -0,0 +1,599 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, John Schulman
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in
+ *     the documentation and/or other materials provided with the
+ *     distribution.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ *  http://opensource.org/licenses/BSD-2-Clause
+ *********************************************************************/
+
+#include <boost/algorithm/string.hpp>
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit_msgs/MotionPlanRequest.h>
+
+#include <trajopt/trajectory_costs.hpp>
+#include <trajopt_sco/expr_op_overloads.hpp>
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+#include <trajopt_utils/eigen_slicing.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/vector_ops.hpp>
+
+#include "trajopt_interface/problem_description.h"
+#include "trajopt_interface/kinematic_terms.h"
+
+/**
+ * @brief Checks the size of the parameter given and throws if incorrect
+ * @param parameter The vector whose size is getting checked
+ * @param expected_size The expected size of the vector
+ * @param name The name to use when printing an error or warning
+ * @param apply_first If true and only one value is given, broadcast value to length of expected_size
+ */
+void checkParameterSize(trajopt::DblVec& parameter, const unsigned int& expected_size, const std::string& name,
+                        const bool& apply_first = true)
+{
+  if (apply_first == true && parameter.size() == 1)
+  {
+    parameter = trajopt::DblVec(expected_size, parameter[0]);
+    ROS_INFO("1 %s given. Applying to all %i joints", name.c_str(), expected_size);
+  }
+  else if (parameter.size() != expected_size)
+  {
+    PRINT_AND_THROW(boost::format("wrong number of %s. expected %i got %i") % name % expected_size % parameter.size());
+  }
+}
+
+namespace trajopt_interface
+{
+TrajOptProblem::TrajOptProblem()
+{
+}
+
+TrajOptProblem::TrajOptProblem(const ProblemInfo& problem_info)
+  : OptProb(problem_info.basic_info.convex_solver)
+  , planning_scene_(problem_info.planning_scene)
+  , planning_group_(problem_info.planning_group_name)
+{
+  robot_model::RobotModelConstPtr robot_model = planning_scene_->getRobotModel();
+  robot_state::RobotState current_state = planning_scene_->getCurrentState();
+  const robot_state::JointModelGroup* joint_model_group = current_state.getJointModelGroup(planning_group_);
+
+  moveit::core::JointBoundsVector bounds = joint_model_group->getActiveJointModelsBounds();
+  dof_ = joint_model_group->getActiveJointModelNames().size();  // or bounds.size();
+
+  int n_steps = problem_info.basic_info.n_steps;
+
+  ROS_INFO(" ======================================= problem_description: limits");
+  Eigen::MatrixX2d limits(dof_, 2);
+  for (int k = 0; k < limits.size() / 2; ++k)
+  {
+    moveit::core::JointModel::Bounds bound = *bounds[k];
+    // In MoveIt, joints are considered to have multiple dofs but we only have single dof joints:
+    moveit::core::VariableBounds joint_bound = bound.front();
+
+    limits(k, 0) = joint_bound.min_position_;
+    limits(k, 1) = joint_bound.max_position_;
+
+    ROS_INFO("joint %i with lower bound: %f, upper bound: %f", k, joint_bound.min_position_, joint_bound.max_position_);
+  }
+
+  Eigen::VectorXd lower, upper;
+  lower = limits.col(0);
+  upper = limits.col(1);
+
+  trajopt::DblVec vlower, vupper;
+  std::vector<std::string> names;
+  for (int i = 0; i < n_steps; ++i)
+  {
+    for (int j = 0; j < dof_; ++j)
+    {
+      names.push_back((boost::format("j_%i_%i") % i % j).str());
+    }
+    vlower.insert(vlower.end(), lower.data(), lower.data() + lower.size());
+    vupper.insert(vupper.end(), upper.data(), upper.data() + upper.size());
+
+    if (problem_info.basic_info.use_time == true)
+    {
+      vlower.insert(vlower.end(), problem_info.basic_info.dt_lower_lim);
+      vupper.insert(vupper.end(), problem_info.basic_info.dt_upper_lim);
+      names.push_back((boost::format("dt_%i") % i).str());
+    }
+  }
+
+  sco::VarVector trajvarvec = createVariables(names, vlower, vupper);
+  matrix_traj_vars = trajopt::VarArray(n_steps, dof_ + (problem_info.basic_info.use_time ? 1 : 0), trajvarvec.data());
+  // matrix_traj_vars is essentialy a matrix of elements like:
+  // j_0_0, j_0_1 ...
+  // j_1_0, j_1_1 ...
+  // its size is n_steps by n_dof
+}
+
+TrajOptProblemPtr ConstructProblem(const ProblemInfo& pci)
+{
+  const BasicInfo& bi = pci.basic_info;
+  int n_steps = bi.n_steps;
+
+  bool use_time = false;
+  // Check that all costs and constraints support the types that are specified in pci
+  for (TermInfoPtr cost : pci.cost_infos)
+  {
+    if (cost->term_type & TT_CNT)
+      ROS_WARN("%s is listed as a type TT_CNT but was added to cost_infos", (cost->name).c_str());
+    if (!(cost->getSupportedTypes() & TT_COST))
+      PRINT_AND_THROW(boost::format("%s is only a constraint, but you listed it as a cost") % cost->name);
+    if (cost->term_type & TT_USE_TIME)
+    {
+      use_time = true;
+      if (!(cost->getSupportedTypes() & TT_USE_TIME))
+        PRINT_AND_THROW(boost::format("%s does not support time, but you listed it as a using time") % cost->name);
+    }
+  }
+  for (TermInfoPtr cnt : pci.cnt_infos)
+  {
+    if (cnt->term_type & TT_COST)
+      ROS_WARN("%s is listed as a type TT_COST but was added to cnt_infos", (cnt->name).c_str());
+    if (!(cnt->getSupportedTypes() & TT_CNT))
+      PRINT_AND_THROW(boost::format("%s is only a cost, but you listed it as a constraint") % cnt->name);
+    if (cnt->term_type & TT_USE_TIME)
+    {
+      use_time = true;
+      if (!(cnt->getSupportedTypes() & TT_USE_TIME))
+        PRINT_AND_THROW(boost::format("%s does not support time, but you listed it as a using time") % cnt->name);
+    }
+  }
+
+  // Check that if a cost or constraint uses time, basic_info is set accordingly
+  if ((use_time == true) && (pci.basic_info.use_time == false))
+    PRINT_AND_THROW("A term is using time and basic_info is not set correctly. Try basic_info.use_time = true");
+
+  // This could be removed in the future once we are sure that all costs are
+  if ((use_time == false) && (pci.basic_info.use_time == true))
+    PRINT_AND_THROW("No terms use time and basic_info is not set correctly. Try basic_info.use_time = false");
+
+  TrajOptProblemPtr prob(new TrajOptProblem(pci));
+
+  // Generate initial trajectory and check its size
+  robot_model::RobotModelConstPtr robot_model = pci.planning_scene->getRobotModel();
+  robot_state::RobotState current_state = pci.planning_scene->getCurrentState();
+
+  const robot_state::JointModelGroup* joint_model_group = current_state.getJointModelGroup(pci.planning_group_name);
+  int n_dof = prob->GetNumDOF();
+
+  std::vector<double> current_joint_values;
+  current_state.copyJointGroupPositions(joint_model_group, current_joint_values);
+
+  trajopt::TrajArray init_traj;
+  generateInitialTrajectory(pci, current_joint_values, init_traj);
+
+  if (pci.basic_info.use_time == true)
+  {
+    prob->SetHasTime(true);
+    if (init_traj.rows() != n_steps || init_traj.cols() != n_dof + 1)
+    {
+      PRINT_AND_THROW(boost::format("Initial trajectory is not the right size matrix\n"
+                                    "Expected %i rows (time steps) x %i columns (%i dof + 1 time column)\n"
+                                    "Got %i rows and %i columns") %
+                      n_steps % (n_dof + 1) % n_dof % init_traj.rows() % init_traj.cols());
+    }
+  }
+  else
+  {
+    prob->SetHasTime(false);
+    if (init_traj.rows() != n_steps || init_traj.cols() != n_dof)
+    {
+      PRINT_AND_THROW(boost::format("Initial trajectory is not the right size matrix\n"
+                                    "Expected %i rows (time steps) x %i columns\n"
+                                    "Got %i rows and %i columns") %
+                      n_steps % n_dof % init_traj.rows() % init_traj.cols());
+    }
+  }
+  prob->SetInitTraj(init_traj);
+
+  trajopt::VarArray matrix_traj_vars_temp;
+  // If start_fixed, constrain the joint values for the first time step to be their initialized values
+  if (bi.start_fixed)
+  {
+    if (init_traj.rows() < 1)
+    {
+      PRINT_AND_THROW("Initial trajectory must contain at least the start state.");
+    }
+
+    if (init_traj.cols() != (n_dof + (use_time ? 1 : 0)))
+    {
+      PRINT_AND_THROW("robot dof values don't match initialization. I don't "
+                      "know what you want me to use for the dof values");
+    }
+
+    for (int j = 0; j < static_cast<int>(n_dof); ++j)
+    {
+      matrix_traj_vars_temp = prob->GetVars();
+      prob->addLinearConstraint(sco::exprSub(sco::AffExpr(matrix_traj_vars_temp(0, j)), init_traj(0, j)), sco::EQ);
+    }
+  }
+
+  // Apply constraint to each fixed dof to its initial value for all timesteps (freeze that column)
+  if (!bi.dofs_fixed.empty())
+  {
+    for (const int& dof_ind : bi.dofs_fixed)
+    {
+      for (int i = 1; i < prob->GetNumSteps(); ++i)
+      {
+        matrix_traj_vars_temp = prob->GetVars();
+        prob->addLinearConstraint(
+            sco::exprSub(sco::AffExpr(matrix_traj_vars_temp(i, dof_ind)), sco::AffExpr(init_traj(0, dof_ind))),
+            sco::EQ);
+      }
+    }
+  }
+
+  for (const TermInfoPtr& ci : pci.cost_infos)
+  {
+    ci->addObjectiveTerms(*prob);
+  }
+
+  for (const TermInfoPtr& ci : pci.cnt_infos)
+  {
+    ci->addObjectiveTerms(*prob);
+  }
+  return prob;
+}
+
+CartPoseTermInfo::CartPoseTermInfo() : TermInfo(TT_COST | TT_CNT)
+{
+  pos_coeffs = Eigen::Vector3d::Ones();
+  rot_coeffs = Eigen::Vector3d::Ones();
+  tcp.setIdentity();
+}
+
+void CartPoseTermInfo::addObjectiveTerms(TrajOptProblem& prob)
+{
+  unsigned int n_dof = prob.GetActiveGroupNumDOF();
+
+  Eigen::Isometry3d input_pose;
+  Eigen::Quaterniond q(wxyz(0), wxyz(1), wxyz(2), wxyz(3));
+  input_pose.linear() = q.matrix();
+  input_pose.translation() = xyz;
+
+  if (term_type == (TT_COST | TT_USE_TIME))
+  {
+    ROS_ERROR("Use time version of this term has not been defined.");
+  }
+  else if (term_type == (TT_CNT | TT_USE_TIME))
+  {
+    ROS_ERROR("Use time version of this term has not been defined.");
+  }
+  else if ((term_type & TT_COST) && ~(term_type | ~TT_USE_TIME))
+  {
+    sco::VectorOfVectorPtr f(new CartPoseErrCalculator(input_pose, prob.GetPlanningScene(), link, tcp));
+    prob.addCost(sco::CostPtr(new sco::CostFromErrFunc(f, prob.GetVarRow(timestep, 0, n_dof),
+                                                       concatVector(rot_coeffs, pos_coeffs), sco::ABS, name)));
+  }
+  else if ((term_type & TT_CNT) && ~(term_type | ~TT_USE_TIME))
+  {
+    sco::VectorOfVectorPtr f(new CartPoseErrCalculator(input_pose, prob.GetPlanningScene(), link, tcp));
+    prob.addConstraint(sco::ConstraintPtr(new sco::ConstraintFromErrFunc(
+        f, prob.GetVarRow(timestep, 0, n_dof), concatVector(rot_coeffs, pos_coeffs), sco::EQ, name)));
+  }
+  else
+  {
+    ROS_WARN("CartPoseTermInfo does not have a valid term_type defined. No cost/constraint applied");
+  }
+}
+
+void JointPoseTermInfo::addObjectiveTerms(TrajOptProblem& prob)
+{
+  unsigned int n_dof = prob.GetActiveGroupNumDOF();
+
+  // If optional parameter not given, set to default
+  if (coeffs.empty())
+    coeffs = trajopt::DblVec(n_dof, 1);
+  if (upper_tols.empty())
+    upper_tols = trajopt::DblVec(n_dof, 0);
+  if (lower_tols.empty())
+    lower_tols = trajopt::DblVec(n_dof, 0);
+  if (last_step <= -1)
+    last_step = prob.GetNumSteps() - 1;
+
+  // Check time step is valid
+  if ((prob.GetNumSteps() - 1) <= first_step)
+    first_step = prob.GetNumSteps() - 1;
+  if ((prob.GetNumSteps() - 1) <= last_step)
+    last_step = prob.GetNumSteps() - 1;
+  //  if (last_step == first_step)
+  //    last_step += 1;
+  if (last_step < first_step)
+  {
+    int tmp = first_step;
+    first_step = last_step;
+    last_step = tmp;
+    ROS_WARN("Last time step for JointPosTerm comes before first step. Reversing them.");
+  }
+  if (last_step == -1)  // last_step not set
+    last_step = first_step;
+
+  // Check if parameters are the correct size.
+  checkParameterSize(coeffs, n_dof, "JointPoseTermInfo coeffs", true);
+  checkParameterSize(targets, n_dof, "JointPoseTermInfo targets", true);
+  checkParameterSize(upper_tols, n_dof, "JointPoseTermInfo upper_tols", true);
+  checkParameterSize(lower_tols, n_dof, "JointPoseTermInfo lower_tols", true);
+
+  // Check if tolerances are all zeros
+  bool is_upper_zeros =
+      std::all_of(upper_tols.begin(), upper_tols.end(), [](double i) { return util::doubleEquals(i, 0.); });
+  bool is_lower_zeros =
+      std::all_of(lower_tols.begin(), lower_tols.end(), [](double i) { return util::doubleEquals(i, 0.); });
+
+  // Get vars associated with joints
+  trajopt::VarArray vars = prob.GetVars();
+  trajopt::VarArray joint_vars = vars.block(0, 0, vars.rows(), static_cast<int>(n_dof));
+  if (prob.GetHasTime())
+    ROS_INFO("JointPoseTermInfo does not differ based on setting of TT_USE_TIME");
+
+  if (term_type & TT_COST)
+  {
+    // If the tolerances are 0, an equality cost is set. Otherwise it's a hinged "inequality" cost
+    if (is_upper_zeros && is_lower_zeros)
+    {
+      prob.addCost(sco::CostPtr(new trajopt::JointPosEqCost(joint_vars, util::toVectorXd(coeffs),
+                                                            util::toVectorXd(targets), first_step, last_step)));
+      prob.getCosts().back()->setName(name);
+    }
+    else
+    {
+      prob.addCost(sco::CostPtr(new trajopt::JointPosIneqCost(joint_vars, util::toVectorXd(coeffs),
+                                                              util::toVectorXd(targets), util::toVectorXd(upper_tols),
+                                                              util::toVectorXd(lower_tols), first_step, last_step)));
+      prob.getCosts().back()->setName(name);
+    }
+  }
+  else if (term_type & TT_CNT)
+  {
+    // If the tolerances are 0, an equality cnt is set. Otherwise it's an inequality constraint
+    if (is_upper_zeros && is_lower_zeros)
+    {
+      prob.addConstraint(sco::ConstraintPtr(new trajopt::JointPosEqConstraint(
+          joint_vars, util::toVectorXd(coeffs), util::toVectorXd(targets), first_step, last_step)));
+      prob.getConstraints().back()->setName(name);
+    }
+    else
+    {
+      prob.addConstraint(sco::ConstraintPtr(new trajopt::JointPosIneqConstraint(
+          joint_vars, util::toVectorXd(coeffs), util::toVectorXd(targets), util::toVectorXd(upper_tols),
+          util::toVectorXd(lower_tols), first_step, last_step)));
+      prob.getConstraints().back()->setName(name);
+    }
+  }
+  else
+  {
+    ROS_WARN("JointPosTermInfo does not have a valid term_type defined. No cost/constraint applied");
+  }
+}
+
+void JointVelTermInfo::addObjectiveTerms(TrajOptProblem& prob)
+{
+  unsigned int n_dof = prob.GetNumDOF();
+
+  // If optional parameter not given, set to default
+  if (coeffs.empty())
+    coeffs = trajopt::DblVec(n_dof, 1);
+  if (upper_tols.empty())
+    upper_tols = trajopt::DblVec(n_dof, 0);
+  if (lower_tols.empty())
+    lower_tols = trajopt::DblVec(n_dof, 0);
+  if (last_step <= -1)
+    last_step = prob.GetNumSteps() - 1;
+
+  // If only one time step is desired, calculate velocity with next step (2 steps are needed for 1 velocity calculation)
+  if ((prob.GetNumSteps() - 2) <= first_step)
+    first_step = prob.GetNumSteps() - 2;
+  if ((prob.GetNumSteps() - 1) <= last_step)
+    last_step = prob.GetNumSteps() - 1;
+  if (last_step == first_step)
+    last_step += 1;
+  if (last_step < first_step)
+  {
+    int tmp = first_step;
+    first_step = last_step;
+    last_step = tmp;
+    ROS_WARN("Last time step for JointVelTerm comes before first step. Reversing them.");
+  }
+
+  // Check if parameters are the correct size.
+  checkParameterSize(coeffs, n_dof, "JointVelTermInfo coeffs", true);
+  checkParameterSize(targets, n_dof, "JointVelTermInfo targets", true);
+  checkParameterSize(upper_tols, n_dof, "JointVelTermInfo upper_tols", true);
+  checkParameterSize(lower_tols, n_dof, "JointVelTermInfo lower_tols", true);
+  assert(last_step > first_step);
+  assert(first_step >= 0);
+
+  // Check if tolerances are all zeros
+  bool is_upper_zeros =
+      std::all_of(upper_tols.begin(), upper_tols.end(), [](double i) { return util::doubleEquals(i, 0.); });
+  bool is_lower_zeros =
+      std::all_of(lower_tols.begin(), lower_tols.end(), [](double i) { return util::doubleEquals(i, 0.); });
+
+  // Get vars associated with joints
+  trajopt::VarArray vars = prob.GetVars();
+  trajopt::VarArray joint_vars = vars.block(0, 0, vars.rows(), static_cast<int>(n_dof));
+
+  if (term_type == (TT_COST | TT_USE_TIME))
+  {
+    unsigned num_vels = last_step - first_step;
+
+    // Apply seperate cost to each joint b/c that is how the error function is currently written
+    for (size_t j = 0; j < n_dof; j++)
+    {
+      // Get a vector of a single column of vars
+      sco::VarVector joint_vars_vec = joint_vars.cblock(first_step, j, last_step - first_step + 1);
+      sco::VarVector time_vars_vec = vars.cblock(first_step, vars.cols() - 1, last_step - first_step + 1);
+
+      // If the tolerances are 0, an equality cost is set
+      if (is_upper_zeros && is_lower_zeros)
+      {
+        trajopt::DblVec single_jnt_coeffs = trajopt::DblVec(num_vels * 2, coeffs[j]);
+        prob.addCost(sco::CostPtr(new sco::CostFromErrFunc(
+            sco::VectorOfVectorPtr(new JointVelErrCalculator(targets[j], upper_tols[j], lower_tols[j])),
+            sco::MatrixOfVectorPtr(new JointVelJacobianCalculator()), concatVector(joint_vars_vec, time_vars_vec),
+            util::toVectorXd(single_jnt_coeffs), sco::SQUARED, name + "_j" + std::to_string(j))));
+      }
+      // Otherwise it's a hinged "inequality" cost
+      else
+      {
+        trajopt::DblVec single_jnt_coeffs = trajopt::DblVec(num_vels * 2, coeffs[j]);
+        prob.addCost(sco::CostPtr(new sco::CostFromErrFunc(
+            sco::VectorOfVectorPtr(new JointVelErrCalculator(targets[j], upper_tols[j], lower_tols[j])),
+            sco::MatrixOfVectorPtr(new JointVelJacobianCalculator()), concatVector(joint_vars_vec, time_vars_vec),
+            util::toVectorXd(single_jnt_coeffs), sco::HINGE, name + "_j" + std::to_string(j))));
+      }
+    }
+  }
+  else if (term_type == (TT_CNT | TT_USE_TIME))
+  {
+    unsigned num_vels = last_step - first_step;
+
+    // Apply seperate cnt to each joint b/c that is how the error function is currently written
+    for (size_t j = 0; j < n_dof; j++)
+    {
+      // Get a vector of a single column of vars
+      sco::VarVector joint_vars_vec = joint_vars.cblock(first_step, j, last_step - first_step + 1);
+      sco::VarVector time_vars_vec = vars.cblock(first_step, vars.cols() - 1, last_step - first_step + 1);
+
+      // If the tolerances are 0, an equality cnt is set
+      if (is_upper_zeros && is_lower_zeros)
+      {
+        trajopt::DblVec single_jnt_coeffs = trajopt::DblVec(num_vels * 2, coeffs[j]);
+        prob.addConstraint(sco::ConstraintPtr(new sco::ConstraintFromErrFunc(
+            sco::VectorOfVectorPtr(new JointVelErrCalculator(targets[j], upper_tols[j], lower_tols[j])),
+            sco::MatrixOfVectorPtr(new JointVelJacobianCalculator()), concatVector(joint_vars_vec, time_vars_vec),
+            util::toVectorXd(single_jnt_coeffs), sco::EQ, name + "_j" + std::to_string(j))));
+      }
+      // Otherwise it's a hinged "inequality" constraint
+      else
+      {
+        trajopt::DblVec single_jnt_coeffs = trajopt::DblVec(num_vels * 2, coeffs[j]);
+        prob.addConstraint(sco::ConstraintPtr(new sco::ConstraintFromErrFunc(
+            sco::VectorOfVectorPtr(new JointVelErrCalculator(targets[j], upper_tols[j], lower_tols[j])),
+            sco::MatrixOfVectorPtr(new JointVelJacobianCalculator()), concatVector(joint_vars_vec, time_vars_vec),
+            util::toVectorXd(single_jnt_coeffs), sco::INEQ, name + "_j" + std::to_string(j))));
+      }
+    }
+  }
+  else if ((term_type & TT_COST) && ~(term_type | ~TT_USE_TIME))
+  {
+    // If the tolerances are 0, an equality cost is set. Otherwise it's a hinged "inequality" cost
+    if (is_upper_zeros && is_lower_zeros)
+    {
+      prob.addCost(sco::CostPtr(new trajopt::JointVelEqCost(joint_vars, util::toVectorXd(coeffs),
+                                                            util::toVectorXd(targets), first_step, last_step)));
+      prob.getCosts().back()->setName(name);
+    }
+    else
+    {
+      prob.addCost(sco::CostPtr(new trajopt::JointVelIneqCost(joint_vars, util::toVectorXd(coeffs),
+                                                              util::toVectorXd(targets), util::toVectorXd(upper_tols),
+                                                              util::toVectorXd(lower_tols), first_step, last_step)));
+      prob.getCosts().back()->setName(name);
+    }
+  }
+  else if ((term_type & TT_CNT) && ~(term_type | ~TT_USE_TIME))
+  {
+    // If the tolerances are 0, an equality cnt is set. Otherwise it's an inequality constraint
+    if (is_upper_zeros && is_lower_zeros)
+    {
+      prob.addConstraint(sco::ConstraintPtr(new trajopt::JointVelEqConstraint(
+          joint_vars, util::toVectorXd(coeffs), util::toVectorXd(targets), first_step, last_step)));
+      prob.getConstraints().back()->setName(name);
+    }
+    else
+    {
+      prob.addConstraint(sco::ConstraintPtr(new trajopt::JointVelIneqConstraint(
+          joint_vars, util::toVectorXd(coeffs), util::toVectorXd(targets), util::toVectorXd(upper_tols),
+          util::toVectorXd(lower_tols), first_step, last_step)));
+      prob.getConstraints().back()->setName(name);
+    }
+  }
+  else
+  {
+    ROS_WARN("JointVelTermInfo does not have a valid term_type defined. No cost/constraint applied");
+  }
+}
+
+void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
+                               trajopt::TrajArray& init_traj)
+{
+  Eigen::VectorXd current_pos(current_joint_values.size());
+  for (int joint_index = 0; joint_index < current_joint_values.size(); ++joint_index)
+  {
+    current_pos(joint_index) = current_joint_values[joint_index];
+  }
+
+  InitInfo init_info = pci.init_info;
+
+  // initialize based on type specified
+  if (init_info.type == InitInfo::STATIONARY)
+  {
+    // Initializes all joint values to the initial value (the current value in scene)
+    init_traj = current_pos.transpose().replicate(pci.basic_info.n_steps, 1);
+  }
+  else if (init_info.type == InitInfo::JOINT_INTERPOLATED)
+  {
+    //  Linearly interpolates between initial value (current values in the scene) and the joint position specified in
+    //  InitInfo.data
+    Eigen::VectorXd end_pos = init_info.data;
+    init_traj.resize(pci.basic_info.n_steps, end_pos.rows());
+    for (int dof_index = 0; dof_index < current_pos.rows(); ++dof_index)
+    {
+      init_traj.col(dof_index) =
+          Eigen::VectorXd::LinSpaced(pci.basic_info.n_steps, current_pos(dof_index), end_pos(dof_index));
+    }
+  }
+  else if (init_info.type == InitInfo::GIVEN_TRAJ)
+  {
+    //  Initializes the matrix to a given trajectory
+    init_traj = init_info.data;
+  }
+  else
+  {
+    PRINT_AND_THROW("Init Info did not have a valid type. Valid types are "
+                    "STATIONARY, JOINT_INTERPOLATED, or GIVEN_TRAJ");
+  }
+
+  // Currently all trajectories are generated without time then appended here
+  if (pci.basic_info.use_time)
+  {
+    // add on time (default to 1 sec)
+    init_traj.conservativeResize(Eigen::NoChange_t(), init_traj.cols() + 1);
+
+    init_traj.block(0, init_traj.cols() - 1, init_traj.rows(), 1) =
+        Eigen::VectorXd::Constant(init_traj.rows(), init_info.dt);
+  }
+}
+}
diff --git a/moveit_planners/trajopt/src/trajopt_interface.cpp b/moveit_planners/trajopt/src/trajopt_interface.cpp
new file mode 100644
index 0000000000..4f76c1add2
--- /dev/null
+++ b/moveit_planners/trajopt/src/trajopt_interface.cpp
@@ -0,0 +1,463 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/robot_state/conversions.h>
+
+#include <moveit_msgs/MotionPlanRequest.h>
+
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+#include <trajopt/trajectory_costs.hpp>
+
+#include <ros/ros.h>
+#include <rosparam_shortcuts/rosparam_shortcuts.h>
+
+#include <limits>
+#include <vector>
+#include <Eigen/Geometry>
+#include <unordered_map>
+
+#include "trajopt_interface/trajopt_interface.h"
+#include "trajopt_interface/problem_description.h"
+
+namespace trajopt_interface
+{
+TrajOptInterface::TrajOptInterface(const ros::NodeHandle& nh) : nh_(nh), name_("TrajOptInterface")
+{
+  trajopt_problem_ = TrajOptProblemPtr(new TrajOptProblem);
+  setDefaultTrajOPtParams();
+
+  // TODO: callbacks should be defined by the user
+  optimizer_callbacks_.push_back(callBackFunc);
+}
+
+bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                             const planning_interface::MotionPlanRequest& req,
+                             moveit_msgs::MotionPlanDetailedResponse& res)
+{
+  ROS_INFO(" ======================================= From trajopt_interface, solve is called");
+  setTrajOptParams(params_);
+
+  if (!planning_scene)
+  {
+    ROS_ERROR_STREAM_NAMED(name_, "No planning scene initialized.");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
+    return false;
+  }
+
+  ROS_INFO(" ======================================= Extract current state information");
+  ros::WallTime start_time = ros::WallTime::now();
+  robot_model::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
+  bool robot_model_ok = static_cast<bool>(robot_model);
+  if (!robot_model_ok)
+    ROS_ERROR_STREAM_NAMED(name_, "robot model is not loaded properly");
+  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
+  *current_state = planning_scene->getCurrentState();
+  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(req.group_name);
+  if (joint_model_group == nullptr)
+    ROS_ERROR_STREAM_NAMED(name_, "joint model group is empty");
+  std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
+  int dof = group_joint_names.size();
+  std::vector<double> current_joint_values;
+  current_state->copyJointGroupPositions(joint_model_group, current_joint_values);
+
+  // Current state is different from star state in general
+  ROS_INFO(" ======================================= Extract start state infromation");
+  trajopt::DblVec start_joint_values = extractStartJointValues(req, group_joint_names);
+
+  // check the start state for being empty or joint limit violiation
+  if (start_joint_values.empty())
+  {
+    ROS_ERROR_STREAM_NAMED(name_, "Start_state is empty");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
+    return false;
+  }
+
+  if (not joint_model_group->satisfiesPositionBounds(start_joint_values.data()))
+  {
+    ROS_ERROR_STREAM_NAMED(name_, "Start state violates joint limits");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
+    return false;
+  }
+
+  ROS_INFO(" ======================================= Create ProblemInfo");
+  ProblemInfo problem_info(planning_scene, req.group_name);
+
+  setProblemInfoParam(problem_info);
+
+  ROS_INFO(" ======================================= Populate init info, hard-coded");
+  // TODO: init info should be defined by user. To this end, we need to add seed trajectories to MotionPlanRequest.
+  // JOINT_INTERPOLATED: data is the current joint values
+  // GIVEN_TRAJ: data is the joint values of the current state copied to all timesteps
+  Eigen::VectorXd current_joint_values_eigen(dof);
+  for (int joint_index = 0; joint_index < dof; ++joint_index)
+  {
+    current_joint_values_eigen(joint_index) = current_joint_values[joint_index];
+  }
+
+  if (problem_info.init_info.type == InitInfo::JOINT_INTERPOLATED)
+  {
+    problem_info.init_info.data = current_joint_values_eigen;
+  }
+  else if (problem_info.init_info.type == InitInfo::GIVEN_TRAJ)
+  {
+    problem_info.init_info.data = current_joint_values_eigen.transpose().replicate(problem_info.basic_info.n_steps, 1);
+  }
+
+  ROS_INFO(" ======================================= Create Constraints");
+  if (req.goal_constraints.empty())
+  {
+    ROS_ERROR_STREAM_NAMED("trajopt_planner", "No goal constraints specified!");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
+    return false;
+  }
+
+  ROS_INFO(" ======================================= Cartesian Constraints");
+  if (!req.goal_constraints[0].position_constraints.empty() && !req.goal_constraints[0].orientation_constraints.empty())
+  {
+    CartPoseTermInfoPtr cart_goal_pos(new CartPoseTermInfo);
+
+    // TODO: Feed cart_goal_pos with request information and the needed param to the setup.yaml file
+    // TODO: Multiple Cartesian constraints
+
+    // Add the constraint to problem_info
+    problem_info.cnt_infos.push_back(cart_goal_pos);
+  }
+  else if (req.goal_constraints[0].position_constraints.empty() &&
+           !req.goal_constraints[0].orientation_constraints.empty())
+  {
+    ROS_ERROR_STREAM_NAMED("trajopt_planner", "position constraint is not defined");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
+    return false;
+  }
+  else if (!req.goal_constraints[0].orientation_constraints.empty() &&
+           req.goal_constraints[0].orientation_constraints.empty())
+  {
+    ROS_ERROR_STREAM_NAMED("trajopt_planner", "orientation constraint is not defined");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
+    return false;
+  }
+
+  ROS_INFO(" ======================================= Constraints from request goal_constraints");
+  for (auto goal_cnt : req.goal_constraints)
+  {
+    JointPoseTermInfoPtr joint_pos_term(new JointPoseTermInfo);
+    // When using MotionPlanning Display in RViz, the created request has no name for the constriant
+    setJointPoseTermInfoParams(joint_pos_term, (goal_cnt.name != "") ? goal_cnt.name : "goal_tmp");
+
+    trajopt::DblVec joint_goal_constraints;
+    for (const moveit_msgs::JointConstraint& joint_goal_constraint : goal_cnt.joint_constraints)
+    {
+      joint_goal_constraints.push_back(joint_goal_constraint.position);
+    }
+    joint_pos_term->targets = joint_goal_constraints;
+    problem_info.cnt_infos.push_back(joint_pos_term);
+  }
+
+  ROS_INFO(" ======================================= Constraints from request start_state");
+  // add the start pos from request as a constraint
+  JointPoseTermInfoPtr joint_start_pos(new JointPoseTermInfo);
+
+  joint_start_pos->targets = start_joint_values;
+  setJointPoseTermInfoParams(joint_start_pos, "start_pos");
+  problem_info.cnt_infos.push_back(joint_start_pos);
+
+  ROS_INFO(" ======================================= Velocity Constraints, hard-coded");
+  // TODO: should be defined by user, its parametes should be added to setup.yaml
+  JointVelTermInfoPtr joint_vel(new JointVelTermInfo);
+
+  joint_vel->coeffs = std::vector<double>(dof, 5.0);
+  joint_vel->targets = std::vector<double>(dof, 0.0);
+  joint_vel->first_step = 0;
+  joint_vel->last_step = problem_info.basic_info.n_steps - 1;
+  joint_vel->name = "joint_vel";
+  joint_vel->term_type = trajopt_interface::TT_COST;
+  problem_info.cost_infos.push_back(joint_vel);
+
+  ROS_INFO(" ======================================= Visibility Constraints");
+  if (!req.goal_constraints[0].visibility_constraints.empty())
+  {
+    // TODO: Add visibility constraint
+  }
+
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.improve_ratio_threshold: " << params_.improve_ratio_threshold);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.min_trust_box_size: " << params_.min_trust_box_size);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.min_approx_improve: " << params_.min_approx_improve);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.params_.min_approx_improve_frac: " << params_.min_approx_improve_frac);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.max_iter: " << params_.max_iter);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.trust_shrink_ratio: " << params_.trust_shrink_ratio);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.trust_expand_ratio: " << params_.trust_expand_ratio);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.cnt_tolerance: " << params_.cnt_tolerance);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.max_merit_coeff_increases: " << params_.max_merit_coeff_increases);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.merit_coeff_increase_ratio: " << params_.merit_coeff_increase_ratio);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.max_time: " << params_.max_time);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.merit_error_coeff: " << params_.merit_error_coeff);
+  ROS_DEBUG_STREAM_NAMED(name_, "trajopt_param.trust_box_size: " << params_.trust_box_size);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.n_steps: " << problem_info.basic_info.n_steps);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt_upper_lim: " << problem_info.basic_info.dt_upper_lim);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt_lower_lim: " << problem_info.basic_info.dt_lower_lim);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.start_fixed: " << problem_info.basic_info.start_fixed);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.use_time: " << problem_info.basic_info.use_time);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.convex_solver: " << problem_info.basic_info.convex_solver);
+
+  std::string problem_info_type;
+  switch (problem_info.init_info.type)
+  {
+    case InitInfo::STATIONARY:
+      problem_info_type = "STATIONARY";
+      break;
+    case InitInfo::JOINT_INTERPOLATED:
+      problem_info_type = "JOINT_INTERPOLATED";
+      break;
+    case InitInfo::GIVEN_TRAJ:
+      problem_info_type = "GIVEN_TRAJ";
+      break;
+  }
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.type: " << problem_info_type);
+  ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt: " << problem_info.init_info.dt);
+
+  ROS_INFO(" ======================================= Construct problem");
+  trajopt_problem_ = ConstructProblem(problem_info);
+
+  ROS_INFO_STREAM_NAMED("num_cost", trajopt_problem_->getNumCosts());
+  ROS_INFO_STREAM_NAMED("num_constraints", trajopt_problem_->getNumConstraints());
+
+  ROS_INFO(" ======================================= TrajOpt Optimization");
+  sco::BasicTrustRegionSQP opt(trajopt_problem_);
+
+  opt.setParameters(params_);
+  opt.initialize(trajopt::trajToDblVec(trajopt_problem_->GetInitTraj()));
+
+  // Add all callbacks
+  for (const sco::Optimizer::Callback& callback : optimizer_callbacks_)
+  {
+    opt.addCallback(callback);
+  }
+
+  // Optimize
+  ros::WallTime create_time = ros::WallTime::now();
+  opt.optimize();
+
+  ROS_INFO(" ======================================= TrajOpt Solution");
+  trajopt::TrajArray opt_solution = trajopt::getTraj(opt.x(), trajopt_problem_->GetVars());
+
+  // assume that the trajectory is now optimized, fill in the output structure:
+  ROS_INFO_STREAM_NAMED("num_rows", opt_solution.rows());
+  ROS_INFO_STREAM_NAMED("num_cols", opt_solution.cols());
+
+  res.trajectory.resize(1);
+  res.trajectory[0].joint_trajectory.joint_names = group_joint_names;
+  res.trajectory[0].joint_trajectory.header = req.start_state.joint_state.header;
+
+  // fill in the entire trajectory
+  res.trajectory[0].joint_trajectory.points.resize(opt_solution.rows());
+  for (int i = 0; i < opt_solution.rows(); i++)
+  {
+    res.trajectory[0].joint_trajectory.points[i].positions.resize(opt_solution.cols());
+    for (size_t j = 0; j < opt_solution.cols(); j++)
+    {
+      res.trajectory[0].joint_trajectory.points[i].positions[j] = opt_solution(i, j);
+    }
+    // Further filtering is required to set valid timestamps accounting for velocity and acceleration constraints.
+    res.trajectory[0].joint_trajectory.points[i].time_from_start = ros::Duration(0.0);
+  }
+
+  res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  res.processing_time.push_back((ros::WallTime::now() - start_time).toSec());
+
+  ROS_INFO(" ======================================= check if final state is within goal tolerances");
+  kinematic_constraints::JointConstraint joint_cnt(planning_scene->getRobotModel());
+  robot_state::RobotState last_state(*current_state);
+  last_state.setJointGroupPositions(req.group_name, res.trajectory[0].joint_trajectory.points.back().positions);
+
+  for (int jn = 0; jn < res.trajectory[0].joint_trajectory.points.back().positions.size(); ++jn)
+  {
+    ROS_INFO_STREAM_NAMED("joint_value", res.trajectory[0].joint_trajectory.points.back().positions[jn]
+                                             << "   " << req.goal_constraints.back().joint_constraints[jn].position);
+  }
+
+  bool constraints_are_ok = true;
+  int joint_cnt_index = 0;
+  for (const moveit_msgs::JointConstraint& constraint : req.goal_constraints.back().joint_constraints)
+  {
+    ROS_INFO("index %i: jc.configure(constraint)=> %d, jc.decide(last_state).satisfied=> %d, tolerance %f",
+             joint_cnt_index, joint_cnt.configure(constraint), joint_cnt.decide(last_state).satisfied,
+             constraint.tolerance_above);
+    constraints_are_ok = constraints_are_ok and joint_cnt.configure(constraint);
+    constraints_are_ok = constraints_are_ok and joint_cnt.decide(last_state).satisfied;
+    if (not constraints_are_ok)
+    {
+      ROS_ERROR_STREAM_NAMED("trajopt_planner", "Goal constraints are violated: " << constraint.joint_name);
+      res.error_code.val = moveit_msgs::MoveItErrorCodes::GOAL_CONSTRAINTS_VIOLATED;
+      return false;
+    }
+    joint_cnt_index = joint_cnt_index + 1;
+  }
+
+  ROS_INFO(" ==================================== Response");
+  res.trajectory_start = req.start_state;
+
+  ROS_INFO(" ==================================== Debug Response");
+  ROS_INFO_STREAM_NAMED("group_name", res.group_name);
+  ROS_INFO_STREAM_NAMED("start_traj_name_size", res.trajectory_start.joint_state.name.size());
+  ROS_INFO_STREAM_NAMED("start_traj_position_size", res.trajectory_start.joint_state.position.size());
+  ROS_INFO_STREAM_NAMED("traj_name_size", res.trajectory[0].joint_trajectory.joint_names.size());
+  ROS_INFO_STREAM_NAMED("traj_point_size", res.trajectory[0].joint_trajectory.points.size());
+  return true;
+}
+
+void TrajOptInterface::setDefaultTrajOPtParams()
+{
+  sco::BasicTrustRegionSQPParameters params;
+  params_ = params;
+}
+
+void TrajOptInterface::setTrajOptParams(sco::BasicTrustRegionSQPParameters& params)
+{
+  nh_.param("trajopt_param/improve_ratio_threshold", params.improve_ratio_threshold, 0.25);
+  nh_.param("trajopt_param/min_trust_box_size", params.min_trust_box_size, 1e-4);
+  nh_.param("trajopt_param/min_approx_improve", params.min_approx_improve, 1e-4);
+  nh_.param("trajopt_param/min_approx_improve_frac", params.min_approx_improve_frac, -static_cast<double>(INFINITY));
+  nh_.param("trajopt_param/max_iter", params.max_iter, 100.0);
+  nh_.param("trajopt_param/trust_shrink_ratio", params.trust_shrink_ratio, 0.1);
+
+  nh_.param("trajopt_param/trust_expand_ratio", params.trust_expand_ratio, 1.5);
+  nh_.param("trajopt_param/cnt_tolerance", params.cnt_tolerance, 1e-4);
+  nh_.param("trajopt_param/max_merit_coeff_increases", params.max_merit_coeff_increases, 5.0);
+  nh_.param("trajopt_param/merit_coeff_increase_ratio", params.merit_coeff_increase_ratio, 10.0);
+  nh_.param("trajopt_param/max_time", params.max_time, static_cast<double>(INFINITY));
+  nh_.param("trajopt_param/merit_error_coeff", params.merit_error_coeff, 10.0);
+  nh_.param("trajopt_param/trust_box_size", params.trust_box_size, 1e-1);
+}
+
+void TrajOptInterface::setProblemInfoParam(ProblemInfo& problem_info)
+{
+  nh_.param("problem_info/basic_info/n_steps", problem_info.basic_info.n_steps, 20);
+  nh_.param("problem_info/basic_info/dt_upper_lim", problem_info.basic_info.dt_upper_lim, 2.0);
+  nh_.param("problem_info/basic_info/dt_lower_lim", problem_info.basic_info.dt_lower_lim, 100.0);
+  nh_.param("problem_info/basic_info/start_fixed", problem_info.basic_info.start_fixed, true);
+  nh_.param("problem_info/basic_info/use_time", problem_info.basic_info.use_time, false);
+  int convex_solver_index;
+  nh_.param("problem_info/basic_info/convex_solver", convex_solver_index, 1);
+  switch (convex_solver_index)
+  {
+    case 1:
+      problem_info.basic_info.convex_solver = sco::ModelType::AUTO_SOLVER;
+      break;
+    case 2:
+      problem_info.basic_info.convex_solver = sco::ModelType::BPMPD;
+      break;
+    case 3:
+      problem_info.basic_info.convex_solver = sco::ModelType::OSQP;
+      break;
+    case 4:
+      problem_info.basic_info.convex_solver = sco::ModelType::QPOASES;
+      break;
+    case 5:
+      problem_info.basic_info.convex_solver = sco::ModelType::GUROBI;
+      break;
+  }
+
+  nh_.param("problem_info/init_info/dt", problem_info.init_info.dt, 0.5);
+  int type_index;
+  nh_.param("problem_info/init_info/type", type_index, 1);
+  switch (type_index)
+  {
+    case 1:
+      problem_info.init_info.type = InitInfo::STATIONARY;
+      break;
+    case 2:
+      problem_info.init_info.type = InitInfo::JOINT_INTERPOLATED;
+      break;
+    case 3:
+      problem_info.init_info.type = InitInfo::GIVEN_TRAJ;
+      break;
+  }
+}
+
+void TrajOptInterface::setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name)
+{
+  int term_type_index;
+  std::string term_type_address = "joint_pos_term_info/" + name + "/term_type";
+  nh_.param(term_type_address, term_type_index, 1);
+
+  switch (term_type_index)
+  {
+    case 1:
+      jp->term_type = TT_COST;
+      break;
+    case 2:
+      jp->term_type = TT_CNT;
+      break;
+    case 3:
+      jp->term_type = TT_USE_TIME;
+      break;
+  }
+
+  nh_.getParam("joint_pos_term_info/" + name + "/first_timestep", jp->first_step);
+  nh_.getParam("joint_pos_term_info/" + name + "/last_timestep", jp->last_step);
+  nh_.getParam("joint_pos_term_info/" + name + "/name", jp->name);
+}
+
+trajopt::DblVec TrajOptInterface::extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                                          const std::vector<std::string>& group_joint_names)
+{
+  std::unordered_map<std::string, double> all_joints;
+  trajopt::DblVec start_joint_vals;
+
+  for (int joint_index = 0; joint_index < req.start_state.joint_state.position.size(); ++joint_index)
+  {
+    all_joints[req.start_state.joint_state.name[joint_index]] = req.start_state.joint_state.position[joint_index];
+  }
+
+  for (auto joint_name : group_joint_names)
+  {
+    ROS_INFO(" joint position from start state, name: %s, value: %f", joint_name.c_str(), all_joints[joint_name]);
+    start_joint_vals.push_back(all_joints[joint_name]);
+  }
+
+  return start_joint_vals;
+}
+
+void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res)
+{
+  // TODO: Create the actuall implementation
+}
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/src/trajopt_planner_manager.cpp
new file mode 100644
index 0000000000..760c58f823
--- /dev/null
+++ b/moveit_planners/trajopt/src/trajopt_planner_manager.cpp
@@ -0,0 +1,141 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari
+   Desc:   TrajOpt planning plugin
+*/
+
+#include <moveit/planning_interface/planning_interface.h>
+
+#include "moveit/collision_detection_fcl/collision_detector_allocator_fcl.h"
+
+#include <class_loader/class_loader.hpp>
+
+#include "trajopt_interface/trajopt_planning_context.h"
+
+namespace trajopt_interface
+{
+class TrajOptPlannerManager : public planning_interface::PlannerManager
+{
+public:
+  TrajOptPlannerManager() : planning_interface::PlannerManager()
+  {
+  }
+
+  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns) override
+  {
+    ROS_INFO(" ======================================= initialize gets called");
+
+    if (!ns.empty())
+      nh_ = ros::NodeHandle(ns);
+    std::string trajopt_ns = ns.empty() ? "trajopt" : ns + "/trajopt";
+
+    for (const std::string& gpName : model->getJointModelGroupNames())
+    {
+      ROS_INFO(" ======================================= group name: %s, robot model: %s", gpName.c_str(),
+               model->getName().c_str());
+      planning_contexts_[gpName] =
+          TrajOptPlanningContextPtr(new TrajOptPlanningContext("trajopt_planning_context", gpName, model));
+    }
+
+    return true;
+  }
+
+  bool canServiceRequest(const moveit_msgs::MotionPlanRequest& req) const override
+  {
+    return req.trajectory_constraints.constraints.empty();
+  }
+
+  std::string getDescription() const override
+  {
+    return "TrajOpt";
+  }
+
+  void getPlanningAlgorithms(std::vector<std::string>& algs) const override
+  {
+    algs.clear();
+    algs.push_back("trajopt");
+  }
+
+  planning_interface::PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                                            const planning_interface::MotionPlanRequest& req,
+                                                            moveit_msgs::MoveItErrorCodes& error_code) const override
+  {
+    ROS_INFO(" ======================================= getPlanningContext() is called ");
+    error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+
+    if (req.group_name.empty())
+    {
+      ROS_ERROR("No group specified to plan for");
+      error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
+      return planning_interface::PlanningContextPtr();
+    }
+
+    if (!planning_scene)
+    {
+      ROS_ERROR("No planning scene supplied as input");
+      error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
+      return planning_interface::PlanningContextPtr();
+    }
+
+    // create PlanningScene using hybrid collision detector
+    planning_scene::PlanningScenePtr ps = planning_scene->diff();
+
+    // set FCL for the collision
+    ps->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create(), true);
+
+    // retrieve and configure existing context
+    const TrajOptPlanningContextPtr& context = planning_contexts_.at(req.group_name);
+
+    ROS_INFO(" ======================================= context is made ");
+
+    context->setPlanningScene(ps);
+    context->setMotionPlanRequest(req);
+
+    error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+
+    return context;
+  }
+
+private:
+  ros::NodeHandle nh_;
+
+protected:
+  std::map<std::string, TrajOptPlanningContextPtr> planning_contexts_;
+};
+
+}  // namespace trajopt_interface
+
+// register the TrajOptPlannerManager class as a plugin
+CLASS_LOADER_REGISTER_CLASS(trajopt_interface::TrajOptPlannerManager, planning_interface::PlannerManager);
diff --git a/moveit_planners/trajopt/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/src/trajopt_planning_context.cpp
new file mode 100644
index 0000000000..34b1e4c307
--- /dev/null
+++ b/moveit_planners/trajopt/src/trajopt_planning_context.cpp
@@ -0,0 +1,76 @@
+#include <moveit/robot_state/conversions.h>
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit_msgs/MotionPlanRequest.h>
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <ros/console.h>
+
+#include <Eigen/Geometry>
+
+#include "trajopt_interface/trajopt_planning_context.h"
+#include "trajopt_interface/trajopt_interface.h"
+
+namespace trajopt_interface
+{
+TrajOptPlanningContext::TrajOptPlanningContext(const std::string& context_name, const std::string& group_name,
+                                               const robot_model::RobotModelConstPtr& model)
+  : planning_interface::PlanningContext(context_name, group_name), robot_model_(model)
+{
+  ROS_INFO(" ======================================= TrajOptPlanningContext is constructed");
+  trajopt_interface_ = TrajOptInterfacePtr(new TrajOptInterface());
+}
+
+bool TrajOptPlanningContext::solve(planning_interface::MotionPlanDetailedResponse& res)
+{
+  moveit_msgs::MotionPlanDetailedResponse res_msg;
+  bool trajopt_solved = trajopt_interface_->solve(planning_scene_, request_, res_msg);
+
+  if (trajopt_solved)
+  {
+    res.trajectory_.resize(1);
+    res.trajectory_[0] =
+        robot_trajectory::RobotTrajectoryPtr(new robot_trajectory::RobotTrajectory(robot_model_, getGroupName()));
+
+    moveit::core::RobotState start_state(robot_model_);
+    robot_state::robotStateMsgToRobotState(res_msg.trajectory_start, start_state);
+    res.trajectory_[0]->setRobotTrajectoryMsg(start_state, res_msg.trajectory[0]);
+
+    res.description_.push_back("plan");
+    // TODO: Add the initial trajectory to res (MotionPlanDetailedResponse)
+    res.processing_time_ = res_msg.processing_time;
+    res.error_code_ = res_msg.error_code;
+    return true;
+  }
+  else
+  {
+    res.error_code_ = res_msg.error_code;
+    return false;
+  }
+}
+
+bool TrajOptPlanningContext::solve(planning_interface::MotionPlanResponse& res)
+{
+  planning_interface::MotionPlanDetailedResponse res_detailed;
+  bool planning_success = solve(res_detailed);
+
+  res.error_code_ = res_detailed.error_code_;
+
+  if (planning_success)
+  {
+    res.trajectory_ = res_detailed.trajectory_[0];
+    res.planning_time_ = res_detailed.processing_time_[0];
+  }
+
+  return planning_success;
+}
+
+bool TrajOptPlanningContext::terminate()
+{
+  ROS_ERROR_STREAM_NAMED("trajopt_planning_context", "TrajOpt is not interruptable yet");
+  return false;
+}
+void TrajOptPlanningContext::clear()
+{
+}
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/test/trajectory_test.cpp b/moveit_planners/trajopt/test/trajectory_test.cpp
new file mode 100644
index 0000000000..3494ba2d9e
--- /dev/null
+++ b/moveit_planners/trajopt/test/trajectory_test.cpp
@@ -0,0 +1,212 @@
+/*********************************************************************
+ * Software License Agreement
+ *
+ *  Copyright (c) 2019, PickNik Consulting
+ *  All rights reserved.
+ *
+ *********************************************************************/
+
+/* Author: Omid Heidari
+   Desc:   Test the trajectory planned by trajopt
+ */
+
+// C++
+#include <iostream>
+#include <string>
+#include <cmath>
+
+// ROS
+#include <ros/ros.h>
+
+// Testing
+#include <gtest/gtest.h>
+
+#include <trajopt/common.hpp>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/kinematic_terms.h>
+
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit_msgs/MotionPlanResponse.h>
+
+class TrajectoryTest : public ::testing::Test
+{
+public:
+  TrajectoryTest()
+  {
+  }
+
+protected:
+  void SetUp() override
+  {
+    node_handle_ = ros::NodeHandle("~");
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    bool robot_model_ok_ = static_cast<bool>(robot_model_);
+    if (!robot_model_ok_)
+      ROS_ERROR_STREAM_NAMED("trajectory_test", "robot model is not loaded correctly");
+  }
+
+protected:
+  robot_model::RobotModelPtr robot_model_;
+  std::vector<std::string> group_joint_names_;
+  const std::string PLANNING_GROUP = "panda_arm";
+  const double GOAL_TOLERANCE = 0.1;
+  ros::NodeHandle node_handle_;
+};  // class TrajectoryTest
+
+TEST_F(TrajectoryTest, concatVectorValidation)
+{
+  std::vector<double> vec_a = { 1, 2, 3, 4, 5 };
+  std::vector<double> vec_b = { 6, 7, 8, 9, 10 };
+  std::vector<double> vec_c = trajopt_interface::concatVector(vec_a, vec_b);
+  EXPECT_EQ(vec_c.size(), vec_a.size() + vec_b.size());
+
+  // Check if the output of concatVector is correct.
+  // Loop over the output and the input vectors to see if they match
+  std::size_t length_ab = vec_a.size() + vec_b.size();
+  for (std::size_t index = 0; index < length_ab; ++index)
+  {
+    if (index < vec_a.size())
+    {
+      EXPECT_EQ(vec_c[index], vec_a[index]);
+    }
+    else
+    {
+      EXPECT_EQ(vec_c[index], vec_b[index - vec_a.size()]);
+    }
+  }
+}
+
+TEST_F(TrajectoryTest, goalTolerance)
+{
+  const std::string NODE_NAME = "trajectory_test";
+
+  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
+  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model_));
+  current_state->setToDefaultValues();
+
+  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
+  EXPECT_NE(joint_model_group, nullptr);
+  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
+  EXPECT_EQ(joint_names.size(), 7);
+
+  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model_));
+
+  // Create response and request
+  planning_interface::MotionPlanRequest req;
+  planning_interface::MotionPlanResponse res;
+
+  // Set start state
+  // ======================================================================================
+  std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model_));
+  start_state->setJointGroupPositions(joint_model_group, start_joint_values);
+  start_state->update();
+
+  req.start_state.joint_state.name = joint_names;
+  req.start_state.joint_state.position = start_joint_values;
+  req.goal_constraints.clear();
+  req.group_name = PLANNING_GROUP;
+
+  // Set the goal state and joints tolerance
+  // ========================================================================================
+  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model_));
+  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
+  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
+  goal_state->update();
+  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
+  req.goal_constraints.push_back(joint_goal);
+  req.goal_constraints[0].name = "goal_pos";
+  // Set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[0].joint_constraints;
+  for (std::size_t x = 0; x < goal_joint_constraint.size(); ++x)
+  {
+    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.001;
+    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
+  }
+
+  // Load planner
+  // ======================================================================================
+  // We will now construct a loader to load a planner, by name.
+  // Note that we are using the ROS pluginlib library here.
+  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
+  planning_interface::PlannerManagerPtr planner_instance;
+
+  std::string planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+  node_handle_.setParam("planning_plugin", planner_plugin_name);
+
+  // Make sure the planner plugin is loaded
+  EXPECT_TRUE(node_handle_.getParam("planning_plugin", planner_plugin_name));
+  try
+  {
+    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+        "moveit_core", "planning_interface::PlannerManager"));
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    ROS_FATAL_STREAM_NAMED(NODE_NAME, "Exception while creating planning plugin loader " << ex.what());
+  }
+  try
+  {
+    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+    if (!planner_instance->initialize(robot_model_, node_handle_.getNamespace()))
+      ROS_FATAL_STREAM_NAMED(NODE_NAME, "Could not initialize planner instance");
+    ROS_INFO_STREAM_NAMED(NODE_NAME, "Using planning interface '" << planner_instance->getDescription() << "'");
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
+    std::stringstream ss;
+    for (std::size_t i = 0; i < classes.size(); ++i)
+      ss << classes[i] << " ";
+    ROS_ERROR_STREAM_NAMED(NODE_NAME, "Exception while loading planner '" << planner_plugin_name << "': " << ex.what()
+                                                                          << std::endl
+                                                                          << "Available plugins: " << ss.str());
+  }
+
+  // Creat planning context
+  // ========================================================================================
+  planning_interface::PlanningContextPtr context =
+      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+
+  context->solve(res);
+  EXPECT_EQ(res.error_code_.val, res.error_code_.SUCCESS);
+
+  moveit_msgs::MotionPlanResponse response;
+  res.getMessage(response);
+
+  // Check the difference between the last step in the solution and the goal
+  // ========================================================================================
+  std::vector<double> joints_values_last_step = response.trajectory.joint_trajectory.points.back().positions;
+
+  for (std::size_t joint_index = 0; joint_index < joints_values_last_step.size(); ++joint_index)
+  {
+    double goal_error =
+        abs(joints_values_last_step[joint_index] - req.goal_constraints[0].joint_constraints[joint_index].position);
+    std::cerr << "goal_error: " << goal_error << std::endl;
+    EXPECT_LT(goal_error, GOAL_TOLERANCE);
+  }
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "trajectory_test");
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  ros::shutdown();
+
+  return result;
+}
diff --git a/moveit_planners/trajopt/test/trajectory_test.test b/moveit_planners/trajopt/test/trajectory_test.test
new file mode 100644
index 0000000000..36314b49b5
--- /dev/null
+++ b/moveit_planners/trajopt/test/trajectory_test.test
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+
+  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
+
+    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+
+  </test>
+
+</launch>
diff --git a/moveit_planners/trajopt/trajopt_interface_plugin_description.xml b/moveit_planners/trajopt/trajopt_interface_plugin_description.xml
new file mode 100644
index 0000000000..051864285a
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface_plugin_description.xml
@@ -0,0 +1,7 @@
+<library path="libmoveit_trajopt_planner_plugin">
+  <class name="trajopt_interface/TrajOptPlanner" type="trajopt_interface::TrajOptPlannerManager" base_class_type="planning_interface::PlannerManager">
+    <description>
+      The trajopt motion planner plugin which implements sequential convex optimization to solve motion planning problem.
+    </description>
+  </class>
+</library>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
new file mode 100644
index 0000000000..7185681292
--- /dev/null
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find panda_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
new file mode 100644
index 0000000000..cf5735429d
--- /dev/null
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- TrajOpt Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with TrajOpt.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+
+</launch>

From 590a9c36d80ab55882d77f4c349c6344680a499b Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Fri, 16 Aug 2019 02:56:56 +0200
Subject: [PATCH 035/612] Add parameter to get_jacobian_matrix (#1595)

* Add parameter to getJacobian Python interface

* Add changes

* Overload wrapper

* Add test for reference_point_position

* cleanup
---
 .../src/moveit_commander/move_group.py        |  4 ++--
 .../src/wrap_python_move_group.cpp            | 20 +++++++++++++++----
 .../test/python_move_group.py                 |  7 +++++++
 3 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index a05c23cf85..0799e77c50 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -596,7 +596,7 @@ def retime_trajectory(self, ref_state_in, traj_in, velocity_scaling_factor=1.0,
         traj_out.deserialize(ser_traj_out)
         return traj_out
 
-    def get_jacobian_matrix(self, joint_values):
+    def get_jacobian_matrix(self, joint_values, reference_point=None):
         """ Get the jacobian matrix of the group as a list"""
-        return self._g.get_jacobian_matrix(joint_values)
+        return self._g.get_jacobian_matrix(joint_values, [0.0, 0.0, 0.0] if reference_point is None else reference_point)
 
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index b3940182df..50646a8777 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -536,17 +536,28 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     }
   }
 
-  Eigen::MatrixXd getJacobianMatrixPython(bp::list& joint_values)
+  Eigen::MatrixXd getJacobianMatrixPython(const bp::list& joint_values,
+                                          const bp::object& reference_point = bp::object())
   {
-    std::vector<double> v = py_bindings_tools::doubleFromList(joint_values);
+    const std::vector<double> v = py_bindings_tools::doubleFromList(joint_values);
+    std::vector<double> ref;
+    if (reference_point.is_none())
+      ref = { 0.0, 0.0, 0.0 };
+    else
+      ref = py_bindings_tools::doubleFromList(reference_point);
+    if (ref.size() != 3)
+      throw std::invalid_argument("reference point needs to have 3 elements, got " + std::to_string(ref.size()));
+
     robot_state::RobotState state(getRobotModel());
     state.setToDefaultValues();
     auto group = state.getJointModelGroup(getName());
     state.setJointGroupPositions(group, v);
-    return state.getJacobian(group);
+    return state.getJacobian(group, Eigen::Map<Eigen::Vector3d>(&ref[0]));
   }
 };
 
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(getJacobianMatrixOverloads, getJacobianMatrixPython, 1, 2)
+
 static void wrap_move_group_interface()
 {
   eigenpy::enableEigenPy();
@@ -683,7 +694,8 @@ static void wrap_move_group_interface()
   move_group_interface_class.def("get_named_targets", &MoveGroupInterfaceWrapper::getNamedTargetsPython);
   move_group_interface_class.def("get_named_target_values", &MoveGroupInterfaceWrapper::getNamedTargetValuesPython);
   move_group_interface_class.def("get_current_state_bounded", &MoveGroupInterfaceWrapper::getCurrentStateBoundedPython);
-  move_group_interface_class.def("get_jacobian_matrix", &MoveGroupInterfaceWrapper::getJacobianMatrixPython);
+  move_group_interface_class.def("get_jacobian_matrix", &MoveGroupInterfaceWrapper::getJacobianMatrixPython,
+                                 getJacobianMatrixOverloads());
 }
 }  // namespace planning_interface
 }  // namespace moveit
diff --git a/moveit_ros/planning_interface/test/python_move_group.py b/moveit_ros/planning_interface/test/python_move_group.py
index 4e388a6f16..0cc27cd09d 100755
--- a/moveit_ros/planning_interface/test/python_move_group.py
+++ b/moveit_ros/planning_interface/test/python_move_group.py
@@ -80,6 +80,13 @@ def test_get_jacobian_matrix(self):
                              [ 1.  ,  0.  ,  0.  ,  0.  ,  0.  ,  0.  ]])
         self.assertTrue(np.allclose(result, expected))
 
+        result = self.group.get_jacobian_matrix(current, [1.0, 1.0, 1.0])
+        expected = np.array([[ 1.  ,  1.8 , -1.2 ,  0.  , -1.  ,  0.  ],
+                             [ 1.89,  0.  ,  0.  ,  1.  ,  0.  ,  1.  ],
+                             [ 0.  , -1.74,  1.74,  1.  ,  1.1 ,  1.  ],
+                             [ 0.  ,  0.  ,  0.  , -1.  ,  0.  , -1.  ],
+                             [ 0.  ,  1.  , -1.  ,  0.  , -1.  ,  0.  ],
+                             [ 1.  ,  0.  ,  0.  ,  0.  ,  0.  ,  0.  ]])
 
 if __name__ == '__main__':
     PKGNAME = 'moveit_ros_planning_interface'

From 0957a61ac2943cbe6cba52c38e83d0b0fe9a09a8 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 15 Aug 2019 22:16:29 +0200
Subject: [PATCH 036/612] hide display state: sanity-check to allow for empty
 state input

---
 .../robot_state_rviz_plugin/src/robot_state_display.cpp       | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index d843923605..d62f710a8c 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -36,6 +36,7 @@
 
 #include <moveit/robot_state_rviz_plugin/robot_state_display.h>
 #include <moveit/robot_state/conversions.h>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
@@ -303,7 +304,8 @@ void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::DisplayRobotSta
   // possibly use TF to construct a robot_state::Transforms object to pass in to the conversion function?
   try
   {
-    robot_state::robotStateMsgToRobotState(state_msg->state, *robot_state_);
+    if (!planning_scene::PlanningScene::isEmpty(state_msg->state))
+      robot_state::robotStateMsgToRobotState(state_msg->state, *robot_state_);
     setRobotHighlights(state_msg->highlight_links);
     setStatus(rviz::StatusProperty::Ok, "RobotState", "");
   }

From b0f01b2dc79f99f5650933834c8e50905bdbe168 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 15 Aug 2019 22:22:32 +0200
Subject: [PATCH 037/612] display robot state: do not clutter rviz with default
 robot on enable

---
 .../robot_state_rviz_plugin/src/robot_state_display.cpp          | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index d62f710a8c..0b00428a90 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -375,7 +375,6 @@ void RobotStateDisplay::loadRobotModel()
 
     changedEnableVisualVisible();
     changedEnableCollisionVisible();
-    robot_->setVisible(true);
   }
   else
     setStatus(rviz::StatusProperty::Error, "RobotState", "No Planning Model Loaded");

From c5e88677654654f0f8aca9945bd1bd2205616958 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 17 Aug 2019 12:34:32 +0200
Subject: [PATCH 038/612] add status to warn if RobotState display is hidden

---
 .../src/robot_state_display.cpp                 | 17 +++++++++++++----
 .../robot_state_visualization.h                 |  5 +++++
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 0b00428a90..70f2173d6a 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -290,6 +290,8 @@ void RobotStateDisplay::changedRobotStateTopic()
   if (static_cast<bool>(robot_state_))
     robot_state_->setToDefaultValues();
   update_state_ = true;
+  robot_->setVisible(false);
+  setStatus(rviz::StatusProperty::Warn, "RobotState", "No msg received");
 
   robot_state_subscriber_ = root_nh_.subscribe(robot_state_topic_property_->getStdString(), 10,
                                                &RobotStateDisplay::newRobotStateCallback, this);
@@ -307,17 +309,24 @@ void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::DisplayRobotSta
     if (!planning_scene::PlanningScene::isEmpty(state_msg->state))
       robot_state::robotStateMsgToRobotState(state_msg->state, *robot_state_);
     setRobotHighlights(state_msg->highlight_links);
-    setStatus(rviz::StatusProperty::Ok, "RobotState", "");
   }
   catch (const moveit::Exception& e)
   {
     robot_state_->setToDefaultValues();
     setRobotHighlights(moveit_msgs::DisplayRobotState::_highlight_links_type());
     setStatus(rviz::StatusProperty::Error, "RobotState", e.what());
+    robot_->setVisible(false);
     return;
   }
 
-  robot_->setVisible(!state_msg->hide);
+  if (robot_->isVisible() != !state_msg->hide)
+  {
+    robot_->setVisible(!state_msg->hide);
+    if (robot_->isVisible())
+      setStatus(rviz::StatusProperty::Ok, "RobotState", "");
+    else
+      setStatus(rviz::StatusProperty::Warn, "RobotState", "Hidden");
+  }
 
   update_state_ = true;
 }
@@ -371,13 +380,13 @@ void RobotStateDisplay::loadRobotModel()
     root_link_name_property_->setStdString(getRobotModel()->getRootLinkName());
     root_link_name_property_->blockSignals(old_state);
     update_state_ = true;
-    setStatus(rviz::StatusProperty::Ok, "RobotState", "Planning Model Loaded Successfully");
+    setStatus(rviz::StatusProperty::Ok, "RobotModel", "Loaded successfully");
 
     changedEnableVisualVisible();
     changedEnableCollisionVisible();
   }
   else
-    setStatus(rviz::StatusProperty::Error, "RobotState", "No Planning Model Loaded");
+    setStatus(rviz::StatusProperty::Error, "RobotModel", "Loading failed");
 
   highlights_.clear();
 }
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 49b299f1d1..09ffce9234 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -69,6 +69,11 @@ class RobotStateVisualization
               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
 
+  bool isVisible() const
+  {
+    return visible_;
+  }
+
   /**
    * \brief Set the robot as a whole to be visible or not
    * @param visible Should we be visible?

From 3854f7b58201c7590514828018e2ba1d70c60166 Mon Sep 17 00:00:00 2001
From: Raphael Druon <raphdruon@gmail.com>
Date: Sat, 17 Aug 2019 20:40:39 +0900
Subject: [PATCH 039/612] python planning_scene_interface: fix attaching
 objects (#1624)

---
 .../src/moveit_commander/planning_scene_interface.py   | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/planning_scene_interface.py b/moveit_commander/src/moveit_commander/planning_scene_interface.py
index a7fa6c9ad2..e0093e1508 100644
--- a/moveit_commander/src/moveit_commander/planning_scene_interface.py
+++ b/moveit_commander/src/moveit_commander/planning_scene_interface.py
@@ -69,7 +69,7 @@ def __init__(self, ns='', synchronous=False, service_timeout=5.0):
 
     def __submit(self, collision_object, attach=False):
         if self.__synchronous:
-            diff_req = self.__make_planning_scene_diff_req(collision_object)
+            diff_req = self.__make_planning_scene_diff_req(collision_object, attach)
             self._apply_planning_scene_diff.call(diff_req)
         else:
             if attach:
@@ -306,10 +306,14 @@ def __make_cylinder(name, pose, height, radius):
         return co
 
     @staticmethod
-    def __make_planning_scene_diff_req(collision_object):
+    def __make_planning_scene_diff_req(collision_object, attach=False):
         scene = PlanningScene()
         scene.is_diff = True
-        scene.world.collision_objects = [collision_object]
+        scene.robot_state.is_diff = True
+        if attach:
+            scene.robot_state.attached_collision_objects = [collision_object]
+        else:
+            scene.world.collision_objects = [collision_object]
         planning_scene_diff_req = ApplyPlanningSceneRequest()
         planning_scene_diff_req.scene = scene
         return planning_scene_diff_req

From 2e2552fef6b0a84b27db51a8c0bf319942019b4d Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Sat, 17 Aug 2019 15:33:34 +0200
Subject: [PATCH 040/612] Benchmark combinations of predefined poses (#1548)

The CombinePredefinedPosesBenchmark allows conveniently planning trajectories between all
pair-wise combinations of predefined poses that are specified in the benchmark config.
---
 moveit_ros/benchmarks/CMakeLists.txt          |   4 +
 .../demo_panda_predefined_poses.launch        |  33 ++++
 .../examples/demo_panda_predefined_poses.yaml |  34 ++++
 .../moveit/benchmarks/BenchmarkOptions.h      |  28 ++++
 .../benchmarks/src/BenchmarkExecutor.cpp      |   2 +
 .../benchmarks/src/BenchmarkOptions.cpp       |  12 ++
 .../CombinePredefinedPosesBenchmark.cpp       | 148 ++++++++++++++++++
 7 files changed, 261 insertions(+)
 create mode 100644 moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
 create mode 100644 moveit_ros/benchmarks/examples/demo_panda_predefined_poses.yaml
 create mode 100644 moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp

diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 2463628a58..8a8f447e19 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -40,10 +40,14 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_executable(moveit_run_benchmark src/RunBenchmark.cpp)
 target_link_libraries(moveit_run_benchmark ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+add_executable(moveit_combine_predefined_poses_benchmark src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp)
+target_link_libraries(moveit_combine_predefined_poses_benchmark ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 install(
   TARGETS
     ${MOVEIT_LIB_NAME}
+    moveit_run_benchmark
+    moveit_combine_predefined_poses_benchmark
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
new file mode 100644
index 0000000000..657fad0a6f
--- /dev/null
+++ b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
@@ -0,0 +1,33 @@
+<launch>
+  <!-- benchmark options file -->
+  <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_panda_predefined_poses.yaml"/>
+
+  <!-- Load robot settings -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Load warehouse containing scenes and queries to benchmark -->
+  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+
+  <!-- Load all planning pipelines that will be benchmarked -->
+  <group ns="moveit_run_benchmark">
+    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="stomp" />
+    </include>
+  </group>
+
+  <!-- Launch benchmark node -->
+  <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
+    <rosparam command="load" file="$(arg bench_opts)"/>
+  </node>
+</launch>
+
diff --git a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.yaml b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.yaml
new file mode 100644
index 0000000000..94f7803595
--- /dev/null
+++ b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.yaml
@@ -0,0 +1,34 @@
+# This is an example configuration that loads the "Kitchen" scene from the
+# local MoveIt warehouse and benchmarks the "manipulator" group over all pairs
+# of motion plan queries and start states in the Kitchen scene.
+
+# Five planners from two different plugins are run a total of 50 times each, with a
+# maximum of 10 seconds per run.  Output is stored in the /tmp/moveit_benchmarks directory.
+
+benchmark_config:
+    warehouse:
+        host: 127.0.0.1
+        port: 33829
+        scene_name: Kitchen     # Required
+    parameters:
+        name: KitchenPick1
+        runs: 50
+        group: panda_arm      # Required
+        timeout: 10.0
+        output_directory: /tmp/moveit_benchmarks/
+        predefined_poses_group: panda_arm_hand # Group where the predefined poses are specified
+        predefined_poses: # List of named targets
+            - ready
+            - extended
+    planning_pipelines:
+        - name: ompl
+          planners:
+            - RRTConnectkConfigDefault
+            - BKPIECEkConfigDefault
+            - KPIECEkConfigDefault
+        - name: chomp
+          planners:
+            - CHOMP
+        - name: stomp
+          planners:
+            - STOMP
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
index 0006d42f39..92c7671529 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
@@ -47,31 +47,57 @@ namespace moveit_ros_benchmarks
 class BenchmarkOptions
 {
 public:
+  /** \brief Constructor */
   BenchmarkOptions();
+  /** \brief Constructor accepting a custom namespace for parameter lookup */
   BenchmarkOptions(const std::string& ros_namespace);
+  /** \brief Destructor */
   virtual ~BenchmarkOptions();
 
+  /** \brief Set the ROS namespace the node handle should use for parameter lookup */
   void setNamespace(const std::string& ros_namespace);
 
+  /** \brief Get the name of the warehouse database host server */
   const std::string& getHostName() const;
+  /** \brief Get the port of the warehouse database host server */
   int getPort() const;
+  /** \brief Get the reference name of the planning scene stored inside the warehouse database */
   const std::string& getSceneName() const;
 
+  /** \brief Get the specified number of benchmark query runs */
   int getNumRuns() const;
+  /** \brief Get the maximum timeout per planning attempt */
   double getTimeout() const;
+  /** \brief Get the reference name of the benchmark */
   const std::string& getBenchmarkName() const;
+  /** \brief Get the name of the planning group to run the benchmark with */
   const std::string& getGroupName() const;
+  /** \brief Get the target directory for the generated benchmark result data */
   const std::string& getOutputDirectory() const;
+  /** \brief Get the regex expression for matching the names of all queries to run */
   const std::string& getQueryRegex() const;
+  /** \brief Get the regex expression for matching the names of all start states to plan from */
   const std::string& getStartStateRegex() const;
+  /** \brief Get the regex expression for matching the names of all goal constraints to plan to */
   const std::string& getGoalConstraintRegex() const;
+  /** \brief Get the regex expression for matching the names of all path constraints to plan with */
   const std::string& getPathConstraintRegex() const;
+  /** \brief Get the regex expression for matching the names of all trajectory constraints to plan with */
   const std::string& getTrajectoryConstraintRegex() const;
+  /** \brief Get the names of all predefined poses to consider for planning */
+  const std::vector<std::string>& getPredefinedPoses() const;
+  /** \brief Get the name of the planning group for which the predefined poses are defined */
+  const std::string& getPredefinedPosesGroup() const;
+  /** \brief Get the constant position/orientation offset to be used for shifting all goal constraints */
   void getGoalOffsets(std::vector<double>& offsets) const;
+  /** \brief Get all planning pipeline names mapped to their parameter configuration */
   const std::map<std::string, std::vector<std::string>>& getPlanningPipelineConfigurations() const;
+  /** \brief Get all planning pipeline names */
   void getPlanningPipelineNames(std::vector<std::string>& planning_pipeline_names) const;
 
+  /* \brief Get the frame id of the planning workspace */
   const std::string& getWorkspaceFrameID() const;
+  /* \brief Get the parameter set of the planning workspace */
   const moveit_msgs::WorkspaceParameters& getWorkspaceParameters() const;
 
 protected:
@@ -100,6 +126,8 @@ class BenchmarkOptions
   std::string goal_constraint_regex_;
   std::string path_constraint_regex_;
   std::string trajectory_constraint_regex_;
+  std::vector<std::string> predefined_poses_;
+  std::string predefined_poses_group_;
   double goal_offsets[6];
 
   /// planner configurations
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 4f717cd97a..8e15bad1c1 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -501,6 +501,8 @@ bool BenchmarkExecutor::plannerConfigurationsExist(
     for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
     {
       pipeline_exists = pipeline_entry.first == pipeline_config_entry.first;
+      if (pipeline_exists)
+        break;
     }
 
     if (!pipeline_exists)
diff --git a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
index 1ed9c512a1..96dd820afb 100644
--- a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
@@ -136,6 +136,16 @@ const std::string& BenchmarkOptions::getTrajectoryConstraintRegex() const
   return trajectory_constraint_regex_;
 }
 
+const std::vector<std::string>& BenchmarkOptions::getPredefinedPoses() const
+{
+  return predefined_poses_;
+}
+
+const std::string& BenchmarkOptions::getPredefinedPosesGroup() const
+{
+  return predefined_poses_group_;
+}
+
 void BenchmarkOptions::getGoalOffsets(std::vector<double>& offsets) const
 {
   offsets.resize(6);
@@ -189,6 +199,8 @@ void BenchmarkOptions::readBenchmarkParameters(ros::NodeHandle& nh)
   nh.param(std::string("benchmark_config/parameters/path_constraints"), path_constraint_regex_, std::string(""));
   nh.param(std::string("benchmark_config/parameters/trajectory_constraints"), trajectory_constraint_regex_,
            std::string(""));
+  nh.param(std::string("benchmark_config/parameters/predefined_poses"), predefined_poses_, {});
+  nh.param(std::string("benchmark_config/parameters/predefined_poses_group"), predefined_poses_group_, std::string(""));
 
   if (!nh.getParam(std::string("benchmark_config/parameters/group"), group_name_))
     ROS_WARN("Benchmark group NOT specified");
diff --git a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
new file mode 100644
index 0000000000..5c6bdd4c51
--- /dev/null
+++ b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
@@ -0,0 +1,148 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2019, PickNik LLC
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the PickNik LLC nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Henning Kayser */
+/* Description: A simple benchmark that plans trajectories for all combinations of specified predefined poses */
+
+// MoveIt Benchmark
+#include <moveit/benchmarks/BenchmarkOptions.h>
+#include <moveit/benchmarks/BenchmarkExecutor.h>
+
+// MoveIt
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_state/conversions.h>
+
+namespace moveit_ros_benchmarks
+{
+constexpr char LOGNAME[] = "combine_predefined_poses_benchmark";
+class CombinePredefinedPosesBenchmark : public BenchmarkExecutor
+{
+public:
+  virtual bool loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
+                                      std::vector<StartState>& start_states,
+                                      std::vector<PathConstraints>& path_constraints,
+                                      std::vector<PathConstraints>& goal_constraints,
+                                      std::vector<TrajectoryConstraints>& traj_constraints,
+                                      std::vector<BenchmarkRequest>& queries)
+  {
+    // Load planning scene
+    if (!psm_)
+      psm_.reset(new planning_scene_monitor::PlanningSceneMonitor("robot_description"));
+    if (!psm_->newPlanningSceneMessage(scene_msg))
+    {
+      ROS_ERROR_NAMED(LOGNAME, "Failed to load planning scene");
+      return false;
+    }
+
+    // Load robot model
+    if (!psm_->getRobotModel())
+    {
+      ROS_ERROR_NAMED(LOGNAME, "Failed to load robot model");
+      return false;
+    }
+
+    // Select planning group to use for predefined poses
+    std::string predefined_poses_group = opts.getPredefinedPosesGroup();
+    if (predefined_poses_group.empty())
+    {
+      ROS_WARN_NAMED(LOGNAME, "Parameter predefined_poses_group is not set, using default planning group instead");
+      predefined_poses_group = opts.getGroupName();
+    }
+    const auto& joint_model_group = psm_->getRobotModel()->getJointModelGroup(predefined_poses_group);
+    if (!joint_model_group)
+    {
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "Robot model has no joint model group named '" << predefined_poses_group << "'");
+      return false;
+    }
+
+    // Iterate over all predefined poses and use each as start and goal states
+    moveit::core::RobotState robot_state(psm_->getRobotModel());
+    start_states.clear();
+    goal_constraints.clear();
+    for (const auto& pose_id : opts.getPredefinedPoses())
+    {
+      if (!robot_state.setToDefaultValues(joint_model_group, pose_id))
+      {
+        ROS_WARN_STREAM_NAMED(LOGNAME, "Failed to set robot state to named target '" << pose_id << "'");
+        continue;
+      }
+      // Create start state
+      start_states.emplace_back();
+      start_states.back().name = pose_id;
+      moveit::core::robotStateToRobotStateMsg(robot_state, start_states.back().state);
+
+      // Create goal constraints
+      goal_constraints.emplace_back();
+      goal_constraints.back().name = pose_id;
+      goal_constraints.back().constraints.push_back(
+          kinematic_constraints::constructGoalConstraints(robot_state, joint_model_group));
+    }
+    if (start_states.empty() || goal_constraints.empty())
+    {
+      ROS_ERROR_NAMED(LOGNAME, "Failed to init start and goal states from predefined_poses");
+      return false;
+    }
+
+    // We don't use path/trajectory constraints or custom queries
+    path_constraints.clear();
+    traj_constraints.clear();
+    queries.clear();
+    return true;
+  }
+
+private:
+  planning_scene_monitor::PlanningSceneMonitorPtr psm_;
+};
+}  // namespace moveit_ros_benchmarks
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "moveit_run_benchmark");
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  // Read benchmark options from param server
+  moveit_ros_benchmarks::BenchmarkOptions opts(ros::this_node::getName());
+  // Setup benchmark server
+  moveit_ros_benchmarks::CombinePredefinedPosesBenchmark server;
+
+  std::vector<std::string> planning_pipelines;
+  opts.getPlanningPipelineNames(planning_pipelines);
+  server.initialize(planning_pipelines);
+
+  // Running benchmarks
+  if (!server.runBenchmarks(opts))
+    ROS_ERROR("Failed to run all benchmarks");
+}

From e7bc01e9d5557f0ad63724be65197d1bde15333c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Sat, 17 Aug 2019 17:18:58 +0200
Subject: [PATCH 041/612] PlanningRequestAdapter::initialize() = 0 (#1621)

Implement initialize as pure virtual function.
---
 .../planning_request_adapter.h                | 25 +++----------------
 1 file changed, 3 insertions(+), 22 deletions(-)

diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index 9c11302a02..daf9426ba0 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -40,9 +40,6 @@
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <boost/function.hpp>
-#if !defined(_MSC_VER)
-#include <cxxabi.h>
-#endif
 
 /** \brief Generic interface to adapting motion planning requests */
 namespace planning_request_adapter
@@ -65,25 +62,9 @@ class PlanningRequestAdapter
   {
   }
 
-  /// Initialize parameters using the passed NodeHandle
-  // TODO - Make initialize() a pure virtual function in O-turtle
-  virtual void initialize(const ros::NodeHandle& node_handle)
-  {
-    // Get name of derived adapter
-    std::string adapter_name = typeid(*this).name();
-    // Try to demangle the name
-    int status = 1;
-#if defined(_MSC_VER)
-    std::string demangled_name = adapter_name;
-#else
-    std::string demangled_name = abi::__cxa_demangle(adapter_name.c_str(), NULL, NULL, &status);
-#endif
-    if (status == 0)
-      adapter_name = demangled_name;
-    ROS_WARN_NAMED("planning_request_adapter", "Implementation of function initialize() is missing from '%s'."
-                                               "Any parameters should be loaded from the passed NodeHandle.",
-                   adapter_name.c_str());
-  }
+  /** \brief Initialize parameters using the passed NodeHandle
+      if no initialization is needed, simply implement as empty */
+  virtual void initialize(const ros::NodeHandle& node_handle) = 0;
 
   /// Get a short string that identifies the planning request adapter
   virtual std::string getDescription() const

From 4ca54cd0cda1bc0ceef072d769357ce3802e62da Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 19 Aug 2019 11:23:58 +0200
Subject: [PATCH 042/612] move isEmpty test functions to moveit_core/utils
 (#1627)

---
 .../moveit/kinematic_constraints/utils.h      |  2 +-
 .../kinematic_constraints/src/utils.cpp       |  4 +-
 .../moveit/planning_scene/planning_scene.h    |  8 +-
 .../planning_scene/src/planning_scene.cpp     | 15 +---
 .../test/test_planning_scene.cpp              |  5 +-
 moveit_core/utils/CMakeLists.txt              |  1 +
 .../include/moveit/utils/message_checks.h     | 65 +++++++++++++++++
 moveit_core/utils/src/message_checks.cpp      | 73 +++++++++++++++++++
 .../src/generate_state_database.cpp           |  3 +-
 .../manipulation/pick_place/src/pick.cpp      |  3 +-
 .../manipulation/pick_place/src/place.cpp     |  3 +-
 .../cartesian_path_service_capability.cpp     |  4 +-
 .../kinematics_service_capability.cpp         |  4 +-
 .../move_action_capability.cpp                | 10 +--
 .../state_validation_service_capability.cpp   |  4 +-
 .../plan_execution/src/plan_execution.cpp     |  3 +-
 .../src/planning_scene_monitor.cpp            |  5 +-
 .../src/robot_state_display.cpp               |  4 +-
 18 files changed, 178 insertions(+), 38 deletions(-)
 create mode 100644 moveit_core/utils/include/moveit/utils/message_checks.h
 create mode 100644 moveit_core/utils/src/message_checks.cpp

diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index f2dfe6f84a..54080fbacb 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -67,7 +67,7 @@ moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
                                           const moveit_msgs::Constraints& second);
 
 /** \brief Check if any constraints were specified */
-bool isEmpty(const moveit_msgs::Constraints& constr);
+[[deprecated("Use moveit/utils/message_checks.h instead")]] bool isEmpty(const moveit_msgs::Constraints& constr);
 
 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
 
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 568efbb95b..59beecec6c 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -38,6 +38,7 @@
 #include <geometric_shapes/solid_primitive_dims.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <moveit/utils/xmlrpc_casts.h>
+#include <moveit/utils/message_checks.h>
 
 using namespace moveit::core;
 
@@ -116,8 +117,7 @@ moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
 
 bool isEmpty(const moveit_msgs::Constraints& constr)
 {
-  return constr.position_constraints.empty() && constr.orientation_constraints.empty() &&
-         constr.visibility_constraints.empty() && constr.joint_constraints.empty();
+  return moveit::core::isEmpty(constr);
 }
 
 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr)
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 32adb11f61..c7954cce12 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -953,14 +953,16 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a message includes any information about a planning scene, or it is just a default, empty message.
    */
-  static bool isEmpty(const moveit_msgs::PlanningScene& msg);
+  [[deprecated("Use moveit/utils/message_checks.h instead")]] static bool
+  isEmpty(const moveit_msgs::PlanningScene& msg);
 
   /** \brief Check if a message includes any information about a planning scene world, or it is just a default, empty
    * message. */
-  static bool isEmpty(const moveit_msgs::PlanningSceneWorld& msg);
+  [[deprecated("Use moveit/utils/message_checks.h instead")]] static bool
+  isEmpty(const moveit_msgs::PlanningSceneWorld& msg);
 
   /** \brief Check if a message includes any information about a robot state, or it is just a default, empty message. */
-  static bool isEmpty(const moveit_msgs::RobotState& msg);
+  [[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::RobotState& msg);
 
   /** \brief Clone a planning scene. Even if the scene \e scene depends on a parent, the cloned scene will not. */
   static PlanningScenePtr clone(const PlanningSceneConstPtr& scene);
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 37b62f4d85..279f824e83 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -43,6 +43,7 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/exceptions/exceptions.h>
 #include <moveit/robot_state/attached_body.h>
+#include <moveit/utils/message_checks.h>
 #include <octomap_msgs/conversions.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <memory>
@@ -96,25 +97,17 @@ class SceneTransforms : public robot_state::Transforms
 
 bool PlanningScene::isEmpty(const moveit_msgs::PlanningScene& msg)
 {
-  return msg.name.empty() && msg.fixed_frame_transforms.empty() && msg.allowed_collision_matrix.entry_names.empty() &&
-         msg.link_padding.empty() && msg.link_scale.empty() && isEmpty(msg.robot_state) && isEmpty(msg.world);
+  return moveit::core::isEmpty(msg);
 }
 
 bool PlanningScene::isEmpty(const moveit_msgs::RobotState& msg)
 {
-  /* a state is empty if it includes no information and it is a diff; if the state is not a diff, then the implicit
-     information is
-     that the set of attached bodies is empty, so they must be cleared from the state to be updated */
-  return static_cast<bool>(msg.is_diff) && msg.multi_dof_joint_state.joint_names.empty() &&
-         msg.joint_state.name.empty() && msg.attached_collision_objects.empty() && msg.joint_state.position.empty() &&
-         msg.joint_state.velocity.empty() && msg.joint_state.effort.empty() &&
-         msg.multi_dof_joint_state.transforms.empty() && msg.multi_dof_joint_state.twist.empty() &&
-         msg.multi_dof_joint_state.wrench.empty();
+  return moveit::core::isEmpty(msg);
 }
 
 bool PlanningScene::isEmpty(const moveit_msgs::PlanningSceneWorld& msg)
 {
-  return msg.collision_objects.empty() && msg.octomap.octomap.data.empty();
+  return moveit::core::isEmpty(msg);
 }
 
 PlanningScene::PlanningScene(const robot_model::RobotModelConstPtr& robot_model,
diff --git a/moveit_core/planning_scene/test/test_planning_scene.cpp b/moveit_core/planning_scene/test/test_planning_scene.cpp
index 73b68186e3..9d93148edb 100644
--- a/moveit_core/planning_scene/test/test_planning_scene.cpp
+++ b/moveit_core/planning_scene/test/test_planning_scene.cpp
@@ -36,6 +36,7 @@
 
 #include <gtest/gtest.h>
 #include <moveit/planning_scene/planning_scene.h>
+#include <moveit/utils/message_checks.h>
 #include <urdf_parser/urdf_parser.h>
 #include <fstream>
 #include <sstream>
@@ -104,10 +105,10 @@ TEST(PlanningScene, LoadRestoreDiff)
 
   moveit_msgs::PlanningScene ps_msg;
   ps_msg.robot_state.is_diff = true;
-  EXPECT_TRUE(planning_scene::PlanningScene::isEmpty(ps_msg));
+  EXPECT_TRUE(moveit::core::isEmpty(ps_msg));
   ps->getPlanningSceneMsg(ps_msg);
   ps->setPlanningSceneMsg(ps_msg);
-  EXPECT_FALSE(planning_scene::PlanningScene::isEmpty(ps_msg));
+  EXPECT_FALSE(moveit::core::isEmpty(ps_msg));
   EXPECT_TRUE(world.hasObject("sphere"));
 
   planning_scene::PlanningScenePtr next = ps->diff();
diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index 9ea399702a..8a9aaa49bd 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -3,6 +3,7 @@ set(MOVEIT_LIB_NAME moveit_utils)
 add_library(${MOVEIT_LIB_NAME}
   src/lexical_casts.cpp
   src/xmlrpc_casts.cpp
+  src/message_checks.cpp
 )
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/moveit_core/utils/include/moveit/utils/message_checks.h b/moveit_core/utils/include/moveit/utils/message_checks.h
new file mode 100644
index 0000000000..4ac3c0af8d
--- /dev/null
+++ b/moveit_core/utils/include/moveit/utils/message_checks.h
@@ -0,0 +1,65 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Universitaet Hamburg.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Michael 'v4hn' Goerner */
+
+#pragma once
+
+/** \file empty_msgs.h
+ *  \brief Checks for empty MoveIt-related messages
+ *
+ */
+
+#include <moveit_msgs/PlanningScene.h>
+#include <moveit_msgs/PlanningSceneWorld.h>
+#include <moveit_msgs/RobotState.h>
+#include <moveit_msgs/Constraints.h>
+
+namespace moveit
+{
+namespace core
+{
+/** \brief Check if a message includes any information about a planning scene, or whether it is empty. */
+bool isEmpty(const moveit_msgs::PlanningScene& msg);
+
+/** \brief Check if a message includes any information about a planning scene world, or whether it is empty. */
+bool isEmpty(const moveit_msgs::PlanningSceneWorld& msg);
+
+/** \brief Check if a message includes any information about a robot state, or whether it is empty. */
+bool isEmpty(const moveit_msgs::RobotState& msg);
+
+/** \brief Check if a message specifies constraints */
+bool isEmpty(const moveit_msgs::Constraints& msg);
+}
+}
diff --git a/moveit_core/utils/src/message_checks.cpp b/moveit_core/utils/src/message_checks.cpp
new file mode 100644
index 0000000000..b466e4768b
--- /dev/null
+++ b/moveit_core/utils/src/message_checks.cpp
@@ -0,0 +1,73 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Universitaet Hamburg.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Hamburg University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Michael Goerner */
+
+#include <moveit/utils/message_checks.h>
+
+namespace moveit
+{
+namespace core
+{
+bool isEmpty(const moveit_msgs::PlanningScene& msg)
+{
+  return msg.name.empty() && msg.fixed_frame_transforms.empty() && msg.allowed_collision_matrix.entry_names.empty() &&
+         msg.link_padding.empty() && msg.link_scale.empty() && isEmpty(msg.robot_state) && isEmpty(msg.world);
+}
+
+bool isEmpty(const moveit_msgs::PlanningSceneWorld& msg)
+{
+  return msg.collision_objects.empty() && msg.octomap.octomap.data.empty();
+}
+
+bool isEmpty(const moveit_msgs::RobotState& msg)
+{
+  /* a state is empty if it includes no information and it is a diff; if the state is not a diff, then the implicit
+     information is
+     that the set of attached bodies is empty, so they must be cleared from the state to be updated */
+  return static_cast<bool>(msg.is_diff) && msg.multi_dof_joint_state.joint_names.empty() &&
+         msg.joint_state.name.empty() && msg.attached_collision_objects.empty() && msg.joint_state.position.empty() &&
+         msg.joint_state.velocity.empty() && msg.joint_state.effort.empty() &&
+         msg.multi_dof_joint_state.transforms.empty() && msg.multi_dof_joint_state.twist.empty() &&
+         msg.multi_dof_joint_state.wrench.empty();
+}
+
+bool isEmpty(const moveit_msgs::Constraints& constr)
+{
+  return constr.position_constraints.empty() && constr.orientation_constraints.empty() &&
+         constr.visibility_constraints.empty() && constr.joint_constraints.empty();
+}
+
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
index f1cd7d56c6..e2cbf39c25 100644
--- a/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
@@ -42,6 +42,7 @@
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
 #include <moveit/kinematic_constraints/utils.h>
+#include <moveit/utils/message_checks.h>
 
 #include <boost/math/constants/constants.hpp>
 #include <sstream>
@@ -165,7 +166,7 @@ int main(int argc, char** argv)
     }
   }
 
-  if (kinematic_constraints::isEmpty(params.constraints))
+  if (moveit::core::isEmpty(params.constraints))
   {
     ROS_FATAL_NAMED(LOGNAME, "Abort. Constraint description is an empty set of constraints.");
     return 1;
diff --git a/moveit_ros/manipulation/pick_place/src/pick.cpp b/moveit_ros/manipulation/pick_place/src/pick.cpp
index 5b922a6589..f2e868ae79 100644
--- a/moveit_ros/manipulation/pick_place/src/pick.cpp
+++ b/moveit_ros/manipulation/pick_place/src/pick.cpp
@@ -38,6 +38,7 @@
 #include <moveit/pick_place/reachable_valid_pose_filter.h>
 #include <moveit/pick_place/approach_and_translate_stage.h>
 #include <moveit/pick_place/plan_stage.h>
+#include <moveit/utils/message_checks.h>
 #include <ros/console.h>
 
 namespace pick_place
@@ -230,7 +231,7 @@ PickPlanPtr PickPlace::planPick(const planning_scene::PlanningSceneConstPtr& pla
 {
   PickPlanPtr p(new PickPlan(shared_from_this()));
 
-  if (planning_scene::PlanningScene::isEmpty(goal.planning_options.planning_scene_diff))
+  if (moveit::core::isEmpty(goal.planning_options.planning_scene_diff))
     p->plan(planning_scene, goal);
   else
     p->plan(planning_scene->diff(goal.planning_options.planning_scene_diff), goal);
diff --git a/moveit_ros/manipulation/pick_place/src/place.cpp b/moveit_ros/manipulation/pick_place/src/place.cpp
index 098d5c1438..ae7e1f04cf 100644
--- a/moveit_ros/manipulation/pick_place/src/place.cpp
+++ b/moveit_ros/manipulation/pick_place/src/place.cpp
@@ -39,6 +39,7 @@
 #include <moveit/pick_place/approach_and_translate_stage.h>
 #include <moveit/pick_place/plan_stage.h>
 #include <moveit/robot_state/conversions.h>
+#include <moveit/utils/message_checks.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <ros/console.h>
 
@@ -369,7 +370,7 @@ PlacePlanPtr PickPlace::planPlace(const planning_scene::PlanningSceneConstPtr& p
                                   const moveit_msgs::PlaceGoal& goal) const
 {
   PlacePlanPtr p(new PlacePlan(shared_from_this()));
-  if (planning_scene::PlanningScene::isEmpty(goal.planning_options.planning_scene_diff))
+  if (moveit::core::isEmpty(goal.planning_options.planning_scene_diff))
     p->plan(planning_scene, goal);
   else
     p->plan(planning_scene->diff(goal.planning_options.planning_scene_diff), goal);
diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
index 15d5d29c60..a2f467b1d9 100644
--- a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
@@ -36,7 +36,7 @@
 
 #include "cartesian_path_service_capability.h"
 #include <moveit/robot_state/conversions.h>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/utils/message_checks.h>
 #include <moveit/collision_detection/collision_tools.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <moveit/move_group/capability_names.h>
@@ -131,7 +131,7 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
           robot_state::GroupStateValidityCallbackFn constraint_fn;
           std::unique_ptr<planning_scene_monitor::LockedPlanningSceneRO> ls;
           std::unique_ptr<kinematic_constraints::KinematicConstraintSet> kset;
-          if (req.avoid_collisions || !kinematic_constraints::isEmpty(req.path_constraints))
+          if (req.avoid_collisions || !moveit::core::isEmpty(req.path_constraints))
           {
             ls.reset(new planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_));
             kset.reset(new kinematic_constraints::KinematicConstraintSet((*ls)->getRobotModel()));
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
index 73e3932e18..b1e86fa6b4 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
@@ -36,7 +36,7 @@
 
 #include "kinematics_service_capability.h"
 #include <moveit/robot_state/conversions.h>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/utils/message_checks.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <moveit/move_group/capability_names.h>
 
@@ -148,7 +148,7 @@ bool MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPositionIK::Re
   context_->planning_scene_monitor_->updateFrameTransforms();
 
   // check if the planning scene needs to be kept locked; if so, call computeIK() in the scope of the lock
-  if (req.ik_request.avoid_collisions || !kinematic_constraints::isEmpty(req.ik_request.constraints))
+  if (req.ik_request.avoid_collisions || !moveit::core::isEmpty(req.ik_request.constraints))
   {
     planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
     kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
index cc6c36557a..26c619b7d8 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
@@ -41,6 +41,7 @@
 #include <moveit/plan_execution/plan_with_sensing.h>
 #include <moveit/trajectory_processing/trajectory_tools.h>
 #include <moveit/kinematic_constraints/utils.h>
+#include <moveit/utils/message_checks.h>
 #include <moveit/move_group/capability_names.h>
 
 namespace move_group
@@ -102,7 +103,7 @@ void MoveGroupMoveAction::executeMoveCallbackPlanAndExecute(const moveit_msgs::M
   ROS_INFO_NAMED(getName(), "Combined planning and execution request received for MoveGroup action. "
                             "Forwarding to planning and execution pipeline.");
 
-  if (planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff))
+  if (moveit::core::isEmpty(goal->planning_options.planning_scene_diff))
   {
     planning_scene_monitor::LockedPlanningSceneRO lscene(context_->planning_scene_monitor_);
     const robot_state::RobotState& current_state = lscene->getCurrentState();
@@ -122,10 +123,9 @@ void MoveGroupMoveAction::executeMoveCallbackPlanAndExecute(const moveit_msgs::M
   plan_execution::PlanExecution::Options opt;
 
   const moveit_msgs::MotionPlanRequest& motion_plan_request =
-      planning_scene::PlanningScene::isEmpty(goal->request.start_state) ? goal->request :
-                                                                          clearRequestStartState(goal->request);
+      moveit::core::isEmpty(goal->request.start_state) ? goal->request : clearRequestStartState(goal->request);
   const moveit_msgs::PlanningScene& planning_scene_diff =
-      planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
+      moveit::core::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
           goal->planning_options.planning_scene_diff :
           clearSceneRobotState(goal->planning_options.planning_scene_diff);
 
@@ -168,7 +168,7 @@ void MoveGroupMoveAction::executeMoveCallbackPlanOnly(const moveit_msgs::MoveGro
   // lock the scene so that it does not modify the world representation while diff() is called
   planning_scene_monitor::LockedPlanningSceneRO lscene(context_->planning_scene_monitor_);
   const planning_scene::PlanningSceneConstPtr& the_scene =
-      (planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff)) ?
+      (moveit::core::isEmpty(goal->planning_options.planning_scene_diff)) ?
           static_cast<const planning_scene::PlanningSceneConstPtr&>(lscene) :
           lscene->diff(goal->planning_options.planning_scene_diff);
   planning_interface::MotionPlanResponse res;
diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
index 16e6714665..c333f4a9a7 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
@@ -36,7 +36,7 @@
 
 #include "state_validation_service_capability.h"
 #include <moveit/robot_state/conversions.h>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/utils/message_checks.h>
 #include <moveit/collision_detection/collision_tools.h>
 #include <moveit/move_group/capability_names.h>
 
@@ -100,7 +100,7 @@ bool MoveGroupStateValidationService::computeService(moveit_msgs::GetStateValidi
   }
 
   // evaluate constraints
-  if (!kinematic_constraints::isEmpty(req.constraints))
+  if (!moveit::core::isEmpty(req.constraints))
   {
     kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
     kset.add(req.constraints, ls->getTransforms());
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index 6621592343..e3f9bb84a9 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -38,6 +38,7 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/trajectory_processing/trajectory_tools.h>
 #include <moveit/collision_detection/collision_tools.h>
+#include <moveit/utils/message_checks.h>
 #include <boost/algorithm/string/join.hpp>
 
 #include <dynamic_reconfigure/server.h>
@@ -141,7 +142,7 @@ void plan_execution::PlanExecution::planAndExecute(ExecutableMotionPlan& plan, c
 void plan_execution::PlanExecution::planAndExecute(ExecutableMotionPlan& plan,
                                                    const moveit_msgs::PlanningScene& scene_diff, const Options& opt)
 {
-  if (planning_scene::PlanningScene::isEmpty(scene_diff))
+  if (moveit::core::isEmpty(scene_diff))
     planAndExecute(plan, opt);
   else
   {
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index 23a0ca3f28..a2138f668d 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -36,6 +36,7 @@
 
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/utils/message_checks.h>
 #include <moveit/exceptions/exceptions.h>
 #include <moveit_msgs/GetPlanningScene.h>
 
@@ -565,13 +566,13 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::PlanningSc
     if (no_other_scene_upd)
     {
       upd = UPDATE_NONE;
-      if (!planning_scene::PlanningScene::isEmpty(scene.world))
+      if (!moveit::core::isEmpty(scene.world))
         upd = (SceneUpdateType)((int)upd | (int)UPDATE_GEOMETRY);
 
       if (!scene.fixed_frame_transforms.empty())
         upd = (SceneUpdateType)((int)upd | (int)UPDATE_TRANSFORMS);
 
-      if (!planning_scene::PlanningScene::isEmpty(scene.robot_state))
+      if (!moveit::core::isEmpty(scene.robot_state))
       {
         upd = (SceneUpdateType)((int)upd | (int)UPDATE_STATE);
         if (!scene.robot_state.attached_collision_objects.empty() || !static_cast<bool>(scene.robot_state.is_diff))
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 70f2173d6a..98e024fea0 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -36,7 +36,7 @@
 
 #include <moveit/robot_state_rviz_plugin/robot_state_display.h>
 #include <moveit/robot_state/conversions.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/utils/message_checks.h>
 
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
@@ -306,7 +306,7 @@ void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::DisplayRobotSta
   // possibly use TF to construct a robot_state::Transforms object to pass in to the conversion function?
   try
   {
-    if (!planning_scene::PlanningScene::isEmpty(state_msg->state))
+    if (!moveit::core::isEmpty(state_msg->state))
       robot_state::robotStateMsgToRobotState(state_msg->state, *robot_state_);
     setRobotHighlights(state_msg->highlight_links);
   }

From 1f4de10e72e2a414a6df421df396a84677e8af5f Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Wed, 21 Aug 2019 04:35:47 -0700
Subject: [PATCH 043/612] favor ros::Duration.sleep over sleep. (#1634)

---
 .../planning_components_tools/src/display_random_state.cpp    | 2 +-
 .../planning_components_tools/src/publish_scene_from_text.cpp | 2 +-
 .../planning/planning_scene_monitor/demos/demo_scene.cpp      | 2 +-
 .../planning_interface/move_group_interface/src/demo.cpp      | 2 +-
 moveit_setup_assistant/src/widgets/start_screen_widget.cpp    | 4 ++--
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp b/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp
index f70c4e0860..ac7bf2c7ec 100644
--- a/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp
@@ -136,7 +136,7 @@ int main(int argc, char** argv)
       pub_scene.publish(psmsg);
       std::cout << psm.getPlanningScene()->getCurrentState() << std::endl;
 
-      sleep(1);
+      ros::Duration(1).sleep();
     }
   } while (nh.ok());
 
diff --git a/moveit_ros/planning/planning_components_tools/src/publish_scene_from_text.cpp b/moveit_ros/planning/planning_components_tools/src/publish_scene_from_text.cpp
index 274e250433..b2f441d5c8 100644
--- a/moveit_ros/planning/planning_components_tools/src/publish_scene_from_text.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/publish_scene_from_text.cpp
@@ -90,7 +90,7 @@ int main(int argc, char** argv)
       else
         pub_scene.publish(ps_msg.world);
 
-      sleep(1);
+      ros::Duration(1).sleep();
     }
   }
   else
diff --git a/moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp b/moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp
index 681d6af0d2..976f1ba678 100644
--- a/moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp
@@ -76,7 +76,7 @@ void sendKnife()
   co.primitive_poses[0].orientation.w = 1.0;
 
   pub_aco.publish(aco);
-  sleep(1);
+  ros::Duration(1).sleep();
   pub_aco.publish(aco);
   ROS_INFO("Object published.");
   ros::Duration(1.5).sleep();
diff --git a/moveit_ros/planning_interface/move_group_interface/src/demo.cpp b/moveit_ros/planning_interface/move_group_interface/src/demo.cpp
index 6aba08bcc6..0bd7017fce 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/demo.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/demo.cpp
@@ -115,7 +115,7 @@ int main(int argc, char** argv)
   moveit::planning_interface::MoveGroupInterface group(argc > 1 ? argv[1] : "right_arm");
   demoPlace(group);
 
-  sleep(2);
+  ros::Duration(2).sleep();
 
   return 0;
 }
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 10320c3b1f..a980d61071 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -561,7 +561,7 @@ bool StartScreenWidget::loadURDFFile(const std::string& urdf_file_path, const st
   while (!nh.ok() && steps < 4)
   {
     ROS_WARN("Waiting for node handle");
-    sleep(1);
+    ros::Duration(1).sleep();
     steps++;
     ros::spinOnce();
   }
@@ -610,7 +610,7 @@ bool StartScreenWidget::setSRDFFile(const std::string& srdf_string)
   while (!nh.ok() && steps < 4)
   {
     ROS_WARN("Waiting for node handle");
-    sleep(1);
+    ros::Duration(1).sleep();
     steps++;
     ros::spinOnce();
   }

From 8066a509ddb3a4c61ca2ebe2add8f0e2997e95d0 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 21 Aug 2019 17:13:13 +0200
Subject: [PATCH 044/612] Unified Collision Environment Integration (#1584)

* Unified collision environment

* Integrating FCL unified environment into the planning scene

* Distance field collision environment

* Collision distance field and hybrid compiles

* PR review:
  * collision environmnet test cases adapted
  * allocating of child planning scenes
  * valided padding and scaling added
  * reordering of member variables and functions
  * license adaptions

* Unified all_valid collision detector

* Replace references to CollisionWorld / CollisionRobot to new CollisionEnv

* SBPL planner adapted for unified collision environment

* PR review:
  * added as author
  * added documentation to collision environments

* Added change description to migration notes.

* Replaced getCollisionWorld/Robot with getCollisionEnv functions

* PR review:
  * change to pragma once include guards
  * enable test
---
 MIGRATION.md                                  |   1 +
 .../collision_detection/CMakeLists.txt        |   6 +-
 .../collision_detector_allocator_allvalid.h   |   8 +-
 ...ld_allvalid.h => collision_env_allvalid.h} |  54 +-
 .../allvalid/collision_robot_allvalid.h       |  85 ---
 .../collision_detector_allocator.h            |  34 +-
 .../{collision_robot.h => collision_env.h}    | 231 +++----
 .../collision_octomap_filter.h                |   2 +-
 .../collision_detection/collision_plugin.h    |   6 +-
 .../collision_detection/collision_world.h     | 279 --------
 ...llvalid.cpp => collision_env_allvalid.cpp} | 100 ++-
 .../src/allvalid/collision_robot_allvalid.cpp | 171 -----
 ...{collision_robot.cpp => collision_env.cpp} |  91 ++-
 .../src/collision_octomap_filter.cpp          |   1 -
 .../src/collision_world.cpp                   |  96 ---
 .../test/test_all_valid.cpp                   |   8 +-
 .../collision_detection_fcl/CMakeLists.txt    |   6 +-
 .../collision_common.h                        |   2 +-
 .../collision_detector_allocator_fcl.h        |   7 +-
 .../collision_env_fcl.h                       | 157 +++++
 .../collision_robot_fcl.h                     |  97 ---
 .../collision_world_fcl.h                     |  98 ---
 .../src/collision_env_fcl.cpp                 | 434 +++++++++++++
 .../src/collision_robot_fcl.cpp               | 307 ---------
 .../src/collision_world_fcl.cpp               | 299 ---------
 .../test/test_fcl_collision_detection.cpp     | 111 ++--
 .../test/test_fcl_env.cpp                     | 324 ++++++++++
 .../collision_distance_field/CMakeLists.txt   |   6 +-
 .../collision_common_distance_field.h         |   2 +-
 ...lision_detector_allocator_distance_field.h |   8 +-
 .../collision_detector_allocator_hybrid.h     |   8 +-
 ...field.h => collision_env_distance_field.h} | 208 +++---
 .../collision_env_hybrid.h                    | 153 +++++
 .../collision_robot_hybrid.h                  |  98 ---
 .../collision_world_distance_field.h          | 200 ------
 .../collision_world_hybrid.h                  | 116 ----
 ...d.cpp => collision_env_distance_field.cpp} | 595 +++++++++++++++---
 .../src/collision_env_hybrid.cpp              | 185 ++++++
 .../src/collision_robot_hybrid.cpp            |  96 ---
 .../src/collision_world_distance_field.cpp    | 568 -----------------
 .../src/collision_world_hybrid.cpp            | 160 -----
 .../test/test_collision_distance_field.cpp    |  56 +-
 .../kinematic_constraint.h                    |   4 +-
 .../src/kinematic_constraint.cpp              |  12 +-
 .../moveit/planning_scene/planning_scene.h    |  61 +-
 .../planning_scene/src/planning_scene.cpp     | 183 ++----
 .../chomp_motion_planner/chomp_optimizer.h    |   6 +-
 .../src/chomp_optimizer.cpp                   |  19 +-
 .../sbpl_interface/environment_chain3d.h      |   6 +-
 .../src/environment_chain3d.cpp               |  27 +-
 .../src/planning_scene_monitor.cpp            |   8 +-
 .../motion_planning_frame.h                   |   2 +-
 .../src/motion_planning_frame_objects.cpp     |  12 +-
 .../src/planning_scene_render.cpp             |   2 +-
 54 files changed, 2401 insertions(+), 3415 deletions(-)
 rename moveit_core/collision_detection/include/moveit/collision_detection/allvalid/{collision_world_allvalid.h => collision_env_allvalid.h} (57%)
 delete mode 100644 moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
 rename moveit_core/collision_detection/include/moveit/collision_detection/{collision_robot.h => collision_env.h} (60%)
 delete mode 100644 moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
 rename moveit_core/collision_detection/src/allvalid/{collision_world_allvalid.cpp => collision_env_allvalid.cpp} (53%)
 delete mode 100644 moveit_core/collision_detection/src/allvalid/collision_robot_allvalid.cpp
 rename moveit_core/collision_detection/src/{collision_robot.cpp => collision_env.cpp} (66%)
 delete mode 100644 moveit_core/collision_detection/src/collision_world.cpp
 create mode 100644 moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
 delete mode 100644 moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
 delete mode 100644 moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
 create mode 100644 moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
 delete mode 100644 moveit_core/collision_detection_fcl/src/collision_robot_fcl.cpp
 delete mode 100644 moveit_core/collision_detection_fcl/src/collision_world_fcl.cpp
 create mode 100644 moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
 rename moveit_core/collision_distance_field/include/moveit/collision_distance_field/{collision_robot_distance_field.h => collision_env_distance_field.h} (57%)
 create mode 100644 moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
 delete mode 100644 moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
 delete mode 100644 moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
 delete mode 100644 moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
 rename moveit_core/collision_distance_field/src/{collision_robot_distance_field.cpp => collision_env_distance_field.cpp} (68%)
 create mode 100644 moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
 delete mode 100644 moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp
 delete mode 100644 moveit_core/collision_distance_field/src/collision_world_distance_field.cpp
 delete mode 100644 moveit_core/collision_distance_field/src/collision_world_hybrid.cpp

diff --git a/MIGRATION.md b/MIGRATION.md
index 5eca3c2660..7fe1098d53 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -8,6 +8,7 @@ API changes in MoveIt releases
 - Moved the example package `moveit_controller_manager_example` into [moveit_tutorials](https://github.com/ros-planning/moveit_tutorials)
 - Requests to `get_planning_scene` service without explicitly setting "components" now return full scene
 - `moveit_ros_plannning` no longer depends on `moveit_ros_perception`
+- `collision_robot` and `collision_world` are combined into a single `collision_env`. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. `getCollisionRobot[Unpadded] / getCollisionWorld` functions return the new combined environment and will be deprecated in the future.
 
 ## ROS Melodic
 
diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index 21d3bcb5d3..262db3780d 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -1,15 +1,13 @@
 set(MOVEIT_LIB_NAME moveit_collision_detection)
 
 add_library(${MOVEIT_LIB_NAME}
-  src/allvalid/collision_robot_allvalid.cpp
-  src/allvalid/collision_world_allvalid.cpp
+  src/allvalid/collision_env_allvalid.cpp
   src/collision_matrix.cpp
   src/collision_octomap_filter.cpp
-  src/collision_robot.cpp
   src/collision_tools.cpp
-  src/collision_world.cpp
   src/world.cpp
   src/world_diff.cpp
+  src/collision_env.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
index 0382b492d7..7782670035 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
@@ -37,17 +37,15 @@
 #pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>
-#include <moveit/collision_detection/allvalid/collision_world_allvalid.h>
+#include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for AllValid collision detectors */
 class CollisionDetectorAllocatorAllValid
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldAllValid, CollisionRobotAllValid,
-                                                CollisionDetectorAllocatorAllValid>
+    : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_allvalid.cpp
+  static const std::string NAME;  // defined in collision_env_allvalid.cpp
 };
 }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
similarity index 57%
rename from moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h
rename to moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
index dcf045b554..024a59496b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_world_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
@@ -32,45 +32,45 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan */
+/* Author: Ioan Sucan, Jia Pan, Jens Petit */
 
 #pragma once
 
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 
 namespace collision_detection
 {
-class CollisionRobotAllValid;
-
-class CollisionWorldAllValid : public CollisionWorld
+/** \brief Collision environment which always just returns no collisions.
+ *
+ *  This can be used to save resources if collision checking is not important. */
+class CollisionEnvAllValid : public CollisionEnv
 {
 public:
-  CollisionWorldAllValid();
-  explicit CollisionWorldAllValid(const WorldPtr& world);
-  CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world);
+  CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
+  CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
+                       double scale = 1.0);
+  CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world);
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                            const robot_state::RobotState& state) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                           const CollisionWorld& other_world) const override;
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
                            const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                           const robot_state::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                           const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
-  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
-  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
-                               const AllowedCollisionMatrix& acm) const;
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
+  virtual double distanceRobot(const robot_state::RobotState& state) const;
+  virtual double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                      const robot_state::RobotState& state) const override;
-  virtual double distanceWorld(const CollisionWorld& world) const;
-  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;
-  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;
+
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                          const robot_state::RobotState& state) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                          const AllowedCollisionMatrix& acm) const override;
+
+  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                    const robot_state::RobotState& state) const override;
 };
 }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
deleted file mode 100644
index 9ce0e2dc15..0000000000
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_robot_allvalid.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#pragma once
-
-#include <moveit/collision_detection/collision_robot.h>
-
-namespace collision_detection
-{
-class CollisionRobotAllValid : public CollisionRobot
-{
-public:
-  CollisionRobotAllValid(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
-  CollisionRobotAllValid(const CollisionRobot& other);
-
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                          const robot_state::RobotState& state) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                          const AllowedCollisionMatrix& acm) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
-
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot, const robot_state::RobotState& other_state,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1,
-                           const robot_state::RobotState& other_state2) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1, const robot_state::RobotState& other_state2,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  virtual double distanceSelf(const robot_state::RobotState& state) const;
-  virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
-  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const robot_state::RobotState& state) const override;
-
-  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                               const robot_state::RobotState& other_state) const;
-  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                               const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
-  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
-                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
-};
-}
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index 018d6be5e0..f1bb41d857 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -36,8 +36,7 @@
 
 #pragma once
 
-#include <moveit/collision_detection/collision_robot.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/macros/class_forward.h>
 
 namespace collision_detection
@@ -56,22 +55,20 @@ class CollisionDetectorAllocator
   virtual const std::string& getName() const = 0;
 
   /** create a new CollisionWorld for checking collisions with the supplied world. */
-  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;
+  virtual CollisionEnvPtr allocateEnv(const WorldPtr& world,
+                                      const robot_model::RobotModelConstPtr& robot_model) const = 0;
 
   /** create a new CollisionWorld by copying an existing CollisionWorld of the same type.s
    * The world must be either the same world as used by \orig or a copy of that world which has not yet been modified.
    */
-  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;
+  virtual CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const = 0;
 
-  /** create a new CollisionRobot given a robot_model */
-  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;
-
-  /** create a new CollisionRobot by copying an existing CollisionRobot of the same type. */
-  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
+  /** create a new CollisionEnv given a robot_model with a new empty world */
+  virtual CollisionEnvPtr allocateEnv(const robot_model::RobotModelConstPtr& robot_model) const = 0;
 };
 
 /** \brief Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. */
-template <class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
+template <class CollisionEnvType, class CollisionDetectorAllocatorType>
 class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
 {
 public:
@@ -80,24 +77,19 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
     return CollisionDetectorAllocatorType::NAME;
   }
 
-  CollisionWorldPtr allocateWorld(const WorldPtr& world) const override
-  {
-    return CollisionWorldPtr(new CollisionWorldType(world));
-  }
-
-  CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const override
+  CollisionEnvPtr allocateEnv(const WorldPtr& world, const robot_model::RobotModelConstPtr& robot_model) const override
   {
-    return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
+    return CollisionEnvPtr(new CollisionEnvType(robot_model, world));
   }
 
-  CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const override
+  CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const override
   {
-    return CollisionRobotPtr(new CollisionRobotType(robot_model));
+    return CollisionEnvPtr(new CollisionEnvType(dynamic_cast<const CollisionEnvType&>(*orig), world));
   }
 
-  CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const override
+  CollisionEnvPtr allocateEnv(const robot_model::RobotModelConstPtr& robot_model) const override
   {
-    return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
+    return CollisionEnvPtr(new CollisionEnvType(robot_model));
   }
 
   /** Create an allocator for FCL collision detectors */
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
similarity index 60%
rename from moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h
rename to moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
index 2249b56c73..c634ca8597 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
+ *   * Neither the name of the copyright holder nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan */
+/* Author: Ioan Sucan, Jens Petit */
 
 #pragma once
 
@@ -41,34 +41,43 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/LinkPadding.h>
 #include <moveit_msgs/LinkScale.h>
+#include <moveit/collision_detection/world.h>
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(CollisionRobot);
+MOVEIT_CLASS_FORWARD(CollisionEnv);
 
-/** @brief This class represents a collision model of the robot and can be used for self collision checks
-    (to check if the robot is in collision with itself) or in collision checks with a different robot. Collision checks
-   with
-    the environment are performed using the CollisionWorld class. */
-class CollisionRobot
+/** \brief Provides the interface to the individual collision checking libraries. */
+class CollisionEnv
 {
 public:
+  CollisionEnv() = delete;
+
   /** @brief Constructor
    *  @param model A robot model to construct the collision robot from
    *  @param padding The padding to use for all objects/links on the robot
    *  @scale scale A common scaling to use for all objects/links on the robot
    */
-  CollisionRobot(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+  CollisionEnv(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
-  /**  @brief A copy constructor*/
-  CollisionRobot(const CollisionRobot& other);
+  /** @brief Constructor
+   *  @param model A robot model to construct the collision robot from
+   *  @param padding The padding to use for all objects/links on the robot
+   *  @scale scale A common scaling to use for all objects/links on the robot
+   */
+  CollisionEnv(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+               double scale = 1.0);
+
+  /** \brief Copy constructor */
+  CollisionEnv(const CollisionEnv& other, const WorldPtr& world);
 
-  virtual ~CollisionRobot()
+  virtual ~CollisionEnv()
   {
   }
 
-  /** @brief Check for self collision. Any collision between any pair of links is checked for, NO collisions are
+  /** @brief Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are
    *   ignored.
+   *
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
    *  @param state The kinematic state for which checks are being made */
@@ -84,82 +93,75 @@ class CollisionRobot
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
-  /** @brief Check for self collision in a continuous manner. Any collision between any pair of links is checked for,
-   *  NO collisions are ignored.
+  /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
+   *  Any collision between any pair of links is checked for, NO collisions are ignored.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made */
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state1,
-                                  const robot_state::RobotState& state2) const = 0;
+   *  @param state The kinematic state for which checks are being made         */
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res,
+                              const robot_state::RobotState& state) const;
 
-  /** \brief Check for self collision. Allowed collisions specified by the allowed collision matrix are
-   *   taken into account.
+  /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
+   *  Allowed collisions specified by the allowed collision matrix are taken into account.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made
+   *  @param state The kinematic state for which checks are being made
    *  @param acm The allowed collision matrix. */
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                  const AllowedCollisionMatrix& acm) const = 0;
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                              const AllowedCollisionMatrix& acm) const;
 
-  /** \brief Check for collision with a different robot (possibly a different kinematic model as well).
-   *  Any collision between any pair of links is checked for, NO collisions are ignored.
+  /** \brief Check whether the robot model is in collision with the world. Any collisions between a robot link
+   *  and the world are considered. Self collisions are not checked.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state The kinematic state for which checks are being made.
-   *  @param other_robot The collision representation for the other robot
-   *  @param other_state The kinematic state corresponding to the other robot */
-  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                   const robot_state::RobotState& other_state) const = 0;
-
-  /** \brief Check for collision with a different robot (possibly a different kinematic model as well).
-   *  Allowed collisions specified by the allowed collision matrix are taken into account.
+   *  @robot robot The collision model for the robot
+   *  @param state The kinematic state for which checks are being made
+   */
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state) const = 0;
+
+  /** \brief Check whether the robot model is in collision with the world.
+   *  Allowed collisions are ignored. Self collisions are not checked.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state The kinematic state for which checks are being made.
-   *  @param other_robot The collision representation for the other robot
-   *  @param other_state The kinematic state corresponding to the other robot
-   *  @param acm The allowed collision matrix. */
-  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                   const robot_state::RobotState& other_state,
-                                   const AllowedCollisionMatrix& acm) const = 0;
+   *  @robot robot The collision model for the robot
+   *  @param state The kinematic state for which checks are being made
+   *  @param acm The allowed collision matrix.*/
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
-  /** \brief Check for collision with a different robot (possibly a different kinematic model as well), in a continuous
-   * fashion.
-   *  Any collision between any pair of links is checked for, NO collisions are ignored.
+  /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
+   * states).
+   *  Allowed collisions are ignored. Self collisions are not checked.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made (this robot)
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made (this robot)
-   *  @param other_robot The collision representation for the other robot
-   *  @param other_state1 The kinematic state at the start of the segment for which checks are being made (other robot)
-   *  @param other_state2 The kinematic state at the end of the segment for which checks are being made (other robot) */
-  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+   *  @robot robot The collision model for the robot
+   *  @param state1 The kinematic state at the start of the segment for which checks are being made
+   *  @param state2 The kinematic state at the end of the segment for which checks are being made
+   *  @param acm The allowed collision matrix.*/
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                   const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
-                                   const robot_state::RobotState& other_state2) const = 0;
+                                   const AllowedCollisionMatrix& acm) const = 0;
 
-  /** \brief Check for collision with a different robot (possibly a different kinematic model as well), in a continuous
-   * fashion.
-   *  Allowed collisions specified by the allowed collision matrix are taken into account.
+  /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
+   * states).
+   *  Allowed collisions are ignored. Self collisions are not checked.
    *  @param req A CollisionRequest object that encapsulates the collision request
    *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made (this robot)
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made (this robot)
-   *  @param other_robot The collision representation for the other robot
-   *  @param other_state1 The kinematic state at the start of the segment for which checks are being made (other robot)
-   *  @param other_state2 The kinematic state at the end of the segment for which checks are being made (other robot)
-   *  @param acm The allowed collision matrix. */
-  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                   const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
-                                   const robot_state::RobotState& other_state2,
-                                   const AllowedCollisionMatrix& acm) const = 0;
+   *  @robot robot The collision model for the robot
+   *  @param state1 The kinematic state at the start of the segment for which checks are being made
+   *  @param state2 The kinematic state at the end of the segment for which checks are being made
+   *  @param acm The allowed collision matrix.*/
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1,
+                                   const robot_state::RobotState& state2) const = 0;
+
+  /** \brief The distance to self-collision given the robot is at state \e state.
+      @param req A DistanceRequest object that encapsulates the distance request
+      @param res A DistanceResult object that encapsulates the distance result
+      @param state The state of this robot to consider */
+  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                            const robot_state::RobotState& state) const = 0;
 
   /** \brief The distance to self-collision given the robot is at state \e state. */
   inline double distanceSelf(const robot_state::RobotState& state) const
@@ -185,58 +187,69 @@ class CollisionRobot
     return res.minimum_distance.distance;
   }
 
-  /** \brief The distance to self-collision given the robot is at state \e state.
-      @param req A DistanceRequest object that encapsulates the distance request
-      @param res A DistanceResult object that encapsulates the distance result
-      @param state The state of this robot to consider */
-  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const robot_state::RobotState& state) const = 0;
-
-  /** \brief The distance to another robot instance.
-
-
-      @param state The state of this robot to consider
-      @param other_robot The other robot instance to measure distance to
-      @param other_state The state of the other robot */
-  inline double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                              const robot_state::RobotState& other_state) const
+  /** \brief Compute the distance between a robot and the world
+   *  @param req A DistanceRequest object that encapsulates the distance request
+   *  @param res A DistanceResult object that encapsulates the distance result
+   *  @param robot The robot to check distance for
+   *  @param state The state for the robot to check distances from */
+  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                             const robot_state::RobotState& state) const = 0;
+
+  /** \brief Compute the shortest distance between a robot and the world
+   *  @param robot The robot to check distance for
+   *  @param state The state for the robot to check distances from
+   *  @param verbose Output debug information about distance checks */
+  inline double distanceRobot(const robot_state::RobotState& state, bool verbose = false) const
   {
     DistanceRequest req;
     DistanceResult res;
 
+    req.verbose = verbose;
     req.enableGroup(getRobotModel());
-    distanceOther(req, res, state, other_robot, other_state);
+
+    distanceRobot(req, res, state);
     return res.minimum_distance.distance;
   }
 
-  /** \brief The distance to another robot instance, ignoring distances between links that are allowed to always
-     collide.
-
-
-      @param state The state of this robot to consider
-      @param other_robot The other robot instance to measure distance to
-      @param other_state The state of the other robot
-      @param acm The collision matrix specifying which links are allowed to always collide */
-  inline double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                              const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const
+  /** \brief Compute the shortest distance between a robot and the world
+   *  @param robot The robot to check distance for
+   *  @param state The state for the robot to check distances from
+   *  @param acm Using an allowed collision matrix has the effect of ignoring distances from links that are always
+   * allowed to be in collision.
+   *  @param verbose Output debug information about distance checks */
+  inline double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                              bool verbose = false) const
   {
     DistanceRequest req;
     DistanceResult res;
 
-    req.enableGroup(getRobotModel());
     req.acm = &acm;
-    distanceOther(req, res, state, other_robot, other_state);
+    req.verbose = verbose;
+    req.enableGroup(getRobotModel());
+
+    distanceRobot(req, res, state);
     return res.minimum_distance.distance;
   }
 
-  /** \brief The distance to self-collision given the robot is at state \e state.
-      @param req A DistanceRequest object that encapsulates the distance request
-      @param res A DistanceResult object that encapsulates the distance result
-      @param state The state of this robot to consider
-      @param other_robot The other robot instance to measure distance to
-      @param other_state The state of the other robot */
-  virtual void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
-                             const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const = 0;
+  /** set the world to use.
+   * This can be expensive unless the new and old world are empty.
+   * Passing NULL will result in a new empty world being created. */
+  virtual void setWorld(const WorldPtr& world);
+
+  /** access the world geometry */
+  const WorldPtr& getWorld()
+  {
+    return world_;
+  }
+
+  /** access the world geometry */
+  const WorldConstPtr& getWorld() const
+  {
+    return world_const_;
+  }
+
+  typedef World::ObjectPtr ObjectPtr;
+  typedef World::ObjectConstPtr ObjectConstPtr;
 
   /** @brief The kinematic model corresponding to this collision model*/
   const robot_model::RobotModelConstPtr& getRobotModel() const
@@ -306,5 +319,9 @@ class CollisionRobot
 
   /** @brief The internally maintained map (from link names to scaling)*/
   std::map<std::string, double> link_scale_;
+
+private:
+  WorldPtr world_;             // The world always valid, never nullptr.
+  WorldConstPtr world_const_;  // always same as world_
 };
 }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
index 1460b80ff0..ed36a81113 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/collision_detection/collision_common.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 
 namespace collision_detection
 {
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
index 5142e41bb9..320265eb6b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
@@ -35,8 +35,7 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/collision_detection/collision_robot.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/planning_scene/planning_scene.h>
 
 namespace collision_detection
@@ -52,8 +51,7 @@ MOVEIT_CLASS_FORWARD(CollisionPlugin);
  *   {
  *
  *   class MyCollisionDetectorAllocator :
- *     public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionWorld, MyCollisionRobot,
- MyCollisionDetectorAllocator>
+ *     public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionEnv, MyCollisionDetectorAllocator>
  *   {
  *     public:
  *       static const std::string NAME_;
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
deleted file mode 100644
index 717e72ec09..0000000000
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_world.h
+++ /dev/null
@@ -1,279 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan, Sachin Chitta */
-
-#pragma once
-
-#include <boost/utility.hpp>
-
-#include <moveit/collision_detection/collision_matrix.h>
-#include <moveit/collision_detection/collision_robot.h>
-#include <moveit/collision_detection/world.h>
-#include <moveit/macros/class_forward.h>
-
-/** \brief Generic interface to collision detection */
-namespace collision_detection
-{
-MOVEIT_CLASS_FORWARD(CollisionWorld);
-
-/** \brief Perform collision checking with the environment. The
- *  collision world maintains a representation of the environment
- *  that the robot is operating in. */
-class CollisionWorld : private boost::noncopyable
-{
-public:
-  CollisionWorld();
-
-  explicit CollisionWorld(const WorldPtr& world);
-
-  /** \brief A copy constructor. \e other should not be changed while the copy constructor is running.
-   * world must be the same world as used by other or a (not-yet-modified) copy of the world used by other */
-  CollisionWorld(const CollisionWorld& other, const WorldPtr& world);
-
-  virtual ~CollisionWorld()
-  {
-  }
-
-  /**********************************************************************/
-  /* Collision Checking Routines                                        */
-  /**********************************************************************/
-
-  /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
-   *  Any collision between any pair of links is checked for, NO collisions are ignored.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state The kinematic state for which checks are being made         */
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state) const;
-
-  /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
-   *  Allowed collisions specified by the allowed collision matrix are taken into account.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state The kinematic state for which checks are being made
-   *  @param acm The allowed collision matrix. */
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
-
-  /** \brief Check whether the robot model is in collision with itself or the world in a continuous manner
-   *  (between two robot states)
-   *  Any collision between any pair of links is checked for, NO collisions are ignored.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made */
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
-
-  /** \brief Check whether the robot model is in collision with itself or the world in a continuous manner
-   *  (between two robot states).
-   *  Allowed collisions specified by the allowed collision matrix are taken into account.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made
-   *  @param acm The allowed collision matrix. */
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                              const AllowedCollisionMatrix& acm) const;
-
-  /** \brief Check whether the robot model is in collision with the world. Any collisions between a robot link
-   *  and the world are considered. Self collisions are not checked.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @robot robot The collision model for the robot
-   *  @param state The kinematic state for which checks are being made
-   */
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state) const = 0;
-
-  /** \brief Check whether the robot model is in collision with the world.
-   *  Allowed collisions are ignored. Self collisions are not checked.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @robot robot The collision model for the robot
-   *  @param state The kinematic state for which checks are being made
-   *  @param acm The allowed collision matrix.*/
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
-
-  /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
-   * states).
-   *  Any collisions between a robot link and the world are considered. Self collisions are not checked.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @robot robot The collision model for the robot
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made */
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state1,
-                                   const robot_state::RobotState& state2) const = 0;
-
-  /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
-   * states).
-   *  Allowed collisions are ignored. Self collisions are not checked.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @robot robot The collision model for the robot
-   *  @param state1 The kinematic state at the start of the segment for which checks are being made
-   *  @param state2 The kinematic state at the end of the segment for which checks are being made
-   *  @param acm The allowed collision matrix.*/
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                   const AllowedCollisionMatrix& acm) const = 0;
-
-  /** \brief Check whether a given set of objects is in collision with objects from another world.
-   *  Any contacts are considered.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param other_world The other collision world
-   */
-  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const CollisionWorld& other_world) const = 0;
-
-  /** \brief Check whether a given set of objects is in collision with objects from another world.
-   *  Allowed collisions are ignored. Any contacts are considered.
-   *  @param req A CollisionRequest object that encapsulates the collision request
-   *  @param res A CollisionResult object that encapsulates the collision result
-   *  @param other_world The other collision world
-   *  @param acm The allowed collision matrix.*/
-  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                                   const AllowedCollisionMatrix& acm) const = 0;
-
-  /** \brief Compute the shortest distance between a robot and the world
-   *  @param robot The robot to check distance for
-   *  @param state The state for the robot to check distances from
-   *  @param verbose Output debug information about distance checks */
-  inline double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
-                              bool verbose = false) const
-  {
-    DistanceRequest req;
-    DistanceResult res;
-
-    req.verbose = verbose;
-    req.enableGroup(robot.getRobotModel());
-
-    distanceRobot(req, res, robot, state);
-    return res.minimum_distance.distance;
-  }
-
-  /** \brief Compute the shortest distance between a robot and the world
-   *  @param robot The robot to check distance for
-   *  @param state The state for the robot to check distances from
-   *  @param acm Using an allowed collision matrix has the effect of ignoring distances from links that are always
-   * allowed to be in collision.
-   *  @param verbose Output debug information about distance checks */
-  inline double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
-                              const AllowedCollisionMatrix& acm, bool verbose = false) const
-  {
-    DistanceRequest req;
-    DistanceResult res;
-
-    req.acm = &acm;
-    req.verbose = verbose;
-    req.enableGroup(robot.getRobotModel());
-
-    distanceRobot(req, res, robot, state);
-    return res.minimum_distance.distance;
-  }
-
-  /** \brief Compute the distance between a robot and the world
-   *  @param req A DistanceRequest object that encapsulates the distance request
-   *  @param res A DistanceResult object that encapsulates the distance result
-   *  @param robot The robot to check distance for
-   *  @param state The state for the robot to check distances from */
-  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                             const robot_state::RobotState& state) const = 0;
-
-  /** \brief The shortest distance to another world instance (\e world)
-   *  @param verbose Output debug information about distance checks */
-  inline double distanceWorld(const CollisionWorld& world, bool verbose = false) const
-  {
-    DistanceRequest req;
-    DistanceResult res;
-
-    req.verbose = verbose;
-    distanceWorld(req, res, world);
-
-    return res.minimum_distance.distance;
-  }
-
-  /** \brief The shortest distance to another world instance (\e world), ignoring the distances between world elements
-   * that are allowed to collide (as specified by \e acm)
-   *  @param verbose Output debug information about distance checks */
-  inline double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm,
-                              bool verbose = false) const
-  {
-    DistanceRequest req;
-    DistanceResult res;
-
-    req.acm = &acm;
-    req.verbose = verbose;
-    distanceWorld(req, res, world);
-
-    return res.minimum_distance.distance;
-  }
-
-  /** \brief Compute the distance between another world
-   *  @param req A DistanceRequest object that encapsulates the distance request
-   *  @param res A DistanceResult object that encapsulates the distance result
-   *  @param world The world to check distance for */
-  virtual void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const = 0;
-
-  /** set the world to use.
-   * This can be expensive unless the new and old world are empty.
-   * Passing NULL will result in a new empty world being created. */
-  virtual void setWorld(const WorldPtr& world);
-
-  /** access the world geometry */
-  const WorldPtr& getWorld()
-  {
-    return world_;
-  }
-
-  /** access the world geometry */
-  const WorldConstPtr& getWorld() const
-  {
-    return world_const_;
-  }
-
-  typedef World::ObjectPtr ObjectPtr;
-  typedef World::ObjectConstPtr ObjectConstPtr;
-
-private:
-  WorldPtr world_;             // The world.  Always valid.  Never NULL.
-  WorldConstPtr world_const_;  // always same as world_
-};
-}
diff --git a/moveit_core/collision_detection/src/allvalid/collision_world_allvalid.cpp b/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
similarity index 53%
rename from moveit_core/collision_detection/src/allvalid/collision_world_allvalid.cpp
rename to moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
index 023f308a62..bf84110b23 100644
--- a/moveit_core/collision_detection/src/allvalid/collision_world_allvalid.cpp
+++ b/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
@@ -32,118 +32,104 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan */
+/* Author: Ioan Sucan, Jia Pan, Jens Petit */
 
-#include <moveit/collision_detection/allvalid/collision_world_allvalid.h>
+#include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
+#include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h>
 
-collision_detection::CollisionWorldAllValid::CollisionWorldAllValid() : CollisionWorld()
-{
-}
+const std::string collision_detection::CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");
 
-collision_detection::CollisionWorldAllValid::CollisionWorldAllValid(const WorldPtr& world) : CollisionWorld(world)
+collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model,
+                                                                double padding, double scale)
+  : CollisionEnv(robot_model, padding, scale)
 {
 }
 
-collision_detection::CollisionWorldAllValid::CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world)
-  : CollisionWorld(other, world)
+collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model,
+                                                                const WorldPtr& world, double padding, double scale)
+  : CollisionEnv(robot_model, world, padding, scale)
 {
 }
 
-void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionRobot& robot,
-                                                                      const robot_state::RobotState& state) const
+collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world)
+  : CollisionEnv(other, world)
 {
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionRobot& robot,
-                                                                      const robot_state::RobotState& state,
-                                                                      const AllowedCollisionMatrix& acm) const
+void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                    const robot_state::RobotState& state) const
 {
   res.collision = false;
   if (req.verbose)
     ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionRobot& robot,
-                                                                      const robot_state::RobotState& state1,
-                                                                      const robot_state::RobotState& state2) const
+void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                    const robot_state::RobotState& state,
+                                                                    const AllowedCollisionMatrix& acm) const
 {
   res.collision = false;
   if (req.verbose)
     ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionRobot& robot,
-                                                                      const robot_state::RobotState& state1,
-                                                                      const robot_state::RobotState& state2,
-                                                                      const AllowedCollisionMatrix& acm) const
+void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                    const robot_state::RobotState& state1,
+                                                                    const robot_state::RobotState& state2) const
 {
   res.collision = false;
   if (req.verbose)
     ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionWorld& other_world) const
+void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                    const robot_state::RobotState& state1,
+                                                                    const robot_state::RobotState& state2,
+                                                                    const AllowedCollisionMatrix& acm) const
 {
   res.collision = false;
   if (req.verbose)
     ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const CollisionWorld& other_world,
-                                                                      const AllowedCollisionMatrix& acm) const
+void collision_detection::CollisionEnvAllValid::distanceRobot(const collision_detection::DistanceRequest& req,
+                                                              collision_detection::DistanceResult& res,
+                                                              const moveit::core::RobotState& state) const
 {
   res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-double collision_detection::CollisionWorldAllValid::distanceRobot(const CollisionRobot& robot,
-                                                                  const robot_state::RobotState& state) const
+double collision_detection::CollisionEnvAllValid::distanceRobot(const robot_state::RobotState& state) const
 {
   return 0.0;
 }
 
-double collision_detection::CollisionWorldAllValid::distanceRobot(const CollisionRobot& robot,
-                                                                  const robot_state::RobotState& state,
-                                                                  const AllowedCollisionMatrix& acm) const
+double collision_detection::CollisionEnvAllValid::distanceRobot(const robot_state::RobotState& state,
+                                                                const AllowedCollisionMatrix& acm) const
 {
   return 0.0;
 }
 
-void collision_detection::CollisionWorldAllValid::distanceRobot(const collision_detection::DistanceRequest& req,
-                                                                collision_detection::DistanceResult& res,
-                                                                const collision_detection::CollisionRobot& robot,
-                                                                const moveit::core::RobotState& state) const
+void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                   const robot_state::RobotState& state) const
 {
   res.collision = false;
+  if (req.verbose)
+    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-double collision_detection::CollisionWorldAllValid::distanceWorld(const CollisionWorld& world) const
-{
-  return 0.0;
-}
-
-double collision_detection::CollisionWorldAllValid::distanceWorld(const CollisionWorld& world,
-                                                                  const AllowedCollisionMatrix& acm) const
+void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                                                   const robot_state::RobotState& state,
+                                                                   const AllowedCollisionMatrix& acm) const
 {
-  return 0.0;
+  res.collision = false;
+  if (req.verbose)
+    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
 }
 
-void collision_detection::CollisionWorldAllValid::distanceWorld(const collision_detection::DistanceRequest& req,
-                                                                collision_detection::DistanceResult& res,
-                                                                const collision_detection::CollisionWorld& world) const
+void collision_detection::CollisionEnvAllValid::distanceSelf(const collision_detection::DistanceRequest& req,
+                                                             collision_detection::DistanceResult& res,
+                                                             const moveit::core::RobotState& state) const
 {
   res.collision = false;
 }
-
-#include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h>
-const std::string collision_detection::CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");
diff --git a/moveit_core/collision_detection/src/allvalid/collision_robot_allvalid.cpp b/moveit_core/collision_detection/src/allvalid/collision_robot_allvalid.cpp
deleted file mode 100644
index 963f374711..0000000000
--- a/moveit_core/collision_detection/src/allvalid/collision_robot_allvalid.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan, Jia Pan */
-
-#include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>
-
-collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const robot_model::RobotModelConstPtr& robot_model,
-                                                                    double padding, double scale)
-  : CollisionRobot(robot_model, padding, scale)
-{
-}
-
-collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const CollisionRobot& other) : CollisionRobot(other)
-{
-}
-
-void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                     const robot_state::RobotState& state) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                     const robot_state::RobotState& state,
-                                                                     const AllowedCollisionMatrix& acm) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                     const robot_state::RobotState& state1,
-                                                                     const robot_state::RobotState& state2) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                     const robot_state::RobotState& state1,
-                                                                     const robot_state::RobotState& state2,
-                                                                     const AllowedCollisionMatrix& acm) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const robot_state::RobotState& state,
-                                                                      const CollisionRobot& other_robot,
-                                                                      const robot_state::RobotState& other_state) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const robot_state::RobotState& state,
-                                                                      const CollisionRobot& other_robot,
-                                                                      const robot_state::RobotState& other_state,
-                                                                      const AllowedCollisionMatrix& acm) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const robot_state::RobotState& state1,
-                                                                      const robot_state::RobotState& state2,
-                                                                      const CollisionRobot& other_robot,
-                                                                      const robot_state::RobotState& other_state1,
-                                                                      const robot_state::RobotState& other_state2) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                      const robot_state::RobotState& state1,
-                                                                      const robot_state::RobotState& state2,
-                                                                      const CollisionRobot& other_robot,
-                                                                      const robot_state::RobotState& other_state1,
-                                                                      const robot_state::RobotState& other_state2,
-                                                                      const AllowedCollisionMatrix& acm) const
-{
-  res.collision = false;
-  if (req.verbose)
-    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
-}
-
-double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState& state) const
-{
-  return 0.0;
-}
-
-double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState& state,
-                                                                 const AllowedCollisionMatrix& acm) const
-{
-  return 0.0;
-}
-
-void collision_detection::CollisionRobotAllValid::distanceSelf(const collision_detection::DistanceRequest& req,
-                                                               collision_detection::DistanceResult& res,
-                                                               const moveit::core::RobotState& state) const
-{
-  res.collision = false;
-}
-
-double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState& state,
-                                                                  const CollisionRobot& other_robot,
-                                                                  const robot_state::RobotState& other_state) const
-{
-  return 0.0;
-}
-
-double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState& state,
-                                                                  const CollisionRobot& other_robot,
-                                                                  const robot_state::RobotState& other_state,
-                                                                  const AllowedCollisionMatrix& acm) const
-{
-  return 0.0;
-}
-
-void collision_detection::CollisionRobotAllValid::distanceOther(const collision_detection::DistanceRequest& req,
-                                                                collision_detection::DistanceResult& res,
-                                                                const moveit::core::RobotState& state,
-                                                                const collision_detection::CollisionRobot& other_robot,
-                                                                const moveit::core::RobotState& other_state) const
-{
-  res.collision = false;
-}
diff --git a/moveit_core/collision_detection/src/collision_robot.cpp b/moveit_core/collision_detection/src/collision_env.cpp
similarity index 66%
rename from moveit_core/collision_detection/src/collision_robot.cpp
rename to moveit_core/collision_detection/src/collision_env.cpp
index c3e27751a6..131b25676c 100644
--- a/moveit_core/collision_detection/src/collision_robot.cpp
+++ b/moveit_core/collision_detection/src/collision_env.cpp
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
+ *   * Neither the name of the copyright holder nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -32,9 +32,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan */
+/* Author: Ioan Sucan, Jens Petit */
 
-#include <moveit/collision_detection/collision_robot.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <limits>
 
 static inline bool validateScale(double scale)
@@ -69,8 +69,8 @@ static inline bool validatePadding(double padding)
 
 namespace collision_detection
 {
-CollisionRobot::CollisionRobot(const robot_model::RobotModelConstPtr& model, double padding, double scale)
-  : robot_model_(model)
+CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+  : robot_model_(model), world_(new World()), world_const_(world_)
 {
   if (!validateScale(scale))
     scale = 1.0;
@@ -85,13 +85,30 @@ CollisionRobot::CollisionRobot(const robot_model::RobotModelConstPtr& model, dou
   }
 }
 
-CollisionRobot::CollisionRobot(const CollisionRobot& other) : robot_model_(other.robot_model_)
+CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding,
+                           double scale)
+  : robot_model_(model), world_(world), world_const_(world_)
+{
+  if (!validateScale(scale))
+    scale = 1.0;
+  if (!validatePadding(padding))
+    padding = 0.0;
+
+  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  for (auto link : links)
+  {
+    link_padding_[link->getName()] = padding;
+    link_scale_[link->getName()] = scale;
+  }
+}
+
+CollisionEnv::CollisionEnv(const CollisionEnv& other, const WorldPtr& world)
+  : robot_model_(other.robot_model_), world_(world), world_const_(world)
 {
   link_padding_ = other.link_padding_;
   link_scale_ = other.link_scale_;
 }
-
-void CollisionRobot::setPadding(double padding)
+void CollisionEnv::setPadding(double padding)
 {
   if (!validatePadding(padding))
     return;
@@ -107,7 +124,7 @@ void CollisionRobot::setPadding(double padding)
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::setScale(double scale)
+void CollisionEnv::setScale(double scale)
 {
   if (!validateScale(scale))
     return;
@@ -123,8 +140,9 @@ void CollisionRobot::setScale(double scale)
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::setLinkPadding(const std::string& link_name, double padding)
+void CollisionEnv::setLinkPadding(const std::string& link_name, double padding)
 {
+  validatePadding(padding);
   bool update = getLinkPadding(link_name) != padding;
   link_padding_[link_name] = padding;
   if (update)
@@ -134,7 +152,7 @@ void CollisionRobot::setLinkPadding(const std::string& link_name, double padding
   }
 }
 
-double CollisionRobot::getLinkPadding(const std::string& link_name) const
+double CollisionEnv::getLinkPadding(const std::string& link_name) const
 {
   auto it = link_padding_.find(link_name);
   if (it != link_padding_.end())
@@ -143,11 +161,12 @@ double CollisionRobot::getLinkPadding(const std::string& link_name) const
     return 0.0;
 }
 
-void CollisionRobot::setLinkPadding(const std::map<std::string, double>& padding)
+void CollisionEnv::setLinkPadding(const std::map<std::string, double>& padding)
 {
   std::vector<std::string> u;
   for (const auto& link_pad_pair : padding)
   {
+    validatePadding(link_pad_pair.second);
     bool update = getLinkPadding(link_pad_pair.first) != link_pad_pair.second;
     link_padding_[link_pad_pair.first] = link_pad_pair.second;
     if (update)
@@ -157,13 +176,14 @@ void CollisionRobot::setLinkPadding(const std::map<std::string, double>& padding
     updatedPaddingOrScaling(u);
 }
 
-const std::map<std::string, double>& CollisionRobot::getLinkPadding() const
+const std::map<std::string, double>& CollisionEnv::getLinkPadding() const
 {
   return link_padding_;
 }
 
-void CollisionRobot::setLinkScale(const std::string& link_name, double scale)
+void CollisionEnv::setLinkScale(const std::string& link_name, double scale)
 {
+  validateScale(scale);
   bool update = getLinkScale(link_name) != scale;
   link_scale_[link_name] = scale;
   if (update)
@@ -173,7 +193,7 @@ void CollisionRobot::setLinkScale(const std::string& link_name, double scale)
   }
 }
 
-double CollisionRobot::getLinkScale(const std::string& link_name) const
+double CollisionEnv::getLinkScale(const std::string& link_name) const
 {
   auto it = link_scale_.find(link_name);
   if (it != link_scale_.end())
@@ -182,7 +202,7 @@ double CollisionRobot::getLinkScale(const std::string& link_name) const
     return 1.0;
 }
 
-void CollisionRobot::setLinkScale(const std::map<std::string, double>& scale)
+void CollisionEnv::setLinkScale(const std::map<std::string, double>& scale)
 {
   std::vector<std::string> u;
   for (const auto& link_scale_pair : scale)
@@ -196,16 +216,17 @@ void CollisionRobot::setLinkScale(const std::map<std::string, double>& scale)
     updatedPaddingOrScaling(u);
 }
 
-const std::map<std::string, double>& CollisionRobot::getLinkScale() const
+const std::map<std::string, double>& CollisionEnv::getLinkScale() const
 {
   return link_scale_;
 }
 
-void CollisionRobot::setPadding(const std::vector<moveit_msgs::LinkPadding>& padding)
+void CollisionEnv::setPadding(const std::vector<moveit_msgs::LinkPadding>& padding)
 {
   std::vector<std::string> u;
   for (const auto& p : padding)
   {
+    validatePadding(p.padding);
     bool update = getLinkPadding(p.link_name) != p.padding;
     link_padding_[p.link_name] = p.padding;
     if (update)
@@ -215,11 +236,12 @@ void CollisionRobot::setPadding(const std::vector<moveit_msgs::LinkPadding>& pad
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::setScale(const std::vector<moveit_msgs::LinkScale>& scale)
+void CollisionEnv::setScale(const std::vector<moveit_msgs::LinkScale>& scale)
 {
   std::vector<std::string> u;
   for (const auto& s : scale)
   {
+    validateScale(s.scale);
     bool update = getLinkScale(s.link_name) != s.scale;
     link_scale_[s.link_name] = s.scale;
     if (update)
@@ -229,7 +251,7 @@ void CollisionRobot::setScale(const std::vector<moveit_msgs::LinkScale>& scale)
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const
+void CollisionEnv::getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const
 {
   padding.clear();
   for (const auto& lp : link_padding_)
@@ -241,7 +263,7 @@ void CollisionRobot::getPadding(std::vector<moveit_msgs::LinkPadding>& padding)
   }
 }
 
-void CollisionRobot::getScale(std::vector<moveit_msgs::LinkScale>& scale) const
+void CollisionEnv::getScale(std::vector<moveit_msgs::LinkScale>& scale) const
 {
   scale.clear();
   for (const auto& ls : link_scale_)
@@ -253,8 +275,33 @@ void CollisionRobot::getScale(std::vector<moveit_msgs::LinkScale>& scale) const
   }
 }
 
-void CollisionRobot::updatedPaddingOrScaling(const std::vector<std::string>& links)
+void CollisionEnv::updatedPaddingOrScaling(const std::vector<std::string>& links)
+{
+}
+
+void CollisionEnv::setWorld(const WorldPtr& world)
+{
+  world_ = world;
+  if (!world_)
+    world_.reset(new World());
+
+  world_const_ = world;
+}
+
+void CollisionEnv::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state) const
+{
+  checkSelfCollision(req, res, state);
+  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
+    checkRobotCollision(req, res, state);
+}
+
+void CollisionEnv::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
 {
+  checkSelfCollision(req, res, state, acm);
+  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
+    checkRobotCollision(req, res, state, acm);
 }
 
 }  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
index 5305727973..051a7afd25 100644
--- a/moveit_core/collision_detection/src/collision_octomap_filter.cpp
+++ b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
@@ -36,7 +36,6 @@
 
 #include <moveit/collision_detection/collision_common.h>
 #include <moveit/collision_detection/collision_octomap_filter.h>
-#include <moveit/collision_detection/collision_world.h>
 #include <octomap/math/Vector3.h>
 #include <octomap/math/Utils.h>
 #include <octomap/octomap.h>
diff --git a/moveit_core/collision_detection/src/collision_world.cpp b/moveit_core/collision_detection/src/collision_world.cpp
deleted file mode 100644
index ec2f3abcf9..0000000000
--- a/moveit_core/collision_detection/src/collision_world.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#include <moveit/collision_detection/collision_world.h>
-#include <geometric_shapes/shape_operations.h>
-
-namespace collision_detection
-{
-CollisionWorld::CollisionWorld() : world_(new World()), world_const_(world_)
-{
-}
-
-CollisionWorld::CollisionWorld(const WorldPtr& world) : world_(world), world_const_(world)
-{
-}
-
-CollisionWorld::CollisionWorld(const CollisionWorld& other, const WorldPtr& world) : world_(world), world_const_(world)
-{
-}
-
-void CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                    const robot_state::RobotState& state) const
-{
-  robot.checkSelfCollision(req, res, state);
-  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    checkRobotCollision(req, res, robot, state);
-}
-
-void CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                    const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
-{
-  robot.checkSelfCollision(req, res, state, acm);
-  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    checkRobotCollision(req, res, robot, state, acm);
-}
-
-void CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2) const
-{
-  robot.checkSelfCollision(req, res, state1, state2);
-  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    checkRobotCollision(req, res, robot, state1, state2);
-}
-
-void CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                    const AllowedCollisionMatrix& acm) const
-{
-  robot.checkSelfCollision(req, res, state1, state2, acm);
-  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    checkRobotCollision(req, res, robot, state1, state2, acm);
-}
-
-void CollisionWorld::setWorld(const WorldPtr& world)
-{
-  world_ = world;
-  if (!world_)
-    world_.reset(new World());
-
-  world_const_ = world;
-}
-
-}  // end of namespace collision_detection
\ No newline at end of file
diff --git a/moveit_core/collision_detection/test/test_all_valid.cpp b/moveit_core/collision_detection/test/test_all_valid.cpp
index 47a33a81cf..435f473980 100644
--- a/moveit_core/collision_detection/test/test_all_valid.cpp
+++ b/moveit_core/collision_detection/test/test_all_valid.cpp
@@ -36,14 +36,12 @@
 
 #include <gtest/gtest.h>
 #include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h>
-#include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>
-#include <moveit/collision_detection/allvalid/collision_world_allvalid.h>
+#include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
 
 TEST(AllValid, Instantiate)
 {
   using namespace collision_detection;
   CollisionDetectorAllocatorAllValid allocator;
-  CollisionWorldAllValid world;
 
   urdf::ModelInterfaceSharedPtr urdf_model;
   urdf_model.reset(new urdf::ModelInterface());
@@ -51,11 +49,11 @@ TEST(AllValid, Instantiate)
   srdf_model.reset(new srdf::Model());
   robot_model::RobotModelConstPtr robot_model;
   robot_model.reset(new robot_model::RobotModel(urdf_model, srdf_model));
-  CollisionRobotAllValid robot(robot_model);
+  CollisionEnvAllValid env(robot_model);
 }
 
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 74149b6552..939f958d32 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -2,8 +2,7 @@ set(MOVEIT_LIB_NAME moveit_collision_detection_fcl)
 
 add_library(${MOVEIT_LIB_NAME}
   src/collision_common.cpp
-  src/collision_robot_fcl.cpp
-  src/collision_world_fcl.cpp
+  src/collision_env_fcl.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
@@ -30,4 +29,7 @@ if(CATKIN_ENABLE_TESTING)
 
   catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+
+  catkin_add_gtest(test_fcl_collision_env test/test_fcl_env.cpp)
+  target_link_libraries(test_fcl_collision_env moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 endif()
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 347a9426d1..87fd375580 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/collision_detection/world.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection_fcl/fcl_compat.h>
 
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
index a72b4fd5d6..88bcfcddae 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
@@ -37,16 +37,15 @@
 #pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
-#include <moveit/collision_detection_fcl/collision_world_fcl.h>
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
 class CollisionDetectorAllocatorFCL
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL>
+    : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_fcl.cpp
+  static const std::string NAME;  // defined in collision_env_fcl.cpp
 };
 }
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
new file mode 100644
index 0000000000..b2819a6147
--- /dev/null
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -0,0 +1,157 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Ioan Sucan, Jens Petit */
+
+#pragma once
+
+#include <moveit/collision_detection/collision_env.h>
+#include <moveit/collision_detection_fcl/collision_common.h>
+
+#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
+#include <fcl/broadphase/broadphase_collision_manager.h>
+#else
+#include <fcl/broadphase/broadphase.h>
+#endif
+
+#include <memory>
+
+namespace collision_detection
+{
+/** \brief FCL implementation of the CollisionEnv */
+class CollisionEnvFCL : public CollisionEnv
+{
+public:
+  CollisionEnvFCL() = delete;
+
+  CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+
+  CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+                  double scale = 1.0);
+
+  CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& world);
+
+  ~CollisionEnvFCL() override;
+
+  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state) const override;
+
+  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state,
+                                  const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state,
+                                   const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1,
+                                   const robot_state::RobotState& state2) const override;
+
+  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                            const robot_state::RobotState& state) const override;
+
+  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                             const robot_state::RobotState& state) const override;
+
+  void setWorld(const WorldPtr& world) override;
+
+protected:
+  /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
+   */
+  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
+
+  /** \brief Bundles the different checkSelfCollision functions into a single function */
+  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                                const AllowedCollisionMatrix* acm) const;
+
+  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Construct an FCL collision object from MoveIt's World::Object. */
+  void constructFCLObjectWorld(const World::Object* obj, FCLObject& fcl_obj) const;
+
+  /** \brief Updates the specified object in \m fcl_objs_ and in the manager from new data available in the World.
+   *
+   *  If it does not exist in world, it is deleted. If it's not existing in \m fcl_objs_ yet, it's added there. */
+  void updateFCLObject(const std::string& id);
+
+  /** \brief Out of the current robot state and its attached bodies construct an FCLObject which can then be used to
+  *   check for collision.
+  *
+  *   The current state is used to recalculate the AABB of the FCL collision objects. However they are not computed from
+  *   scratch (which would require call to computeLocalAABB()) but are only transformed according to the joint states.
+  *
+  *   \param state The current robot state
+  *   \param fcl_obj The newly filled object */
+  void constructFCLObjectRobot(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
+
+  /** \brief Prepares for the collision check through constructing an FCL collision object out of the current robot
+  *   state and specifying a broadphase collision manager of FCL where the constructed object is registered to. */
+  void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
+
+  /** \brief Converts all shapes which make up an atttached body into a vector of FCLGeometryConstPtr.
+  *
+  *   When they are converted, they can be added to the FCL representation of the robot for collision checking.
+  *
+  *   \param ab Pointer to the attached body
+  *   \param geoms Output vector of geometries
+  */
+  void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
+
+  /** \brief Vector of shared pointers to the FCL geometry for the objects in fcl_objs_. */
+  std::vector<FCLGeometryConstPtr> robot_geoms_;
+
+  /** \brief Vector of shared pointers to the FCL collision objects which make up the robot */
+  std::vector<FCLCollisionObjectConstPtr> robot_fcl_objs_;
+
+  /// FCL collision manager which handles the collision checking process
+  std::unique_ptr<fcl::BroadPhaseCollisionManagerd> manager_;
+
+  std::map<std::string, FCLObject> fcl_objs_;
+
+private:
+  /** \brief Callback function executed for each change to the world environment */
+  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
+
+  World::ObserverHandle observer_handle_;
+};
+}
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
deleted file mode 100644
index 917658bab3..0000000000
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_robot_fcl.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#pragma once
-
-#include <moveit/collision_detection_fcl/collision_common.h>
-
-namespace collision_detection
-{
-class CollisionRobotFCL : public CollisionRobot
-{
-  friend class CollisionWorldFCL;
-
-public:
-  CollisionRobotFCL(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
-
-  CollisionRobotFCL(const CollisionRobotFCL& other);
-
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                          const robot_state::RobotState& state) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                          const AllowedCollisionMatrix& acm) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
-
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot, const robot_state::RobotState& other_state,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1,
-                           const robot_state::RobotState& other_state2) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1, const robot_state::RobotState& other_state2,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const robot_state::RobotState& state) const override;
-
-  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
-                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
-
-protected:
-  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
-  void constructFCLObject(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
-  void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
-  void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
-
-  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                                const AllowedCollisionMatrix* acm) const;
-  void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                 const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                 const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
-
-  std::vector<FCLGeometryConstPtr> geoms_;
-  std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
-};
-}
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
deleted file mode 100644
index 65cc476471..0000000000
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_world_fcl.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#pragma once
-
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
-#include <moveit/collision_detection_fcl/fcl_compat.h>
-
-#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
-#include <fcl/broadphase/broadphase_collision_manager.h>
-#else
-#include <fcl/broadphase/broadphase.h>
-#endif
-
-#include <memory>
-
-namespace collision_detection
-{
-class CollisionWorldFCL : public CollisionWorld
-{
-public:
-  CollisionWorldFCL();
-  explicit CollisionWorldFCL(const WorldPtr& world);
-  CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world);
-  ~CollisionWorldFCL() override;
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                           const CollisionWorld& other_world) const override;
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                     const robot_state::RobotState& state) const override;
-
-  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;
-
-  void setWorld(const WorldPtr& world) override;
-
-protected:
-  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                                 const AllowedCollisionMatrix* acm) const;
-  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
-
-  void constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const;
-  void updateFCLObject(const std::string& id);
-
-  std::unique_ptr<fcl::BroadPhaseCollisionManagerd> manager_;
-  std::map<std::string, FCLObject> fcl_objs_;
-
-private:
-  void initialize();
-  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
-  World::ObserverHandle observer_handle_;
-};
-}
diff --git a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
new file mode 100644
index 0000000000..20ef171fbc
--- /dev/null
+++ b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
@@ -0,0 +1,434 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Ioan Sucan, Jens Petit */
+
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection_fcl/collision_common.h>
+
+#include <moveit/collision_detection_fcl/fcl_compat.h>
+
+#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
+#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
+#endif
+
+namespace collision_detection
+{
+const std::string CollisionDetectorAllocatorFCL::NAME("FCL");
+
+CollisionEnvFCL::CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+  : CollisionEnv(model, padding, scale)
+{
+  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  std::size_t index;
+  robot_geoms_.resize(robot_model_->getLinkGeometryCount());
+  robot_fcl_objs_.resize(robot_model_->getLinkGeometryCount());
+  // we keep the same order of objects as what RobotState *::getLinkState() returns
+  for (auto link : links)
+    for (std::size_t j = 0; j < link->getShapes().size(); ++j)
+    {
+      FCLGeometryConstPtr link_geometry = createCollisionGeometry(link->getShapes()[j], getLinkScale(link->getName()),
+                                                                  getLinkPadding(link->getName()), link, j);
+      if (link_geometry)
+      {
+        index = link->getFirstCollisionBodyTransformIndex() + j;
+        robot_geoms_[index] = link_geometry;
+
+        // Need to store the FCL object so the AABB does not get recreated every time.
+        // Every time this object is created, g->computeLocalAABB() is called  which is
+        // very expensive and should only be calculated once. To update the AABB, use the
+        // collObj->setTransform and then call collObj->computeAABB() to transform the AABB.
+        robot_fcl_objs_[index] =
+            FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(link_geometry->collision_geometry_));
+      }
+      else
+        ROS_ERROR_NAMED("collision_detection.fcl", "Unable to construct collision geometry for link '%s'",
+                        link->getName().c_str());
+    }
+
+  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
+  // m->tree_init_level = 2;
+  manager_.reset(m);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+}
+
+CollisionEnvFCL::CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding,
+                                 double scale)
+  : CollisionEnv(model, world, padding, scale)
+{
+  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  std::size_t index;
+  robot_geoms_.resize(robot_model_->getLinkGeometryCount());
+  robot_fcl_objs_.resize(robot_model_->getLinkGeometryCount());
+  // we keep the same order of objects as what RobotState *::getLinkState() returns
+  for (auto link : links)
+    for (std::size_t j = 0; j < link->getShapes().size(); ++j)
+    {
+      FCLGeometryConstPtr g = createCollisionGeometry(link->getShapes()[j], getLinkScale(link->getName()),
+                                                      getLinkPadding(link->getName()), link, j);
+      if (g)
+      {
+        index = link->getFirstCollisionBodyTransformIndex() + j;
+        robot_geoms_[index] = g;
+
+        // Need to store the FCL object so the AABB does not get recreated every time.
+        // Every time this object is created, g->computeLocalAABB() is called  which is
+        // very expensive and should only be calculated once. To update the AABB, use the
+        // collObj->setTransform and then call collObj->computeAABB() to transform the AABB.
+        robot_fcl_objs_[index] = FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(g->collision_geometry_));
+      }
+      else
+        ROS_ERROR_NAMED("collision_detection.fcl", "Unable to construct collision geometry for link '%s'",
+                        link->getName().c_str());
+    }
+
+  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
+  // m->tree_init_level = 2;
+  manager_.reset(m);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+CollisionEnvFCL::~CollisionEnvFCL()
+{
+  getWorld()->removeObserver(observer_handle_);
+}
+
+CollisionEnvFCL::CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& world) : CollisionEnv(other, world)
+{
+  robot_geoms_ = other.robot_geoms_;
+  robot_fcl_objs_ = other.robot_fcl_objs_;
+
+  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
+  // m->tree_init_level = 2;
+  manager_.reset(m);
+
+  fcl_objs_ = other.fcl_objs_;
+  for (auto& fcl_obj : fcl_objs_)
+    fcl_obj.second.registerTo(manager_.get());
+  // manager_->update();
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+}
+
+void CollisionEnvFCL::getAttachedBodyObjects(const robot_state::AttachedBody* ab,
+                                             std::vector<FCLGeometryConstPtr>& geoms) const
+{
+  const std::vector<shapes::ShapeConstPtr>& shapes = ab->getShapes();
+  for (std::size_t i = 0; i < shapes.size(); ++i)
+  {
+    FCLGeometryConstPtr co = createCollisionGeometry(shapes[i], ab, i);
+    if (co)
+      geoms.push_back(co);
+  }
+}
+
+void CollisionEnvFCL::constructFCLObjectWorld(const World::Object* obj, FCLObject& fcl_obj) const
+{
+  for (std::size_t i = 0; i < obj->shapes_.size(); ++i)
+  {
+    FCLGeometryConstPtr g = createCollisionGeometry(obj->shapes_[i], obj);
+    if (g)
+    {
+      auto co = new fcl::CollisionObjectd(g->collision_geometry_, transform2fcl(obj->shape_poses_[i]));
+      fcl_obj.collision_objects_.push_back(FCLCollisionObjectPtr(co));
+      fcl_obj.collision_geometry_.push_back(g);
+    }
+  }
+}
+
+void CollisionEnvFCL::constructFCLObjectRobot(const robot_state::RobotState& state, FCLObject& fcl_obj) const
+{
+  fcl_obj.collision_objects_.reserve(robot_geoms_.size());
+  fcl::Transform3d fcl_tf;
+
+  for (std::size_t i = 0; i < robot_geoms_.size(); ++i)
+    if (robot_geoms_[i] && robot_geoms_[i]->collision_geometry_)
+    {
+      transform2fcl(state.getCollisionBodyTransform(robot_geoms_[i]->collision_geometry_data_->ptr.link,
+                                                    robot_geoms_[i]->collision_geometry_data_->shape_index),
+                    fcl_tf);
+      auto coll_obj = new fcl::CollisionObjectd(*robot_fcl_objs_[i]);
+      coll_obj->setTransform(fcl_tf);
+      coll_obj->computeAABB();
+      fcl_obj.collision_objects_.push_back(FCLCollisionObjectPtr(coll_obj));
+    }
+
+  // TODO: Implement a method for caching fcl::CollisionObject's for robot_state::AttachedBody's
+  std::vector<const robot_state::AttachedBody*> ab;
+  state.getAttachedBodies(ab);
+  for (auto& body : ab)
+  {
+    std::vector<FCLGeometryConstPtr> objs;
+    getAttachedBodyObjects(body, objs);
+    const EigenSTL::vector_Isometry3d& ab_t = body->getGlobalCollisionBodyTransforms();
+    for (std::size_t k = 0; k < objs.size(); ++k)
+      if (objs[k]->collision_geometry_)
+      {
+        transform2fcl(ab_t[k], fcl_tf);
+        fcl_obj.collision_objects_.push_back(
+            FCLCollisionObjectPtr(new fcl::CollisionObjectd(objs[k]->collision_geometry_, fcl_tf)));
+        // we copy the shared ptr to the CollisionGeometryData, as this is not stored by the class itself,
+        // and would be destroyed when objs goes out of scope.
+        fcl_obj.collision_geometry_.push_back(objs[k]);
+      }
+  }
+}
+
+void CollisionEnvFCL::allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const
+{
+  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
+  // m->tree_init_level = 2;
+  manager.manager_.reset(m);
+  constructFCLObjectRobot(state, manager.object_);
+  manager.object_.registerTo(manager.manager_.get());
+  // manager.manager_->update();
+}
+
+void CollisionEnvFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                         const robot_state::RobotState& state) const
+{
+  checkSelfCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionEnvFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                         const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+{
+  checkSelfCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state,
+                                               const AllowedCollisionMatrix* acm) const
+{
+  FCLManager manager;
+  allocSelfCollisionBroadPhase(state, manager);
+  CollisionData cd(&req, &res, acm);
+  cd.enableGroup(getRobotModel());
+  manager.manager_->collide(&cd, &collisionCallback);
+  if (req.distance)
+  {
+    DistanceRequest dreq;
+    DistanceResult dres;
+
+    dreq.group_name = req.group_name;
+    dreq.acm = acm;
+    dreq.enableGroup(getRobotModel());
+    distanceSelf(dreq, dres, state);
+    res.distance = dres.minimum_distance.distance;
+  }
+}
+
+void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state) const
+{
+  checkRobotCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state1,
+                                          const robot_state::RobotState& state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Continuous collision not implemented");
+}
+
+void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                          const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.fcl", "Not implemented");
+}
+
+void CollisionEnvFCL::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                const robot_state::RobotState& state,
+                                                const AllowedCollisionMatrix* acm) const
+{
+  FCLObject fcl_obj;
+  constructFCLObjectRobot(state, fcl_obj);
+
+  CollisionData cd(&req, &res, acm);
+  cd.enableGroup(getRobotModel());
+  for (std::size_t i = 0; !cd.done_ && i < fcl_obj.collision_objects_.size(); ++i)
+    manager_->collide(fcl_obj.collision_objects_[i].get(), &cd, &collisionCallback);
+
+  if (req.distance)
+  {
+    DistanceRequest dreq;
+    DistanceResult dres;
+
+    dreq.group_name = req.group_name;
+    dreq.acm = acm;
+    dreq.enableGroup(getRobotModel());
+    distanceRobot(dreq, dres, state);
+    res.distance = dres.minimum_distance.distance;
+  }
+}
+
+void CollisionEnvFCL::distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                                   const robot_state::RobotState& state) const
+{
+  FCLManager manager;
+  allocSelfCollisionBroadPhase(state, manager);
+  DistanceData drd(&req, &res);
+
+  manager.manager_->distance(&drd, &distanceCallback);
+}
+
+void CollisionEnvFCL::distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                                    const robot_state::RobotState& state) const
+{
+  FCLObject fcl_obj;
+  constructFCLObjectRobot(state, fcl_obj);
+
+  DistanceData drd(&req, &res);
+  for (std::size_t i = 0; !drd.done && i < fcl_obj.collision_objects_.size(); ++i)
+    manager_->distance(fcl_obj.collision_objects_[i].get(), &drd, &distanceCallback);
+}
+
+void CollisionEnvFCL::updateFCLObject(const std::string& id)
+{
+  // remove FCL objects that correspond to this object
+  auto jt = fcl_objs_.find(id);
+  if (jt != fcl_objs_.end())
+  {
+    jt->second.unregisterFrom(manager_.get());
+    jt->second.clear();
+  }
+
+  // check to see if we have this object
+  auto it = getWorld()->find(id);
+  if (it != getWorld()->end())
+  {
+    // construct FCL objects that correspond to this object
+    if (jt != fcl_objs_.end())
+    {
+      constructFCLObjectWorld(it->second.get(), jt->second);
+      jt->second.registerTo(manager_.get());
+    }
+    else
+    {
+      constructFCLObjectWorld(it->second.get(), fcl_objs_[id]);
+      fcl_objs_[id].registerTo(manager_.get());
+    }
+  }
+  else
+  {
+    if (jt != fcl_objs_.end())
+      fcl_objs_.erase(jt);
+  }
+
+  // manager_->update();
+}
+
+void CollisionEnvFCL::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  // turn off notifications about old world
+  getWorld()->removeObserver(observer_handle_);
+
+  // clear out objects from old world
+  manager_->clear();
+  fcl_objs_.clear();
+  cleanCollisionGeometryCache();
+
+  CollisionEnv::setWorld(world);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+
+  // get notifications any objects already in the new world
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+void CollisionEnvFCL::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
+{
+  if (action == World::DESTROY)
+  {
+    auto it = fcl_objs_.find(obj->id_);
+    if (it != fcl_objs_.end())
+    {
+      it->second.unregisterFrom(manager_.get());
+      it->second.clear();
+      fcl_objs_.erase(it);
+    }
+    cleanCollisionGeometryCache();
+  }
+  else
+  {
+    updateFCLObject(obj->id_);
+    if (action & (World::DESTROY | World::REMOVE_SHAPE))
+      cleanCollisionGeometryCache();
+  }
+}
+
+void CollisionEnvFCL::updatedPaddingOrScaling(const std::vector<std::string>& links)
+{
+  std::size_t index;
+  for (const auto& link : links)
+  {
+    const robot_model::LinkModel* lmodel = robot_model_->getLinkModel(link);
+    if (lmodel)
+    {
+      for (std::size_t j = 0; j < lmodel->getShapes().size(); ++j)
+      {
+        FCLGeometryConstPtr g = createCollisionGeometry(lmodel->getShapes()[j], getLinkScale(lmodel->getName()),
+                                                        getLinkPadding(lmodel->getName()), lmodel, j);
+        if (g)
+        {
+          index = lmodel->getFirstCollisionBodyTransformIndex() + j;
+          robot_geoms_[index] = g;
+          robot_fcl_objs_[index] = FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(g->collision_geometry_));
+        }
+      }
+    }
+    else
+      ROS_ERROR_NAMED("collision_detection.fcl", "Updating padding or scaling for unknown link: '%s'", link.c_str());
+  }
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/src/collision_robot_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_robot_fcl.cpp
deleted file mode 100644
index 9b8a4cea68..0000000000
--- a/moveit_core/collision_detection_fcl/src/collision_robot_fcl.cpp
+++ /dev/null
@@ -1,307 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
-#include <moveit/collision_detection_fcl/fcl_compat.h>
-
-#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
-#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
-#endif
-
-namespace collision_detection
-{
-CollisionRobotFCL::CollisionRobotFCL(const robot_model::RobotModelConstPtr& model, double padding, double scale)
-  : CollisionRobot(model, padding, scale)
-{
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
-  std::size_t index;
-  geoms_.resize(robot_model_->getLinkGeometryCount());
-  fcl_objs_.resize(robot_model_->getLinkGeometryCount());
-  // we keep the same order of objects as what RobotState *::getLinkState() returns
-  for (auto link : links)
-    for (std::size_t j = 0; j < link->getShapes().size(); ++j)
-    {
-      FCLGeometryConstPtr g = createCollisionGeometry(link->getShapes()[j], getLinkScale(link->getName()),
-                                                      getLinkPadding(link->getName()), link, j);
-      if (g)
-      {
-        index = link->getFirstCollisionBodyTransformIndex() + j;
-        geoms_[index] = g;
-
-        // Need to store the FCL object so the AABB does not get recreated every time.
-        // Every time this object is created, g->computeLocalAABB() is called  which is
-        // very expensive and should only be calculated once. To update the AABB, use the
-        // collObj->setTransform and then call collObj->computeAABB() to transform the AABB.
-        fcl_objs_[index] = FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(g->collision_geometry_));
-      }
-      else
-        ROS_ERROR_NAMED("collision_detection.fcl", "Unable to construct collision geometry for link '%s'",
-                        link->getName().c_str());
-    }
-}
-
-CollisionRobotFCL::CollisionRobotFCL(const CollisionRobotFCL& other) : CollisionRobot(other)
-{
-  geoms_ = other.geoms_;
-  fcl_objs_ = other.fcl_objs_;
-}
-
-void CollisionRobotFCL::getAttachedBodyObjects(const robot_state::AttachedBody* ab,
-                                               std::vector<FCLGeometryConstPtr>& geoms) const
-{
-  const std::vector<shapes::ShapeConstPtr>& shapes = ab->getShapes();
-  for (std::size_t i = 0; i < shapes.size(); ++i)
-  {
-    FCLGeometryConstPtr co = createCollisionGeometry(shapes[i], ab, i);
-    if (co)
-      geoms.push_back(co);
-  }
-}
-
-void CollisionRobotFCL::constructFCLObject(const robot_state::RobotState& state, FCLObject& fcl_obj) const
-{
-  fcl_obj.collision_objects_.reserve(geoms_.size());
-  fcl::Transform3d fcl_tf;
-
-  for (std::size_t i = 0; i < geoms_.size(); ++i)
-    if (geoms_[i] && geoms_[i]->collision_geometry_)
-    {
-      transform2fcl(state.getCollisionBodyTransform(geoms_[i]->collision_geometry_data_->ptr.link,
-                                                    geoms_[i]->collision_geometry_data_->shape_index),
-                    fcl_tf);
-      auto coll_obj = new fcl::CollisionObjectd(*fcl_objs_[i]);
-      coll_obj->setTransform(fcl_tf);
-      coll_obj->computeAABB();
-      fcl_obj.collision_objects_.push_back(FCLCollisionObjectPtr(coll_obj));
-    }
-
-  // TODO: Implement a method for caching fcl::CollisionObject's for robot_state::AttachedBody's
-  std::vector<const robot_state::AttachedBody*> ab;
-  state.getAttachedBodies(ab);
-  for (auto& body : ab)
-  {
-    std::vector<FCLGeometryConstPtr> objs;
-    getAttachedBodyObjects(body, objs);
-    const EigenSTL::vector_Isometry3d& ab_t = body->getGlobalCollisionBodyTransforms();
-    for (std::size_t k = 0; k < objs.size(); ++k)
-      if (objs[k]->collision_geometry_)
-      {
-        transform2fcl(ab_t[k], fcl_tf);
-        fcl_obj.collision_objects_.push_back(
-            FCLCollisionObjectPtr(new fcl::CollisionObjectd(objs[k]->collision_geometry_, fcl_tf)));
-        // we copy the shared ptr to the CollisionGeometryData, as this is not stored by the class itself,
-        // and would be destroyed when objs goes out of scope.
-        fcl_obj.collision_geometry_.push_back(objs[k]);
-      }
-  }
-}
-
-void CollisionRobotFCL::allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const
-{
-  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
-  // m->tree_init_level = 2;
-  manager.manager_.reset(m);
-  constructFCLObject(state, manager.object_);
-  manager.object_.registerTo(manager.manager_.get());
-  // manager.manager_->update();
-}
-
-void CollisionRobotFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state) const
-{
-  checkSelfCollisionHelper(req, res, state, nullptr);
-}
-
-void CollisionRobotFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  checkSelfCollisionHelper(req, res, state, &acm);
-}
-
-void CollisionRobotFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state1,
-                                           const robot_state::RobotState& state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionRobotFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionRobotFCL::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                 const robot_state::RobotState& state,
-                                                 const AllowedCollisionMatrix* acm) const
-{
-  FCLManager manager;
-  allocSelfCollisionBroadPhase(state, manager);
-  CollisionData cd(&req, &res, acm);
-  cd.enableGroup(getRobotModel());
-  manager.manager_->collide(&cd, &collisionCallback);
-  if (req.distance)
-  {
-    DistanceRequest dreq;
-    DistanceResult dres;
-
-    dreq.group_name = req.group_name;
-    dreq.acm = acm;
-    dreq.enableGroup(getRobotModel());
-    distanceSelf(dreq, dres, state);
-    res.distance = dres.minimum_distance.distance;
-  }
-}
-
-void CollisionRobotFCL::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                            const robot_state::RobotState& other_state) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, nullptr);
-}
-
-void CollisionRobotFCL::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                            const robot_state::RobotState& other_state,
-                                            const AllowedCollisionMatrix& acm) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
-}
-
-void CollisionRobotFCL::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state1,
-                                            const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                                            const robot_state::RobotState& other_state1,
-                                            const robot_state::RobotState& other_state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionRobotFCL::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state1,
-                                            const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                                            const robot_state::RobotState& other_state1,
-                                            const robot_state::RobotState& other_state2,
-                                            const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionRobotFCL::checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                  const robot_state::RobotState& state,
-                                                  const CollisionRobot& other_robot,
-                                                  const robot_state::RobotState& other_state,
-                                                  const AllowedCollisionMatrix* acm) const
-{
-  FCLManager manager;
-  allocSelfCollisionBroadPhase(state, manager);
-
-  const CollisionRobotFCL& fcl_rob = dynamic_cast<const CollisionRobotFCL&>(other_robot);
-  FCLObject other_fcl_obj;
-  fcl_rob.constructFCLObject(other_state, other_fcl_obj);
-
-  CollisionData cd(&req, &res, acm);
-  cd.enableGroup(getRobotModel());
-  for (std::size_t i = 0; !cd.done_ && i < other_fcl_obj.collision_objects_.size(); ++i)
-    manager.manager_->collide(other_fcl_obj.collision_objects_[i].get(), &cd, &collisionCallback);
-
-  if (req.distance)
-  {
-    DistanceRequest dreq;
-    DistanceResult dres;
-
-    dreq.group_name = req.group_name;
-    dreq.acm = acm;
-    dreq.enableGroup(getRobotModel());
-    distanceOther(dreq, dres, state, other_robot, other_state);
-    res.distance = dres.minimum_distance.distance;
-  }
-}
-
-void CollisionRobotFCL::updatedPaddingOrScaling(const std::vector<std::string>& links)
-{
-  std::size_t index;
-  for (const auto& link : links)
-  {
-    const robot_model::LinkModel* lmodel = robot_model_->getLinkModel(link);
-    if (lmodel)
-    {
-      for (std::size_t j = 0; j < lmodel->getShapes().size(); ++j)
-      {
-        FCLGeometryConstPtr g = createCollisionGeometry(lmodel->getShapes()[j], getLinkScale(lmodel->getName()),
-                                                        getLinkPadding(lmodel->getName()), lmodel, j);
-        if (g)
-        {
-          index = lmodel->getFirstCollisionBodyTransformIndex() + j;
-          geoms_[index] = g;
-          fcl_objs_[index] = FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(g->collision_geometry_));
-        }
-      }
-    }
-    else
-      ROS_ERROR_NAMED("collision_detection.fcl", "Updating padding or scaling for unknown link: '%s'", link.c_str());
-  }
-}
-
-void CollisionRobotFCL::distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                                     const robot_state::RobotState& state) const
-{
-  FCLManager manager;
-  allocSelfCollisionBroadPhase(state, manager);
-  DistanceData drd(&req, &res);
-
-  manager.manager_->distance(&drd, &distanceCallback);
-}
-
-void CollisionRobotFCL::distanceOther(const DistanceRequest& req, DistanceResult& res,
-                                      const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                      const robot_state::RobotState& other_state) const
-{
-  FCLManager manager;
-  allocSelfCollisionBroadPhase(state, manager);
-
-  const CollisionRobotFCL& fcl_rob = dynamic_cast<const CollisionRobotFCL&>(other_robot);
-  FCLObject other_fcl_obj;
-  fcl_rob.constructFCLObject(other_state, other_fcl_obj);
-
-  DistanceData drd(&req, &res);
-  for (std::size_t i = 0; !drd.done && i < other_fcl_obj.collision_objects_.size(); ++i)
-    manager.manager_->distance(other_fcl_obj.collision_objects_[i].get(), &drd, &distanceCallback);
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/src/collision_world_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_world_fcl.cpp
deleted file mode 100644
index 8d6eb392f9..0000000000
--- a/moveit_core/collision_detection_fcl/src/collision_world_fcl.cpp
+++ /dev/null
@@ -1,299 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#include <moveit/collision_detection_fcl/collision_world_fcl.h>
-#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
-#include <moveit/collision_detection_fcl/fcl_compat.h>
-
-#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
-#include <fcl/geometry/geometric_shape_to_BVH_model.h>
-#include <fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h>
-#include <fcl/narrowphase/detail/traversal/collision_node.h>
-#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
-#else
-#include <fcl/shape/geometric_shape_to_BVH_model.h>
-#include <fcl/traversal/traversal_node_bvhs.h>
-#include <fcl/traversal/traversal_node_setup.h>
-#include <fcl/collision_node.h>
-#endif
-
-#include <boost/bind.hpp>
-
-namespace collision_detection
-{
-const std::string CollisionDetectorAllocatorFCL::NAME("FCL");
-
-CollisionWorldFCL::CollisionWorldFCL() : CollisionWorld()
-{
-  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
-  // m->tree_init_level = 2;
-  manager_.reset(m);
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldFCL::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldFCL::CollisionWorldFCL(const WorldPtr& world) : CollisionWorld(world)
-{
-  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
-  // m->tree_init_level = 2;
-  manager_.reset(m);
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldFCL::notifyObjectChange, this, _1, _2));
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-CollisionWorldFCL::CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world)
-  : CollisionWorld(other, world)
-{
-  auto m = new fcl::DynamicAABBTreeCollisionManagerd();
-  // m->tree_init_level = 2;
-  manager_.reset(m);
-
-  fcl_objs_ = other.fcl_objs_;
-  for (auto& fcl_obj : fcl_objs_)
-    fcl_obj.second.registerTo(manager_.get());
-  // manager_->update();
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldFCL::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldFCL::~CollisionWorldFCL()
-{
-  getWorld()->removeObserver(observer_handle_);
-}
-
-void CollisionWorldFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionRobot& robot, const robot_state::RobotState& state) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, nullptr);
-}
-
-void CollisionWorldFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionRobot& robot, const robot_state::RobotState& state,
-                                            const AllowedCollisionMatrix& acm) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, &acm);
-}
-
-void CollisionWorldFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                            const robot_state::RobotState& state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionWorldFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                            const robot_state::RobotState& state2,
-                                            const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.fcl", "FCL continuous collision checking not yet implemented");
-}
-
-void CollisionWorldFCL::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                  const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                  const AllowedCollisionMatrix* acm) const
-{
-  const CollisionRobotFCL& robot_fcl = dynamic_cast<const CollisionRobotFCL&>(robot);
-  FCLObject fcl_obj;
-  robot_fcl.constructFCLObject(state, fcl_obj);
-
-  CollisionData cd(&req, &res, acm);
-  cd.enableGroup(robot.getRobotModel());
-  for (std::size_t i = 0; !cd.done_ && i < fcl_obj.collision_objects_.size(); ++i)
-    manager_->collide(fcl_obj.collision_objects_[i].get(), &cd, &collisionCallback);
-
-  if (req.distance)
-  {
-    DistanceRequest dreq;
-    DistanceResult dres;
-
-    dreq.group_name = req.group_name;
-    dreq.acm = acm;
-    dreq.enableGroup(robot.getRobotModel());
-    distanceRobot(dreq, dres, robot, state);
-    res.distance = dres.minimum_distance.distance;
-  }
-}
-
-void CollisionWorldFCL::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionWorld& other_world) const
-{
-  checkWorldCollisionHelper(req, res, other_world, nullptr);
-}
-
-void CollisionWorldFCL::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionWorld& other_world, const AllowedCollisionMatrix& acm) const
-{
-  checkWorldCollisionHelper(req, res, other_world, &acm);
-}
-
-void CollisionWorldFCL::checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                  const CollisionWorld& other_world,
-                                                  const AllowedCollisionMatrix* acm) const
-{
-  const CollisionWorldFCL& other_fcl_world = dynamic_cast<const CollisionWorldFCL&>(other_world);
-  CollisionData cd(&req, &res, acm);
-  manager_->collide(other_fcl_world.manager_.get(), &cd, &collisionCallback);
-
-  if (req.distance)
-  {
-    DistanceRequest dreq;
-    DistanceResult dres;
-
-    dreq.group_name = req.group_name;
-    dreq.acm = acm;
-    distanceWorld(dreq, dres, other_world);
-    res.distance = dres.minimum_distance.distance;
-  }
-}
-
-void CollisionWorldFCL::constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const
-{
-  for (std::size_t i = 0; i < obj->shapes_.size(); ++i)
-  {
-    FCLGeometryConstPtr g = createCollisionGeometry(obj->shapes_[i], obj);
-    if (g)
-    {
-      auto co = new fcl::CollisionObjectd(g->collision_geometry_, transform2fcl(obj->shape_poses_[i]));
-      fcl_obj.collision_objects_.push_back(FCLCollisionObjectPtr(co));
-      fcl_obj.collision_geometry_.push_back(g);
-    }
-  }
-}
-
-void CollisionWorldFCL::updateFCLObject(const std::string& id)
-{
-  // remove FCL objects that correspond to this object
-  auto jt = fcl_objs_.find(id);
-  if (jt != fcl_objs_.end())
-  {
-    jt->second.unregisterFrom(manager_.get());
-    jt->second.clear();
-  }
-
-  // check to see if we have this object
-  auto it = getWorld()->find(id);
-  if (it != getWorld()->end())
-  {
-    // construct FCL objects that correspond to this object
-    if (jt != fcl_objs_.end())
-    {
-      constructFCLObject(it->second.get(), jt->second);
-      jt->second.registerTo(manager_.get());
-    }
-    else
-    {
-      constructFCLObject(it->second.get(), fcl_objs_[id]);
-      fcl_objs_[id].registerTo(manager_.get());
-    }
-  }
-  else
-  {
-    if (jt != fcl_objs_.end())
-      fcl_objs_.erase(jt);
-  }
-
-  // manager_->update();
-}
-
-void CollisionWorldFCL::setWorld(const WorldPtr& world)
-{
-  if (world == getWorld())
-    return;
-
-  // turn off notifications about old world
-  getWorld()->removeObserver(observer_handle_);
-
-  // clear out objects from old world
-  manager_->clear();
-  fcl_objs_.clear();
-  cleanCollisionGeometryCache();
-
-  CollisionWorld::setWorld(world);
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldFCL::notifyObjectChange, this, _1, _2));
-
-  // get notifications any objects already in the new world
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-void CollisionWorldFCL::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
-{
-  if (action == World::DESTROY)
-  {
-    auto it = fcl_objs_.find(obj->id_);
-    if (it != fcl_objs_.end())
-    {
-      it->second.unregisterFrom(manager_.get());
-      it->second.clear();
-      fcl_objs_.erase(it);
-    }
-    cleanCollisionGeometryCache();
-  }
-  else
-  {
-    updateFCLObject(obj->id_);
-    if (action & (World::DESTROY | World::REMOVE_SHAPE))
-      cleanCollisionGeometryCache();
-  }
-}
-
-void CollisionWorldFCL::distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                                      const robot_state::RobotState& state) const
-{
-  const CollisionRobotFCL& robot_fcl = dynamic_cast<const CollisionRobotFCL&>(robot);
-  FCLObject fcl_obj;
-  robot_fcl.constructFCLObject(state, fcl_obj);
-
-  DistanceData drd(&req, &res);
-  for (std::size_t i = 0; !drd.done && i < fcl_obj.collision_objects_.size(); ++i)
-    manager_->distance(fcl_obj.collision_objects_[i].get(), &drd, &distanceCallback);
-}
-
-void CollisionWorldFCL::distanceWorld(const DistanceRequest& req, DistanceResult& res,
-                                      const CollisionWorld& world) const
-{
-  const CollisionWorldFCL& other_fcl_world = dynamic_cast<const CollisionWorldFCL&>(world);
-  DistanceData drd(&req, &res);
-  manager_->distance(other_fcl_world.manager_.get(), &drd, &distanceCallback);
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
index e606f632a3..e4ea360a95 100644
--- a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
@@ -36,8 +36,7 @@
 
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
-#include <moveit/collision_detection_fcl/collision_world_fcl.h>
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
 #include <urdf_parser/urdf_parser.h>
@@ -49,8 +48,7 @@
 #include <ctype.h>
 #include <fstream>
 
-typedef collision_detection::CollisionWorldFCL DefaultCWorldType;
-typedef collision_detection::CollisionRobotFCL DefaultCRobotType;
+typedef collision_detection::CollisionEnvFCL DefaultEnvType;
 
 class FclCollisionDetectionTester : public testing::Test
 {
@@ -63,8 +61,7 @@ class FclCollisionDetectionTester : public testing::Test
 
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
-    crobot_.reset(new DefaultCRobotType(robot_model_));
-    cworld_.reset(new DefaultCWorldType());
+    c_env_.reset(new DefaultEnvType(robot_model_));
   }
 
   void TearDown() override
@@ -76,8 +73,7 @@ class FclCollisionDetectionTester : public testing::Test
 
   robot_model::RobotModelPtr robot_model_;
 
-  collision_detection::CollisionRobotPtr crobot_;
-  collision_detection::CollisionWorldPtr cworld_;
+  collision_detection::CollisionEnvPtr c_env_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
@@ -97,7 +93,7 @@ TEST_F(FclCollisionDetectionTester, DefaultNotInCollision)
 
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_FALSE(res.collision);
 }
 
@@ -124,11 +120,11 @@ TEST_F(FclCollisionDetectionTester, LinksInCollision)
   robot_state.update();
 
   acm_->setEntry("base_link", "base_bellow_link", false);
-  crobot_->checkSelfCollision(req, res1, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res1, robot_state, *acm_);
   ASSERT_TRUE(res1.collision);
 
   acm_->setEntry("base_link", "base_bellow_link", true);
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_FALSE(res2.collision);
 
   //  req.verbose = true;
@@ -139,7 +135,7 @@ TEST_F(FclCollisionDetectionTester, LinksInCollision)
   robot_state.update();
 
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-  crobot_->checkSelfCollision(req, res3, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res3, robot_state, *acm_);
   ASSERT_TRUE(res3.collision);
 }
 
@@ -171,7 +167,7 @@ TEST_F(FclCollisionDetectionTester, ContactReporting)
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contacts.size(), 1u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -180,7 +176,7 @@ TEST_F(FclCollisionDetectionTester, ContactReporting)
   req.max_contacts = 2;
   req.max_contacts_per_pair = 1;
   //  req.verbose = true;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contacts.size(), 2u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -191,7 +187,7 @@ TEST_F(FclCollisionDetectionTester, ContactReporting)
   req.max_contacts = 10;
   req.max_contacts_per_pair = 2;
   acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_LE(res.contacts.size(), 10u);
   EXPECT_LE(res.contact_count, 10u);
@@ -222,7 +218,7 @@ TEST_F(FclCollisionDetectionTester, ContactPositions)
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_EQ(res.contacts.size(), 1u);
   ASSERT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -242,7 +238,7 @@ TEST_F(FclCollisionDetectionTester, ContactPositions)
   robot_state.update();
 
   collision_detection::CollisionResult res2;
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_TRUE(res2.collision);
   ASSERT_EQ(res2.contacts.size(), 1u);
   ASSERT_EQ(res2.contacts.begin()->second.size(), 1u);
@@ -262,7 +258,7 @@ TEST_F(FclCollisionDetectionTester, ContactPositions)
   robot_state.update();
 
   collision_detection::CollisionResult res3;
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_FALSE(res3.collision);
 }
 
@@ -283,18 +279,18 @@ TEST_F(FclCollisionDetectionTester, AttachedBodyTester)
   //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
   robot_state.update();
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_FALSE(res.collision);
 
   shapes::Shape* shape = new shapes::Box(.1, .1, .1);
-  cworld_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
+  c_env_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
 
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
-  cworld_->getWorld()->removeObject("box");
+  c_env_->getWorld()->removeObject("box");
 
   shape = new shapes::Box(.1, .1, .1);
   std::vector<shapes::ShapeConstPtr> shapes;
@@ -305,7 +301,7 @@ TEST_F(FclCollisionDetectionTester, AttachedBodyTester)
   robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
 
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
@@ -318,19 +314,19 @@ TEST_F(FclCollisionDetectionTester, AttachedBodyTester)
   robot_state.update();
 
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_FALSE(res.collision);
 
   pos1.translation().x() = 5.01;
   shapes::Shape* coll = new shapes::Box(.1, .1, .1);
-  cworld_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
+  c_env_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   acm_->setEntry("coll", "r_gripper_palm_link", true);
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 }
 
@@ -342,15 +338,15 @@ TEST_F(FclCollisionDetectionTester, DiffSceneTester)
 
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-
-  collision_detection::CollisionRobotFCL new_crobot(
-      *(dynamic_cast<collision_detection::CollisionRobotFCL*>(crobot_.get())));
+  collision_detection::CollisionEnvFCL* casted_env_pointer =
+      dynamic_cast<collision_detection::CollisionEnvFCL*>(c_env_.get());
+  collision_detection::CollisionEnvFCL new_c_env(*casted_env_pointer, c_env_->getWorld());
 
   ros::WallTime before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   double first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   double second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(fabs(first_check - second_check), .05);
@@ -367,22 +363,21 @@ TEST_F(FclCollisionDetectionTester, DiffSceneTester)
   robot_state.attachBody("kinect", shapes, poses, touch_links, "r_gripper_palm_link");
 
   before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   second_check = (ros::WallTime::now() - before).toSec();
 
   // the first check is going to take a while, as data must be constructed
   EXPECT_LT(second_check, .1);
 
-  collision_detection::CollisionRobotFCL other_new_crobot(
-      *(dynamic_cast<collision_detection::CollisionRobotFCL*>(crobot_.get())));
+  collision_detection::CollisionEnvFCL other_new_c_env(*casted_env_pointer, c_env_->getWorld());
   before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot.checkSelfCollision(req, res, robot_state);
+  new_c_env.checkSelfCollision(req, res, robot_state);
   second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(fabs(first_check - second_check), .05);
@@ -398,23 +393,23 @@ TEST_F(FclCollisionDetectionTester, ConvertObjectToAttached)
   Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
   pos2.translation().x() = 10.0;
 
-  cworld_->getWorld()->addToObject("kinect", shape, pos1);
+  c_env_->getWorld()->addToObject("kinect", shape, pos1);
 
   robot_state::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
   ros::WallTime before = ros::WallTime::now();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state);
+  c_env_->checkRobotCollision(req, res, robot_state);
   double first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state);
+  c_env_->checkRobotCollision(req, res, robot_state);
   double second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(second_check, .05);
 
-  collision_detection::CollisionWorld::ObjectConstPtr object = cworld_->getWorld()->getObject("kinect");
-  cworld_->getWorld()->removeObject("kinect");
+  collision_detection::CollisionEnv::ObjectConstPtr object = c_env_->getWorld()->getObject("kinect");
+  c_env_->getWorld()->removeObject("kinect");
 
   robot_state::RobotState robot_state1(robot_model_);
   robot_state::RobotState robot_state2(robot_model_);
@@ -434,17 +429,17 @@ TEST_F(FclCollisionDetectionTester, ConvertObjectToAttached)
 
   // going to take a while, but that's fine
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state1);
+  c_env_->checkSelfCollision(req, res, robot_state1);
 
   EXPECT_TRUE(res.collision);
 
   before = ros::WallTime::now();
-  crobot_->checkSelfCollision(req, res, robot_state1, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state1, *acm_);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
   req.verbose = true;
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state2, *acm_);
+  c_env_->checkSelfCollision(req, res, robot_state2, *acm_);
   second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(first_check, .05);
@@ -461,7 +456,7 @@ TEST_F(FclCollisionDetectionTester, TestCollisionMapAdditionSpeed)
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(.01, .01, .01)));
   }
   ros::WallTime start = ros::WallTime::now();
-  cworld_->getWorld()->addToObject("map", shapes, poses);
+  c_env_->getWorld()->addToObject("map", shapes, poses);
   double t = (ros::WallTime::now() - start).toSec();
   EXPECT_GE(1.0, t);
   // this is not really a failure; it is just that slow;
@@ -480,16 +475,16 @@ TEST_F(FclCollisionDetectionTester, MoveMesh)
   shapes::ShapePtr kinect_shape;
   kinect_shape.reset(shapes::createMeshFromResource(kinect_dae_resource_));
 
-  cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+  c_env_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
 
   Eigen::Isometry3d np;
   for (unsigned int i = 0; i < 5; i++)
   {
     np = Eigen::Translation3d(i * .001, i * .001, i * .001) * Eigen::Quaterniond::Identity();
-    cworld_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
+    c_env_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    cworld_->checkCollision(req, res, *crobot_, robot_state1, *acm_);
+    c_env_->checkCollision(req, res, robot_state1, *acm_);
   }
 }
 
@@ -508,37 +503,37 @@ TEST_F(FclCollisionDetectionTester, TestChangingShapeSize)
   std::vector<shapes::ShapeConstPtr> shapes;
   for (unsigned int i = 0; i < 5; i++)
   {
-    cworld_->getWorld()->removeObject("shape");
+    c_env_->getWorld()->removeObject("shape");
     shapes.clear();
     poses.clear();
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
     poses.push_back(Eigen::Isometry3d::Identity());
-    cworld_->getWorld()->addToObject("shape", shapes, poses);
+    c_env_->getWorld()->addToObject("shape", shapes, poses);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    cworld_->checkCollision(req, res, *crobot_, robot_state1, *acm_);
+    c_env_->checkCollision(req, res, robot_state1, *acm_);
     ASSERT_TRUE(res.collision);
   }
 
   Eigen::Isometry3d kinect_pose = Eigen::Isometry3d::Identity();
   shapes::ShapePtr kinect_shape;
   kinect_shape.reset(shapes::createMeshFromResource(kinect_dae_resource_));
-  cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+  c_env_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
   collision_detection::CollisionRequest req2;
   collision_detection::CollisionResult res2;
-  cworld_->checkCollision(req2, res2, *crobot_, robot_state1, *acm_);
+  c_env_->checkCollision(req2, res2, robot_state1, *acm_);
   ASSERT_TRUE(res2.collision);
   for (unsigned int i = 0; i < 5; i++)
   {
-    cworld_->getWorld()->removeObject("shape");
+    c_env_->getWorld()->removeObject("shape");
     shapes.clear();
     poses.clear();
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
     poses.push_back(Eigen::Isometry3d::Identity());
-    cworld_->getWorld()->addToObject("shape", shapes, poses);
+    c_env_->getWorld()->addToObject("shape", shapes, poses);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    cworld_->checkCollision(req, res, *crobot_, robot_state1, *acm_);
+    c_env_->checkCollision(req, res, robot_state1, *acm_);
     ASSERT_TRUE(res.collision);
   }
 }
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
new file mode 100644
index 0000000000..64f65b64c3
--- /dev/null
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
@@ -0,0 +1,324 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include <moveit/collision_detection/collision_common.h>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+
+#include <moveit/collision_detection_fcl/collision_common.h>
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
+
+#include <urdf_parser/urdf_parser.h>
+#include <geometric_shapes/shape_operations.h>
+
+/** \brief Brings the panda robot in user defined home position */
+inline void setToHome(robot_state::RobotState& panda_state)
+{
+  panda_state.setToDefaultValues();
+  double joint2 = -0.785;
+  double joint4 = -2.356;
+  double joint6 = 1.571;
+  double joint7 = 0.785;
+  panda_state.setJointPositions("panda_joint2", &joint2);
+  panda_state.setJointPositions("panda_joint4", &joint4);
+  panda_state.setJointPositions("panda_joint6", &joint6);
+  panda_state.setJointPositions("panda_joint7", &joint7);
+  panda_state.update();
+}
+
+class CollisionDetectionEnvTest : public testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    robot_model_ok_ = static_cast<bool>(robot_model_);
+
+    acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
+
+    acm_->setEntry("panda_link0", "panda_link1", true);
+    acm_->setEntry("panda_link1", "panda_link2", true);
+    acm_->setEntry("panda_link2", "panda_link3", true);
+    acm_->setEntry("panda_link3", "panda_link4", true);
+    acm_->setEntry("panda_link4", "panda_link5", true);
+    acm_->setEntry("panda_link5", "panda_link6", true);
+    acm_->setEntry("panda_link6", "panda_link7", true);
+    acm_->setEntry("panda_link7", "panda_hand", true);
+    acm_->setEntry("panda_hand", "panda_rightfinger", true);
+    acm_->setEntry("panda_hand", "panda_leftfinger", true);
+    acm_->setEntry("panda_rightfinger", "panda_leftfinger", true);
+    acm_->setEntry("panda_link5", "panda_link7", true);
+    acm_->setEntry("panda_link6", "panda_hand", true);
+
+    c_env_.reset(new collision_detection::CollisionEnvFCL(robot_model_));
+
+    robot_state_.reset(new robot_state::RobotState(robot_model_));
+
+    setToHome(*robot_state_);
+  }
+
+  void TearDown() override
+  {
+  }
+
+protected:
+  bool robot_model_ok_;
+
+  robot_model::RobotModelPtr robot_model_;
+
+  collision_detection::CollisionEnvPtr c_env_;
+
+  collision_detection::AllowedCollisionMatrixPtr acm_;
+
+  robot_state::RobotStatePtr robot_state_;
+};
+
+/** \brief Correct setup testing. */
+TEST_F(CollisionDetectionEnvTest, InitOK)
+{
+  ASSERT_TRUE(robot_model_ok_);
+}
+
+/** \brief Tests the default values specified in the SRDF if they are collision free. */
+TEST_F(CollisionDetectionEnvTest, DefaultNotInCollision)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  c_env_->checkSelfCollision(req, res, *robot_state_, *acm_);
+  ASSERT_FALSE(res.collision);
+}
+
+/** \brief A configuration where the robot should collide with itself. */
+TEST_F(CollisionDetectionEnvTest, LinksInCollision)
+{
+  // Sets the joint values to zero which is a colliding configuration
+  robot_state_->setToDefaultValues();
+  robot_state_->update();
+
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  c_env_->checkSelfCollision(req, res, *robot_state_, *acm_);
+  ASSERT_TRUE(res.collision);
+}
+
+/** \brief Adding obstacles to the world which are tested against the robot. Simple cases. */
+TEST_F(CollisionDetectionEnvTest, RobotWorldCollision_1)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  shapes::Shape* shape = new shapes::Box(.1, .1, .1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  pos1.translation().z() = 0.3;
+  c_env_->getWorld()->addToObject("box", shape_ptr, pos1);
+
+  c_env_->checkSelfCollision(req, res, *robot_state_, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  c_env_->getWorld()->moveObject("box", pos1);
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  c_env_->getWorld()->moveObject("box", pos1);
+  ASSERT_FALSE(res.collision);
+}
+
+/** \brief Adding obstacles to the world which are tested against the robot. */
+TEST_F(CollisionDetectionEnvTest, RobotWorldCollision_2)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  req.max_contacts = 10;
+  req.contacts = true;
+  req.verbose = true;
+
+  shapes::Shape* shape = new shapes::Box(.4, .4, .4);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  pos1.translation().z() = 0.3;
+  c_env_->getWorld()->addToObject("box", shape_ptr, pos1);
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_TRUE(res.collision);
+  ASSERT_GE(res.contact_count, 3u);
+  res.clear();
+}
+
+/** \brief Tests the padding through expanding the link geometry in such a way that a collision occurs. */
+TEST_F(CollisionDetectionEnvTest, PaddingTest)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 10;
+  collision_detection::CollisionResult res;
+
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  // Adding the box right in front of the robot hand
+  shapes::Shape* shape = new shapes::Box(0.1, 0.1, 0.1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+  pos.translation().x() = 0.43;
+  pos.translation().y() = 0;
+  pos.translation().z() = 0.55;
+  c_env_->getWorld()->addToObject("box", shape_ptr, pos);
+
+  c_env_->setLinkPadding("panda_hand", 0.08);
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  c_env_->setLinkPadding("panda_hand", 0.0);
+  c_env_->checkRobotCollision(req, res, *robot_state_, *acm_);
+  ASSERT_FALSE(res.collision);
+}
+
+/** \brief Continuous self collision checks of the robot.
+ *
+ *  Functionality not supported yet. */
+TEST_F(CollisionDetectionEnvTest, DISABLED_ContinuousCollisionSelf)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  robot_state::RobotState state1(robot_model_);
+  robot_state::RobotState state2(robot_model_);
+
+  setToHome(state1);
+  double joint2 = 0.15;
+  double joint4 = -3.0;
+  double joint5 = -0.8;
+  double joint7 = -0.785;
+  state1.setJointPositions("panda_joint2", &joint2);
+  state1.setJointPositions("panda_joint4", &joint4);
+  state1.setJointPositions("panda_joint5", &joint5);
+  state1.setJointPositions("panda_joint7", &joint7);
+  state1.update();
+
+  c_env_->checkSelfCollision(req, res, state1, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  setToHome(state2);
+  double joint_5_other = 0.8;
+  state2.setJointPositions("panda_joint2", &joint2);
+  state2.setJointPositions("panda_joint4", &joint4);
+  state2.setJointPositions("panda_joint5", &joint_5_other);
+  state2.setJointPositions("panda_joint7", &joint7);
+  state2.update();
+
+  c_env_->checkSelfCollision(req, res, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  // c_env_->checkSelfCollision(req, res, state1, state2, *acm_);
+  ROS_INFO_STREAM("Continous to continous collisions are not supported yet, therefore fail here.");
+  ASSERT_TRUE(res.collision);
+  res.clear();
+}
+
+/** \brief Two similar robot poses are used as start and end pose of a continuous collision check.
+ *
+ *  Functionality not supported yet. */
+TEST_F(CollisionDetectionEnvTest, DISABLED_ContinuousCollisionWorld)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 10;
+  collision_detection::CollisionResult res;
+
+  robot_state::RobotState state1(robot_model_);
+  robot_state::RobotState state2(robot_model_);
+
+  setToHome(state1);
+  state1.update();
+
+  setToHome(state2);
+  double joint_2{ 0.05 };
+  double joint_4{ -1.6 };
+  state2.setJointPositions("panda_joint2", &joint_2);
+  state2.setJointPositions("panda_joint4", &joint_4);
+  state2.update();
+
+  c_env_->checkRobotCollision(req, res, state1, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  // Adding the box which is not in collision with the individual states but sits right between them.
+  shapes::Shape* shape = new shapes::Box(0.1, 0.1, 0.1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+  pos.translation().x() = 0.43;
+  pos.translation().y() = 0;
+  pos.translation().z() = 0.55;
+  c_env_->getWorld()->addToObject("box", shape_ptr, pos);
+
+  c_env_->checkRobotCollision(req, res, state1, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  c_env_->checkRobotCollision(req, res, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  c_env_->checkRobotCollision(req, res, state1, state2, *acm_);
+  ASSERT_TRUE(res.collision);
+  ASSERT_EQ(res.contact_count, 4u);
+  res.clear();
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
index ad1850a61e..063a1331a3 100644
--- a/moveit_core/collision_distance_field/CMakeLists.txt
+++ b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -8,10 +8,8 @@ endif()
 add_library(${MOVEIT_LIB_NAME}
   src/collision_distance_field_types.cpp
   src/collision_common_distance_field.cpp
-  src/collision_robot_distance_field.cpp
-  src/collision_world_distance_field.cpp
-  src/collision_robot_hybrid.cpp
-  src/collision_world_hybrid.cpp
+  src/collision_env_distance_field.cpp
+  src/collision_env_hybrid.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME}
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
index 024be61cfe..cfb6fe750d 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
@@ -39,7 +39,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection/collision_common.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
 
 namespace collision_detection
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
index 9581cefa7b..b699170892 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
@@ -37,17 +37,15 @@
 #pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-#include <moveit/collision_distance_field/collision_world_distance_field.h>
+#include <moveit/collision_distance_field/collision_env_distance_field.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for Distance Field collision detectors */
 class CollisionDetectorAllocatorDistanceField
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldDistanceField, CollisionRobotDistanceField,
-                                                CollisionDetectorAllocatorDistanceField>
+    : public CollisionDetectorAllocatorTemplate<CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_distance_field.cpp
+  static const std::string NAME;  // defined in collision_env_distance_field.cpp
 };
 }
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
index a2c643b282..efce4d7b11 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
@@ -37,17 +37,15 @@
 #pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_distance_field/collision_robot_hybrid.h>
-#include <moveit/collision_distance_field/collision_world_hybrid.h>
+#include <moveit/collision_distance_field/collision_env_hybrid.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for Hybrid collision detectors */
 class CollisionDetectorAllocatorHybrid
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldHybrid, CollisionRobotHybrid,
-                                                CollisionDetectorAllocatorHybrid>
+    : public CollisionDetectorAllocatorTemplate<CollisionEnvHybrid, CollisionDetectorAllocatorHybrid>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_hybrid.cpp
+  static const std::string NAME;  // defined in collision_env_hybrid.cpp
 };
 }
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
similarity index 57%
rename from moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
rename to moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index dd13b12043..f9fb4366ad 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -37,9 +37,9 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/collision_detection/collision_robot.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
 #include <moveit/collision_distance_field/collision_common_distance_field.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <boost/thread/mutex.hpp>
 
@@ -53,32 +53,36 @@ static const double DEFAULT_RESOLUTION = .02;
 static const double DEFAULT_COLLISION_TOLERANCE = 0.0;
 static const double DEFAULT_MAX_PROPOGATION_DISTANCE = .25;
 
-MOVEIT_CLASS_FORWARD(CollisionRobotDistanceField);
+MOVEIT_CLASS_FORWARD(CollisionEnvDistanceField);
 
-class CollisionRobotDistanceField : public CollisionRobot
+class CollisionEnvDistanceField : public CollisionEnv
 {
-  friend class CollisionWorldDistanceField;
-
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionRobotDistanceField(const robot_model::RobotModelConstPtr& robot_model);
-
-  CollisionRobotDistanceField(const CollisionRobot& col_robot, const Eigen::Vector3d& size,
-                              const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
-                              double collision_tolerance, double max_propogation_distance, double padding);
-
-  CollisionRobotDistanceField(const robot_model::RobotModelConstPtr& robot_model,
-                              const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
-                              double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
-                              double size_z = DEFAULT_SIZE_Z,
-                              bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-                              double resolution = DEFAULT_RESOLUTION,
-                              double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-                              double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
-                              double scale = 1.0);
-
-  CollisionRobotDistanceField(const CollisionRobotDistanceField& other);
+  CollisionEnvDistanceField(const robot_model::RobotModelConstPtr& robot_model,
+                            const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
+                                std::map<std::string, std::vector<CollisionSphere>>(),
+                            double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
+                            double size_z = DEFAULT_SIZE_Z, Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                            bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
+                            double resolution = DEFAULT_RESOLUTION,
+                            double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
+                            double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
+                            double scale = 1.0);
+
+  CollisionEnvDistanceField(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+                            const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
+                                std::map<std::string, std::vector<CollisionSphere>>(),
+                            double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
+                            double size_z = DEFAULT_SIZE_Z, Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                            bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
+                            double resolution = DEFAULT_RESOLUTION,
+                            double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
+                            double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
+                            double scale = 1.0);
+
+  CollisionEnvDistanceField(const CollisionEnvDistanceField& other, const WorldPtr& world);
 
   void initialize(const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
                   const Eigen::Vector3d& size, const Eigen::Vector3d& origin, bool use_signed_distance_field,
@@ -98,51 +102,6 @@ class CollisionRobotDistanceField : public CollisionRobot
                           const moveit::core::RobotState& state, const collision_detection::AllowedCollisionMatrix& acm,
                           GroupStateRepresentationPtr& gsr) const;
 
-  void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          const moveit::core::RobotState& state1, const moveit::core::RobotState& state2) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
-  void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                          const collision_detection::AllowedCollisionMatrix& acm) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
-  void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                           const moveit::core::RobotState& state, const CollisionRobot& other_robot,
-                           const moveit::core::RobotState& other_state) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
-  void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                           const moveit::core::RobotState& state, const CollisionRobot& other_robot,
-                           const moveit::core::RobotState& other_state,
-                           const collision_detection::AllowedCollisionMatrix& acm) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
-  void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                           const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                           const CollisionRobot& other_robot, const moveit::core::RobotState& other_state1,
-                           const moveit::core::RobotState& other_state2) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
-  void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                           const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                           const CollisionRobot& other_robot, const moveit::core::RobotState& other_state1,
-                           const moveit::core::RobotState& other_state2,
-                           const collision_detection::AllowedCollisionMatrix& acm) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  };
-
   void createCollisionModelMarker(const moveit::core::RobotState& state,
                                   visualization_msgs::MarkerArray& model_markers) const;
 
@@ -150,22 +109,12 @@ class CollisionRobotDistanceField : public CollisionRobot
   {
     return 0.0;
   };
+
   virtual double distanceSelf(const moveit::core::RobotState& state,
                               const collision_detection::AllowedCollisionMatrix& acm) const
   {
     return 0.0;
   };
-  virtual double distanceOther(const moveit::core::RobotState& state, const CollisionRobot& other_robot,
-                               const moveit::core::RobotState& other_state) const
-  {
-    return 0.0;
-  };
-  virtual double distanceOther(const moveit::core::RobotState& state, const CollisionRobot& other_robot,
-                               const moveit::core::RobotState& other_state,
-                               const collision_detection::AllowedCollisionMatrix& acm) const
-  {
-    return 0.0;
-  };
 
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                     const robot_state::RobotState& state) const override
@@ -173,12 +122,6 @@ class CollisionRobotDistanceField : public CollisionRobot
     ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
   }
 
-  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
-                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  }
-
   DistanceFieldCacheEntryConstPtr getLastDistanceFieldEntry() const
   {
     return distance_field_cache_entry_;
@@ -191,6 +134,84 @@ class CollisionRobotDistanceField : public CollisionRobot
   //                                 const
   //                                 collision_detection::AllowedCollisionMatrix
   //                                 &acm) const;
+
+  MOVEIT_STRUCT_FORWARD(DistanceFieldCacheEntryWorld)
+  struct DistanceFieldCacheEntryWorld
+  {
+    std::map<std::string, std::vector<PosedBodyPointDecompositionPtr>> posed_body_point_decompositions_;
+    distance_field::DistanceFieldPtr distance_field_;
+  };
+
+  ~CollisionEnvDistanceField() override;
+
+  void checkCollision(const CollisionRequest& req, CollisionResult& res,
+                      const robot_state::RobotState& state) const override;
+
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                              GroupStateRepresentationPtr& gsr) const;
+
+  void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                      const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                              const AllowedCollisionMatrix& acm, GroupStateRepresentationPtr& gsr) const;
+
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                           const robot_state::RobotState& state) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                           const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                   GroupStateRepresentationPtr& gsr) const;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1,
+                                   const robot_state::RobotState& state2) const override;
+
+  virtual double distanceRobot(const robot_state::RobotState& state, bool verbose = false) const
+  {
+    return 0.0;
+  }
+
+  virtual double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                               bool verbose = false) const
+  {
+    return 0.0;
+  }
+
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                     const robot_state::RobotState& state) const override
+  {
+    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
+  }
+
+  void setWorld(const WorldPtr& world) override;
+
+  distance_field::DistanceFieldConstPtr getDistanceField() const
+  {
+    return distance_field_cache_entry_->distance_field_;
+  }
+
+  collision_detection::GroupStateRepresentationConstPtr getLastGroupStateRepresentation() const
+  {
+    return last_gsr_;
+  }
+
+  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                             const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
+
+  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                        const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
+
 protected:
   bool getSelfProximityGradients(GroupStateRepresentationPtr& gsr) const;
 
@@ -244,6 +265,20 @@ class CollisionRobotDistanceField : public CollisionRobot
 
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override{};
 
+  DistanceFieldCacheEntryWorldPtr generateDistanceFieldCacheEntryWorld();
+
+  void updateDistanceObject(const std::string& id, CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr& dfce,
+                            EigenSTL::vector_Vector3d& add_points, EigenSTL::vector_Vector3d& subtract_points);
+
+  bool getEnvironmentCollisions(const CollisionRequest& req, CollisionResult& res,
+                                const distance_field::DistanceFieldConstPtr& env_distance_field,
+                                GroupStateRepresentationPtr& gsr) const;
+
+  bool getEnvironmentProximityGradients(const distance_field::DistanceFieldConstPtr& env_distance_field,
+                                        GroupStateRepresentationPtr& gsr) const;
+
+  static void notifyObjectChange(CollisionEnvDistanceField* self, const ObjectConstPtr& obj, World::Action action);
+
   Eigen::Vector3d size_;
   Eigen::Vector3d origin_;
   bool use_signed_distance_field_;
@@ -260,5 +295,10 @@ class CollisionRobotDistanceField : public CollisionRobot
   std::map<std::string, GroupStateRepresentationPtr> pregenerated_group_state_representation_map_;
 
   planning_scene::PlanningScenePtr planning_scene_;
+
+  mutable boost::mutex update_cache_lock_world_;
+  DistanceFieldCacheEntryWorldPtr distance_field_cache_entry_world_;
+  GroupStateRepresentationPtr last_gsr_;
+  World::ObserverHandle observer_handle_;
 };
 }
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
new file mode 100644
index 0000000000..784623385d
--- /dev/null
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
@@ -0,0 +1,153 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: E. Gil Jones, Jens Petit */
+
+#pragma once
+
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <moveit/collision_distance_field/collision_distance_field_types.h>
+#include <moveit/collision_distance_field/collision_common_distance_field.h>
+#include <moveit/collision_distance_field/collision_env_distance_field.h>
+
+#include <boost/thread/mutex.hpp>
+
+namespace collision_detection
+{
+/** \brief This hybrid collision environment combines FCL and a distance field. Both can be used to calculate
+ *  collisions. */
+class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  CollisionEnvHybrid(const robot_model::RobotModelConstPtr& robot_model,
+                     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
+                         std::map<std::string, std::vector<CollisionSphere>>(),
+                     double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
+                     Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                     bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
+                     double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
+                     double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
+                     double scale = 1.0);
+
+  CollisionEnvHybrid(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+                     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
+                         std::map<std::string, std::vector<CollisionSphere>>(),
+                     double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
+                     Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                     bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
+                     double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
+                     double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
+                     double scale = 1.0);
+
+  CollisionEnvHybrid(const CollisionEnvHybrid& other, const WorldPtr& world);
+
+  ~CollisionEnvHybrid() override
+  {
+  }
+
+  void initializeRobotDistanceField(const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
+                                    double size_x, double size_y, double size_z, bool use_signed_distance_field,
+                                    double resolution, double collision_tolerance, double max_propogation_distance)
+  {
+    cenv_distance_->initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z),
+                               Eigen::Vector3d(0, 0, 0), use_signed_distance_field, resolution, collision_tolerance,
+                               max_propogation_distance);
+  }
+
+  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                       collision_detection::CollisionResult& res,
+                                       const robot_state::RobotState& state) const;
+
+  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       GroupStateRepresentationPtr& gsr) const;
+
+  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       const collision_detection::AllowedCollisionMatrix& acm) const;
+
+  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       const collision_detection::AllowedCollisionMatrix& acm,
+                                       GroupStateRepresentationPtr& gsr) const;
+  const CollisionEnvDistanceFieldConstPtr getCollisionRobotDistanceField() const
+  {
+    return cenv_distance_;
+  }
+
+  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state) const;
+
+  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+
+  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+
+  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                   GroupStateRepresentationPtr& gsr) const;
+
+  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                        const robot_state::RobotState& state) const;
+
+  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                        const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+
+  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+
+  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                        GroupStateRepresentationPtr& gsr) const;
+
+  void setWorld(const WorldPtr& world) override;
+
+  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                             const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
+
+  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                        const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
+
+  const CollisionEnvDistanceFieldConstPtr getCollisionWorldDistanceField() const
+  {
+    return cenv_distance_;
+  }
+
+protected:
+  CollisionEnvDistanceFieldPtr cenv_distance_;
+};
+};
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
deleted file mode 100644
index 7b188ce97e..0000000000
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_robot_hybrid.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#pragma once
-
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
-#include <moveit/collision_distance_field/collision_distance_field_types.h>
-#include <moveit/collision_distance_field/collision_common_distance_field.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-
-#include <boost/thread/mutex.hpp>
-
-namespace collision_detection
-{
-class CollisionRobotHybrid : public collision_detection::CollisionRobotFCL
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  CollisionRobotHybrid(const robot_model::RobotModelConstPtr& robot_model);
-
-  CollisionRobotHybrid(const robot_model::RobotModelConstPtr& robot_model,
-                       const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
-                       double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
-                       bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-                       double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-                       double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
-                       double scale = 1.0);
-
-  CollisionRobotHybrid(const CollisionRobotHybrid& other);
-
-  void initializeRobotDistanceField(const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
-                                    double size_x, double size_y, double size_z, bool use_signed_distance_field,
-                                    double resolution, double collision_tolerance, double max_propogation_distance)
-  {
-    crobot_distance_->initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z),
-                                 Eigen::Vector3d(0, 0, 0), use_signed_distance_field, resolution, collision_tolerance,
-                                 max_propogation_distance);
-  }
-
-  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res,
-                                       const robot_state::RobotState& state) const;
-
-  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
-                                       GroupStateRepresentationPtr& gsr) const;
-
-  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
-                                       const collision_detection::AllowedCollisionMatrix& acm) const;
-
-  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
-                                       const collision_detection::AllowedCollisionMatrix& acm,
-                                       GroupStateRepresentationPtr& gsr) const;
-  const CollisionRobotDistanceFieldConstPtr getCollisionRobotDistanceField() const
-  {
-    return crobot_distance_;
-  }
-
-protected:
-  CollisionRobotDistanceFieldPtr crobot_distance_;
-};
-}
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
deleted file mode 100644
index ff05802ab9..0000000000
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_distance_field.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#pragma once
-
-#include <moveit/macros/class_forward.h>
-#include <moveit/collision_detection/collision_world.h>
-#include <moveit/collision_distance_field/collision_distance_field_types.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-
-namespace collision_detection
-{
-MOVEIT_CLASS_FORWARD(CollisionWorldDistanceField)
-
-class CollisionWorldDistanceField : public CollisionWorld
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  MOVEIT_STRUCT_FORWARD(DistanceFieldCacheEntry)
-  struct DistanceFieldCacheEntry
-  {
-    std::map<std::string, std::vector<PosedBodyPointDecompositionPtr>> posed_body_point_decompositions_;
-    distance_field::DistanceFieldPtr distance_field_;
-  };
-
-  CollisionWorldDistanceField(Eigen::Vector3d size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z),
-                              Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
-                              bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-                              double resolution = DEFAULT_RESOLUTION,
-                              double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-                              double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE);
-
-  explicit CollisionWorldDistanceField(
-      const WorldPtr& world, Eigen::Vector3d size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z),
-      Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
-      bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution = DEFAULT_RESOLUTION,
-      double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-      double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE);
-
-  CollisionWorldDistanceField(const CollisionWorldDistanceField& other, const WorldPtr& world);
-
-  ~CollisionWorldDistanceField() override;
-
-  void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                      const robot_state::RobotState& state) const override;
-
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
-
-  void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                      const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
-
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                              const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
-                              GroupStateRepresentationPtr& gsr) const;
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state) const override;
-
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
-
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
-                                   GroupStateRepresentationPtr& gsr) const;
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override
-  {
-  }
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                           const AllowedCollisionMatrix& acm) const override
-  {
-  }
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                           const CollisionWorld& other_world) const override
-  {
-  }
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                           const AllowedCollisionMatrix& acm) const override
-  {
-  }
-
-  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
-                               bool verbose = false) const
-  {
-    return 0.0;
-  }
-  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
-                               const AllowedCollisionMatrix& acm, bool verbose = false) const
-  {
-    return 0.0;
-  }
-  virtual double distanceWorld(const CollisionWorld& world, bool verbose = false) const
-  {
-    return 0.0;
-  }
-  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm,
-                               bool verbose = false) const
-  {
-    return 0.0;
-  }
-
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                     const robot_state::RobotState& state) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  }
-
-  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override
-  {
-    ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
-  }
-
-  void setWorld(const WorldPtr& world) override;
-
-  distance_field::DistanceFieldConstPtr getDistanceField() const
-  {
-    return distance_field_cache_entry_->distance_field_;
-  }
-
-  collision_detection::GroupStateRepresentationConstPtr getLastGroupStateRepresentation() const
-  {
-    return last_gsr_;
-  }
-
-  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                             const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
-                             GroupStateRepresentationPtr& gsr) const;
-
-  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                        const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
-                        GroupStateRepresentationPtr& gsr) const;
-
-protected:
-  DistanceFieldCacheEntryPtr generateDistanceFieldCacheEntry();
-
-  void updateDistanceObject(const std::string& id, CollisionWorldDistanceField::DistanceFieldCacheEntryPtr& dfce,
-                            EigenSTL::vector_Vector3d& add_points, EigenSTL::vector_Vector3d& subtract_points);
-
-  bool getEnvironmentCollisions(const CollisionRequest& req, CollisionResult& res,
-                                const distance_field::DistanceFieldConstPtr& env_distance_field,
-                                GroupStateRepresentationPtr& gsr) const;
-
-  bool getEnvironmentProximityGradients(const distance_field::DistanceFieldConstPtr& env_distance_field,
-                                        GroupStateRepresentationPtr& gsr) const;
-
-  static void notifyObjectChange(CollisionWorldDistanceField* self, const ObjectConstPtr& obj, World::Action action);
-
-  Eigen::Vector3d size_;
-  Eigen::Vector3d origin_;
-  bool use_signed_distance_field_;
-  double resolution_;
-  double collision_tolerance_;
-  double max_propogation_distance_;
-
-  mutable boost::mutex update_cache_lock_;
-  DistanceFieldCacheEntryPtr distance_field_cache_entry_;
-  GroupStateRepresentationPtr last_gsr_;
-  World::ObserverHandle observer_handle_;
-};
-}
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
deleted file mode 100644
index bb3d07e8cf..0000000000
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_world_hybrid.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#pragma once
-
-#include <moveit/collision_detection_fcl/collision_world_fcl.h>
-#include <moveit/collision_distance_field/collision_distance_field_types.h>
-#include <moveit/collision_distance_field/collision_world_distance_field.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-
-namespace collision_detection
-{
-class CollisionRobotHybrid;
-
-class CollisionWorldHybrid : public CollisionWorldFCL
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  CollisionWorldHybrid(Eigen::Vector3d size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z),
-                       Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
-                       bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-                       double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-                       double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE);
-
-  explicit CollisionWorldHybrid(const WorldPtr& world,
-                                Eigen::Vector3d size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z),
-                                Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
-                                bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-                                double resolution = DEFAULT_RESOLUTION,
-                                double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
-                                double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE);
-
-  CollisionWorldHybrid(const CollisionWorldHybrid& other, const WorldPtr& world);
-
-  ~CollisionWorldHybrid() override
-  {
-  }
-
-  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state) const;
-
-  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
-
-  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
-
-  void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
-                                   GroupStateRepresentationPtr& gsr) const;
-
-  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                        const robot_state::RobotState& state) const;
-
-  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                        const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
-
-  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
-
-  void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
-                                        GroupStateRepresentationPtr& gsr) const;
-
-  void setWorld(const WorldPtr& world) override;
-
-  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                             const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
-                             GroupStateRepresentationPtr& gsr) const;
-
-  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                        const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
-                        GroupStateRepresentationPtr& gsr) const;
-
-  const CollisionWorldDistanceFieldConstPtr getCollisionWorldDistanceField() const
-  {
-    return cworld_distance_;
-  }
-
-protected:
-  CollisionWorldDistanceFieldPtr cworld_distance_;
-};
-}
diff --git a/moveit_core/collision_distance_field/src/collision_robot_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
similarity index 68%
rename from moveit_core/collision_distance_field/src/collision_robot_distance_field.cpp
rename to moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
index 85cf2246ee..0c1cc66d9f 100644
--- a/moveit_core/collision_distance_field/src/collision_robot_distance_field.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -35,54 +35,61 @@
 /* Author: E. Gil Jones */
 
 #include <moveit/robot_model/robot_model.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-#include <moveit/collision_distance_field/collision_common_distance_field.h>
-#include <moveit/distance_field/propagation_distance_field.h>
 #include <ros/console.h>
 #include <ros/assert.h>
 #include <tf2_eigen/tf2_eigen.h>
+#include <moveit/collision_distance_field/collision_env_distance_field.h>
+#include <moveit/collision_distance_field/collision_common_distance_field.h>
+#include <moveit/distance_field/propagation_distance_field.h>
+#include <moveit/collision_distance_field/collision_detector_allocator_distance_field.h>
+#include <boost/bind.hpp>
+#include <memory>
+#include <utility>
 
 namespace collision_detection
 {
 const double EPSILON = 0.001f;
 
-CollisionRobotDistanceField::CollisionRobotDistanceField(const robot_model::RobotModelConstPtr& robot_model)
-  : CollisionRobot(robot_model)
+const std::string collision_detection::CollisionDetectorAllocatorDistanceField::NAME("DISTANCE_FIELD");
+
+CollisionEnvDistanceField::CollisionEnvDistanceField(
+    const robot_model::RobotModelConstPtr& robot_model,
+    const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
+    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double collision_tolerance, double max_propogation_distance, double padding, double scale)
+  : CollisionEnv(robot_model)
 {
-  // planning_scene_.reset(new planning_scene::PlanningScene(robot_model_));
+  initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
+             resolution, collision_tolerance, max_propogation_distance);
 
-  std::map<std::string, std::vector<CollisionSphere>> link_body_decompositions;
-  Eigen::Vector3d size(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z);
-  initialize(link_body_decompositions, size, Eigen::Vector3d(0, 0, 0), DEFAULT_USE_SIGNED_DISTANCE_FIELD,
-             DEFAULT_RESOLUTION, DEFAULT_COLLISION_TOLERANCE, DEFAULT_MAX_PROPOGATION_DISTANCE);
   setPadding(0.0);
+
+  distance_field_cache_entry_world_ = generateDistanceFieldCacheEntryWorld();
+
+  // request notifications about changes to world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
 }
 
-CollisionRobotDistanceField::CollisionRobotDistanceField(
-    const robot_model::RobotModelConstPtr& robot_model,
+CollisionEnvDistanceField::CollisionEnvDistanceField(
+    const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
-    double max_propogation_distance, double padding, double scale)
-  : CollisionRobot(robot_model, padding, scale)
+    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double collision_tolerance, double max_propogation_distance, double padding, double scale)
+  : CollisionEnv(robot_model, world, padding, scale)
 {
-  initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), Eigen::Vector3d(0, 0, 0),
-             use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance);
-}
+  initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
+             resolution, collision_tolerance, max_propogation_distance);
 
-CollisionRobotDistanceField::CollisionRobotDistanceField(const CollisionRobot& col_robot, const Eigen::Vector3d& size,
-                                                         const Eigen::Vector3d& origin, bool use_signed_distance_field,
-                                                         double resolution, double collision_tolerance,
-                                                         double max_propogation_distance, double padding)
-  : CollisionRobot(col_robot)
-{
-  std::map<std::string, std::vector<CollisionSphere>> link_body_decompositions;
-  initialize(link_body_decompositions, size, origin, use_signed_distance_field, resolution, collision_tolerance,
-             max_propogation_distance);
-  setPadding(padding);
+  distance_field_cache_entry_world_ = generateDistanceFieldCacheEntryWorld();
+
+  // request notifications about changes to world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
 }
 
-CollisionRobotDistanceField::CollisionRobotDistanceField(const CollisionRobotDistanceField& other)
-  : CollisionRobot(other)
+CollisionEnvDistanceField::CollisionEnvDistanceField(const CollisionEnvDistanceField& other, const WorldPtr& world)
+  : CollisionEnv(other, world)
 {
   size_ = other.size_;
   origin_ = other.origin_;
@@ -94,11 +101,21 @@ CollisionRobotDistanceField::CollisionRobotDistanceField(const CollisionRobotDis
   link_body_decomposition_vector_ = other.link_body_decomposition_vector_;
   link_body_decomposition_index_map_ = other.link_body_decomposition_index_map_;
   in_group_update_map_ = other.in_group_update_map_;
+  distance_field_cache_entry_world_ = generateDistanceFieldCacheEntryWorld();
   pregenerated_group_state_representation_map_ = other.pregenerated_group_state_representation_map_;
   planning_scene_.reset(new planning_scene::PlanningScene(robot_model_));
+
+  // request notifications about changes to world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+CollisionEnvDistanceField::~CollisionEnvDistanceField()
+{
+  getWorld()->removeObserver(observer_handle_);
 }
 
-void CollisionRobotDistanceField::initialize(
+void CollisionEnvDistanceField::initialize(
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, const Eigen::Vector3d& size,
     const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution, double collision_tolerance,
     double max_propogation_distance)
@@ -130,7 +147,7 @@ void CollisionRobotDistanceField::initialize(
   }
 }
 
-void CollisionRobotDistanceField::generateCollisionCheckingStructures(
+void CollisionEnvDistanceField::generateCollisionCheckingStructures(
     const std::string& group_name, const moveit::core::RobotState& state,
     const collision_detection::AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr,
     bool generate_distance_field) const
@@ -143,17 +160,17 @@ void CollisionRobotDistanceField::generateCollisionCheckingStructures(
     DistanceFieldCacheEntryPtr new_dfce =
         generateDistanceFieldCacheEntry(group_name, state, acm, generate_distance_field);
     boost::mutex::scoped_lock slock(update_cache_lock_);
-    (const_cast<CollisionRobotDistanceField*>(this))->distance_field_cache_entry_ = new_dfce;
+    (const_cast<CollisionEnvDistanceField*>(this))->distance_field_cache_entry_ = new_dfce;
     dfce = new_dfce;
   }
   getGroupStateRepresentation(dfce, state, gsr);
 }
 
-void CollisionRobotDistanceField::checkSelfCollisionHelper(const collision_detection::CollisionRequest& req,
-                                                           collision_detection::CollisionResult& res,
-                                                           const moveit::core::RobotState& state,
-                                                           const collision_detection::AllowedCollisionMatrix* acm,
-                                                           GroupStateRepresentationPtr& gsr) const
+void CollisionEnvDistanceField::checkSelfCollisionHelper(const collision_detection::CollisionRequest& req,
+                                                         collision_detection::CollisionResult& res,
+                                                         const moveit::core::RobotState& state,
+                                                         const collision_detection::AllowedCollisionMatrix* acm,
+                                                         GroupStateRepresentationPtr& gsr) const
 {
   if (!gsr)
   {
@@ -174,9 +191,9 @@ void CollisionRobotDistanceField::checkSelfCollisionHelper(const collision_detec
 }
 
 DistanceFieldCacheEntryConstPtr
-CollisionRobotDistanceField::getDistanceFieldCacheEntry(const std::string& group_name,
-                                                        const moveit::core::RobotState& state,
-                                                        const collision_detection::AllowedCollisionMatrix* acm) const
+CollisionEnvDistanceField::getDistanceFieldCacheEntry(const std::string& group_name,
+                                                      const moveit::core::RobotState& state,
+                                                      const collision_detection::AllowedCollisionMatrix* acm) const
 {
   DistanceFieldCacheEntryConstPtr ret;
   if (!distance_field_cache_entry_)
@@ -205,36 +222,36 @@ CollisionRobotDistanceField::getDistanceFieldCacheEntry(const std::string& group
   return cur;
 }
 
-void CollisionRobotDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
-                                                     collision_detection::CollisionResult& res,
-                                                     const moveit::core::RobotState& state) const
+void CollisionEnvDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
+                                                   collision_detection::CollisionResult& res,
+                                                   const moveit::core::RobotState& state) const
 {
   GroupStateRepresentationPtr gsr;
   checkSelfCollisionHelper(req, res, state, nullptr, gsr);
 }
 
-void CollisionRobotDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
-                                                     collision_detection::CollisionResult& res,
-                                                     const moveit::core::RobotState& state,
-                                                     GroupStateRepresentationPtr& gsr) const
+void CollisionEnvDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
+                                                   collision_detection::CollisionResult& res,
+                                                   const moveit::core::RobotState& state,
+                                                   GroupStateRepresentationPtr& gsr) const
 {
   checkSelfCollisionHelper(req, res, state, nullptr, gsr);
 }
 
-void CollisionRobotDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
-                                                     collision_detection::CollisionResult& res,
-                                                     const moveit::core::RobotState& state,
-                                                     const collision_detection::AllowedCollisionMatrix& acm) const
+void CollisionEnvDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
+                                                   collision_detection::CollisionResult& res,
+                                                   const moveit::core::RobotState& state,
+                                                   const collision_detection::AllowedCollisionMatrix& acm) const
 {
   GroupStateRepresentationPtr gsr;
   checkSelfCollisionHelper(req, res, state, &acm, gsr);
 }
 
-void CollisionRobotDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
-                                                     collision_detection::CollisionResult& res,
-                                                     const moveit::core::RobotState& state,
-                                                     const collision_detection::AllowedCollisionMatrix& acm,
-                                                     GroupStateRepresentationPtr& gsr) const
+void CollisionEnvDistanceField::checkSelfCollision(const collision_detection::CollisionRequest& req,
+                                                   collision_detection::CollisionResult& res,
+                                                   const moveit::core::RobotState& state,
+                                                   const collision_detection::AllowedCollisionMatrix& acm,
+                                                   GroupStateRepresentationPtr& gsr) const
 {
   if (gsr)
   {
@@ -244,9 +261,9 @@ void CollisionRobotDistanceField::checkSelfCollision(const collision_detection::
   checkSelfCollisionHelper(req, res, state, &acm, gsr);
 }
 
-bool CollisionRobotDistanceField::getSelfCollisions(const collision_detection::CollisionRequest& req,
-                                                    collision_detection::CollisionResult& res,
-                                                    GroupStateRepresentationPtr& gsr) const
+bool CollisionEnvDistanceField::getSelfCollisions(const collision_detection::CollisionRequest& req,
+                                                  collision_detection::CollisionResult& res,
+                                                  GroupStateRepresentationPtr& gsr) const
 {
   for (unsigned int i = 0; i < gsr->dfce_->link_names_.size() + gsr->dfce_->attached_body_names_.size(); i++)
   {
@@ -324,7 +341,7 @@ bool CollisionRobotDistanceField::getSelfCollisions(const collision_detection::C
   return (res.contact_count >= req.max_contacts);
 }
 
-bool CollisionRobotDistanceField::getSelfProximityGradients(GroupStateRepresentationPtr& gsr) const
+bool CollisionEnvDistanceField::getSelfProximityGradients(GroupStateRepresentationPtr& gsr) const
 {
   bool in_collision = false;
 
@@ -399,9 +416,9 @@ bool CollisionRobotDistanceField::getSelfProximityGradients(GroupStateRepresenta
   return in_collision;
 }
 
-bool CollisionRobotDistanceField::getIntraGroupCollisions(const collision_detection::CollisionRequest& req,
-                                                          collision_detection::CollisionResult& res,
-                                                          GroupStateRepresentationPtr& gsr) const
+bool CollisionEnvDistanceField::getIntraGroupCollisions(const collision_detection::CollisionRequest& req,
+                                                        collision_detection::CollisionResult& res,
+                                                        GroupStateRepresentationPtr& gsr) const
 {
   unsigned int num_links = gsr->dfce_->link_names_.size();
   unsigned int num_attached_bodies = gsr->dfce_->attached_body_names_.size();
@@ -628,7 +645,7 @@ bool CollisionRobotDistanceField::getIntraGroupCollisions(const collision_detect
   return false;
 }
 
-bool CollisionRobotDistanceField::getIntraGroupProximityGradients(GroupStateRepresentationPtr& gsr) const
+bool CollisionEnvDistanceField::getIntraGroupProximityGradients(GroupStateRepresentationPtr& gsr) const
 {
   bool in_collision = false;
   unsigned int num_links = gsr->dfce_->link_names_.size();
@@ -694,7 +711,7 @@ bool CollisionRobotDistanceField::getIntraGroupProximityGradients(GroupStateRepr
   }
   return in_collision;
 }
-DistanceFieldCacheEntryPtr CollisionRobotDistanceField::generateDistanceFieldCacheEntry(
+DistanceFieldCacheEntryPtr CollisionEnvDistanceField::generateDistanceFieldCacheEntry(
     const std::string& group_name, const moveit::core::RobotState& state,
     const collision_detection::AllowedCollisionMatrix* acm, bool generate_distance_field) const
 {
@@ -947,7 +964,7 @@ DistanceFieldCacheEntryPtr CollisionRobotDistanceField::generateDistanceFieldCac
   return dfce;
 }
 
-void CollisionRobotDistanceField::addLinkBodyDecompositions(double resolution)
+void CollisionEnvDistanceField::addLinkBodyDecompositions(double resolution)
 {
   const std::vector<const moveit::core::LinkModel*>& link_models = robot_model_->getLinkModelsWithCollisionGeometry();
   for (const moveit::core::LinkModel* link_model : link_models)
@@ -967,8 +984,8 @@ void CollisionRobotDistanceField::addLinkBodyDecompositions(double resolution)
   }
 }
 
-void CollisionRobotDistanceField::createCollisionModelMarker(const moveit::core::RobotState& state,
-                                                             visualization_msgs::MarkerArray& model_markers) const
+void CollisionEnvDistanceField::createCollisionModelMarker(const moveit::core::RobotState& state,
+                                                           visualization_msgs::MarkerArray& model_markers) const
 {
   // creating colors
   std_msgs::ColorRGBA robot_color;
@@ -1035,7 +1052,7 @@ void CollisionRobotDistanceField::createCollisionModelMarker(const moveit::core:
   }
 }
 
-void CollisionRobotDistanceField::addLinkBodyDecompositions(
+void CollisionEnvDistanceField::addLinkBodyDecompositions(
     double resolution, const std::map<std::string, std::vector<CollisionSphere>>& link_spheres)
 {
   ROS_ASSERT_MSG(robot_model_, "RobotModelPtr is invalid");
@@ -1065,7 +1082,7 @@ void CollisionRobotDistanceField::addLinkBodyDecompositions(
   ROS_DEBUG_STREAM(__FUNCTION__ << " Finished ");
 }
 
-PosedBodySphereDecompositionPtr CollisionRobotDistanceField::getPosedLinkBodySphereDecomposition(
+PosedBodySphereDecompositionPtr CollisionEnvDistanceField::getPosedLinkBodySphereDecomposition(
     const moveit::core::LinkModel* ls, unsigned int ind) const
 {
   PosedBodySphereDecompositionPtr ret;
@@ -1074,7 +1091,7 @@ PosedBodySphereDecompositionPtr CollisionRobotDistanceField::getPosedLinkBodySph
 }
 
 PosedBodyPointDecompositionPtr
-CollisionRobotDistanceField::getPosedLinkBodyPointDecomposition(const moveit::core::LinkModel* ls) const
+CollisionEnvDistanceField::getPosedLinkBodyPointDecomposition(const moveit::core::LinkModel* ls) const
 {
   PosedBodyPointDecompositionPtr ret;
   std::map<std::string, unsigned int>::const_iterator it = link_body_decomposition_index_map_.find(ls->getName());
@@ -1087,8 +1104,8 @@ CollisionRobotDistanceField::getPosedLinkBodyPointDecomposition(const moveit::co
   return ret;
 }
 
-void CollisionRobotDistanceField::updateGroupStateRepresentationState(const moveit::core::RobotState& state,
-                                                                      GroupStateRepresentationPtr& gsr) const
+void CollisionEnvDistanceField::updateGroupStateRepresentationState(const moveit::core::RobotState& state,
+                                                                    GroupStateRepresentationPtr& gsr) const
 {
   for (unsigned int i = 0; i < gsr->dfce_->link_names_.size(); i++)
   {
@@ -1141,9 +1158,9 @@ void CollisionRobotDistanceField::updateGroupStateRepresentationState(const move
   }
 }
 
-void CollisionRobotDistanceField::getGroupStateRepresentation(const DistanceFieldCacheEntryConstPtr& dfce,
-                                                              const moveit::core::RobotState& state,
-                                                              GroupStateRepresentationPtr& gsr) const
+void CollisionEnvDistanceField::getGroupStateRepresentation(const DistanceFieldCacheEntryConstPtr& dfce,
+                                                            const moveit::core::RobotState& state,
+                                                            GroupStateRepresentationPtr& gsr) const
 {
   if (!dfce->pregenerated_group_state_representation_)
   {
@@ -1239,8 +1256,8 @@ void CollisionRobotDistanceField::getGroupStateRepresentation(const DistanceFiel
   }
 }
 
-bool CollisionRobotDistanceField::compareCacheEntryToState(const DistanceFieldCacheEntryConstPtr& dfce,
-                                                           const moveit::core::RobotState& state) const
+bool CollisionEnvDistanceField::compareCacheEntryToState(const DistanceFieldCacheEntryConstPtr& dfce,
+                                                         const moveit::core::RobotState& state) const
 {
   std::vector<double> new_state_values(state.getVariableCount());
   for (unsigned int i = 0; i < new_state_values.size(); i++)
@@ -1299,7 +1316,7 @@ bool CollisionRobotDistanceField::compareCacheEntryToState(const DistanceFieldCa
   return true;
 }
 
-bool CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix(
+bool CollisionEnvDistanceField::compareCacheEntryToAllowedCollisionMatrix(
     const DistanceFieldCacheEntryConstPtr& dfce, const collision_detection::AllowedCollisionMatrix& acm) const
 {
   if (dfce->acm_.getSize() != acm.getSize())
@@ -1361,7 +1378,7 @@ bool CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix(
 }
 
 // void
-// CollisionRobotDistanceField::generateAllowedCollisionInformation(CollisionRobotDistanceField::DistanceFieldCacheEntryPtr&
+// CollisionEnvDistanceField::generateAllowedCollisionInformation(CollisionEnvDistanceField::DistanceFieldCacheEntryPtr&
 // dfce)
 // {
 //   for(unsigned int i = 0; i < dfce.link_names_.size(); i++) {
@@ -1369,4 +1386,420 @@ bool CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix(
 //     if(dfce->acm.find
 //   }
 // }
+
+void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state) const
+{
+  GroupStateRepresentationPtr gsr;
+  checkCollision(req, res, state, gsr);
+}
+
+void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state,
+                                               GroupStateRepresentationPtr& gsr) const
+{
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, nullptr, gsr, true);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+  bool done = getSelfCollisions(req, res, gsr);
+  if (!done)
+  {
+    done = getIntraGroupCollisions(req, res, gsr);
+  }
+  if (!done)
+  {
+    getEnvironmentCollisions(req, res, distance_field_cache_entry_world_->distance_field_, gsr);
+  }
+
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+}
+
+void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  GroupStateRepresentationPtr gsr;
+  checkCollision(req, res, state, acm, gsr);
+}
+
+void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                               GroupStateRepresentationPtr& gsr) const
+{
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, &acm, gsr, true);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+  bool done = getSelfCollisions(req, res, gsr);
+  if (!done)
+  {
+    done = getIntraGroupCollisions(req, res, gsr);
+  }
+  if (!done)
+  {
+    getEnvironmentCollisions(req, res, distance_field_cache_entry_world_->distance_field_, gsr);
+  }
+
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state) const
+{
+  GroupStateRepresentationPtr gsr;
+  checkRobotCollision(req, res, state, gsr);
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state,
+                                                    GroupStateRepresentationPtr& gsr) const
+{
+  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_world_->distance_field_;
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, nullptr, gsr, false);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+  getEnvironmentCollisions(req, res, env_distance_field, gsr);
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+
+  // checkRobotCollisionHelper(req, res, robot, state, &acm);
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state,
+                                                    const AllowedCollisionMatrix& acm) const
+{
+  GroupStateRepresentationPtr gsr;
+  checkRobotCollision(req, res, state, acm, gsr);
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state,
+                                                    const AllowedCollisionMatrix& acm,
+                                                    GroupStateRepresentationPtr& gsr) const
+{
+  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_world_->distance_field_;
+
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, &acm, gsr, true);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+  getEnvironmentCollisions(req, res, env_distance_field, gsr);
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+
+  // checkRobotCollisionHelper(req, res, robot, state, &acm);
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state1,
+                                                    const robot_state::RobotState& state2,
+                                                    const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.distance", "Continuous collision checking not implemented");
+}
+
+void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state1,
+                                                    const robot_state::RobotState& state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.distance", "Continuous collision checking not implemented");
+}
+
+void CollisionEnvDistanceField::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
+                                                      const robot_state::RobotState& state,
+                                                      const AllowedCollisionMatrix* acm,
+                                                      GroupStateRepresentationPtr& gsr) const
+{
+  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_world_->distance_field_;
+
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, acm, gsr, true);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+
+  getSelfProximityGradients(gsr);
+  getIntraGroupProximityGradients(gsr);
+  getEnvironmentProximityGradients(env_distance_field, gsr);
+
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+}
+
+void CollisionEnvDistanceField::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
+                                                 const robot_state::RobotState& state,
+                                                 const AllowedCollisionMatrix* acm,
+                                                 GroupStateRepresentationPtr& gsr) const
+{
+  if (!gsr)
+  {
+    generateCollisionCheckingStructures(req.group_name, state, acm, gsr, true);
+  }
+  else
+  {
+    updateGroupStateRepresentationState(state, gsr);
+  }
+  getSelfCollisions(req, res, gsr);
+  getIntraGroupCollisions(req, res, gsr);
+  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_world_->distance_field_;
+  getEnvironmentCollisions(req, res, env_distance_field, gsr);
+
+  (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
+}
+
+bool CollisionEnvDistanceField::getEnvironmentCollisions(
+    const CollisionRequest& req, CollisionResult& res, const distance_field::DistanceFieldConstPtr& env_distance_field,
+    GroupStateRepresentationPtr& gsr) const
+{
+  for (unsigned int i = 0; i < gsr->dfce_->link_names_.size() + gsr->dfce_->attached_body_names_.size(); i++)
+  {
+    bool is_link = i < gsr->dfce_->link_names_.size();
+    std::string link_name = i < gsr->dfce_->link_names_.size() ? gsr->dfce_->link_names_[i] : "attached";
+    if (is_link && !gsr->dfce_->link_has_geometry_[i])
+    {
+      continue;
+    }
+
+    const std::vector<CollisionSphere>* collision_spheres_1;
+    const EigenSTL::vector_Vector3d* sphere_centers_1;
+
+    if (is_link)
+    {
+      collision_spheres_1 = &(gsr->link_body_decompositions_[i]->getCollisionSpheres());
+      sphere_centers_1 = &(gsr->link_body_decompositions_[i]->getSphereCenters());
+    }
+    else
+    {
+      collision_spheres_1 =
+          &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getCollisionSpheres());
+      sphere_centers_1 = &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters());
+    }
+
+    if (req.contacts)
+    {
+      std::vector<unsigned int> colls;
+      bool coll = getCollisionSphereCollision(
+          env_distance_field.get(), *collision_spheres_1, *sphere_centers_1, max_propogation_distance_,
+          collision_tolerance_, std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
+      if (coll)
+      {
+        res.collision = true;
+        for (unsigned int col : colls)
+        {
+          Contact con;
+          if (is_link)
+          {
+            con.pos = gsr->link_body_decompositions_[i]->getSphereCenters()[col];
+            con.body_type_1 = BodyTypes::ROBOT_LINK;
+            con.body_name_1 = gsr->dfce_->link_names_[i];
+          }
+          else
+          {
+            con.pos = gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters()[col];
+            con.body_type_1 = BodyTypes::ROBOT_ATTACHED;
+            con.body_name_1 = gsr->dfce_->attached_body_names_[i - gsr->dfce_->link_names_.size()];
+          }
+
+          con.body_type_2 = BodyTypes::WORLD_OBJECT;
+          con.body_name_2 = "environment";
+          res.contact_count++;
+          res.contacts[std::pair<std::string, std::string>(con.body_name_1, con.body_name_2)].push_back(con);
+          gsr->gradients_[i].types[col] = ENVIRONMENT;
+          // ROS_DEBUG_STREAM("Link " << dfce->link_names_[i] << " sphere " <<
+          // colls[j] << " in env collision");
+        }
+
+        gsr->gradients_[i].collision = true;
+        if (res.contact_count >= req.max_contacts)
+        {
+          return true;
+        }
+      }
+    }
+    else
+    {
+      bool coll = getCollisionSphereCollision(env_distance_field.get(), *collision_spheres_1, *sphere_centers_1,
+                                              max_propogation_distance_, collision_tolerance_);
+      if (coll)
+      {
+        res.collision = true;
+        return true;
+      }
+    }
+  }
+  return (res.contact_count >= req.max_contacts);
+}
+
+bool CollisionEnvDistanceField::getEnvironmentProximityGradients(
+    const distance_field::DistanceFieldConstPtr& env_distance_field, GroupStateRepresentationPtr& gsr) const
+{
+  bool in_collision = false;
+  for (unsigned int i = 0; i < gsr->dfce_->link_names_.size(); i++)
+  {
+    bool is_link = i < gsr->dfce_->link_names_.size();
+
+    if (is_link && !gsr->dfce_->link_has_geometry_[i])
+    {
+      continue;
+    }
+
+    const std::vector<CollisionSphere>* collision_spheres_1;
+    const EigenSTL::vector_Vector3d* sphere_centers_1;
+    if (is_link)
+    {
+      collision_spheres_1 = &(gsr->link_body_decompositions_[i]->getCollisionSpheres());
+      sphere_centers_1 = &(gsr->link_body_decompositions_[i]->getSphereCenters());
+    }
+    else
+    {
+      collision_spheres_1 =
+          &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getCollisionSpheres());
+      sphere_centers_1 = &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters());
+    }
+
+    bool coll = getCollisionSphereGradients(env_distance_field.get(), *collision_spheres_1, *sphere_centers_1,
+                                            gsr->gradients_[i], ENVIRONMENT, collision_tolerance_, false,
+                                            max_propogation_distance_, false);
+    if (coll)
+    {
+      in_collision = true;
+    }
+  }
+  return in_collision;
+}
+
+void CollisionEnvDistanceField::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  // turn off notifications about old world
+  getWorld()->removeObserver(observer_handle_);
+
+  // clear out objects from old world
+  distance_field_cache_entry_world_->distance_field_->reset();
+
+  CollisionEnv::setWorld(world);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+
+  // get notifications any objects already in the new world
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+void CollisionEnvDistanceField::notifyObjectChange(CollisionEnvDistanceField* self, const ObjectConstPtr& obj,
+                                                   World::Action action)
+{
+  ros::WallTime n = ros::WallTime::now();
+
+  EigenSTL::vector_Vector3d add_points;
+  EigenSTL::vector_Vector3d subtract_points;
+  self->updateDistanceObject(obj->id_, self->distance_field_cache_entry_world_, add_points, subtract_points);
+
+  if (action == World::DESTROY)
+  {
+    self->distance_field_cache_entry_world_->distance_field_->removePointsFromField(subtract_points);
+  }
+  else if (action & (World::MOVE_SHAPE | World::REMOVE_SHAPE))
+  {
+    self->distance_field_cache_entry_world_->distance_field_->removePointsFromField(subtract_points);
+    self->distance_field_cache_entry_world_->distance_field_->addPointsToField(add_points);
+  }
+  else
+  {
+    self->distance_field_cache_entry_world_->distance_field_->addPointsToField(add_points);
+  }
+
+  ROS_DEBUG_NAMED("collision_distance_field", "Modifying object %s took %lf s", obj->id_.c_str(),
+                  (ros::WallTime::now() - n).toSec());
+}
+
+void CollisionEnvDistanceField::updateDistanceObject(const std::string& id, DistanceFieldCacheEntryWorldPtr& dfce,
+                                                     EigenSTL::vector_Vector3d& add_points,
+                                                     EigenSTL::vector_Vector3d& subtract_points)
+{
+  std::map<std::string, std::vector<PosedBodyPointDecompositionPtr>>::iterator cur_it =
+      dfce->posed_body_point_decompositions_.find(id);
+  if (cur_it != dfce->posed_body_point_decompositions_.end())
+  {
+    for (collision_detection::PosedBodyPointDecompositionPtr& posed_body_point_decomposition : cur_it->second)
+    {
+      subtract_points.insert(subtract_points.end(), posed_body_point_decomposition->getCollisionPoints().begin(),
+                             posed_body_point_decomposition->getCollisionPoints().end());
+    }
+  }
+
+  World::ObjectConstPtr object = getWorld()->getObject(id);
+  if (object)
+  {
+    ROS_DEBUG_STREAM("Updating/Adding Object '" << object->id_ << "' with " << object->shapes_.size()
+                                                << " shapes  to CollisionEnvDistanceField");
+    std::vector<PosedBodyPointDecompositionPtr> shape_points;
+    for (unsigned int i = 0; i < object->shapes_.size(); i++)
+    {
+      shapes::ShapeConstPtr shape = object->shapes_[i];
+      if (shape->type == shapes::OCTREE)
+      {
+        const shapes::OcTree* octree_shape = static_cast<const shapes::OcTree*>(shape.get());
+        std::shared_ptr<const octomap::OcTree> octree = octree_shape->octree;
+
+        shape_points.push_back(std::make_shared<PosedBodyPointDecomposition>(octree));
+      }
+      else
+      {
+        BodyDecompositionConstPtr bd = getBodyDecompositionCacheEntry(shape, resolution_);
+
+        shape_points.push_back(std::make_shared<PosedBodyPointDecomposition>(bd, object->shape_poses_[i]));
+      }
+
+      add_points.insert(add_points.end(), shape_points.back()->getCollisionPoints().begin(),
+                        shape_points.back()->getCollisionPoints().end());
+    }
+
+    dfce->posed_body_point_decompositions_[id] = shape_points;
+  }
+  else
+  {
+    ROS_DEBUG_STREAM("Removing Object '" << id << "' from CollisionEnvDistanceField");
+    dfce->posed_body_point_decompositions_.erase(id);
+  }
+}
+
+CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr
+CollisionEnvDistanceField::generateDistanceFieldCacheEntryWorld()
+{
+  DistanceFieldCacheEntryWorldPtr dfce(new DistanceFieldCacheEntryWorld());
+  dfce->distance_field_.reset(new distance_field::PropagationDistanceField(
+      size_.x(), size_.y(), size_.z(), resolution_, origin_.x() - 0.5 * size_.x(), origin_.y() - 0.5 * size_.y(),
+      origin_.z() - 0.5 * size_.z(), max_propogation_distance_, use_signed_distance_field_));
+
+  EigenSTL::vector_Vector3d add_points;
+  EigenSTL::vector_Vector3d subtract_points;
+  for (const std::pair<const std::string, ObjectPtr>& object : *getWorld())
+  {
+    updateDistanceObject(object.first, dfce, add_points, subtract_points);
+  }
+  dfce->distance_field_->addPointsToField(add_points);
+  return dfce;
+}
 }  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
new file mode 100644
index 0000000000..9c7928112d
--- /dev/null
+++ b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
@@ -0,0 +1,185 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: E. Gil Jones, Jens Petit */
+
+#include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
+#include <moveit/collision_distance_field/collision_env_hybrid.h>
+#include <utility>
+
+namespace collision_detection
+{
+const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME("HYBRID");
+
+CollisionEnvHybrid::CollisionEnvHybrid(
+    const robot_model::RobotModelConstPtr& robot_model,
+    const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
+    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double collision_tolerance, double max_propogation_distance, double padding, double scale)
+  : CollisionEnvFCL(robot_model)
+  , cenv_distance_(new collision_detection::CollisionEnvDistanceField(
+        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, std::move(origin),
+        use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance, padding, scale))
+{
+}
+
+CollisionEnvHybrid::CollisionEnvHybrid(
+    const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+    const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
+    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double collision_tolerance, double max_propogation_distance, double padding, double scale)
+  : CollisionEnvFCL(robot_model, world, padding, scale)
+  , cenv_distance_(new collision_detection::CollisionEnvDistanceField(
+        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, std::move(origin),
+        use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance, padding, scale))
+{
+}
+
+CollisionEnvHybrid::CollisionEnvHybrid(const CollisionEnvHybrid& other, const WorldPtr& world)
+  : CollisionEnvFCL(other, world)
+  , cenv_distance_(new collision_detection::CollisionEnvDistanceField(*other.getCollisionWorldDistanceField(), world))
+{
+}
+
+void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                                         collision_detection::CollisionResult& res,
+                                                         const robot_state::RobotState& state) const
+{
+  cenv_distance_->checkSelfCollision(req, res, state);
+}
+
+void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                                         collision_detection::CollisionResult& res,
+                                                         const robot_state::RobotState& state,
+                                                         GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkSelfCollision(req, res, state, gsr);
+}
+
+void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                                         collision_detection::CollisionResult& res,
+                                                         const robot_state::RobotState& state,
+                                                         const collision_detection::AllowedCollisionMatrix& acm) const
+{
+  cenv_distance_->checkSelfCollision(req, res, state, acm);
+}
+
+void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
+                                                         collision_detection::CollisionResult& res,
+                                                         const robot_state::RobotState& state,
+                                                         const collision_detection::AllowedCollisionMatrix& acm,
+                                                         GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkSelfCollision(req, res, state, acm, gsr);
+}
+
+void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                     const robot_state::RobotState& state) const
+{
+  cenv_distance_->checkCollision(req, res, state);
+}
+
+void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                     const robot_state::RobotState& state,
+                                                     GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkCollision(req, res, state, gsr);
+}
+
+void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                     const robot_state::RobotState& state,
+                                                     const AllowedCollisionMatrix& acm) const
+{
+  cenv_distance_->checkCollision(req, res, state, acm);
+}
+
+void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                     const robot_state::RobotState& state,
+                                                     const AllowedCollisionMatrix& acm,
+                                                     GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkCollision(req, res, state, acm, gsr);
+}
+
+void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                          const robot_state::RobotState& state) const
+{
+  cenv_distance_->checkRobotCollision(req, res, state);
+}
+
+void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                          const robot_state::RobotState& state,
+                                                          GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkRobotCollision(req, res, state, gsr);
+}
+
+void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                          const robot_state::RobotState& state,
+                                                          const AllowedCollisionMatrix& acm) const
+{
+  cenv_distance_->checkRobotCollision(req, res, state, acm);
+}
+
+void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
+                                                          const robot_state::RobotState& state,
+                                                          const AllowedCollisionMatrix& acm,
+                                                          GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->checkRobotCollision(req, res, state, acm, gsr);
+}
+
+void CollisionEnvHybrid::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  cenv_distance_->setWorld(world);
+  CollisionEnvFCL::setWorld(world);
+}
+
+void CollisionEnvHybrid::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
+                                               GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->getCollisionGradients(req, res, state, acm, gsr);
+}
+
+void CollisionEnvHybrid::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
+                                          GroupStateRepresentationPtr& gsr) const
+{
+  cenv_distance_->getAllCollisions(req, res, state, acm, gsr);
+}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp
deleted file mode 100644
index 45f35aea88..0000000000
--- a/moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#include <moveit/collision_distance_field/collision_robot_hybrid.h>
-
-namespace collision_detection
-{
-CollisionRobotHybrid::CollisionRobotHybrid(const robot_model::RobotModelConstPtr& robot_model)
-  : CollisionRobotFCL(robot_model)
-{
-  crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(robot_model));
-}
-
-CollisionRobotHybrid::CollisionRobotHybrid(
-    const robot_model::RobotModelConstPtr& robot_model,
-    const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
-    double max_propogation_distance, double padding, double scale)
-  : CollisionRobotFCL(robot_model)
-{
-  crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(
-      robot_model, link_body_decompositions, size_x, size_y, size_z, use_signed_distance_field, resolution,
-      collision_tolerance, max_propogation_distance, padding, scale));
-}
-
-CollisionRobotHybrid::CollisionRobotHybrid(const CollisionRobotHybrid& other) : CollisionRobotFCL(other)
-{
-  crobot_distance_.reset(
-      new collision_detection::CollisionRobotDistanceField(*other.getCollisionRobotDistanceField().get()));
-}
-
-void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                                           collision_detection::CollisionResult& res,
-                                                           const robot_state::RobotState& state) const
-{
-  crobot_distance_->checkSelfCollision(req, res, state);
-}
-
-void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                                           collision_detection::CollisionResult& res,
-                                                           const robot_state::RobotState& state,
-                                                           GroupStateRepresentationPtr& gsr) const
-{
-  crobot_distance_->checkSelfCollision(req, res, state, gsr);
-}
-
-void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                                           collision_detection::CollisionResult& res,
-                                                           const robot_state::RobotState& state,
-                                                           const collision_detection::AllowedCollisionMatrix& acm) const
-{
-  crobot_distance_->checkSelfCollision(req, res, state, acm);
-}
-
-void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                                           collision_detection::CollisionResult& res,
-                                                           const robot_state::RobotState& state,
-                                                           const collision_detection::AllowedCollisionMatrix& acm,
-                                                           GroupStateRepresentationPtr& gsr) const
-{
-  crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
-}
-}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp
deleted file mode 100644
index f9d0fb515b..0000000000
--- a/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp
+++ /dev/null
@@ -1,568 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#include <ros/console.h>
-#include <moveit/collision_distance_field/collision_world_distance_field.h>
-#include <moveit/collision_distance_field/collision_common_distance_field.h>
-#include <moveit/distance_field/propagation_distance_field.h>
-#include <boost/bind.hpp>
-#include <memory>
-#include <utility>
-
-namespace collision_detection
-{
-CollisionWorldDistanceField::~CollisionWorldDistanceField()
-{
-  getWorld()->removeObserver(observer_handle_);
-}
-
-CollisionWorldDistanceField::CollisionWorldDistanceField(Eigen::Vector3d size, Eigen::Vector3d origin,
-                                                         bool use_signed_distance_field, double resolution,
-                                                         double collision_tolerance, double max_propogation_distance)
-  : CollisionWorld()
-  , size_(std::move(size))
-  , origin_(std::move(origin))
-  , use_signed_distance_field_(use_signed_distance_field)
-  , resolution_(resolution)
-  , collision_tolerance_(collision_tolerance)
-  , max_propogation_distance_(max_propogation_distance)
-{
-  distance_field_cache_entry_ = generateDistanceFieldCacheEntry();
-
-  // request notifications about changes to world
-  observer_handle_ =
-      getWorld()->addObserver(boost::bind(&CollisionWorldDistanceField::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldDistanceField::CollisionWorldDistanceField(const WorldPtr& world, Eigen::Vector3d size,
-                                                         Eigen::Vector3d origin, bool use_signed_distance_field,
-                                                         double resolution, double collision_tolerance,
-                                                         double max_propogation_distance)
-  : CollisionWorld(world)
-  , size_(std::move(size))
-  , origin_(std::move(origin))
-  , use_signed_distance_field_(use_signed_distance_field)
-  , resolution_(resolution)
-  , collision_tolerance_(collision_tolerance)
-  , max_propogation_distance_(max_propogation_distance)
-{
-  distance_field_cache_entry_ = generateDistanceFieldCacheEntry();
-
-  // request notifications about changes to world
-  observer_handle_ =
-      getWorld()->addObserver(boost::bind(&CollisionWorldDistanceField::notifyObjectChange, this, _1, _2));
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-CollisionWorldDistanceField::CollisionWorldDistanceField(const CollisionWorldDistanceField& other,
-                                                         const WorldPtr& world)
-  : CollisionWorld(other, world)
-{
-  size_ = other.size_;
-  origin_ = other.origin_;
-  use_signed_distance_field_ = other.use_signed_distance_field_;
-  resolution_ = other.resolution_;
-  collision_tolerance_ = other.collision_tolerance_;
-  max_propogation_distance_ = other.max_propogation_distance_;
-  distance_field_cache_entry_ = generateDistanceFieldCacheEntry();
-
-  // request notifications about changes to world
-  observer_handle_ =
-      getWorld()->addObserver(boost::bind(&CollisionWorldDistanceField::notifyObjectChange, this, _1, _2));
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-void CollisionWorldDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot,
-                                                 const robot_state::RobotState& state) const
-{
-  GroupStateRepresentationPtr gsr;
-  checkCollision(req, res, robot, state, gsr);
-}
-
-void CollisionWorldDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                 GroupStateRepresentationPtr& gsr) const
-{
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, nullptr, gsr, true);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    bool done = cdr.getSelfCollisions(req, res, gsr);
-    if (!done)
-    {
-      done = cdr.getIntraGroupCollisions(req, res, gsr);
-    }
-    if (!done)
-    {
-      getEnvironmentCollisions(req, res, distance_field_cache_entry_->distance_field_, gsr);
-    }
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-
-  (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-}
-
-void CollisionWorldDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                 const AllowedCollisionMatrix& acm) const
-{
-  GroupStateRepresentationPtr gsr;
-  checkCollision(req, res, robot, state, acm, gsr);
-}
-
-void CollisionWorldDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                 const AllowedCollisionMatrix& acm,
-                                                 GroupStateRepresentationPtr& gsr) const
-{
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, &acm, gsr, true);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    bool done = cdr.getSelfCollisions(req, res, gsr);
-    if (!done)
-    {
-      done = cdr.getIntraGroupCollisions(req, res, gsr);
-    }
-    if (!done)
-    {
-      getEnvironmentCollisions(req, res, distance_field_cache_entry_->distance_field_, gsr);
-    }
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-
-  (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-}
-
-void CollisionWorldDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                      const CollisionRobot& robot,
-                                                      const robot_state::RobotState& state) const
-{
-  GroupStateRepresentationPtr gsr;
-  checkRobotCollision(req, res, robot, state, gsr);
-}
-
-void CollisionWorldDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                      const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                      GroupStateRepresentationPtr& gsr) const
-{
-  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_->distance_field_;
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    DistanceFieldCacheEntryConstPtr dfce;
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, nullptr, gsr, false);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    getEnvironmentCollisions(req, res, env_distance_field, gsr);
-    (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-
-    // checkRobotCollisionHelper(req, res, robot, state, &acm);
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-}
-
-void CollisionWorldDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                      const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                      const AllowedCollisionMatrix& acm) const
-{
-  GroupStateRepresentationPtr gsr;
-  checkRobotCollision(req, res, robot, state, acm, gsr);
-}
-
-void CollisionWorldDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                      const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                      const AllowedCollisionMatrix& acm,
-                                                      GroupStateRepresentationPtr& gsr) const
-{
-  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_->distance_field_;
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    DistanceFieldCacheEntryPtr dfce;
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, &acm, gsr, true);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    getEnvironmentCollisions(req, res, env_distance_field, gsr);
-    (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-
-    // checkRobotCollisionHelper(req, res, robot, state, &acm);
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-}
-
-void CollisionWorldDistanceField::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
-                                                        const CollisionRobot& robot,
-                                                        const robot_state::RobotState& state,
-                                                        const AllowedCollisionMatrix* acm,
-                                                        GroupStateRepresentationPtr& gsr) const
-{
-  distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_->distance_field_;
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, acm, gsr, true);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    cdr.getSelfProximityGradients(gsr);
-    cdr.getIntraGroupProximityGradients(gsr);
-    getEnvironmentProximityGradients(env_distance_field, gsr);
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-
-  (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-}
-
-void CollisionWorldDistanceField::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
-                                                   const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                   const AllowedCollisionMatrix* acm,
-                                                   GroupStateRepresentationPtr& gsr) const
-{
-  try
-  {
-    const CollisionRobotDistanceField& cdr = dynamic_cast<const CollisionRobotDistanceField&>(robot);
-    if (!gsr)
-    {
-      cdr.generateCollisionCheckingStructures(req.group_name, state, acm, gsr, true);
-    }
-    else
-    {
-      cdr.updateGroupStateRepresentationState(state, gsr);
-    }
-    cdr.getSelfCollisions(req, res, gsr);
-    cdr.getIntraGroupCollisions(req, res, gsr);
-    distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_->distance_field_;
-    getEnvironmentCollisions(req, res, env_distance_field, gsr);
-  }
-  catch (const std::bad_cast& e)
-  {
-    ROS_ERROR_STREAM("Could not cast CollisionRobot to CollisionRobotDistanceField, " << e.what());
-    return;
-  }
-
-  (const_cast<CollisionWorldDistanceField*>(this))->last_gsr_ = gsr;
-}
-
-bool CollisionWorldDistanceField::getEnvironmentCollisions(
-    const CollisionRequest& req, CollisionResult& res, const distance_field::DistanceFieldConstPtr& env_distance_field,
-    GroupStateRepresentationPtr& gsr) const
-{
-  for (unsigned int i = 0; i < gsr->dfce_->link_names_.size() + gsr->dfce_->attached_body_names_.size(); i++)
-  {
-    bool is_link = i < gsr->dfce_->link_names_.size();
-    std::string link_name = i < gsr->dfce_->link_names_.size() ? gsr->dfce_->link_names_[i] : "attached";
-    if (is_link && !gsr->dfce_->link_has_geometry_[i])
-    {
-      continue;
-    }
-
-    const std::vector<CollisionSphere>* collision_spheres_1;
-    const EigenSTL::vector_Vector3d* sphere_centers_1;
-
-    if (is_link)
-    {
-      collision_spheres_1 = &(gsr->link_body_decompositions_[i]->getCollisionSpheres());
-      sphere_centers_1 = &(gsr->link_body_decompositions_[i]->getSphereCenters());
-    }
-    else
-    {
-      collision_spheres_1 =
-          &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getCollisionSpheres());
-      sphere_centers_1 = &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters());
-    }
-
-    if (req.contacts)
-    {
-      std::vector<unsigned int> colls;
-      bool coll = getCollisionSphereCollision(
-          env_distance_field.get(), *collision_spheres_1, *sphere_centers_1, max_propogation_distance_,
-          collision_tolerance_, std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
-      if (coll)
-      {
-        res.collision = true;
-        for (unsigned int col : colls)
-        {
-          Contact con;
-          if (is_link)
-          {
-            con.pos = gsr->link_body_decompositions_[i]->getSphereCenters()[col];
-            con.body_type_1 = BodyTypes::ROBOT_LINK;
-            con.body_name_1 = gsr->dfce_->link_names_[i];
-          }
-          else
-          {
-            con.pos = gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters()[col];
-            con.body_type_1 = BodyTypes::ROBOT_ATTACHED;
-            con.body_name_1 = gsr->dfce_->attached_body_names_[i - gsr->dfce_->link_names_.size()];
-          }
-
-          con.body_type_2 = BodyTypes::WORLD_OBJECT;
-          con.body_name_2 = "environment";
-          res.contact_count++;
-          res.contacts[std::pair<std::string, std::string>(con.body_name_1, con.body_name_2)].push_back(con);
-          gsr->gradients_[i].types[col] = ENVIRONMENT;
-          // ROS_DEBUG_STREAM("Link " << dfce->link_names_[i] << " sphere " <<
-          // colls[j] << " in env collision");
-        }
-
-        gsr->gradients_[i].collision = true;
-        if (res.contact_count >= req.max_contacts)
-        {
-          return true;
-        }
-      }
-    }
-    else
-    {
-      bool coll = getCollisionSphereCollision(env_distance_field.get(), *collision_spheres_1, *sphere_centers_1,
-                                              max_propogation_distance_, collision_tolerance_);
-      if (coll)
-      {
-        res.collision = true;
-        return true;
-      }
-    }
-  }
-  return (res.contact_count >= req.max_contacts);
-}
-
-bool CollisionWorldDistanceField::getEnvironmentProximityGradients(
-    const distance_field::DistanceFieldConstPtr& env_distance_field, GroupStateRepresentationPtr& gsr) const
-{
-  bool in_collision = false;
-  for (unsigned int i = 0; i < gsr->dfce_->link_names_.size(); i++)
-  {
-    bool is_link = i < gsr->dfce_->link_names_.size();
-
-    if (is_link && !gsr->dfce_->link_has_geometry_[i])
-    {
-      continue;
-    }
-
-    const std::vector<CollisionSphere>* collision_spheres_1;
-    const EigenSTL::vector_Vector3d* sphere_centers_1;
-    if (is_link)
-    {
-      collision_spheres_1 = &(gsr->link_body_decompositions_[i]->getCollisionSpheres());
-      sphere_centers_1 = &(gsr->link_body_decompositions_[i]->getSphereCenters());
-    }
-    else
-    {
-      collision_spheres_1 =
-          &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getCollisionSpheres());
-      sphere_centers_1 = &(gsr->attached_body_decompositions_[i - gsr->dfce_->link_names_.size()]->getSphereCenters());
-    }
-
-    bool coll = getCollisionSphereGradients(env_distance_field.get(), *collision_spheres_1, *sphere_centers_1,
-                                            gsr->gradients_[i], ENVIRONMENT, collision_tolerance_, false,
-                                            max_propogation_distance_, false);
-    if (coll)
-    {
-      in_collision = true;
-    }
-  }
-  return in_collision;
-}
-
-void CollisionWorldDistanceField::setWorld(const WorldPtr& world)
-{
-  if (world == getWorld())
-    return;
-
-  // turn off notifications about old world
-  getWorld()->removeObserver(observer_handle_);
-
-  // clear out objects from old world
-  distance_field_cache_entry_->distance_field_->reset();
-
-  CollisionWorld::setWorld(world);
-
-  // request notifications about changes to new world
-  observer_handle_ =
-      getWorld()->addObserver(boost::bind(&CollisionWorldDistanceField::notifyObjectChange, this, _1, _2));
-
-  // get notifications any objects already in the new world
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-void CollisionWorldDistanceField::notifyObjectChange(CollisionWorldDistanceField* self, const ObjectConstPtr& obj,
-                                                     World::Action action)
-{
-  ros::WallTime n = ros::WallTime::now();
-
-  EigenSTL::vector_Vector3d add_points;
-  EigenSTL::vector_Vector3d subtract_points;
-  self->updateDistanceObject(obj->id_, self->distance_field_cache_entry_, add_points, subtract_points);
-
-  if (action == World::DESTROY)
-  {
-    self->distance_field_cache_entry_->distance_field_->removePointsFromField(subtract_points);
-  }
-  else if (action & (World::MOVE_SHAPE | World::REMOVE_SHAPE))
-  {
-    self->distance_field_cache_entry_->distance_field_->removePointsFromField(subtract_points);
-    self->distance_field_cache_entry_->distance_field_->addPointsToField(add_points);
-  }
-  else
-  {
-    self->distance_field_cache_entry_->distance_field_->addPointsToField(add_points);
-  }
-
-  ROS_DEBUG_NAMED("collision_distance_field", "Modifying object %s took %lf s", obj->id_.c_str(),
-                  (ros::WallTime::now() - n).toSec());
-}
-
-void CollisionWorldDistanceField::updateDistanceObject(const std::string& id, DistanceFieldCacheEntryPtr& dfce,
-                                                       EigenSTL::vector_Vector3d& add_points,
-                                                       EigenSTL::vector_Vector3d& subtract_points)
-{
-  std::map<std::string, std::vector<PosedBodyPointDecompositionPtr>>::iterator cur_it =
-      dfce->posed_body_point_decompositions_.find(id);
-  if (cur_it != dfce->posed_body_point_decompositions_.end())
-  {
-    for (collision_detection::PosedBodyPointDecompositionPtr& posed_body_point_decomposition : cur_it->second)
-    {
-      subtract_points.insert(subtract_points.end(), posed_body_point_decomposition->getCollisionPoints().begin(),
-                             posed_body_point_decomposition->getCollisionPoints().end());
-    }
-  }
-
-  World::ObjectConstPtr object = getWorld()->getObject(id);
-  if (object)
-  {
-    ROS_DEBUG_STREAM("Updating/Adding Object '" << object->id_ << "' with " << object->shapes_.size()
-                                                << " shapes  to CollisionWorldDistanceField");
-    std::vector<PosedBodyPointDecompositionPtr> shape_points;
-    for (unsigned int i = 0; i < object->shapes_.size(); i++)
-    {
-      shapes::ShapeConstPtr shape = object->shapes_[i];
-      if (shape->type == shapes::OCTREE)
-      {
-        const shapes::OcTree* octree_shape = static_cast<const shapes::OcTree*>(shape.get());
-        std::shared_ptr<const octomap::OcTree> octree = octree_shape->octree;
-
-        shape_points.push_back(std::make_shared<PosedBodyPointDecomposition>(octree));
-      }
-      else
-      {
-        BodyDecompositionConstPtr bd = getBodyDecompositionCacheEntry(shape, resolution_);
-
-        shape_points.push_back(std::make_shared<PosedBodyPointDecomposition>(bd, object->shape_poses_[i]));
-      }
-
-      add_points.insert(add_points.end(), shape_points.back()->getCollisionPoints().begin(),
-                        shape_points.back()->getCollisionPoints().end());
-    }
-
-    dfce->posed_body_point_decompositions_[id] = shape_points;
-  }
-  else
-  {
-    ROS_DEBUG_STREAM("Removing Object '" << id << "' from CollisionWorldDistanceField");
-    dfce->posed_body_point_decompositions_.erase(id);
-  }
-}
-
-CollisionWorldDistanceField::DistanceFieldCacheEntryPtr CollisionWorldDistanceField::generateDistanceFieldCacheEntry()
-{
-  DistanceFieldCacheEntryPtr dfce(new DistanceFieldCacheEntry());
-  dfce->distance_field_.reset(new distance_field::PropagationDistanceField(
-      size_.x(), size_.y(), size_.z(), resolution_, origin_.x() - 0.5 * size_.x(), origin_.y() - 0.5 * size_.y(),
-      origin_.z() - 0.5 * size_.z(), max_propogation_distance_, use_signed_distance_field_));
-
-  EigenSTL::vector_Vector3d add_points;
-  EigenSTL::vector_Vector3d subtract_points;
-  for (const std::pair<const std::string, ObjectPtr>& object : *getWorld())
-  {
-    updateDistanceObject(object.first, dfce, add_points, subtract_points);
-  }
-  dfce->distance_field_->addPointsToField(add_points);
-  return dfce;
-}
-}  // namespace collision_detection
-
-#include <moveit/collision_distance_field/collision_detector_allocator_distance_field.h>
-const std::string collision_detection::CollisionDetectorAllocatorDistanceField::NAME("DISTANCE_FIELD");
diff --git a/moveit_core/collision_distance_field/src/collision_world_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_world_hybrid.cpp
deleted file mode 100644
index 551937cd6a..0000000000
--- a/moveit_core/collision_distance_field/src/collision_world_hybrid.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: E. Gil Jones */
-
-#include <moveit/collision_distance_field/collision_world_hybrid.h>
-#include <utility>
-
-namespace collision_detection
-{
-CollisionWorldHybrid::CollisionWorldHybrid(Eigen::Vector3d size, Eigen::Vector3d origin, bool use_signed_distance_field,
-                                           double resolution, double collision_tolerance,
-                                           double max_propogation_distance)
-  : CollisionWorldFCL()
-  , cworld_distance_(new collision_detection::CollisionWorldDistanceField(
-        getWorld(), std::move(size), std::move(origin), use_signed_distance_field, resolution, collision_tolerance,
-        max_propogation_distance))
-
-{
-}
-
-CollisionWorldHybrid::CollisionWorldHybrid(const WorldPtr& world, Eigen::Vector3d size, Eigen::Vector3d origin,
-                                           bool use_signed_distance_field, double resolution,
-                                           double collision_tolerance, double max_propogation_distance)
-  : CollisionWorldFCL(world)
-  , cworld_distance_(new collision_detection::CollisionWorldDistanceField(
-        getWorld(), std::move(size), std::move(origin), use_signed_distance_field, resolution, collision_tolerance,
-        max_propogation_distance))
-{
-}
-
-CollisionWorldHybrid::CollisionWorldHybrid(const CollisionWorldHybrid& other, const WorldPtr& world)
-  : CollisionWorldFCL(other, world)
-  , cworld_distance_(
-        new collision_detection::CollisionWorldDistanceField(*other.getCollisionWorldDistanceField(), world))
-{
-}
-
-void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                       const CollisionRobot& robot,
-                                                       const robot_state::RobotState& state) const
-{
-  cworld_distance_->checkCollision(req, res, robot, state);
-}
-
-void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                       const CollisionRobot& robot,
-                                                       const robot_state::RobotState& state,
-                                                       GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->checkCollision(req, res, robot, state, gsr);
-}
-
-void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                       const CollisionRobot& robot,
-                                                       const robot_state::RobotState& state,
-                                                       const AllowedCollisionMatrix& acm) const
-{
-  cworld_distance_->checkCollision(req, res, robot, state, acm);
-}
-
-void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                       const CollisionRobot& robot,
-                                                       const robot_state::RobotState& state,
-                                                       const AllowedCollisionMatrix& acm,
-                                                       GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->checkCollision(req, res, robot, state, acm, gsr);
-}
-
-void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                            const CollisionRobot& robot,
-                                                            const robot_state::RobotState& state) const
-{
-  cworld_distance_->checkRobotCollision(req, res, robot, state);
-}
-
-void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                            const CollisionRobot& robot,
-                                                            const robot_state::RobotState& state,
-                                                            GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->checkRobotCollision(req, res, robot, state, gsr);
-}
-
-void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                            const CollisionRobot& robot,
-                                                            const robot_state::RobotState& state,
-                                                            const AllowedCollisionMatrix& acm) const
-{
-  cworld_distance_->checkRobotCollision(req, res, robot, state, acm);
-}
-
-void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                            const CollisionRobot& robot,
-                                                            const robot_state::RobotState& state,
-                                                            const AllowedCollisionMatrix& acm,
-                                                            GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->checkRobotCollision(req, res, robot, state, acm, gsr);
-}
-
-void CollisionWorldHybrid::setWorld(const WorldPtr& world)
-{
-  if (world == getWorld())
-    return;
-
-  cworld_distance_->setWorld(world);
-  CollisionWorldFCL::setWorld(world);
-}
-
-void CollisionWorldHybrid::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                 const AllowedCollisionMatrix* acm,
-                                                 GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->getCollisionGradients(req, res, robot, state, acm, gsr);
-}
-
-void CollisionWorldHybrid::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
-                                            const CollisionRobot& robot, const robot_state::RobotState& state,
-                                            const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const
-{
-  cworld_distance_->getAllCollisions(req, res, robot, state, acm, gsr);
-}
-}  // namespace collision_detection
-
-#include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
-const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME("HYBRID");
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
index 19445964db..c744150492 100644
--- a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
+++ b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -38,8 +38,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/transforms/transforms.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
-#include <moveit/collision_distance_field/collision_robot_distance_field.h>
-#include <moveit/collision_distance_field/collision_world_distance_field.h>
+#include <moveit/collision_distance_field/collision_env_distance_field.h>
 
 #include <geometric_shapes/shape_operations.h>
 #include <urdf_parser/urdf_parser.h>
@@ -53,8 +52,7 @@
 
 #include <ros/package.h>
 
-typedef collision_detection::CollisionWorldDistanceField DefaultCWorldType;
-typedef collision_detection::CollisionRobotDistanceField DefaultCRobotType;
+typedef collision_detection::CollisionEnvDistanceField DefaultCEnvType;
 
 class DistanceFieldCollisionDetectionTester : public testing::Test
 {
@@ -87,8 +85,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
     std::map<std::string, std::vector<collision_detection::CollisionSphere>> link_body_decompositions;
-    crobot_.reset(new DefaultCRobotType(robot_model_, link_body_decompositions));
-    cworld_.reset(new DefaultCWorldType());
+    cenv_.reset(new DefaultCEnvType(robot_model_, link_body_decompositions));
   }
 
   void TearDown() override
@@ -107,8 +104,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
   robot_state::TransformsPtr ftf_;
   robot_state::TransformsConstPtr ftf_const_;
 
-  collision_detection::CollisionRobotPtr crobot_;
-  collision_detection::CollisionWorldPtr cworld_;
+  collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 };
@@ -124,7 +120,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, DefaultNotInCollision)
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
   req.group_name = "whole_body";
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_FALSE(res.collision);
 }
 
@@ -139,13 +135,13 @@ TEST_F(DistanceFieldCollisionDetectionTester, ChangeTorsoPosition)
   collision_detection::CollisionResult res2;
 
   req.group_name = "right_arm";
-  crobot_->checkSelfCollision(req, res1, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res1, robot_state, *acm_);
   std::map<std::string, double> torso_val;
   torso_val["torso_lift_joint"] = .15;
   robot_state.setVariablePositions(torso_val);
   robot_state.update();
-  crobot_->checkSelfCollision(req, res1, robot_state, *acm_);
-  crobot_->checkSelfCollision(req, res1, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res1, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res1, robot_state, *acm_);
 }
 
 TEST_F(DistanceFieldCollisionDetectionTester, LinksInCollision)
@@ -168,18 +164,18 @@ TEST_F(DistanceFieldCollisionDetectionTester, LinksInCollision)
   robot_state.updateStateWithLinkAt("base_bellow_link", offset);
 
   acm_->setEntry("base_link", "base_bellow_link", false);
-  crobot_->checkSelfCollision(req, res1, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res1, robot_state, *acm_);
   ASSERT_TRUE(res1.collision);
 
   acm_->setEntry("base_link", "base_bellow_link", true);
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_FALSE(res2.collision);
 
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", Eigen::Isometry3d::Identity());
   robot_state.updateStateWithLinkAt("l_gripper_palm_link", offset);
 
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-  crobot_->checkSelfCollision(req, res3, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res3, robot_state, *acm_);
   ASSERT_TRUE(res3.collision);
 }
 
@@ -206,7 +202,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactReporting)
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contacts.size(), 1u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -215,7 +211,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactReporting)
   req.max_contacts = 2;
   req.max_contacts_per_pair = 1;
   //  req.verbose = true;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contact_count, 2u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -226,7 +222,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactReporting)
   req.max_contacts = 10;
   req.max_contacts_per_pair = 2;
   acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_LE(res.contacts.size(), 10u);
   EXPECT_LE(res.contact_count, 10u);
@@ -254,7 +250,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactPositions)
   acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_EQ(res.contacts.size(), 1u);
   ASSERT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -272,7 +268,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactPositions)
   robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
 
   collision_detection::CollisionResult res2;
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_TRUE(res2.collision);
   ASSERT_EQ(res2.contacts.size(), 1u);
   ASSERT_EQ(res2.contacts.begin()->second.size(), 1u);
@@ -290,7 +286,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactPositions)
   robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
 
   collision_detection::CollisionResult res3;
-  crobot_->checkSelfCollision(req, res2, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res2, robot_state, *acm_);
   ASSERT_FALSE(res3.collision);
 }
 
@@ -311,18 +307,18 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
   pos1.translation().x() = 1.0;
 
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_FALSE(res.collision);
 
   shapes::Shape* shape = new shapes::Box(.25, .25, .25);
-  cworld_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
+  cenv_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
 
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  cenv_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
-  cworld_->getWorld()->removeObject("box");
+  cenv_->getWorld()->removeObject("box");
 
   std::vector<shapes::ShapeConstPtr> shapes;
   EigenSTL::vector_Isometry3d poses;
@@ -336,7 +332,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
   robot_state.attachBody(attached_body);
 
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
@@ -350,19 +346,19 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
   robot_state.attachBody(attached_body_1);
 
   res = collision_detection::CollisionResult();
-  crobot_->checkSelfCollision(req, res, robot_state, *acm_);
+  cenv_->checkSelfCollision(req, res, robot_state, *acm_);
   // ASSERT_FALSE(res.collision);
 
   pos1.translation().x() = 1.01;
   shapes::Shape* coll = new shapes::Box(.1, .1, .1);
-  cworld_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
+  cenv_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  cenv_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 
   acm_->setEntry("coll", "r_gripper_palm_link", true);
   res = collision_detection::CollisionResult();
-  cworld_->checkRobotCollision(req, res, *crobot_, robot_state, *acm_);
+  cenv_->checkRobotCollision(req, res, robot_state, *acm_);
   ASSERT_TRUE(res.collision);
 }
 
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 4d15e35d63..a716e8bd86 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -39,7 +39,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/transforms/transforms.h>
-#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/macros/class_forward.h>
 
 #include <geometric_shapes/bodies.h>
@@ -831,7 +831,7 @@ class VisibilityConstraint : public KinematicConstraint
    */
   bool decideContact(const collision_detection::Contact& contact) const;
 
-  collision_detection::CollisionRobotPtr collision_robot_; /**< \brief A copy of the collision robot maintained for
+  collision_detection::CollisionEnvPtr collision_env_; /**< \brief A copy of the collision robot maintained for
                                                               collision checking the cone against robot links */
   bool mobile_sensor_frame_;      /**< \brief True if the sensor is a non-fixed frame relative to the transform frame */
   bool mobile_target_frame_;      /**< \brief True if the target is a non-fixed frame relative to the transform frame */
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 526fe4e3d3..884a1dca51 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -38,8 +38,7 @@
 #include <geometric_shapes/body_operations.h>
 #include <geometric_shapes/shape_operations.h>
 #include <moveit/robot_state/conversions.h>
-#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
-#include <moveit/collision_detection_fcl/collision_world_fcl.h>
+#include <moveit/collision_detection_fcl/collision_env_fcl.h>
 #include <boost/math/constants/constants.hpp>
 #include <tf2_eigen/tf2_eigen.h>
 #include <boost/bind.hpp>
@@ -644,7 +643,7 @@ void OrientationConstraint::print(std::ostream& out) const
 }
 
 VisibilityConstraint::VisibilityConstraint(const robot_model::RobotModelConstPtr& model)
-  : KinematicConstraint(model), collision_robot_(new collision_detection::CollisionRobotFCL(model))
+  : KinematicConstraint(model), collision_env_(new collision_detection::CollisionEnvFCL(model))
 {
   type_ = VISIBILITY_CONSTRAINT;
 }
@@ -984,8 +983,7 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const robot_state::Robot
     return ConstraintEvaluationResult(false, 0.0);
 
   // add the visibility cone as an object
-  collision_detection::CollisionWorldFCL collision_world;
-  collision_world.getWorld()->addToObject("cone", shapes::ShapeConstPtr(m), Eigen::Isometry3d::Identity());
+  collision_env_->getWorld()->addToObject("cone", shapes::ShapeConstPtr(m), Eigen::Isometry3d::Identity());
 
   // check for collisions between the robot and the cone
   collision_detection::CollisionRequest req;
@@ -995,7 +993,7 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const robot_state::Robot
   req.contacts = true;
   req.verbose = verbose;
   req.max_contacts = 1;
-  collision_world.checkRobotCollision(req, res, *collision_robot_, state, acm);
+  collision_env_->checkRobotCollision(req, res, state, acm);
 
   if (verbose)
   {
@@ -1005,6 +1003,8 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const robot_state::Robot
                    res.collision ? "not " : "", ss.str().c_str());
   }
 
+  collision_env_->getWorld()->removeObject("cone");
+
   return ConstraintEvaluationResult(!res.collision, res.collision ? res.contacts.begin()->second.front().depth : 0.0);
 }
 
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index c7954cce12..6faff3b6aa 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -41,6 +41,7 @@
 #include <moveit/transforms/transforms.h>
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/world_diff.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/kinematic_constraints/kinematic_constraint.h>
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
@@ -293,43 +294,31 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
     return world_;
   }
 
-  /** \brief Get the active collision detector for the world */
-  const collision_detection::CollisionWorldConstPtr& getCollisionWorld() const
+  /** \brief Get the active collision environment */
+  const collision_detection::CollisionEnvConstPtr& getCollisionEnv() const
   {
-    // we always have a world representation after configure is called.
-    return active_collision_->cworld_const_;
+    return active_collision_->getCollisionEnv();
   }
 
   /** \brief Get the active collision detector for the robot */
-  const collision_detection::CollisionRobotConstPtr& getCollisionRobot() const
+  const collision_detection::CollisionEnvConstPtr& getCollisionEnvUnpadded() const
   {
-    return active_collision_->getCollisionRobot();
-  }
-
-  /** \brief Get the active collision detector for the robot */
-  const collision_detection::CollisionRobotConstPtr& getCollisionRobotUnpadded() const
-  {
-    return active_collision_->getCollisionRobotUnpadded();
+    return active_collision_->getCollisionEnvUnpadded();
   }
 
   /** \brief Get a specific collision detector for the world.  If not found return active CollisionWorld. */
-  const collision_detection::CollisionWorldConstPtr&
-  getCollisionWorld(const std::string& collision_detector_name) const;
-
-  /** \brief Get a specific collision detector for the padded robot.  If no found return active CollisionRobot. */
-  const collision_detection::CollisionRobotConstPtr&
-  getCollisionRobot(const std::string& collision_detector_name) const;
+  const collision_detection::CollisionEnvConstPtr& getCollisionEnv(const std::string& collision_detector_name) const;
 
   /** \brief Get a specific collision detector for the unpadded robot.  If no found return active unpadded
    * CollisionRobot. */
-  const collision_detection::CollisionRobotConstPtr&
-  getCollisionRobotUnpadded(const std::string& collision_detector_name) const;
+  const collision_detection::CollisionEnvConstPtr&
+  getCollisionEnvUnpadded(const std::string& collision_detector_name) const;
 
   /** \brief Get the representation of the collision robot
    * This can be used to set padding and link scale on the active collision_robot.
    * NOTE: After modifying padding and scale on the active robot call
    * propogateRobotPadding() to copy it to all the other collision detectors. */
-  const collision_detection::CollisionRobotPtr& getCollisionRobotNonConst();
+  const collision_detection::CollisionEnvPtr& getCollisionEnvNonConst();
 
   /** \brief Copy scale and padding from active CollisionRobot to other CollisionRobots.
    * This should be called after any changes are made to the scale or padding of the active
@@ -501,7 +490,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
                           const robot_state::RobotState& robot_state) const
   {
     // do self-collision checking with the unpadded version of the robot
-    getCollisionRobotUnpadded()->checkSelfCollision(req, res, robot_state, getAllowedCollisionMatrix());
+    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, getAllowedCollisionMatrix());
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in self collision, with respect to a given
@@ -521,7 +510,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
                           const collision_detection::AllowedCollisionMatrix& acm) const
   {
     // do self-collision checking with the unpadded version of the robot
-    getCollisionRobotUnpadded()->checkSelfCollision(req, res, robot_state, acm);
+    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, acm);
   }
 
   /** \brief Get the names of the links that are involved in collisions for the current state */
@@ -624,7 +613,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
    */
   double distanceToCollision(const robot_state::RobotState& robot_state) const
   {
-    return getCollisionWorld()->distanceRobot(*getCollisionRobot(), robot_state, getAllowedCollisionMatrix());
+    return getCollisionEnv()->distanceRobot(robot_state, getAllowedCollisionMatrix());
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision (ignoring
@@ -639,7 +628,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
    * self-collisions), if the robot has no padding */
   double distanceToCollisionUnpadded(const robot_state::RobotState& robot_state) const
   {
-    return getCollisionWorld()->distanceRobot(*getCollisionRobotUnpadded(), robot_state, getAllowedCollisionMatrix());
+    return getCollisionEnvUnpadded()->distanceRobot(robot_state, getAllowedCollisionMatrix());
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
@@ -658,7 +647,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   double distanceToCollision(const robot_state::RobotState& robot_state,
                              const collision_detection::AllowedCollisionMatrix& acm) const
   {
-    return getCollisionWorld()->distanceRobot(*getCollisionRobot(), robot_state, acm);
+    return getCollisionEnv()->distanceRobot(robot_state, acm);
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
@@ -677,7 +666,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   double distanceToCollisionUnpadded(const robot_state::RobotState& robot_state,
                                      const collision_detection::AllowedCollisionMatrix& acm) const
   {
-    return getCollisionWorld()->distanceRobot(*getCollisionRobotUnpadded(), robot_state, acm);
+    return getCollisionEnvUnpadded()->distanceRobot(robot_state, acm);
   }
 
   /**@}*/
@@ -993,23 +982,21 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   struct CollisionDetector
   {
     collision_detection::CollisionDetectorAllocatorPtr alloc_;
-    collision_detection::CollisionRobotPtr crobot_unpadded_;  // if NULL use parent's
-    collision_detection::CollisionRobotConstPtr crobot_unpadded_const_;
-    collision_detection::CollisionRobotPtr crobot_;  // if NULL use parent's
-    collision_detection::CollisionRobotConstPtr crobot_const_;
+    collision_detection::CollisionEnvPtr cenv_;  // never NULL
+    collision_detection::CollisionEnvConstPtr cenv_const_;
 
-    collision_detection::CollisionWorldPtr cworld_;  // never NULL
-    collision_detection::CollisionWorldConstPtr cworld_const_;
+    collision_detection::CollisionEnvPtr cenv_unpadded_;
+    collision_detection::CollisionEnvConstPtr cenv_unpadded_const_;
 
     CollisionDetectorConstPtr parent_;  // may be NULL
 
-    const collision_detection::CollisionRobotConstPtr& getCollisionRobot() const
+    const collision_detection::CollisionEnvConstPtr& getCollisionEnv() const
     {
-      return crobot_const_ ? crobot_const_ : parent_->getCollisionRobot();
+      return cenv_const_ ? cenv_const_ : parent_->getCollisionEnv();
     }
-    const collision_detection::CollisionRobotConstPtr& getCollisionRobotUnpadded() const
+    const collision_detection::CollisionEnvConstPtr& getCollisionEnvUnpadded() const
     {
-      return crobot_unpadded_const_ ? crobot_unpadded_const_ : parent_->getCollisionRobotUnpadded();
+      return cenv_unpadded_const_ ? cenv_unpadded_const_ : parent_->getCollisionEnvUnpadded();
     }
     void findParent(const PlanningScene& scene);
     void copyPadding(const CollisionDetector& src);
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 279f824e83..ed8a94dac9 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -201,15 +201,13 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare
     detector->alloc_ = parent_detector->alloc_;
     detector->parent_ = parent_detector;
 
-    detector->cworld_ = detector->alloc_->allocateWorld(parent_detector->cworld_, world_);
-    detector->cworld_const_ = detector->cworld_;
+    detector->cenv_ = detector->alloc_->allocateEnv(parent_detector->cenv_, world_);
+    detector->cenv_const_ = detector->cenv_;
 
-    // leave these empty and use parent collision_robot_ unless/until a non-const one
+    // leave these empty and use parent collision_env_ unless/until a non-const one
     // is requested (e.g. to modify link padding or scale)
-    detector->crobot_.reset();
-    detector->crobot_const_.reset();
-    detector->crobot_unpadded_.reset();
-    detector->crobot_unpadded_const_.reset();
+    detector->cenv_unpadded_.reset();
+    detector->cenv_unpadded_const_.reset();
   }
   setActiveCollisionDetector(parent_->getActiveCollisionDetectorName());
 }
@@ -236,21 +234,12 @@ PlanningScenePtr PlanningScene::diff(const moveit_msgs::PlanningScene& msg) cons
 
 void PlanningScene::CollisionDetector::copyPadding(const PlanningScene::CollisionDetector& src)
 {
-  if (!crobot_)
-  {
-    alloc_->allocateRobot(parent_->getCollisionRobot());
-    crobot_const_ = crobot_;
-  }
-
-  crobot_->setLinkPadding(src.getCollisionRobot()->getLinkPadding());
-  crobot_->setLinkScale(src.getCollisionRobot()->getLinkScale());
+  cenv_->setLinkPadding(src.getCollisionEnv()->getLinkPadding());
+  cenv_->setLinkScale(src.getCollisionEnv()->getLinkScale());
 }
 
 void PlanningScene::propogateRobotPadding()
 {
-  if (!active_collision_->crobot_)
-    return;
-
   for (std::pair<const std::string, CollisionDetectorPtr>& it : collision_)
   {
     if (it.second != active_collision_)
@@ -285,25 +274,23 @@ void PlanningScene::addCollisionDetector(const collision_detection::CollisionDet
 
   detector->findParent(*this);
 
-  detector->cworld_ = detector->alloc_->allocateWorld(world_);
-  detector->cworld_const_ = detector->cworld_;
+  detector->cenv_ = detector->alloc_->allocateEnv(world_, getRobotModel());
+  detector->cenv_const_ = detector->cenv_;
 
-  // Allocate CollisionRobot unless we can use the parent's crobot_.
-  // If active_collision_->crobot_ is non-NULL there is local padding and we cannot use the parent's crobot_.
-  if (!detector->parent_ || active_collision_->crobot_)
+  // if the current active detector is not the added one, copy its padding to the new one and allocate unpadded
+  if (detector != active_collision_)
   {
-    detector->crobot_ = detector->alloc_->allocateRobot(getRobotModel());
-    detector->crobot_const_ = detector->crobot_;
+    detector->cenv_unpadded_ = detector->alloc_->allocateEnv(world_, getRobotModel());
+    detector->cenv_unpadded_const_ = detector->cenv_unpadded_;
 
-    if (detector != active_collision_)
-      detector->copyPadding(*active_collision_);
+    detector->copyPadding(*active_collision_);
   }
 
-  // Allocate CollisionRobot unless we can use the parent's crobot_unpadded_.
+  // If we don't have a parent, allocate unpadded versions, otherwise use the parent's cenv_unpadded_.
   if (!detector->parent_)
   {
-    detector->crobot_unpadded_ = detector->alloc_->allocateRobot(getRobotModel());
-    detector->crobot_unpadded_const_ = detector->crobot_unpadded_;
+    detector->cenv_unpadded_ = detector->alloc_->allocateEnv(world_, getRobotModel());
+    detector->cenv_unpadded_const_ = detector->cenv_unpadded_;
   }
 }
 
@@ -357,36 +344,22 @@ void PlanningScene::getCollisionDetectorNames(std::vector<std::string>& names) c
     names.push_back(it.first);
 }
 
-const collision_detection::CollisionWorldConstPtr&
-PlanningScene::getCollisionWorld(const std::string& collision_detector_name) const
-{
-  CollisionDetectorConstIterator it = collision_.find(collision_detector_name);
-  if (it == collision_.end())
-  {
-    ROS_ERROR_NAMED(LOGNAME, "Could not get CollisionWorld named '%s'.  Returning active CollisionWorld '%s' instead",
-                    collision_detector_name.c_str(), active_collision_->alloc_->getName().c_str());
-    return active_collision_->cworld_const_;
-  }
-
-  return it->second->cworld_const_;
-}
-
-const collision_detection::CollisionRobotConstPtr&
-PlanningScene::getCollisionRobot(const std::string& collision_detector_name) const
+const collision_detection::CollisionEnvConstPtr&
+PlanningScene::getCollisionEnv(const std::string& collision_detector_name) const
 {
   CollisionDetectorConstIterator it = collision_.find(collision_detector_name);
   if (it == collision_.end())
   {
     ROS_ERROR_NAMED(LOGNAME, "Could not get CollisionRobot named '%s'.  Returning active CollisionRobot '%s' instead",
                     collision_detector_name.c_str(), active_collision_->alloc_->getName().c_str());
-    return active_collision_->getCollisionRobot();
+    return active_collision_->getCollisionEnv();
   }
 
-  return it->second->getCollisionRobot();
+  return it->second->getCollisionEnv();
 }
 
-const collision_detection::CollisionRobotConstPtr&
-PlanningScene::getCollisionRobotUnpadded(const std::string& collision_detector_name) const
+const collision_detection::CollisionEnvConstPtr&
+PlanningScene::getCollisionEnvUnpadded(const std::string& collision_detector_name) const
 {
   CollisionDetectorConstIterator it = collision_.find(collision_detector_name);
   if (it == collision_.end())
@@ -394,10 +367,10 @@ PlanningScene::getCollisionRobotUnpadded(const std::string& collision_detector_n
     ROS_ERROR_NAMED(LOGNAME, "Could not get CollisionRobotUnpadded named '%s'. "
                              "Returning active CollisionRobotUnpadded '%s' instead",
                     collision_detector_name.c_str(), active_collision_->alloc_->getName().c_str());
-    return active_collision_->getCollisionRobotUnpadded();
+    return active_collision_->getCollisionEnvUnpadded();
   }
 
-  return it->second->getCollisionRobotUnpadded();
+  return it->second->getCollisionEnvUnpadded();
 }
 
 void PlanningScene::clearDiffs()
@@ -420,20 +393,18 @@ void PlanningScene::clearDiffs()
 
     if (it.second->parent_)
     {
-      it.second->crobot_.reset();
-      it.second->crobot_const_.reset();
-      it.second->crobot_unpadded_.reset();
-      it.second->crobot_unpadded_const_.reset();
+      it.second->cenv_unpadded_.reset();
+      it.second->cenv_unpadded_const_.reset();
 
-      it.second->cworld_ = it.second->alloc_->allocateWorld(it.second->parent_->cworld_, world_);
-      it.second->cworld_const_ = it.second->cworld_;
+      it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
+      it.second->cenv_const_ = it.second->cenv_;
     }
     else
     {
       it.second->copyPadding(*parent_->active_collision_);
 
-      it.second->cworld_ = it.second->alloc_->allocateWorld(world_);
-      it.second->cworld_const_ = it.second->cworld_;
+      it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
+      it.second->cenv_const_ = it.second->cenv_;
     }
   }
 
@@ -471,13 +442,10 @@ void PlanningScene::pushDiffs(const PlanningScenePtr& scene)
   if (acm_)
     scene->getAllowedCollisionMatrixNonConst() = *acm_;
 
-  if (active_collision_->crobot_)
-  {
-    collision_detection::CollisionRobotPtr active_crobot = scene->getCollisionRobotNonConst();
-    active_crobot->setLinkPadding(active_collision_->crobot_->getLinkPadding());
-    active_crobot->setLinkScale(active_collision_->crobot_->getLinkScale());
-    scene->propogateRobotPadding();
-  }
+  collision_detection::CollisionEnvPtr active_cenv = scene->getCollisionEnvNonConst();
+  active_cenv->setLinkPadding(active_collision_->cenv_->getLinkPadding());
+  active_cenv->setLinkScale(active_collision_->cenv_->getLinkScale());
+  scene->propogateRobotPadding();
 
   if (world_diff_)
   {
@@ -519,12 +487,12 @@ void PlanningScene::checkCollision(const collision_detection::CollisionRequest&
                                    const robot_state::RobotState& robot_state) const
 {
   // check collision with the world using the padded version
-  getCollisionWorld()->checkRobotCollision(req, res, *getCollisionRobot(), robot_state, getAllowedCollisionMatrix());
+  getCollisionEnv()->checkRobotCollision(req, res, robot_state, getAllowedCollisionMatrix());
 
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
   {
     // do self-collision checking with the unpadded version of the robot
-    getCollisionRobotUnpadded()->checkSelfCollision(req, res, robot_state, getAllowedCollisionMatrix());
+    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, getAllowedCollisionMatrix());
   }
 }
 
@@ -543,11 +511,11 @@ void PlanningScene::checkCollision(const collision_detection::CollisionRequest&
                                    const collision_detection::AllowedCollisionMatrix& acm) const
 {
   // check collision with the world using the padded version
-  getCollisionWorld()->checkRobotCollision(req, res, *getCollisionRobot(), robot_state, acm);
+  getCollisionEnv()->checkRobotCollision(req, res, robot_state, acm);
 
   // do self-collision checking with the unpadded version of the robot
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    getCollisionRobotUnpadded()->checkSelfCollision(req, res, robot_state, acm);
+    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, acm);
 }
 
 void PlanningScene::checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
@@ -565,12 +533,12 @@ void PlanningScene::checkCollisionUnpadded(const collision_detection::CollisionR
                                            const collision_detection::AllowedCollisionMatrix& acm) const
 {
   // check collision with the world using the unpadded version
-  getCollisionWorld()->checkRobotCollision(req, res, *getCollisionRobotUnpadded(), robot_state, acm);
+  getCollisionEnvUnpadded()->checkRobotCollision(req, res, robot_state, acm);
 
   // do self-collision checking with the unpadded version of the robot
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
   {
-    getCollisionRobotUnpadded()->checkSelfCollision(req, res, robot_state, acm);
+    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, acm);
   }
 }
 
@@ -620,15 +588,9 @@ void PlanningScene::getCollidingLinks(std::vector<std::string>& links, const rob
     }
 }
 
-const collision_detection::CollisionRobotPtr& PlanningScene::getCollisionRobotNonConst()
+const collision_detection::CollisionEnvPtr& PlanningScene::getCollisionEnvNonConst()
 {
-  if (!active_collision_->crobot_)
-  {
-    active_collision_->crobot_ =
-        active_collision_->alloc_->allocateRobot(active_collision_->parent_->getCollisionRobot());
-    active_collision_->crobot_const_ = active_collision_->crobot_;
-  }
-  return active_collision_->crobot_;
+  return active_collision_->cenv_;
 }
 
 robot_state::RobotState& PlanningScene::getCurrentStateNonConst()
@@ -717,16 +679,8 @@ void PlanningScene::getPlanningSceneDiffMsg(moveit_msgs::PlanningScene& scene_ms
   else
     scene_msg.allowed_collision_matrix = moveit_msgs::AllowedCollisionMatrix();
 
-  if (active_collision_->crobot_)
-  {
-    active_collision_->crobot_->getPadding(scene_msg.link_padding);
-    active_collision_->crobot_->getScale(scene_msg.link_scale);
-  }
-  else
-  {
-    scene_msg.link_padding.clear();
-    scene_msg.link_scale.clear();
-  }
+  active_collision_->cenv_->getPadding(scene_msg.link_padding);
+  active_collision_->cenv_->getScale(scene_msg.link_scale);
 
   scene_msg.object_colors.clear();
   if (object_colors_)
@@ -812,7 +766,7 @@ bool PlanningScene::getCollisionObjectMsg(moveit_msgs::CollisionObject& collisio
   collision_obj.header.frame_id = getPlanningFrame();
   collision_obj.id = ns;
   collision_obj.operation = moveit_msgs::CollisionObject::ADD;
-  collision_detection::CollisionWorld::ObjectConstPtr obj = world_->getObject(ns);
+  collision_detection::CollisionEnv::ObjectConstPtr obj = world_->getObject(ns);
   if (!obj)
     return false;
   ShapeVisitorAddToCollisionObject sv(&collision_obj);
@@ -884,7 +838,7 @@ bool PlanningScene::getOctomapMsg(octomap_msgs::OctomapWithPose& octomap) const
   octomap.header.frame_id = getPlanningFrame();
   octomap.octomap = octomap_msgs::Octomap();
 
-  collision_detection::CollisionWorld::ObjectConstPtr map = world_->getObject(OCTOMAP_NS);
+  collision_detection::CollisionEnv::ObjectConstPtr map = world_->getObject(OCTOMAP_NS);
   if (map)
   {
     if (map->shapes_.size() == 1)
@@ -924,8 +878,8 @@ void PlanningScene::getPlanningSceneMsg(moveit_msgs::PlanningScene& scene_msg) c
 
   robot_state::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state);
   getAllowedCollisionMatrix().getMessage(scene_msg.allowed_collision_matrix);
-  getCollisionRobot()->getPadding(scene_msg.link_padding);
-  getCollisionRobot()->getScale(scene_msg.link_scale);
+  getCollisionEnv()->getPadding(scene_msg.link_padding);
+  getCollisionEnv()->getScale(scene_msg.link_scale);
 
   getObjectColorMsgs(scene_msg.object_colors);
 
@@ -971,8 +925,8 @@ void PlanningScene::getPlanningSceneMsg(moveit_msgs::PlanningScene& scene_msg,
 
   if (comp.components & moveit_msgs::PlanningSceneComponents::LINK_PADDING_AND_SCALING)
   {
-    getCollisionRobot()->getPadding(scene_msg.link_padding);
-    getCollisionRobot()->getScale(scene_msg.link_scale);
+    getCollisionEnv()->getPadding(scene_msg.link_padding);
+    getCollisionEnv()->getScale(scene_msg.link_scale);
   }
 
   if (comp.components & moveit_msgs::PlanningSceneComponents::OBJECT_COLORS)
@@ -1009,7 +963,7 @@ void PlanningScene::saveGeometryToStream(std::ostream& out) const
   for (const std::string& id : ids)
     if (id != OCTOMAP_NS)
     {
-      collision_detection::CollisionWorld::ObjectConstPtr obj = world_->getObject(id);
+      collision_detection::CollisionEnv::ObjectConstPtr obj = world_->getObject(id);
       if (obj)
       {
         out << "* " << id << std::endl;
@@ -1184,15 +1138,10 @@ void PlanningScene::decoupleParent()
 
   for (std::pair<const std::string, CollisionDetectorPtr>& it : collision_)
   {
-    if (!it.second->crobot_)
-    {
-      it.second->crobot_ = it.second->alloc_->allocateRobot(it.second->parent_->getCollisionRobot());
-      it.second->crobot_const_ = it.second->crobot_;
-    }
-    if (!it.second->crobot_unpadded_)
+    if (!it.second->cenv_unpadded_)
     {
-      it.second->crobot_unpadded_ = it.second->alloc_->allocateRobot(it.second->parent_->getCollisionRobotUnpadded());
-      it.second->crobot_unpadded_const_ = it.second->crobot_unpadded_;
+      it.second->cenv_unpadded_ = it.second->alloc_->allocateEnv(it.second->parent_->getCollisionEnvUnpadded(), world_);
+      it.second->cenv_unpadded_const_ = it.second->cenv_unpadded_;
     }
     it.second->parent_.reset();
   }
@@ -1265,13 +1214,8 @@ bool PlanningScene::setPlanningSceneDiffMsg(const moveit_msgs::PlanningScene& sc
   {
     for (std::pair<const std::string, CollisionDetectorPtr>& it : collision_)
     {
-      if (!it.second->crobot_)
-      {
-        it.second->crobot_ = it.second->alloc_->allocateRobot(it.second->parent_->getCollisionRobot());
-        it.second->crobot_const_ = it.second->crobot_;
-      }
-      it.second->crobot_->setPadding(scene_msg.link_padding);
-      it.second->crobot_->setScale(scene_msg.link_scale);
+      it.second->cenv_->setPadding(scene_msg.link_padding);
+      it.second->cenv_->setScale(scene_msg.link_scale);
     }
   }
 
@@ -1308,13 +1252,8 @@ bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::PlanningScene& scene_
   acm_.reset(new collision_detection::AllowedCollisionMatrix(scene_msg.allowed_collision_matrix));
   for (std::pair<const std::string, CollisionDetectorPtr>& it : collision_)
   {
-    if (!it.second->crobot_)
-    {
-      it.second->crobot_ = it.second->alloc_->allocateRobot(it.second->parent_->getCollisionRobot());
-      it.second->crobot_const_ = it.second->crobot_;
-    }
-    it.second->crobot_->setPadding(scene_msg.link_padding);
-    it.second->crobot_->setScale(scene_msg.link_scale);
+    it.second->cenv_->setPadding(scene_msg.link_padding);
+    it.second->cenv_->setScale(scene_msg.link_scale);
   }
   object_colors_.reset(new ObjectColorMap());
   for (const moveit_msgs::ObjectColor& object_color : scene_msg.object_colors)
@@ -1402,7 +1341,7 @@ void PlanningScene::processOctomapMsg(const octomap_msgs::OctomapWithPose& map)
 
 void PlanningScene::processOctomapPtr(const std::shared_ptr<const octomap::OcTree>& octree, const Eigen::Isometry3d& t)
 {
-  collision_detection::CollisionWorld::ObjectConstPtr map = world_->getObject(OCTOMAP_NS);
+  collision_detection::CollisionEnv::ObjectConstPtr map = world_->getObject(OCTOMAP_NS);
   if (map)
   {
     if (map->shapes_.size() == 1)
@@ -1503,7 +1442,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
       // TODO(felixvd): This code may be duplicated in robot_state/conversions.cpp
 
       // STEP 1.1: Get shapes and poses from existing world object or message.
-      collision_detection::CollisionWorld::ObjectConstPtr obj_in_world = world_->getObject(object.object.id);
+      collision_detection::CollisionEnv::ObjectConstPtr obj_in_world = world_->getObject(object.object.id);
       if (object.object.operation == moveit_msgs::CollisionObject::ADD && object.object.primitives.empty() &&
           object.object.meshes.empty() && object.object.planes.empty())
       {
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
index f98009e133..05d6c235c4 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
@@ -42,8 +42,7 @@
 #include <chomp_motion_planner/multivariate_gaussian.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h>
-#include <moveit/collision_distance_field/collision_robot_hybrid.h>
-#include <moveit/collision_distance_field/collision_world_hybrid.h>
+#include <moveit/collision_distance_field/collision_env_hybrid.h>
 
 #include <Eigen/Core>
 #include <Eigen/StdVector>
@@ -135,8 +134,7 @@ class ChompOptimizer
   moveit::core::RobotState state_;
   moveit::core::RobotState start_state_;
   const moveit::core::JointModelGroup* joint_model_group_;
-  const collision_detection::CollisionWorldHybrid* hy_world_;
-  const collision_detection::CollisionRobotHybrid* hy_robot_;
+  const collision_detection::CollisionEnvHybrid* hy_env_;
 
   std::vector<ChompCost> joint_costs_;
   collision_detection::GroupStateRepresentationPtr gsr_;
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
index 6158d6f3e5..ae30b79aad 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
@@ -75,21 +75,14 @@ ChompOptimizer::ChompOptimizer(ChompTrajectory* trajectory, const planning_scene
 
   ROS_INFO_STREAM("Active collision detector is: " + planning_scene->getActiveCollisionDetectorName());
 
-  hy_world_ = dynamic_cast<const collision_detection::CollisionWorldHybrid*>(
-      planning_scene->getCollisionWorld(planning_scene->getActiveCollisionDetectorName()).get());
-  if (!hy_world_)
+  hy_env_ = dynamic_cast<const collision_detection::CollisionEnvHybrid*>(
+      planning_scene->getCollisionEnv(planning_scene->getActiveCollisionDetectorName()).get());
+  if (!hy_env_)
   {
     ROS_WARN_STREAM("Could not initialize hybrid collision world from planning scene");
     return;
   }
 
-  hy_robot_ = dynamic_cast<const collision_detection::CollisionRobotHybrid*>(
-      planning_scene->getCollisionRobot(planning_scene->getActiveCollisionDetectorName()).get());
-  if (!hy_robot_)
-  {
-    ROS_WARN_STREAM("Could not initialize hybrid collision robot from planning scene");
-    return;
-  }
   initialize();
 }
 
@@ -107,8 +100,7 @@ void ChompOptimizer::initialize()
   collision_detection::CollisionResult res;
   req.group_name = planning_group_;
   ros::WallTime wt = ros::WallTime::now();
-  hy_world_->getCollisionGradients(req, res, *hy_robot_->getCollisionRobotDistanceField().get(), state_,
-                                   &planning_scene_->getAllowedCollisionMatrix(), gsr_);
+  hy_env_->getCollisionGradients(req, res, state_, &planning_scene_->getAllowedCollisionMatrix(), gsr_);
   ROS_INFO_STREAM("First coll check took " << (ros::WallTime::now() - wt));
   num_collision_points_ = 0;
   for (const collision_detection::GradientInfo& gradient : gsr_->gradients_)
@@ -937,8 +929,7 @@ void ChompOptimizer::performForwardKinematics()
     setRobotStateFromPoint(group_trajectory_, i);
     ros::WallTime grad = ros::WallTime::now();
 
-    hy_world_->getCollisionGradients(req, res, *hy_robot_->getCollisionRobotDistanceField().get(), state_, nullptr,
-                                     gsr_);
+    hy_env_->getCollisionGradients(req, res, state_, nullptr, gsr_);
     total_dur += (ros::WallTime::now() - grad);
     computeJointProperties(i);
     state_is_in_collision_[i] = false;
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
index 5158a7f49d..53b258ced3 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
@@ -50,8 +50,7 @@
 #include <sbpl/headers.h>
 #include <sbpl_interface/bfs3d/BFS_3D.h>
 #include <planning_scene/planning_scene.h>
-#include <collision_distance_field/collision_robot_hybrid.h>
-#include <collision_distance_field/collision_world_hybrid.h>
+#include <collision_distance_field/collision_env_hybrid.h>
 #include <sbpl_interface/environment_chain3d_types.h>
 #include <moveit_msgs/GetMotionPlan.h>
 
@@ -248,8 +247,7 @@ class EnvironmentChain3D : public DiscreteSpaceInformation
   std::vector<boost::shared_ptr<JointMotionWrapper> > joint_motion_wrappers_;
   std::vector<boost::shared_ptr<JointMotionPrimitive> > possible_actions_;
   planning_models::RobotState* state_;
-  const collision_detection::CollisionWorldHybrid* hy_world_;
-  const collision_detection::CollisionRobotHybrid* hy_robot_;
+  const collision_detection::CollisionEnvHybrid* hy_env_;
   planning_models::RobotState* ::JointStateGroup* joint_state_group_;
   boost::shared_ptr<collision_detection::GroupStateRepresentation> gsr_;
   // boost::shared_ptr<kinematics::KinematicsBase> kinematics_solver_;
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
index 6e84c9ac11..5ff2829e1f 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
@@ -247,8 +247,7 @@ void EnvironmentChain3D::GetSuccs(int source_state_ID, std::vector<int>* succ_id
     req.group_name = planning_group_;
     if (!planning_parameters_.use_standard_collision_checking_)
     {
-      hy_world_->checkCollisionDistanceField(req, res, *hy_robot_->getCollisionRobotDistanceField().get(), state_,
-                                             gsr_);
+      hy_env_->checkCollisionDistanceField(req, res, *hy_env_->getCollisionRobotDistanceField().get(), state_, gsr_);
     }
     else
     {
@@ -436,18 +435,16 @@ bool EnvironmentChain3D::setupForMotionPlan(const planning_scene::PlanningSceneC
 
   if (!planning_parameters_.use_standard_collision_checking_)
   {
-    hy_world_ =
-        dynamic_cast<const collision_detection::CollisionWorldHybrid*>(planning_scene->getCollisionWorld().get());
-    if (!hy_world_)
+    hy_env_ = dynamic_cast<const collision_detection::CollisionWorldHybrid*>(planning_scene->getCollisionEnv().get());
+    if (!hy_env_)
     {
       ROS_WARN_STREAM("Could not initialize hybrid collision world from planning scene");
       mres.error_code.val = moveit_msgs::MoveItErrorCodes::COLLISION_CHECKING_UNAVAILABLE;
       return false;
     }
 
-    hy_robot_ =
-        dynamic_cast<const collision_detection::CollisionRobotHybrid*>(planning_scene->getCollisionRobot().get());
-    if (!hy_robot_)
+    hy_env_ = dynamic_cast<const collision_detection::CollisionRobotHybrid*>(planning_scene->getCollisionEnv().get());
+    if (!hy_env_)
     {
       ROS_WARN_STREAM("Could not initialize hybrid collision robot from planning scene");
       mres.error_code.val = moveit_msgs::MoveItErrorCodes::COLLISION_CHECKING_UNAVAILABLE;
@@ -473,8 +470,8 @@ bool EnvironmentChain3D::setupForMotionPlan(const planning_scene::PlanningSceneC
   req.group_name = planning_group_;
   if (!planning_parameters_.use_standard_collision_checking_)
   {
-    hy_world_->checkCollisionDistanceField(req, res, *hy_robot_->getCollisionRobotDistanceField().get(), state_,
-                                           planning_scene_->getAllowedCollisionMatrix(), gsr_);
+    hy_env_->checkCollisionDistanceField(req, res, *hy_env_->getCollisionRobotDistanceField().get(), state_,
+                                         planning_scene_->getAllowedCollisionMatrix(), gsr_);
   }
   else
   {
@@ -507,7 +504,7 @@ bool EnvironmentChain3D::setupForMotionPlan(const planning_scene::PlanningSceneC
                       gsr_->dfce_->distance_field_->getZNumCells());
 
     boost::shared_ptr<const distance_field::DistanceField> world_distance_field =
-        hy_world_->getCollisionWorldDistanceField()->getDistanceField();
+        hy_env_->getCollisionWorldDistanceField()->getDistanceField();
     if (world_distance_field->getXNumCells() != gsr_->dfce_->distance_field_->getXNumCells() ||
         world_distance_field->getYNumCells() != gsr_->dfce_->distance_field_->getYNumCells() ||
         world_distance_field->getZNumCells() != gsr_->dfce_->distance_field_->getZNumCells())
@@ -579,8 +576,8 @@ bool EnvironmentChain3D::setupForMotionPlan(const planning_scene::PlanningSceneC
   goal_state.setStateValues(goal_vals);
   if (!planning_parameters_.use_standard_collision_checking_)
   {
-    hy_world_->checkCollisionDistanceField(req, res, *hy_robot_->getCollisionRobotDistanceField().get(), goal_state,
-                                           planning_scene_->getAllowedCollisionMatrix(), gsr_);
+    hy_env_->checkCollisionDistanceField(req, res, *hy_env_->getCollisionRobotDistanceField().get(), goal_state,
+                                         planning_scene_->getAllowedCollisionMatrix(), gsr_);
   }
   else
   {
@@ -1101,8 +1098,8 @@ bool EnvironmentChain3D::interpolateAndCollisionCheck(const std::vector<double>
     collision_detection::CollisionResult res;
     if (!planning_parameters_.use_standard_collision_checking_)
     {
-      hy_world_->checkCollisionDistanceField(req, res, *hy_robot_->getCollisionRobotDistanceField().get(),
-                                             interpolation_state_temp_, gsr_);
+      hy_env_->checkCollisionDistanceField(req, res, *hy_env_->getCollisionRobotDistanceField().get(),
+                                           interpolation_state_temp_, gsr_);
     }
     else
     {
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index a2138f668d..de9a628b5a 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -203,15 +203,15 @@ void PlanningSceneMonitor::initialize(const planning_scene::PlanningScenePtr& sc
         configureCollisionMatrix(scene_);
         configureDefaultPadding();
 
-        scene_->getCollisionRobotNonConst()->setPadding(default_robot_padd_);
-        scene_->getCollisionRobotNonConst()->setScale(default_robot_scale_);
+        scene_->getCollisionEnvNonConst()->setPadding(default_robot_padd_);
+        scene_->getCollisionEnvNonConst()->setScale(default_robot_scale_);
         for (const std::pair<const std::string, double>& it : default_robot_link_padd_)
         {
-          scene_->getCollisionRobotNonConst()->setLinkPadding(it.first, it.second);
+          scene_->getCollisionEnvNonConst()->setLinkPadding(it.first, it.second);
         }
         for (const std::pair<const std::string, double>& it : default_robot_link_scale_)
         {
-          scene_->getCollisionRobotNonConst()->setLinkScale(it.first, it.second);
+          scene_->getCollisionEnvNonConst()->setLinkScale(it.first, it.second);
         }
         scene_->propogateRobotPadding();
       }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index c212905f5f..e9a7398a90 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -314,7 +314,7 @@ private Q_SLOTS:
   ros::Publisher planning_scene_publisher_;
   ros::Publisher planning_scene_world_publisher_;
 
-  collision_detection::CollisionWorld::ObjectConstPtr scaled_object_;
+  collision_detection::CollisionEnv::ObjectConstPtr scaled_object_;
 
   std::vector<std::pair<std::string, bool> > known_collision_objects_;
   long unsigned int known_collision_objects_version_;
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 9914f945de..81b7e43565 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -156,7 +156,7 @@ void MotionPlanningFrame::removeObjectButtonClicked()
   }
 }
 
-static QString decideStatusText(const collision_detection::CollisionWorld::ObjectConstPtr& obj)
+static QString decideStatusText(const collision_detection::CollisionEnv::ObjectConstPtr& obj)
 {
   QString status_text = "'" + QString::fromStdString(obj->id_) + "' is a collision object with ";
   if (obj->shapes_.empty())
@@ -228,7 +228,7 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
       Eigen::Isometry3d obj_pose;
       {
         const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
-        const collision_detection::CollisionWorld::ObjectConstPtr& obj =
+        const collision_detection::CollisionEnv::ObjectConstPtr& obj =
             ps->getWorld()->getObject(sel[0]->text().toStdString());
         if (obj)
         {
@@ -302,7 +302,7 @@ void MotionPlanningFrame::updateCollisionObjectPose(bool update_marker_position)
   planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
   if (ps)
   {
-    collision_detection::CollisionWorld::ObjectConstPtr obj = ps->getWorld()->getObject(sel[0]->text().toStdString());
+    collision_detection::CollisionEnv::ObjectConstPtr obj = ps->getWorld()->getObject(sel[0]->text().toStdString());
     if (obj && obj->shapes_.size() == 1)
     {
       Eigen::Isometry3d p;
@@ -392,7 +392,7 @@ void MotionPlanningFrame::copySelectedCollisionObject()
   for (const QListWidgetItem* item : sel)
   {
     std::string name = item->text().toStdString();
-    collision_detection::CollisionWorld::ObjectConstPtr obj = ps->getWorld()->getObject(name);
+    collision_detection::CollisionEnv::ObjectConstPtr obj = ps->getWorld()->getObject(name);
     if (!obj)
       continue;
 
@@ -689,7 +689,7 @@ void MotionPlanningFrame::createSceneInteractiveMarker()
   if (!ps)
     return;
 
-  const collision_detection::CollisionWorld::ObjectConstPtr& obj =
+  const collision_detection::CollisionEnv::ObjectConstPtr& obj =
       ps->getWorld()->getObject(sel[0]->text().toStdString());
   if (obj && obj->shapes_.size() == 1)
   {
@@ -755,7 +755,7 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
   if (item->checkState() == Qt::Unchecked)
   {
     planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-    collision_detection::CollisionWorld::ObjectConstPtr obj =
+    collision_detection::CollisionEnv::ObjectConstPtr obj =
         ps->getWorld()->getObject(known_collision_objects_[item->type()].first);
     if (obj)
     {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index 85ba49b3e3..4ec1d4aa4e 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -90,7 +90,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
   const std::vector<std::string>& ids = scene->getWorld()->getObjectIds();
   for (const std::string& id : ids)
   {
-    collision_detection::CollisionWorld::ObjectConstPtr object = scene->getWorld()->getObject(id);
+    collision_detection::CollisionEnv::ObjectConstPtr object = scene->getWorld()->getObject(id);
     rviz::Color color = default_env_color;
     float alpha = default_scene_alpha;
     if (scene->hasObjectColor(id))

From 39171c81f53a5ef8253c8e319cb760a0cc4727ce Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 21 Aug 2019 19:10:52 +0200
Subject: [PATCH 045/612] Cleanup launch + config files (#1631)

---
 moveit_ros/benchmarks/examples/demo1.yaml     |  2 +-
 .../examples/demo_panda_all_planners.launch   | 27 ++++++++++---------
 .../examples/demo_panda_all_planners.yaml     |  1 -
 .../demo_panda_all_planners_obstacles.launch  | 26 +++++++++---------
 4 files changed, 29 insertions(+), 27 deletions(-)

diff --git a/moveit_ros/benchmarks/examples/demo1.yaml b/moveit_ros/benchmarks/examples/demo1.yaml
index 7d6e9882a2..d31a58594a 100644
--- a/moveit_ros/benchmarks/examples/demo1.yaml
+++ b/moveit_ros/benchmarks/examples/demo1.yaml
@@ -1,5 +1,5 @@
 # This is an example configuration that loads the "Kitchen" scene from the
-# local MoveIt warehouse and benchmarks the "manipulator" group in the Pick1
+# local MoveIt warehouse and benchmarks the "panda_arm" group in the Pick1
 # query using the Start1 initial state (all pre-stored in the local warehouse)
 
 # Three different planners from OMPL are run a total of 50 times each, with a
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
index f0d60f6105..21b2ad58a8 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
@@ -7,25 +7,26 @@
     <arg name="load_robot_description" value="true"/>
   </include>
 
-  <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
-  </include>
+  <!-- Load warehouse containing scenes and queries to benchmark -->
+  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
 
-  <include ns="moveit_run_benchmark/chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="chomp" />
-  </include>
+  <!-- Load all planning pipelines that will be benchmarked -->
+  <group ns="moveit_run_benchmark">
+    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
 
-  <include ns="moveit_run_benchmark/stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="stomp" />
-  </include>
+    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
 
-  <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="stomp" />
+    </include>
+  </group>
 
   <!-- Launch benchmark node -->
   <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
     <rosparam command="load" file="$(arg bench_opts)"/>
   </node>
 </launch>
-
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
index 3fc13adebc..5a101151f9 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.yaml
@@ -30,4 +30,3 @@ benchmark_config:
         - name: stomp
           planners:
             - STOMP
-
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
index 25b0a50715..763d16e86a 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
@@ -7,21 +7,23 @@
     <arg name="load_robot_description" value="true"/>
   </include>
 
-  <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
-  </include>
+  <!-- Load warehouse containing scenes and queries to benchmark -->
+  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
 
-  <include ns="moveit_run_benchmark/chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="chomp" />
-  </include>
+  <!-- Load all planning pipelines that will be benchmarked -->
+  <group ns="moveit_run_benchmark">
+    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
 
-  <include ns="moveit_run_benchmark/stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="stomp" />
-  </include>
+    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
 
-  <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="stomp" />
+    </include>
+  </group>
 
   <!-- Launch benchmark node -->
   <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">

From 06d67ab119fd7fda0e45db8a59a7554fa7d55bbb Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 21 Aug 2019 23:04:49 +0200
Subject: [PATCH 046/612] Fix clang-tidy for unified collision environment
 (#1638)

---
 .../collision_env_distance_field.h                   |  4 ++--
 .../collision_distance_field/collision_env_hybrid.h  |  4 ++--
 .../src/collision_env_distance_field.cpp             |  4 ++--
 .../src/collision_env_hybrid.cpp                     | 12 ++++++------
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index f9fb4366ad..93ec59597b 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -64,7 +64,7 @@ class CollisionEnvDistanceField : public CollisionEnv
                             const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                                 std::map<std::string, std::vector<CollisionSphere>>(),
                             double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
-                            double size_z = DEFAULT_SIZE_Z, Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                            double size_z = DEFAULT_SIZE_Z, const Eigen::Vector3d& origin = Eigen::Vector3d(0, 0, 0),
                             bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                             double resolution = DEFAULT_RESOLUTION,
                             double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
@@ -75,7 +75,7 @@ class CollisionEnvDistanceField : public CollisionEnv
                             const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                                 std::map<std::string, std::vector<CollisionSphere>>(),
                             double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
-                            double size_z = DEFAULT_SIZE_Z, Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                            double size_z = DEFAULT_SIZE_Z, const Eigen::Vector3d& origin = Eigen::Vector3d(0, 0, 0),
                             bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                             double resolution = DEFAULT_RESOLUTION,
                             double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
index 784623385d..6acf5da2ae 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
@@ -56,7 +56,7 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
                      const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                          std::map<std::string, std::vector<CollisionSphere>>(),
                      double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
-                     Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                     const Eigen::Vector3d& origin = Eigen::Vector3d(0, 0, 0),
                      bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                      double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
                      double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
@@ -66,7 +66,7 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
                      const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                          std::map<std::string, std::vector<CollisionSphere>>(),
                      double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
-                     Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
+                     const Eigen::Vector3d& origin = Eigen::Vector3d(0, 0, 0),
                      bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                      double resolution = DEFAULT_RESOLUTION, double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
                      double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
diff --git a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
index 0c1cc66d9f..6ddac01a3f 100644
--- a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -55,7 +55,7 @@ const std::string collision_detection::CollisionDetectorAllocatorDistanceField::
 CollisionEnvDistanceField::CollisionEnvDistanceField(
     const robot_model::RobotModelConstPtr& robot_model,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
   : CollisionEnv(robot_model)
 {
@@ -73,7 +73,7 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
 CollisionEnvDistanceField::CollisionEnvDistanceField(
     const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
   : CollisionEnv(robot_model, world, padding, scale)
 {
diff --git a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
index 9c7928112d..7a367c012f 100644
--- a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
@@ -45,24 +45,24 @@ const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME("H
 CollisionEnvHybrid::CollisionEnvHybrid(
     const robot_model::RobotModelConstPtr& robot_model,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
   : CollisionEnvFCL(robot_model)
   , cenv_distance_(new collision_detection::CollisionEnvDistanceField(
-        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, std::move(origin),
-        use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance, padding, scale))
+        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, origin, use_signed_distance_field,
+        resolution, collision_tolerance, max_propogation_distance, padding, scale))
 {
 }
 
 CollisionEnvHybrid::CollisionEnvHybrid(
     const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
-    double size_z, Eigen::Vector3d origin, bool use_signed_distance_field, double resolution,
+    double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
   : CollisionEnvFCL(robot_model, world, padding, scale)
   , cenv_distance_(new collision_detection::CollisionEnvDistanceField(
-        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, std::move(origin),
-        use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance, padding, scale))
+        robot_model, getWorld(), link_body_decompositions, size_x, size_y, size_z, origin, use_signed_distance_field,
+        resolution, collision_tolerance, max_propogation_distance, padding, scale))
 {
 }
 

From c384470cbe67c3647a4e30ef65af77c2095d4a0a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 22 Aug 2019 15:47:55 +0200
Subject: [PATCH 047/612] Fix clang-tidy issues

in merge commit 180e2b56db095cb659dc95c7ccfaa8aeea546371
---
 .../src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
index 5c6bdd4c51..6675564c6c 100644
--- a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
+++ b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
@@ -50,12 +50,12 @@ constexpr char LOGNAME[] = "combine_predefined_poses_benchmark";
 class CombinePredefinedPosesBenchmark : public BenchmarkExecutor
 {
 public:
-  virtual bool loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
+  bool loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
                                       std::vector<StartState>& start_states,
                                       std::vector<PathConstraints>& path_constraints,
                                       std::vector<PathConstraints>& goal_constraints,
                                       std::vector<TrajectoryConstraints>& traj_constraints,
-                                      std::vector<BenchmarkRequest>& queries)
+                                      std::vector<BenchmarkRequest>& queries) override
   {
     // Load planning scene
     if (!psm_)

From d6c2236653e8cbac1c1eb485ee241acb1668cf57 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Thu, 22 Aug 2019 19:33:58 +0200
Subject: [PATCH 048/612] Changed migration notes for new unified collision
 environment. (#1639)

---
 MIGRATION.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index 7fe1098d53..fb4a5c16be 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -8,7 +8,7 @@ API changes in MoveIt releases
 - Moved the example package `moveit_controller_manager_example` into [moveit_tutorials](https://github.com/ros-planning/moveit_tutorials)
 - Requests to `get_planning_scene` service without explicitly setting "components" now return full scene
 - `moveit_ros_plannning` no longer depends on `moveit_ros_perception`
-- `collision_robot` and `collision_world` are combined into a single `collision_env`. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. `getCollisionRobot[Unpadded] / getCollisionWorld` functions return the new combined environment and will be deprecated in the future.
+- `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`.
 
 ## ROS Melodic
 

From b7b4197d79328e04111647004fbae1b7483a090e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 22 Aug 2019 17:27:40 +0200
Subject: [PATCH 049/612] fix clang-format

---
 .../CombinePredefinedPosesBenchmark.cpp                  | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
index 6675564c6c..1bd9818579 100644
--- a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
+++ b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
@@ -51,11 +51,10 @@ class CombinePredefinedPosesBenchmark : public BenchmarkExecutor
 {
 public:
   bool loadBenchmarkQueryData(const BenchmarkOptions& opts, moveit_msgs::PlanningScene& scene_msg,
-                                      std::vector<StartState>& start_states,
-                                      std::vector<PathConstraints>& path_constraints,
-                                      std::vector<PathConstraints>& goal_constraints,
-                                      std::vector<TrajectoryConstraints>& traj_constraints,
-                                      std::vector<BenchmarkRequest>& queries) override
+                              std::vector<StartState>& start_states, std::vector<PathConstraints>& path_constraints,
+                              std::vector<PathConstraints>& goal_constraints,
+                              std::vector<TrajectoryConstraints>& traj_constraints,
+                              std::vector<BenchmarkRequest>& queries) override
   {
     // Load planning scene
     if (!psm_)

From e6d0f3442c39e2b6948f443ccd2e93be190c4a61 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Thu, 22 Aug 2019 10:44:55 -0700
Subject: [PATCH 050/612] fallback to using pyreadline for Window. (#1635)

---
 moveit_commander/bin/moveit_commander_cmdline.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/moveit_commander/bin/moveit_commander_cmdline.py b/moveit_commander/bin/moveit_commander_cmdline.py
index 2dffaa7630..61a37e8898 100755
--- a/moveit_commander/bin/moveit_commander_cmdline.py
+++ b/moveit_commander/bin/moveit_commander_cmdline.py
@@ -4,7 +4,10 @@
 
 import roslib
 import rospy
-import readline
+try:
+    import readline
+except ImportError:
+    import pyreadline as readline # for Windows
 import sys
 import os
 import signal

From 48c326a0badc11a54c5ab2a441436c2485ee423c Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Tue, 27 Aug 2019 14:56:41 +0300
Subject: [PATCH 051/612] Handle the updated plan() function of
 MoveGroupCommander (#1640)

---
 moveit_commander/src/moveit_commander/interpreter.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/interpreter.py b/moveit_commander/src/moveit_commander/interpreter.py
index 3505e6deb5..02cc10e4d4 100644
--- a/moveit_commander/src/moveit_commander/interpreter.py
+++ b/moveit_commander/src/moveit_commander/interpreter.py
@@ -336,11 +336,11 @@ def execute_group_command(self, g, cmdorig):
                 if clist[1] == "rand" or clist[1] == "random":
                     vals = g.get_random_joint_values()
                     g.set_joint_value_target(vals)
-                    self._last_plan = g.plan()
+                    self._last_plan = g.plan()[1] # The trajectory msg
                 else:
                     try:
                         g.set_named_target(clist[1])
-                        self._last_plan = g.plan()
+                        self._last_plan = g.plan()[1] # The trajectory msg
                     except MoveItCommanderException as e:
                         return (MoveGroupInfoLevel.WARN, "Planning to " + clist[1] + ": " + str(e))
                     except:

From e2bfd7198b2c645a4baeba3f6fffb336f4399600 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Tue, 27 Aug 2019 06:21:21 -0700
Subject: [PATCH 052/612] Use `.pyd` as the output suffix for Python module on
 Windows. (#1637)

There is no other standard way to mark this in cmake
---
 .../planning_interface/move_group_interface/CMakeLists.txt     | 3 +++
 .../planning_interface/planning_scene_interface/CMakeLists.txt | 3 +++
 moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt | 3 +++
 moveit_ros/planning_interface/robot_interface/CMakeLists.txt   | 3 +++
 4 files changed, 12 insertions(+)

diff --git a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
index 6ff6444e7a..b9a4eeaa01 100644
--- a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
@@ -11,6 +11,9 @@ add_dependencies(${MOVEIT_LIB_NAME}_python ${catkin_EXPORTED_TARGETS})
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_move_group_interface PREFIX "")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+if(WIN32)
+  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
+endif(WIN32)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt b/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
index 11489f296c..6a3b1a3f9b 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/planning_scene_interface/CMakeLists.txt
@@ -9,6 +9,9 @@ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_
 target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_planning_scene_interface PREFIX "")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+if(WIN32)
+  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
+endif(WIN32)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt b/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
index 1f3cb1c93b..1f82d7e4dc 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
+++ b/moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
@@ -14,6 +14,9 @@ target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBR
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_roscpp_initializer PREFIX "")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+if(WIN32)
+  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
+endif(WIN32)
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
   DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
diff --git a/moveit_ros/planning_interface/robot_interface/CMakeLists.txt b/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
index 0c6a4a22bf..3944155fbf 100644
--- a/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/robot_interface/CMakeLists.txt
@@ -6,6 +6,9 @@ target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES} ${catkin_LIB
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_robot_interface PREFIX "")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+if(WIN32)
+  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
+endif(WIN32)
 
 install(TARGETS ${MOVEIT_LIB_NAME}_python
   DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})

From 57d4a4acd20bd6c371faf956acbba4281a31e3fe Mon Sep 17 00:00:00 2001
From: Paul Verhoeckx <43780894+PaulRuvu@users.noreply.github.com>
Date: Tue, 27 Aug 2019 16:38:09 +0200
Subject: [PATCH 053/612] jog_arm: Do not wait for command msg to start
 spinning (#1603)

* Do not wait for a message on the cartesian_command_in_topic to start spinning,
   but only for the message we try to smooth with the low-pass filter (JointState).
   This also allows the initial command to be of the JointJog type.
* Do not assume the command to be Cartesian when the zero_joint_cmd_flag is set,
   could be a JointJog command with zero velocity as well.
* Remove unused publish_delay parameter
* Remove mutex from jointJogCalcs() declaration
---
 .../jog_arm/include/jog_arm/jog_arm_data.h    |  2 +-
 .../jog_arm/include/jog_arm/jog_calcs.h       |  5 +-
 .../jog_arm/src/jog_arm/jog_calcs.cpp         | 82 ++++++++-----------
 .../jog_arm/src/jog_arm/jog_ros_interface.cpp |  3 -
 .../test/arm_setup/config/jog_settings.yaml   |  1 -
 5 files changed, 37 insertions(+), 56 deletions(-)

diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
index cc8309dd62..499166c427 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
@@ -86,7 +86,7 @@ struct JogArmParameters
   std::string move_group_name, joint_topic, cartesian_command_in_topic, command_frame, command_out_topic,
       planning_frame, warning_topic, joint_command_in_topic, command_in_type, command_out_type;
   double linear_scale, rotational_scale, joint_scale, lower_singularity_threshold, hard_stop_singularity_threshold,
-      collision_proximity_threshold, low_pass_filter_coeff, publish_period, publish_delay, incoming_command_timeout,
+      collision_proximity_threshold, low_pass_filter_coeff, publish_period, incoming_command_timeout,
       joint_limit_margin, collision_check_rate;
   int num_halt_msgs_to_publish;
   bool use_gazebo, check_collisions, publish_joint_positions, publish_joint_velocities, publish_joint_accelerations;
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
index f9ba6da0c9..fcdafa529b 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
+++ b/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
@@ -62,7 +62,7 @@ class JogCalcs
 
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
 
-  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
+  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
 
   // Parse the incoming joint msg for the joints of our MoveGroup
   bool updateJoints();
@@ -97,8 +97,7 @@ class JogCalcs
                             trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
                             double singularity_scale);
 
-  trajectory_msgs::JointTrajectory composeOutgoingMessage(sensor_msgs::JointState& joint_state,
-                                                          const ros::Time& stamp) const;
+  trajectory_msgs::JointTrajectory composeOutgoingMessage(sensor_msgs::JointState& joint_state) const;
 
   void lowPassFilterVelocities(const Eigen::VectorXd& joint_vel);
 
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
index 64bd635bf2..8db2351350 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
@@ -66,10 +66,6 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
   ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
 
-  ROS_INFO_NAMED(LOGNAME, "Waiting for first command msg.");
-  ros::topic::waitForMessage<geometry_msgs::TwistStamped>(parameters_.cartesian_command_in_topic);
-  ROS_INFO_NAMED(LOGNAME, "Received first command msg.");
-
   resetVelocityFilters();
 
   jt_state_.name = joint_model_group_->getVariableNames();
@@ -128,8 +124,14 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
     pthread_mutex_lock(&mutex);
     bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
     bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
+    pthread_mutex_unlock(&mutex);
+
+    if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
+      // Reset low-pass filters
+      resetVelocityFilters();
 
     // Pull data from the shared variables.
+    pthread_mutex_lock(&mutex);
     incoming_jts_ = shared_variables.joints;
     pthread_mutex_unlock(&mutex);
 
@@ -142,8 +144,8 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
       ros::Duration(WHILE_LOOP_WAIT).sleep();
     }
 
-    // Assume cartesian jogging command unless the joint command has some nonzero values
-    if (zero_joint_cmd_flag)
+    // Prioritize cartesian jogging above joint jogging
+    if (!zero_cartesian_cmd_flag)
     {
       pthread_mutex_lock(&mutex);
       cartesian_deltas = shared_variables.command_deltas;
@@ -152,32 +154,41 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
       if (!cartesianJogCalcs(cartesian_deltas, shared_variables, mutex))
         continue;
     }
-    // If joint jogging command is not all zeros
-    else
+    else if (!zero_joint_cmd_flag)
     {
       pthread_mutex_lock(&mutex);
       joint_deltas = shared_variables.joint_command_deltas;
       pthread_mutex_unlock(&mutex);
 
-      if (!jointJogCalcs(joint_deltas, shared_variables, mutex))
+      if (!jointJogCalcs(joint_deltas, shared_variables))
         continue;
     }
+    else
+    {
+      original_jt_state_ = jt_state_;
+      outgoing_command_ = composeOutgoingMessage(jt_state_);
+    }
 
-    // Skip publishing if the command is stale and outgoing velocities are all nearly zero.
-    // (It takes some time for the low-pass velocity filters to settle at zero.)
+    // Halt if the command is stale or inputs are all zero, or commands were zero
     pthread_mutex_lock(&mutex);
-    bool skip_publication =
-        shared_variables.command_is_stale &&
-        (std::all_of(outgoing_command_.points[0].velocities.begin(), outgoing_command_.points[0].velocities.end(),
-                     [](double i) { return i < 0.000001; }));
+    bool stale_command = shared_variables.command_is_stale;
     pthread_mutex_unlock(&mutex);
 
+    if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
+    {
+      suddenHalt(outgoing_command_);
+      zero_cartesian_cmd_flag = true;
+      zero_joint_cmd_flag = true;
+    }
+
+    bool valid_nonzero_command = !zero_cartesian_cmd_flag || !zero_joint_cmd_flag;
+
     // Send the newest target joints
     if (!outgoing_command_.joint_names.empty())
     {
       pthread_mutex_lock(&mutex);
-      // If everything normal, share the new traj to be published.
-      if (!skip_publication)
+      // If everything normal, share the new traj to be published
+      if (valid_nonzero_command)
       {
         shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
@@ -191,7 +202,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
         // Reset the velocity filters so robot doesn't jump when commands resume
         resetVelocityFilters();
       }
-      // The command is stale but we are publishing num_halt_msgs_to_publish
+      // The command is invalid but we are publishing num_halt_msgs_to_publish
       else
       {
         shared_variables.outgoing_command = outgoing_command_;
@@ -298,22 +309,10 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   // Include a velocity estimate for velocity-controlled robots
   Eigen::VectorXd joint_vel(delta_theta_ / parameters_.publish_period);
 
-  // Smoothly halt if the command is stale
-  // Positions are set to original positions, and velocities are set to zero.
-  // The filters will be applied after this.
-  pthread_mutex_lock(&mutex);
-  if (shared_variables.command_is_stale)
-  {
-    joint_vel.setZero();
-    jt_state_ = original_jt_state_;
-  }
-  pthread_mutex_unlock(&mutex);
-
   lowPassFilterVelocities(joint_vel);
   lowPassFilterPositions();
 
-  const ros::Time next_time = ros::Time::now() + ros::Duration(parameters_.publish_period);
-  outgoing_command_ = composeOutgoingMessage(jt_state_, next_time);
+  outgoing_command_ = composeOutgoingMessage(jt_state_);
 
   // If close to a collision or a singularity, decelerate
   applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
@@ -336,7 +335,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   return true;
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
@@ -360,25 +359,13 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& sh
   // Include a velocity estimate for velocity-controlled robots
   Eigen::VectorXd joint_vel(delta / parameters_.publish_period);
 
-  // Smoothly halt if the command is stale
-  // Positions are set to original positions, and velocities are set to zero.
-  // The filters will be applied after this.
-  pthread_mutex_lock(&mutex);
-  if (shared_variables.command_is_stale)
-  {
-    joint_vel.setZero();
-    jt_state_ = original_jt_state_;
-  }
-  pthread_mutex_unlock(&mutex);
-
   lowPassFilterVelocities(joint_vel);
   lowPassFilterPositions();
 
   // update joint state with new values
   kinematic_state_->setVariableValues(jt_state_);
 
-  const ros::Time next_time = ros::Time::now() + ros::Duration(parameters_.publish_delay);
-  outgoing_command_ = composeOutgoingMessage(jt_state_, next_time);
+  outgoing_command_ = composeOutgoingMessage(jt_state_);
 
   // check if new joint state is valid
   if (!checkIfJointsWithinURDFBounds(outgoing_command_))
@@ -445,12 +432,11 @@ void JogCalcs::lowPassFilterVelocities(const Eigen::VectorXd& joint_vel)
   }
 }
 
-trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::JointState& joint_state,
-                                                                  const ros::Time& stamp) const
+trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::JointState& joint_state) const
 {
   trajectory_msgs::JointTrajectory new_jt_traj;
   new_jt_traj.header.frame_id = parameters_.planning_frame;
-  new_jt_traj.header.stamp = stamp;
+  new_jt_traj.header.stamp = ros::Time::now();
   new_jt_traj.joint_names = joint_state.name;
 
   trajectory_msgs::JointTrajectoryPoint point;
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp b/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
index 76315b79fb..1114179b52 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
+++ b/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
@@ -87,8 +87,6 @@ JogROSInterface::JogROSInterface()
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
   ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for Cartesian command topic");
-  ros::topic::waitForMessage<geometry_msgs::TwistStamped>(ros_parameters_.cartesian_command_in_topic);
 
   // Wait for low pass filters to stabilize
   ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
@@ -251,7 +249,6 @@ bool JogROSInterface::readParameters(ros::NodeHandle& n)
   }
 
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_period", ros_parameters_.publish_period);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_delay", ros_parameters_.publish_delay);
   error +=
       !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_halt_msgs_to_publish",
diff --git a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
index d9e3ff0db3..c33b0ab748 100644
--- a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -17,7 +17,6 @@ collision_proximity_threshold: 0.03 # Start decelerating when a collision is thi
 planning_frame: base_link  # The MoveIt planning frame. Often 'base_link'
 low_pass_filter_coeff: 2.  # Larger-> more smoothing to jog commands, but more lag.
 publish_period: 0.01  # 1/Nominal publish rate [seconds]
-publish_delay: 0.005  # delay between calculation and execution start of command
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 num_halt_msgs_to_publish: 1 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish
 # Publish boolean warnings to this topic

From 0ef84b85430a514fb9c095b8085954b582e2a38c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 29 Aug 2019 17:04:25 +0200
Subject: [PATCH 054/612] Cleanup OMPL dynamic reconfigure config (#1649)

* reduce minimum number of waypoints in solution to 2

There is no real reason to specify 10 here by default.
So instead, allow for the bare minimum of waypoints if simple interpolation
from start to end succeeds and the maximum segment length suffices.

Fixes #19.

* ompl dyn reconfig: clean wrongly specified levels

The levels are treated as bitmasks in the reconfigure callback,
so counting up in natural numbers does not serve any purpose.

The respective callback ignores the values either way,
so this change just simplifies reading the config.
---
 .../ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg b/moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg
index 50757b73df..e9db604e9d 100755
--- a/moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg
+++ b/moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg
@@ -4,10 +4,10 @@ PACKAGE = "moveit_planners_ompl"
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
-gen.add("simplify_solutions", bool_t, 1, "Flag indicating whether computed motion plans are also simplified", True)
-gen.add("minimum_waypoint_count", int_t, 2, "Set the minimum number of waypoints to include in a motion plan", 10, 2, 10000)
-gen.add("maximum_waypoint_distance", double_t, 3, "The maximum distance between consecutive waypoints along the solution path (0.0 means 'ignore')", 0.0, 0.0, 50.0)
-gen.add("link_for_exploration_tree", str_t, 4, "Show the exploration tree for a particular link", "")
-gen.add("display_random_valid_states", bool_t, 5, "Flag indicating whether random valid states are to be published", False)
+gen.add("simplify_solutions", bool_t, 0, "Flag indicating whether computed motion plans are also simplified", True)
+gen.add("minimum_waypoint_count", int_t, 0, "Set the minimum number of waypoints to include in a motion plan", 2, 2, 10000)
+gen.add("maximum_waypoint_distance", double_t, 0, "The maximum distance between consecutive waypoints along the solution path (0.0 means 'ignore')", 0.0, 0.0, 50.0)
+gen.add("link_for_exploration_tree", str_t, 0, "Show the exploration tree for a particular link", "")
+gen.add("display_random_valid_states", bool_t, 0, "Flag indicating whether random valid states are to be published", False)
 
 exit(gen.generate(PACKAGE, PACKAGE, "OMPLDynamicReconfigure"))

From a9f232331a8d6f7f9f6d69ab30f44672334906a2 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Fri, 30 Aug 2019 01:46:30 -0700
Subject: [PATCH 055/612] [windows] some more header inclusion and MSVC build
 error fixes. (#1636)

* Fix header inclusion for Windows build.
* replace random() with c++11 <random> usage.
---
 .../chomp/chomp_motion_planner/src/chomp_optimizer.cpp     | 7 +++++--
 moveit_ros/benchmarks/src/BenchmarkExecutor.cpp            | 4 ++++
 .../include/moveit/occupancy_map_monitor/occupancy_map.h   | 1 +
 .../include/moveit/point_containment_filter/shape_mask.h   | 2 +-
 moveit_ros/planning/plan_execution/src/plan_execution.cpp  | 2 +-
 moveit_ros/planning/rdf_loader/src/rdf_loader.cpp          | 5 +++++
 moveit_setup_assistant/src/widgets/start_screen_widget.cpp | 7 +++++++
 7 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
index ae30b79aad..bd8b655928 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
@@ -43,12 +43,15 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <eigen3/Eigen/LU>
 #include <eigen3/Eigen/Core>
+#include <random>
 
 namespace chomp
 {
 double getRandomDouble()
 {
-  return ((double)random() / (double)RAND_MAX);
+  std::default_random_engine seed;
+  std::uniform_real_distribution<> uniform(0.0, 1.0);
+  return uniform(seed);
 }
 
 ChompOptimizer::ChompOptimizer(ChompTrajectory* trajectory, const planning_scene::PlanningSceneConstPtr& planning_scene,
@@ -607,7 +610,7 @@ void ChompOptimizer::calculateCollisionIncrements()
   // This is faster and guaranteed to converge, but it may take more iterations in the worst case.
   if (parameters_->use_stochastic_descent_)
   {
-    start_point = (int)(((double)random() / (double)RAND_MAX) * (free_vars_end_ - free_vars_start_) + free_vars_start_);
+    start_point = (int)(getRandomDouble() * (free_vars_end_ - free_vars_start_) + free_vars_start_);
     if (start_point < free_vars_start_)
       start_point = free_vars_start_;
     if (start_point > free_vars_end_)
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 8e15bad1c1..1f55bf7102 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -44,7 +44,11 @@
 #include <boost/math/constants/constants.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
+#ifndef _WIN32
 #include <unistd.h>
+#else
+#include <winsock2.h>
+#endif
 
 using namespace moveit_ros_benchmarks;
 
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index 70413b3d2c..ee98f95de5 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -37,6 +37,7 @@
 #pragma once
 
 #include <octomap/octomap.h>
+#include <boost/thread/locks.hpp>
 #include <boost/thread/shared_mutex.hpp>
 #include <boost/function.hpp>
 #include <memory>
diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index 2fdf49c7b7..67b1b01c7f 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -105,7 +105,7 @@ class ShapeMask
 
   struct SortBodies
   {
-    bool operator()(const SeeShape& b1, const SeeShape& b2)
+    bool operator()(const SeeShape& b1, const SeeShape& b2) const
     {
       if (b1.volume > b2.volume)
         return true;
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index e3f9bb84a9..fb8ee5fae1 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -517,7 +517,7 @@ void plan_execution::PlanExecution::successfulTrajectorySegmentExecution(const E
   if (index < plan->plan_components_.size() && plan->plan_components_[index].trajectory_ &&
       !plan->plan_components_[index].trajectory_->empty())
   {
-    if (!isRemainingPathValid(*plan, std::make_pair<int>(index, 0)))
+    if (!isRemainingPathValid(*plan, std::make_pair(static_cast<int>(index), 0)))
       path_became_invalid_ = true;
   }
 }
diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
index 11a37c9329..d4885f1fd3 100644
--- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
+++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
@@ -50,6 +50,11 @@
 #include <streambuf>
 #include <algorithm>
 
+#ifdef _WIN32
+#define popen _popen
+#define pclose _pclose
+#endif
+
 rdf_loader::RDFLoader::RDFLoader(const std::string& robot_description)
 {
   moveit::tools::Profiler::ScopedStart prof_start;
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index a980d61071..110ba6391a 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -59,6 +59,13 @@
 // MoveIt
 #include <moveit/rdf_loader/rdf_loader.h>
 
+// chdir
+#ifdef _WIN32
+#include <direct.h>
+#else
+#include <unistd.h>
+#endif
+
 namespace moveit_setup_assistant
 {
 // Boost file system

From 84db86fdf91cf8d6b8ec495d11d47970b46caaa1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 30 Aug 2019 15:31:24 +0200
Subject: [PATCH 056/612] depth_image_octomap_updater: correctly set properties
 of debug images (#1652) (#1653)

* calculate step width independent from input depth image

* Also set endianness based on the host system, as the data stems from local computation.

* depth updater: streamline Image properties

* depth updater: enhance readability for filtered image generation
---
 .../src/depth_image_octomap_updater.cpp       | 41 ++++++++++---------
 1 file changed, 22 insertions(+), 19 deletions(-)

diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index 4a33d7c40a..9d1840a118 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -394,33 +394,32 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   {
     sensor_msgs::Image debug_msg;
     debug_msg.header = depth_msg->header;
-    debug_msg.height = depth_msg->height;
-    debug_msg.width = depth_msg->width;
+    debug_msg.height = h;
+    debug_msg.width = w;
+    debug_msg.is_bigendian = HOST_IS_BIG_ENDIAN;
     debug_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
-    debug_msg.is_bigendian = depth_msg->is_bigendian;
-    debug_msg.step = depth_msg->step;
+    debug_msg.step = w * sizeof(float);
     debug_msg.data.resize(img_size * sizeof(float));
     mesh_filter_->getModelDepth(reinterpret_cast<float*>(&debug_msg.data[0]));
     pub_model_depth_image_.publish(debug_msg, *info_msg);
 
     sensor_msgs::Image filtered_depth_msg;
     filtered_depth_msg.header = depth_msg->header;
-    filtered_depth_msg.height = depth_msg->height;
-    filtered_depth_msg.width = depth_msg->width;
+    filtered_depth_msg.height = h;
+    filtered_depth_msg.width = w;
+    filtered_depth_msg.is_bigendian = HOST_IS_BIG_ENDIAN;
     filtered_depth_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
-    filtered_depth_msg.is_bigendian = depth_msg->is_bigendian;
-    filtered_depth_msg.step = depth_msg->step;
+    filtered_depth_msg.step = w * sizeof(float);
     filtered_depth_msg.data.resize(img_size * sizeof(float));
-
     mesh_filter_->getFilteredDepth(reinterpret_cast<float*>(&filtered_depth_msg.data[0]));
     pub_filtered_depth_image_.publish(filtered_depth_msg, *info_msg);
 
     sensor_msgs::Image label_msg;
     label_msg.header = depth_msg->header;
-    label_msg.height = depth_msg->height;
-    label_msg.width = depth_msg->width;
+    label_msg.height = h;
+    label_msg.width = w;
+    label_msg.is_bigendian = HOST_IS_BIG_ENDIAN;
     label_msg.encoding = sensor_msgs::image_encodings::RGBA8;
-    label_msg.is_bigendian = depth_msg->is_bigendian;
     label_msg.step = w * sizeof(unsigned int);
     label_msg.data.resize(img_size * sizeof(unsigned int));
     mesh_filter_->getFilteredLabels(reinterpret_cast<unsigned int*>(&label_msg.data[0]));
@@ -430,22 +429,26 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
 
   if (!filtered_cloud_topic_.empty())
   {
-    static std::vector<float> filtered_data;
     sensor_msgs::Image filtered_msg;
     filtered_msg.header = depth_msg->header;
-    filtered_msg.height = depth_msg->height;
-    filtered_msg.width = depth_msg->width;
+    filtered_msg.height = h;
+    filtered_msg.width = w;
+    filtered_msg.is_bigendian = HOST_IS_BIG_ENDIAN;
     filtered_msg.encoding = sensor_msgs::image_encodings::TYPE_16UC1;
-    filtered_msg.is_bigendian = depth_msg->is_bigendian;
-    filtered_msg.step = depth_msg->step;
+    filtered_msg.step = w * sizeof(unsigned short);
     filtered_msg.data.resize(img_size * sizeof(unsigned short));
+
+    // reuse float buffer across callbacks
+    static std::vector<float> filtered_data;
     if (filtered_data.size() < img_size)
       filtered_data.resize(img_size);
+
     mesh_filter_->getFilteredDepth(reinterpret_cast<float*>(&filtered_data[0]));
-    unsigned short* tmp_ptr = (unsigned short*)&filtered_msg.data[0];
+    unsigned short* msg_data = reinterpret_cast<unsigned short*>(&filtered_msg.data[0]);
     for (std::size_t i = 0; i < img_size; ++i)
     {
-      tmp_ptr[i] = (unsigned short)(filtered_data[i] * 1000 + 0.5);
+      // rescale depth to millimeter to work with `unsigned short`
+      msg_data[i] = static_cast<unsigned short>(filtered_data[i] * 1000 + 0.5);
     }
     pub_filtered_depth_image_.publish(filtered_msg, *info_msg);
   }

From 8fcff1db6d4eb7c04236ad532f0e54b2804a6b6f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sat, 31 Aug 2019 20:38:41 +0200
Subject: [PATCH 057/612] chomp: fix potential calculation (#1651)

---
 .../chomp_motion_planner/chomp_optimizer.h    | 20 ++++++++-----------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
index 05d6c235c4..dafda7f0b2 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
@@ -84,25 +84,21 @@ class ChompOptimizer
   inline double getPotential(double field_distance, double radius, double clearence)
   {
     double d = field_distance - radius;
-    double potential = 0.0;
 
-    // three cases below:
-    if (d >= clearence)
+    if (d >= clearence)  // everything is fine
     {
-      potential = 0.0;
+      return 0.0;
     }
-    else if (d >= 0.0)
+    else if (d >= 0.0)  // transition phase, no collision yet
     {
-      double diff = (d - clearence);
-      double gradient_magnitude = diff * clearence;  // (diff / clearance)
-      potential = 0.5 * gradient_magnitude * diff;
+      const double diff = (d - clearence);
+      const double gradient_magnitude = diff / clearence;
+      return 0.5 * gradient_magnitude * diff;  // 0.5 * (d - clearance)^2 / clearance
     }
-    else  // if d < 0.0
+    else  // d < 0.0: collision
     {
-      potential = -d + 0.5 * clearence;
+      return -d + 0.5 * clearence;  // linearly increase, starting from 0.5 * clearance
     }
-
-    return potential;
   }
   template <typename Derived>
   void getJacobian(int trajectoryPoint, Eigen::Vector3d& collision_point_pos, std::string& jointName,

From 062381c75847ab8dc68e022e8987ebf514c8484b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 12 Sep 2019 10:54:56 +0200
Subject: [PATCH 058/612] Fix plot details, correcting xlabels positions and
 cleaning the graph (#1658) (#1668)

---
 .../scripts/moveit_benchmark_statistics.py    | 21 +++++++++++++------
 1 file changed, 15 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py b/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
index 666e64c60d..50896a037d 100755
--- a/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
+++ b/moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py
@@ -343,7 +343,7 @@ def plotAttribute(cur, planners, attribute, typename):
                 color=matplotlib.cm.hot(int(floor(i*256/numValues))),
                 label=descriptions[i])
             heights = heights + measurements[i]
-        xtickNames = plt.xticks([x+width/2. for x in ind], labels, rotation=30)
+        xtickNames = plt.xticks([x + width / 2. for x in ind], labels, rotation=30, fontsize=8, ha='right')
         ax.set_ylabel(attribute.replace('_',' ') + ' (%)')
         box = ax.get_position()
         ax.set_position([box.x0, box.y0, box.width * 0.8, box.height])
@@ -355,7 +355,11 @@ def plotAttribute(cur, planners, attribute, typename):
         measurementsPercentage = [sum(m) * 100. / len(m) for m in measurements]
         ind = range(len(measurements))
         plt.bar(ind, measurementsPercentage, width)
-        xtickNames = plt.xticks([x + width / 2. for x in ind], labels, rotation=30, fontsize=8)
+        ### uncommenting this line will remove the term 'kConfigDefault' from the labels for OMPL Solvers. 
+        ### Fits situations where you need more control in the plot, such as in an academic publication for example
+        #labels = [l.replace('kConfigDefault', '') for l in labels]
+
+        xtickNames = plt.xticks([x + width / 2. for x in ind], labels, rotation=30, fontsize=8, ha='right')
         ax.set_ylabel(attribute.replace('_',' ') + ' (%)')
         plt.subplots_adjust(bottom=0.3) # Squish the plot into the upper 2/3 of the page.  Leave room for labels
     else:
@@ -367,19 +371,24 @@ def plotAttribute(cur, planners, attribute, typename):
 
         #xtickNames = plt.xticks(labels, rotation=30, fontsize=10)
         #plt.subplots_adjust(bottom=0.3) # Squish the plot into the upper 2/3 of the page.  Leave room for labels
-
+	
+        ### uncommenting this line will remove the term 'kConfigDefault' from the labels for OMPL Solvers. 
+        ### Fits situations where you need more control in the plot, such as in an academic publication for example
+        #labels = [l.replace('kConfigDefault', '') for l in labels]
+        
         xtickNames = plt.setp(ax,xticklabels=labels)
-        plt.setp(xtickNames, rotation=30)
+        plt.setp(xtickNames, rotation=30, fontsize=8, ha='right')
         for tick in ax.xaxis.get_major_ticks(): # shrink the font size of the x tick labels
             tick.label.set_fontsize(8)
         plt.subplots_adjust(bottom=0.3) # Squish the plot into the upper 2/3 of the page.  Leave room for labels
-    ax.set_xlabel('Motion planning algorithm')
+    ax.set_xlabel('Motion planning algorithm', fontsize=12)
     ax.yaxis.grid(True, linestyle='-', which='major', color='lightgrey', alpha=0.5)
     if max(nanCounts)>0:
         maxy = max([max(y) for y in measurements])
         for i in range(len(labels)):
             x = i+width/2 if typename=='BOOLEAN' else i+1
-            ax.text(x, .95*maxy, str(nanCounts[i]), horizontalalignment='center', size='small')
+        ### uncommenting the next line, the number of failed planning attempts will be added to each bar
+        # ax.text(x, .95*maxy, str(nanCounts[i]), horizontalalignment='center', size='small')
     plt.show()
 
 def plotProgressAttribute(cur, planners, attribute):

From cbe534a72639c46212d9c6caa9ee2f4c01ccd0a0 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 17 Sep 2019 11:22:47 +0200
Subject: [PATCH 059/612] Migration notes for unified collision environment
 (#1647)

---
 MIGRATION.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index fb4a5c16be..00cf53f4fb 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -8,7 +8,7 @@ API changes in MoveIt releases
 - Moved the example package `moveit_controller_manager_example` into [moveit_tutorials](https://github.com/ros-planning/moveit_tutorials)
 - Requests to `get_planning_scene` service without explicitly setting "components" now return full scene
 - `moveit_ros_plannning` no longer depends on `moveit_ros_perception`
-- `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`.
+- `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`. Note that calling `checkRobotCollision` of the `CollisionEnv` does not take a `CollisionRobot` as an argument anymore as it is implicitly contained in the `CollisionEnv`.
 
 ## ROS Melodic
 

From 871f3a0ded8acad77c658ce70c76855bb4ff3292 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 17 Sep 2019 11:23:20 +0200
Subject: [PATCH 060/612] Adding documentation to collision detection (#1645)

* Collision detection documentation from #1488

* Collision detection documentation from #1505
---
 .../collision_detection/collision_common.h    | 23 ++---
 .../collision_detector_allocator.h            |  2 +-
 .../moveit/collision_detection/world.h        |  4 +-
 .../collision_common.h                        | 87 ++++++++++++++++---
 .../collision_env_fcl.h                       | 10 ++-
 .../src/collision_common.cpp                  | 28 ++++--
 6 files changed, 121 insertions(+), 33 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index c4ec8f25a5..2991951395 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -161,11 +161,10 @@ struct CollisionResult
   /** \brief Number of contacts returned */
   std::size_t contact_count;
 
-  /** \brief A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves
-   */
+  /** \brief A map returning the pairs of body ids in contact, plus their contact details */
   ContactMap contacts;
 
-  /** \brief When costs are computed, the individual cost sources are  */
+  /** \brief These are the individual cost sources when costs are computed */
   std::set<CostSource> cost_sources;
 };
 
@@ -196,7 +195,7 @@ struct CollisionRequest
   /** \brief If true, a collision cost is computed */
   bool cost;
 
-  /** \brief If true, compute contacts */
+  /** \brief If true, compute contacts. Otherwise only a binary collision yes/no is reported. */
   bool contacts;
 
   /** \brief Overall maximum number of contacts to compute */
@@ -223,14 +222,15 @@ namespace DistanceRequestTypes
 {
 enum DistanceRequestType
 {
-  GLOBAL,   /// Find the global minimum
-  SINGLE,   /// Find the global minimum for each pair
-  LIMITED,  /// Find a limited(max_contacts_per_body) set of contacts for a given pair
-  ALL       /// Find all the contacts for a given pair
+  GLOBAL,   ///< Find the global minimum
+  SINGLE,   ///< Find the global minimum for each pair
+  LIMITED,  ///< Find a limited(max_contacts_per_body) set of contacts for a given pair
+  ALL       ///< Find all the contacts for a given pair
 };
 }
 typedef DistanceRequestTypes::DistanceRequestType DistanceRequestType;
 
+/** \brief Representation of a distance-reporting request */
 struct DistanceRequest
 {
   DistanceRequest()
@@ -263,7 +263,7 @@ struct DistanceRequest
 
   /// Indicate the type of distance request. If using type=ALL, it is
   /// recommended to set max_contacts_per_body to the expected number
-  /// of contacts per pair becaused it is uesed to reserving space.
+  /// of contacts per pair because it is used to reserve space.
   DistanceRequestType type;
 
   /// Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold)
@@ -279,7 +279,7 @@ struct DistanceRequest
   const AllowedCollisionMatrix* acm;
 
   /// Only calculate distances for objects within this threshold to each other.
-  /// If set this can significantly to reduce number of queries.
+  /// If set, this can significantly reduce the number of queries.
   double distance_threshold;
 
   /// Log debug information
@@ -290,6 +290,7 @@ struct DistanceRequest
   bool compute_gradient;
 };
 
+/** \brief Generic representation of the distance information for a pair of objects */
 struct DistanceResultsData
 {
   DistanceResultsData()
@@ -355,8 +356,10 @@ struct DistanceResultsData
   }
 };
 
+/** \brief Mapping between the names of the collision objects and the DistanceResultData. */
 typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> > DistanceMap;
 
+/** \brief Result of a distance request. */
 struct DistanceResult
 {
   DistanceResult() : collision(false)
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index f1bb41d857..cbfb39a161 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -92,7 +92,7 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
     return CollisionEnvPtr(new CollisionEnvType(robot_model));
   }
 
-  /** Create an allocator for FCL collision detectors */
+  /** Create an allocator for collision detectors. */
   static CollisionDetectorAllocatorPtr create()
   {
     return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index 82b299673e..ad21d3a034 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -287,7 +287,7 @@ class World
   /** The objects maintained in the world */
   std::map<std::string, ObjectPtr> objects_;
 
-  /* observers to call when something changes */
+  /** Wrapper for a callback function to call when something changes in the world */
   class Observer
   {
   public:
@@ -296,6 +296,8 @@ class World
     }
     ObserverCallbackFn callback_;
   };
+
+  /// All registered observers of this world representation
   std::vector<Observer*> observers_;
 };
 }
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 87fd375580..c5b89cca28 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -58,24 +58,29 @@ namespace collision_detection
 {
 MOVEIT_STRUCT_FORWARD(CollisionGeometryData);
 
+/** \brief Wrapper around world, link and attached objects' geometry data. */
 struct CollisionGeometryData
 {
+  /** \brief Constructor for a robot link collision geometry object. */
   CollisionGeometryData(const robot_model::LinkModel* link, int index) : type(BodyTypes::ROBOT_LINK), shape_index(index)
   {
     ptr.link = link;
   }
 
+  /** \brief Constructor for a new collision geometry object which is attached to the robot. */
   CollisionGeometryData(const robot_state::AttachedBody* ab, int index)
     : type(BodyTypes::ROBOT_ATTACHED), shape_index(index)
   {
     ptr.ab = ab;
   }
 
+  /** \brief Constructor for a new world collision geometry. */
   CollisionGeometryData(const World::Object* obj, int index) : type(BodyTypes::WORLD_OBJECT), shape_index(index)
   {
     ptr.obj = obj;
   }
 
+  /** \brief Returns the name which is saved in the member pointed to in \e ptr. */
   const std::string& getID() const
   {
     switch (type)
@@ -90,6 +95,7 @@ struct CollisionGeometryData
     return ptr.obj->id_;
   }
 
+  /** \brief Returns a string of the corresponding \e type. */
   std::string getTypeString() const
   {
     switch (type)
@@ -104,14 +110,22 @@ struct CollisionGeometryData
     return "Object";
   }
 
-  /** \brief Check if two CollisionGeometryData objects point to the same source object */
+  /** \brief Check if two CollisionGeometryData objects point to the same source object. */
   bool sameObject(const CollisionGeometryData& other) const
   {
     return type == other.type && ptr.raw == other.ptr.raw;
   }
 
+  /** \brief Indicates the body type of the object. */
   BodyType type;
+
+  /** \brief Multiple \e CollisionGeometryData objects construct a collision object. The collision object refers to an
+   *  array of coordinate transformations at a certain start index. The index of the transformation of a child \e
+   *  CollisionGeometryData object is then given by adding the parent collision object index and the \e shape_index of a
+   *  geometry data object. */
   int shape_index;
+
+  /** \brief Points to the type of body which contains the geometry. */
   union
   {
     const robot_model::LinkModel* link;
@@ -121,6 +135,7 @@ struct CollisionGeometryData
   } ptr;
 };
 
+/** \brief Data structure which is passed to the collision callback function of the collision manager. */
 struct CollisionData
 {
   CollisionData() : req_(NULL), active_components_only_(NULL), res_(NULL), acm_(NULL), done_(false)
@@ -136,27 +151,29 @@ struct CollisionData
   {
   }
 
-  /// Compute \e active_components_only_ based on \e req_
+  /** \brief Compute \e active_components_only_ based on the joint group specified in \e req_ */
   void enableGroup(const robot_model::RobotModelConstPtr& robot_model);
 
-  /// The collision request passed by the user
+  /** \brief The collision request passed by the user */
   const CollisionRequest* req_;
 
-  /// If the collision request includes a group name, this set contains the pointers to the link models that are
-  /// considered for collision;
-  /// If the pointer is NULL, all collisions are considered.
+  /** \brief  If the collision request includes a group name, this set contains the pointers to the link models that
+   *  are considered for collision.
+   *
+   *  If the pointer is NULL, all collisions are considered. */
   const std::set<const robot_model::LinkModel*>* active_components_only_;
 
-  /// The user specified response location
+  /** \brief The user-specified response location. */
   CollisionResult* res_;
 
-  /// The user specified collision matrix (may be NULL)
+  /** \brief The user-specified collision matrix (may be NULL). */
   const AllowedCollisionMatrix* acm_;
 
-  /// Flag indicating whether collision checking is complete
+  /** \brief Flag indicating whether collision checking is complete. */
   bool done_;
 };
 
+/** \brief Data structure which is passed to the distance callback function of the collision manager. */
 struct DistanceData
 {
   DistanceData(const DistanceRequest* req, DistanceResult* res) : req(req), res(res), done(false)
@@ -166,42 +183,48 @@ struct DistanceData
   {
   }
 
-  /// Distance query request information
+  /** \brief Distance query request information. */
   const DistanceRequest* req;
 
-  /// Distance query results information
+  /** \brief Distance query results information. */
   DistanceResult* res;
 
-  /// Indicates if distance query is finished.
+  /** \brief Indicates if distance query is finished. */
   bool done;
 };
 
 MOVEIT_STRUCT_FORWARD(FCLGeometry);
 
+/** \brief Bundles the \e CollisionGeometryData and FCL collision geometry representation into a single class. */
 struct FCLGeometry
 {
   FCLGeometry()
   {
   }
 
+  /** \brief Constructor for a robot link. */
   FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const robot_model::LinkModel* link, int shape_index)
     : collision_geometry_(collision_geometry), collision_geometry_data_(new CollisionGeometryData(link, shape_index))
   {
     collision_geometry_->setUserData(collision_geometry_data_.get());
   }
 
+  /** \brief Constructor for an attached body. */
   FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const robot_state::AttachedBody* ab, int shape_index)
     : collision_geometry_(collision_geometry), collision_geometry_data_(new CollisionGeometryData(ab, shape_index))
   {
     collision_geometry_->setUserData(collision_geometry_data_.get());
   }
 
+  /** \brief Constructor for a world object. */
   FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const World::Object* obj, int shape_index)
     : collision_geometry_(collision_geometry), collision_geometry_data_(new CollisionGeometryData(obj, shape_index))
   {
     collision_geometry_->setUserData(collision_geometry_data_.get());
   }
 
+  /** \brief Updates the \e collision_geometry_data_ with new data while also setting the \e collision_geometry_ to the
+  *   new data. */
   template <typename T>
   void updateCollisionGeometryData(const T* data, int shape_index, bool newType)
   {
@@ -212,13 +235,18 @@ struct FCLGeometry
     collision_geometry_->setUserData(collision_geometry_data_.get());
   }
 
+  /** \brief Pointer to FCL collision geometry. */
   std::shared_ptr<fcl::CollisionGeometryd> collision_geometry_;
+
+  /** \brief Pointer to the user-defined geometry data. */
   CollisionGeometryDataPtr collision_geometry_data_;
 };
 
 typedef std::shared_ptr<fcl::CollisionObjectd> FCLCollisionObjectPtr;
 typedef std::shared_ptr<const fcl::CollisionObjectd> FCLCollisionObjectConstPtr;
 
+/** \brief A general high-level object which consists of multiple \e FCLCollisionObjects. It is the top level data
+ *  structure which is used in the collision checking process. */
 struct FCLObject
 {
   void registerTo(fcl::BroadPhaseCollisionManagerd* manager);
@@ -226,33 +254,65 @@ struct FCLObject
   void clear();
 
   std::vector<FCLCollisionObjectPtr> collision_objects_;
+
+  /** \brief Geometry data corresponding to \e collision_objects_. */
   std::vector<FCLGeometryConstPtr> collision_geometry_;
 };
 
+/** \brief Bundles an \e FCLObject and a broadphase FCL collision manager. */
 struct FCLManager
 {
   FCLObject object_;
   std::shared_ptr<fcl::BroadPhaseCollisionManagerd> manager_;
 };
 
+/** \brief Callback function used by the FCLManager used for each pair of collision objects to
+*   calculate object contact information.
+*
+*   \param o1 First FCL collision object
+*   \param o2 Second FCL collision object
+*   \data General pointer to arbitrary data which is used during the callback
+*   \return True terminates the distance check, false continues it to the next pair of objects */
 bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data);
 
+/** \brief Callback function used by the FCLManager used for each pair of collision objects to
+*   calculate collisions and distances.
+*
+*   \param o1 First FCL collision object
+*   \param o2 Second FCL collision object
+*   \data General pointer to arbitrary data which is used during the callback
+*   \return True terminates the collision check, false continues it to the next pair of objects */
 bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data, double& min_dist);
 
+/** \brief Create new FCLGeometry object out of robot link model. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_model::LinkModel* link,
                                             int shape_index);
+
+/** \brief Create new FCLGeometry object out of attached body. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_state::AttachedBody* ab,
                                             int shape_index);
+
+/** \brief Create new FCLGeometry object out of a world object.
+ *
+ *  A world object always consists only of a single shape, therefore we don't need the \e shape_index. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const World::Object* obj);
 
+/** \brief Create new scaled and / or padded FCLGeometry object out of robot link model. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
                                             const robot_model::LinkModel* link, int shape_index);
+
+/** \brief Create new scaled and / or padded FCLGeometry object out of an attached body. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
                                             const robot_state::AttachedBody* ab, int shape_index);
+
+/** \brief Create new scaled and / or padded FCLGeometry object out of an world object. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
                                             const World::Object* obj);
+
+/** \brief Increases the counter of the caches which can trigger the cleaning of expired entries from them. */
 void cleanCollisionGeometryCache();
 
+/** \brief Transforms an Eigen Isometry3d to FCL coordinate transformation */
 inline void transform2fcl(const Eigen::Isometry3d& b, fcl::Transform3d& f)
 {
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
@@ -264,6 +324,7 @@ inline void transform2fcl(const Eigen::Isometry3d& b, fcl::Transform3d& f)
 #endif
 }
 
+/** \brief Transforms an Eigen Isometry3d to FCL coordinate transformation */
 inline fcl::Transform3d transform2fcl(const Eigen::Isometry3d& b)
 {
   fcl::Transform3d t;
@@ -271,6 +332,7 @@ inline fcl::Transform3d transform2fcl(const Eigen::Isometry3d& b)
   return t;
 }
 
+/** \brief Transforms an FCL contact into a MoveIt contact point. */
 inline void fcl2contact(const fcl::Contactd& fc, Contact& c)
 {
   c.pos = Eigen::Vector3d(fc.pos[0], fc.pos[1], fc.pos[2]);
@@ -284,6 +346,7 @@ inline void fcl2contact(const fcl::Contactd& fc, Contact& c)
   c.body_type_2 = cgd2->type;
 }
 
+/** \brief Transforms the FCL internal representation to the MoveIt \e CostSource data structure. */
 inline void fcl2costsource(const fcl::CostSourced& fcs, CostSource& cs)
 {
   cs.aabb_min[0] = fcs.aabb_min[0];
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index b2819a6147..8906f8155f 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -95,14 +95,20 @@ class CollisionEnvFCL : public CollisionEnv
   void setWorld(const WorldPtr& world) override;
 
 protected:
-  /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
-   */
+  /** \brief Updates the FCL collision geometry and objects saved in the CollisionRobotFCL members to reflect a new
+  *   padding or scaling of the robot links.
+  *
+  *   It searches for the link through the pointed-to robot model of the CollisionRobot and then constructs new FCL
+  *   collision objects and geometries depending on the changed robot model.
+  *
+  *   \param links The names of the links which have been updated in the robot model */
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
   /** \brief Bundles the different checkSelfCollision functions into a single function */
   void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
                                 const AllowedCollisionMatrix* acm) const;
 
+  /** \brief Bundles the different checkRobotCollision functions into a single function */
   void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index e977b025a2..0cf3446237 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -356,6 +356,9 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
   return cdata->done_;
 }
 
+/** \brief Cache for an arbitrary type of shape. It is assigned during the execution of \e createCollisionGeometry().
+ *
+ *  Only a single cache per thread and object type is created as it is a quasi-singleton instance. */
 struct FCLShapeCache
 {
   using ShapeKey = shapes::ShapeConstWeakPtr;
@@ -390,7 +393,10 @@ struct FCLShapeCache
 
   static const unsigned int MAX_CLEAN_COUNT = 100;  // every this many uses of the cache, a cleaning operation is
                                                     // executed (this is only removal of expired entries)
+  /** \brief Map of weak pointers to the FCLGeometry. */
   ShapeMap map_;
+
+  /** \brief Counts cache usage and triggers clearing of cache when \m MAX_CLEAN_COUNT is exceeded. */
   unsigned int clean_count_;
 };
 
@@ -624,7 +630,9 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
   return cdata->done;
 }
 
-/* We template the function so we get a different cache for each of the template arguments combinations */
+/* Templated function to get a different cache for each of the template arguments combinations.
+ *
+ * The returned cache is a quasi-singleton for each thread as it is created \e thread_local. */
 template <typename BV, typename T>
 FCLShapeCache& GetShapeCache()
 {
@@ -659,6 +667,11 @@ struct IfSameType<T, T>
   };
 };
 
+/** \brief Templated helper function creating new collision geometry out of general object using an arbitrary bounding
+ *  volume (BV).
+ *
+ *  It assigns a thread-local cache for each type of shape and minimizes memory usage and copying through utilizing the
+ *  cache. */
 template <typename BV, typename T>
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const T* data, int shape_index)
 {
@@ -839,7 +852,6 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   return FCLGeometryConstPtr();
 }
 
-/////////////////////////////////////////////////////
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_model::LinkModel* link,
                                             int shape_index)
 {
@@ -857,6 +869,8 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   return createCollisionGeometry<fcl::OBBRSSd, World::Object>(shape, obj, 0);
 }
 
+/** \brief Templated helper function creating new collision geometry out of general object using an arbitrary bounding
+ *  volume (BV). This can include padding and scaling. */
 template <typename BV, typename T>
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
                                             const T* data, int shape_index)
@@ -901,9 +915,8 @@ void cleanCollisionGeometryCache()
     cache2.bumpUseCount(true);
   }
 }
-}  // namespace collision_detection
 
-void collision_detection::CollisionData::enableGroup(const robot_model::RobotModelConstPtr& robot_model)
+void CollisionData::enableGroup(const robot_model::RobotModelConstPtr& robot_model)
 {
   if (robot_model->hasJointModelGroup(req_->group_name))
     active_components_only_ = &robot_model->getJointModelGroup(req_->group_name)->getUpdatedLinkModelsSet();
@@ -911,7 +924,7 @@ void collision_detection::CollisionData::enableGroup(const robot_model::RobotMod
     active_components_only_ = nullptr;
 }
 
-void collision_detection::FCLObject::registerTo(fcl::BroadPhaseCollisionManagerd* manager)
+void FCLObject::registerTo(fcl::BroadPhaseCollisionManagerd* manager)
 {
   std::vector<fcl::CollisionObjectd*> collision_objects(collision_objects_.size());
   for (std::size_t i = 0; i < collision_objects_.size(); ++i)
@@ -920,14 +933,15 @@ void collision_detection::FCLObject::registerTo(fcl::BroadPhaseCollisionManagerd
     manager->registerObjects(collision_objects);
 }
 
-void collision_detection::FCLObject::unregisterFrom(fcl::BroadPhaseCollisionManagerd* manager)
+void FCLObject::unregisterFrom(fcl::BroadPhaseCollisionManagerd* manager)
 {
   for (auto& collision_object : collision_objects_)
     manager->unregisterObject(collision_object.get());
 }
 
-void collision_detection::FCLObject::clear()
+void FCLObject::clear()
 {
   collision_objects_.clear();
   collision_geometry_.clear();
 }
+}  // namespace collision_detection

From ff71fc44bfead147b252dccefb78bee5d894841c Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Thu, 19 Sep 2019 08:20:41 -0700
Subject: [PATCH 061/612] Rename jog_arm->moveit_jog_arm (#1663)

* Rename jog_arm->moveit_jog_arm

* Address @rhaschke's feedback

* apply clang-format
---
 .../CMakeLists.txt                            | 30 +++++++++----------
 .../{jog_arm => moveit_jog_arm}/README.md     |  4 +--
 .../config/spacenav_via_teleop_tools.yaml     |  2 +-
 .../config/ur_simulated_config.yaml           |  6 ++--
 .../moveit_jog_arm}/collision_check_thread.h  | 13 ++++----
 .../include/moveit_jog_arm}/jog_arm_data.h    |  6 ++--
 .../include/moveit_jog_arm}/jog_calcs.h       | 10 +++----
 .../moveit_jog_arm}/jog_ros_interface.h       | 14 ++++-----
 .../include/moveit_jog_arm}/low_pass_filter.h |  6 ++--
 .../launch/spacenav_cpp.launch                |  8 ++---
 .../launch/spacenav_teleop_tools.launch       |  8 ++---
 .../{jog_arm => moveit_jog_arm}/package.xml   |  4 +--
 .../src}/collision_check_thread.cpp           | 12 ++++----
 .../src}/jog_calcs.cpp                        |  8 ++---
 .../src}/jog_ros_interface.cpp                | 10 +++----
 .../src/jog_server.cpp}                       | 10 +++----
 .../src}/low_pass_filter.cpp                  |  8 ++---
 .../teleop_examples/spacenav_to_twist.cpp     | 10 +++----
 .../arm_setup/config/initial_position.yaml    |  0
 .../test/arm_setup/config/jog_settings.yaml   |  8 ++---
 .../arm_setup/launch/panda_move_group.launch  |  0
 .../integration/test_jog_arm_integration.py   |  6 ++--
 .../test/launch/jog_arm_integration_test.test | 16 +++++-----
 23 files changed, 100 insertions(+), 99 deletions(-)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/CMakeLists.txt (57%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/README.md (91%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/config/spacenav_via_teleop_tools.yaml (93%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/config/ur_simulated_config.yaml (91%)
 rename moveit_experimental/{jog_arm/include/jog_arm => moveit_jog_arm/include/moveit_jog_arm}/collision_check_thread.h (84%)
 rename moveit_experimental/{jog_arm/include/jog_arm => moveit_jog_arm/include/moveit_jog_arm}/jog_arm_data.h (97%)
 rename moveit_experimental/{jog_arm/include/jog_arm => moveit_jog_arm/include/moveit_jog_arm}/jog_calcs.h (97%)
 rename moveit_experimental/{jog_arm/include/jog_arm => moveit_jog_arm/include/moveit_jog_arm}/jog_ros_interface.h (93%)
 rename moveit_experimental/{jog_arm/include/jog_arm => moveit_jog_arm/include/moveit_jog_arm}/low_pass_filter.h (96%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/launch/spacenav_cpp.launch (65%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/launch/spacenav_teleop_tools.launch (72%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/package.xml (89%)
 rename moveit_experimental/{jog_arm/src/jog_arm => moveit_jog_arm/src}/collision_check_thread.cpp (94%)
 rename moveit_experimental/{jog_arm/src/jog_arm => moveit_jog_arm/src}/jog_calcs.cpp (99%)
 rename moveit_experimental/{jog_arm/src/jog_arm => moveit_jog_arm/src}/jog_ros_interface.cpp (98%)
 rename moveit_experimental/{jog_arm/src/jog_arm/jog_arm_server.cpp => moveit_jog_arm/src/jog_server.cpp} (89%)
 rename moveit_experimental/{jog_arm/src/jog_arm => moveit_jog_arm/src}/low_pass_filter.cpp (95%)
 rename moveit_experimental/{jog_arm/src/jog_arm => moveit_jog_arm/src}/teleop_examples/spacenav_to_twist.cpp (91%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/test/arm_setup/config/initial_position.yaml (100%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/test/arm_setup/config/jog_settings.yaml (86%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/test/arm_setup/launch/panda_move_group.launch (100%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/test/integration/test_jog_arm_integration.py (93%)
 rename moveit_experimental/{jog_arm => moveit_jog_arm}/test/launch/jog_arm_integration_test.test (58%)

diff --git a/moveit_experimental/jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
similarity index 57%
rename from moveit_experimental/jog_arm/CMakeLists.txt
rename to moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 733d4dd328..e95c156c6b 100644
--- a/moveit_experimental/jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(jog_arm)
+project(moveit_jog_arm)
 
 add_compile_options(-std=c++11)
 
@@ -37,27 +37,27 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-add_executable(${PROJECT_NAME}_server
-  src/jog_arm/collision_check_thread.cpp
-  src/jog_arm/jog_arm_server.cpp
-  src/jog_arm/jog_calcs.cpp
-  src/jog_arm/jog_ros_interface.cpp
-  src/jog_arm/low_pass_filter.cpp
+add_executable(jog_server
+  src/collision_check_thread.cpp
+  src/jog_server.cpp
+  src/jog_calcs.cpp
+  src/jog_ros_interface.cpp
+  src/low_pass_filter.cpp
 )
 
-add_dependencies(${PROJECT_NAME}_server ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
+add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
+target_link_libraries(jog_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
 
-add_executable(${PROJECT_NAME}_spacenav_to_twist
-  src/jog_arm/teleop_examples/spacenav_to_twist.cpp
+add_executable(spacenav_to_twist
+  src/teleop_examples/spacenav_to_twist.cpp
 )
-add_dependencies(${PROJECT_NAME}_spacenav_to_twist ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_spacenav_to_twist ${catkin_LIBRARIES})
+add_dependencies(spacenav_to_twist ${catkin_EXPORTED_TARGETS})
+target_link_libraries(spacenav_to_twist ${catkin_LIBRARIES})
 
 install(
   TARGETS
-    ${PROJECT_NAME}_server
-    ${PROJECT_NAME}_spacenav_to_twist
+    jog_server
+    spacenav_to_twist
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/moveit_experimental/jog_arm/README.md b/moveit_experimental/moveit_jog_arm/README.md
similarity index 91%
rename from moveit_experimental/jog_arm/README.md
rename to moveit_experimental/moveit_jog_arm/README.md
index af983f78d6..0543aed922 100644
--- a/moveit_experimental/jog_arm/README.md
+++ b/moveit_experimental/moveit_jog_arm/README.md
@@ -32,12 +32,12 @@ strictness: 2"
 
 Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
 
-    roslaunch jog_arm spacenav_cpp.launch
+    roslaunch moveit_jog_arm spacenav_cpp.launch
 
 If you dont have a SpaceNavigator, send commands like this:
 
 ```sh
-rostopic pub -r 100 /jog_arm_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
+rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
 twist:
   linear:
     x: 0.0
diff --git a/moveit_experimental/jog_arm/config/spacenav_via_teleop_tools.yaml b/moveit_experimental/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
similarity index 93%
rename from moveit_experimental/jog_arm/config/spacenav_via_teleop_tools.yaml
rename to moveit_experimental/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
index cd9e53c9df..2308e0c5a0 100644
--- a/moveit_experimental/jog_arm/config/spacenav_via_teleop_tools.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
@@ -2,7 +2,7 @@ teleop:
   cartesian_twist_command:
     type: topic
     message_type: geometry_msgs/TwistStamped
-    topic_name: jog_arm_server/delta_jog_cmds
+    topic_name: jog_server/delta_jog_cmds
     axis_mappings:
       -
         axis: 0
diff --git a/moveit_experimental/jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
similarity index 91%
rename from moveit_experimental/jog_arm/config/ur_simulated_config.yaml
rename to moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 8e6d32fb73..839a4b16a5 100644
--- a/moveit_experimental/jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -42,10 +42,10 @@ hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: jog_arm_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
-warning_topic: jog_arm_server/halted # Publish boolean warnings to this topic
+warning_topic: jog_server/halted # Publish boolean warnings to this topic
 command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
 
 ## Collision checking
diff --git a/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
similarity index 84%
rename from moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 4b3680b5f3..d5c8551576 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : collision_check_thread.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -39,17 +39,18 @@
 
 #pragma once
 
-#include <jog_arm/jog_arm_data.h>
-#include <jog_arm/low_pass_filter.h>
+#include "jog_arm_data.h"
+#include "low_pass_filter.h"
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 class CollisionCheckThread
 {
 public:
-  CollisionCheckThread(const jog_arm::JogArmParameters parameters, jog_arm::JogArmShared& shared_variables,
-                       pthread_mutex_t& mutex, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+  CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
+                       moveit_jog_arm::JogArmShared& shared_variables, pthread_mutex_t& mutex,
+                       const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 };
 }
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
similarity index 97%
rename from moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 499166c427..0950d07405 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : jog_arm_data.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -45,9 +45,9 @@
 #include <thread>
 #include <trajectory_msgs/JointTrajectory.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
-static const std::string LOGNAME = "jog_arm_server";
+static const std::string LOGNAME = "jog_server";
 static const double WHILE_LOOP_WAIT = 0.001;
 
 // Variables to share between threads, and their mutexes
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
similarity index 97%
rename from moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index fcdafa529b..4d01690c7a 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : jog_calcs.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -39,15 +39,15 @@
 
 #pragma once
 
-#include <jog_arm/jog_arm_data.h>
-#include <jog_arm/low_pass_filter.h>
+#include "jog_arm_data.h"
+#include "low_pass_filter.h"
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <std_msgs/Bool.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_listener.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 class JogCalcs
 {
@@ -132,4 +132,4 @@ class JogCalcs
 
   uint num_joints_;
 };
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
similarity index 93%
rename from moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
index ef5f7d8d66..8d69686430 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/jog_ros_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : jog_ros_interface.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 3/9/2017
 //      Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
 //
@@ -41,17 +41,17 @@
 
 #pragma once
 
+#include "collision_check_thread.h"
 #include <Eigen/Eigenvalues>
-#include <jog_arm/collision_check_thread.h>
-#include <jog_arm/jog_arm_data.h>
-#include <jog_arm/jog_calcs.h>
-#include <jog_arm/low_pass_filter.h>
+#include "jog_arm_data.h"
+#include "jog_calcs.h"
+#include "low_pass_filter.h"
 #include <moveit/robot_state/robot_state.h>
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Float64MultiArray.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 /**
  * Class JogROSInterface - Instantiated in main(). Handles ROS subs & pubs and creates the worker threads.
@@ -85,4 +85,4 @@ class JogROSInterface
   // Store the parameters that were read from ROS server
   JogArmParameters ros_parameters_;
 };
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
similarity index 96%
rename from moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
index d1a3e937db..424ab6e2f1 100644
--- a/moveit_experimental/jog_arm/include/jog_arm/low_pass_filter.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : low_pass_filter.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Andy Zelenak
 //
@@ -39,7 +39,7 @@
 
 #pragma once
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 /**
  * Class LowPassFilter - Filter a signal to soften jerks.
@@ -62,4 +62,4 @@ class LowPassFilter
   // https://www.wolframalpha.com/input/?i=plot+arccot(c)
   double filter_coeff_ = 10.;
 };
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch b/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
similarity index 65%
rename from moveit_experimental/jog_arm/launch/spacenav_cpp.launch
rename to moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
index 4b5b023842..c78dff5b6b 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_cpp.launch
+++ b/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
@@ -10,11 +10,11 @@
 
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
-  <node name="spacenav_to_twist" pkg="jog_arm" type="jog_arm_spacenav_to_twist" output="screen" />
+  <node name="spacenav_to_twist" pkg="moveit_jog_arm" type="spacenav_to_twist" output="screen" />
 
-  <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen" >
-    <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find jog_arm)/config/ur_simulated_config.yaml" />
+  <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen" >
+    <param name="parameter_ns" type="string" value="jog_server" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch b/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
similarity index 72%
rename from moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
rename to moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
index 5df96be11b..6b3a97cf92 100644
--- a/moveit_experimental/jog_arm/launch/spacenav_teleop_tools.launch
+++ b/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
@@ -9,14 +9,14 @@
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
   <!-- This node does the jogging calculations -->
-  <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen" >
-    <param name="parameter_ns" type="string" value="jog_arm_server" />
-    <rosparam command="load" file="$(find jog_arm)/config/ur_simulated_config.yaml" />
+  <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen" >
+    <param name="parameter_ns" type="string" value="jog_server" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
   </node>
 
   <!-- teleop_tools translates a joystick command into a twist message -->
   <arg name="cmd_vel" default="spacenav/joy" />
-  <arg name="teleop_config" default="$(find jog_arm)/config/spacenav_via_teleop_tools.yaml" />
+  <arg name="teleop_config" default="$(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml" />
   <rosparam file="$(arg teleop_config)" command="load" />
 
   <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
diff --git a/moveit_experimental/jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
similarity index 89%
rename from moveit_experimental/jog_arm/package.xml
rename to moveit_experimental/moveit_jog_arm/package.xml
index 6bf404a71d..ed1227fce6 100644
--- a/moveit_experimental/jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>jog_arm</name>
+  <name>moveit_jog_arm</name>
   <version>0.0.3</version>
 
   <description>Provides real-time manipulator Cartesian jogging.</description>
@@ -10,7 +10,7 @@
 
   <license>BSD 3-Clause</license>
 
-  <url type="website">http://wiki.ros.org/jog_arm</url>
+  <url type="website">https://ros-planning.github.io/moveit_tutorials</url>
 
   <author>Brian O'Neil</author>
   <author email="andyz@utexas.edu">Andy Zelenak</author>
diff --git a/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
similarity index 94%
rename from moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp
rename to moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 3b165a3e95..56cb82d164 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : collision_check_thread.cpp
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -37,13 +37,13 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#include <jog_arm/collision_check_thread.h>
+#include <moveit_jog_arm/collision_check_thread.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
-CollisionCheckThread::CollisionCheckThread(const jog_arm::JogArmParameters parameters, JogArmShared& shared_variables,
-                                           pthread_mutex_t& mutex,
+CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
+                                           JogArmShared& shared_variables, pthread_mutex_t& mutex,
                                            const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
 {
   // If user specified true in yaml file
@@ -134,4 +134,4 @@ CollisionCheckThread::CollisionCheckThread(const jog_arm::JogArmParameters param
     }
   }
 }
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
similarity index 99%
rename from moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
rename to moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 8db2351350..b90cd6fd70 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : jog_calcs.h
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -37,9 +37,9 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#include <jog_arm/jog_calcs.h>
+#include <moveit_jog_arm/jog_calcs.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 // Constructor for the class that handles jogging calculations
 JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
@@ -762,4 +762,4 @@ bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::
 
   return true;
 }
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
similarity index 98%
rename from moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
rename to moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 1114179b52..6eea959af4 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : jog_ros_interface.cpp
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 3/9/2017
 //      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 //
@@ -39,9 +39,9 @@
 
 // Server node for arm jogging with MoveIt.
 
-#include <jog_arm/jog_ros_interface.h>
+#include <moveit_jog_arm/jog_ros_interface.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 /////////////////////////////////////////////////////////////////////////////////
 // JogROSInterface handles ROS subscriptions and instantiates the worker threads.
@@ -244,7 +244,7 @@ bool JogROSInterface::readParameters(ros::NodeHandle& n)
     ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
     ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
                                     "type=\"string\" "
-                                    "value=\"left_jog_arm_server\" />");
+                                    "value=\"left_jog_server\" />");
     return false;
   }
 
@@ -367,4 +367,4 @@ bool JogROSInterface::readParameters(ros::NodeHandle& n)
 
   return true;
 }
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/src/jog_arm/jog_arm_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
similarity index 89%
rename from moveit_experimental/jog_arm/src/jog_arm/jog_arm_server.cpp
rename to moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index 2d2c545a70..ba96f3049f 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/jog_arm_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_arm_server.cpp
-//      Project   : jog_arm
+//      Title     : jog_server.cpp
+//      Project   : moveit_jog_arm
 //      Created   : 12/31/2018
 //      Author    : Andy Zelenak
 //
@@ -37,13 +37,13 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#include <jog_arm/jog_ros_interface.h>
+#include <moveit_jog_arm/jog_ros_interface.h>
 
 int main(int argc, char** argv)
 {
-  ros::init(argc, argv, jog_arm::LOGNAME);
+  ros::init(argc, argv, moveit_jog_arm::LOGNAME);
 
-  jog_arm::JogROSInterface ros_interface;
+  moveit_jog_arm::JogROSInterface ros_interface;
 
   return 0;
 }
diff --git a/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
similarity index 95%
rename from moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp
rename to moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index 719011f9e1..8ee2809a5c 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////////
 //      Title     : low_pass_filter.cpp
-//      Project   : jog_arm
+//      Project   : moveit_jog_arm
 //      Created   : 1/11/2019
 //      Author    : Andy Zelenak
 //
@@ -37,9 +37,9 @@
 //
 ///////////////////////////////////////////////////////////////////////////////
 
-#include <jog_arm/low_pass_filter.h>
+#include <moveit_jog_arm/low_pass_filter.h>
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 LowPassFilter::LowPassFilter(double low_pass_filter_coeff)
 {
@@ -68,4 +68,4 @@ double LowPassFilter::filter(double new_measurement)
 
   return new_filtered_msrmt;
 }
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
similarity index 91%
rename from moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp
rename to moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
index f795d07529..20ca24a382 100644
--- a/moveit_experimental/jog_arm/src/jog_arm/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
@@ -3,7 +3,7 @@
 #include "ros/ros.h"
 #include "sensor_msgs/Joy.h"
 
-namespace jog_arm
+namespace moveit_jog_arm
 {
 static const int NUM_SPINNERS = 1;
 static const int QUEUE_LENGTH = 1;
@@ -14,8 +14,8 @@ class SpaceNavToTwist
   SpaceNavToTwist() : spinner_(NUM_SPINNERS)
   {
     joy_sub_ = n_.subscribe("spacenav/joy", QUEUE_LENGTH, &SpaceNavToTwist::joyCallback, this);
-    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("jog_arm_server/delta_jog_cmds", QUEUE_LENGTH);
-    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("jog_arm_server/joint_delta_jog_cmds", QUEUE_LENGTH);
+    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("jog_server/delta_jog_cmds", QUEUE_LENGTH);
+    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("jog_server/joint_delta_jog_cmds", QUEUE_LENGTH);
 
     spinner_.start();
     ros::waitForShutdown();
@@ -57,13 +57,13 @@ class SpaceNavToTwist
   ros::Publisher twist_pub_, joint_delta_pub_;
   ros::AsyncSpinner spinner_;
 };
-}  // namespace jog_arm
+}  // namespace moveit_jog_arm
 
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "spacenav_to_twist");
 
-  jog_arm::SpaceNavToTwist to_twist;
+  moveit_jog_arm::SpaceNavToTwist to_twist;
 
   return 0;
 }
diff --git a/moveit_experimental/jog_arm/test/arm_setup/config/initial_position.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
similarity index 100%
rename from moveit_experimental/jog_arm/test/arm_setup/config/initial_position.yaml
rename to moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
diff --git a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
similarity index 86%
rename from moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
rename to moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
index c33b0ab748..6fd1119af4 100644
--- a/moveit_experimental/jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -5,8 +5,8 @@ scale: # Only used if command_in_type=="unitless"
   linear:  0.003  # Max linear velocity. Meters per publish_period.
   rotational:  0.006  # Max angular velocity. Rads per publish_period.
   joint: 0.01  # Max joint angular/linear velocity. Rads or Meters per publish period.
-cartesian_command_in_topic:  jog_arm_server/delta_jog_cmds # Topic for xyz commands
-joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands
+cartesian_command_in_topic:  jog_server/delta_jog_cmds # Topic for xyz commands
+joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for angle commands
 command_frame:  base_link  # TF frame that incoming cmds are given in
 incoming_command_timeout:  1  # Stop jogging if X seconds elapsed without a new cmd
 joint_topic:  joint_states
@@ -20,9 +20,9 @@ publish_period: 0.01  # 1/Nominal publish rate [seconds]
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 num_halt_msgs_to_publish: 1 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish
 # Publish boolean warnings to this topic
-warning_topic: jog_arm_server/warning
+warning_topic: jog_server/warning
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-command_out_topic: jog_arm_server/command # Find this topic by 'rostopic list' or 'rostopic list | grep command' or 'rqt_graph'
+command_out_topic: jog_server/command # Find this topic by 'rostopic list' or 'rostopic list | grep command' or 'rqt_graph'
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController)
 # or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
diff --git a/moveit_experimental/jog_arm/test/arm_setup/launch/panda_move_group.launch b/moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch
similarity index 100%
rename from moveit_experimental/jog_arm/test/arm_setup/launch/panda_move_group.launch
rename to moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch
diff --git a/moveit_experimental/jog_arm/test/integration/test_jog_arm_integration.py b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
similarity index 93%
rename from moveit_experimental/jog_arm/test/integration/test_jog_arm_integration.py
rename to moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
index 6689c0224a..ca30f5f3ed 100755
--- a/moveit_experimental/jog_arm/test/integration/test_jog_arm_integration.py
+++ b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
@@ -11,10 +11,10 @@
 JOG_ARM_SETTLE_TIME_S = 10
 ROS_SETTLE_TIME_S = 10
 
-JOINT_JOG_COMMAND_TOPIC = 'jog_arm_server/joint_delta_jog_cmds'
-CARTESIAN_JOG_COMMAND_TOPIC = 'jog_arm_server/delta_jog_cmds'
+JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
+CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
-COMMAND_OUT_TOPIC = 'jog_arm_server/command'
+COMMAND_OUT_TOPIC = 'jog_server/command'
 
 
 @pytest.fixture
diff --git a/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
similarity index 58%
rename from moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test
rename to moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
index 8845fd0815..4cd7ccb4c2 100644
--- a/moveit_experimental/jog_arm/test/launch/jog_arm_integration_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
@@ -10,7 +10,7 @@
        These aren't suitable for actually jogging a robot in RViz, but they are good enough to 
        test jog node output.
   -->
-  <include file="$(find jog_arm)/test/arm_setup/launch/panda_move_group.launch">
+  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
     <arg name="fake_execution" value="true"/>
   </include>
 
@@ -19,20 +19,20 @@
   </node>
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/initial_position.yaml" />
+	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
   </node>
 
-  <group ns="jog_arm_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+  <group ns="jog_server" if="$(arg debug)">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
-    <node name="jog_arm_server" pkg="jog_arm" type="jog_arm_server" output="screen">
-      <param name="parameter_ns" type="string" value="jog_arm_server"/>
-      <rosparam command="load" file="$(find jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
+      <param name="parameter_ns" type="string" value="jog_server"/>
+      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
     </node>
   </group>
 
-  <param name="test_module" value="$(find jog_arm)/test/integration" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/integration" />
   <test test-name="jog_arm_integration_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>

From ff8f1d8503d907789acca7ef3a84f8c361bd8749 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 19 Sep 2019 19:32:25 +0200
Subject: [PATCH 062/612] Fix double mutex unlock (#1672)

---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index b90cd6fd70..0ff378a533 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -465,7 +465,7 @@ bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, pthread_mute
                                     trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
                                     double singularity_scale)
 {
-  pthread_mutex_unlock(&mutex);
+  pthread_mutex_lock(&mutex);
   double collision_scale = shared_variables.collision_velocity_scale;
   pthread_mutex_unlock(&mutex);
 

From 977d9ad3e64895f5a669f3766f6441b46955b509 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Thu, 26 Sep 2019 08:13:31 +0300
Subject: [PATCH 063/612] Fix typo (#1675)

---
 .../include/moveit/robot_state/cartesian_interpolator.h         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
index ecf843c99a..95fa387d4e 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
@@ -49,7 +49,7 @@ namespace core
 /** \brief Struct for containing jump_threshold.
 
     For the purposes of maintaining API, we support both \e jump_threshold_factor which provides a scaling factor for
-    detecting joint space jumps and \e revolute_jump_threshold and \e prismatic_jump_threshold which provide abolute
+    detecting joint space jumps and \e revolute_jump_threshold and \e prismatic_jump_threshold which provide absolute
     thresholds for detecting joint space jumps. */
 struct JumpThreshold
 {

From 877042fa7cdfe72d86c8a5d931e64b085204bd54 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Fri, 27 Sep 2019 07:24:37 -0600
Subject: [PATCH 064/612] Add @mamoll to codeowners (#1678)

---
 .github/CODEOWNERS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index ca05e3da91..3820b617c8 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -95,7 +95,7 @@
 
 /moveit_setup_assistant/	                            @davetcoleman @rhaschke @MohmadAyman
 
-/moveit_planners/ompl/	                                    @BryceStevenWilley @zkingston
+/moveit_planners/ompl/	                                    @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_optimizer_adapter/	            @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_motion_planner/	            @raghavendersahdev @knorth55 @bmagyar

From 2a3d8f8d4b729b3c7aaf1ed9175df478ff52b5ea Mon Sep 17 00:00:00 2001
From: jschleicher <j.schleicher@pilz.de>
Date: Mon, 30 Sep 2019 17:45:40 +0200
Subject: [PATCH 065/612] optional prefix for link names in ikfast plugin
 (#1599)

If you pass a `link_prefix` parameter in your `kinematics.yaml`, this string is prepended to the base and tip links. It allows multi-robot setups (e.g. dual-arm) and still instantiate the same solver for both manipulators.
---
 .../ikfast61_moveit_plugin_template.cpp       | 48 +++++++++++++------
 1 file changed, 34 insertions(+), 14 deletions(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index b2fd03982a..b90eb5faf7 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -166,6 +166,9 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase
   const std::string IKFAST_TIP_FRAME_ = "_EEF_LINK_";
   const std::string IKFAST_BASE_FRAME_ = "_BASE_LINK_";
 
+  // prefix added to tip- and baseframe to allow different namespaces or multi-robot setups
+  std::string link_prefix_;
+
   // The transform tip and base bool are set to true if this solver is used with a kinematic
   // chain that extends beyond the ikfast tip and base frame. The solution will be valid so
   // long as there are no active, passive, or mimic joints between either the ikfast_tip_frame
@@ -377,17 +380,14 @@ bool IKFastKinematicsPlugin::computeRelativeTransform(const std::string& from, c
   robot_state.reset(new RobotState(robot_model_));
   robot_state->setToDefaultValues();
 
-  auto* from_link = robot_state->getLinkModel(from);
-  auto* to_link = robot_state->getLinkModel(to);
-  if (!from_link)
-    ROS_ERROR_STREAM_NAMED(name_, "Could not find frame " << from);
-  if (!to_link)
-    ROS_ERROR_STREAM_NAMED(name_, "Could not find frame " << to);
+  bool has_link;  // to suppress ROS_ERRORs for non-existent frames
+  auto* from_link = robot_model_->getLinkModel(from, &has_link);
+  auto* to_link = robot_model_->getLinkModel(to, &has_link);
   if (!from_link || !to_link)
     return false;
 
-  if (robot_state->getRobotModel()->getRigidlyConnectedParentLinkModel(from_link) !=
-      robot_state->getRobotModel()->getRigidlyConnectedParentLinkModel(to_link))
+  if (robot_model_->getRigidlyConnectedParentLinkModel(from_link) !=
+      robot_model_->getRigidlyConnectedParentLinkModel(to_link))
   {
     ROS_ERROR_STREAM_NAMED(name_, "Link frames " << from << " and " << to << " are not rigidly connected.");
     return false;
@@ -409,19 +409,39 @@ bool IKFastKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_mo
   }
 
   storeValues(robot_model, group_name, base_frame, tip_frames, search_discretization);
+  if (!lookupParam("link_prefix", link_prefix_, std::string("")))
+  {
+    ROS_INFO_NAMED(name_, "Using empty link_prefix.");
+  }
+  else
+  {
+    ROS_INFO_STREAM_NAMED(name_, "Using link_prefix: '" << link_prefix_ << "'");
+  }
 
+  // verbose error output. subsequent checks in computeRelativeTransform return false then
+  if (!robot_model.hasLinkModel(tip_frames_[0]))
+    ROS_ERROR_STREAM_NAMED(name_, "tip frame '" << tip_frames_[0] << "' does not exist.");
+  if (!robot_model.hasLinkModel(base_frame_))
+    ROS_ERROR_STREAM_NAMED(name_, "base_frame '" << base_frame_ << "' does not exist.");
+
+  if (!robot_model.hasLinkModel(link_prefix_ + IKFAST_TIP_FRAME_))
+    ROS_ERROR_STREAM_NAMED(name_, "prefixed tip frame '" << link_prefix_ + IKFAST_TIP_FRAME_
+                                                         << "' does not exist. "
+                                                            "Please check your link_prefix parameter.");
+  if (!robot_model.hasLinkModel(link_prefix_ + IKFAST_BASE_FRAME_))
+    ROS_ERROR_STREAM_NAMED(name_, "prefixed base frame '" << link_prefix_ + IKFAST_BASE_FRAME_
+                                                          << "' does not exist. "
+                                                             "Please check your link_prefix parameter.");
   // This IKFast solution was generated with IKFAST_TIP_FRAME_ and IKFAST_BASE_FRAME_.
   // It is often the case that fixed joints are added to these links to model things like
   // a robot mounted on a table or a robot with an end effector attached to the last link.
   // To support these use cases, we store the transform from the IKFAST_BASE_FRAME_ to the
   // base_frame_ and IKFAST_TIP_FRAME_ the tip_frame_ and transform to the input pose accordingly
-  if (!computeRelativeTransform(tip_frames_[0], IKFAST_TIP_FRAME_, group_tip_to_chain_tip_, tip_transform_required_) ||
-      !computeRelativeTransform(IKFAST_BASE_FRAME_, base_frame_, chain_base_to_group_base_, base_transform_required_))
+  if (!computeRelativeTransform(tip_frames_[0], link_prefix_ + IKFAST_TIP_FRAME_, group_tip_to_chain_tip_,
+                                tip_transform_required_) ||
+      !computeRelativeTransform(link_prefix_ + IKFAST_BASE_FRAME_, base_frame_, chain_base_to_group_base_,
+                                base_transform_required_))
   {
-    if (!computeRelativeTransform(tip_frames_[0], IKFAST_TIP_FRAME_, group_tip_to_chain_tip_, tip_transform_required_))
-      ROS_ERROR_NAMED(name_, "Failed to compute transform between IKFAST_TIP_FRAME_ and tip_frames_[0]");
-    if (!computeRelativeTransform(IKFAST_BASE_FRAME_, base_frame_, chain_base_to_group_base_, base_transform_required_))
-      ROS_ERROR_NAMED(name_, "Failed to compute transform between base_frame_ and IKFAST_BASE_FRAME_");
     return false;
   }
 

From c1f1882b89cfc4c51b667b7434ca65a249b90902 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Fri, 11 Oct 2019 15:05:15 +0900
Subject: [PATCH 066/612] Improve gui-docker documentation (#1687)

---
 .docker/README.md  |  3 ++-
 .docker/gui-docker | 19 ++++++++++++-------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/.docker/README.md b/.docker/README.md
index b24af099ec..d250ee12a1 100644
--- a/.docker/README.md
+++ b/.docker/README.md
@@ -1,3 +1,4 @@
 # MoveIt Docker Containers
 
-For more information see [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) documentation.
+
+For more information see the pages [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) and [Using Docker Containers with MoveIt](https://moveit.ros.org/install/docker/).
diff --git a/.docker/gui-docker b/.docker/gui-docker
index 2688c52cf3..871b04b0f6 100755
--- a/.docker/gui-docker
+++ b/.docker/gui-docker
@@ -1,11 +1,16 @@
 #!/bin/bash -u
 
 # This script is used to run a docker container with graphics support.
-# http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration
+# All arguments to this script except "-c <container_name>" will be appended to a docker run command.
+# If a container name is specified, and this container already exists, the container is re-entered,
+# which easily allows entering the same persistent container from multiple terminals.
+# See documentation for detailed examples: https://moveit.ros.org/install/docker/
 
-# All arguments to this script will be appended to a docker run command.
-# Example command line:
-# ./gui-docker -it --rm moveit/moveit:master-source /bin/bash
+# Example commands:
+# ./gui-docker --rm -it moveit/moveit:master-source /bin/bash     # Run a (randomly named) container that is removed on exit
+# ./gui-docker -v ~/ros_ws:/root/ros_ws --rm -it moveit/moveit:master-source /bin/bash   # Same, but also link host volume ~/ros_ws to /root/ros_ws in the container
+# ./gui-docker -c container_name                                  # Start (or continue) an interactive bash in a moveit/moveit:master-source container
+# ./gui-docker                                                    # Same, but use the default container name "default_moveit_container"
 
 function check_nvidia2() {
     # If we don't have an NVIDIA graphics card, bail out
@@ -78,8 +83,8 @@ function count_positional_args() {
 }
 
 if [ $# -eq 0 ] ; then
-   # If not options are specified at all, just run the default_container
-   CONTAINER_NAME=default_container
+   # If no options are specified at all, use the name "default_moveit_container"
+   CONTAINER_NAME=default_moveit_container
 else
   # Check for option -c or --container in first position
   case "$1" in
@@ -91,7 +96,7 @@ else
          shift
       fi
       # Set default container name if still undefined
-      CONTAINER_NAME="${CONTAINER_NAME:-default_container}"
+      CONTAINER_NAME="${CONTAINER_NAME:-default_moveit_container}"
       ;;
   esac
 fi

From ebb5f28ea7450d2167cac70655d94626b9e5070c Mon Sep 17 00:00:00 2001
From: MarqRazz <marq.razz@gmail.com>
Date: Sun, 13 Oct 2019 05:27:20 -0600
Subject: [PATCH 067/612] fixed REALTIME planned path trajectory playback
 (#1683)

---
 .../src/trajectory_visualization.cpp          | 26 +++++++++++++------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 64afac8b56..428aac9414 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -43,17 +43,17 @@
 #include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
 #include <rviz/robot/robot.h>
 
-#include <rviz/properties/property.h>
-#include <rviz/properties/int_property.h>
-#include <rviz/properties/string_property.h>
+#include <moveit/trajectory_processing/trajectory_tools.h>
+#include <rviz/display_context.h>
 #include <rviz/properties/bool_property.h>
+#include <rviz/properties/color_property.h>
+#include <rviz/properties/editable_enum_property.h>
 #include <rviz/properties/float_property.h>
+#include <rviz/properties/int_property.h>
+#include <rviz/properties/property.h>
 #include <rviz/properties/ros_topic_property.h>
-#include <rviz/properties/editable_enum_property.h>
-#include <rviz/properties/color_property.h>
-#include <moveit/trajectory_processing/trajectory_tools.h>
+#include <rviz/properties/string_property.h>
 #include <rviz/robot/robot_link.h>
-#include <rviz/display_context.h>
 #include <rviz/window_manager_interface.h>
 
 namespace moveit_rviz_plugin
@@ -413,7 +413,10 @@ void TrajectoryVisualization::update(float wall_dt, float ros_dt)
     float tm = getStateDisplayTime();
 
     if (trajectory_slider_panel_ && trajectory_slider_panel_->isVisible() && trajectory_slider_panel_->isPaused())
+    {
       current_state_ = trajectory_slider_panel_->getSliderPosition();
+      current_state_time_ = displaying_trajectory_message_->getWayPointDurationFromPrevious(current_state_);
+    }
     else if (current_state_ < 0)
     {  // special case indicating restart of animation
       current_state_ = 0;
@@ -426,6 +429,9 @@ void TrajectoryVisualization::update(float wall_dt, float ros_dt)
                  current_state_time_)
       {
         current_state_time_ -= tm;
+        if (tm < current_state_time_)  // if we are stuck in the while loop we should
+                                       // move the robot along the path to keep up
+          display_path_robot_->update(displaying_trajectory_message_->getWayPointPtr(current_state_));
         ++current_state_;
       }
     }
@@ -449,7 +455,11 @@ void TrajectoryVisualization::update(float wall_dt, float ros_dt)
     }
     else
     {
-      animating_path_ = false;  // animation finished
+      animating_path_ = false;       // animation finished
+      if (trajectory_slider_panel_)  // make sure we move the slider to the end
+                                     // so the user can re-play
+        trajectory_slider_panel_->setSliderPosition(waypoint_count);
+      display_path_robot_->update(displaying_trajectory_message_->getWayPointPtr(waypoint_count - 1));
       display_path_robot_->setVisible(loop_display_property_->getBool());
       if (!loop_display_property_->getBool() && trajectory_slider_panel_)
         trajectory_slider_panel_->pauseButton(true);

From 71e06f43ff32f6dc05f9b92a33d2d3e998c70b80 Mon Sep 17 00:00:00 2001
From: Matthias Nieuwenhuisen <matthias@nieuwenhuisen.de>
Date: Wed, 9 Oct 2019 10:51:22 +0200
Subject: [PATCH 068/612] depth_image_octomap_updater: reset depth transfer
 function to standard values (#1661)

Use attribute stack to keep track of GL_DEPTH_SCALE and GL_DEPTH_BIAS
---
 moveit_ros/perception/mesh_filter/src/gl_renderer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
index 03d19a6b5d..7e4092cff3 100644
--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -182,7 +182,7 @@ void mesh_filter::GLRenderer::deleteFrameBuffers()
 
 void mesh_filter::GLRenderer::begin() const
 {
-  glPushAttrib(GL_VIEWPORT_BIT | GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_POLYGON_BIT);
+  glPushAttrib(GL_VIEWPORT_BIT | GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_POLYGON_BIT | GL_PIXEL_MODE_BIT);
   glBindFramebuffer(GL_FRAMEBUFFER, fbo_id_);
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
   glViewport(0, 0, width_, height_);

From b1b1b98f3e93880e3bcf3b3d109acee5a5cb9edc Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Tue, 15 Oct 2019 21:38:32 +0200
Subject: [PATCH 069/612] Always copy dynamics if enabled in
 CurrentStateMonitor (#1676)

---
 .../src/current_state_monitor.cpp             | 36 ++++++++++---------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
index 64ae7465d2..0f4dbe8f20 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
@@ -364,22 +364,6 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
         update = true;
         robot_state_.setJointPositions(jm, &(joint_state->position[i]));
 
-        // optionally copy velocities and effort
-        if (copy_dynamics_)
-        {
-          // check if velocities exist
-          if (joint_state->name.size() == joint_state->velocity.size())
-          {
-            robot_state_.setJointVelocities(jm, &(joint_state->velocity[i]));
-
-            // check if effort exist. assume they are not useful if no velocities were passed in
-            if (joint_state->name.size() == joint_state->effort.size())
-            {
-              robot_state_.setJointEfforts(jm, &(joint_state->effort[i]));
-            }
-          }
-        }
-
         // continuous joints wrap, so we don't modify them (even if they are outside bounds!)
         if (jm->getType() == moveit::core::JointModel::REVOLUTE)
           if (static_cast<const moveit::core::RevoluteJointModel*>(jm)->isContinuous())
@@ -395,6 +379,26 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
         else if (joint_state->position[i] > b.max_position_ && joint_state->position[i] <= b.max_position_ + error_)
           robot_state_.setJointPositions(jm, &b.max_position_);
       }
+
+      // optionally copy velocities and effort
+      if (copy_dynamics_)
+      {
+        // update joint velocities
+        if (joint_state->name.size() == joint_state->velocity.size() &&
+            robot_state_.getJointVelocities(jm)[0] != joint_state->velocity[i])
+        {
+          update = true;
+          robot_state_.setJointVelocities(jm, &(joint_state->velocity[i]));
+        }
+
+        // update joint efforts
+        if (joint_state->name.size() == joint_state->effort.size() &&
+            robot_state_.getJointEffort(jm)[0] != joint_state->effort[i])
+        {
+          update = true;
+          robot_state_.setJointEfforts(jm, &(joint_state->effort[i]));
+        }
+      }
     }
   }
 

From e3c385b78f9229077b76d0aaad051ce01191b32c Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Thu, 17 Oct 2019 13:27:18 -0500
Subject: [PATCH 070/612] Add code of conduct, based on the Django one (#1684)

Add code of conduct, based on the Django one
---
 CODE_OF_CONDUCT.md | 15 +++++++++++++++
 1 file changed, 15 insertions(+)
 create mode 100644 CODE_OF_CONDUCT.md

diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
new file mode 100644
index 0000000000..6dfaeeff96
--- /dev/null
+++ b/CODE_OF_CONDUCT.md
@@ -0,0 +1,15 @@
+# MoveIt Code of Conduct
+
+Like the technical community as a whole, the MoveIt team and community is made up of a mixture of professionals and volunteers from all over the world, working on every aspect of the mission - including mentorship, teaching, and connecting people.
+
+Diversity is one of our huge strengths, but it can also lead to communication issues and unhappiness. To that end, we have a few basic rules that we ask people to adhere to. This code applies equally to founders, mentors and those seeking help and guidance. 
+It applies to all kinds of communication, including discussions on GitHub (issue tracker, pull requests), MoveIt maintainer meetings and any other forums created by the project team, which the community uses for communication.
+
+- **Be friendly and patient.**
+- **Be welcoming.** We strive to be a community that welcomes and supports people of all backgrounds and identities. 
+- **Be considerate.** Your work will be used by other people, and you in turn will depend on the work of others. Any decision you take will affect users and colleagues, and you should take those consequences into account when making decisions. Remember that we're a world-wide community, so you might not be communicating in someone else's primary language.
+- **Be respectful.** Not all of us will agree all the time, but disagreement is no excuse for poor behavior and poor manners. We might all experience some frustration now and then, but we cannot allow that frustration to turn into a personal attack. It's important to remember that a community where people feel uncomfortable or threatened is not a productive one. Members of the MoveIt community should be respectful when dealing with other members as well as with people outside the MoveIt community.
+- **Be careful in the words that you choose.** We are a community of professionals, and we conduct ourselves professionally. Be kind to others. Do not insult or put down other participants. Harassment and other exclusionary behavior aren't acceptable. Treat others like you want to be treated.
+- **When we disagree, try to understand why.** Disagreements, both social and technical, happen all the time and MoveIt is no exception. It is important that we resolve disagreements and differing views constructively. Remember that we're different. The strength of MoveIt comes from its varied community, people from a wide range of backgrounds. Different people have different perspectives on issues. Being unable to understand why someone holds a viewpoint doesn't mean that they're wrong. Don't forget that it is human to err and blaming each other doesn't get us anywhere. Instead, focus on helping to resolve issues and learning from mistakes.
+
+Original text courtesy of the [Speak Up! project](http://web.archive.org/web/20141109123859/http://speakup.io/coc.html).

From 55e9dbfd9c860eb8ebd72fc21ad88ce7351ae2cd Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Fri, 18 Oct 2019 08:55:49 -0600
Subject: [PATCH 071/612] Code of conduct tweaks (#1697)

- Customize naming of people involved with the MoveIt project specifically. We don't really call anyone founders or mentors, rather just maintainers and contributors. This is a concept from a different community.
- Clarify that this CoC is based on Djangos, which is a fairly modified version of Speak Ups, and theirs is a fairly modified version of Fedora and Python's. So we should have a full chain of references.
---
 CODE_OF_CONDUCT.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
index 6dfaeeff96..185db208a8 100644
--- a/CODE_OF_CONDUCT.md
+++ b/CODE_OF_CONDUCT.md
@@ -2,7 +2,7 @@
 
 Like the technical community as a whole, the MoveIt team and community is made up of a mixture of professionals and volunteers from all over the world, working on every aspect of the mission - including mentorship, teaching, and connecting people.
 
-Diversity is one of our huge strengths, but it can also lead to communication issues and unhappiness. To that end, we have a few basic rules that we ask people to adhere to. This code applies equally to founders, mentors and those seeking help and guidance. 
+Diversity is one of our huge strengths, but it can also lead to communication issues and unhappiness. To that end, we have a few basic rules that we ask people to adhere to. This code applies equally to maintainers, contributors, and those seeking help and guidance. 
 It applies to all kinds of communication, including discussions on GitHub (issue tracker, pull requests), MoveIt maintainer meetings and any other forums created by the project team, which the community uses for communication.
 
 - **Be friendly and patient.**
@@ -12,4 +12,4 @@ It applies to all kinds of communication, including discussions on GitHub (issue
 - **Be careful in the words that you choose.** We are a community of professionals, and we conduct ourselves professionally. Be kind to others. Do not insult or put down other participants. Harassment and other exclusionary behavior aren't acceptable. Treat others like you want to be treated.
 - **When we disagree, try to understand why.** Disagreements, both social and technical, happen all the time and MoveIt is no exception. It is important that we resolve disagreements and differing views constructively. Remember that we're different. The strength of MoveIt comes from its varied community, people from a wide range of backgrounds. Different people have different perspectives on issues. Being unable to understand why someone holds a viewpoint doesn't mean that they're wrong. Don't forget that it is human to err and blaming each other doesn't get us anywhere. Instead, focus on helping to resolve issues and learning from mistakes.
 
-Original text courtesy of the [Speak Up! project](http://web.archive.org/web/20141109123859/http://speakup.io/coc.html).
+Original text courtesy of the [Django project](https://www.djangoproject.com/conduct/).

From d8ad6303b83372e9984f9d3b0f99eb60d1ec28dd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 29 Oct 2019 15:51:15 +0100
Subject: [PATCH 072/612] Do not install helper scripts in global bin
 destination (#1704)

---
 moveit_ros/benchmarks/CMakeLists.txt | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 8a8f447e19..b3cd004a94 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -46,8 +46,6 @@ target_link_libraries(moveit_combine_predefined_poses_benchmark ${MOVEIT_LIB_NAM
 install(
   TARGETS
     ${MOVEIT_LIB_NAME}
-    moveit_run_benchmark
-    moveit_combine_predefined_poses_benchmark
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
@@ -55,6 +53,7 @@ install(
 install(
   TARGETS
     moveit_run_benchmark
+    moveit_combine_predefined_poses_benchmark
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})

From 9af7a5e13588c906cf245fa567d0d6d869b88471 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Fri, 1 Nov 2019 00:14:24 +0800
Subject: [PATCH 073/612] Add OMPL planner 'AnytimePathShortening' (#1686)

* Add OMPL planner 'AnytimePathShortening'

* clean up registration of planner allocators

* add parameter to geometric::AnytimePathShortening method to set planner instances and their parameters via config file

* clang-format

* make anytime path planning backwards compatible
---
 .../src/planning_context_manager.cpp          | 100 +++++-------------
 moveit_setup_assistant/CMakeLists.txt         |   3 +-
 moveit_setup_assistant/package.xml            |   1 +
 .../src/tools/moveit_config_data.cpp          |  16 +++
 4 files changed, 45 insertions(+), 75 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 88a0666871..8e28a585c4 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -41,6 +41,7 @@
 #include <set>
 #include <utility>
 
+#include <ompl/geometric/planners/AnytimePathShortening.h>
 #include <ompl/geometric/planners/rrt/RRT.h>
 #include <ompl/geometric/planners/rrt/pRRT.h>
 #include <ompl/geometric/planners/rrt/RRTConnect.h>
@@ -114,7 +115,6 @@ static ompl::base::PlannerPtr allocatePlanner(const ob::SpaceInformationPtr& si,
   if (!new_name.empty())
     planner->setName(new_name);
   planner->params().setParams(spec.config_, true);
-  planner->setup();
   return planner;
 }
 }  // namespace
@@ -134,79 +134,31 @@ ompl_interface::PlanningContextManager::plannerSelector(const std::string& plann
 
 void ompl_interface::PlanningContextManager::registerDefaultPlanners()
 {
-  registerPlannerAllocator(  //
-      "geometric::RRT",      //
-      std::bind(&allocatePlanner<og::RRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(     //
-      "geometric::RRTConnect",  //
-      std::bind(&allocatePlanner<og::RRTConnect>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::LazyRRT",  //
-      std::bind(&allocatePlanner<og::LazyRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::TRRT",     //
-      std::bind(&allocatePlanner<og::TRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::EST",      //
-      std::bind(&allocatePlanner<og::EST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::SBL",      //
-      std::bind(&allocatePlanner<og::SBL>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::KPIECE",   //
-      std::bind(&allocatePlanner<og::KPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::BKPIECE",  //
-      std::bind(&allocatePlanner<og::BKPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(   //
-      "geometric::LBKPIECE",  //
-      std::bind(&allocatePlanner<og::LBKPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::RRTstar",  //
-      std::bind(&allocatePlanner<og::RRTstar>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::PRM",      //
-      std::bind(&allocatePlanner<og::PRM>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::PRMstar",  //
-      std::bind(&allocatePlanner<og::PRMstar>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::FMT",      //
-      std::bind(&allocatePlanner<og::FMT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::BFMT",     //
-      std::bind(&allocatePlanner<og::BFMT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::PDST",     //
-      std::bind(&allocatePlanner<og::PDST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::STRIDE",   //
-      std::bind(&allocatePlanner<og::STRIDE>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::BiTRRT",   //
-      std::bind(&allocatePlanner<og::BiTRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::LBTRRT",   //
-      std::bind(&allocatePlanner<og::LBTRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::BiEST",    //
-      std::bind(&allocatePlanner<og::BiEST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::ProjEST",  //
-      std::bind(&allocatePlanner<og::ProjEST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::LazyPRM",  //
-      std::bind(&allocatePlanner<og::LazyPRM>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(      //
-      "geometric::LazyPRMstar",  //
-      std::bind(&allocatePlanner<og::LazyPRMstar>, std::placeholders::_1, std::placeholders::_2,
-                std::placeholders::_3));
-  registerPlannerAllocator(  //
-      "geometric::SPARS",    //
-      std::bind(&allocatePlanner<og::SPARS>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-  registerPlannerAllocator(   //
-      "geometric::SPARStwo",  //
-      std::bind(&allocatePlanner<og::SPARStwo>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+  registerPlannerAllocator("geometric::AnytimePathShortening", allocatePlanner<og::AnytimePathShortening>);
+  registerPlannerAllocator("geometric::BFMT", allocatePlanner<og::BFMT>);
+  registerPlannerAllocator("geometric::BiEST", allocatePlanner<og::BiEST>);
+  registerPlannerAllocator("geometric::BiTRRT", allocatePlanner<og::BiTRRT>);
+  registerPlannerAllocator("geometric::BKPIECE", allocatePlanner<og::BKPIECE1>);
+  registerPlannerAllocator("geometric::EST", allocatePlanner<og::EST>);
+  registerPlannerAllocator("geometric::FMT", allocatePlanner<og::FMT>);
+  registerPlannerAllocator("geometric::KPIECE", allocatePlanner<og::KPIECE1>);
+  registerPlannerAllocator("geometric::LazyPRM", allocatePlanner<og::LazyPRM>);
+  registerPlannerAllocator("geometric::LazyPRMstar", allocatePlanner<og::LazyPRMstar>);
+  registerPlannerAllocator("geometric::LazyRRT", allocatePlanner<og::LazyRRT>);
+  registerPlannerAllocator("geometric::LBKPIECE", allocatePlanner<og::LBKPIECE1>);
+  registerPlannerAllocator("geometric::LBTRRT", allocatePlanner<og::LBTRRT>);
+  registerPlannerAllocator("geometric::PDST", allocatePlanner<og::PDST>);
+  registerPlannerAllocator("geometric::PRM", allocatePlanner<og::PRM>);
+  registerPlannerAllocator("geometric::PRMstar", allocatePlanner<og::PRMstar>);
+  registerPlannerAllocator("geometric::ProjEST", allocatePlanner<og::ProjEST>);
+  registerPlannerAllocator("geometric::RRT", allocatePlanner<og::RRT>);
+  registerPlannerAllocator("geometric::RRTConnect", allocatePlanner<og::RRTConnect>);
+  registerPlannerAllocator("geometric::RRTstar", allocatePlanner<og::RRTstar>);
+  registerPlannerAllocator("geometric::SBL", allocatePlanner<og::SBL>);
+  registerPlannerAllocator("geometric::SPARS", allocatePlanner<og::SPARS>);
+  registerPlannerAllocator("geometric::SPARStwo", allocatePlanner<og::SPARStwo>);
+  registerPlannerAllocator("geometric::STRIDE", allocatePlanner<og::STRIDE>);
+  registerPlannerAllocator("geometric::TRRT", allocatePlanner<og::TRRT>);
 }
 
 void ompl_interface::PlanningContextManager::registerDefaultStateSpaces()
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index f01787d422..e70d73f585 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -27,7 +27,8 @@ find_package(catkin REQUIRED COMPONENTS
   urdf
   srdfdom
 )
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+find_package(ompl REQUIRED)
+include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
 
 # Qt Stuff
 if(rviz_QT_VERSION VERSION_LESS "5")
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 99c93b56e0..3a8581b32a 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -21,6 +21,7 @@
   <build_depend>libogre-dev</build_depend>
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
+  <build_depend>ompl</build_depend>
 
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 0bbd81f4c2..c747a2d3ee 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -46,6 +46,9 @@
 #include <ros/console.h>
 #include <ros/package.h>  // for getting file path for loading images
 
+// OMPL version
+#include <ompl/config.h>
+
 namespace moveit_setup_assistant
 {
 // File system
@@ -546,6 +549,19 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
 {
   std::vector<OMPLPlannerDescription> planner_des;
 
+  OMPLPlannerDescription aps("AnytimePathShortening", "geometric");
+  aps.addParameter("shortcut", "true", "Attempt to shortcut all new solution paths");
+  aps.addParameter("hybridize", "true", "Compute hybrid solution trajectories");
+  aps.addParameter("max_hybrid_paths", "24", "Number of hybrid paths generated per iteration");
+  aps.addParameter("num_planners", "4", "The number of default planners to use for planning");
+#if OMPL_VERSION_VALUE >= 1005000
+  // This parameter was added in OMPL 1.5.0
+  aps.addParameter("planners", "", "A comma-separated list of planner types (e.g., \"PRM,EST,RRTConnect\""
+                                   "Optionally, planner parameters can be passed to change the default:"
+                                   "\"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]\"");
+#endif
+  planner_des.push_back(aps);
+
   OMPLPlannerDescription sbl("SBL", "geometric");
   sbl.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()");
   planner_des.push_back(sbl);

From 2bef2b62a722353f047bb66fe5e68cb528396ccc Mon Sep 17 00:00:00 2001
From: Mike Lautman <mikeblautman@gmail.com>
Date: Fri, 1 Nov 2019 05:29:56 -0600
Subject: [PATCH 074/612] Fix jog_arm segfault (#1692)

Co-Authored-By: Robert Haschke <rhaschke@users.noreply.github.com>
---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 0ff378a533..e89087f1a1 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -568,6 +568,7 @@ void JogCalcs::enforceJointVelocityLimits(Eigen::VectorXd& calculated_joint_chan
 bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& new_jt_traj)
 {
   bool halting = false;
+
   for (auto joint : joint_model_group_->getJointModels())
   {
     if (!kinematic_state_->satisfiesVelocityBounds(joint))
@@ -575,8 +576,9 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, ros::this_node::getName() << " " << joint->getName() << " "
                                                                            << " close to a "
                                                                               " velocity limit. Enforcing limit.");
+
       kinematic_state_->enforceVelocityBounds(joint);
-      for (std::size_t c = 0; c < num_joints_; ++c)
+      for (std::size_t c = 0; c < new_jt_traj.joint_names.size(); ++c)
       {
         if (new_jt_traj.joint_names[c] == joint->getName())
         {
@@ -588,7 +590,7 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
 
     // Halt if we're past a joint margin and joint velocity is moving even farther past
     double joint_angle = 0;
-    for (std::size_t c = 0; c < num_joints_; ++c)
+    for (std::size_t c = 0; c < original_jt_state_.name.size(); ++c)
     {
       if (original_jt_state_.name[c] == joint->getName())
       {
@@ -596,7 +598,6 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
         break;
       }
     }
-
     if (!kinematic_state_->satisfiesPositionBounds(joint, -parameters_.joint_limit_margin))
     {
       const std::vector<moveit_msgs::JointLimits> limits = joint->getVariableBoundsMsg();

From ea399e6d4631519aa1ba60a9ddb2cbb04d59cb5f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 5 Nov 2019 06:43:03 +0100
Subject: [PATCH 075/612] plan_execution: refine logging for invalid paths
 (#1705)

This differentiates between checks caused by scene updates
and checks caused by changing trajectory components.
---
 .../moveit/plan_execution/plan_execution.h    |  1 -
 .../plan_execution/src/plan_execution.cpp     | 23 ++++++++-----------
 2 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
index 11023522a9..7c93c012fb 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
@@ -141,7 +141,6 @@ class PlanExecution
 
 private:
   void planAndExecuteHelper(ExecutableMotionPlan& plan, const Options& opt);
-  bool isRemainingPathValid(const ExecutableMotionPlan& plan);
   bool isRemainingPathValid(const ExecutableMotionPlan& plan, const std::pair<int, int>& path_segment);
 
   void planningSceneUpdatedCallback(const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index fb8ee5fae1..1a4ecf0d1a 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -262,13 +262,6 @@ void plan_execution::PlanExecution::planAndExecuteHelper(ExecutableMotionPlan& p
                     getErrorCodeString(plan.error_code_).c_str());
 }
 
-bool plan_execution::PlanExecution::isRemainingPathValid(const ExecutableMotionPlan& plan)
-{
-  // check the validity of the currently executed path segment only, since there could be
-  // changes in the world in between path segments
-  return isRemainingPathValid(plan, trajectory_execution_manager_->getCurrentExpectedTrajectoryIndex());
-}
-
 bool plan_execution::PlanExecution::isRemainingPathValid(const ExecutableMotionPlan& plan,
                                                          const std::pair<int, int>& path_segment)
 {
@@ -296,10 +289,6 @@ bool plan_execution::PlanExecution::isRemainingPathValid(const ExecutableMotionP
 
       if (res.collision || !plan.planning_scene_->isStateFeasible(t.getWayPoint(i), false))
       {
-        // Dave's debacle
-        ROS_INFO_NAMED("plan_execution", "Trajectory component '%s' is invalid",
-                       plan.plan_components_[path_segment.first].description_.c_str());
-
         // call the same functions again, in verbose mode, to show what issues have been detected
         plan.planning_scene_->isStateFeasible(t.getWayPoint(i), true);
         req.verbose = true;
@@ -418,8 +407,11 @@ moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor(E
     if (new_scene_update_)
     {
       new_scene_update_ = false;
-      if (!isRemainingPathValid(plan))
+      std::pair<int, int> current_index = trajectory_execution_manager_->getCurrentExpectedTrajectoryIndex();
+      if (!isRemainingPathValid(plan, current_index))
       {
+        ROS_INFO_NAMED("plan_execution", "Trajectory component '%s' is invalid after scene update",
+                       plan.plan_components_[current_index.first].description_.c_str());
         path_became_invalid_ = true;
         break;
       }
@@ -517,7 +509,12 @@ void plan_execution::PlanExecution::successfulTrajectorySegmentExecution(const E
   if (index < plan->plan_components_.size() && plan->plan_components_[index].trajectory_ &&
       !plan->plan_components_[index].trajectory_->empty())
   {
-    if (!isRemainingPathValid(*plan, std::make_pair(static_cast<int>(index), 0)))
+    std::pair<int, int> next_index(static_cast<int>(index), 0);
+    if (!isRemainingPathValid(*plan, next_index))
+    {
+      ROS_INFO_NAMED("plan_execution", "Upcoming trajectory component '%s' is invalid",
+                     plan->plan_components_[next_index.first].description_.c_str());
       path_became_invalid_ = true;
+    }
   }
 }

From d3b2db31dba1b7f292e0dfb2b92f656e6cc2e555 Mon Sep 17 00:00:00 2001
From: livanov93 <lovro.ivanov@gmail.com>
Date: Fri, 8 Nov 2019 05:28:25 +0100
Subject: [PATCH 076/612] TrajectoryExecutionManager: fix race condition
 (#1709)

Fix race condition accessing execution_thread_ by adding a new mutex.
---
 .../trajectory_execution_manager.h               |  1 +
 .../src/trajectory_execution_manager.cpp         | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 1800068f42..44091052bd 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -320,6 +320,7 @@ class TrajectoryExecutionManager
 
   boost::mutex execution_state_mutex_;
   boost::mutex continuous_execution_mutex_;
+  boost::mutex execution_thread_mutex_;
 
   boost::condition_variable continuous_execution_condition_;
 
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index feea5e7496..7ab6d1ca73 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -1170,8 +1170,12 @@ void TrajectoryExecutionManager::stopExecution(bool auto_clear)
       ROS_INFO_NAMED(name_, "Stopped trajectory execution.");
 
       // wait for the execution thread to finish
-      execution_thread_->join();
-      execution_thread_.reset();
+      boost::mutex::scoped_lock lock(execution_thread_mutex_);
+      if (execution_thread_)
+      {
+        execution_thread_->join();
+        execution_thread_.reset();
+      }
 
       if (auto_clear)
         clear();
@@ -1182,8 +1186,12 @@ void TrajectoryExecutionManager::stopExecution(bool auto_clear)
   else if (execution_thread_)  // just in case we have some thread waiting to be joined from some point in the past, we
                                // join it now
   {
-    execution_thread_->join();
-    execution_thread_.reset();
+    boost::mutex::scoped_lock lock(execution_thread_mutex_);
+    if (execution_thread_)
+    {
+      execution_thread_->join();
+      execution_thread_.reset();
+    }
   }
 }
 

From cdf4c9bc986203eb023e0ed6f4fa5ffba526de7a Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Sun, 10 Nov 2019 20:44:36 +0100
Subject: [PATCH 077/612] Added missing licenses (#1716) (#1720)

---
 .../collision_detector_fcl_plugin_loader.h    | 38 +++++++++++++++++--
 .../collision_detector_fcl_plugin_loader.cpp  | 36 ++++++++++++++++++
 2 files changed, 71 insertions(+), 3 deletions(-)

diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
index e1d749474c..213b8ccc97 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -1,6 +1,38 @@
-/*
- * collision_detector_fcl_plugin_loader.h
- */
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Bryce Willey
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Bryce Willey */
 
 #pragma once
 
diff --git a/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp b/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
index d2fa9cb71d..f397a7ae94 100644
--- a/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Bryce Willey
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Bryce Willey */
+
 #include <moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h>
 #include <pluginlib/class_list_macros.h>
 

From ea0d711b8fd5aeff953a063b39156d2b5573ac95 Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Sun, 17 Nov 2019 04:14:14 -0700
Subject: [PATCH 078/612] Improve move_group_interface's const correctness
 (#1715)

* Add const qualifier to all the member functions which do not modify the state of the class.
* Added noexcept modifiers to move constructors, which should always be marked as noexcept.
---
 .../move_group_interface.h                    | 42 +++++-----
 .../src/move_group_interface.cpp              | 81 +++++++++----------
 2 files changed, 61 insertions(+), 62 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index ae4d3a3b7d..71590ac54a 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -53,6 +53,7 @@
 #include <geometry_msgs/PoseStamped.h>
 #include <actionlib/client/simple_action_client.h>
 #include <memory>
+#include <utility>
 #include <tf2_ros/buffer.h>
 
 namespace moveit
@@ -105,9 +106,9 @@ class MoveGroupInterface
   /** \brief Specification of options to use when constructing the MoveGroupInterface class */
   struct Options
   {
-    Options(const std::string& group_name, const std::string& desc = ROBOT_DESCRIPTION,
+    Options(std::string group_name, std::string desc = ROBOT_DESCRIPTION,
             const ros::NodeHandle& node_handle = ros::NodeHandle())
-      : group_name_(group_name), robot_description_(desc), node_handle_(node_handle)
+      : group_name_(std::move(group_name)), robot_description_(std::move(desc)), node_handle_(node_handle)
     {
     }
 
@@ -177,15 +178,14 @@ class MoveGroupInterface
   MoveGroupInterface(const MoveGroupInterface&) = delete;
   MoveGroupInterface& operator=(const MoveGroupInterface&) = delete;
 
-  MoveGroupInterface(MoveGroupInterface&& other);
-  MoveGroupInterface& operator=(MoveGroupInterface&& other);
-
+  MoveGroupInterface(MoveGroupInterface&& other) noexcept;
+  MoveGroupInterface& operator=(MoveGroupInterface&& other) noexcept;
   /** \brief Get the name of the group this instance operates on */
   const std::string& getName() const;
 
   /** \brief Get the names of the named robot states available as targets, both either remembered states or default
    * states from srdf */
-  const std::vector<std::string> getNamedTargets();
+  const std::vector<std::string>& getNamedTargets() const;
 
   /** \brief Get the RobotModel object. */
   robot_model::RobotModelConstPtr getRobotModel() const;
@@ -200,13 +200,13 @@ class MoveGroupInterface
   const std::vector<std::string>& getJointModelGroupNames() const;
 
   /** \brief Get vector of names of joints available in move group */
-  const std::vector<std::string>& getJointNames();
+  const std::vector<std::string>& getJointNames() const;
 
   /** \brief Get vector of names of links available in move group */
-  const std::vector<std::string>& getLinkNames();
+  const std::vector<std::string>& getLinkNames() const;
 
   /** \brief Get the joint angles for targets specified by name */
-  std::map<std::string, double> getNamedTargetValues(const std::string& name);
+  std::map<std::string, double> getNamedTargetValues(const std::string& name) const;
 
   /** \brief Get only the active (actuated) joints this instance operates on */
   const std::vector<std::string>& getActiveJoints() const;
@@ -219,10 +219,11 @@ class MoveGroupInterface
   unsigned int getVariableCount() const;
 
   /** \brief Get the description of the planning plugin loaded by the action server */
-  bool getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc);
+  bool getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc) const;
 
   /** \brief Get the planner parameters for given group and planner_id */
-  std::map<std::string, std::string> getPlannerParams(const std::string& planner_id, const std::string& group = "");
+  std::map<std::string, std::string> getPlannerParams(const std::string& planner_id,
+                                                      const std::string& group = "") const;
 
   /** \brief Set the planner parameters for given group and planner_id */
   void setPlannerParams(const std::string& planner_id, const std::string& group,
@@ -778,14 +779,15 @@ class MoveGroupInterface
 
   /** \brief Build a PickupGoal for an object named \e object and store it in \e goal_out */
   moveit_msgs::PickupGoal constructPickupGoal(const std::string& object, std::vector<moveit_msgs::Grasp> grasps,
-                                              bool plan_only);
+                                              bool plan_only) const;
 
   /** \brief Build a PlaceGoal for an object named \e object and store it in \e goal_out */
   moveit_msgs::PlaceGoal constructPlaceGoal(const std::string& object,
-                                            std::vector<moveit_msgs::PlaceLocation> locations, bool plan_only);
+                                            std::vector<moveit_msgs::PlaceLocation> locations, bool plan_only) const;
 
   /** \brief Convert a vector of PoseStamped to a vector of PlaceLocation */
-  std::vector<moveit_msgs::PlaceLocation> posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses);
+  std::vector<moveit_msgs::PlaceLocation>
+  posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses) const;
 
   /**@}*/
 
@@ -902,28 +904,28 @@ class MoveGroupInterface
   bool startStateMonitor(double wait = 1.0);
 
   /** \brief Get the current joint values for the joints planned for by this instance (see getJoints()) */
-  std::vector<double> getCurrentJointValues();
+  std::vector<double> getCurrentJointValues() const;
 
   /** \brief Get the current state of the robot within the duration specified by wait. */
-  robot_state::RobotStatePtr getCurrentState(double wait = 1);
+  robot_state::RobotStatePtr getCurrentState(double wait = 1) const;
 
   /** \brief Get the pose for the end-effector \e end_effector_link.
       If \e end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is
      assumed */
-  geometry_msgs::PoseStamped getCurrentPose(const std::string& end_effector_link = "");
+  geometry_msgs::PoseStamped getCurrentPose(const std::string& end_effector_link = "") const;
 
   /** \brief Get the roll-pitch-yaw (XYZ) for the end-effector \e end_effector_link.
       If \e end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is
      assumed */
-  std::vector<double> getCurrentRPY(const std::string& end_effector_link = "");
+  std::vector<double> getCurrentRPY(const std::string& end_effector_link = "") const;
 
   /** \brief Get random joint values for the joints planned for by this instance (see getJoints()) */
-  std::vector<double> getRandomJointValues();
+  std::vector<double> getRandomJointValues() const;
 
   /** \brief Get a random reachable pose for the end-effector \e end_effector_link.
       If \e end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is
      assumed */
-  geometry_msgs::PoseStamped getRandomPose(const std::string& end_effector_link = "");
+  geometry_msgs::PoseStamped getRandomPose(const std::string& end_effector_link = "") const;
 
   /**@}*/
 
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 9216668fd4..6069606410 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -177,7 +177,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   }
 
   template <typename T>
-  void waitForAction(const T& action, const std::string& name, const ros::WallTime& timeout, double allotted_time)
+  void waitForAction(const T& action, const std::string& name, const ros::WallTime& timeout, double allotted_time) const
   {
     ROS_DEBUG_NAMED("move_group_interface", "Waiting for move_group action server (%s)...", name.c_str());
 
@@ -350,6 +350,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     return *joint_state_target_;
   }
 
+  const robot_state::RobotState& getTargetRobotState() const
+  {
+    return *joint_state_target_;
+  }
+
   void setStartState(const robot_state::RobotState& start_state)
   {
     considered_start_state_.reset(new robot_state::RobotState(start_state));
@@ -578,7 +583,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   }
 
   /** \brief Convert a vector of PoseStamped to a vector of PlaceLocation */
-  std::vector<moveit_msgs::PlaceLocation> posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses)
+  std::vector<moveit_msgs::PlaceLocation>
+  posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses) const
   {
     std::vector<moveit_msgs::PlaceLocation> locations;
     for (const geometry_msgs::PoseStamped& pose : poses)
@@ -992,7 +998,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     return replan_delay_;
   }
 
-  void constructMotionPlanRequest(moveit_msgs::MotionPlanRequest& request)
+  void constructMotionPlanRequest(moveit_msgs::MotionPlanRequest& request) const
   {
     request.group_name = opt_.group_name_;
     request.num_planning_attempts = num_planning_attempts_;
@@ -1017,9 +1023,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     {
       // find out how many goals are specified
       std::size_t goal_count = 0;
-      for (std::map<std::string, std::vector<geometry_msgs::PoseStamped> >::const_iterator it = pose_targets_.begin();
-           it != pose_targets_.end(); ++it)
-        goal_count = std::max(goal_count, it->second.size());
+      for (const auto& pose_target : pose_targets_)
+        goal_count = std::max(goal_count, pose_target.second.size());
 
       // start filling the goals;
       // each end effector has a number of possible poses (K) as valid goals
@@ -1027,13 +1032,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       // to reach the goal that corresponds to the goals of the other end effectors
       request.goal_constraints.resize(goal_count);
 
-      for (std::map<std::string, std::vector<geometry_msgs::PoseStamped> >::const_iterator it = pose_targets_.begin();
-           it != pose_targets_.end(); ++it)
+      for (const auto& pose_target : pose_targets_)
       {
-        for (std::size_t i = 0; i < it->second.size(); ++i)
+        for (std::size_t i = 0; i < pose_target.second.size(); ++i)
         {
           moveit_msgs::Constraints c = kinematic_constraints::constructGoalConstraints(
-              it->first, it->second[i], goal_position_tolerance_, goal_orientation_tolerance_);
+              pose_target.first, pose_target.second[i], goal_position_tolerance_, goal_orientation_tolerance_);
           if (active_target_ == ORIENTATION)
             c.position_constraints.clear();
           if (active_target_ == POSITION)
@@ -1051,13 +1055,13 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       request.trajectory_constraints = *trajectory_constraints_;
   }
 
-  void constructGoal(moveit_msgs::MoveGroupGoal& goal)
+  void constructGoal(moveit_msgs::MoveGroupGoal& goal) const
   {
     constructMotionPlanRequest(goal.request);
   }
 
   moveit_msgs::PickupGoal constructPickupGoal(const std::string& object, std::vector<moveit_msgs::Grasp>&& grasps,
-                                              bool plan_only = false)
+                                              bool plan_only = false) const
   {
     moveit_msgs::PickupGoal goal;
     goal.target_name = object;
@@ -1084,7 +1088,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   }
 
   moveit_msgs::PlaceGoal constructPlaceGoal(const std::string& object,
-                                            std::vector<moveit_msgs::PlaceLocation>&& locations, bool plan_only = false)
+                                            std::vector<moveit_msgs::PlaceLocation>&& locations,
+                                            bool plan_only = false) const
   {
     moveit_msgs::PlaceGoal goal;
     goal.group_name = opt_.group_name_;
@@ -1304,13 +1309,13 @@ MoveGroupInterface::~MoveGroupInterface()
   delete impl_;
 }
 
-MoveGroupInterface::MoveGroupInterface(MoveGroupInterface&& other)
+MoveGroupInterface::MoveGroupInterface(MoveGroupInterface&& other) noexcept
   : remembered_joint_values_(std::move(other.remembered_joint_values_)), impl_(other.impl_)
 {
   other.impl_ = nullptr;
 }
 
-MoveGroupInterface& MoveGroupInterface::operator=(MoveGroupInterface&& other)
+MoveGroupInterface& MoveGroupInterface::operator=(MoveGroupInterface&& other) noexcept
 {
   if (this != &other)
   {
@@ -1328,19 +1333,11 @@ const std::string& MoveGroupInterface::getName() const
   return impl_->getOptions().group_name_;
 }
 
-const std::vector<std::string> MoveGroupInterface::getNamedTargets()
+const std::vector<std::string>& MoveGroupInterface::getNamedTargets() const
 {
-  const robot_model::RobotModelConstPtr& robot = getRobotModel();
-  const std::string& group = getName();
-  const robot_model::JointModelGroup* joint_group = robot->getJointModelGroup(group);
-
-  if (joint_group)
-  {
-    return joint_group->getDefaultStateNames();
-  }
-
-  std::vector<std::string> empty;
-  return empty;
+  // The pointer returned by getJointModelGroup is guaranteed by the class
+  // constructor to always be non-null
+  return impl_->getJointModelGroup()->getDefaultStateNames();
 }
 
 robot_model::RobotModelConstPtr MoveGroupInterface::getRobotModel() const
@@ -1353,13 +1350,13 @@ const ros::NodeHandle& MoveGroupInterface::getNodeHandle() const
   return impl_->getOptions().node_handle_;
 }
 
-bool MoveGroupInterface::getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc)
+bool MoveGroupInterface::getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc) const
 {
   return impl_->getInterfaceDescription(desc);
 }
 
 std::map<std::string, std::string> MoveGroupInterface::getPlannerParams(const std::string& planner_id,
-                                                                        const std::string& group)
+                                                                        const std::string& group) const
 {
   return impl_->getPlannerParams(planner_id, group);
 }
@@ -1432,20 +1429,20 @@ MoveItErrorCode MoveGroupInterface::plan(Plan& plan)
 
 moveit_msgs::PickupGoal MoveGroupInterface::constructPickupGoal(const std::string& object,
                                                                 std::vector<moveit_msgs::Grasp> grasps,
-                                                                bool plan_only = false)
+                                                                bool plan_only = false) const
 {
   return impl_->constructPickupGoal(object, std::move(grasps), plan_only);
 }
 
 moveit_msgs::PlaceGoal MoveGroupInterface::constructPlaceGoal(const std::string& object,
                                                               std::vector<moveit_msgs::PlaceLocation> locations,
-                                                              bool plan_only = false)
+                                                              bool plan_only = false) const
 {
   return impl_->constructPlaceGoal(object, std::move(locations), plan_only);
 }
 
 std::vector<moveit_msgs::PlaceLocation>
-MoveGroupInterface::posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses)
+MoveGroupInterface::posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses) const
 {
   return impl_->posesToPlaceLocations(poses);
 }
@@ -1526,22 +1523,22 @@ void MoveGroupInterface::setRandomTarget()
   impl_->setTargetType(JOINT);
 }
 
-const std::vector<std::string>& MoveGroupInterface::getJointNames()
+const std::vector<std::string>& MoveGroupInterface::getJointNames() const
 {
   return impl_->getJointModelGroup()->getVariableNames();
 }
 
-const std::vector<std::string>& MoveGroupInterface::getLinkNames()
+const std::vector<std::string>& MoveGroupInterface::getLinkNames() const
 {
   return impl_->getJointModelGroup()->getLinkModelNames();
 }
 
-std::map<std::string, double> MoveGroupInterface::getNamedTargetValues(const std::string& name)
+std::map<std::string, double> MoveGroupInterface::getNamedTargetValues(const std::string& name) const
 {
   std::map<std::string, std::vector<double> >::const_iterator it = remembered_joint_values_.find(name);
   std::map<std::string, double> positions;
 
-  if (it != remembered_joint_values_.end())
+  if (it != remembered_joint_values_.cend())
   {
     std::vector<std::string> names = impl_->getJointModelGroup()->getVariableNames();
     for (size_t x = 0; x < names.size(); ++x)
@@ -1966,7 +1963,7 @@ bool MoveGroupInterface::startStateMonitor(double wait)
   return impl_->startStateMonitor(wait);
 }
 
-std::vector<double> MoveGroupInterface::getCurrentJointValues()
+std::vector<double> MoveGroupInterface::getCurrentJointValues() const
 {
   robot_state::RobotStatePtr current_state;
   std::vector<double> values;
@@ -1975,14 +1972,14 @@ std::vector<double> MoveGroupInterface::getCurrentJointValues()
   return values;
 }
 
-std::vector<double> MoveGroupInterface::getRandomJointValues()
+std::vector<double> MoveGroupInterface::getRandomJointValues() const
 {
   std::vector<double> r;
   impl_->getJointModelGroup()->getVariableRandomPositions(impl_->getTargetRobotState().getRandomNumberGenerator(), r);
   return r;
 }
 
-geometry_msgs::PoseStamped MoveGroupInterface::getRandomPose(const std::string& end_effector_link)
+geometry_msgs::PoseStamped MoveGroupInterface::getRandomPose(const std::string& end_effector_link) const
 {
   const std::string& eef = end_effector_link.empty() ? getEndEffectorLink() : end_effector_link;
   Eigen::Isometry3d pose;
@@ -2007,7 +2004,7 @@ geometry_msgs::PoseStamped MoveGroupInterface::getRandomPose(const std::string&
   return pose_msg;
 }
 
-geometry_msgs::PoseStamped MoveGroupInterface::getCurrentPose(const std::string& end_effector_link)
+geometry_msgs::PoseStamped MoveGroupInterface::getCurrentPose(const std::string& end_effector_link) const
 {
   const std::string& eef = end_effector_link.empty() ? getEndEffectorLink() : end_effector_link;
   Eigen::Isometry3d pose;
@@ -2031,7 +2028,7 @@ geometry_msgs::PoseStamped MoveGroupInterface::getCurrentPose(const std::string&
   return pose_msg;
 }
 
-std::vector<double> MoveGroupInterface::getCurrentRPY(const std::string& end_effector_link)
+std::vector<double> MoveGroupInterface::getCurrentRPY(const std::string& end_effector_link) const
 {
   std::vector<double> result;
   const std::string& eef = end_effector_link.empty() ? getEndEffectorLink() : end_effector_link;
@@ -2073,7 +2070,7 @@ unsigned int MoveGroupInterface::getVariableCount() const
   return impl_->getJointModelGroup()->getVariableCount();
 }
 
-robot_state::RobotStatePtr MoveGroupInterface::getCurrentState(double wait)
+robot_state::RobotStatePtr MoveGroupInterface::getCurrentState(double wait) const
 {
   robot_state::RobotStatePtr current_state;
   impl_->getCurrentState(current_state, wait);

From bc9c4ce5ec7ad8b37de9d9f2e6c77d4871e09c85 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sun, 17 Nov 2019 16:01:09 +0100
Subject: [PATCH 079/612] eigenpy: changed to system package (#1737)

---
 moveit_ros/planning_interface/CMakeLists.txt                   | 3 ++-
 .../planning_interface/move_group_interface/CMakeLists.txt     | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index d1b5594b18..4c7f6a591b 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -19,7 +19,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_eigen
   tf2_geometry_msgs
   tf2_ros
-  eigenpy
   roscpp
   actionlib
   rospy
@@ -45,6 +44,7 @@ find_package(Boost REQUIRED COMPONENTS
   thread
 )
 find_package(Eigen3 REQUIRED)
+find_package(eigenpy REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DIRS
   py_bindings_tools/include
@@ -81,6 +81,7 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
 
 include_directories(SYSTEM
                     ${EIGEN3_INCLUDE_DIRS}
+                    ${eigenpy_INCLUDE_DIRS}
                     ${PYTHON_INCLUDE_DIRS})
 
 add_subdirectory(py_bindings_tools)
diff --git a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
index b9a4eeaa01..31536f08c9 100644
--- a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
@@ -6,7 +6,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_object
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp)
-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
+target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${eigenpy_LIBRARIES} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
 add_dependencies(${MOVEIT_LIB_NAME}_python ${catkin_EXPORTED_TARGETS})
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_move_group_interface PREFIX "")

From 5b44334bcc5666ebf615b63ebd6f80ebb800b905 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 19 Nov 2019 10:56:29 +0100
Subject: [PATCH 080/612] Fixup #1625: MSA needs to explicitly call
 setVisible(true) (#1738)

... to actually show the robot of the RobotStateDisplay (which is hidden initially since #1625).
Fixes b0f01b2dc79f99f5650933834c8e50905bdbe168.
---
 .../moveit/robot_state_rviz_plugin/robot_state_display.h  | 3 +++
 .../robot_state_rviz_plugin/src/robot_state_display.cpp   | 8 ++++++++
 .../src/widgets/setup_assistant_widget.cpp                | 1 +
 3 files changed, 12 insertions(+)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index e087dd3a62..e4d0465d6d 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -83,6 +83,9 @@ class RobotStateDisplay : public rviz::Display
   void setLinkColor(const std::string& link_name, const QColor& color);
   void unsetLinkColor(const std::string& link_name);
 
+public Q_SLOTS:
+  void setVisible(bool visible);
+
 private Q_SLOTS:
 
   // ******************************************************************************************
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 98e024fea0..64d5773fd8 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -341,6 +341,11 @@ void RobotStateDisplay::unsetLinkColor(const std::string& link_name)
   unsetLinkColor(&robot_->getRobot(), link_name);
 }
 
+void RobotStateDisplay::setVisible(bool visible)
+{
+  robot_->setVisible(visible);
+}
+
 void RobotStateDisplay::setLinkColor(rviz::Robot* robot, const std::string& link_name, const QColor& color)
 {
   rviz::RobotLink* link = robot->getLink(link_name);
@@ -416,7 +421,10 @@ void RobotStateDisplay::update(float wall_dt, float ros_dt)
   if (load_robot_model_)
   {
     loadRobotModel();
+    // The following call to changedRobotStateTopic() should not change visibility
+    bool visible = robot_->isVisible();
     changedRobotStateTopic();
+    robot_->setVisible(visible);
   }
 
   calculateOffsetPosition();
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 511463a968..75080ac11e 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -397,6 +397,7 @@ void SetupAssistantWidget::loadRviz()
 
   // Set robot description
   robot_state_display_->subProp("Robot Description")->setValue(QString::fromStdString(ROBOT_DESCRIPTION));
+  robot_state_display_->setVisible(true);
 
   // Zoom into robot
   rviz::ViewController* view = rviz_manager_->getViewManager()->getCurrent();

From 44eb78cdb7ec31e779d36af980164ea857a20f78 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 20 Nov 2019 14:50:14 +0100
Subject: [PATCH 081/612] add missing dependencies to library (#1746)

otherwise this can fail when building with moveit_msgs in one workspace.
---
 moveit_core/utils/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index 8a9aaa49bd..51bc2c8a71 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -5,7 +5,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/xmlrpc_casts.cpp
   src/message_checks.cpp
 )
-
+add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 

From 868439fda818f73bd1768fcaf006e584520121b0 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Wed, 20 Nov 2019 17:47:03 +0100
Subject: [PATCH 082/612] Allow subclassing of
 point_containment_filter::ShapeMask. (#1457)

---
 .../point_containment_filter/shape_mask.h       | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index 67b1b01c7f..facd1d1319 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -68,7 +68,7 @@ class ShapeMask
   ShapeMask(const TransformCallback& transform_callback = TransformCallback());
 
   /** \brief Destructor to clean up */
-  ~ShapeMask();
+  virtual ~ShapeMask();
 
   ShapeHandle addShape(const shapes::ShapeConstPtr& shape, double scale = 1.0, double padding = 0.0);
   void removeShape(ShapeHandle handle);
@@ -90,7 +90,7 @@ class ShapeMask
       It is assumed the point is in the frame corresponding to the TransformCallback */
   int getMaskContainment(const Eigen::Vector3d& pt) const;
 
-private:
+protected:
   struct SeeShape
   {
     SeeShape()
@@ -115,16 +115,19 @@ class ShapeMask
     }
   };
 
+  TransformCallback transform_callback_;
+
+  /** \brief Protects, bodies_ and bspheres_. All public methods acquire this mutex for their whole duration. */
+  mutable boost::mutex shapes_lock_;
+  std::set<SeeShape, SortBodies> bodies_;
+  std::vector<bodies::BoundingSphere> bspheres_;
+
+private:
   /** \brief Free memory. */
   void freeMemory();
 
-  TransformCallback transform_callback_;
   ShapeHandle next_handle_;
   ShapeHandle min_handle_;
-
-  mutable boost::mutex shapes_lock_;
-  std::set<SeeShape, SortBodies> bodies_;
   std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator> used_handles_;
-  std::vector<bodies::BoundingSphere> bspheres_;
 };
 }

From 683d6554bae0848f975e2916ab8da85b52bb21fb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 20 Nov 2019 20:36:48 +0100
Subject: [PATCH 083/612] delete IKCache copy constructor (#1750)

It never existed, because the class contains a mutex object (not copyable).
clang complained about this discrepancy.
---
 .../cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 1d4a76286f..69d5a766a8 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -90,7 +90,7 @@ class IKCache
 
   IKCache();
   ~IKCache();
-  IKCache(const IKCache&) = default;
+  IKCache(const IKCache&) = delete;
 
   /** get the entry from the IK cache that best matches a given pose */
   const IKEntry& getBestApproximateIKSolution(const Pose& pose) const;

From cd202abcabbc13191bbe601446b0039b372cca7f Mon Sep 17 00:00:00 2001
From: Bryce Willey <Bryce.Steven.Willey@gmail.com>
Date: Wed, 20 Nov 2019 15:38:57 -0500
Subject: [PATCH 084/612] Constraints Library Refactor (#1428)

* Moved constraints library internal to the ModelBasedPlanningContext

In preparation to a larger change that moves much of the context initialization
internal to the ModelBasedPlanningContext as well.

* Removed unused OMPLPlannerService.

* Fixed tests since ModelBasedStateSpace is now virtual

* Corrected switched comments

* Fixed compile issues, and got construct database to work.

Also added launch file for ease of use.

* Only install the generate state db script to CATKIN_PACKAGE_BIN_DEST
---
 .../ompl/ompl_interface/CMakeLists.txt        |  10 +-
 .../{ => detail}/constraints_library.h        |  15 +-
 .../model_based_planning_context.h            |  27 ++-
 .../moveit/ompl_interface/ompl_interface.h    |  28 ---
 .../joint_space/joint_model_state_space.h     |   5 +
 .../model_based_state_space.h                 |   2 +
 .../work_space/pose_model_state_space.h       |   5 +
 .../ompl_interface/planning_context_manager.h |   6 +-
 .../launch/generate_state_database.launch     |  14 ++
 .../generate_state_database.cpp               |  29 +++-
 .../src/{ => detail}/constraints_library.cpp  | 164 ++++++++++--------
 .../src/model_based_planning_context.cpp      | 159 ++++++++++-------
 .../ompl_interface/src/ompl_interface.cpp     |  56 +-----
 .../ompl/ompl_interface/src/ompl_planner.cpp  | 153 ----------------
 .../src/planning_context_manager.cpp          |  28 +--
 .../ompl_interface/test/test_state_space.cpp  |   8 +-
 16 files changed, 285 insertions(+), 424 deletions(-)
 rename moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/{ => detail}/constraints_library.h (91%)
 create mode 100644 moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch
 rename moveit_planners/ompl/ompl_interface/{src => scripts}/generate_state_database.cpp (84%)
 rename moveit_planners/ompl/ompl_interface/src/{ => detail}/constraints_library.cpp (79%)
 delete mode 100644 moveit_planners/ompl/ompl_interface/src/ompl_planner.cpp

diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 0f7c18bbb9..9e9bc57664 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -3,7 +3,6 @@ set(MOVEIT_LIB_NAME moveit_ompl_interface)
 add_library(${MOVEIT_LIB_NAME}
   src/ompl_interface.cpp
   src/planning_context_manager.cpp
-  src/constraints_library.cpp
   src/model_based_planning_context.cpp
   src/parameterization/model_based_state_space.cpp
   src/parameterization/model_based_state_space_factory.cpp
@@ -15,6 +14,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/detail/state_validity_checker.cpp
   src/detail/projection_evaluators.cpp
   src/detail/goal_union.cpp
+  src/detail/constraints_library.cpp
   src/detail/constrained_sampler.cpp
   src/detail/constrained_valid_state_sampler.cpp
   src/detail/constrained_goal_sampler.cpp
@@ -27,11 +27,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} $
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
-add_executable(moveit_ompl_planner src/ompl_planner.cpp)
-target_link_libraries(moveit_ompl_planner ${MOVEIT_LIB_NAME})
-set_target_properties(moveit_ompl_planner PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
-
-add_executable(moveit_generate_state_database src/generate_state_database.cpp)
+add_executable(moveit_generate_state_database scripts/generate_state_database.cpp)
 target_link_libraries(moveit_generate_state_database ${MOVEIT_LIB_NAME})
 set_target_properties(moveit_generate_state_database PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 set_target_properties(moveit_generate_state_database PROPERTIES OUTPUT_NAME "generate_state_database")
@@ -44,7 +40,7 @@ install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner_plugin
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-install(TARGETS moveit_ompl_planner moveit_generate_state_database
+install(TARGETS moveit_generate_state_database
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
similarity index 91%
rename from moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h
rename to moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
index 18c3888fc4..4e93e0ff8b 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/ompl_interface/planning_context_manager.h>
+#include <moveit/ompl_interface/model_based_planning_context.h>
 #include <moveit/kinematic_constraints/kinematic_constraint.h>
 #include <ompl/base/StateStorage.h>
 #include <boost/serialization/map.hpp>
@@ -160,7 +160,7 @@ MOVEIT_CLASS_FORWARD(ConstraintsLibrary);
 class ConstraintsLibrary
 {
 public:
-  ConstraintsLibrary(const PlanningContextManager& pcontext) : context_manager_(pcontext)
+  ConstraintsLibrary(ModelBasedPlanningContext* pcontext) : context_(pcontext)
   {
   }
 
@@ -190,12 +190,13 @@ class ConstraintsLibrary
   const ConstraintApproximationPtr& getConstraintApproximation(const moveit_msgs::Constraints& msg) const;
 
 private:
-  ompl::base::StateStoragePtr constructConstraintApproximation(
-      const ModelBasedPlanningContextPtr& pcontext, const moveit_msgs::Constraints& constr_sampling,
-      const moveit_msgs::Constraints& constr_hard, const ConstraintApproximationConstructionOptions& options,
-      ConstraintApproximationConstructionResults& result);
+  ompl::base::StateStoragePtr
+  constructConstraintApproximation(ModelBasedPlanningContext* pcontext, const moveit_msgs::Constraints& constr_sampling,
+                                   const moveit_msgs::Constraints& constr_hard,
+                                   const ConstraintApproximationConstructionOptions& options,
+                                   ConstraintApproximationConstructionResults& result);
 
-  const PlanningContextManager& context_manager_;
+  ModelBasedPlanningContext* context_;
   std::map<std::string, ConstraintApproximationPtr> constraint_approximations_;
 };
 }
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 022aa4ab29..3ce1fa57b7 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -65,7 +65,6 @@ struct ModelBasedPlanningContextSpecification
 {
   std::map<std::string, std::string> config_;
   ConfiguredPlannerSelector planner_selector_;
-  ConstraintsLibraryConstPtr constraints_library_;
   constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
   ModelBasedStateSpacePtr state_space_;
@@ -241,9 +240,19 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
                           const moveit_msgs::Constraints& path_constraints, moveit_msgs::MoveItErrorCodes* error);
   bool setPathConstraints(const moveit_msgs::Constraints& path_constraints, moveit_msgs::MoveItErrorCodes* error);
 
-  void setConstraintsApproximations(const ConstraintsLibraryConstPtr& constraints_library)
+  void setConstraintsApproximations(const ConstraintsLibraryPtr& constraints_library)
   {
-    spec_.constraints_library_ = constraints_library;
+    constraints_library_ = constraints_library;
+  }
+
+  ConstraintsLibraryPtr getConstraintsLibraryNonConst()
+  {
+    return constraints_library_;
+  }
+
+  const ConstraintsLibraryPtr& getConstraintsLibrary() const
+  {
+    return constraints_library_;
   }
 
   bool useStateValidityCache() const
@@ -304,7 +313,15 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
   void convertPath(const og::PathGeometric& pg, robot_trajectory::RobotTrajectory& traj) const;
 
-  virtual void configure();
+  /** @brief Look up param server 'constraint_approximations' and use its value as the path to load constraint
+   * approximations to */
+  bool loadConstraintApproximations(const ros::NodeHandle& nh);
+
+  /** @brief Look up param server 'constraint_approximations' and use its value as the path to save constraint
+   * approximations to */
+  bool saveConstraintApproximations(const ros::NodeHandle& nh);
+
+  virtual void configure(const ros::NodeHandle& nh, bool use_constraints_approximations);
 
 protected:
   void preSolve();
@@ -373,6 +390,8 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
   bool use_state_validity_cache_;
 
+  ConstraintsLibraryPtr constraints_library_;
+
   bool simplify_solutions_;
 };
 }  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index 5dc11716ee..e856b1af14 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <moveit/ompl_interface/planning_context_manager.h>
-#include <moveit/ompl_interface/constraints_library.h>
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
 #include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
 #include <moveit/planning_interface/planning_interface.h>
@@ -86,9 +85,6 @@ class OMPLInterface
                                                   const planning_interface::MotionPlanRequest& req,
                                                   moveit_msgs::MoveItErrorCodes& error_code) const;
 
-  ModelBasedPlanningContextPtr getPlanningContext(const std::string& config,
-                                                  const std::string& factory_type = "") const;
-
   const PlanningContextManager& getPlanningContextManager() const
   {
     return context_manager_;
@@ -99,16 +95,6 @@ class OMPLInterface
     return context_manager_;
   }
 
-  ConstraintsLibrary& getConstraintsLibrary()
-  {
-    return *constraints_library_;
-  }
-
-  const ConstraintsLibrary& getConstraintsLibrary() const
-  {
-    return *constraints_library_;
-  }
-
   constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager()
   {
     return *constraint_sampler_manager_;
@@ -128,11 +114,6 @@ class OMPLInterface
   {
     return use_constraints_approximations_;
   }
-
-  void loadConstraintApproximations(const std::string& path);
-
-  void saveConstraintApproximations(const std::string& path);
-
   bool simplifySolutions() const
   {
     return simplify_solutions_;
@@ -143,14 +124,6 @@ class OMPLInterface
     simplify_solutions_ = flag;
   }
 
-  /** @brief Look up param server 'constraint_approximations' and use its value as the path to save constraint
-   * approximations to */
-  bool saveConstraintApproximations();
-
-  /** @brief Look up param server 'constraint_approximations' and use its value as the path to load constraint
-   * approximations to */
-  bool loadConstraintApproximations();
-
   /** @brief Print the status of this node*/
   void printStatus();
 
@@ -183,7 +156,6 @@ class OMPLInterface
 
   PlanningContextManager context_manager_;
 
-  ConstraintsLibraryPtr constraints_library_;
   bool use_constraints_approximations_;
 
   bool simplify_solutions_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
index 4a8c9073fa..c82897307b 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
@@ -46,5 +46,10 @@ class JointModelStateSpace : public ModelBasedStateSpace
   static const std::string PARAMETERIZATION_TYPE;
 
   JointModelStateSpace(const ModelBasedStateSpaceSpecification& spec);
+
+  const std::string& getParameterizationType() const override
+  {
+    return PARAMETERIZATION_TYPE;
+  }
 };
 }
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
index 106a4a2c41..dbad573239 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -200,6 +200,8 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
 
   ompl::base::StateSamplerPtr allocDefaultStateSampler() const override;
 
+  virtual const std::string& getParameterizationType() const = 0;
+
   const robot_model::RobotModelConstPtr& getRobotModel() const
   {
     return spec_.robot_model_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index a0d632c527..b38d5f782b 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -110,6 +110,11 @@ class PoseModelStateSpace : public ModelBasedStateSpace
   void copyToOMPLState(ompl::base::State* state, const robot_state::RobotState& rstate) const override;
   void sanityChecks() const override;
 
+  const std::string& getParameterizationType() const override
+  {
+    return PARAMETERIZATION_TYPE;
+  }
+
 private:
   struct PoseComponent
   {
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index c8d2f9fcb7..29a39e2542 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -140,12 +140,10 @@ class PlanningContextManager
     return robot_model_;
   }
 
-  ModelBasedPlanningContextPtr getPlanningContext(const std::string& config,
-                                                  const std::string& factory_type = "") const;
-
   ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                   const planning_interface::MotionPlanRequest& req,
-                                                  moveit_msgs::MoveItErrorCodes& error_code) const;
+                                                  moveit_msgs::MoveItErrorCodes& error_code, const ros::NodeHandle& nh,
+                                                  bool use_constraints_approximations) const;
 
   void registerPlannerAllocator(const std::string& planner_id, const ConfiguredPlannerAllocator& pa)
   {
diff --git a/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch b/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch
new file mode 100644
index 0000000000..7aa2479d8a
--- /dev/null
+++ b/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch
@@ -0,0 +1,14 @@
+<launch>
+  <arg name="use_current_scene" default="false"/>
+  <arg name="planning_group"/>
+  <arg name="constraints_file" doc="the path to a constraints yaml file (see generate_state_database for details)"/>
+
+  <node name="generate_state_database" pkg="moveit_planners_ompl" type="generate_state_database" output="screen">
+    <param name="use_current_scene" value="$(arg use_current_scene)"/>
+    <param name="planning_group" value="$(arg planning_group)"/>
+    <remap from="~output_folder" to="move_group/constraint_approximations_path"/>
+
+    <rosparam ns="constraints" command="load" file="$(arg constraints_file)"/>
+  </node>
+
+</launch>
\ No newline at end of file
diff --git a/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
similarity index 84%
rename from moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
rename to moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
index e2cbf39c25..d089536586 100644
--- a/moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
+++ b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
@@ -36,10 +36,12 @@
 /* Authors: Ioan Sucan, Michael Goerner */
 
 #include <moveit/ompl_interface/ompl_interface.h>
+#include <moveit/ompl_interface/detail/constraints_library.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/profiler/profiler.h>
 
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/robot_state/conversions.h>
 
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/utils/message_checks.h>
@@ -119,26 +121,47 @@ void computeDB(const planning_scene::PlanningScenePtr& scene, struct GenerateSta
   scene->getCurrentStateNonConst().update();
 
   ompl_interface::OMPLInterface ompl_interface(scene->getRobotModel());
+  planning_interface::MotionPlanRequest req;
+  req.group_name = params.planning_group;
+  req.path_constraints = params.constraints;
+  moveit::core::robotStateToRobotStateMsg(scene->getCurrentState(), req.start_state);
+  req.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      scene->getCurrentState(), scene->getRobotModel()->getJointModelGroup(params.planning_group)));
+
+  ompl_interface::ModelBasedPlanningContextPtr context = ompl_interface.getPlanningContext(scene, req);
 
   ROS_INFO_STREAM_NAMED(LOGNAME, "Generating Joint Space Constraint Approximation Database for constraint:\n"
                                      << params.constraints);
 
   ompl_interface::ConstraintApproximationConstructionResults result =
-      ompl_interface.getConstraintsLibrary().addConstraintApproximation(params.constraints, params.planning_group,
-                                                                        scene, params.construction_opts);
+      context->getConstraintsLibraryNonConst()->addConstraintApproximation(params.constraints, params.planning_group,
+                                                                           scene, params.construction_opts);
 
   if (!result.approx)
   {
     ROS_FATAL_NAMED(LOGNAME, "Failed to generate approximation.");
     return;
   }
-  ompl_interface.getConstraintsLibrary().saveConstraintApproximations(params.output_folder);
+  context->getConstraintsLibraryNonConst()->saveConstraintApproximations(params.output_folder);
   ROS_INFO_STREAM_NAMED(LOGNAME,
                         "Successfully generated Joint Space Constraint Approximation Database for constraint:\n"
                             << params.constraints);
   ROS_INFO_STREAM_NAMED(LOGNAME, "The database has been saved in your local folder '" << params.output_folder << "'");
 }
 
+/**
+ * Generates a database of states that follow the given constraints.
+ * An example of the constraint yaml that should be loaded to rosparam:
+ * "name: tool0_upright
+ *  constraints:
+ *  - type: orientation
+ *    frame_id: world
+ *    link_name: tool0
+ *    orientation: [0, 0, 0]
+ *    tolerances: [0.01, 0.01, 3.15]
+ *    weight: 1.0
+ * "
+ */
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "construct_tool_constraint_database", ros::init_options::AnonymousName);
diff --git a/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
similarity index 79%
rename from moveit_planners/ompl/ompl_interface/src/constraints_library.cpp
rename to moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 9c65e53513..7e77582313 100644
--- a/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Ioan Sucan */
 
-#include <moveit/ompl_interface/constraints_library.h>
+#include <moveit/ompl_interface/detail/constraints_library.h>
 #include <moveit/ompl_interface/detail/constrained_sampler.h>
 #include <moveit/profiler/profiler.h>
 #include <ompl/tools/config/SelfConfig.h>
@@ -301,30 +301,35 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
     if (fin.eof())
       break;
     fin >> filename;
-    ROS_INFO_NAMED("constraints_library", "Loading constraint approximation of type '%s' for group '%s' from '%s'...",
-                   state_space_parameterization.c_str(), group.c_str(), filename.c_str());
-    const ModelBasedPlanningContextPtr& pc = context_manager_.getPlanningContext(group, state_space_parameterization);
-    if (pc)
+
+    if (context_->getGroupName() != group &&
+        context_->getOMPLStateSpace()->getParameterizationType() != state_space_parameterization)
     {
-      moveit_msgs::Constraints msg;
-      hexToMsg(serialization, msg);
-      auto* cass = new ConstraintApproximationStateStorage(pc->getOMPLSimpleSetup()->getStateSpace());
-      cass->load((path + "/" + filename).c_str());
-      ConstraintApproximationPtr cap(new ConstraintApproximation(group, state_space_parameterization, explicit_motions,
-                                                                 msg, filename, ompl::base::StateStoragePtr(cass),
-                                                                 milestones));
-      if (constraint_approximations_.find(cap->getName()) != constraint_approximations_.end())
-        ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'",
-                       cap->getName().c_str());
-      constraint_approximations_[cap->getName()] = cap;
-      std::size_t sum = 0;
-      for (std::size_t i = 0; i < cass->size(); ++i)
-        sum += cass->getMetadata(i).first.size();
-      ROS_INFO_NAMED("constraints_library", "Loaded %lu states (%lu milestones) and %lu connections (%0.1lf per state) "
-                                            "for constraint named '%s'%s",
-                     cass->size(), cap->getMilestoneCount(), sum, (double)sum / (double)cap->getMilestoneCount(),
-                     msg.name.c_str(), explicit_motions ? ". Explicit motions included." : "");
+      ROS_INFO_NAMED("constraints_library",
+                     "Ignoring constraint approximation of type '%s' for group '%s' from '%s'...",
+                     state_space_parameterization.c_str(), group.c_str(), filename.c_str());
+      continue;
     }
+
+    ROS_INFO_NAMED("constraints_library", "Loading constraint approximation of type '%s' for group '%s' from '%s'...",
+                   state_space_parameterization.c_str(), group.c_str(), filename.c_str());
+    moveit_msgs::Constraints msg;
+    hexToMsg(serialization, msg);
+    auto* cass = new ConstraintApproximationStateStorage(context_->getOMPLSimpleSetup()->getStateSpace());
+    cass->load((path + "/" + filename).c_str());
+    ConstraintApproximationPtr cap(new ConstraintApproximation(group, state_space_parameterization, explicit_motions,
+                                                               msg, filename, ompl::base::StateStoragePtr(cass),
+                                                               milestones));
+    if (constraint_approximations_.find(cap->getName()) != constraint_approximations_.end())
+      ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'", cap->getName().c_str());
+    constraint_approximations_[cap->getName()] = cap;
+    std::size_t sum = 0;
+    for (std::size_t i = 0; i < cass->size(); ++i)
+      sum += cass->getMetadata(i).first.size();
+    ROS_INFO_NAMED("constraints_library", "Loaded %lu states (%lu milestones) and %lu connections (%0.1lf per state) "
+                                          "for constraint named '%s'%s",
+                   cass->size(), cap->getMilestoneCount(), sum, (double)sum / (double)cap->getMilestoneCount(),
+                   msg.name.c_str(), explicit_motions ? ". Explicit motions included." : "");
   }
   ROS_INFO_NAMED("constraints_library", "Done loading constrained space approximations.");
 }
@@ -407,44 +412,50 @@ ompl_interface::ConstraintsLibrary::addConstraintApproximation(
     const ConstraintApproximationConstructionOptions& options)
 {
   ConstraintApproximationConstructionResults res;
-  ModelBasedPlanningContextPtr pc = context_manager_.getPlanningContext(group, options.state_space_parameterization);
-  if (pc)
+  if (context_->getGroupName() != group &&
+      context_->getOMPLStateSpace()->getParameterizationType() != options.state_space_parameterization)
   {
-    pc->clear();
-    pc->setPlanningScene(scene);
-    pc->setCompleteInitialState(scene->getCurrentState());
-
-    ros::WallTime start = ros::WallTime::now();
-    ompl::base::StateStoragePtr ss = constructConstraintApproximation(pc, constr_sampling, constr_hard, options, res);
-    ROS_INFO_NAMED("constraints_library", "Spent %lf seconds constructing the database",
-                   (ros::WallTime::now() - start).toSec());
-    if (ss)
-    {
-      ConstraintApproximationPtr ca(new ConstraintApproximation(
-          group, options.state_space_parameterization, options.explicit_motions, constr_hard,
-          group + "_" + boost::posix_time::to_iso_extended_string(boost::posix_time::microsec_clock::universal_time()) +
-              ".ompldb",
-          ss, res.milestones));
-      if (constraint_approximations_.find(ca->getName()) != constraint_approximations_.end())
-        ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'", ca->getName().c_str());
-      constraint_approximations_[ca->getName()] = ca;
-      res.approx = ca;
-    }
-    else
-      ROS_ERROR_NAMED("constraints_library", "Unable to construct constraint approximation for group '%s'",
-                      group.c_str());
+    ROS_INFO_NAMED("constraints_library", "Ignoring constraint approximation of type '%s' for group '%s'...",
+                   options.state_space_parameterization.c_str(), group.c_str());
+    return res;
   }
+
+  context_->clear();
+  context_->setPlanningScene(scene);
+  context_->setCompleteInitialState(scene->getCurrentState());
+
+  ros::WallTime start = ros::WallTime::now();
+  ompl::base::StateStoragePtr state_storage =
+      constructConstraintApproximation(context_, constr_sampling, constr_hard, options, res);
+  ROS_INFO_NAMED("constraints_library", "Spent %lf seconds constructing the database",
+                 (ros::WallTime::now() - start).toSec());
+  if (state_storage)
+  {
+    ConstraintApproximationPtr constraint_approx(new ConstraintApproximation(
+        group, options.state_space_parameterization, options.explicit_motions, constr_hard,
+        group + "_" + boost::posix_time::to_iso_extended_string(boost::posix_time::microsec_clock::universal_time()) +
+            ".ompldb",
+        state_storage, res.milestones));
+    if (constraint_approximations_.find(constraint_approx->getName()) != constraint_approximations_.end())
+      ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'",
+                     constraint_approx->getName().c_str());
+    constraint_approximations_[constraint_approx->getName()] = constraint_approx;
+    res.approx = constraint_approx;
+  }
+  else
+    ROS_ERROR_NAMED("constraints_library", "Unable to construct constraint approximation for group '%s'",
+                    group.c_str());
   return res;
 }
 
 ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstraintApproximation(
-    const ModelBasedPlanningContextPtr& pcontext, const moveit_msgs::Constraints& constr_sampling,
+    ModelBasedPlanningContext* pcontext, const moveit_msgs::Constraints& constr_sampling,
     const moveit_msgs::Constraints& constr_hard, const ConstraintApproximationConstructionOptions& options,
     ConstraintApproximationConstructionResults& result)
 {
   // state storage structure
   ConstraintApproximationStateStorage* cass = new ConstraintApproximationStateStorage(pcontext->getOMPLStateSpace());
-  ob::StateStoragePtr sstor(cass);
+  ob::StateStoragePtr state_storage(cass);
 
   // construct a sampler for the sampling constraints
   kinematic_constraints::KinematicConstraintSet kset(pcontext->getRobotModel());
@@ -464,39 +475,40 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
 
   robot_state::RobotState robot_state(default_state);
   const constraint_samplers::ConstraintSamplerManagerPtr& csmng = pcontext->getConstraintSamplerManager();
-  ConstrainedSampler* csmp = nullptr;
+  ConstrainedSampler* constrained_sampler = nullptr;
   if (csmng)
   {
-    constraint_samplers::ConstraintSamplerPtr cs =
+    constraint_samplers::ConstraintSamplerPtr constraint_sampler =
         csmng->selectSampler(pcontext->getPlanningScene(), pcontext->getJointModelGroup()->getName(), constr_sampling);
-    if (cs)
-      csmp = new ConstrainedSampler(pcontext.get(), cs);
+    if (constraint_sampler)
+      constrained_sampler = new ConstrainedSampler(pcontext, constraint_sampler);
   }
 
-  ob::StateSamplerPtr ss(csmp ? ob::StateSamplerPtr(csmp) : pcontext->getOMPLStateSpace()->allocDefaultStateSampler());
+  ob::StateSamplerPtr ss(constrained_sampler ? ob::StateSamplerPtr(constrained_sampler) :
+                                               pcontext->getOMPLStateSpace()->allocDefaultStateSampler());
 
   ompl::base::ScopedState<> temp(pcontext->getOMPLStateSpace());
   int done = -1;
   bool slow_warn = false;
   ompl::time::point start = ompl::time::now();
-  while (sstor->size() < options.samples)
+  while (state_storage->size() < options.samples)
   {
     ++attempts;
-    int done_now = 100 * sstor->size() / options.samples;
+    int done_now = 100 * state_storage->size() / options.samples;
     if (done != done_now)
     {
       done = done_now;
       ROS_INFO_NAMED("constraints_library", "%d%% complete (kept %0.1lf%% sampled states)", done,
-                     100.0 * (double)sstor->size() / (double)attempts);
+                     100.0 * (double)state_storage->size() / (double)attempts);
     }
 
-    if (!slow_warn && attempts > 10 && attempts > sstor->size() * 100)
+    if (!slow_warn && attempts > 10 && attempts > state_storage->size() * 100)
     {
       slow_warn = true;
       ROS_WARN_NAMED("constraints_library", "Computation of valid state database is very slow...");
     }
 
-    if (attempts > options.samples && sstor->size() == 0)
+    if (attempts > options.samples && state_storage->size() == 0)
     {
       ROS_ERROR_NAMED("constraints_library", "Unable to generate any samples");
       break;
@@ -506,24 +518,24 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
     pcontext->getOMPLStateSpace()->copyToRobotState(robot_state, temp.get());
     if (kset.decide(robot_state).satisfied)
     {
-      if (sstor->size() < options.samples)
+      if (state_storage->size() < options.samples)
       {
-        temp->as<ModelBasedStateSpace::StateType>()->tag = sstor->size();
-        sstor->addState(temp.get());
+        temp->as<ModelBasedStateSpace::StateType>()->tag = state_storage->size();
+        state_storage->addState(temp.get());
       }
     }
   }
 
   result.state_sampling_time = ompl::time::seconds(ompl::time::now() - start);
-  ROS_INFO_NAMED("constraints_library", "Generated %u states in %lf seconds", (unsigned int)sstor->size(),
+  ROS_INFO_NAMED("constraints_library", "Generated %u states in %lf seconds", (unsigned int)state_storage->size(),
                  result.state_sampling_time);
-  if (csmp)
+  if (constrained_sampler)
   {
-    result.sampling_success_rate = csmp->getConstrainedSamplingRate();
+    result.sampling_success_rate = constrained_sampler->getConstrainedSamplingRate();
     ROS_INFO_NAMED("constraints_library", "Constrained sampling rate: %lf", result.sampling_success_rate);
   }
 
-  result.milestones = sstor->size();
+  result.milestones = state_storage->size();
   if (options.edges_per_sample > 0)
   {
     ROS_INFO_NAMED("constraints_library", "Computing graph connections (max %u edges per sample) ...",
@@ -531,7 +543,7 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
 
     // construct connexions
     const ob::StateSpacePtr& space = pcontext->getOMPLSimpleSetup()->getStateSpace();
-    unsigned int milestones = sstor->size();
+    unsigned int milestones = state_storage->size();
     std::vector<ob::State*> int_states(options.max_explicit_points, nullptr);
     pcontext->getOMPLSimpleSetup()->getSpaceInformation()->allocStates(int_states);
 
@@ -550,20 +562,20 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
       if (cass->getMetadata(j).first.size() >= options.edges_per_sample)
         continue;
 
-      const ob::State* sj = sstor->getState(j);
+      const ob::State* sj = state_storage->getState(j);
 
       for (std::size_t i = j + 1; i < milestones; ++i)
       {
         if (cass->getMetadata(i).first.size() >= options.edges_per_sample)
           continue;
-        double d = space->distance(sstor->getState(i), sj);
+        double d = space->distance(state_storage->getState(i), sj);
         if (d >= options.max_edge_length)
           continue;
         unsigned int isteps =
             std::min<unsigned int>(options.max_explicit_points, d / options.explicit_points_resolution);
         double step = 1.0 / (double)isteps;
         bool ok = true;
-        space->interpolate(sstor->getState(i), sj, step, int_states[0]);
+        space->interpolate(state_storage->getState(i), sj, step, int_states[0]);
         for (unsigned int k = 1; k < isteps; ++k)
         {
           double this_step = step / (1.0 - (k - 1) * step);
@@ -583,13 +595,13 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
 
           if (options.explicit_motions)
           {
-            cass->getMetadata(i).second[j].first = sstor->size();
+            cass->getMetadata(i).second[j].first = state_storage->size();
             for (unsigned int k = 0; k < isteps; ++k)
             {
               int_states[k]->as<ModelBasedStateSpace::StateType>()->tag = -1;
-              sstor->addState(int_states[k]);
+              state_storage->addState(int_states[k]);
             }
-            cass->getMetadata(i).second[j].second = sstor->size();
+            cass->getMetadata(i).second[j].second = state_storage->size();
             cass->getMetadata(j).second[i] = cass->getMetadata(i).second[j];
           }
 
@@ -605,11 +617,11 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
                    result.state_connection_time, good);
     pcontext->getOMPLSimpleSetup()->getSpaceInformation()->freeStates(int_states);
 
-    return sstor;
+    return state_storage;
   }
 
   // TODO(davetcoleman): this function did not originally return a value, causing compiler warnings in ROS Melodic
   // Update with more intelligent logic as needed
   ROS_ERROR_NAMED("constraints_library", "No StateStoragePtr found - implement better solution here.");
-  return sstor;
+  return state_storage;
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 16aeb154e3..609431be37 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -42,7 +42,8 @@
 #include <moveit/ompl_interface/detail/constrained_goal_sampler.h>
 #include <moveit/ompl_interface/detail/goal_union.h>
 #include <moveit/ompl_interface/detail/projection_evaluators.h>
-#include <moveit/ompl_interface/constraints_library.h>
+#include <moveit/ompl_interface/detail/constraints_library.h>
+
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/profiler/profiler.h>
 #include <moveit/utils/lexical_casts.h>
@@ -80,9 +81,43 @@ ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::
   , simplify_solutions_(true)
 {
   complete_initial_robot_state_.update();
+
+  constraints_library_ = std::make_shared<ConstraintsLibrary>(this);
+}
+
+void ompl_interface::ModelBasedPlanningContext::configure(const ros::NodeHandle& nh,
+                                                          bool use_constraints_approximations)
+{
+  loadConstraintApproximations(nh);
+  if (!use_constraints_approximations)
+  {
+    setConstraintsApproximations(ConstraintsLibraryPtr());
+  }
+  complete_initial_robot_state_.update();
   ompl_simple_setup_->getStateSpace()->computeSignature(space_signature_);
   ompl_simple_setup_->getStateSpace()->setStateSamplerAllocator(
       std::bind(&ModelBasedPlanningContext::allocPathConstrainedSampler, this, std::placeholders::_1));
+
+  // convert the input state to the corresponding OMPL state
+  ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
+  spec_.state_space_->copyToOMPLState(ompl_start_state.get(), getCompleteInitialRobotState());
+  ompl_simple_setup_->setStartState(ompl_start_state);
+  ompl_simple_setup_->setStateValidityChecker(ob::StateValidityCheckerPtr(new StateValidityChecker(this)));
+
+  if (path_constraints_ && constraints_library_)
+  {
+    const ConstraintApproximationPtr& constraint_approx =
+        constraints_library_->getConstraintApproximation(path_constraints_msg_);
+    if (constraint_approx)
+    {
+      getOMPLStateSpace()->setInterpolationFunction(constraint_approx->getInterpolationFunction());
+      ROS_INFO_NAMED("model_based_planning_context", "Using precomputed interpolation states");
+    }
+  }
+
+  useConfig();
+  if (ompl_simple_setup_->getGoal())
+    ompl_simple_setup_->setup();
 }
 
 void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator(const std::string& peval)
@@ -92,9 +127,9 @@ void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator(const std
     ROS_ERROR_NAMED("model_based_planning_context", "No state space is configured yet");
     return;
   }
-  ob::ProjectionEvaluatorPtr pe = getProjectionEvaluator(peval);
-  if (pe)
-    spec_.state_space_->registerDefaultProjection(pe);
+  ob::ProjectionEvaluatorPtr projection_eval = getProjectionEvaluator(peval);
+  if (projection_eval)
+    spec_.state_space_->registerDefaultProjection(projection_eval);
 }
 
 ompl::base::ProjectionEvaluatorPtr
@@ -119,26 +154,26 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
     std::stringstream ss(joints);
     while (ss.good() && !ss.eof())
     {
-      std::string v;
-      ss >> v >> std::ws;
-      if (getJointModelGroup()->hasJointModel(v))
+      std::string joint;
+      ss >> joint >> std::ws;
+      if (getJointModelGroup()->hasJointModel(joint))
       {
-        unsigned int vc = getJointModelGroup()->getJointModel(v)->getVariableCount();
-        if (vc > 0)
+        unsigned int variable_count = getJointModelGroup()->getJointModel(joint)->getVariableCount();
+        if (variable_count > 0)
         {
-          int idx = getJointModelGroup()->getVariableGroupIndex(v);
-          for (unsigned int q = 0; q < vc; ++q)
+          int idx = getJointModelGroup()->getVariableGroupIndex(joint);
+          for (unsigned int q = 0; q < variable_count; ++q)
             j.push_back(idx + q);
         }
         else
           ROS_WARN_NAMED("model_based_planning_context", "%s: Ignoring joint '%s' in projection since it has 0 DOF",
-                         name_.c_str(), v.c_str());
+                         name_.c_str(), joint.c_str());
       }
       else
         ROS_ERROR_NAMED("model_based_planning_context",
                         "%s: Attempted to set projection evaluator with respect to value of joint "
                         "'%s', but that joint is not known to the group '%s'.",
-                        name_.c_str(), v.c_str(), getGroupName().c_str());
+                        name_.c_str(), joint.c_str(), getGroupName().c_str());
     }
     if (j.empty())
       ROS_ERROR_NAMED("model_based_planning_context", "%s: No valid joints specified for joint projection",
@@ -153,9 +188,9 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
 }
 
 ompl::base::StateSamplerPtr
-ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const ompl::base::StateSpace* ss) const
+ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const ompl::base::StateSpace* state_space) const
 {
-  if (spec_.state_space_.get() != ss)
+  if (spec_.state_space_.get() != state_space)
   {
     ROS_ERROR_NAMED("model_based_planning_context",
                     "%s: Attempted to allocate a state sampler for an unknown state space", name_.c_str());
@@ -167,66 +202,43 @@ ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const omp
 
   if (path_constraints_)
   {
-    if (spec_.constraints_library_)
+    if (constraints_library_)
     {
-      const ConstraintApproximationPtr& ca =
-          spec_.constraints_library_->getConstraintApproximation(path_constraints_msg_);
-      if (ca)
+      const ConstraintApproximationPtr& constraint_approx =
+          constraints_library_->getConstraintApproximation(path_constraints_msg_);
+      if (constraint_approx)
       {
-        ompl::base::StateSamplerAllocator c_ssa = ca->getStateSamplerAllocator(path_constraints_msg_);
-        if (c_ssa)
+        ompl::base::StateSamplerAllocator state_sampler_allocator =
+            constraint_approx->getStateSamplerAllocator(path_constraints_msg_);
+        if (state_sampler_allocator)
         {
-          ompl::base::StateSamplerPtr res = c_ssa(ss);
-          if (res)
+          ompl::base::StateSamplerPtr state_sampler = state_sampler_allocator(state_space);
+          if (state_sampler)
           {
             ROS_INFO_NAMED("model_based_planning_context",
                            "%s: Using precomputed state sampler (approximated constraint space) for constraint '%s'",
                            name_.c_str(), path_constraints_msg_.name.c_str());
-            return res;
+            return state_sampler;
           }
         }
       }
     }
 
-    constraint_samplers::ConstraintSamplerPtr cs;
+    constraint_samplers::ConstraintSamplerPtr constraint_sampler;
     if (spec_.constraint_sampler_manager_)
-      cs = spec_.constraint_sampler_manager_->selectSampler(getPlanningScene(), getGroupName(),
-                                                            path_constraints_->getAllConstraints());
+      constraint_sampler = spec_.constraint_sampler_manager_->selectSampler(getPlanningScene(), getGroupName(),
+                                                                            path_constraints_->getAllConstraints());
 
-    if (cs)
+    if (constraint_sampler)
     {
       ROS_INFO_NAMED("model_based_planning_context", "%s: Allocating specialized state sampler for state space",
                      name_.c_str());
-      return ob::StateSamplerPtr(new ConstrainedSampler(this, cs));
+      return ob::StateSamplerPtr(new ConstrainedSampler(this, constraint_sampler));
     }
   }
   ROS_DEBUG_NAMED("model_based_planning_context", "%s: Allocating default state sampler for state space",
                   name_.c_str());
-  return ss->allocDefaultStateSampler();
-}
-
-void ompl_interface::ModelBasedPlanningContext::configure()
-{
-  // convert the input state to the corresponding OMPL state
-  ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
-  spec_.state_space_->copyToOMPLState(ompl_start_state.get(), getCompleteInitialRobotState());
-  ompl_simple_setup_->setStartState(ompl_start_state);
-  ompl_simple_setup_->setStateValidityChecker(ob::StateValidityCheckerPtr(new StateValidityChecker(this)));
-
-  if (path_constraints_ && spec_.constraints_library_)
-  {
-    const ConstraintApproximationPtr& ca =
-        spec_.constraints_library_->getConstraintApproximation(path_constraints_msg_);
-    if (ca)
-    {
-      getOMPLStateSpace()->setInterpolationFunction(ca->getInterpolationFunction());
-      ROS_INFO_NAMED("model_based_planning_context", "Using precomputed interpolation states");
-    }
-  }
-
-  useConfig();
-  if (ompl_simple_setup_->getGoal())
-    ompl_simple_setup_->setup();
+  return state_space->allocDefaultStateSampler();
 }
 
 void ompl_interface::ModelBasedPlanningContext::useConfig()
@@ -424,14 +436,14 @@ ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal()
   std::vector<ob::GoalPtr> goals;
   for (kinematic_constraints::KinematicConstraintSetPtr& goal_constraint : goal_constraints_)
   {
-    constraint_samplers::ConstraintSamplerPtr cs;
+    constraint_samplers::ConstraintSamplerPtr constraint_sampler;
     if (spec_.constraint_sampler_manager_)
-      cs = spec_.constraint_sampler_manager_->selectSampler(getPlanningScene(), getGroupName(),
-                                                            goal_constraint->getAllConstraints());
-    if (cs)
+      constraint_sampler = spec_.constraint_sampler_manager_->selectSampler(getPlanningScene(), getGroupName(),
+                                                                            goal_constraint->getAllConstraints());
+    if (constraint_sampler)
     {
-      ob::GoalPtr g = ob::GoalPtr(new ConstrainedGoalSampler(this, goal_constraint, cs));
-      goals.push_back(g);
+      ob::GoalPtr goal = ob::GoalPtr(new ConstrainedGoalSampler(this, goal_constraint, constraint_sampler));
+      goals.push_back(goal);
     }
   }
 
@@ -737,3 +749,30 @@ bool ompl_interface::ModelBasedPlanningContext::terminate()
     ptc_->terminate();
   return true;
 }
+
+bool ompl_interface::ModelBasedPlanningContext::saveConstraintApproximations(const ros::NodeHandle& nh)
+{
+  std::string constraint_path;
+  if (nh.getParam("constraint_approximations_path", constraint_path))
+  {
+    constraints_library_->saveConstraintApproximations(constraint_path);
+    return true;
+  }
+  ROS_WARN("ROS param 'constraint_approximations' not found. Unable to save constraint approximations");
+  return false;
+}
+
+bool ompl_interface::ModelBasedPlanningContext::loadConstraintApproximations(const ros::NodeHandle& nh)
+{
+  std::string constraint_path;
+  if (nh.getParam("constraint_approximations_path", constraint_path))
+  {
+    loadConstraintApproximations(constraint_path);
+    constraints_library_->loadConstraintApproximations(constraint_path);
+    std::stringstream ss;
+    constraints_library_->printConstraintApproximations(ss);
+    ROS_INFO_STREAM(ss.str());
+    return true;
+  }
+  return false;
+}
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index d5ee41b812..8f68566bd2 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -48,13 +48,11 @@ ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstP
   , robot_model_(robot_model)
   , constraint_sampler_manager_(new constraint_samplers::ConstraintSamplerManager())
   , context_manager_(robot_model, constraint_sampler_manager_)
-  , constraints_library_(new ConstraintsLibrary(context_manager_))
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
   ROS_INFO("Initializing OMPL interface using ROS parameters");
   loadPlannerConfigurations();
-  loadConstraintApproximations();
   loadConstraintSamplers();
 }
 
@@ -65,13 +63,11 @@ ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstP
   , robot_model_(robot_model)
   , constraint_sampler_manager_(new constraint_samplers::ConstraintSamplerManager())
   , context_manager_(robot_model, constraint_sampler_manager_)
-  , constraints_library_(new ConstraintsLibrary(context_manager_))
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
   ROS_INFO("Initializing OMPL interface using specified configuration");
   setPlannerConfigurations(pconfig);
-  loadConstraintApproximations();
   loadConstraintSamplers();
 }
 
@@ -107,16 +103,8 @@ ompl_interface::OMPLInterface::getPlanningContext(const planning_scene::Planning
                                                   const planning_interface::MotionPlanRequest& req,
                                                   moveit_msgs::MoveItErrorCodes& error_code) const
 {
-  ModelBasedPlanningContextPtr ctx = context_manager_.getPlanningContext(planning_scene, req, error_code);
-  if (ctx)
-    configureContext(ctx);
-  return ctx;
-}
-
-ompl_interface::ModelBasedPlanningContextPtr
-ompl_interface::OMPLInterface::getPlanningContext(const std::string& config, const std::string& factory_type) const
-{
-  ModelBasedPlanningContextPtr ctx = context_manager_.getPlanningContext(config, factory_type);
+  ModelBasedPlanningContextPtr ctx =
+      context_manager_.getPlanningContext(planning_scene, req, error_code, nh_, use_constraints_approximations_);
   if (ctx)
     configureContext(ctx);
   return ctx;
@@ -124,49 +112,9 @@ ompl_interface::OMPLInterface::getPlanningContext(const std::string& config, con
 
 void ompl_interface::OMPLInterface::configureContext(const ModelBasedPlanningContextPtr& context) const
 {
-  if (use_constraints_approximations_)
-    context->setConstraintsApproximations(constraints_library_);
-  else
-    context->setConstraintsApproximations(ConstraintsLibraryPtr());
   context->simplifySolutions(simplify_solutions_);
 }
 
-void ompl_interface::OMPLInterface::loadConstraintApproximations(const std::string& path)
-{
-  constraints_library_->loadConstraintApproximations(path);
-  std::stringstream ss;
-  constraints_library_->printConstraintApproximations(ss);
-  ROS_INFO_STREAM(ss.str());
-}
-
-void ompl_interface::OMPLInterface::saveConstraintApproximations(const std::string& path)
-{
-  constraints_library_->saveConstraintApproximations(path);
-}
-
-bool ompl_interface::OMPLInterface::saveConstraintApproximations()
-{
-  std::string cpath;
-  if (nh_.getParam("constraint_approximations_path", cpath))
-  {
-    saveConstraintApproximations(cpath);
-    return true;
-  }
-  ROS_WARN("ROS param 'constraint_approximations' not found. Unable to save constraint approximations");
-  return false;
-}
-
-bool ompl_interface::OMPLInterface::loadConstraintApproximations()
-{
-  std::string cpath;
-  if (nh_.getParam("constraint_approximations_path", cpath))
-  {
-    loadConstraintApproximations(cpath);
-    return true;
-  }
-  return false;
-}
-
 void ompl_interface::OMPLInterface::loadConstraintSamplers()
 {
   constraint_sampler_manager_loader_.reset(
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_planner.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_planner.cpp
deleted file mode 100644
index 4f4390f496..0000000000
--- a/moveit_planners/ompl/ompl_interface/src/ompl_planner.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Ioan Sucan */
-
-#include <moveit/ompl_interface/ompl_interface.h>
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit/ompl_interface/model_based_planning_context.h>
-#include <tf2_ros/transform_listener.h>
-#include <moveit_msgs/DisplayTrajectory.h>
-#include <moveit/profiler/profiler.h>
-#include <moveit_msgs/GetMotionPlan.h>
-#include <memory>
-
-static const std::string PLANNER_NODE_NAME = "ompl_planning";  // name of node
-static const std::string PLANNER_SERVICE_NAME =
-    "plan_kinematic_path";  // name of the advertised service (within the ~ namespace)
-static const std::string ROBOT_DESCRIPTION =
-    "robot_description";  // name of the robot description (a param name, so it can be changed externally)
-
-class OMPLPlannerService
-{
-public:
-  OMPLPlannerService(planning_scene_monitor::PlanningSceneMonitor& psm, bool debug = false)
-    : nh_("~"), psm_(psm), ompl_interface_(psm.getPlanningScene()->getRobotModel()), debug_(debug)
-  {
-    plan_service_ = nh_.advertiseService(PLANNER_SERVICE_NAME, &OMPLPlannerService::computePlan, this);
-    if (debug_)
-    {
-      pub_plan_ = nh_.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 100);
-      pub_request_ = nh_.advertise<moveit_msgs::MotionPlanRequest>("motion_plan_request", 100);
-    }
-  }
-
-  bool computePlan(moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res)
-  {
-    ROS_INFO("Received new planning request...");
-    if (debug_)
-      pub_request_.publish(req.motion_plan_request);
-    planning_interface::MotionPlanResponse response;
-
-    ompl_interface::ModelBasedPlanningContextPtr context =
-        ompl_interface_.getPlanningContext(psm_.getPlanningScene(), req.motion_plan_request);
-    if (!context)
-    {
-      ROS_ERROR_STREAM_NAMED("computePlan", "No planning context found");
-      return false;
-    }
-    context->clear();
-
-    bool result = context->solve(response);
-
-    if (debug_)
-    {
-      if (result)
-        displaySolution(res.motion_plan_response);
-      std::stringstream ss;
-      ROS_INFO("%s", ss.str().c_str());
-    }
-    return result;
-  }
-
-  void displaySolution(const moveit_msgs::MotionPlanResponse& mplan_res)
-  {
-    moveit_msgs::DisplayTrajectory d;
-    d.model_id = psm_.getPlanningScene()->getRobotModel()->getName();
-    d.trajectory_start = mplan_res.trajectory_start;
-    d.trajectory.resize(1, mplan_res.trajectory);
-    pub_plan_.publish(d);
-  }
-
-  void status()
-  {
-    ompl_interface_.printStatus();
-    ROS_INFO("Responding to planning and bechmark requests");
-    if (debug_)
-      ROS_INFO("Publishing debug information");
-  }
-
-private:
-  ros::NodeHandle nh_;
-  planning_scene_monitor::PlanningSceneMonitor& psm_;
-  ompl_interface::OMPLInterface ompl_interface_;
-  ros::ServiceServer plan_service_;
-  ros::ServiceServer display_states_service_;
-  ros::Publisher pub_plan_;
-  ros::Publisher pub_request_;
-  bool debug_;
-};
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, PLANNER_NODE_NAME);
-
-  bool debug = false;
-  for (int i = 1; i < argc; ++i)
-    if (strncmp(argv[i], "--debug", 7) == 0)
-      debug = true;
-
-  ros::AsyncSpinner spinner(1);
-  spinner.start();
-  ros::NodeHandle nh;
-
-  std::shared_ptr<tf2_ros::Buffer> tf_buffer = std::make_shared<tf2_ros::Buffer>();
-  std::shared_ptr<tf2_ros::TransformListener> tf_listener =
-      std::make_shared<tf2_ros::TransformListener>(*tf_buffer, nh);
-  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION, tf_buffer);
-  if (psm.getPlanningScene())
-  {
-    psm.startWorldGeometryMonitor();
-    psm.startSceneMonitor();
-    psm.startStateMonitor();
-
-    OMPLPlannerService pservice(psm, debug);
-    pservice.status();
-    ros::waitForShutdown();
-  }
-  else
-    ROS_ERROR("Planning scene not configured");
-
-  return 0;
-}
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 8e28a585c4..b7665991b6 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -178,25 +178,6 @@ void ompl_interface::PlanningContextManager::setPlannerConfigurations(
   planner_configs_ = pconfig;
 }
 
-ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(
-    const std::string& config, const std::string& factory_type) const
-{
-  auto pc = planner_configs_.find(config);
-
-  if (pc != planner_configs_.end())
-  {
-    moveit_msgs::MotionPlanRequest req;  // dummy request with default values
-    return getPlanningContext(
-        pc->second,
-        std::bind(&PlanningContextManager::getStateSpaceFactory1, this, std::placeholders::_1, factory_type), req);
-  }
-  else
-  {
-    ROS_ERROR_NAMED("planning_context_manager", "Planning configuration '%s' was not found", config.c_str());
-    return ModelBasedPlanningContextPtr();
-  }
-}
-
 ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(
     const planning_interface::PlannerConfigurationSettings& config,
     const StateSpaceFactoryTypeSelector& factory_selector, const moveit_msgs::MotionPlanRequest& req) const
@@ -320,10 +301,9 @@ const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningCo
   }
 }
 
-ompl_interface::ModelBasedPlanningContextPtr
-ompl_interface::PlanningContextManager::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
-                                                           const moveit_msgs::MotionPlanRequest& req,
-                                                           moveit_msgs::MoveItErrorCodes& error_code) const
+ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(
+    const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
+    moveit_msgs::MoveItErrorCodes& error_code, const ros::NodeHandle& nh, bool use_constraints_approximation) const
 {
   if (req.group_name.empty())
   {
@@ -402,7 +382,7 @@ ompl_interface::PlanningContextManager::getPlanningContext(const planning_scene:
 
     try
     {
-      context->configure();
+      context->configure(nh, use_constraints_approximation);
       ROS_DEBUG_NAMED("planning_context_manager", "%s: New planning context is set.", context->getName().c_str());
       error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
     }
diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
index cb477140eb..b704a83abd 100644
--- a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
@@ -107,19 +107,19 @@ TEST_F(LoadPlanningModelsPr2, StateSpace)
 TEST_F(LoadPlanningModelsPr2, StateSpaces)
 {
   ompl_interface::ModelBasedStateSpaceSpecification spec1(robot_model_, "right_arm");
-  ompl_interface::ModelBasedStateSpace ss1(spec1);
+  ompl_interface::JointModelStateSpace ss1(spec1);
   ss1.setup();
 
   ompl_interface::ModelBasedStateSpaceSpecification spec2(robot_model_, "left_arm");
-  ompl_interface::ModelBasedStateSpace ss2(spec2);
+  ompl_interface::JointModelStateSpace ss2(spec2);
   ss2.setup();
 
   ompl_interface::ModelBasedStateSpaceSpecification spec3(robot_model_, "whole_body");
-  ompl_interface::ModelBasedStateSpace ss3(spec3);
+  ompl_interface::JointModelStateSpace ss3(spec3);
   ss3.setup();
 
   ompl_interface::ModelBasedStateSpaceSpecification spec4(robot_model_, "arms");
-  ompl_interface::ModelBasedStateSpace ss4(spec4);
+  ompl_interface::JointModelStateSpace ss4(spec4);
   ss4.setup();
 
   std::ofstream fout("ompl_interface_test_state_space_diagram2.dot");

From bfbdaf51717149fa39fe2a59929c9dd90cb00559 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 20 Nov 2019 21:53:26 +0100
Subject: [PATCH 085/612] Multi threaded collision checking test (#1657)

* Multi threaded collision checking test

* PR review:
  * Moved test into planning_scene
  * Assert for each collision check
  * Fixed includes

* Fixup
---
 moveit_core/planning_scene/CMakeLists.txt     |   3 +
 .../test/test_multi_threaded.cpp              | 135 ++++++++++++++++++
 2 files changed, 138 insertions(+)
 create mode 100644 moveit_core/planning_scene/test/test_multi_threaded.cpp

diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
index cfa146e3ec..3ecfc4831a 100644
--- a/moveit_core/planning_scene/CMakeLists.txt
+++ b/moveit_core/planning_scene/CMakeLists.txt
@@ -28,4 +28,7 @@ if(CATKIN_ENABLE_TESTING)
 
   catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp)
   target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME})
+
+  catkin_add_gtest(test_multi_threaded test/test_multi_threaded.cpp)
+  target_link_libraries(test_multi_threaded moveit_planning_scene moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES})
 endif()
diff --git a/moveit_core/planning_scene/test/test_multi_threaded.cpp b/moveit_core/planning_scene/test/test_multi_threaded.cpp
new file mode 100644
index 0000000000..fd3aa56a1a
--- /dev/null
+++ b/moveit_core/planning_scene/test/test_multi_threaded.cpp
@@ -0,0 +1,135 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <gtest/gtest.h>
+#include <thread>
+
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_env.h>
+#include <moveit/collision_detection/collision_detector_allocator.h>
+
+const int TRIALS = 1000;
+const int THREADS = 2;
+
+bool runCollisionDetection(unsigned int id, unsigned int trials, const planning_scene::PlanningScene* scene,
+                           const robot_state::RobotState* state)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  for (unsigned int i = 0; i < trials; ++i)
+  {
+    res.clear();
+    scene->checkCollision(req, res, *state);
+  }
+  return res.collision;
+}
+
+void runCollisionDetectionAssert(unsigned int id, unsigned int trials, const planning_scene::PlanningScene* scene,
+                                 const robot_state::RobotState* state, bool expected_result)
+{
+  ASSERT_EQ(expected_result, runCollisionDetection(id, trials, scene, state));
+}
+
+class CollisionDetectorThreadedTest : public testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    robot_model_ok_ = static_cast<bool>(robot_model_);
+    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    planning_scene_.reset(new planning_scene::PlanningScene(robot_model_));
+  }
+
+  void TearDown() override
+  {
+  }
+
+  bool robot_model_ok_;
+
+  robot_model::RobotModelPtr robot_model_;
+
+  collision_detection::CollisionEnvPtr cenv_;
+
+  collision_detection::AllowedCollisionMatrixPtr acm_;
+
+  robot_state::RobotStatePtr robot_state_;
+
+  planning_scene::PlanningScenePtr planning_scene_;
+};
+
+TEST_F(CollisionDetectorThreadedTest, InitOk)
+{
+  ASSERT_TRUE(robot_model_ok_);
+}
+
+/** \brief Tests the FCL collision detector in multiple threads. */
+TEST_F(CollisionDetectorThreadedTest, FCLThreaded)
+{
+  std::vector<robot_state::RobotStatePtr> states;
+  std::vector<std::thread*> threads;
+  std::vector<bool> collisions;
+
+  for (unsigned int i = 0; i < THREADS; ++i)
+  {
+    robot_state::RobotState* state = new robot_state::RobotState(planning_scene_->getRobotModel());
+    collision_detection::CollisionRequest req;
+    state->setToRandomPositions();
+    state->update();
+    states.push_back(robot_state::RobotStatePtr(state));
+    collisions.push_back(runCollisionDetection(0, 1, planning_scene_.get(), state));
+  }
+
+  for (unsigned int i = 0; i < THREADS; ++i)
+    threads.push_back(new std::thread(
+        std::bind(&runCollisionDetectionAssert, i, TRIALS, planning_scene_.get(), states[i].get(), collisions[i])));
+
+  for (unsigned int i = 0; i < states.size(); ++i)
+  {
+    threads[i]->join();
+    delete threads[i];
+  }
+}
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

From 7566496332b32dae8293823b14162a5ae761c4e2 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 20 Nov 2019 14:12:32 -0700
Subject: [PATCH 086/612] Don't over promise looking at issues 'asap' (#1751)

* Don't overpromise looking at issues 'asap'

* Update .github/config.yml

* Update .github/config.yml
---
 .github/config.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/config.yml b/.github/config.yml
index 2810cc56b6..3dd3ae1f8c 100644
--- a/.github/config.yml
+++ b/.github/config.yml
@@ -4,14 +4,13 @@
 
 # Comment to be posted to on first time issues
 newIssueWelcomeComment: >
-  Thanks for reporting an issue. We will have a look asap.
-  If you can think of a fix, please consider providing it as a pull request.
+  Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.
 
 # Configuration for new-pr-welcome - https://github.com/behaviorbot/new-pr-welcome
 
 # Comment to be posted to on PRs from first time contributors in your repository
 newPRWelcomeComment: >
-  Thanks for helping in improving MoveIt
+  Thanks for helping in improving MoveIt and open source robotics!
 
 # Configuration for first-pr-merge - https://github.com/behaviorbot/first-pr-merge
 

From f96e1271940b96dcce3f3a72cabfcbb1758caa15 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Wed, 20 Nov 2019 19:16:08 -0600
Subject: [PATCH 087/612] Allow user to specify planner termination condition.
 (#1695)

* Add OMPL planner 'AnytimePathShortening'

* clean up registration of planner allocators

* add parameter to geometric::AnytimePathShortening method to set planner instances and their parameters via config file

* clang-format

* add support for specifying planner termination conditions via ompl_planning.yaml file

* add OMPL version check to make new feature backwards compatible with older versions of MoveIt

* fix catkin_lint warning

* fix compiler warning

* fix logical error (ROS_ERROR is not fatal)

* add docs for setting termination condition

* add note to remove #if guard for OMPL version once support for Melodic and older has been dropped

* correct/add TODOs for OMPL version checks
---
 .../detail/projection_evaluators.h            |  1 +
 .../model_based_planning_context.h            | 28 +++++++
 .../src/model_based_planning_context.cpp      | 79 +++++++++++++++++--
 .../src/tools/moveit_config_data.cpp          |  1 +
 4 files changed, 103 insertions(+), 6 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
index 63c0b0917f..92784cfe37 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
@@ -40,6 +40,7 @@
 #include <ompl/base/ProjectionEvaluator.h>
 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
 
+// TODO: remove when ROS Lunar and older are no longer supported
 #if OMPL_VERSION_VALUE >= 1004000  // Version greater than 1.4.0
 typedef Eigen::Ref<Eigen::VectorXd> OMPLProjection;
 #else  // All other versions
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 3ce1fa57b7..2e5a046070 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -335,6 +335,34 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
   virtual void useConfig();
   virtual ob::GoalPtr constructGoal();
 
+  /* @brief Construct a planner termination condition, by default a simple time limit
+     @param timeout The maximum time (in seconds) that can be used for planning
+     @param start The point in time from which planning is considered to have started
+
+     An additional planner termination condition can be specified per planner
+     configuration in ompl_planning.yaml via the `termination_condition` parameter.
+     Possible values are:
+
+     * `Iteration[num]`: Terminate after `num` iterations. Here, `num` should be replaced
+       with a positive integer.
+     * `CostConvergence[solutionsWindow,epsilon]`: Terminate after the cost (as specified
+       by an optimization objective) has converged. The parameter `solutionsWindow`
+       specifies the minimum number of solutions to use in deciding whether a planner has
+       converged. The parameter `epsilon`	is the threshold to consider for convergence.
+       This should be a positive number close to 0. If the cumulative moving average does
+       not change by a relative fraction of epsilon after a new better solution is found,
+       convergence has been reached.
+     * `ExactSolution`: Terminate as soon as an exact solution is found or a timeout
+       occurs. This modifies the behavior of anytime/optimizing planners to terminate
+       upon discovering the first feasible solution.
+
+     In all cases, the planner will terminate when either the user-specified termination
+     condition is satisfied or the time limit specified by `timeout` has been reached,
+     whichever occurs first.
+  */
+  virtual ob::PlannerTerminationCondition constructPlannerTerminationCondition(double timeout,
+                                                                               const ompl::time::point& start);
+
   void registerTerminationCondition(const ob::PlannerTerminationCondition& ptc);
   void unregisterTerminationCondition();
 
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 609431be37..873b11c7e8 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -35,6 +35,7 @@
 /* Author: Ioan Sucan */
 
 #include <boost/algorithm/string/trim.hpp>
+#include <boost/algorithm/string/split.hpp>
 
 #include <moveit/ompl_interface/model_based_planning_context.h>
 #include <moveit/ompl_interface/detail/state_validity_checker.h>
@@ -48,11 +49,21 @@
 #include <moveit/profiler/profiler.h>
 #include <moveit/utils/lexical_casts.h>
 
+#include <ompl/config.h>
 #include <ompl/base/samplers/UniformValidStateSampler.h>
 #include <ompl/base/goals/GoalLazySamples.h>
 #include <ompl/tools/config/SelfConfig.h>
 #include <ompl/base/spaces/SE3StateSpace.h>
 #include <ompl/datastructures/PDF.h>
+// TODO: remove when ROS Melodic and older are no longer supported
+#if OMPL_VERSION_VALUE < 1005000
+#include <ompl/base/PlannerTerminationCondition.h>
+#else
+// IterationTerminationCondition was moved to a separate file and
+// CostConvergenceTerminationCondition was added in OMPL 1.5.0.
+#include <ompl/base/terminationconditions/IterationTerminationCondition.h>
+#include <ompl/base/terminationconditions/CostConvergenceTerminationCondition.h>
+#endif
 
 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
 #include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
@@ -455,6 +466,65 @@ ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal()
   return ob::GoalPtr();
 }
 
+ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition(
+    double timeout, const ompl::time::point& start)
+{
+  auto it = spec_.config_.find("termination_condition");
+  if (it == spec_.config_.end())
+    return ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start));
+  std::string termination_string = it->second;
+  std::vector<std::string> termination_and_params;
+  boost::split(termination_and_params, termination_string, boost::is_any_of("[ ,]"));
+
+  if (termination_and_params.empty())
+    ROS_ERROR_NAMED("model_based_planning_context", "Termination condition not specified");
+  // Terminate if a maximum number of iterations is exceeded or a timeout occurs.
+  // The semantics of "iterations" are planner-specific, but typically it corresponds to the number of times
+  // an attempt was made to grow a roadmap/tree.
+  else if (termination_and_params[0] == "Iteration")
+  {
+    if (termination_and_params.size() > 1)
+      return ob::plannerOrTerminationCondition(
+          ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
+          ob::IterationTerminationCondition(std::stoul(termination_and_params[1])));
+    else
+      ROS_ERROR_NAMED("model_based_planning_context", "Missing argument to Iteration termination condition");
+  }
+// TODO: remove when ROS Melodic and older are no longer supported
+#if OMPL_VERSION_VALUE >= 1005000
+  // Terminate if the cost has converged or a timeout occurs.
+  // Only useful for anytime/optimizing planners.
+  else if (termination_and_params[0] == "CostConvergence")
+  {
+    std::size_t solutionsWindow = 10u;
+    double epsilon = 0.1;
+    if (termination_and_params.size() > 1)
+    {
+      solutionsWindow = std::stoul(termination_and_params[1]);
+      if (termination_and_params.size() > 2)
+        epsilon = moveit::core::toDouble(termination_and_params[2]);
+    }
+    return ob::plannerOrTerminationCondition(
+        ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
+        ob::CostConvergenceTerminationCondition(ompl_simple_setup_->getProblemDefinition(), solutionsWindow, epsilon));
+  }
+#endif
+  // Terminate as soon as an exact solution is found or a timeout occurs.
+  // This modifies the behavior of anytime/optimizing planners to terminate upon discovering
+  // the first feasible solution.
+  else if (termination_and_params[0] == "ExactSolution")
+  {
+    return ob::plannerOrTerminationCondition(
+        ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
+        ob::exactSolnPlannerTerminationCondition(ompl_simple_setup_->getProblemDefinition()));
+  }
+  else
+    ROS_ERROR_NAMED("model_based_planning_context", "Unknown planner termination condition");
+
+  // return a planner termination condition to suppress compiler warning
+  return ob::plannerAlwaysTerminatingCondition();
+}
+
 void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState(
     const robot_state::RobotState& complete_initial_robot_state)
 {
@@ -659,8 +729,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
   if (count <= 1)
   {
     ROS_DEBUG_NAMED("model_based_planning_context", "%s: Solving the planning problem once...", name_.c_str());
-    ob::PlannerTerminationCondition ptc =
-        ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start));
+    ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
     registerTerminationCondition(ptc);
     result = ompl_simple_setup_->solve(ptc) == ompl::base::PlannerStatus::EXACT_SOLUTION;
     last_plan_time_ = ompl_simple_setup_->getLastPlanComputationTime();
@@ -681,8 +750,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
         for (unsigned int i = 0; i < count; ++i)
           ompl_parallel_plan_.addPlanner(ompl::tools::SelfConfig::getDefaultPlanner(ompl_simple_setup_->getGoal()));
 
-      ob::PlannerTerminationCondition ptc =
-          ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start));
+      ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
       registerTerminationCondition(ptc);
       result = ompl_parallel_plan_.solve(ptc, 1, count, true) == ompl::base::PlannerStatus::EXACT_SOLUTION;
       last_plan_time_ = ompl::time::seconds(ompl::time::now() - start);
@@ -690,8 +758,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
     }
     else
     {
-      ob::PlannerTerminationCondition ptc =
-          ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start));
+      ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
       registerTerminationCondition(ptc);
       int n = count / max_planning_threads_;
       result = true;
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index c747a2d3ee..da6ce39b47 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -554,6 +554,7 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   aps.addParameter("hybridize", "true", "Compute hybrid solution trajectories");
   aps.addParameter("max_hybrid_paths", "24", "Number of hybrid paths generated per iteration");
   aps.addParameter("num_planners", "4", "The number of default planners to use for planning");
+// TODO: remove when ROS Melodic and older are no longer supported
 #if OMPL_VERSION_VALUE >= 1005000
   // This parameter was added in OMPL 1.5.0
   aps.addParameter("planners", "", "A comma-separated list of planner types (e.g., \"PRM,EST,RRTConnect\""

From f226b9b17e3d92908b3ae034a90e76e7d3f0bbf0 Mon Sep 17 00:00:00 2001
From: Niklas Fiedler <git@nfiedler.de>
Date: Wed, 20 Nov 2019 20:28:15 +0100
Subject: [PATCH 088/612] Updating deprecation method (#1748)

* replaced MOVEIT_DEPRECATED with [[deprecated]]
* issuing a warning when including deprecation.h
---
 .../moveit/distance_field/distance_field.h      |  9 ++++-----
 .../moveit/kinematics_base/kinematics_base.h    | 17 ++++++++---------
 .../macros/include/moveit/macros/deprecation.h  |  3 ++-
 .../moveit/planning_scene/planning_scene.h      |  1 -
 .../include/moveit/robot_state/robot_state.h    |  9 ++++-----
 .../moveit/robot_trajectory/robot_trajectory.h  |  3 +--
 .../move_group_interface/move_group_interface.h | 11 +++++------
 7 files changed, 24 insertions(+), 29 deletions(-)

diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index b4bfa238d7..b8473a1239 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/deprecation.h>
 #include <moveit/distance_field/voxel_grid.h>
 #include <vector>
 #include <list>
@@ -191,7 +190,7 @@ class DistanceField
   void addShapeToField(const shapes::Shape* shape, const Eigen::Isometry3d& pose);
 
   // DEPRECATED form
-  MOVEIT_DEPRECATED void addShapeToField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);
+  [[deprecated]] void addShapeToField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);
 
   /**
    * \brief Adds an octree to the distance field.  Cells that are
@@ -230,8 +229,8 @@ class DistanceField
                         const Eigen::Isometry3d& new_pose);
 
   // DEPRECATED form
-  MOVEIT_DEPRECATED void moveShapeInField(const shapes::Shape* shape, const geometry_msgs::Pose& old_pose,
-                                          const geometry_msgs::Pose& new_pose);
+  [[deprecated]] void moveShapeInField(const shapes::Shape* shape, const geometry_msgs::Pose& old_pose,
+                                       const geometry_msgs::Pose& new_pose);
 
   /**
    * \brief All points corresponding to the shape are removed from the
@@ -245,7 +244,7 @@ class DistanceField
   void removeShapeFromField(const shapes::Shape* shape, const Eigen::Isometry3d& pose);
 
   // DEPRECATED form
-  MOVEIT_DEPRECATED void removeShapeFromField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);
+  [[deprecated]] void removeShapeFromField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);
 
   /**
    * \brief Resets all points in the distance field to an uninitialize
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 59fc3ee7c4..b4d41e06ce 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -39,7 +39,6 @@
 #include <geometry_msgs/PoseStamped.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/deprecation.h>
 #include <ros/node_handle.h>
 
 #include <boost/function.hpp>
@@ -341,9 +340,9 @@ class KinematicsBase
    * @param search_discretization The discretization of the search when the solver steps through the redundancy
    */
   /* Replace by tip_frames-based method! */
-  MOVEIT_DEPRECATED virtual void setValues(const std::string& robot_description, const std::string& group_name,
-                                           const std::string& base_frame, const std::string& tip_frame,
-                                           double search_discretization);
+  [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
+                                        const std::string& base_frame, const std::string& tip_frame,
+                                        double search_discretization);
 
   /**
    * @brief Set the parameters for the solver, for use with non-chain IK solvers
@@ -373,9 +372,9 @@ class KinematicsBase
    * Instead of this method, use the method passing in a RobotModel!
    * Default implementation returns false, indicating that this API is not supported.
    */
-  MOVEIT_DEPRECATED virtual bool initialize(const std::string& robot_description, const std::string& group_name,
-                                            const std::string& base_frame, const std::string& tip_frame,
-                                            double search_discretization);
+  [[deprecated]] virtual bool initialize(const std::string& robot_description, const std::string& group_name,
+                                         const std::string& base_frame, const std::string& tip_frame,
+                                         double search_discretization);
 
   /**
    * @brief  Initialization function for the kinematics, for use with non-chain IK solvers
@@ -593,8 +592,8 @@ class KinematicsBase
   // The next two variables still exists for backwards compatibility
   // with previously generated custom ik solvers like IKFast
   // Replace tip_frame_ -> tip_frames_[0], search_discretization_ -> redundant_joint_discretization_
-  MOVEIT_DEPRECATED std::string tip_frame_;
-  MOVEIT_DEPRECATED double search_discretization_;
+  [[deprecated]] std::string tip_frame_;
+  [[deprecated]] double search_discretization_;
 
   double default_timeout_;
   std::vector<unsigned int> redundant_joint_indices_;
diff --git a/moveit_core/macros/include/moveit/macros/deprecation.h b/moveit_core/macros/include/moveit/macros/deprecation.h
index 20f24b06ac..2162988004 100644
--- a/moveit_core/macros/include/moveit/macros/deprecation.h
+++ b/moveit_core/macros/include/moveit/macros/deprecation.h
@@ -35,8 +35,9 @@
 #pragma once
 
 /** \def MOVEIT_DEPRECATED
-    Macro that marks functions as deprecated */
+    Deprecated macro that marks functions as deprecated (TODO: Remove for Noetic) */
 
+#warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
 #ifdef __GNUC__
 #define MOVEIT_DEPRECATED __attribute__((deprecated))
 #elif defined(_MSC_VER)
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 6faff3b6aa..acc43ab92c 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -46,7 +46,6 @@
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/deprecation.h>
 #include <moveit_msgs/PlanningScene.h>
 #include <moveit_msgs/RobotTrajectory.h>
 #include <moveit_msgs/Constraints.h>
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 126b20baf9..f16c031abd 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -40,7 +40,6 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/attached_body.h>
 #include <moveit/transforms/transforms.h>
-#include <moveit/macros/deprecation.h>
 #include <sensor_msgs/JointState.h>
 #include <visualization_msgs/MarkerArray.h>
 #include <std_msgs/ColorRGBA.h>
@@ -1119,7 +1118,7 @@ as the new values that correspond to the group */
 
      NOTE: As of ROS-Melodic these are deprecated and should not be used
      */
-  MOVEIT_DEPRECATED double
+  [[deprecated]] double
   computeCartesianPath(const JointModelGroup* group, std::vector<RobotStatePtr>& traj, const LinkModel* link,
                        const Eigen::Vector3d& direction, bool global_reference_frame, double distance, double max_step,
                        double jump_threshold_factor,
@@ -1135,7 +1134,7 @@ as the new values that correspond to the group */
 
      NOTE: As of ROS-Melodic these are deprecated and should not be used
      */
-  MOVEIT_DEPRECATED double
+  [[deprecated]] double
   computeCartesianPath(const JointModelGroup* group, std::vector<RobotStatePtr>& traj, const LinkModel* link,
                        const Eigen::Isometry3d& target, bool global_reference_frame, double max_step,
                        double jump_threshold_factor,
@@ -1151,7 +1150,7 @@ as the new values that correspond to the group */
 
      NOTE: As of ROS-Melodic these are deprecated and should not be used
      */
-  MOVEIT_DEPRECATED double
+  [[deprecated]] double
   computeCartesianPath(const JointModelGroup* group, std::vector<RobotStatePtr>& traj, const LinkModel* link,
                        const EigenSTL::vector_Isometry3d& waypoints, bool global_reference_frame, double max_step,
                        double jump_threshold_factor,
@@ -1757,7 +1756,7 @@ as the new values that correspond to the group */
 
   /** \brief Update a set of joints that are certain to be mimicking other joints */
   /* use updateMimicJoints() instead, which also marks joints dirty */
-  MOVEIT_DEPRECATED void updateMimicJoint(const std::vector<const JointModel*>& mim)
+  [[deprecated]] void updateMimicJoint(const std::vector<const JointModel*>& mim)
   {
     for (std::size_t i = 0; i < mim.size(); ++i)
     {
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 1601cd4279..dd2ce58cc8 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/deprecation.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/RobotTrajectory.h>
 #include <moveit_msgs/RobotState.h>
@@ -116,7 +115,7 @@ class RobotTrajectory
    */
   double getWayPointDurationFromStart(std::size_t index) const;
 
-  MOVEIT_DEPRECATED double getWaypointDurationFromStart(std::size_t index) const;
+  [[deprecated]] double getWaypointDurationFromStart(std::size_t index) const;
 
   double getWayPointDurationFromPrevious(std::size_t index) const
   {
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 71590ac54a..e7d2b3bdcc 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -38,7 +38,6 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/deprecation.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/RobotTrajectory.h>
 #include <moveit_msgs/RobotState.h>
@@ -152,8 +151,8 @@ class MoveGroupInterface
   MoveGroupInterface(const Options& opt,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                      const ros::WallDuration& wait_for_servers = ros::WallDuration());
-  MOVEIT_DEPRECATED MoveGroupInterface(const Options& opt, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
-                                       const ros::Duration& wait_for_servers);
+  [[deprecated]] MoveGroupInterface(const Options& opt, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
+                                    const ros::Duration& wait_for_servers);
 
   /**
       \brief Construct a client for the MoveGroup action for a particular \e group.
@@ -165,8 +164,8 @@ class MoveGroupInterface
   MoveGroupInterface(const std::string& group,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                      const ros::WallDuration& wait_for_servers = ros::WallDuration());
-  MOVEIT_DEPRECATED MoveGroupInterface(const std::string& group, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
-                                       const ros::Duration& wait_for_servers);
+  [[deprecated]] MoveGroupInterface(const std::string& group, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
+                                    const ros::Duration& wait_for_servers);
 
   ~MoveGroupInterface();
 
@@ -517,7 +516,7 @@ class MoveGroupInterface
   void getJointValueTarget(std::vector<double>& group_variable_values) const;
 
   /// Get the currently set joint state goal, replaced by private getTargetRobotState()
-  MOVEIT_DEPRECATED const robot_state::RobotState& getJointValueTarget() const;
+  [[deprecated]] const robot_state::RobotState& getJointValueTarget() const;
 
   /**@}*/
 

From 303c3217f6157ecd546f2691f69646db38889780 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 21 Nov 2019 00:07:00 -0700
Subject: [PATCH 089/612] Improve variable naming in RobotModelLoader (#1759)

---
 .../src/robot_model_loader.cpp                | 35 ++++++++++---------
 1 file changed, 18 insertions(+), 17 deletions(-)

diff --git a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
index 80a8556dc2..1ba8e75359 100644
--- a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
+++ b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
@@ -107,52 +107,53 @@ void RobotModelLoader::configure(const Options& opt)
     // if there are additional joint limits specified in some .yaml file, read those in
     ros::NodeHandle nh("~");
 
-    for (moveit::core::JointModel* jmodel : model_->getJointModels())
+    for (moveit::core::JointModel* joint_model : model_->getJointModels())
     {
-      std::vector<moveit_msgs::JointLimits> jlim = jmodel->getVariableBoundsMsg();
-      for (std::size_t j = 0; j < jlim.size(); ++j)
+      std::vector<moveit_msgs::JointLimits> joint_limit = joint_model->getVariableBoundsMsg();
+      for (std::size_t joint_id = 0; joint_id < joint_limit.size(); ++joint_id)
       {
-        std::string prefix = rdf_loader_->getRobotDescription() + "_planning/joint_limits/" + jlim[j].joint_name + "/";
+        std::string prefix =
+            rdf_loader_->getRobotDescription() + "_planning/joint_limits/" + joint_limit[joint_id].joint_name + "/";
 
         double max_position;
         if (nh.getParam(prefix + "max_position", max_position))
         {
-          if (canSpecifyPosition(jmodel, j))
+          if (canSpecifyPosition(joint_model, joint_id))
           {
-            jlim[j].has_position_limits = true;
-            jlim[j].max_position = max_position;
+            joint_limit[joint_id].has_position_limits = true;
+            joint_limit[joint_id].max_position = max_position;
           }
         }
         double min_position;
         if (nh.getParam(prefix + "min_position", min_position))
         {
-          if (canSpecifyPosition(jmodel, j))
+          if (canSpecifyPosition(joint_model, joint_id))
           {
-            jlim[j].has_position_limits = true;
-            jlim[j].min_position = min_position;
+            joint_limit[joint_id].has_position_limits = true;
+            joint_limit[joint_id].min_position = min_position;
           }
         }
         double max_velocity;
         if (nh.getParam(prefix + "max_velocity", max_velocity))
         {
-          jlim[j].has_velocity_limits = true;
-          jlim[j].max_velocity = max_velocity;
+          joint_limit[joint_id].has_velocity_limits = true;
+          joint_limit[joint_id].max_velocity = max_velocity;
         }
         bool has_vel_limits;
         if (nh.getParam(prefix + "has_velocity_limits", has_vel_limits))
-          jlim[j].has_velocity_limits = has_vel_limits;
+          joint_limit[joint_id].has_velocity_limits = has_vel_limits;
 
         double max_acc;
         if (nh.getParam(prefix + "max_acceleration", max_acc))
         {
-          jlim[j].has_acceleration_limits = true;
-          jlim[j].max_acceleration = max_acc;
+          joint_limit[joint_id].has_acceleration_limits = true;
+          joint_limit[joint_id].max_acceleration = max_acc;
         }
         bool has_acc_limits;
         if (nh.getParam(prefix + "has_acceleration_limits", has_acc_limits))
-          jlim[j].has_acceleration_limits = has_acc_limits;
+          joint_limit[joint_id].has_acceleration_limits = has_acc_limits;
       }
-      jmodel->setVariableBounds(jlim);
+      joint_model->setVariableBounds(joint_limit);
     }
   }
 

From d4ffb9aa33355a875eef26cc6e9e6c883c3e21da Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 21 Nov 2019 01:27:06 -0700
Subject: [PATCH 090/612] [trivial] Improve variable name in RobotModel (#1752)

---
 moveit_core/robot_model/src/robot_model.cpp | 85 +++++++++++----------
 1 file changed, 43 insertions(+), 42 deletions(-)

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index 700613ffe5..d67af3b052 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -844,7 +844,7 @@ static inline VariableBounds jointBoundsFromURDF(const urdf::Joint* urdf_joint)
 JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const urdf::Link* child_link,
                                             const srdf::Model& srdf_model)
 {
-  JointModel* result = nullptr;
+  JointModel* new_joint_model = nullptr;
 
   // if urdf_joint exists, must be the root link transform
   if (urdf_joint)
@@ -857,7 +857,7 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
         j->setVariableBounds(j->getName(), jointBoundsFromURDF(urdf_joint));
         j->setContinuous(false);
         j->setAxis(Eigen::Vector3d(urdf_joint->axis.x, urdf_joint->axis.y, urdf_joint->axis.z));
-        result = j;
+        new_joint_model = j;
       }
       break;
       case urdf::Joint::CONTINUOUS:
@@ -866,7 +866,7 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
         j->setVariableBounds(j->getName(), jointBoundsFromURDF(urdf_joint));
         j->setContinuous(true);
         j->setAxis(Eigen::Vector3d(urdf_joint->axis.x, urdf_joint->axis.y, urdf_joint->axis.z));
-        result = j;
+        new_joint_model = j;
       }
       break;
       case urdf::Joint::PRISMATIC:
@@ -874,17 +874,17 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
         PrismaticJointModel* j = new PrismaticJointModel(urdf_joint->name);
         j->setVariableBounds(j->getName(), jointBoundsFromURDF(urdf_joint));
         j->setAxis(Eigen::Vector3d(urdf_joint->axis.x, urdf_joint->axis.y, urdf_joint->axis.z));
-        result = j;
+        new_joint_model = j;
       }
       break;
       case urdf::Joint::FLOATING:
-        result = new FloatingJointModel(urdf_joint->name);
+        new_joint_model = new FloatingJointModel(urdf_joint->name);
         break;
       case urdf::Joint::PLANAR:
-        result = new PlanarJointModel(urdf_joint->name);
+        new_joint_model = new PlanarJointModel(urdf_joint->name);
         break;
       case urdf::Joint::FIXED:
-        result = new FixedJointModel(urdf_joint->name);
+        new_joint_model = new FixedJointModel(urdf_joint->name);
         break;
       default:
         ROS_ERROR_NAMED(LOGNAME, "Unknown joint type: %d", (int)urdf_joint->type);
@@ -910,12 +910,12 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
       else
       {
         if (virtual_joint.type_ == "fixed")
-          result = new FixedJointModel(virtual_joint.name_);
+          new_joint_model = new FixedJointModel(virtual_joint.name_);
         else if (virtual_joint.type_ == "planar")
-          result = new PlanarJointModel(virtual_joint.name_);
+          new_joint_model = new PlanarJointModel(virtual_joint.name_);
         else if (virtual_joint.type_ == "floating")
-          result = new FloatingJointModel(virtual_joint.name_);
-        if (result)
+          new_joint_model = new FloatingJointModel(virtual_joint.name_);
+        if (new_joint_model)
         {
           // for fixed frames we still use the robot root link
           if (virtual_joint.type_ != "fixed")
@@ -926,28 +926,28 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
         }
       }
     }
-    if (!result)
+    if (!new_joint_model)
     {
       ROS_INFO_NAMED(LOGNAME, "No root/virtual joint specified in SRDF. Assuming fixed joint");
-      result = new FixedJointModel("ASSUMED_FIXED_ROOT_JOINT");
+      new_joint_model = new FixedJointModel("ASSUMED_FIXED_ROOT_JOINT");
     }
   }
 
-  if (result)
+  if (new_joint_model)
   {
-    result->setDistanceFactor(result->getStateSpaceDimension());
+    new_joint_model->setDistanceFactor(new_joint_model->getStateSpaceDimension());
     const std::vector<srdf::Model::PassiveJoint>& pjoints = srdf_model.getPassiveJoints();
     for (const srdf::Model::PassiveJoint& pjoint : pjoints)
     {
-      if (result->getName() == pjoint.name_)
+      if (new_joint_model->getName() == pjoint.name_)
       {
-        result->setPassive(true);
+        new_joint_model->setPassive(true);
         break;
       }
     }
   }
 
-  return result;
+  return new_joint_model;
 }
 
 namespace
@@ -962,7 +962,7 @@ static inline Eigen::Isometry3d urdfPose2Isometry3d(const urdf::Pose& pose)
 
 LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
 {
-  LinkModel* result = new LinkModel(urdf_link->name);
+  LinkModel* new_link_model = new LinkModel(urdf_link->name);
 
   const std::vector<urdf::CollisionSharedPtr>& col_array =
       urdf_link->collision_array.empty() ? std::vector<urdf::CollisionSharedPtr>(1, urdf_link->collision) :
@@ -998,7 +998,7 @@ LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
       }
   }
 
-  result->setGeometry(shapes, poses);
+  new_link_model->setGeometry(shapes, poses);
 
   // figure out visual mesh (try visual urdf tag first, collision tag otherwise
   if (urdf_link->visual && urdf_link->visual->geometry)
@@ -1007,8 +1007,8 @@ LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
     {
       const urdf::Mesh* mesh = static_cast<const urdf::Mesh*>(urdf_link->visual->geometry.get());
       if (!mesh->filename.empty())
-        result->setVisualMesh(mesh->filename, urdfPose2Isometry3d(urdf_link->visual->origin),
-                              Eigen::Vector3d(mesh->scale.x, mesh->scale.y, mesh->scale.z));
+        new_link_model->setVisualMesh(mesh->filename, urdfPose2Isometry3d(urdf_link->visual->origin),
+                                      Eigen::Vector3d(mesh->scale.x, mesh->scale.y, mesh->scale.z));
     }
   }
   else if (urdf_link->collision && urdf_link->collision->geometry)
@@ -1017,36 +1017,37 @@ LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
     {
       const urdf::Mesh* mesh = static_cast<const urdf::Mesh*>(urdf_link->collision->geometry.get());
       if (!mesh->filename.empty())
-        result->setVisualMesh(mesh->filename, urdfPose2Isometry3d(urdf_link->collision->origin),
-                              Eigen::Vector3d(mesh->scale.x, mesh->scale.y, mesh->scale.z));
+        new_link_model->setVisualMesh(mesh->filename, urdfPose2Isometry3d(urdf_link->collision->origin),
+                                      Eigen::Vector3d(mesh->scale.x, mesh->scale.y, mesh->scale.z));
     }
   }
 
   if (urdf_link->parent_joint)
-    result->setJointOriginTransform(urdfPose2Isometry3d(urdf_link->parent_joint->parent_to_joint_origin_transform));
+    new_link_model->setJointOriginTransform(
+        urdfPose2Isometry3d(urdf_link->parent_joint->parent_to_joint_origin_transform));
 
-  return result;
+  return new_link_model;
 }
 
 shapes::ShapePtr RobotModel::constructShape(const urdf::Geometry* geom)
 {
   moveit::tools::Profiler::ScopedBlock prof_block("RobotModel::constructShape");
 
-  shapes::Shape* result = nullptr;
+  shapes::Shape* new_shape = nullptr;
   switch (geom->type)
   {
     case urdf::Geometry::SPHERE:
-      result = new shapes::Sphere(static_cast<const urdf::Sphere*>(geom)->radius);
+      new_shape = new shapes::Sphere(static_cast<const urdf::Sphere*>(geom)->radius);
       break;
     case urdf::Geometry::BOX:
     {
       urdf::Vector3 dim = static_cast<const urdf::Box*>(geom)->dim;
-      result = new shapes::Box(dim.x, dim.y, dim.z);
+      new_shape = new shapes::Box(dim.x, dim.y, dim.z);
     }
     break;
     case urdf::Geometry::CYLINDER:
-      result = new shapes::Cylinder(static_cast<const urdf::Cylinder*>(geom)->radius,
-                                    static_cast<const urdf::Cylinder*>(geom)->length);
+      new_shape = new shapes::Cylinder(static_cast<const urdf::Cylinder*>(geom)->radius,
+                                       static_cast<const urdf::Cylinder*>(geom)->length);
       break;
     case urdf::Geometry::MESH:
     {
@@ -1055,7 +1056,7 @@ shapes::ShapePtr RobotModel::constructShape(const urdf::Geometry* geom)
       {
         Eigen::Vector3d scale(mesh->scale.x, mesh->scale.y, mesh->scale.z);
         shapes::Mesh* m = shapes::createMeshFromResource(mesh->filename, scale);
-        result = m;
+        new_shape = m;
       }
     }
     break;
@@ -1064,7 +1065,7 @@ shapes::ShapePtr RobotModel::constructShape(const urdf::Geometry* geom)
       break;
   }
 
-  return shapes::ShapePtr(result);
+  return shapes::ShapePtr(new_shape);
 }
 
 bool RobotModel::hasJointModel(const std::string& name) const
@@ -1277,9 +1278,9 @@ void RobotModel::setKinematicsAllocators(const std::map<std::string, SolverAlloc
     std::map<std::string, SolverAllocatorFn>::const_iterator jt = allocators.find(jmg->getName());
     if (jt != allocators.end())
     {
-      std::pair<SolverAllocatorFn, SolverAllocatorMapFn> result;
-      result.first = jt->second;
-      jmg->setSolverAllocators(result);
+      std::pair<SolverAllocatorFn, SolverAllocatorMapFn> solver_allocator_pair;
+      solver_allocator_pair.first = jt->second;
+      jmg->setSolverAllocators(solver_allocator_pair);
     }
   }
 
@@ -1287,7 +1288,7 @@ void RobotModel::setKinematicsAllocators(const std::map<std::string, SolverAlloc
   // setSolverAllocators()
   for (JointModelGroup* jmg : joint_model_groups_)
   {
-    std::pair<SolverAllocatorFn, SolverAllocatorMapFn> result;
+    std::pair<SolverAllocatorFn, SolverAllocatorMapFn> solver_allocator_pair;
     std::map<std::string, SolverAllocatorFn>::const_iterator jt = allocators.find(jmg->getName());
     if (jt == allocators.end())
     {
@@ -1311,16 +1312,16 @@ void RobotModel::setKinematicsAllocators(const std::map<std::string, SolverAlloc
 
         if (std::includes(joints.begin(), joints.end(), sub_joints.begin(), sub_joints.end()))
         {  // sub_joints included in joints: add sub, remove sub_joints from joints set
-          std::set<const JointModel*> resultj;
+          std::set<const JointModel*> joint_model_set;
           std::set_difference(joints.begin(), joints.end(), sub_joints.begin(), sub_joints.end(),
-                              std::inserter(resultj, resultj.end()));
+                              std::inserter(joint_model_set, joint_model_set.end()));
           // TODO: instead of maintaining disjoint joint sets here,
           // should we leave that work to JMG's setSolverAllocators() / computeIKIndexBijection()?
           // There, a disjoint bijection from joints to solvers is computed anyway.
           // Underlying question: How do we resolve overlaps? Now the first considered sub group "wins"
           // But, if the overlap only involves fixed joints, we could consider all sub groups
           subs.push_back(sub);
-          joints.swap(resultj);
+          joints.swap(joint_model_set);
         }
       }
 
@@ -1331,12 +1332,12 @@ void RobotModel::setKinematicsAllocators(const std::map<std::string, SolverAlloc
         for (const JointModelGroup* sub : subs)
         {
           ss << sub->getName() << " ";
-          result.second[sub] = allocators.find(sub->getName())->second;
+          solver_allocator_pair.second[sub] = allocators.find(sub->getName())->second;
         }
         ROS_DEBUG_NAMED(LOGNAME, "Added sub-group IK allocators for group '%s': [ %s]", jmg->getName().c_str(),
                         ss.str().c_str());
       }
-      jmg->setSolverAllocators(result);
+      jmg->setSolverAllocators(solver_allocator_pair);
     }
   }
 }

From 0d31da73bb523bd5b6efa6bc63400e06a395360f Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 21 Nov 2019 05:50:34 -0700
Subject: [PATCH 091/612] Update issue template to non-legacy workflow (#1756)

Currently we're using the old single-template issue approach:
https://help.github.com/en/github/building-a-strong-community/manually-creating-a-single-issue-template-for-your-repository

Switching to dual approach: bug vs feature request
---
 .../bug_report.md}                            | 15 +++++++++++---
 .github/ISSUE_TEMPLATE/feature_request.md     | 20 +++++++++++++++++++
 2 files changed, 32 insertions(+), 3 deletions(-)
 rename .github/{ISSUE_TEMPLATE.md => ISSUE_TEMPLATE/bug_report.md} (71%)
 create mode 100644 .github/ISSUE_TEMPLATE/feature_request.md

diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE/bug_report.md
similarity index 71%
rename from .github/ISSUE_TEMPLATE.md
rename to .github/ISSUE_TEMPLATE/bug_report.md
index 62f551be4a..c7c77614ea 100644
--- a/.github/ISSUE_TEMPLATE.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -1,13 +1,22 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
 ### Description
 
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Indigo|Jade|Kinetic]
-* OS Version: e.g. Ubuntu 16.04
+* ROS Distro: [Kinetic|Melodic]
+* OS Version: e.g. Ubuntu 18.04
 * Source or Binary build?
 * If binary, which release version?
-* If source, which git commit or tag?
+* If source, which branch?
 
 ### Steps to reproduce
 Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
new file mode 100644
index 0000000000..11fc491ef1
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

From 8a454813f5ea6a9725947a77851139a75b8d2eda Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Tue, 15 Oct 2019 21:38:32 +0200
Subject: [PATCH 092/612] Initial implementation of MoveItCpp

---
 moveit_ros/planning_interface/CMakeLists.txt  |   3 +
 .../moveit_cpp/CMakeLists.txt                 |  12 +
 .../include/moveit/moveit_cpp/moveit_cpp.h    | 203 ++++++++++
 .../moveit/moveit_cpp/planning_component.h    | 216 +++++++++++
 .../moveit_cpp/src/moveit_cpp.cpp             | 333 ++++++++++++++++
 .../moveit_cpp/src/planning_component.cpp     | 354 ++++++++++++++++++
 6 files changed, 1121 insertions(+)
 create mode 100644 moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
 create mode 100644 moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
 create mode 100644 moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
 create mode 100644 moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
 create mode 100644 moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 4c7f6a591b..8a907efba1 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -51,6 +51,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
   common_planning_interface_objects/include
   planning_scene_interface/include
   move_group_interface/include
+  moveit_cpp/include
 )
 
 catkin_python_setup()
@@ -60,6 +61,7 @@ catkin_package(
     moveit_common_planning_interface_objects
     moveit_planning_scene_interface
     moveit_move_group_interface
+    moveit_cpp
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
   CATKIN_DEPENDS
@@ -90,3 +92,4 @@ add_subdirectory(planning_scene_interface)
 add_subdirectory(move_group_interface)
 add_subdirectory(robot_interface)
 add_subdirectory(test)
+add_subdirectory(moveit_cpp)
diff --git a/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt b/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
new file mode 100644
index 0000000000..098becde4b
--- /dev/null
+++ b/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
@@ -0,0 +1,12 @@
+set(MOVEIT_LIB_NAME moveit_cpp)
+
+add_library(${MOVEIT_LIB_NAME} src/moveit_cpp.cpp src/planning_component.cpp)
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+
+install(TARGETS ${MOVEIT_LIB_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
new file mode 100644
index 0000000000..fd81721ec5
--- /dev/null
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -0,0 +1,203 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Henning Kayser */
+
+#pragma once
+
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
+#include <moveit/robot_state/robot_state.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+namespace moveit
+{
+namespace planning_interface
+{
+MOVEIT_CLASS_FORWARD(MoveItCpp);
+
+class MoveItCpp
+{
+public:
+  /// Specification of options to use when constructing the MoveItCpp class
+  struct PlanningSceneMonitorOptions
+  {
+    void load(const ros::NodeHandle& nh)
+    {
+      std::string ns = "planning_scene_monitor_options/";
+      nh.param<std::string>(ns + "name", name, "planning_scene_monitor");
+      nh.param<std::string>(ns + "robot_description", robot_description, "robot_description");
+      nh.param(ns + "joint_state_topic", joint_state_topic,
+               planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
+      nh.param(ns + "attached_collision_object_topic", attached_collision_object_topic,
+               planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
+      nh.param(ns + "monitored_planning_scene_topic", monitored_planning_scene_topic,
+               planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
+      nh.param(ns + "publish_planning_scene_topic", publish_planning_scene_topic,
+               planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
+      nh.param<double>(ns + "wait_for_initial_state_timeout", wait_for_initial_state_timeout, 0.0);
+    }
+    std::string name;
+    std::string robot_description;
+    std::string joint_state_topic;
+    std::string attached_collision_object_topic;
+    std::string monitored_planning_scene_topic;
+    std::string publish_planning_scene_topic;
+    double wait_for_initial_state_timeout;
+  };
+  struct PlanningPipelineOptions
+  {
+    void load(const ros::NodeHandle& nh)
+    {
+      std::string ns = "planning_pipelines/";
+      nh.getParam(ns + "pipeline_names", pipeline_names);
+      nh.getParam(ns + "namespace", parent_namespace);
+    }
+    std::vector<std::string> pipeline_names;
+    std::string parent_namespace;
+  };
+  struct PlannerOptions
+  {
+    void load(const ros::NodeHandle& nh)
+    {
+      std::string ns = "default_planner_options/";
+      nh.getParam(ns + "planning_attempts", planning_attempts);
+      nh.getParam(ns + "max_velocity_scaling_factor", max_velocity_scaling_factor);
+      nh.getParam(ns + "max_acceleration_scaling_factor", max_acceleration_scaling_factor);
+    }
+    int planning_attempts;
+    double planning_time;
+    double max_velocity_scaling_factor;
+    double max_acceleration_scaling_factor;
+  };
+
+  /// Parameter container for initializing MoveItCpp
+  struct Options
+  {
+    Options(const ros::NodeHandle& nh)
+    {
+      planning_scene_monitor_options.load(nh);
+      default_planner_options.load(nh);
+      planning_pipeline_options.load(nh);
+    }
+
+    PlanningSceneMonitorOptions planning_scene_monitor_options;
+    PlanningPipelineOptions planning_pipeline_options;
+    PlannerOptions default_planner_options;
+  };
+
+  /** \brief Constructor */
+  MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = {});
+  MoveItCpp(const Options& opt, const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = {});
+
+  /**
+   * @brief This class owns unique resources (e.g. action clients, threads) and its not very
+   * meaningful to copy. Pass by references, move it, or simply create multiple instances where
+   * required.
+   */
+  MoveItCpp(const MoveItCpp&) = delete;
+  MoveItCpp& operator=(const MoveItCpp&) = delete;
+
+  MoveItCpp(MoveItCpp&& other);
+  MoveItCpp& operator=(MoveItCpp&& other);
+
+  /** \brief Destructor */
+  ~MoveItCpp();
+
+  /** \brief Get the RobotModel object. */
+  robot_model::RobotModelConstPtr getRobotModel() const;
+
+  /** \brief Get the ROS node handle of this instance operates on */
+  const ros::NodeHandle& getNodeHandle() const;
+
+  /** \brief Get the current state queried from the current state monitor */
+  bool getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds);
+
+  /** \brief Get the current state queried from the current state monitor */
+  robot_state::RobotStatePtr getCurrentState(double wait_seconds = 0.0);
+
+  /** \brief Get all loaded planning pipeline instances mapped to their reference names */
+  const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& getPlanningPipelines() const;
+
+  /** \brief Get the names of all loaded planning pipelines. Specify group_name to filter the results by planning group
+   */
+  std::set<std::string> getPlanningPipelineNames(const std::string& group_name = "") const;
+
+  /** \brief Get the stored instance of the planning scene monitor */
+  const planning_scene_monitor::PlanningSceneMonitorPtr& getPlanningSceneMonitor() const;
+  planning_scene_monitor::PlanningSceneMonitorPtr getPlanningSceneMonitorNonConst();
+
+  const std::shared_ptr<tf2_ros::Buffer>& getTFBuffer() const;
+
+  /** \brief Get the stored instance of the trajectory execution manager */
+  const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const;
+  trajectory_execution_manager::TrajectoryExecutionManagerPtr getTrajectoryExecutionManagerNonConst();
+
+  /** \brief Execute a trajectory on the planning group specified by group_name using the trajectory execution manager.
+   * If blocking is set to false, the execution is run in background and the function returns immediately. */
+  bool execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
+               bool blocking = true);
+
+protected:
+  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+private:
+  //  Core properties and instances
+  ros::NodeHandle node_handle_;
+  std::string robot_description_;
+  robot_model::RobotModelConstPtr robot_model_;
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+
+  // Planning
+  std::map<std::string, planning_pipeline::PlanningPipelinePtr> planning_pipelines_;
+  std::map<std::string, std::set<std::string>> groups_pipelines_map_;
+  std::map<std::string, std::set<std::string>> groups_algorithms_map_;
+
+  // Execution
+  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
+
+  /** \brief Reset all member variables */
+  void clearContents();
+
+  /** \brief Initialize and setup the planning scene monitor */
+  bool loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& opt);
+
+  /** \brief Initialize and setup the planning pipelines */
+  bool loadPlanningPipelines(const PlanningPipelineOptions& opt);
+};
+}  // namespace planning_interface
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
new file mode 100644
index 0000000000..06d8124edf
--- /dev/null
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -0,0 +1,216 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Henning Kayser */
+
+#pragma once
+
+#include <moveit/moveit_cpp/moveit_cpp.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/robot_state/robot_state.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+namespace moveit
+{
+namespace planning_interface
+{
+MOVEIT_CLASS_FORWARD(PlanningComponent);
+
+class PlanningComponent
+{
+public:
+  MOVEIT_STRUCT_FORWARD(PlanSolution);
+
+  class MoveItErrorCode : public moveit_msgs::MoveItErrorCodes
+  {
+  public:
+    MoveItErrorCode()
+    {
+      val = 0;
+    }
+    MoveItErrorCode(int code)
+    {
+      val = code;
+    }
+    MoveItErrorCode(const moveit_msgs::MoveItErrorCodes& code)
+    {
+      val = code.val;
+    }
+    explicit operator bool() const
+    {
+      return val == moveit_msgs::MoveItErrorCodes::SUCCESS;
+    }
+    bool operator==(const int c) const
+    {
+      return val == c;
+    }
+    bool operator!=(const int c) const
+    {
+      return val != c;
+    }
+  };
+
+  /// The representation of a plan solution
+  struct PlanSolution
+  {
+    /// The full starting state used for planning
+    moveit_msgs::RobotState start_state;
+
+    /// The trajectory of the robot (may not contain joints that are the same as for the start_state_)
+    robot_trajectory::RobotTrajectoryPtr trajectory;
+
+    /// Error code
+    MoveItErrorCode error_code;
+
+    explicit operator bool() const
+    {
+      return bool(error_code);
+    }
+  };
+
+  /// Planner parameters provided with the MotionPlanRequest
+  struct PlanRequestParameters
+  {
+    std::string planner_id;
+    std::string planning_pipeline;
+    size_t planning_attempts;
+    double planning_time;
+    double max_velocity_scaling_factor;
+    double max_acceleration_scaling_factor;
+  };
+
+  /** \brief Constructor */
+  PlanningComponent(const std::string& group_name, const ros::NodeHandle& nh);
+  PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_context);
+
+  /**
+   * @brief This class owns unique resources (e.g. action clients, threads) and its not very
+   * meaningful to copy. Pass by references, move it, or simply create multiple instances where
+   * required.
+   */
+  PlanningComponent(const PlanningComponent&) = delete;
+  PlanningComponent& operator=(const PlanningComponent&) = delete;
+
+  PlanningComponent(PlanningComponent&& other);
+  PlanningComponent& operator=(PlanningComponent&& other);
+
+  /** \brief Destructor */
+  ~PlanningComponent();
+
+  /** \brief Get the name of the planning group */
+  const std::string& getName() const;
+
+  /** \brief Get the names of the named robot states available as targets */
+  const std::vector<std::string> getNamedTargets();
+
+  /** \brief Get the joint values for targets specified by name */
+  std::map<std::string, double> getNamedTargetValues(const std::string& name);
+
+  /** \brief Specify the workspace bounding box.
+       The box is specified in the planning frame (i.e. relative to the robot root link start position).
+       This is useful when the planning group contains the root joint of the robot -- i.e. when planning motion for the
+     robot relative to the world. */
+  void setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz);
+
+  /** \brief Remove the workspace bounding box from planning */
+  void unsetWorkspace();
+
+  /** \brief Get the considered start state if defined, otherwise get the current state */
+  robot_state::RobotStatePtr getStartState();
+
+  /** \brief Set the robot state that should be considered as start state for planning */
+  bool setStartState(const robot_state::RobotState& start_state);
+  /** \brief Set the named robot state that should be considered as start state for planning */
+  bool setStartState(const std::string& named_state);
+
+  /** \brief Set the start state for planning to be the current state of the robot */
+  void setStartStateToCurrentState();
+
+  /** \brief Set the goal constraints used for planning */
+  bool setGoal(const std::vector<moveit_msgs::Constraints>& goal_constraints);
+  /** \brief Set the goal constraints generated from a target state */
+  bool setGoal(const robot_state::RobotState& goal_state);
+  /** \brief Set the goal constraints generated from target pose and robot link */
+  bool setGoal(const geometry_msgs::PoseStamped& goal_pose, const std::string& link_name);
+  /** \brief Set the goal constraints generated from a named target state */
+  bool setGoal(const std::string& named_target);
+
+  /** \brief Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using
+   * default parameters. */
+  PlanSolution plan();
+  /** \brief Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the
+   * provided PlanRequestParameters. */
+  PlanSolution plan(const PlanRequestParameters& parameters);
+
+  /** \brief Execute the latest computed solution trajectory computed by plan(). By default this function terminates
+   * after the execution is complete. The execution can be run in background by setting blocking to false. */
+  bool execute(bool blocking = true);
+
+  /** \brief Return the last plan solution*/
+  const PlanSolutionPtr getLastPlanSolution();
+
+private:
+  // Core properties and instances
+  ros::NodeHandle nh_;
+  MoveItCppPtr moveit_cpp_;
+  const std::string group_name_;
+  // The robot_model_ member variable of MoveItCpp class will manually free the joint_model_group_ resources
+  const moveit::core::JointModelGroup* joint_model_group_;
+
+  // Planning
+  std::set<std::string> planning_pipeline_names_;
+  robot_state::RobotStatePtr considered_start_state_;
+  std::vector<moveit_msgs::Constraints> current_goal_constraints_;
+  PlanRequestParameters plan_request_parameters_;
+  moveit_msgs::WorkspaceParameters workspace_parameters_;
+  bool workspace_parameters_set_ = false;
+  PlanSolutionPtr last_plan_solution_;
+
+  // common properties for goals
+  // TODO(henningkayser): support goal tolerances
+  // double goal_joint_tolerance_;
+  // double goal_position_tolerance_;
+  // double goal_orientation_tolerance_;
+  // TODO(henningkayser): implment path/trajectory constraints
+  // std::unique_ptr<moveit_msgs::Constraints> path_constraints_;
+  // std::unique_ptr<moveit_msgs::TrajectoryConstraints> trajectory_constraints_;
+
+  /** \brief Reset all member variables */
+  void clearContents();
+};
+}  // namespace planning_interface
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
new file mode 100644
index 0000000000..f27efed06b
--- /dev/null
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -0,0 +1,333 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Henning Kayser */
+
+#include <stdexcept>
+#include <moveit/moveit_cpp/moveit_cpp.h>
+#include <moveit/planning_scene_monitor/current_state_monitor.h>
+#include <moveit/common_planning_interface_objects/common_objects.h>
+
+#include <std_msgs/String.h>
+#include <tf2/utils.h>
+#include <tf2_ros/transform_listener.h>
+#include <ros/console.h>
+#include <ros/ros.h>
+
+namespace moveit
+{
+namespace planning_interface
+{
+constexpr char LOGNAME[] = "moveit_cpp";
+constexpr char PLANNING_SCENE_MONITOR_NAME[] = "moveit_cpp_planning_scene";
+constexpr char PLANNING_PLUGIN_PARAM[] = "planning_plugin";
+
+MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
+  : MoveItCpp(Options(nh), nh, tf_buffer)
+{
+}
+
+MoveItCpp::MoveItCpp(const Options& opt, const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
+{
+  if (!tf_buffer_)
+    tf_buffer_.reset(new tf2_ros::Buffer());
+  tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_));
+
+  // Configure planning scene monitor
+  if (!loadPlanningSceneMonitor(opt.planning_scene_monitor_options))
+  {
+    std::string error = "Unable to configure planning scene monitor";
+    ROS_FATAL_STREAM_NAMED(LOGNAME, error);
+    throw std::runtime_error(error);
+  }
+
+  robot_model_ = planning_scene_monitor_->getRobotModel();
+  if (!robot_model_)
+  {
+    std::string error = "Unable to construct robot model. Please make sure all needed information is on the "
+                        "parameter server.";
+    ROS_FATAL_STREAM_NAMED(LOGNAME, error);
+    throw std::runtime_error(error);
+  }
+
+  bool load_planning_pipelines = true;
+  if (load_planning_pipelines && !loadPlanningPipelines(opt.planning_pipeline_options))
+  {
+    std::string error = "Failed to load planning pipelines from parameter server";
+    ROS_FATAL_STREAM_NAMED(LOGNAME, error);
+    throw std::runtime_error(error);
+  }
+
+  // TODO(henningkayser): configure trajectory execution manager
+  trajectory_execution_manager_.reset(new trajectory_execution_manager::TrajectoryExecutionManager(
+      robot_model_, planning_scene_monitor_->getStateMonitor()));
+
+  ROS_INFO_NAMED(LOGNAME, "MoveItCpp running");
+}
+
+MoveItCpp::MoveItCpp(MoveItCpp&& other)
+{
+  other.clearContents();
+}
+
+MoveItCpp::~MoveItCpp()
+{
+  ROS_INFO_NAMED(LOGNAME, "Deleting MoveItCpp");
+  clearContents();
+}
+
+MoveItCpp& MoveItCpp::operator=(MoveItCpp&& other)
+{
+  if (this != &other)
+  {
+    this->robot_description_ = other.robot_description_;
+    this->node_handle_ = other.node_handle_;
+    this->tf_buffer_ = other.tf_buffer_;
+    this->robot_model_ = other.robot_model_;
+    this->planning_scene_monitor_ = other.planning_scene_monitor_;
+    other.clearContents();
+  }
+
+  return *this;
+}
+
+bool MoveItCpp::loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& opt)
+{
+  planning_scene_monitor_.reset(
+      new planning_scene_monitor::PlanningSceneMonitor(opt.robot_description, tf_buffer_, opt.name));
+  // Allows us to sycronize to Rviz and also publish collision objects to ourselves
+  ROS_DEBUG_STREAM_NAMED(LOGNAME, "Configuring Planning Scene Monitor");
+  if (planning_scene_monitor_->getPlanningScene())
+  {
+    // Start state and scene monitors
+    ROS_INFO_NAMED(LOGNAME, "Listening to '%s' for joint states", opt.joint_state_topic.c_str());
+    planning_scene_monitor_->startStateMonitor(opt.joint_state_topic, opt.attached_collision_object_topic);
+    planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
+                                                          opt.publish_planning_scene_topic);
+    planning_scene_monitor_->startSceneMonitor(opt.monitored_planning_scene_topic);
+  }
+  else
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Planning scene not configured");
+    return false;
+  }
+  // TODO(henningkayser): fix and remove lines below
+  ros::spinOnce();
+  ros::Duration(0.5).sleep();  // when at 0.1, i believe sometimes vjoint not properly loaded
+
+  // Wait for complete state to be recieved
+  if (opt.wait_for_initial_state_timeout > 0.0)
+  {
+    return planning_scene_monitor_->getStateMonitor()->waitForCurrentState(ros::Time::now(),
+                                                                           opt.wait_for_initial_state_timeout);
+  }
+
+  return true;
+}
+
+bool MoveItCpp::loadPlanningPipelines(const PlanningPipelineOptions& opt)
+{
+  ros::NodeHandle node_handle(opt.parent_namespace.empty() ? "~" : opt.parent_namespace);
+  for (const auto& planning_pipeline_name : opt.pipeline_names)
+  {
+    if (planning_pipelines_.count(planning_pipeline_name) > 0)
+    {
+      ROS_WARN_NAMED(LOGNAME, "Skipping duplicate entry for planning pipeline '%s'.", planning_pipeline_name.c_str());
+      continue;
+    }
+    ROS_INFO_NAMED(LOGNAME, "Loading planning pipeline '%s'", planning_pipeline_name.c_str());
+    ros::NodeHandle child_nh(node_handle, planning_pipeline_name);
+    planning_pipeline::PlanningPipelinePtr pipeline;
+    pipeline.reset(new planning_pipeline::PlanningPipeline(robot_model_, child_nh, PLANNING_PLUGIN_PARAM));
+
+    if (!pipeline->getPlannerManager())
+    {
+      ROS_ERROR_NAMED(LOGNAME, "Failed to initialize planning pipeline '%s'.", planning_pipeline_name.c_str());
+      continue;
+    }
+    planning_pipelines_[planning_pipeline_name] = pipeline;
+  }
+
+  if (planning_pipelines_.empty())
+  {
+    return false;
+    ROS_ERROR_NAMED(LOGNAME, "Failed to load any planning pipelines.");
+  }
+
+  // Retrieve group/pipeline mapping for faster lookup
+  std::vector<std::string> group_names = robot_model_->getJointModelGroupNames();
+  for (const auto& pipeline_entry : planning_pipelines_)
+  {
+    for (const auto& group_name : group_names)
+    {
+      groups_pipelines_map_[group_name] = {};
+      const auto& pipeline = pipeline_entry.second;
+      for (const auto& planner_configuration : pipeline->getPlannerManager()->getPlannerConfigurations())
+      {
+        if (planner_configuration.second.group == group_name)
+        {
+          groups_pipelines_map_[group_name].insert(pipeline_entry.first);
+        }
+      }
+    }
+  }
+
+  return true;
+}
+
+robot_model::RobotModelConstPtr MoveItCpp::getRobotModel() const
+{
+  ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getRobotModel()");
+  return robot_model_;
+}
+
+const ros::NodeHandle& MoveItCpp::getNodeHandle() const
+{
+  ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getNodeHandle()");
+  return node_handle_;
+}
+
+bool MoveItCpp::getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds)
+{
+  if (wait_seconds > 0.0 &&
+      !planning_scene_monitor_->getStateMonitor()->waitForCurrentState(ros::Time::now(), wait_seconds))
+  {
+    ROS_ERROR_NAMED(LOGNAME, "Did not receive robot state");
+    return false;
+  }
+  {  // Lock planning scene
+    planning_scene_monitor::LockedPlanningSceneRO scene(planning_scene_monitor_);
+    current_state.reset(new moveit::core::RobotState(scene->getCurrentState()));
+  }  // Unlock planning scene
+  return true;
+}
+
+robot_state::RobotStatePtr MoveItCpp::getCurrentState(double wait)
+{
+  robot_state::RobotStatePtr current_state;
+  getCurrentState(current_state, wait);
+  return current_state;
+}
+
+const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& MoveItCpp::getPlanningPipelines() const
+{
+  return planning_pipelines_;
+}
+
+std::set<std::string> MoveItCpp::getPlanningPipelineNames(const std::string& group_name) const
+{
+  std::set<std::string> result_names;
+  if (!group_name.empty() && groups_pipelines_map_.count(group_name) == 0)
+  {
+    ROS_ERROR_NAMED(LOGNAME, "There are no planning pipelines loaded for group '%s'.", group_name.c_str());
+    return result_names;  // empty
+  }
+  for (const auto& pipeline_entry : planning_pipelines_)
+  {
+    const std::string& pipeline_name = pipeline_entry.first;
+    // If group_name is defined and valid, skip pipelines that don't belong to the planning group
+    if (!group_name.empty())
+    {
+      const auto& group_pipelines = groups_pipelines_map_.at(group_name);
+      if (group_pipelines.find(pipeline_name) == group_pipelines.end())
+        continue;
+    }
+    result_names.insert(pipeline_name);
+  }
+  return result_names;
+}
+
+const planning_scene_monitor::PlanningSceneMonitorPtr& MoveItCpp::getPlanningSceneMonitor() const
+{
+  return planning_scene_monitor_;
+}
+planning_scene_monitor::PlanningSceneMonitorPtr MoveItCpp::getPlanningSceneMonitorNonConst()
+{
+  return planning_scene_monitor_;
+}
+
+const trajectory_execution_manager::TrajectoryExecutionManagerPtr& MoveItCpp::getTrajectoryExecutionManager() const
+{
+  return trajectory_execution_manager_;
+}
+
+trajectory_execution_manager::TrajectoryExecutionManagerPtr MoveItCpp::getTrajectoryExecutionManagerNonConst()
+{
+  return trajectory_execution_manager_;
+}
+
+bool MoveItCpp::execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
+                        bool blocking)
+{
+  if (!robot_trajectory)
+  {
+    ROS_ERROR_NAMED(LOGNAME, "Robot trajectory is undefined");
+    return false;
+  }
+
+  // Check if there are controllers that can handle the execution
+  if (!trajectory_execution_manager_->ensureActiveControllersForGroup(group_name))
+  {
+    ROS_ERROR_NAMED(LOGNAME, "Execution failed! No active controllers configured for group '%s'", group_name.c_str());
+    return false;
+  }
+
+  // Execute trajectory
+  moveit_msgs::RobotTrajectory robot_trajectory_msg;
+  robot_trajectory->getRobotTrajectoryMsg(robot_trajectory_msg);
+  if (blocking)
+  {
+    trajectory_execution_manager_->push(robot_trajectory_msg);
+    trajectory_execution_manager_->execute();
+    return trajectory_execution_manager_->waitForExecution();
+  }
+  trajectory_execution_manager_->pushAndExecute(robot_trajectory_msg);
+  return true;
+}
+
+const std::shared_ptr<tf2_ros::Buffer>& MoveItCpp::getTFBuffer() const
+{
+  return tf_buffer_;
+}
+
+void MoveItCpp::clearContents()
+{
+  robot_description_.clear();
+  tf_buffer_.reset();
+  planning_scene_monitor_.reset();
+  robot_model_.reset();
+  planning_pipelines_.clear();
+}
+}  //  planning_interface
+}  //  moveit
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
new file mode 100644
index 0000000000..2ce083b17d
--- /dev/null
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -0,0 +1,354 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Henning Kayser */
+
+#include <stdexcept>
+#include <sstream>
+#include <memory>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/move_group/capability_names.h>
+#include <moveit/moveit_cpp/planning_component.h>
+#include <moveit/planning_scene_monitor/current_state_monitor.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
+#include <moveit/common_planning_interface_objects/common_objects.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/PickupAction.h>
+#include <moveit_msgs/ExecuteTrajectoryAction.h>
+#include <moveit_msgs/PlaceAction.h>
+#include <moveit_msgs/ExecuteKnownTrajectory.h>
+#include <moveit_msgs/QueryPlannerInterfaces.h>
+#include <moveit_msgs/GetCartesianPath.h>
+#include <moveit_msgs/GraspPlanning.h>
+#include <moveit_msgs/GetPlannerParams.h>
+#include <moveit_msgs/SetPlannerParams.h>
+
+#include <std_msgs/String.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <tf2/utils.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/transform_listener.h>
+#include <ros/console.h>
+#include <ros/ros.h>
+
+namespace moveit
+{
+namespace planning_interface
+{
+constexpr char LOGNAME[] = "planning_component";
+
+PlanningComponent::PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_context)
+  : group_name_(group_name), nh_(moveit_context->getNodeHandle()), moveit_cpp_(moveit_context)
+{
+  joint_model_group_ = moveit_cpp_->getRobotModel()->getJointModelGroup(group_name);
+  if (!joint_model_group_)
+  {
+    std::string error = "Could not find joint model group '" + group_name + "'.";
+    ROS_FATAL_STREAM_NAMED(LOGNAME, error);
+    throw std::runtime_error(error);
+  }
+  planning_pipeline_names_ = moveit_cpp_->getPlanningPipelineNames(group_name);
+}
+
+PlanningComponent::PlanningComponent(const std::string& group_name, const ros::NodeHandle& nh)
+  : group_name_(group_name), nh_(nh), moveit_cpp_(new MoveItCpp(nh))
+{
+}
+
+PlanningComponent::~PlanningComponent()
+{
+  ROS_INFO_NAMED(LOGNAME, "Deleting PlanningComponent '%s'", group_name_.c_str());
+  clearContents();
+}
+
+PlanningComponent& PlanningComponent::operator=(PlanningComponent&& other)
+{
+  if (this != &other)
+  {
+    this->considered_start_state_ = other.considered_start_state_;
+    this->workspace_parameters_ = other.workspace_parameters_;
+    this->last_plan_solution_ = other.last_plan_solution_;
+    other.clearContents();
+  }
+  return *this;
+}
+
+const std::vector<std::string> PlanningComponent::getNamedTargets()
+{
+  if (joint_model_group_)
+  {
+    return joint_model_group_->getDefaultStateNames();
+  }
+  else
+  {
+    ROS_WARN_NAMED(LOGNAME, "Unable to find joint group with name '%s'.", group_name_.c_str());
+  }
+
+  std::vector<std::string> empty;
+  return empty;
+}
+
+const std::string& PlanningComponent::getName() const
+{
+  return group_name_;
+}
+
+PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParameters& parameters)
+{
+  last_plan_solution_.reset(new PlanSolution());
+  if (!joint_model_group_)
+  {
+    ROS_ERROR_NAMED(LOGNAME, "Failed to retrieve joint model group for name '%s'.", group_name_.c_str());
+    last_plan_solution_->error_code = MoveItErrorCode(moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME);
+    return *last_plan_solution_;
+  }
+
+  // Clone current planning scene
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor =
+      moveit_cpp_->getPlanningSceneMonitorNonConst();
+  planning_scene_monitor->updateFrameTransforms();
+  planning_scene_monitor->lockSceneRead();  // LOCK planning scene
+  planning_scene::PlanningScenePtr planning_scene =
+      planning_scene::PlanningScene::clone(planning_scene_monitor->getPlanningScene());
+  planning_scene_monitor->unlockSceneRead();  // UNLOCK planning scene
+  planning_scene_monitor.reset();             // release this pointer
+
+  // Init MotionPlanRequest
+  ::planning_interface::MotionPlanRequest req;
+  req.group_name = group_name_;
+  req.planner_id = parameters.planner_id;
+  req.allowed_planning_time = parameters.planning_time;
+  req.max_velocity_scaling_factor = parameters.max_velocity_scaling_factor;
+  req.max_acceleration_scaling_factor = parameters.max_acceleration_scaling_factor;
+  if (workspace_parameters_set_)
+    req.workspace_parameters = workspace_parameters_;
+
+  // Set start state
+  moveit::core::RobotStatePtr start_state = considered_start_state_;
+  if (!start_state)
+    start_state = moveit_cpp_->getCurrentState();
+  moveit::core::robotStateToRobotStateMsg(*start_state, req.start_state);
+  planning_scene->setCurrentState(*start_state);
+
+  // Set goal constraints
+  if (current_goal_constraints_.empty())
+  {
+    ROS_ERROR_NAMED(LOGNAME, "No goal constraints set for planning request");
+    last_plan_solution_->error_code = MoveItErrorCode(moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+    return *last_plan_solution_;
+  }
+  req.goal_constraints = current_goal_constraints_;
+
+  // Run planning attempt
+  ::planning_interface::MotionPlanResponse res;
+  if (planning_pipeline_names_.find(parameters.planning_pipeline) == planning_pipeline_names_.end())
+  {
+    ROS_ERROR_NAMED(LOGNAME, "No planning pipeline available for name '%s'", parameters.planning_pipeline.c_str());
+    last_plan_solution_->error_code = MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+    return *last_plan_solution_;
+  }
+  const planning_pipeline::PlanningPipelinePtr pipeline =
+      moveit_cpp_->getPlanningPipelines().at(parameters.planning_pipeline);
+  pipeline->generatePlan(planning_scene, req, res);
+  last_plan_solution_->error_code = res.error_code_.val;
+  if (res.error_code_.val != res.error_code_.SUCCESS)
+  {
+    ROS_ERROR("Could not compute plan successfully");
+    return *last_plan_solution_;
+  }
+  last_plan_solution_->start_state = req.start_state;
+  last_plan_solution_->trajectory = res.trajectory_;
+  // TODO(henningkayser): Visualize trajectory
+  // std::vector<const moveit::core::LinkModel*> eef_links;
+  // if (joint_model_group->getEndEffectorTips(eef_links))
+  //{
+  //  for (const auto& eef_link : eef_links)
+  //  {
+  //    ROS_INFO_STREAM("Publishing trajectory for end effector " << eef_link->getName());
+  //    visual_tools_->publishTrajectoryLine(last_solution_trajectory_, eef_link);
+  //    visual_tools_->publishTrajectoryPath(last_solution_trajectory_, false);
+  //    visual_tools_->publishRobotState(last_solution_trajectory_->getLastWayPoint(), rviz_visual_tools::TRANSLUCENT);
+  //  }
+  //}
+  return *last_plan_solution_;
+}
+
+PlanningComponent::PlanSolution PlanningComponent::plan()
+{
+  PlanRequestParameters default_parameters;
+  default_parameters.planning_attempts = 1;
+  default_parameters.planning_time = 5.0;
+  default_parameters.max_velocity_scaling_factor = 1.0;
+  default_parameters.max_acceleration_scaling_factor = 1.0;
+  if (!planning_pipeline_names_.empty())
+    default_parameters.planning_pipeline = *planning_pipeline_names_.begin();
+  return plan(default_parameters);
+}
+
+bool PlanningComponent::setStartState(const robot_state::RobotState& start_state)
+{
+  considered_start_state_.reset(new robot_state::RobotState(start_state));
+  return true;
+}
+
+robot_state::RobotStatePtr PlanningComponent::getStartState()
+{
+  if (considered_start_state_)
+    return considered_start_state_;
+  else
+  {
+    robot_state::RobotStatePtr s;
+    moveit_cpp_->getCurrentState(s, 1.0);
+    return s;
+  }
+}
+
+bool PlanningComponent::setStartState(const std::string& start_state_name)
+{
+  const auto& named_targets = getNamedTargets();
+  if (std::find(named_targets.begin(), named_targets.end(), start_state_name) == named_targets.end())
+  {
+    ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", start_state_name.c_str());
+    return false;
+  }
+  robot_state::RobotState start_state(moveit_cpp_->getRobotModel());
+  start_state.setToDefaultValues(joint_model_group_, start_state_name);
+  return setStartState(start_state);
+}
+
+void PlanningComponent::setStartStateToCurrentState()
+{
+  considered_start_state_.reset();
+}
+
+std::map<std::string, double> PlanningComponent::getNamedTargetValues(const std::string& name)
+{
+  // TODO(henningkayser): verify result
+  std::map<std::string, double> positions;
+  joint_model_group_->getVariableDefaultPositions(name, positions);
+  return positions;
+}
+
+void PlanningComponent::setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz)
+{
+  workspace_parameters_.header.frame_id = moveit_cpp_->getRobotModel()->getModelFrame();
+  workspace_parameters_.header.stamp = ros::Time::now();
+  workspace_parameters_.min_corner.x = minx;
+  workspace_parameters_.min_corner.y = miny;
+  workspace_parameters_.min_corner.z = minz;
+  workspace_parameters_.max_corner.x = maxx;
+  workspace_parameters_.max_corner.y = maxy;
+  workspace_parameters_.max_corner.z = maxz;
+  workspace_parameters_set_ = true;
+}
+
+void PlanningComponent::unsetWorkspace()
+{
+  workspace_parameters_set_ = false;
+}
+
+bool PlanningComponent::setGoal(const std::vector<moveit_msgs::Constraints>& goal_constraints)
+{
+  current_goal_constraints_ = goal_constraints;
+  return true;
+}
+
+bool PlanningComponent::setGoal(const robot_state::RobotState& goal_state)
+{
+  current_goal_constraints_ = { kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group_) };
+  return true;
+}
+
+bool PlanningComponent::setGoal(const geometry_msgs::PoseStamped& goal_pose, const std::string& link_name)
+{
+  const auto& joint_names = joint_model_group_->getLinkModelNames();
+  // if (std::find(joint_names.begin(), joint_names.end(), link_name) == joint_names.end())
+  //{
+  //  ROS_ERROR_NAMED(LOGNAME, "Link '%s' is not part of joint model group '%s'.", link_name.c_str(),
+  //                  group_name_.c_str());
+  //  return false;
+  //}
+  current_goal_constraints_ = { kinematic_constraints::constructGoalConstraints(link_name, goal_pose) };
+  return true;
+}
+
+bool PlanningComponent::setGoal(const std::string& goal_state_name)
+{
+  const auto& named_targets = getNamedTargets();
+  if (std::find(named_targets.begin(), named_targets.end(), goal_state_name) == named_targets.end())
+  {
+    ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", goal_state_name.c_str());
+    return false;
+  }
+  robot_state::RobotState goal_state(moveit_cpp_->getRobotModel());
+  goal_state.setToDefaultValues(joint_model_group_, goal_state_name);
+  return setGoal(goal_state);
+}
+
+bool PlanningComponent::execute(bool blocking)
+{
+  if (!last_plan_solution_)
+  {
+    ROS_ERROR_NAMED(LOGNAME, "There is no successfull plan to execute");
+    return false;
+  }
+
+  // TODO(henningkayser): parameterize timestamps if required
+  // trajectory_processing::TimeOptimalTrajectoryGeneration totg;
+  // if (!totg.computeTimeStamps(*last_solution_trajectory_, max_velocity_scaling_factor_,
+  // max_acceleration_scaling_factor_))
+  //{
+  //  ROS_ERROR("Failed to parameterize trajectory");
+  //  return false;
+  //}
+  return moveit_cpp_->execute(group_name_, last_plan_solution_->trajectory, blocking);
+}
+
+const PlanningComponent::PlanSolutionPtr PlanningComponent::getLastPlanSolution()
+{
+  return last_plan_solution_;
+}
+
+void PlanningComponent::clearContents()
+{
+  considered_start_state_.reset();
+  last_plan_solution_.reset();
+  current_goal_constraints_.clear();
+  moveit_cpp_.reset();
+  planning_pipeline_names_.clear();
+}
+}  //  planning_interface
+}  //  moveit

From 849e2fbba1a25e429869198c6172131246c3008c Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Wed, 25 Sep 2019 14:05:30 +0300
Subject: [PATCH 093/612] Initial unit tests for MoveItCpp (#4)

---
 .../planning_interface/test/CMakeLists.txt    |   2 +
 .../planning_interface/test/moveit_cpp.yaml   |  17 ++
 .../test/moveit_cpp_test.cpp                  | 178 ++++++++++++++++++
 .../test/moveit_cpp_test.test                 |  34 ++++
 4 files changed, 231 insertions(+)
 create mode 100644 moveit_ros/planning_interface/test/moveit_cpp.yaml
 create mode 100644 moveit_ros/planning_interface/test/moveit_cpp_test.cpp
 create mode 100644 moveit_ros/planning_interface/test/moveit_cpp_test.test

diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 979b4e1f92..7228694591 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -5,6 +5,8 @@ if (CATKIN_ENABLE_TESTING)
   add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
 
+  add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
+  target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
   add_rostest(python_move_group.test)
   add_rostest(python_move_group_ns.test)
   add_rostest(robot_state_update.test)
diff --git a/moveit_ros/planning_interface/test/moveit_cpp.yaml b/moveit_ros/planning_interface/test/moveit_cpp.yaml
new file mode 100644
index 0000000000..910b85c700
--- /dev/null
+++ b/moveit_ros/planning_interface/test/moveit_cpp.yaml
@@ -0,0 +1,17 @@
+planning_scene_monitor_options:
+  name: "planning_scene_monitor"
+  robot_description: "robot_description"
+  joint_state_topic: "/joint_states"
+  attached_collision_object_topic: "/planning_scene_monitor"
+  publish_planning_scene_topic: "/publish_planning_scene"
+  monitored_planning_scene_topic: "/monitored_planning_scene"
+  wait_for_initial_state_timeout: 10.0
+
+planning_pipelines:
+  pipeline_names:
+    - ompl
+
+default_planner_options:
+  planning_attempts: 1
+  max_velocity_scaling_factor: 1.0
+  max_acceleration_scaling_factor: 1.0
\ No newline at end of file
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.cpp b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
new file mode 100644
index 0000000000..ebea62a82d
--- /dev/null
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
@@ -0,0 +1,178 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jafar Abdi
+   Desc: Test the MoveItCpp and PlanningComponent interfaces
+*/
+
+// ROS
+#include <ros/ros.h>
+
+// Testing
+#include <gtest/gtest.h>
+
+// Main class
+#include <moveit/moveit_cpp/moveit_cpp.h>
+#include <moveit/moveit_cpp/planning_component.h>
+// Msgs
+#include <geometry_msgs/PointStamped.h>
+
+namespace moveit
+{
+namespace planning_interface
+{
+class MoveItCppTest : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    nh_ = ros::NodeHandle("/moveit_cpp_test");
+    moveit_cpp_ptr = std::make_shared<MoveItCpp>(nh_);
+    planning_component_ptr = std::make_shared<PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
+    robot_model_ptr = moveit_cpp_ptr->getRobotModel();
+    jmg_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);
+
+    target_pose1.header.frame_id = "panda_link0";
+    target_pose1.pose.orientation.w = 1.0;
+    target_pose1.pose.position.x = 0.28;
+    target_pose1.pose.position.y = -0.2;
+    target_pose1.pose.position.z = 0.5;
+
+    start_pose.orientation.w = 1.0;
+    start_pose.position.x = 0.55;
+    start_pose.position.y = 0.0;
+    start_pose.position.z = 0.6;
+
+    target_pose2.orientation.w = 1.0;
+    target_pose2.position.x = 0.55;
+    target_pose2.position.y = -0.05;
+    target_pose2.position.z = 0.8;
+  }
+
+protected:
+  ros::NodeHandle nh_;
+  MoveItCppPtr moveit_cpp_ptr;
+  PlanningComponentPtr planning_component_ptr;
+  robot_model::RobotModelConstPtr robot_model_ptr;
+  const moveit::core::JointModelGroup* jmg_ptr;
+  const std::string PLANNING_GROUP = "panda_arm";
+  geometry_msgs::PoseStamped target_pose1;
+  geometry_msgs::Pose target_pose2;
+  geometry_msgs::Pose start_pose;
+};
+
+// Test the current and the initial state of the Panda robot
+TEST_F(MoveItCppTest, GetCurrentStateTest)
+{
+  ros::Duration(1.0).sleep();  // Otherwise joint_states will result in an invalid robot state
+  auto robot_model = moveit_cpp_ptr->getRobotModel();
+  auto robot_state = std::make_shared<robot_state::RobotState>(robot_model);
+  EXPECT_TRUE(moveit_cpp_ptr->getCurrentState(robot_state, 0.0));
+  // Make sure the Panda robot is in "ready" state which is loaded from fake_controller.yaml
+  std::vector<double> joints_vals;
+  robot_state->copyJointGroupPositions(PLANNING_GROUP, joints_vals);
+  EXPECT_NEAR(joints_vals[0], 0.0, 0.001);     // panda_joint1
+  EXPECT_NEAR(joints_vals[1], -0.785, 0.001);  // panda_joint2
+  EXPECT_NEAR(joints_vals[2], 0.0, 0.001);     // panda_joint3
+  EXPECT_NEAR(joints_vals[3], -2.356, 0.001);  // panda_joint4
+  EXPECT_NEAR(joints_vals[4], 0.0, 0.001);     // panda_joint5
+  EXPECT_NEAR(joints_vals[5], 1.571, 0.001);   // panda_joint6
+  EXPECT_NEAR(joints_vals[6], 0.785, 0.001);   // panda_joint7
+}
+
+// Test the name of the planning group used by PlanningComponent for the Panda robot
+TEST_F(MoveItCppTest, NameOfPlanningGroupTest)
+{
+  EXPECT_STREQ(planning_component_ptr->getPlanningGroupName().c_str(), "panda_arm");
+}
+
+// Test setting the start state of the plan to the current state of the robot
+TEST_F(MoveItCppTest, TestSetStartStateToCurrentState)
+{
+  planning_component_ptr->setStartStateToCurrentState();
+  planning_component_ptr->setGoal(target_pose1, "panda_link8");
+
+  ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
+  // TODO(JafarAbdi) adding testing to the soln state
+}
+
+// Test setting the goal using geometry_msgs::PoseStamped and a robot's link name
+TEST_F(MoveItCppTest, TestSetGoalFromPoseStamped)
+{
+  planning_component_ptr->setStartStateToCurrentState();
+
+  geometry_msgs::PoseStamped target_pose1;
+  planning_component_ptr->setGoal(target_pose1, "panda_link8");
+
+  ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
+}
+
+// Test setting the plan start state using robot_state::RobotState
+TEST_F(MoveItCppTest, TestSetStartStateFromRobotState)
+{
+  auto start_state = *(moveit_cpp_ptr->getCurrentState());
+  start_state.setFromIK(jmg_ptr, start_pose);
+
+  planning_component_ptr->setStartState(start_state);
+  planning_component_ptr->setGoal(target_pose1, "panda_link8");
+
+  ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
+}
+
+// Test settting the goal of the plan using a robot_state::RobotState
+TEST_F(MoveItCppTest, TestSetGoalFromRobotState)
+{
+  auto target_state = *(moveit_cpp_ptr->getCurrentState());
+
+  target_state.setFromIK(jmg_ptr, target_pose2);
+
+  planning_component_ptr->setGoal(target_state);
+
+  ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
+}
+}  // namespace planning_interface
+}  // namespace moveit
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "moveit_cpp_test");
+
+  ros::AsyncSpinner spinner(4);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+
+  return result;
+}
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.test b/moveit_ros/planning_interface/test/moveit_cpp_test.test
new file mode 100644
index 0000000000..dac1ee0807
--- /dev/null
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.test
@@ -0,0 +1,34 @@
+<launch>
+    <!-- Specify the config files to use -->
+    <rosparam ns="moveit_cpp_test" command="load" file="$(find moveit_ros_planning_interface)/test/moveit_cpp.yaml" />
+
+    <!-- Planning Pipeline -->
+    <include ns="/moveit_cpp_test/ompl" file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml"/>
+
+    <!-- Trajectory execution  -->
+    <!--include ns="moveit_cpp_test" file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml">
+      <arg name="moveit_controller_manager" value="fake"/>
+    </include-->
+
+    <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+    <include ns="moveit_cpp_test" file="$(find panda_moveit_config)/launch/fake_moveit_controller_manager.launch.xml" />
+
+    <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+    <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+      <arg name="load_robot_description" value="true"/>
+    </include>
+
+    <!-- If needed, broadcast static tf for robot root -->
+    <!--node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" /-->
+
+    <!-- Send fake joint values -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+      <rosparam param="source_list">["/moveit_cpp_test/fake_controller_joint_states"]</rosparam>
+    </node>
+
+    <!-- Start robot state publisher -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+    <!-- Unit Test /-->
+    <test test-name="moveit_cpp_test" pkg="moveit_ros_planning_interface" type="moveit_cpp_test" />
+</launch>

From 195e9a1455dd59c5f78112d9458ac08452189ce8 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Mon, 18 Nov 2019 17:07:42 +0300
Subject: [PATCH 094/612] Fix warnings + improve readability in MoveItCpp

---
 .../moveit_cpp/CMakeLists.txt                 | 11 +++-
 .../include/moveit/moveit_cpp/moveit_cpp.h    | 36 +++++--------
 .../moveit/moveit_cpp/planning_component.h    | 22 ++++----
 .../moveit_cpp/src/moveit_cpp.cpp             | 50 ++++++++-----------
 .../moveit_cpp/src/planning_component.cpp     | 27 ++++------
 5 files changed, 66 insertions(+), 80 deletions(-)

diff --git a/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt b/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
index 098becde4b..a61a60f06f 100644
--- a/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
+++ b/moveit_ros/planning_interface/moveit_cpp/CMakeLists.txt
@@ -1,8 +1,15 @@
 set(MOVEIT_LIB_NAME moveit_cpp)
 
-add_library(${MOVEIT_LIB_NAME} src/moveit_cpp.cpp src/planning_component.cpp)
+add_library(${MOVEIT_LIB_NAME}
+  src/moveit_cpp.cpp
+  src/planning_component.cpp
+  )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME}
+  moveit_common_planning_interface_objects
+  moveit_planning_scene_interface
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index fd81721ec5..affeceb1a7 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -32,7 +32,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Henning Kayser */
+/* Author: Henning Kayser
+   Desc: A high level interface that does not require the use of ROS Actions, Services, and Messages to access the
+   core MoveIt functionality
+*/
 
 #pragma once
 
@@ -78,6 +81,8 @@ class MoveItCpp
     std::string publish_planning_scene_topic;
     double wait_for_initial_state_timeout;
   };
+
+  /// struct contains the the variables used for loading the planning pipeline
   struct PlanningPipelineOptions
   {
     void load(const ros::NodeHandle& nh)
@@ -89,20 +94,6 @@ class MoveItCpp
     std::vector<std::string> pipeline_names;
     std::string parent_namespace;
   };
-  struct PlannerOptions
-  {
-    void load(const ros::NodeHandle& nh)
-    {
-      std::string ns = "default_planner_options/";
-      nh.getParam(ns + "planning_attempts", planning_attempts);
-      nh.getParam(ns + "max_velocity_scaling_factor", max_velocity_scaling_factor);
-      nh.getParam(ns + "max_acceleration_scaling_factor", max_acceleration_scaling_factor);
-    }
-    int planning_attempts;
-    double planning_time;
-    double max_velocity_scaling_factor;
-    double max_acceleration_scaling_factor;
-  };
 
   /// Parameter container for initializing MoveItCpp
   struct Options
@@ -110,18 +101,16 @@ class MoveItCpp
     Options(const ros::NodeHandle& nh)
     {
       planning_scene_monitor_options.load(nh);
-      default_planner_options.load(nh);
       planning_pipeline_options.load(nh);
     }
 
     PlanningSceneMonitorOptions planning_scene_monitor_options;
     PlanningPipelineOptions planning_pipeline_options;
-    PlannerOptions default_planner_options;
   };
 
   /** \brief Constructor */
   MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = {});
-  MoveItCpp(const Options& opt, const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = {});
+  MoveItCpp(const Options& options, const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = {});
 
   /**
    * @brief This class owns unique resources (e.g. action clients, threads) and its not very
@@ -143,10 +132,12 @@ class MoveItCpp
   /** \brief Get the ROS node handle of this instance operates on */
   const ros::NodeHandle& getNodeHandle() const;
 
-  /** \brief Get the current state queried from the current state monitor */
+  /** \brief Get the current state queried from the current state monitor
+      \param wait_seconds the time in seconds for the state monitor to wait for a robot state. */
   bool getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds);
 
-  /** \brief Get the current state queried from the current state monitor */
+  /** \brief Get the current state queried from the current state monitor
+      \param wait_seconds the time in seconds for the state monitor to wait for a robot state. */
   robot_state::RobotStatePtr getCurrentState(double wait_seconds = 0.0);
 
   /** \brief Get all loaded planning pipeline instances mapped to their reference names */
@@ -178,7 +169,6 @@ class MoveItCpp
 private:
   //  Core properties and instances
   ros::NodeHandle node_handle_;
-  std::string robot_description_;
   robot_model::RobotModelConstPtr robot_model_;
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
@@ -194,10 +184,10 @@ class MoveItCpp
   void clearContents();
 
   /** \brief Initialize and setup the planning scene monitor */
-  bool loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& opt);
+  bool loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& options);
 
   /** \brief Initialize and setup the planning pipelines */
-  bool loadPlanningPipelines(const PlanningPipelineOptions& opt);
+  bool loadPlanningPipelines(const PlanningPipelineOptions& options);
 };
 }  // namespace planning_interface
 }  // namespace moveit
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index 06d8124edf..51032ee3ec 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -32,7 +32,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Henning Kayser */
+/* Author: Henning Kayser
+   Desc: API for planning and execution capabilities of a JointModelGroup */
 
 #pragma once
 
@@ -74,13 +75,13 @@ class PlanningComponent
     {
       return val == moveit_msgs::MoveItErrorCodes::SUCCESS;
     }
-    bool operator==(const int c) const
+    bool operator==(const int code) const
     {
-      return val == c;
+      return val == code;
     }
-    bool operator!=(const int c) const
+    bool operator!=(const int code) const
     {
-      return val != c;
+      return val != code;
     }
   };
 
@@ -93,7 +94,7 @@ class PlanningComponent
     /// The trajectory of the robot (may not contain joints that are the same as for the start_state_)
     robot_trajectory::RobotTrajectoryPtr trajectory;
 
-    /// Error code
+    /// Reason why the plan failed
     MoveItErrorCode error_code;
 
     explicit operator bool() const
@@ -115,7 +116,7 @@ class PlanningComponent
 
   /** \brief Constructor */
   PlanningComponent(const std::string& group_name, const ros::NodeHandle& nh);
-  PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_context);
+  PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_cpp);
 
   /**
    * @brief This class owns unique resources (e.g. action clients, threads) and its not very
@@ -132,13 +133,13 @@ class PlanningComponent
   ~PlanningComponent();
 
   /** \brief Get the name of the planning group */
-  const std::string& getName() const;
+  const std::string& getPlanningGroupName() const;
 
   /** \brief Get the names of the named robot states available as targets */
-  const std::vector<std::string> getNamedTargets();
+  const std::vector<std::string> getNamedTargetStates();
 
   /** \brief Get the joint values for targets specified by name */
-  std::map<std::string, double> getNamedTargetValues(const std::string& name);
+  std::map<std::string, double> getNamedTargetStateValues(const std::string& name);
 
   /** \brief Specify the workspace bounding box.
        The box is specified in the planning frame (i.e. relative to the robot root link start position).
@@ -193,6 +194,7 @@ class PlanningComponent
 
   // Planning
   std::set<std::string> planning_pipeline_names_;
+  // The start state used in the planning motion request
   robot_state::RobotStatePtr considered_start_state_;
   std::vector<moveit_msgs::Constraints> current_goal_constraints_;
   PlanRequestParameters plan_request_parameters_;
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index f27efed06b..c3dd2ee9f9 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -50,7 +50,6 @@ namespace moveit
 namespace planning_interface
 {
 constexpr char LOGNAME[] = "moveit_cpp";
-constexpr char PLANNING_SCENE_MONITOR_NAME[] = "moveit_cpp_planning_scene";
 constexpr char PLANNING_PLUGIN_PARAM[] = "planning_plugin";
 
 MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
@@ -58,16 +57,17 @@ MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::B
 {
 }
 
-MoveItCpp::MoveItCpp(const Options& opt, const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
+MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& nh,
+                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
 {
   if (!tf_buffer_)
     tf_buffer_.reset(new tf2_ros::Buffer());
   tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_));
 
   // Configure planning scene monitor
-  if (!loadPlanningSceneMonitor(opt.planning_scene_monitor_options))
+  if (!loadPlanningSceneMonitor(options.planning_scene_monitor_options))
   {
-    std::string error = "Unable to configure planning scene monitor";
+    const std::string error = "Unable to configure planning scene monitor";
     ROS_FATAL_STREAM_NAMED(LOGNAME, error);
     throw std::runtime_error(error);
   }
@@ -75,16 +75,16 @@ MoveItCpp::MoveItCpp(const Options& opt, const ros::NodeHandle& nh, const std::s
   robot_model_ = planning_scene_monitor_->getRobotModel();
   if (!robot_model_)
   {
-    std::string error = "Unable to construct robot model. Please make sure all needed information is on the "
-                        "parameter server.";
+    const std::string error = "Unable to construct robot model. Please make sure all needed information is on the "
+                              "parameter server.";
     ROS_FATAL_STREAM_NAMED(LOGNAME, error);
     throw std::runtime_error(error);
   }
 
   bool load_planning_pipelines = true;
-  if (load_planning_pipelines && !loadPlanningPipelines(opt.planning_pipeline_options))
+  if (load_planning_pipelines && !loadPlanningPipelines(options.planning_pipeline_options))
   {
-    std::string error = "Failed to load planning pipelines from parameter server";
+    const std::string error = "Failed to load planning pipelines from parameter server";
     ROS_FATAL_STREAM_NAMED(LOGNAME, error);
     throw std::runtime_error(error);
   }
@@ -111,7 +111,6 @@ MoveItCpp& MoveItCpp::operator=(MoveItCpp&& other)
 {
   if (this != &other)
   {
-    this->robot_description_ = other.robot_description_;
     this->node_handle_ = other.node_handle_;
     this->tf_buffer_ = other.tf_buffer_;
     this->robot_model_ = other.robot_model_;
@@ -122,44 +121,41 @@ MoveItCpp& MoveItCpp::operator=(MoveItCpp&& other)
   return *this;
 }
 
-bool MoveItCpp::loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& opt)
+bool MoveItCpp::loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& options)
 {
   planning_scene_monitor_.reset(
-      new planning_scene_monitor::PlanningSceneMonitor(opt.robot_description, tf_buffer_, opt.name));
+      new planning_scene_monitor::PlanningSceneMonitor(options.robot_description, tf_buffer_, options.name));
   // Allows us to sycronize to Rviz and also publish collision objects to ourselves
   ROS_DEBUG_STREAM_NAMED(LOGNAME, "Configuring Planning Scene Monitor");
   if (planning_scene_monitor_->getPlanningScene())
   {
     // Start state and scene monitors
-    ROS_INFO_NAMED(LOGNAME, "Listening to '%s' for joint states", opt.joint_state_topic.c_str());
-    planning_scene_monitor_->startStateMonitor(opt.joint_state_topic, opt.attached_collision_object_topic);
+    ROS_INFO_NAMED(LOGNAME, "Listening to '%s' for joint states", options.joint_state_topic.c_str());
+    planning_scene_monitor_->startStateMonitor(options.joint_state_topic, options.attached_collision_object_topic);
     planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
-                                                          opt.publish_planning_scene_topic);
-    planning_scene_monitor_->startSceneMonitor(opt.monitored_planning_scene_topic);
+                                                          options.publish_planning_scene_topic);
+    planning_scene_monitor_->startSceneMonitor(options.monitored_planning_scene_topic);
   }
   else
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Planning scene not configured");
     return false;
   }
-  // TODO(henningkayser): fix and remove lines below
-  ros::spinOnce();
-  ros::Duration(0.5).sleep();  // when at 0.1, i believe sometimes vjoint not properly loaded
 
   // Wait for complete state to be recieved
-  if (opt.wait_for_initial_state_timeout > 0.0)
+  if (options.wait_for_initial_state_timeout > 0.0)
   {
     return planning_scene_monitor_->getStateMonitor()->waitForCurrentState(ros::Time::now(),
-                                                                           opt.wait_for_initial_state_timeout);
+                                                                           options.wait_for_initial_state_timeout);
   }
 
   return true;
 }
 
-bool MoveItCpp::loadPlanningPipelines(const PlanningPipelineOptions& opt)
+bool MoveItCpp::loadPlanningPipelines(const PlanningPipelineOptions& options)
 {
-  ros::NodeHandle node_handle(opt.parent_namespace.empty() ? "~" : opt.parent_namespace);
-  for (const auto& planning_pipeline_name : opt.pipeline_names)
+  ros::NodeHandle node_handle(options.parent_namespace.empty() ? "~" : options.parent_namespace);
+  for (const auto& planning_pipeline_name : options.pipeline_names)
   {
     if (planning_pipelines_.count(planning_pipeline_name) > 0)
     {
@@ -208,13 +204,11 @@ bool MoveItCpp::loadPlanningPipelines(const PlanningPipelineOptions& opt)
 
 robot_model::RobotModelConstPtr MoveItCpp::getRobotModel() const
 {
-  ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getRobotModel()");
   return robot_model_;
 }
 
 const ros::NodeHandle& MoveItCpp::getNodeHandle() const
 {
-  ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getNodeHandle()");
   return node_handle_;
 }
 
@@ -272,6 +266,7 @@ const planning_scene_monitor::PlanningSceneMonitorPtr& MoveItCpp::getPlanningSce
 {
   return planning_scene_monitor_;
 }
+
 planning_scene_monitor::PlanningSceneMonitorPtr MoveItCpp::getPlanningSceneMonitorNonConst()
 {
   return planning_scene_monitor_;
@@ -323,11 +318,10 @@ const std::shared_ptr<tf2_ros::Buffer>& MoveItCpp::getTFBuffer() const
 
 void MoveItCpp::clearContents()
 {
-  robot_description_.clear();
   tf_buffer_.reset();
   planning_scene_monitor_.reset();
   robot_model_.reset();
   planning_pipelines_.clear();
 }
-}  //  planning_interface
-}  //  moveit
+}  // namespace planning_interface
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index 2ce083b17d..896ecb783d 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -70,8 +70,8 @@ namespace planning_interface
 {
 constexpr char LOGNAME[] = "planning_component";
 
-PlanningComponent::PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_context)
-  : group_name_(group_name), nh_(moveit_context->getNodeHandle()), moveit_cpp_(moveit_context)
+PlanningComponent::PlanningComponent(const std::string& group_name, const MoveItCppPtr& moveit_cpp)
+  : nh_(moveit_cpp->getNodeHandle()), moveit_cpp_(moveit_cpp), group_name_(group_name)
 {
   joint_model_group_ = moveit_cpp_->getRobotModel()->getJointModelGroup(group_name);
   if (!joint_model_group_)
@@ -84,7 +84,7 @@ PlanningComponent::PlanningComponent(const std::string& group_name, const MoveIt
 }
 
 PlanningComponent::PlanningComponent(const std::string& group_name, const ros::NodeHandle& nh)
-  : group_name_(group_name), nh_(nh), moveit_cpp_(new MoveItCpp(nh))
+  : nh_(nh), moveit_cpp_(new MoveItCpp(nh)), group_name_(group_name)
 {
 }
 
@@ -106,7 +106,7 @@ PlanningComponent& PlanningComponent::operator=(PlanningComponent&& other)
   return *this;
 }
 
-const std::vector<std::string> PlanningComponent::getNamedTargets()
+const std::vector<std::string> PlanningComponent::getNamedTargetStates()
 {
   if (joint_model_group_)
   {
@@ -121,7 +121,7 @@ const std::vector<std::string> PlanningComponent::getNamedTargets()
   return empty;
 }
 
-const std::string& PlanningComponent::getName() const
+const std::string& PlanningComponent::getPlanningGroupName() const
 {
   return group_name_;
 }
@@ -238,7 +238,7 @@ robot_state::RobotStatePtr PlanningComponent::getStartState()
 
 bool PlanningComponent::setStartState(const std::string& start_state_name)
 {
-  const auto& named_targets = getNamedTargets();
+  const auto& named_targets = getNamedTargetStates();
   if (std::find(named_targets.begin(), named_targets.end(), start_state_name) == named_targets.end())
   {
     ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", start_state_name.c_str());
@@ -254,7 +254,7 @@ void PlanningComponent::setStartStateToCurrentState()
   considered_start_state_.reset();
 }
 
-std::map<std::string, double> PlanningComponent::getNamedTargetValues(const std::string& name)
+std::map<std::string, double> PlanningComponent::getNamedTargetStateValues(const std::string& name)
 {
   // TODO(henningkayser): verify result
   std::map<std::string, double> positions;
@@ -294,20 +294,13 @@ bool PlanningComponent::setGoal(const robot_state::RobotState& goal_state)
 
 bool PlanningComponent::setGoal(const geometry_msgs::PoseStamped& goal_pose, const std::string& link_name)
 {
-  const auto& joint_names = joint_model_group_->getLinkModelNames();
-  // if (std::find(joint_names.begin(), joint_names.end(), link_name) == joint_names.end())
-  //{
-  //  ROS_ERROR_NAMED(LOGNAME, "Link '%s' is not part of joint model group '%s'.", link_name.c_str(),
-  //                  group_name_.c_str());
-  //  return false;
-  //}
   current_goal_constraints_ = { kinematic_constraints::constructGoalConstraints(link_name, goal_pose) };
   return true;
 }
 
 bool PlanningComponent::setGoal(const std::string& goal_state_name)
 {
-  const auto& named_targets = getNamedTargets();
+  const auto& named_targets = getNamedTargetStates();
   if (std::find(named_targets.begin(), named_targets.end(), goal_state_name) == named_targets.end())
   {
     ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", goal_state_name.c_str());
@@ -350,5 +343,5 @@ void PlanningComponent::clearContents()
   moveit_cpp_.reset();
   planning_pipeline_names_.clear();
 }
-}  //  planning_interface
-}  //  moveit
+}  // namespace planning_interface
+}  // namespace moveit

From 0924e99de84783a3a4cae4a57e51017d5cc48a59 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 21 Nov 2019 15:26:47 -0700
Subject: [PATCH 095/612] Unify jog_arm package to be C++14 (#1762)

---
 moveit_experimental/moveit_jog_arm/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index e95c156c6b..899efdad17 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(moveit_jog_arm)
 
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)

From c249475220c3fee3a5797f3764c00714d4f1ef69 Mon Sep 17 00:00:00 2001
From: Takara Kasai <takara.kasai@gmail.com>
Date: Sat, 23 Nov 2019 09:02:18 +0900
Subject: [PATCH 096/612] Add "<previous>" robot state to RViz motion panel
 (#1742)

---
 .../motion_planning_display.h                       |  8 ++++++++
 .../src/motion_planning_display.cpp                 | 12 +++++++++---
 .../src/motion_planning_frame.cpp                   |  2 ++
 .../src/motion_planning_frame_planning.cpp          | 13 +++++++++++++
 4 files changed, 32 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 52cd9b5640..84e911f1a5 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -107,6 +107,11 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
     return query_goal_state_->getState();
   }
 
+  const robot_state::RobotState& getPreviousState() const
+  {
+    return *previous_state_;
+  }
+
   const robot_interaction::RobotInteractionPtr& getRobotInteraction() const
   {
     return robot_interaction_;
@@ -132,6 +137,7 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
 
   void updateQueryStartState();
   void updateQueryGoalState();
+  void rememberPreviousStartState();
 
   void useApproximateIK(bool flag);
 
@@ -253,6 +259,8 @@ private Q_SLOTS:
   std::shared_ptr<interactive_markers::MenuHandler> menu_handler_goal_;
   std::map<std::string, LinkDisplayStatus> status_links_start_;
   std::map<std::string, LinkDisplayStatus> status_links_goal_;
+  /// remember previous start state (updated before starting execution)
+  robot_state::RobotStatePtr previous_state_;
 
   /// Hold the names of the groups for which the query states have been updated (and should not be altered when new info
   /// is received from the planning scene)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 49de9cd852..2087245192 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -936,6 +936,11 @@ void MotionPlanningDisplay::updateQueryGoalState()
   context_->queueRender();
 }
 
+void MotionPlanningDisplay::rememberPreviousStartState()
+{
+  *previous_state_ = *query_start_state_->getState();
+}
+
 void MotionPlanningDisplay::setQueryStartState(const robot_state::RobotState& start)
 {
   query_start_state_->setState(start);
@@ -1135,10 +1140,11 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   query_robot_start_->load(*getRobotModel()->getURDF());
   query_robot_goal_->load(*getRobotModel()->getURDF());
 
-  robot_state::RobotStatePtr ks(new robot_state::RobotState(getPlanningSceneRO()->getCurrentState()));
-  query_start_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "start", *ks,
+  // initialize previous state to current state
+  previous_state_ = std::make_shared<robot_state::RobotState>(getPlanningSceneRO()->getCurrentState());
+  query_start_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "start", *previous_state_,
                                                                      planning_scene_monitor_->getTFClient()));
-  query_goal_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "goal", *ks,
+  query_goal_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "goal", *previous_state_,
                                                                     planning_scene_monitor_->getTFClient()));
   query_start_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryStartState, this, _1, _2));
   query_goal_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryGoalState, this, _1, _2));
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 9a5e5ab110..458354b8dd 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -281,11 +281,13 @@ void MotionPlanningFrame::fillStateSelectionOptions()
     ui_->start_state_combo_box->addItem(QString("<random>"));
     ui_->start_state_combo_box->addItem(QString("<current>"));
     ui_->start_state_combo_box->addItem(QString("<same as goal>"));
+    ui_->start_state_combo_box->addItem(QString("<previous>"));
 
     ui_->goal_state_combo_box->addItem(QString("<random valid>"));
     ui_->goal_state_combo_box->addItem(QString("<random>"));
     ui_->goal_state_combo_box->addItem(QString("<current>"));
     ui_->goal_state_combo_box->addItem(QString("<same as start>"));
+    ui_->goal_state_combo_box->addItem(QString("<previous>"));
 
     const std::vector<std::string>& known_states = jmg->getDefaultStateNames();
     if (!known_states.empty())
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 7febadd195..88417e1033 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -172,6 +172,7 @@ void MotionPlanningFrame::computePlanButtonClicked()
   ui_->result_label->setText("Planning...");
 
   configureForPlanning();
+  planning_display_->rememberPreviousStartState();
   bool success = (ui_->use_cartesian_path->isEnabled() && ui_->use_cartesian_path->checkState()) ?
                      computeCartesianPlan() :
                      computeJointSpacePlan();
@@ -206,6 +207,7 @@ void MotionPlanningFrame::computePlanAndExecuteButtonClicked()
   if (!move_group_)
     return;
   configureForPlanning();
+  planning_display_->rememberPreviousStartState();
   // move_group::move() on the server side, will always start from the current state
   // to suppress a warning, we pass an empty state (which encodes "start from current state")
   move_group_->setStartStateToCurrentState();
@@ -242,6 +244,11 @@ void MotionPlanningFrame::onFinishedExecution(bool success)
   // update query start state to current if neccessary
   if (ui_->start_state_combo_box->currentText() == "<current>")
     startStateTextChanged(ui_->start_state_combo_box->currentText());
+
+  // auto-update goal to stored previous state (but only on success)
+  // on failure, the user must update the goal to the previous state himself
+  if (ui_->goal_state_combo_box->currentText() == "<previous>")
+    goalStateTextChanged(ui_->goal_state_combo_box->currentText());
 }
 
 void MotionPlanningFrame::startStateTextChanged(const QString& start_state)
@@ -344,6 +351,12 @@ void MotionPlanningFrame::updateQueryStateHelper(robot_state::RobotState& state,
     return;
   }
 
+  if (v == "<previous>")
+  {
+    state = planning_display_->getPreviousState();
+    return;
+  }
+
   // maybe it is a named state
   if (const robot_model::JointModelGroup* jmg = state.getJointModelGroup(planning_display_->getCurrentPlanningGroup()))
     state.setToDefaultValues(jmg, v);

From fd82ce5e26ffaaa855930792f479929bfd94f52d Mon Sep 17 00:00:00 2001
From: Mike Lautman <mikeblautman@gmail.com>
Date: Sat, 23 Nov 2019 02:47:14 -0700
Subject: [PATCH 097/612] Fix infinite recursive call to
 loadConstraintApproximations (#1768)

Fixup for #1428.
---
 .../ompl/ompl_interface/src/model_based_planning_context.cpp     | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 873b11c7e8..4d05cedd2d 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -834,7 +834,6 @@ bool ompl_interface::ModelBasedPlanningContext::loadConstraintApproximations(con
   std::string constraint_path;
   if (nh.getParam("constraint_approximations_path", constraint_path))
   {
-    loadConstraintApproximations(constraint_path);
     constraints_library_->loadConstraintApproximations(constraint_path);
     std::stringstream ss;
     constraints_library_->printConstraintApproximations(ss);

From 36f68175065b6a4be8e08d6787e3104611513a61 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Sun, 24 Nov 2019 13:16:21 +0100
Subject: [PATCH 098/612] Provide UniquePtr macros (#1771)

---
 .../include/moveit/macros/class_forward.h     |  4 +--
 .../include/moveit/macros/declare_ptr.h       | 25 +++++++++++--------
 2 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/moveit_core/macros/include/moveit/macros/class_forward.h b/moveit_core/macros/include/moveit/macros/class_forward.h
index 1c5ab03544..be4e6918b2 100644
--- a/moveit_core/macros/include/moveit/macros/class_forward.h
+++ b/moveit_core/macros/include/moveit/macros/class_forward.h
@@ -40,9 +40,7 @@
 
 /**
  * \def MOVEIT_CLASS_FORWARD
- * Macro that forward declares a class and defines two shared ptrs types:
- *  - ${Class}Ptr      = shared_ptr<${Class}>
- *  - ${Class}ConstPtr = shared_ptr<const ${Class}>
+ * Macro that forward declares a class and defines the respective smartpointers through MOVEIT_DECLARE_PTR.
  */
 
 #define MOVEIT_CLASS_FORWARD(C)                                                                                        \
diff --git a/moveit_core/macros/include/moveit/macros/declare_ptr.h b/moveit_core/macros/include/moveit/macros/declare_ptr.h
index fc3eeb6e39..1da6dcd7b5 100644
--- a/moveit_core/macros/include/moveit/macros/declare_ptr.h
+++ b/moveit_core/macros/include/moveit/macros/declare_ptr.h
@@ -39,8 +39,12 @@
 /**
  * \def MOVEIT_DELCARE_PTR
  * Macro that given a Name and a Type declares the following types:
- * - ${Name}Ptr      = shared_ptr<${Type}>
- * - ${Name}ConstPtr = shared_ptr<const ${Type}>
+ * - ${Name}Ptr            = shared_ptr<${Type}>
+ * - ${Name}ConstPtr       = shared_ptr<const ${Type}>
+ * - ${Name}WeakPtr        = weak_ptr<${Type}>
+ * - ${Name}ConstWeakPtr   = weak_ptr<const ${Type}>
+ * - ${Name}UniquePtr      = unique_ptr<${Type}>
+ * - ${Name}ConstUniquePtr = unique_ptr<const ${Type}>
  *
  * For best portability the exact type of shared_ptr declared by the macro
  * should be considered to be an implementation detail, liable to change in
@@ -51,21 +55,22 @@
   typedef std::shared_ptr<Type> Name##Ptr;                                                                             \
   typedef std::shared_ptr<const Type> Name##ConstPtr;                                                                  \
   typedef std::weak_ptr<Type> Name##WeakPtr;                                                                           \
-  typedef std::weak_ptr<const Type> Name##ConstWeakPtr;
+  typedef std::weak_ptr<const Type> Name##ConstWeakPtr;                                                                \
+  typedef std::unique_ptr<Type> Name##UniquePtr;                                                                       \
+  typedef std::unique_ptr<const Type> Name##ConstUniquePtr;
 
 /**
  * \def MOVEIT_DELCARE_PTR_MEMBER
- * Macro that given a Type declares the following types:
- * - Ptr      = shared_ptr<${Type}>
- * - ConstPtr = shared_ptr<const ${Type}>
+ * The macro defines the same typedefs as MOVEIT_DECLARE_PTR, but shortens the new names to their suffix.
  *
- * This macro is intended for declaring the pointer typedefs as members of a
- * class template. In other situations, MOVEIT_CLASS_FORWARD and
- * MOVEIT_DECLARE_PTR should be preferred.
+ * This can be used to create `Classname::Ptr` style names, but in most situations in MoveIt's codebase,
+ * MOVEIT_CLASS_FORWARD and MOVEIT_DECLARE_PTR should be preferred.
  */
 
 #define MOVEIT_DECLARE_PTR_MEMBER(Type)                                                                                \
   typedef std::shared_ptr<Type> Ptr;                                                                                   \
   typedef std::shared_ptr<const Type> ConstPtr;                                                                        \
   typedef std::weak_ptr<Type> WeakPtr;                                                                                 \
-  typedef std::weak_ptr<const Type> ConstWeakPtr;
+  typedef std::weak_ptr<const Type> ConstWeakPtr;                                                                      \
+  typedef std::unique_ptr<Type> UniquePtr;                                                                             \
+  typedef std::unique_ptr<const Type> ConstUniquePtr;

From 11c82ece67302e9190bfa45418ee5e162d8950a2 Mon Sep 17 00:00:00 2001
From: Yannick Jonetzko <jonetzko@informatik.uni-hamburg.de>
Date: Sat, 23 Nov 2019 22:41:00 +0100
Subject: [PATCH 099/612] Show attached bodies trail in RViz (#1766)

---
 .../rviz_plugin_render_tools/render_shapes.h  |  1 +
 .../robot_state_visualization.h               |  2 +
 .../trajectory_visualization.h                |  3 +-
 .../src/render_shapes.cpp                     |  7 +++
 .../src/robot_state_visualization.cpp         |  6 ++
 .../src/trajectory_visualization.cpp          | 55 ++++++++++---------
 6 files changed, 46 insertions(+), 28 deletions(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index 808d91b710..a58697c244 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -69,6 +69,7 @@ class RenderShapes
   void renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Isometry3d& p,
                    OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
                    const rviz::Color& color, float alpha);
+  void updateShapeColors(float r, float g, float b, float a);
   void clear();
 
 private:
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 09ffce9234..01444a817f 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -68,6 +68,8 @@ class RobotStateVisualization
               const std_msgs::ColorRGBA& default_attached_object_color,
               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
+  /// update color of all attached object shapes
+  void updateAttachedObjectColors(const std_msgs::ColorRGBA& attached_object_color);
 
   bool isVisible() const
   {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 23aa020bf6..025fbc0c82 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -127,6 +127,7 @@ private Q_SLOTS:
 
   // Handles actually drawing the robot along motion plans
   RobotStateVisualizationPtr display_path_robot_;
+  std_msgs::ColorRGBA default_attached_object_color_;
 
   // Handle colouring of robot
   void setRobotColor(rviz::Robot* robot, const QColor& color);
@@ -134,7 +135,7 @@ private Q_SLOTS:
 
   robot_trajectory::RobotTrajectoryPtr displaying_trajectory_message_;
   robot_trajectory::RobotTrajectoryPtr trajectory_message_to_display_;
-  std::vector<rviz::Robot*> trajectory_trail_;
+  std::vector<RobotStateVisualizationUniquePtr> trajectory_trail_;
   ros::Subscriber trajectory_topic_sub_;
   bool animating_path_;
   bool drop_displaying_trajectory_;
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 586efb91f2..0743a5e823 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -186,4 +186,11 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
     scene_shapes_.emplace_back(ogre_shape);
   }
 }
+
+void RenderShapes::updateShapeColors(float r, float g, float b, float a)
+{
+  for (auto it = scene_shapes_.begin(), end = scene_shapes_.end(); it != end; ++it)
+    (**it).setColor(r, g, b, a);
+}
+
 }  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index db6192c7ad..6460d1f083 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -80,6 +80,12 @@ void RobotStateVisualization::setDefaultAttachedObjectColor(const std_msgs::Colo
   default_attached_object_color_ = default_attached_object_color;
 }
 
+void RobotStateVisualization::updateAttachedObjectColors(const std_msgs::ColorRGBA& attached_object_color)
+{
+  render_shapes_->updateShapeColors(attached_object_color.r, attached_object_color.g, attached_object_color.b,
+                                    robot_.getAlpha());
+}
+
 void RobotStateVisualization::update(const robot_state::RobotStateConstPtr& kinematic_state)
 {
   updateHelper(kinematic_state, default_attached_object_color_, nullptr);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 428aac9414..39cbd4e569 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -201,8 +201,6 @@ void TrajectoryVisualization::reset()
 
 void TrajectoryVisualization::clearTrajectoryTrail()
 {
-  for (rviz::Robot* waypoint_state : trajectory_trail_)
-    delete waypoint_state;
   trajectory_trail_.clear();
 }
 
@@ -231,17 +229,17 @@ void TrajectoryVisualization::changedShowTrail()
   for (std::size_t i = 0; i < trajectory_trail_.size(); i++)
   {
     int waypoint_i = std::min(i * stepsize, t->getWayPointCount() - 1);  // limit to last trajectory point
-    rviz::Robot* r =
-        new rviz::Robot(scene_node_, context_, "Trail Robot " + boost::lexical_cast<std::string>(i), nullptr);
+    auto r = std::make_unique<RobotStateVisualization>(scene_node_, context_,
+                                                       "Trail Robot " + boost::lexical_cast<std::string>(i), nullptr);
     r->load(*robot_model_->getURDF());
     r->setVisualVisible(display_path_visual_enabled_property_->getBool());
     r->setCollisionVisible(display_path_collision_enabled_property_->getBool());
     r->setAlpha(robot_path_alpha_property_->getFloat());
-    r->update(PlanningLinkUpdater(t->getWayPointPtr(waypoint_i)));
+    r->update(t->getWayPointPtr(waypoint_i), default_attached_object_color_);
     if (enable_robot_color_property_->getBool())
-      setRobotColor(r, robot_color_property_->getColor());
+      setRobotColor(&(r->getRobot()), robot_color_property_->getColor());
     r->setVisible(display_->isEnabled() && (!animating_path_ || waypoint_i <= current_state_));
-    trajectory_trail_[i] = r;
+    trajectory_trail_[i] = std::move(r);
   }
 }
 
@@ -254,8 +252,8 @@ void TrajectoryVisualization::changedTrailStepSize()
 void TrajectoryVisualization::changedRobotPathAlpha()
 {
   display_path_robot_->setAlpha(robot_path_alpha_property_->getFloat());
-  for (rviz::Robot* waypoint_state : trajectory_trail_)
-    waypoint_state->setAlpha(robot_path_alpha_property_->getFloat());
+  for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
+    r->setAlpha(robot_path_alpha_property_->getFloat());
 }
 
 void TrajectoryVisualization::changedTrajectoryTopic()
@@ -275,8 +273,8 @@ void TrajectoryVisualization::changedDisplayPathVisualEnabled()
   {
     display_path_robot_->setVisualVisible(display_path_visual_enabled_property_->getBool());
     display_path_robot_->setVisible(display_->isEnabled() && displaying_trajectory_message_ && animating_path_);
-    for (rviz::Robot* waypoint_state : trajectory_trail_)
-      waypoint_state->setVisualVisible(display_path_visual_enabled_property_->getBool());
+    for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
+      r->setVisualVisible(display_path_visual_enabled_property_->getBool());
   }
 }
 
@@ -290,8 +288,8 @@ void TrajectoryVisualization::changedDisplayPathCollisionEnabled()
   {
     display_path_robot_->setCollisionVisible(display_path_collision_enabled_property_->getBool());
     display_path_robot_->setVisible(display_->isEnabled() && displaying_trajectory_message_ && animating_path_);
-    for (rviz::Robot* waypoint_state : trajectory_trail_)
-      waypoint_state->setCollisionVisible(display_path_collision_enabled_property_->getBool());
+    for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
+      r->setCollisionVisible(display_path_collision_enabled_property_->getBool());
   }
 }
 
@@ -302,11 +300,11 @@ void TrajectoryVisualization::onEnable()
   display_path_robot_->setVisualVisible(display_path_visual_enabled_property_->getBool());
   display_path_robot_->setCollisionVisible(display_path_collision_enabled_property_->getBool());
   display_path_robot_->setVisible(displaying_trajectory_message_ && animating_path_);
-  for (rviz::Robot* waypoint_state : trajectory_trail_)
+  for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
   {
-    waypoint_state->setVisualVisible(display_path_visual_enabled_property_->getBool());
-    waypoint_state->setCollisionVisible(display_path_collision_enabled_property_->getBool());
-    waypoint_state->setVisible(true);
+    r->setVisualVisible(display_path_visual_enabled_property_->getBool());
+    r->setCollisionVisible(display_path_collision_enabled_property_->getBool());
+    r->setVisible(true);
   }
 
   changedTrajectoryTopic();  // load topic at startup if default used
@@ -315,8 +313,8 @@ void TrajectoryVisualization::onEnable()
 void TrajectoryVisualization::onDisable()
 {
   display_path_robot_->setVisible(false);
-  for (rviz::Robot* waypoint_state : trajectory_trail_)
-    waypoint_state->setVisible(false);
+  for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
+    r->setVisible(false);
   displaying_trajectory_message_.reset();
   animating_path_ = false;
   if (trajectory_slider_panel_)
@@ -541,15 +539,18 @@ void TrajectoryVisualization::unsetRobotColor(rviz::Robot* robot)
 
 void TrajectoryVisualization::setDefaultAttachedObjectColor(const QColor& color)
 {
-  if (!display_path_robot_)
-    return;
+  default_attached_object_color_.r = color.redF();
+  default_attached_object_color_.g = color.greenF();
+  default_attached_object_color_.b = color.blueF();
+  default_attached_object_color_.a = color.alphaF();
 
-  std_msgs::ColorRGBA color_msg;
-  color_msg.r = color.redF();
-  color_msg.g = color.greenF();
-  color_msg.b = color.blueF();
-  color_msg.a = color.alphaF();
-  display_path_robot_->setDefaultAttachedObjectColor(color_msg);
+  if (display_path_robot_)
+  {
+    display_path_robot_->setDefaultAttachedObjectColor(default_attached_object_color_);
+    display_path_robot_->updateAttachedObjectColors(default_attached_object_color_);
+  }
+  for (const RobotStateVisualizationUniquePtr& r : trajectory_trail_)
+    r->updateAttachedObjectColors(default_attached_object_color_);
 }
 
 void TrajectoryVisualization::setRobotColor(rviz::Robot* robot, const QColor& color)

From fd1dba5d96491cf31b7b854e7da8fcd81796b314 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 25 Nov 2019 11:57:31 +0100
Subject: [PATCH 100/612] rviz panel: pass <current> start state as empty to
 move_group (#1772)

... to ensure that the most recent current state is actually used for planning
---
 .../src/motion_planning_frame_planning.cpp                     | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 88417e1033..2e6588064f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -172,6 +172,9 @@ void MotionPlanningFrame::computePlanButtonClicked()
   ui_->result_label->setText("Planning...");
 
   configureForPlanning();
+  // move_group node uses an empty start state to refer to the most recent current state
+  if (ui_->start_state_combo_box->currentText() == "<current>")
+    move_group_->setStartStateToCurrentState();
   planning_display_->rememberPreviousStartState();
   bool success = (ui_->use_cartesian_path->isEnabled() && ui_->use_cartesian_path->checkState()) ?
                      computeCartesianPlan() :

From 4ff87ded55d4f9a14e188fcda0fae6691be3611c Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 25 Nov 2019 10:58:59 -0600
Subject: [PATCH 101/612] Update license formatting (#1764)

---
 .../moveit_jog_arm/collision_check_thread.h   | 75 +++++++++----------
 .../include/moveit_jog_arm/jog_arm_data.h     | 75 +++++++++----------
 .../include/moveit_jog_arm/jog_calcs.h        | 75 +++++++++----------
 .../moveit_jog_arm/jog_ros_interface.h        | 75 +++++++++----------
 .../include/moveit_jog_arm/low_pass_filter.h  | 75 +++++++++----------
 .../src/collision_check_thread.cpp            | 75 +++++++++----------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 75 +++++++++----------
 .../moveit_jog_arm/src/jog_ros_interface.cpp  | 75 +++++++++----------
 .../moveit_jog_arm/src/jog_server.cpp         | 75 +++++++++----------
 .../moveit_jog_arm/src/low_pass_filter.cpp    | 75 +++++++++----------
 .../src/teleop_examples/spacenav_to_twist.cpp | 38 ++++++++++
 11 files changed, 408 insertions(+), 380 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index d5c8551576..3c18a34898 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : collision_check_thread.h
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : collision_check_thread.h
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #pragma once
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 0950d07405..5b2d384f34 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_arm_data.h
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_arm_data.h
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #pragma once
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 4d01690c7a..e80197db22 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_calcs.h
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_calcs.h
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #pragma once
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
index 8d69686430..9a3e023c06 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_ros_interface.h
-//      Project   : moveit_jog_arm
-//      Created   : 3/9/2017
-//      Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2018, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_ros_interface.h
+     Project   : moveit_jog_arm
+     Created   : 3/9/2017
+     Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
+
+BSD 3-Clause License
+
+Copyright (c) 2018, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 // Server node for arm jogging with MoveIt.
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
index 424ab6e2f1..dd592524c1 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : low_pass_filter.h
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Andy Zelenak
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : low_pass_filter.h
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Andy Zelenak
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #pragma once
 
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 56cb82d164..4df88d329a 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : collision_check_thread.cpp
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : collision_check_thread.cpp
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #include <moveit_jog_arm/collision_check_thread.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index e89087f1a1..ec2ee3acd9 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_calcs.h
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_calcs.h
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #include <moveit_jog_arm/jog_calcs.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 6eea959af4..c83c59e46a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_ros_interface.cpp
-//      Project   : moveit_jog_arm
-//      Created   : 3/9/2017
-//      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2018, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_ros_interface.cpp
+     Project   : moveit_jog_arm
+     Created   : 3/9/2017
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2018, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 // Server node for arm jogging with MoveIt.
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index ba96f3049f..64c03a37ca 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : jog_server.cpp
-//      Project   : moveit_jog_arm
-//      Created   : 12/31/2018
-//      Author    : Andy Zelenak
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2018, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : jog_server.cpp
+     Project   : moveit_jog_arm
+     Created   : 12/31/2018
+     Author    : Andy Zelenak
+
+BSD 3-Clause License
+
+Copyright (c) 2018, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #include <moveit_jog_arm/jog_ros_interface.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index 8ee2809a5c..ce1c6158f5 100644
--- a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -1,41 +1,40 @@
-///////////////////////////////////////////////////////////////////////////////
-//      Title     : low_pass_filter.cpp
-//      Project   : moveit_jog_arm
-//      Created   : 1/11/2019
-//      Author    : Andy Zelenak
-//
-// BSD 3-Clause License
-//
-// Copyright (c) 2019, Los Alamos National Security, LLC
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice, this
-//   list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-//
-// * Neither the name of the copyright holder nor the names of its
-//   contributors may be used to endorse or promote products derived from
-//   this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE
-// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////////
+/*
+     Title     : low_pass_filter.cpp
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Andy Zelenak
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
 
 #include <moveit_jog_arm/low_pass_filter.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
index 20ca24a382..033f39fd10 100644
--- a/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
@@ -1,3 +1,41 @@
+/*
+     Title     : collision_check_thread.cpp
+     Project   : moveit_jog_arm
+     Created   : 1/11/2019
+     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+
+BSD 3-Clause License
+
+Copyright (c) 2019, Los Alamos National Security, LLC
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
 #include "geometry_msgs/TwistStamped.h"
 #include "control_msgs/JointJog.h"
 #include "ros/ros.h"

From 09f49e44e5dfa31ded82b23906d82f61ad832c2a Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Mon, 25 Nov 2019 13:39:53 -0700
Subject: [PATCH 102/612] Added new CODEOWNERS for new folders and new core
 contributors (#1755)

* Added new codeowners for new folders and new core contributors

* Update CODEOWNERS
---
 .github/CODEOWNERS | 33 +++++++++++++++++----------------
 1 file changed, 17 insertions(+), 16 deletions(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3820b617c8..b8bf3f5483 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -37,24 +37,24 @@
 /moveit_plugins/moveit_simple_controller_manager/	    @mikeferguson @v4hn
 /moveit_plugins/moveit_controller_manager_example/	    @v4hn
 
-/moveit_core/background_processing/                         @mlautman
-/moveit_core/backtrace/                                     @mlautman
-/moveit_core/collision_detection/                           @BryceStevenWilley
-/moveit_core/collision_detection_fcl/                       @rhaschke
-/moveit_core/collision_distance_field/                      @rhaschke
+/moveit_core/background_processing/                         @tylerjw
+/moveit_core/backtrace/                                     @tylerjw
+/moveit_core/collision_detection/                           @j-petit
+/moveit_core/collision_detection_fcl/                       @j-petit
+/moveit_core/collision_distance_field/                      @j-petit
 /moveit_core/constraint_samplers/                           @v4hn
 /moveit_core/controller_manager/                            @v4hn
 /moveit_core/distance_field/                                @v4hn
-/moveit_core/dynamics_solver/                               @mlautman
-/moveit_core/exceptions/                                    @mlautman
+/moveit_core/dynamics_solver/                               @tylerjw
+/moveit_core/exceptions/                                    @tylerjw
 /moveit_core/kinematic_constraints/                         @rhaschke
 /moveit_core/kinematics_base/                               @rhaschke @mlautman
 /moveit_core/kinematics_metrics/                            @gavanderhoorn
-/moveit_core/macros/                                        @mlautman
+/moveit_core/macros/                                        @tylerjw
 /moveit_core/planning_interface/                            @rhaschke
 /moveit_core/planning_request_adapter/                      @rhaschke
 /moveit_core/planning_scene/                                @rhaschke
-/moveit_core/profiler/                                      @mlautman
+/moveit_core/profiler/                                      @tylerjw
 /moveit_core/robot_model/                                   @jonbinney
 /moveit_core/robot_state/                                   @rhaschke @mlautman
 /moveit_core/robot_trajectory/                              @mlautman
@@ -72,30 +72,31 @@
 
 /moveit_experimental/	                                    @AndyZe
 
-/moveit_ros/perception/	                                    @mikeferguson @jonbinney
+/moveit_ros/perception/	                                    @jliukkonen @RoboticsYY
 /moveit_ros/manipulation/	                            @v4hn @felixvd
 /moveit_ros/benchmarks/	                                    @henningkayser @MohmadAyman
 /moveit_ros/planning_interface/	                            @mintar @rhaschke
 /moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
 /moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
 /moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @jonbinney @christian-rauch
+/moveit_ros/visualization/	                            @rhaschke @jonbinney @RoboticsYY
 
-/moveit_ros/planning/collision_plugin_loader/               @rhaschke
-/moveit_ros/planning/constraint_sampler_manager_loader/     @henningkayser
+/moveit_ros/planning/collision_plugin_loader/               @j-petit
+/moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks
 /moveit_ros/planning/kinematics_plugin_loader/              @gavanderhoorn
 /moveit_ros/planning/plan_execution/                        @v4hn
 /moveit_ros/planning/planning_components_tools/             @henningkayser
 /moveit_ros/planning/planning_pipeline/                     @v4hn
 /moveit_ros/planning/planning_request_adapter_plugins/      @v4hn
 /moveit_ros/planning/planning_scene_monitor/                @rhaschke
-/moveit_ros/planning/rdf_loader/                            @henningkayser
-/moveit_ros/planning/robot_model_loader/                    @henningkayser
+/moveit_ros/planning/rdf_loader/                            @nbbrooks
+/moveit_ros/planning/robot_model_loader/                    @nbbrooks
 /moveit_ros/planning/trajectory_execution_manager/          @rhaschke
 
-/moveit_setup_assistant/	                            @davetcoleman @rhaschke @MohmadAyman
+/moveit_setup_assistant/	                            @RoboticsYY @rhaschke @MohmadAyman
 
 /moveit_planners/ompl/	                                    @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_optimizer_adapter/	            @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_motion_planner/	            @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/trajopt                                    @ommmid @mamoll

From f5b5ed601564ea1874163ccb920d2fa542493dda Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Sep 2019 08:05:50 +0200
Subject: [PATCH 103/612] remove unused variables

---
 moveit_ros/robot_interaction/src/robot_interaction.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index ac11dfc48c..698b4ddd3b 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -448,7 +448,6 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
 {
   // If scale is left at default size of 0, scale will be based on end effector link size. a good value is between 0-1
   std::vector<visualization_msgs::InteractiveMarker> ims;
-  ros::NodeHandle nh;
   {
     boost::unique_lock<boost::mutex> ulock(marker_access_lock_);
     robot_state::RobotStateConstPtr s = handler->getState();
@@ -465,7 +464,6 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
                         im.scale);
       }
     }
-    ros::NodeHandle nh;
 
     for (std::size_t i = 0; i < active_eef_.size(); ++i)
     {
@@ -554,7 +552,6 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
 
 void RobotInteraction::registerMoveInteractiveMarkerTopic(const std::string& marker_name, const std::string& name)
 {
-  ros::NodeHandle nh;
   std::stringstream ss;
   ss << "/rviz/moveit/move_marker/";
   ss << name;

From 08b390db4fd7f5d37051f06c2143ef107fa9b7f4 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 26 Nov 2019 13:31:09 +0100
Subject: [PATCH 104/612] Cleanup #1657: move ASSERT() into test setup (#1777)

---
 moveit_core/planning_scene/test/test_multi_threaded.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/moveit_core/planning_scene/test/test_multi_threaded.cpp b/moveit_core/planning_scene/test/test_multi_threaded.cpp
index fd3aa56a1a..eb9d1d1bb0 100644
--- a/moveit_core/planning_scene/test/test_multi_threaded.cpp
+++ b/moveit_core/planning_scene/test/test_multi_threaded.cpp
@@ -73,7 +73,8 @@ class CollisionDetectorThreadedTest : public testing::Test
   void SetUp() override
   {
     robot_model_ = moveit::core::loadTestingRobotModel("panda");
-    robot_model_ok_ = static_cast<bool>(robot_model_);
+    ASSERT_TRUE(static_cast<bool>(robot_model_));
+
     robot_state_.reset(new robot_state::RobotState(robot_model_));
     planning_scene_.reset(new planning_scene::PlanningScene(robot_model_));
   }
@@ -95,11 +96,6 @@ class CollisionDetectorThreadedTest : public testing::Test
   planning_scene::PlanningScenePtr planning_scene_;
 };
 
-TEST_F(CollisionDetectorThreadedTest, InitOk)
-{
-  ASSERT_TRUE(robot_model_ok_);
-}
-
 /** \brief Tests the FCL collision detector in multiple threads. */
 TEST_F(CollisionDetectorThreadedTest, FCLThreaded)
 {

From 5ac79ec48e4a040e95d0a5f1cda2fb20ebf01b47 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 26 Nov 2019 16:03:44 +0100
Subject: [PATCH 105/612] disable flaky moveit_cpp_test (#1782)

---
 moveit_ros/planning_interface/test/CMakeLists.txt | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 7228694591..37ff35f2f1 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -5,8 +5,10 @@ if (CATKIN_ENABLE_TESTING)
   add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
 
-  add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
-  target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
+  # TODO: Fix flaky test
+  #add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
+  #target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
+
   add_rostest(python_move_group.test)
   add_rostest(python_move_group_ns.test)
   add_rostest(robot_state_update.test)

From 8bdf9e57b5e8878f96c0457ab5f498cb06a5d883 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Nov 2019 15:44:11 +0100
Subject: [PATCH 106/612] fix unused parameter warnings

---
 .../collision_env_distance_field.h            | 25 +++++++++++--------
 .../moveit/distance_field/voxel_grid.h        |  2 +-
 .../moveit/kinematics_base/kinematics_base.h  |  3 ++-
 .../include/moveit/robot_state/robot_state.h  | 23 +++++++++--------
 .../moveit_jog_arm/src/jog_calcs.cpp          |  2 +-
 .../chainiksolver_vel_mimic_svd.hpp           |  2 +-
 .../src/srv_kinematics_plugin.cpp             |  8 +++---
 .../test/test_kinematics_plugin.cpp           |  6 ++---
 .../chomp_interface/src/chomp_plugin.cpp      |  4 +--
 .../chomp_motion_planner/src/chomp_cost.cpp   |  4 +--
 .../src/chomp_optimizer_adapter.cpp           |  2 +-
 .../src/detail/constraints_library.cpp        |  2 +-
 .../src/model_based_planning_context.cpp      |  2 +-
 .../src/ompl_planner_manager.cpp              |  2 +-
 .../joint_model_state_space_factory.cpp       |  4 +--
 .../src/planning_context_manager.cpp          |  2 +-
 .../src/moveit_fake_controller_manager.cpp    |  5 ++--
 .../joint_trajectory_controller_plugin.cpp    |  2 +-
 .../action_based_controller_handle.h          |  2 +-
 .../gripper_controller_handle.h               |  4 +--
 ...low_joint_trajectory_controller_handle.cpp |  2 +-
 .../src/moveit_simple_controller_manager.cpp  |  5 ++--
 .../benchmarks/src/BenchmarkExecutor.cpp      |  4 +--
 .../pick_place/src/pick_place_params.cpp      |  2 +-
 .../clear_octomap_service_capability.cpp      |  3 ++-
 .../query_planners_service_capability.cpp     |  4 +--
 .../move_group/src/list_capabilities.cpp      |  2 +-
 .../mesh_filter/src/sensor_model.cpp          |  2 ++
 .../src/shape_mask.cpp                        |  2 +-
 .../src/pointcloud_octomap_updater.cpp        |  4 +--
 .../kinematics_plugin_loader.h                |  2 +-
 .../plan_execution/src/plan_execution.cpp     |  4 +--
 .../plan_execution/src/plan_with_sensing.cpp  |  2 +-
 .../add_iterative_spline_parameterization.cpp |  4 +--
 .../src/add_time_optimal_parameterization.cpp |  4 +--
 .../src/add_time_parameterization.cpp         |  4 +--
 .../src/empty.cpp                             |  4 +--
 .../src/fix_start_state_path_constraints.cpp  |  2 +-
 .../src/fix_workspace_bounds.cpp              |  2 +-
 .../src/resolve_constraint_frames.cpp         |  4 +--
 .../src/planning_scene_monitor.cpp            |  4 +--
 .../src/trajectory_execution_manager.cpp      |  2 +-
 .../test/test_moveit_controller_manager.h     |  3 ++-
 .../moveit_cpp/src/moveit_cpp.cpp             |  2 +-
 .../src/interaction_handler.cpp               |  2 +-
 .../src/motion_planning_frame.cpp             |  2 +-
 .../motion_planning_frame_manipulation.cpp    |  6 ++---
 .../src/motion_planning_frame_planning.cpp    | 10 ++++----
 .../src/planning_scene_display.cpp            |  4 +--
 .../src/octomap_render.cpp                    |  2 +-
 .../src/trajectory_visualization.cpp          |  2 +-
 .../warehouse/src/warehouse_services.cpp      |  5 ++--
 .../src/setup_assistant_main.cpp              |  2 +-
 .../src/tools/collision_linear_model.cpp      |  8 +++---
 .../src/tools/moveit_config_data.cpp          |  2 +-
 .../src/widgets/double_list_widget.cpp        |  4 +--
 .../src/widgets/end_effectors_widget.cpp      |  4 +--
 .../src/widgets/navigation_widget.cpp         |  2 +-
 .../src/widgets/robot_poses_widget.cpp        |  4 +--
 .../src/widgets/ros_controllers_widget.cpp    |  2 +-
 .../src/widgets/setup_assistant_widget.cpp    |  2 +-
 .../src/widgets/simulation_widget.cpp         |  2 +-
 .../src/widgets/start_screen_widget.cpp       |  2 +-
 .../src/widgets/virtual_joints_widget.cpp     |  4 +--
 64 files changed, 132 insertions(+), 118 deletions(-)

diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index 93ec59597b..2a5e4a62b6 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -105,19 +105,19 @@ class CollisionEnvDistanceField : public CollisionEnv
   void createCollisionModelMarker(const moveit::core::RobotState& state,
                                   visualization_msgs::MarkerArray& model_markers) const;
 
-  virtual double distanceSelf(const moveit::core::RobotState& state) const
+  virtual double distanceSelf(const moveit::core::RobotState& /* state */) const
   {
     return 0.0;
-  };
+  }
 
-  virtual double distanceSelf(const moveit::core::RobotState& state,
-                              const collision_detection::AllowedCollisionMatrix& acm) const
+  virtual double distanceSelf(const moveit::core::RobotState& /* state */,
+                              const collision_detection::AllowedCollisionMatrix& /* acm */) const
   {
     return 0.0;
-  };
+  }
 
-  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const robot_state::RobotState& state) const override
+  void distanceSelf(const DistanceRequest& /* req */, DistanceResult& /* res */,
+                    const robot_state::RobotState& /* state */) const override
   {
     ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
   }
@@ -179,17 +179,22 @@ class CollisionEnvDistanceField : public CollisionEnv
 
   virtual double distanceRobot(const robot_state::RobotState& state, bool verbose = false) const
   {
+    (void)state;
+    (void)verbose;
     return 0.0;
   }
 
   virtual double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
                                bool verbose = false) const
   {
+    (void)state;
+    (void)acm;
+    (void)verbose;
     return 0.0;
   }
 
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                     const robot_state::RobotState& state) const override
+  void distanceRobot(const DistanceRequest& /* req */, DistanceResult& /* res */,
+                     const robot_state::RobotState& /* state */) const override
   {
     ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
   }
@@ -263,7 +268,7 @@ class CollisionEnvDistanceField : public CollisionEnv
   bool compareCacheEntryToAllowedCollisionMatrix(const DistanceFieldCacheEntryConstPtr& dfce,
                                                  const collision_detection::AllowedCollisionMatrix& acm) const;
 
-  void updatedPaddingOrScaling(const std::vector<std::string>& links) override{};
+  void updatedPaddingOrScaling(const std::vector<std::string>& /*links*/) override{};
 
   DistanceFieldCacheEntryWorldPtr generateDistanceFieldCacheEntryWorld();
 
diff --git a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
index 6cecf4e050..82a296cabf 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
@@ -441,7 +441,7 @@ inline double VoxelGrid<T>::getResolution() const
 }
 
 template <typename T>
-inline double VoxelGrid<T>::getResolution(Dimension dim) const
+inline double VoxelGrid<T>::getResolution(Dimension /*dim*/) const
 {
   return resolution_;
 }
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index b4d41e06ce..a3dae858a2 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -297,8 +297,9 @@ class KinematicsBase
                    double timeout, const std::vector<double>& consistency_limits, std::vector<double>& solution,
                    const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(),
-                   const moveit::core::RobotState* context_state = NULL) const
+                   const moveit::core::RobotState* context_state = nullptr) const
   {
+    (void)context_state;
     // For IK solvers that do not support multiple poses, fall back to single pose call
     if (ik_poses.size() == 1)
     {
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index f16c031abd..43789a908d 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -915,8 +915,8 @@ as the new values that correspond to the group */
                  const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
-  setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, unsigned int attempts, double timeout = 0.0,
-            const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
+  setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, unsigned int /* attempts */,
+            double timeout = 0.0, const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
     return setFromIK(group, pose, timeout, constraint, options);
@@ -934,7 +934,7 @@ as the new values that correspond to the group */
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
   setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, const std::string& tip,
-            unsigned int attempts, double timeout = 0.0,
+            unsigned int /* attempts */, double timeout = 0.0,
             const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
@@ -951,8 +951,8 @@ as the new values that correspond to the group */
                  const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
-  setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int attempts, double timeout = 0.0,
-            const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
+  setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int /* attempts */,
+            double timeout = 0.0, const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
     return setFromIK(group, pose, timeout, constraint, options);
@@ -968,8 +968,9 @@ as the new values that correspond to the group */
                  double timeout = 0.0, const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
-  setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip, unsigned int attempts,
-            double timeout = 0.0, const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
+  setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
+            unsigned int /* attempts */, double timeout = 0.0,
+            const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
     return setFromIK(group, pose, tip, timeout, constraint, options);
@@ -989,7 +990,7 @@ as the new values that correspond to the group */
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
   setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
-            const std::vector<double>& consistency_limits, unsigned int attempts, double timeout = 0.0,
+            const std::vector<double>& consistency_limits, unsigned int /* attempts */, double timeout = 0.0,
             const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
@@ -1011,7 +1012,7 @@ as the new values that correspond to the group */
                  const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());
   [[deprecated("The attempts argument is not supported anymore.")]] bool
   setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
-            const std::vector<std::string>& tips, unsigned int attempts, double timeout = 0.0,
+            const std::vector<std::string>& tips, unsigned int /* attempts */, double timeout = 0.0,
             const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
@@ -1035,7 +1036,7 @@ as the new values that correspond to the group */
   [[deprecated("The attempts argument is not supported anymore.")]] bool
   setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
             const std::vector<std::string>& tips, const std::vector<std::vector<double> >& consistency_limits,
-            unsigned int attempts, double timeout = 0.0,
+            unsigned int /* attempts */, double timeout = 0.0,
             const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
             const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
@@ -1058,7 +1059,7 @@ as the new values that correspond to the group */
   [[deprecated("The attempts argument is not supported anymore.")]] bool
   setFromIKSubgroups(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
                      const std::vector<std::string>& tips, const std::vector<std::vector<double> >& consistency_limits,
-                     unsigned int attempts, double timeout = 0.0,
+                     unsigned int /* attempts */, double timeout = 0.0,
                      const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(),
                      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())
   {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index e89087f1a1..562c11dcc1 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -335,7 +335,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   return true;
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*shared_variables*/)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index afefc41f3c..34292a9262 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -87,7 +87,7 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
                 const Eigen::Matrix<double, 6, 1>& cartesian_weights);
 
   /// not implemented.
-  int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out) override
+  int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/) override
   {
     return -1;
   }
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index 0f33d7af73..b8f98f914f 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -233,11 +233,11 @@ bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 }
 
 bool SrvKinematicsPlugin::searchPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses,
-                                           const std::vector<double>& ik_seed_state, double timeout,
-                                           const std::vector<double>& consistency_limits, std::vector<double>& solution,
-                                           const IKCallbackFn& solution_callback,
+                                           const std::vector<double>& ik_seed_state, double /*timeout*/,
+                                           const std::vector<double>& /*consistency_limits*/,
+                                           std::vector<double>& solution, const IKCallbackFn& solution_callback,
                                            moveit_msgs::MoveItErrorCodes& error_code,
-                                           const kinematics::KinematicsQueryOptions& options) const
+                                           const kinematics::KinematicsQueryOptions& /*options*/) const
 {
   // Check if active
   if (!active_)
diff --git a/moveit_kinematics/test/test_kinematics_plugin.cpp b/moveit_kinematics/test/test_kinematics_plugin.cpp
index 1235bfd9f9..2554516f5a 100644
--- a/moveit_kinematics/test/test_kinematics_plugin.cpp
+++ b/moveit_kinematics/test/test_kinematics_plugin.cpp
@@ -203,7 +203,7 @@ class KinematicsTest : public ::testing::Test
   }
 
 public:
-  testing::AssertionResult isNear(const char* expr1, const char* expr2, const char* abs_error_expr,
+  testing::AssertionResult isNear(const char* expr1, const char* expr2, const char* /*abs_error_expr*/,
                                   const geometry_msgs::Point& val1, const geometry_msgs::Point& val2, double abs_error)
   {
     // clang-format off
@@ -218,7 +218,7 @@ class KinematicsTest : public ::testing::Test
         << "Actual: " << expr2 << " [" << val2.x << ", " << val2.y << ", " << val2.z << "]";
     // clang-format on
   }
-  testing::AssertionResult isNear(const char* expr1, const char* expr2, const char* abs_error_expr,
+  testing::AssertionResult isNear(const char* expr1, const char* expr2, const char* /*abs_error_expr*/,
                                   const geometry_msgs::Quaternion& val1, const geometry_msgs::Quaternion& val2,
                                   double abs_error)
   {
@@ -261,7 +261,7 @@ class KinematicsTest : public ::testing::Test
     return testing::AssertionSuccess();
   }
 
-  void searchIKCallback(const geometry_msgs::Pose& ik_pose, const std::vector<double>& joint_state,
+  void searchIKCallback(const geometry_msgs::Pose& /*ik_pose*/, const std::vector<double>& joint_state,
                         moveit_msgs::MoveItErrorCodes& error_code)
   {
     std::vector<std::string> link_names = { tip_link_ };
diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
index 92697969b6..6a8288b78e 100644
--- a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
+++ b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
@@ -50,7 +50,7 @@ class CHOMPPlannerManager : public planning_interface::PlannerManager
   {
   }
 
-  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns) override
+  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& /*ns*/) override
   {
     for (const std::string& group : model->getJointModelGroupNames())
     {
@@ -92,7 +92,7 @@ class CHOMPPlannerManager : public planning_interface::PlannerManager
     return context;
   }
 
-  bool canServiceRequest(const planning_interface::MotionPlanRequest& req) const override
+  bool canServiceRequest(const planning_interface::MotionPlanRequest& /*req*/) const override
   {
     // TODO: this is a dummy implementation
     //      capabilities.dummy = false;
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
index 3543ba073a..9a8ef78bb3 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
@@ -43,8 +43,8 @@ using namespace std;
 
 namespace chomp
 {
-ChompCost::ChompCost(const ChompTrajectory& trajectory, int joint_number, const std::vector<double>& derivative_costs,
-                     double ridge_factor)
+ChompCost::ChompCost(const ChompTrajectory& trajectory, int /* joint_number */,
+                     const std::vector<double>& derivative_costs, double ridge_factor)
 {
   int num_vars_all = trajectory.getNumPoints();
   int num_vars_free = num_vars_all - 2 * (DIFF_RULE_LENGTH - 1);
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp b/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
index ec025a3114..f57e080bf2 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
@@ -166,7 +166,7 @@ class OptimizerAdapter : public planning_request_adapter::PlanningRequestAdapter
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& ps,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     // following call to planner() calls the OMPL planner and stores the trajectory inside the MotionPlanResponse res
     // variable which is then used by CHOMP for optimization of the computed trajectory
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 7e77582313..8e99b06dac 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -219,7 +219,7 @@ ompl_interface::ConstraintApproximation::ConstraintApproximation(
 }
 
 ompl::base::StateSamplerAllocator
-ompl_interface::ConstraintApproximation::getStateSamplerAllocator(const moveit_msgs::Constraints& msg) const
+ompl_interface::ConstraintApproximation::getStateSamplerAllocator(const moveit_msgs::Constraints& /*unused*/) const
 {
   if (state_storage_->size() == 0)
     return ompl::base::StateSamplerAllocator();
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 4d05cedd2d..10534e1d06 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -544,7 +544,7 @@ void ompl_interface::ModelBasedPlanningContext::clear()
 }
 
 bool ompl_interface::ModelBasedPlanningContext::setPathConstraints(const moveit_msgs::Constraints& path_constraints,
-                                                                   moveit_msgs::MoveItErrorCodes* error)
+                                                                   moveit_msgs::MoveItErrorCodes* /*error*/)
 {
   // ******************* set the path constraints to use
   path_constraints_.reset(new kinematic_constraints::KinematicConstraintSet(getRobotModel()));
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
index e111784818..2c8c67fe40 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
@@ -259,7 +259,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
   }
   */
 
-  void dynamicReconfigureCallback(OMPLDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(OMPLDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     if (config.link_for_exploration_tree.empty() && !planner_data_link_name_.empty())
     {
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
index cbaa560146..6943b91b91 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
@@ -43,8 +43,8 @@ ompl_interface::JointModelStateSpaceFactory::JointModelStateSpaceFactory() : Mod
 }
 
 int ompl_interface::JointModelStateSpaceFactory::canRepresentProblem(
-    const std::string& group, const moveit_msgs::MotionPlanRequest& req,
-    const robot_model::RobotModelConstPtr& robot_model) const
+    const std::string& /*group*/, const moveit_msgs::MotionPlanRequest& /*req*/,
+    const robot_model::RobotModelConstPtr& /*robot_model*/) const
 {
   return 100;
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index b7665991b6..3d6c6b21e3 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -180,7 +180,7 @@ void ompl_interface::PlanningContextManager::setPlannerConfigurations(
 
 ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(
     const planning_interface::PlannerConfigurationSettings& config,
-    const StateSpaceFactoryTypeSelector& factory_selector, const moveit_msgs::MotionPlanRequest& req) const
+    const StateSpaceFactoryTypeSelector& factory_selector, const moveit_msgs::MotionPlanRequest& /*req*/) const
 {
   const ompl_interface::ModelBasedStateSpaceFactoryPtr& factory = factory_selector(config.group);
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index baa51f4f16..ee375ead3a 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -261,7 +261,7 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
    * Controllers are all active and default.
    */
   moveit_controller_manager::MoveItControllerManager::ControllerState
-  getControllerState(const std::string& name) override
+  getControllerState(const std::string& /*name*/) override
   {
     moveit_controller_manager::MoveItControllerManager::ControllerState state;
     state.active_ = true;
@@ -270,7 +270,8 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
   }
 
   /* Cannot switch our controllers */
-  bool switchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate) override
+  bool switchControllers(const std::vector<std::string>& /*activate*/,
+                         const std::vector<std::string>& /*deactivate*/) override
   {
     return false;
   }
diff --git a/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp
index fbe5c1c224..9f8a048aec 100644
--- a/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp
+++ b/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp
@@ -49,7 +49,7 @@ class JointTrajectoryControllerAllocator : public ControllerHandleAllocator
 {
 public:
   moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string& name,
-                                                             const std::vector<std::string>& resources) override
+                                                             const std::vector<std::string>& /* resources */) override
   {
     return std::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>(
         name, "follow_joint_trajectory");
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
index f3a5b8d059..adcc2efce0 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -56,7 +56,7 @@ class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveIt
 
   virtual void addJoint(const std::string& name) = 0;
   virtual void getJoints(std::vector<std::string>& joints) = 0;
-  virtual void configure(XmlRpc::XmlRpcValue& config)
+  virtual void configure(XmlRpc::XmlRpcValue& /* config */)
   {
   }
 };
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
index f081853850..c52b53fcca 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
@@ -170,7 +170,7 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
 
 private:
   void controllerDoneCallback(const actionlib::SimpleClientGoalState& state,
-                              const control_msgs::GripperCommandResultConstPtr& result)
+                              const control_msgs::GripperCommandResultConstPtr& /* result */)
   {
     if (state == actionlib::SimpleClientGoalState::ABORTED && allow_failure_)
       finishControllerExecution(actionlib::SimpleClientGoalState::SUCCEEDED);
@@ -183,7 +183,7 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
     ROS_DEBUG_STREAM_NAMED("GripperController", name_ << " started execution");
   }
 
-  void controllerFeedbackCallback(const control_msgs::GripperCommandFeedbackConstPtr& feedback)
+  void controllerFeedbackCallback(const control_msgs::GripperCommandFeedbackConstPtr& /* feedback */)
   {
   }
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
index fecb380504..d5acff96b5 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
@@ -214,7 +214,7 @@ void FollowJointTrajectoryControllerHandle::controllerActiveCallback()
 }
 
 void FollowJointTrajectoryControllerHandle::controllerFeedbackCallback(
-    const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback)
+    const control_msgs::FollowJointTrajectoryFeedbackConstPtr& /* feedback */)
 {
 }
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
index e9921962db..46c8a507f1 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
@@ -224,7 +224,7 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
    * Controllers are all active and default -- that's what makes this thing simple.
    */
   moveit_controller_manager::MoveItControllerManager::ControllerState
-  getControllerState(const std::string& name) override
+  getControllerState(const std::string& /* name */) override
   {
     moveit_controller_manager::MoveItControllerManager::ControllerState state;
     state.active_ = true;
@@ -233,7 +233,8 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
   }
 
   /* Cannot switch our controllers */
-  bool switchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate) override
+  bool switchControllers(const std::vector<std::string>& /* activate */,
+                         const std::vector<std::string>& /* deactivate */) override
   {
     return false;
   }
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 1f55bf7102..51d8cd07e5 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -241,8 +241,8 @@ bool BenchmarkExecutor::runBenchmarks(const BenchmarkOptions& opts)
   return false;
 }
 
-bool BenchmarkExecutor::queriesAndPlannersCompatible(const std::vector<BenchmarkRequest>& requests,
-                                                     const std::map<std::string, std::vector<std::string>>& planners)
+bool BenchmarkExecutor::queriesAndPlannersCompatible(
+    const std::vector<BenchmarkRequest>& requests, const std::map<std::string, std::vector<std::string>>& /*planners*/)
 {
   // Make sure that the planner interfaces can service the desired queries
   for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
diff --git a/moveit_ros/manipulation/pick_place/src/pick_place_params.cpp b/moveit_ros/manipulation/pick_place/src/pick_place_params.cpp
index 250c42b621..addc270d44 100644
--- a/moveit_ros/manipulation/pick_place/src/pick_place_params.cpp
+++ b/moveit_ros/manipulation/pick_place/src/pick_place_params.cpp
@@ -61,7 +61,7 @@ class DynamicReconfigureImpl
 private:
   PickPlaceParams params_;
 
-  void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     params_.max_goal_count_ = config.max_attempted_states_per_pose;
     params_.max_fail_ = config.max_consecutive_fail_attempts;
diff --git a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
index 48aa594454..e2c8d1a814 100644
--- a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
@@ -46,7 +46,8 @@ void move_group::ClearOctomapService::initialize()
   service_ = root_node_handle_.advertiseService(CLEAR_OCTOMAP_SERVICE_NAME, &ClearOctomapService::clearOctomap, this);
 }
 
-bool move_group::ClearOctomapService::clearOctomap(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
+bool move_group::ClearOctomapService::clearOctomap(std_srvs::Empty::Request& /*unused*/,
+                                                   std_srvs::Empty::Response& /*unused*/)
 {
   if (!context_->planning_scene_monitor_)
   {
diff --git a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
index 9afab4f90e..806b65d395 100644
--- a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
@@ -55,7 +55,7 @@ void MoveGroupQueryPlannersService::initialize()
                                                     &MoveGroupQueryPlannersService::setParams, this);
 }
 
-bool MoveGroupQueryPlannersService::queryInterface(moveit_msgs::QueryPlannerInterfaces::Request& req,
+bool MoveGroupQueryPlannersService::queryInterface(moveit_msgs::QueryPlannerInterfaces::Request& /*req*/,
                                                    moveit_msgs::QueryPlannerInterfaces::Response& res)
 {
   const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
@@ -103,7 +103,7 @@ bool MoveGroupQueryPlannersService::getParams(moveit_msgs::GetPlannerParams::Req
 }
 
 bool MoveGroupQueryPlannersService::setParams(moveit_msgs::SetPlannerParams::Request& req,
-                                              moveit_msgs::SetPlannerParams::Response& res)
+                                              moveit_msgs::SetPlannerParams::Response& /*res*/)
 {
   const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
   if (req.params.keys.size() != req.params.values.size())
diff --git a/moveit_ros/move_group/src/list_capabilities.cpp b/moveit_ros/move_group/src/list_capabilities.cpp
index f1a972b1f1..9001ad49c2 100644
--- a/moveit_ros/move_group/src/list_capabilities.cpp
+++ b/moveit_ros/move_group/src/list_capabilities.cpp
@@ -38,7 +38,7 @@
 #include <pluginlib/class_loader.hpp>
 #include <boost/algorithm/string/join.hpp>
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** /*argv*/)
 {
   try
   {
diff --git a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
index d09cb649d9..96ed1ae78c 100644
--- a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
+++ b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
@@ -91,6 +91,7 @@ float mesh_filter::SensorModel::Parameters::getFarClippingPlaneDistance() const
 
 namespace
 {
+#if HAVE_SSE_EXTENSIONS
 inline unsigned alignment16(const void* pointer)
 {
   return ((uintptr_t)pointer & 15);
@@ -99,6 +100,7 @@ inline bool isAligned16(const void* pointer)
 {
   return (((uintptr_t)pointer & 15) == 0);
 }
+#endif
 }  // namespace
 
 void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth(float* depth) const
diff --git a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
index 7c6c33f07f..6013d0ffc5 100644
--- a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
+++ b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
@@ -111,7 +111,7 @@ void point_containment_filter::ShapeMask::removeShape(ShapeHandle handle)
 }
 
 void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::PointCloud2& data_in,
-                                                          const Eigen::Vector3d& sensor_origin,
+                                                          const Eigen::Vector3d& /*sensor_origin*/,
                                                           const double min_sensor_dist, const double max_sensor_dist,
                                                           std::vector<int>& mask)
 {
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index af47bd5b9a..1fd300ed75 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -162,8 +162,8 @@ bool PointCloudOctomapUpdater::getShapeTransform(ShapeHandle h, Eigen::Isometry3
   return it != transform_cache_.end();
 }
 
-void PointCloudOctomapUpdater::updateMask(const sensor_msgs::PointCloud2& cloud, const Eigen::Vector3d& sensor_origin,
-                                          std::vector<int>& mask)
+void PointCloudOctomapUpdater::updateMask(const sensor_msgs::PointCloud2& /*cloud*/,
+                                          const Eigen::Vector3d& /*sensor_origin*/, std::vector<int>& /*mask*/)
 {
 }
 
diff --git a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
index f4c6b0a356..07c6545208 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
+++ b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
@@ -67,7 +67,7 @@ class KinematicsPluginLoader
       parameter under which the robot description can be found. This
       is passed to the kinematics solver initialization as well as
       used to read the SRDF document when needed. */
-  KinematicsPluginLoader(const std::string& solver_plugin, double solve_timeout, unsigned int ik_attempts,
+  KinematicsPluginLoader(const std::string& solver_plugin, double solve_timeout, unsigned int /*ik_attempts*/,
                          const std::string& robot_description = "robot_description",
                          double default_search_resolution = 0.0)
     : robot_description_(robot_description)
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index 1a4ecf0d1a..f669e03af8 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -59,7 +59,7 @@ class PlanExecution::DynamicReconfigureImpl
   }
 
 private:
-  void dynamicReconfigureCallback(PlanExecutionDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(PlanExecutionDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     owner_->setMaxReplanAttempts(config.max_replan_attempts);
     owner_->setTrajectoryStateRecordingFrequency(config.record_trajectory_state_frequency);
@@ -479,7 +479,7 @@ void plan_execution::PlanExecution::planningSceneUpdatedCallback(
 }
 
 void plan_execution::PlanExecution::doneWithTrajectoryExecution(
-    const moveit_controller_manager::ExecutionStatus& status)
+    const moveit_controller_manager::ExecutionStatus& /*status*/)
 {
   execution_complete_ = true;
 }
diff --git a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
index 8095e07b78..0078ad5578 100644
--- a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
@@ -57,7 +57,7 @@ class PlanWithSensing::DynamicReconfigureImpl
   }
 
 private:
-  void dynamicReconfigureCallback(SenseForPlanDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(SenseForPlanDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     owner_->setMaxSafePathCost(config.max_safe_path_cost);
     owner_->setMaxCostSources(config.max_cost_sources);
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
index bf4f89a2b8..716890f341 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_iterative_spline_parameterization.cpp
@@ -49,7 +49,7 @@ class AddIterativeSplineParameterization : public planning_request_adapter::Plan
   {
   }
 
-  void initialize(const ros::NodeHandle& nh) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 
@@ -60,7 +60,7 @@ class AddIterativeSplineParameterization : public planning_request_adapter::Plan
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     bool result = planner(planning_scene, req, res);
     if (result && res.trajectory_)
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
index 336307fedb..c72f20b854 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp
@@ -51,7 +51,7 @@ class AddTimeOptimalParameterization : public planning_request_adapter::Planning
   {
   }
 
-  void initialize(const ros::NodeHandle& nh) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 
@@ -62,7 +62,7 @@ class AddTimeOptimalParameterization : public planning_request_adapter::Planning
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     bool result = planner(planning_scene, req, res);
     if (result && res.trajectory_)
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
index e3d1b17522..dced1a8d87 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/add_time_parameterization.cpp
@@ -48,7 +48,7 @@ class AddTimeParameterization : public planning_request_adapter::PlanningRequest
   {
   }
 
-  void initialize(const ros::NodeHandle& nh) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 
@@ -59,7 +59,7 @@ class AddTimeParameterization : public planning_request_adapter::PlanningRequest
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     bool result = planner(planning_scene, req, res);
     if (result && res.trajectory_)
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/empty.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/empty.cpp
index 92a48ca821..7bb0555e76 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/empty.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/empty.cpp
@@ -49,12 +49,12 @@ class Empty : public planning_request_adapter::PlanningRequestAdapter
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     return planner(planning_scene, req, res);
   }
 
-  void initialize(const ros::NodeHandle& node_handle) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 };
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
index 3d5f5b3135..80a6f058ce 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
@@ -50,7 +50,7 @@ class FixStartStatePathConstraints : public planning_request_adapter::PlanningRe
   {
   }
 
-  void initialize(const ros::NodeHandle& nh) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp
index fc36ca06f7..ea7586c583 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp
@@ -68,7 +68,7 @@ class FixWorkspaceBounds : public planning_request_adapter::PlanningRequestAdapt
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     ROS_DEBUG("Running '%s'", getDescription().c_str());
     const moveit_msgs::WorkspaceParameters& wparams = req.workspace_parameters;
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/resolve_constraint_frames.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/resolve_constraint_frames.cpp
index a8682a5ce6..0c5cdb3dd2 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/resolve_constraint_frames.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/resolve_constraint_frames.cpp
@@ -48,7 +48,7 @@ class ResolveConstraintFrames : public planning_request_adapter::PlanningRequest
   {
   }
 
-  void initialize(const ros::NodeHandle& nh) override
+  void initialize(const ros::NodeHandle& /*nh*/) override
   {
   }
 
@@ -59,7 +59,7 @@ class ResolveConstraintFrames : public planning_request_adapter::PlanningRequest
 
   bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
+                    std::vector<std::size_t>& /*added_path_index*/) const override
   {
     ROS_DEBUG("Running '%s'", getDescription().c_str());
     planning_interface::MotionPlanRequest modified = req;
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index de9a628b5a..21d4ed1e43 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -84,7 +84,7 @@ class PlanningSceneMonitor::DynamicReconfigureImpl
     return ns;
   }
 
-  void dynamicReconfigureCallback(PlanningSceneMonitorDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(PlanningSceneMonitorDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     PlanningSceneMonitor::SceneUpdateType event = PlanningSceneMonitor::UPDATE_NONE;
     if (config.publish_geometry_updates)
@@ -1143,7 +1143,7 @@ void PlanningSceneMonitor::onStateUpdate(const sensor_msgs::JointStateConstPtr&
     updateSceneWithCurrentState();
 }
 
-void PlanningSceneMonitor::stateUpdateTimerCallback(const ros::WallTimerEvent& event)
+void PlanningSceneMonitor::stateUpdateTimerCallback(const ros::WallTimerEvent& /*unused*/)
 {
   if (state_update_pending_)
   {
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index 7ab6d1ca73..71d180cefe 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -64,7 +64,7 @@ class TrajectoryExecutionManager::DynamicReconfigureImpl
   }
 
 private:
-  void dynamicReconfigureCallback(TrajectoryExecutionDynamicReconfigureConfig& config, uint32_t level)
+  void dynamicReconfigureCallback(TrajectoryExecutionDynamicReconfigureConfig& config, uint32_t /*level*/)
   {
     owner_->enableExecutionDurationMonitoring(config.execution_duration_monitoring);
     owner_->setAllowedExecutionDurationScaling(config.allowed_execution_duration_scaling);
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
index 46584f00cd..732457e801 100644
--- a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
@@ -47,7 +47,7 @@ class TestMoveItControllerHandle : public moveit_controller_manager::MoveItContr
   {
   }
 
-  bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) override
+  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*trajectory*/) override
   {
     return true;
   }
@@ -59,6 +59,7 @@ class TestMoveItControllerHandle : public moveit_controller_manager::MoveItContr
 
   bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) override
   {
+    (void)timeout;
     return false;
   }
 
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index c3dd2ee9f9..8d91554da2 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -57,7 +57,7 @@ MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::B
 {
 }
 
-MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& nh,
+MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& /*unused*/,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
 {
   if (!tf_buffer_)
diff --git a/moveit_ros/robot_interaction/src/interaction_handler.cpp b/moveit_ros/robot_interaction/src/interaction_handler.cpp
index f437f20c71..3c8492fda8 100644
--- a/moveit_ros/robot_interaction/src/interaction_handler.cpp
+++ b/moveit_ros/robot_interaction/src/interaction_handler.cpp
@@ -330,7 +330,7 @@ bool InteractionHandler::inError(const GenericInteraction& g) const
   return getErrorState(g.marker_name_suffix);
 }
 
-bool InteractionHandler::inError(const JointInteraction& vj) const
+bool InteractionHandler::inError(const JointInteraction& /*unused*/) const
 {
   return false;
 }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 458354b8dd..970060a362 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -513,7 +513,7 @@ void MotionPlanningFrame::tabChanged(int index)
     selectedCollisionObjectChanged();
 }
 
-void MotionPlanningFrame::updateSceneMarkers(float wall_dt, float ros_dt)
+void MotionPlanningFrame::updateSceneMarkers(float wall_dt, float /*ros_dt*/)
 {
   if (scene_marker_)
     scene_marker_->update(wall_dt);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
index aea72abcf2..4159cc4ff0 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
@@ -113,7 +113,7 @@ void MotionPlanningFrame::selectedDetectedObjectChanged()
   }
 }
 
-void MotionPlanningFrame::detectedObjectChanged(QListWidgetItem* item)
+void MotionPlanningFrame::detectedObjectChanged(QListWidgetItem* /*item*/)
 {
 }
 
@@ -147,14 +147,14 @@ void MotionPlanningFrame::triggerObjectDetection()
   }
 }
 
-void MotionPlanningFrame::listenDetectedObjects(const object_recognition_msgs::RecognizedObjectArrayPtr& msg)
+void MotionPlanningFrame::listenDetectedObjects(const object_recognition_msgs::RecognizedObjectArrayPtr& /*msg*/)
 {
   ros::Duration(1.0).sleep();
   planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::processDetectedObjects, this));
 }
 
 void MotionPlanningFrame::updateDetectedObjectsList(const std::vector<std::string>& object_ids,
-                                                    const std::vector<std::string>& objects)
+                                                    const std::vector<std::string>& /*objects*/)
 {
   ui_->detected_objects_list->setUpdatesEnabled(false);
   bool old_state = ui_->detected_objects_list->blockSignals(true);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 88417e1033..55006806df 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -492,22 +492,22 @@ void MotionPlanningFrame::configureForPlanning()
     planning_display_->dropVisualizedTrajectory();
 }
 
-void MotionPlanningFrame::remotePlanCallback(const std_msgs::EmptyConstPtr& msg)
+void MotionPlanningFrame::remotePlanCallback(const std_msgs::EmptyConstPtr& /*msg*/)
 {
   planButtonClicked();
 }
 
-void MotionPlanningFrame::remoteExecuteCallback(const std_msgs::EmptyConstPtr& msg)
+void MotionPlanningFrame::remoteExecuteCallback(const std_msgs::EmptyConstPtr& /*msg*/)
 {
   executeButtonClicked();
 }
 
-void MotionPlanningFrame::remoteStopCallback(const std_msgs::EmptyConstPtr& msg)
+void MotionPlanningFrame::remoteStopCallback(const std_msgs::EmptyConstPtr& /*msg*/)
 {
   stopButtonClicked();
 }
 
-void MotionPlanningFrame::remoteUpdateStartStateCallback(const std_msgs::EmptyConstPtr& msg)
+void MotionPlanningFrame::remoteUpdateStartStateCallback(const std_msgs::EmptyConstPtr& /*msg*/)
 {
   if (move_group_ && planning_display_)
   {
@@ -521,7 +521,7 @@ void MotionPlanningFrame::remoteUpdateStartStateCallback(const std_msgs::EmptyCo
   }
 }
 
-void MotionPlanningFrame::remoteUpdateGoalStateCallback(const std_msgs::EmptyConstPtr& msg)
+void MotionPlanningFrame::remoteUpdateGoalStateCallback(const std_msgs::EmptyConstPtr& /*msg*/)
 {
   if (move_group_ && planning_display_)
   {
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 5a08240a98..f3cdfda14c 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -561,7 +561,7 @@ void PlanningSceneDisplay::sceneMonitorReceivedUpdate(
 }
 
 void PlanningSceneDisplay::onSceneMonitorReceivedUpdate(
-    planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
+    planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType /*update_type*/)
 {
   bool old_state = scene_name_property_->blockSignals(true);
   getPlanningSceneRW()->getCurrentStateNonConst().update();
@@ -621,7 +621,7 @@ void PlanningSceneDisplay::update(float wall_dt, float ros_dt)
     updateInternal(wall_dt, ros_dt);
 }
 
-void PlanningSceneDisplay::updateInternal(float wall_dt, float ros_dt)
+void PlanningSceneDisplay::updateInternal(float wall_dt, float /*ros_dt*/)
 {
   current_scene_time_ += wall_dt;
   if (current_scene_time_ > scene_display_time_property_->getFloat() && planning_scene_render_ &&
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
index f427a7315b..dbe2f667ae 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -51,7 +51,7 @@ typedef std::vector<VPoint> VVPoint;
 
 OcTreeRender::OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree,
                            OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
-                           std::size_t max_octree_depth, Ogre::SceneManager* scene_manager,
+                           std::size_t max_octree_depth, Ogre::SceneManager* /*scene_manager*/,
                            Ogre::SceneNode* parent_node = nullptr)
   : octree_(octree), colorFactor_(0.8)
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 39cbd4e569..3d5b4c2acc 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -357,7 +357,7 @@ void TrajectoryVisualization::dropTrajectory()
   drop_displaying_trajectory_ = true;
 }
 
-void TrajectoryVisualization::update(float wall_dt, float ros_dt)
+void TrajectoryVisualization::update(float wall_dt, float /*ros_dt*/)
 {
   if (drop_displaying_trajectory_)
   {
diff --git a/moveit_ros/warehouse/warehouse/src/warehouse_services.cpp b/moveit_ros/warehouse/warehouse/src/warehouse_services.cpp
index 97e89d29d7..cc1614f668 100644
--- a/moveit_ros/warehouse/warehouse/src/warehouse_services.cpp
+++ b/moveit_ros/warehouse/warehouse/src/warehouse_services.cpp
@@ -96,7 +96,8 @@ bool getState(moveit_msgs::GetRobotStateFromWarehouse::Request& request,
 }
 
 bool renameState(moveit_msgs::RenameRobotStateInWarehouse::Request& request,
-                 moveit_msgs::RenameRobotStateInWarehouse::Response& response, moveit_warehouse::RobotStateStorage* rs)
+                 moveit_msgs::RenameRobotStateInWarehouse::Response& /*response*/,
+                 moveit_warehouse::RobotStateStorage* rs)
 {
   if (!rs->hasRobotState(request.old_name, request.robot))
   {
@@ -108,7 +109,7 @@ bool renameState(moveit_msgs::RenameRobotStateInWarehouse::Request& request,
 }
 
 bool deleteState(moveit_msgs::DeleteRobotStateFromWarehouse::Request& request,
-                 moveit_msgs::DeleteRobotStateFromWarehouse::Response& response,
+                 moveit_msgs::DeleteRobotStateFromWarehouse::Response& /*response*/,
                  moveit_warehouse::RobotStateStorage* rs)
 {
   if (!rs->hasRobotState(request.name, request.robot))
diff --git a/moveit_setup_assistant/src/setup_assistant_main.cpp b/moveit_setup_assistant/src/setup_assistant_main.cpp
index a514696622..88577607a5 100644
--- a/moveit_setup_assistant/src/setup_assistant_main.cpp
+++ b/moveit_setup_assistant/src/setup_assistant_main.cpp
@@ -42,7 +42,7 @@
 #include <signal.h>
 #include <locale.h>
 
-static void siginthandler(int param)
+static void siginthandler(int /*param*/)
 {
   QApplication::quit();
 }
diff --git a/moveit_setup_assistant/src/tools/collision_linear_model.cpp b/moveit_setup_assistant/src/tools/collision_linear_model.cpp
index ea737dc63a..66fd858872 100644
--- a/moveit_setup_assistant/src/tools/collision_linear_model.cpp
+++ b/moveit_setup_assistant/src/tools/collision_linear_model.cpp
@@ -78,23 +78,23 @@ QModelIndex CollisionLinearModel::mapToSource(const QModelIndex& proxyIndex) con
   return sourceModel()->index(r, c);
 }
 
-int CollisionLinearModel::rowCount(const QModelIndex& parent) const
+int CollisionLinearModel::rowCount(const QModelIndex& /*parent*/) const
 {
   int n = this->sourceModel()->rowCount();
   return (n * (n - 1) / 2);
 }
 
-int CollisionLinearModel::columnCount(const QModelIndex& parent) const
+int CollisionLinearModel::columnCount(const QModelIndex& /*parent*/) const
 {
   return 4;
 }
 
-QModelIndex CollisionLinearModel::index(int row, int column, const QModelIndex& parent) const
+QModelIndex CollisionLinearModel::index(int row, int column, const QModelIndex& /*parent*/) const
 {
   return createIndex(row, column);
 }
 
-QModelIndex CollisionLinearModel::parent(const QModelIndex& child) const
+QModelIndex CollisionLinearModel::parent(const QModelIndex& /*child*/) const
 {
   return QModelIndex();
 }
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index da6ce39b47..d925af3807 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -1827,7 +1827,7 @@ std::vector<ROSControlConfig>& MoveItConfigData::getROSControllers()
 // Used to add a sensor plugin configuation parameter to the sensor plugin configuration parameter list
 // ******************************************************************************************
 void MoveItConfigData::addGenericParameterToSensorPluginConfig(const std::string& name, const std::string& value,
-                                                               const std::string& comment)
+                                                               const std::string& /*comment*/)
 {
   // Use index 0 since we only write one plugin
   GenericParameter new_parameter;
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.cpp b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
index f3769bfa70..ede1601910 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
@@ -299,7 +299,7 @@ void DoubleListWidget::deselectDataButtonClicked()
 // ******************************************************************************************
 // Highlight links of robot for left list
 // ******************************************************************************************
-void DoubleListWidget::previewSelectedLeft(const QItemSelection& selected, const QItemSelection& deselected)
+void DoubleListWidget::previewSelectedLeft(const QItemSelection& /*selected*/, const QItemSelection& /*deselected*/)
 {
   const QList<QTableWidgetItem*> selected_items = data_table_->selectedItems();
   previewSelected(selected_items);
@@ -308,7 +308,7 @@ void DoubleListWidget::previewSelectedLeft(const QItemSelection& selected, const
 // ******************************************************************************************
 // Highlight links of robot for right list
 // ******************************************************************************************
-void DoubleListWidget::previewSelectedRight(const QItemSelection& selected, const QItemSelection& deselected)
+void DoubleListWidget::previewSelectedRight(const QItemSelection& /*selected*/, const QItemSelection& /*deselected*/)
 {
   const QList<QTableWidgetItem*> selected_items = selected_data_table_->selectedItems();
   previewSelected(selected_items);
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index 4c3889108b..a0d53ee39f 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -247,7 +247,7 @@ void EndEffectorsWidget::showNewScreen()
 // ******************************************************************************************
 // Edit whatever element is selected
 // ******************************************************************************************
-void EndEffectorsWidget::editDoubleClicked(int row, int column)
+void EndEffectorsWidget::editDoubleClicked(int /*row*/, int /*column*/)
 {
   editSelected();
 }
@@ -255,7 +255,7 @@ void EndEffectorsWidget::editDoubleClicked(int row, int column)
 // ******************************************************************************************
 // Preview whatever element is selected
 // ******************************************************************************************
-void EndEffectorsWidget::previewClicked(int row, int column)
+void EndEffectorsWidget::previewClicked(int /*row*/, int /*column*/)
 {
   // Get list of all selected items
   QList<QTableWidgetItem*> selected = data_table_->selectedItems();
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.cpp b/moveit_setup_assistant/src/widgets/navigation_widget.cpp
index 703e1936b1..3d62d771f0 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.cpp
@@ -116,7 +116,7 @@ NavDelegate::NavDelegate(QObject* parent) : QStyledItemDelegate(parent)
 {
 }
 
-QSize NavDelegate::sizeHint(const QStyleOptionViewItem& option, const QModelIndex& index) const
+QSize NavDelegate::sizeHint(const QStyleOptionViewItem& option, const QModelIndex& /*index*/) const
 {
   return QSize(option.rect.width(), 45);
 }
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 6d8c9ab840..c83e5e9a45 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -308,7 +308,7 @@ void RobotPosesWidget::showNewScreen()
 // ******************************************************************************************
 // Edit whatever element is selected
 // ******************************************************************************************
-void RobotPosesWidget::editDoubleClicked(int row, int column)
+void RobotPosesWidget::editDoubleClicked(int /*row*/, int /*column*/)
 {
   // We'll just base the edit on the selection highlight
   editSelected();
@@ -317,7 +317,7 @@ void RobotPosesWidget::editDoubleClicked(int row, int column)
 // ******************************************************************************************
 // Preview whatever element is selected
 // ******************************************************************************************
-void RobotPosesWidget::previewClicked(int row, int column)
+void RobotPosesWidget::previewClicked(int row, int /*column*/)
 {
   const std::string& name = data_table_->item(row, 0)->text().toStdString();
   const std::string& group = data_table_->item(row, 1)->text().toStdString();
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index 815045ca34..9922043012 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -512,7 +512,7 @@ void ROSControllersWidget::previewSelectedGroup(std::vector<std::string> groups)
 // ******************************************************************************************
 // Called when an item is seleceted from the controllers tree
 // ******************************************************************************************
-void ROSControllersWidget::previewSelected(QTreeWidgetItem* selected_item, int column)
+void ROSControllersWidget::previewSelected(QTreeWidgetItem* selected_item, int /*column*/)
 {
   // Get the user custom properties of the currently selected row
   int type = selected_item->data(0, Qt::UserRole).value<int>();
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 75080ac11e..2b2d140361 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -495,7 +495,7 @@ void SetupAssistantWidget::closeEvent(QCloseEvent* event)
 // ******************************************************************************************
 // Qt Error Handling - TODO
 // ******************************************************************************************
-bool SetupAssistantWidget::notify(QObject* reciever, QEvent* event)
+bool SetupAssistantWidget::notify(QObject* /*receiver*/, QEvent* /*event*/)
 {
   QMessageBox::critical(this, "Error", "An error occurred and was caught by Qt notify event handler.", QMessageBox::Ok);
 
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.cpp b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
index e5bc3ed2df..14b9d5a805 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
@@ -218,7 +218,7 @@ void SimulationWidget::generateURDFClick()
 // ******************************************************************************************
 // Called the copy to clipboard button is clicked
 // ******************************************************************************************
-void SimulationWidget::copyURDF(const QString& link)
+void SimulationWidget::copyURDF(const QString& /*link*/)
 {
   simulation_text_->selectAll();
   simulation_text_->copy();
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 110ba6391a..5c22805d09 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -298,7 +298,7 @@ void StartScreenWidget::loadFilesClick()
   }
 }
 
-void StartScreenWidget::onPackagePathChanged(const QString& path)
+void StartScreenWidget::onPackagePathChanged(const QString& /*path*/)
 {
   if (!loadPackageSettings(false))
     return;
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index b07398daf8..1080649b48 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -245,7 +245,7 @@ void VirtualJointsWidget::showNewScreen()
 // ******************************************************************************************
 // Edit whatever element is selected
 // ******************************************************************************************
-void VirtualJointsWidget::editDoubleClicked(int row, int column)
+void VirtualJointsWidget::editDoubleClicked(int /*row*/, int /*column*/)
 {
   editSelected();
 }
@@ -253,7 +253,7 @@ void VirtualJointsWidget::editDoubleClicked(int row, int column)
 // ******************************************************************************************
 // Preview whatever element is selected
 // ******************************************************************************************
-void VirtualJointsWidget::previewClicked(int row, int column)
+void VirtualJointsWidget::previewClicked(int /*row*/, int /*column*/)
 {
   // TODO: highlight the virtual joint?
 

From a87d95542575e6cfdddb7de819f4691fece63881 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Nov 2019 15:59:24 +0100
Subject: [PATCH 107/612] MoveItCpp: correctly initialize tf_buffer_

---
 moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 8d91554da2..dfa5d12bf5 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -59,6 +59,7 @@ MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::B
 
 MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& /*unused*/,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
+  : tf_buffer_(tf_buffer)
 {
   if (!tf_buffer_)
     tf_buffer_.reset(new tf2_ros::Buffer());

From 7b86d4d2ce36eab017f7f6e11cc179613478039e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Nov 2019 17:02:14 +0100
Subject: [PATCH 108/612] silent warnings outside MoveIt code base

---
 .../collision_distance_field_types.h          |  4 +
 .../include/moveit/macros/diagnostics.h       | 73 +++++++++++++++++++
 .../moveit/benchmarks/BenchmarkExecutor.h     |  4 +
 .../occupancy_map_monitor/occupancy_map.h     |  4 +
 .../pointcloud_octomap_updater.h              |  4 +
 .../motion_planning_frame.h                   |  4 +
 .../motion_planning_param_widget.h            |  7 +-
 .../src/motion_planning_display.cpp           |  5 ++
 .../src/robot_state_display.cpp               |  4 +
 .../rviz_plugin_render_tools/octomap_render.h |  5 +-
 .../planning_link_updater.h                   |  4 +
 .../robot_state_visualization.h               |  4 +
 .../src/octomap_render.cpp                    |  3 +
 .../src/render_shapes.cpp                     |  4 +
 .../warehouse/src/moveit_message_storage.cpp  |  5 +-
 .../src/widgets/setup_assistant_widget.cpp    |  4 +
 16 files changed, 135 insertions(+), 3 deletions(-)
 create mode 100644 moveit_core/macros/include/moveit/macros/diagnostics.h

diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index 9816e4be1e..c9b7ae066c 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -45,7 +45,11 @@
 
 #include <geometric_shapes/shapes.h>
 #include <geometric_shapes/bodies.h>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <octomap/OcTree.h>
+DIAGNOSTIC_POP
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/distance_field/distance_field.h>
diff --git a/moveit_core/macros/include/moveit/macros/diagnostics.h b/moveit_core/macros/include/moveit/macros/diagnostics.h
new file mode 100644
index 0000000000..6d3e78caa8
--- /dev/null
+++ b/moveit_core/macros/include/moveit/macros/diagnostics.h
@@ -0,0 +1,73 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Bielefeld University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Bielefeld University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+/** The following macros allow to temporarily disable specific warnings,
+ *  which in turn allows us to compile the MoveIt code base with rather strict
+ *  compiler warnings, and still avoid corresponding issues in external sources.
+ *  Just wrap an offending include with:
+ *
+ *  DIAGNOSTIC_PUSH
+ *  SILENT_UNUSED_PARAM
+ *  #include <offender.h>
+ *  DIAGNOSTIC_PUSH
+ *
+ *  The push and pop operations ensure that the old status is restored afterwards.
+ */
+
+#if defined(_MSC_VER)
+#define DIAGNOSTIC_PUSH __pragma(warning(push))
+#define DIAGNOSTIC_POP __pragma(warning(pop))
+#define SILENT_UNUSED_PARAM __pragma(warning(disable : 4100))
+
+#elif defined(__GNUC__) || defined(__clang__)
+#define DO_PRAGMA(X) _Pragma(#X)
+#define DIAGNOSTIC_PUSH DO_PRAGMA(GCC diagnostic push)
+#define DIAGNOSTIC_POP DO_PRAGMA(GCC diagnostic pop)
+
+#if defined(__clang__)
+#define SILENT_UNUSED_PARAM DO_PRAGMA(GCC diagnostic ignored "-Wunused-parameter")
+#else
+#define SILENT_UNUSED_PARAM                                                                                            \
+  DO_PRAGMA(GCC diagnostic ignored "-Wunused-parameter")                                                               \
+  DO_PRAGMA(GCC diagnostic ignored "-Wunused-but-set-parameter")
+#endif
+
+#else
+#define DIAGNOSTIC_PUSH
+#define DIAGNOSTIC_POP
+#define SILENT_UNUSED_PARAM
+
+#endif
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index 92a0a82a36..e7b50d07bc 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -46,7 +46,11 @@
 #include <moveit/warehouse/constraints_storage.h>
 #include <moveit/warehouse/trajectory_constraints_storage.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <warehouse_ros/database_loader.h>
+DIAGNOSTIC_PUSH
 #include <pluginlib/class_loader.hpp>
 
 #include <map>
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index ee98f95de5..88e8730d6d 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -36,7 +36,11 @@
 
 #pragma once
 
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <octomap/octomap.h>
+DIAGNOSTIC_PUSH
 #include <boost/thread/locks.hpp>
 #include <boost/thread/shared_mutex.hpp>
 #include <boost/function.hpp>
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index 80ecbfaa11..5eba41256d 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -37,8 +37,12 @@
 #pragma once
 
 #include <ros/ros.h>
+#include <moveit/macros/diagnostics.h>
 #include <tf2_ros/transform_listener.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <tf2_ros/message_filter.h>
+DIAGNOSTIC_POP
 #include <message_filters/subscriber.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index e9a7398a90..50996db00e 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -48,8 +48,12 @@
 #include <moveit/robot_interaction/robot_interaction.h>
 #include <moveit/robot_interaction/interaction_handler.h>
 #include <moveit/semantic_world/semantic_world.h>
+#include <moveit/macros/diagnostics.h>
 #include <interactive_markers/interactive_marker_server.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/default_plugin/interactive_markers/interactive_marker.h>
+DIAGNOSTIC_POP
 #include <moveit_msgs/MotionPlanRequest.h>
 #include <actionlib/client/simple_action_client.h>
 #include <object_recognition_msgs/ObjectRecognitionAction.h>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 99658c4f2d..0869a1a8ed 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -36,8 +36,13 @@
 
 #pragma once
 
-#include <rviz/properties/property_tree_widget.h>
 #include <moveit/macros/class_forward.h>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
+#include <rviz/properties/property_tree_widget.h>
+DIAGNOSTIC_POP
+
 namespace moveit
 {
 namespace planning_interface
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 2087245192..b635d954f5 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -38,6 +38,10 @@
 #include <moveit/robot_interaction/kinematic_options_map.h>
 #include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
 #include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
+#include <moveit/macros/diagnostics.h>
+
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
 #include <rviz/robot/robot_link.h>
@@ -59,6 +63,7 @@
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
 #include <rviz/ogre_helpers/shape.h>
+DIAGNOSTIC_POP
 
 #include <moveit/robot_state/conversions.h>
 #include <moveit/trajectory_processing/trajectory_tools.h>
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 64d5773fd8..24d739ec9c 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -38,6 +38,9 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/utils/message_checks.h>
 
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
 #include <rviz/robot/robot_link.h>
@@ -53,6 +56,7 @@
 
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
+DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index 9c4f3c60b2..fb11b11fe8 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -38,8 +38,11 @@
 
 #include <memory>
 #include <vector>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/ogre_helpers/point_cloud.h>
-
+DIAGNOSTIC_POP
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
 
 namespace octomap
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
index 0d757ef7c5..b1d1358a28 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
@@ -36,7 +36,11 @@
 
 #pragma once
 
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/robot/link_updater.h>
+DIAGNOSTIC_POP
 #include <moveit/robot_state/robot_state.h>
 
 namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 01444a817f..52b81c9f07 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -39,7 +39,11 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/robot/robot.h>
+DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
index dbe2f667ae..e0ff33fbff 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -36,8 +36,11 @@
 
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
 
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <octomap_msgs/Octomap.h>
 #include <octomap/octomap.h>
+DIAGNOSTIC_POP
 
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 0743a5e823..e463c22198 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -46,8 +46,12 @@
 #include <rviz/ogre_helpers/shape.h>
 #include <rviz/ogre_helpers/mesh_shape.h>
 
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/display_context.h>
 #include <rviz/robot/robot.h>
+DIAGNOSTIC_POP
 
 #include <boost/lexical_cast.hpp>
 #include <boost/math/constants/constants.hpp>
diff --git a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
index b0f5bef94e..3511f8e8b6 100644
--- a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
+++ b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
@@ -35,8 +35,11 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/warehouse/moveit_message_storage.h>
+#include <moveit/macros/diagnostics.h>
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <warehouse_ros/database_loader.h>
-//#include <warehouse_ros_mongo/database_connection.h>
+DIAGNOSTIC_PUSH
 #include <boost/regex.hpp>
 #include <memory>
 #include <utility>
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 2b2d140361..fee2c0455b 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -34,6 +34,7 @@
 
 /* Author: Dave Coleman */
 
+#include <moveit/macros/diagnostics.h>
 // SA
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 #include "setup_assistant_widget.h"
@@ -50,11 +51,14 @@
 #include <QDir>
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 // Rviz
+DIAGNOSTIC_PUSH
+SILENT_UNUSED_PARAM
 #include <rviz/render_panel.h>
 #include <rviz/visualization_manager.h>
 #include <rviz/view_manager.h>
 #include <rviz/default_plugin/view_controllers/orbit_view_controller.h>
 #include <moveit/robot_state_rviz_plugin/robot_state_display.h>
+DIAGNOSTIC_POP
 
 namespace moveit_setup_assistant
 {

From b2cadf602013f8bf02047f5886b9aa9b0d4da95d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Nov 2019 22:31:08 +0100
Subject: [PATCH 109/612] remove unused include

---
 .../moveit/motion_planning_rviz_plugin/motion_planning_display.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 84e911f1a5..09910b555f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <rviz/display.h>
-#include <rviz/selection/selection_manager.h>
 #include <rviz/panel_dock_widget.h>
 #include <moveit/planning_scene_rviz_plugin/planning_scene_display.h>
 #include <moveit/rviz_plugin_render_tools/trajectory_visualization.h>

From 049b865e9e47d2b5f2dcb89f0dd49490227e8e61 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 26 Nov 2019 21:29:29 +0100
Subject: [PATCH 110/612] fix clang-tidy issues

---
 .../rviz_plugin_render_tools/src/render_shapes.cpp            | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index e463c22198..3a0b6b7ee0 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -193,8 +193,8 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
 
 void RenderShapes::updateShapeColors(float r, float g, float b, float a)
 {
-  for (auto it = scene_shapes_.begin(), end = scene_shapes_.end(); it != end; ++it)
-    (**it).setColor(r, g, b, a);
+  for (const std::unique_ptr<rviz::Shape>& shape : scene_shapes_)
+    shape->setColor(r, g, b, a);
 }
 
 }  // namespace moveit_rviz_plugin

From e0c8591b6e277727c28c2d6b0e742dd44a671390 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 26 Nov 2019 23:20:57 +0100
Subject: [PATCH 111/612] fix -Woverloaded-virtual warnings

Due to a different order of arguments, there was an extra layer of function forwarding for searchPositionIK.
---
 .../kdl_kinematics_plugin.h                   | 17 -------------
 .../src/kdl_kinematics_plugin.cpp             | 19 ++++-----------
 .../lma_kinematics_plugin.h                   | 18 --------------
 .../src/lma_kinematics_plugin.cpp             | 23 +++++-------------
 .../srv_kinematics_plugin.h                   | 18 +++++---------
 .../src/srv_kinematics_plugin.cpp             | 24 ++++++-------------
 6 files changed, 23 insertions(+), 96 deletions(-)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 6e13e834f4..61865c482b 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -122,23 +122,6 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
   const std::vector<std::string>& getLinkNames() const override;
 
 protected:
-  /**
-   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
-   * This particular method is intended for "searching" for a solutions by randomly re-seeding on failure.
-   * @param ik_pose the desired pose of the link
-   * @param ik_seed_state an initial guess solution for the inverse kinematics
-   * @param timeout The amount of time (in seconds) available to the solver
-   * @param solution the solution vector
-   * @param solution_callback A callback to validate an IK solution
-   * @param error_code an error code that encodes the reason for failure or success
-   * @param consistency_limits The returned solutuion will not deviate more than these from the seed
-   * @return True if a valid solution was found, false otherwise
-   */
-  bool searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
-                        std::vector<double>& solution, const IKCallbackFn& solution_callback,
-                        moveit_msgs::MoveItErrorCodes& error_code, const std::vector<double>& consistency_limits,
-                        const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
-
   typedef Eigen::Matrix<double, 6, 1> Twist;
 
   /// Solve position IK given initial joint values
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index ace343ae39..9ba7d0e4aa 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -278,7 +278,7 @@ bool KDLKinematicsPlugin::getPositionIK(const geometry_msgs::Pose& ik_pose, cons
   std::vector<double> consistency_limits;
 
   // limit search to a single attempt by setting a timeout of zero
-  return searchPositionIK(ik_pose, ik_seed_state, 0.0, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, 0.0, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -289,7 +289,7 @@ bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 {
   std::vector<double> consistency_limits;
 
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -298,7 +298,7 @@ bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
 {
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -309,7 +309,7 @@ bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            const kinematics::KinematicsQueryOptions& options) const
 {
   std::vector<double> consistency_limits;
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, solution_callback, error_code,
                           options);
 }
 
@@ -318,17 +318,6 @@ bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            std::vector<double>& solution, const IKCallbackFn& solution_callback,
                                            moveit_msgs::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
-{
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
-                          options);
-}
-
-bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
-                                           double timeout, std::vector<double>& solution,
-                                           const IKCallbackFn& solution_callback,
-                                           moveit_msgs::MoveItErrorCodes& error_code,
-                                           const std::vector<double>& consistency_limits,
-                                           const kinematics::KinematicsQueryOptions& options) const
 {
   ros::WallTime start_time = ros::WallTime::now();
   if (!initialized_)
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index 79c1155d67..d9c3ab754b 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -115,24 +115,6 @@ class LMAKinematicsPlugin : public kinematics::KinematicsBase
    */
   const std::vector<std::string>& getLinkNames() const override;
 
-protected:
-  /**
-   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
-   * This particular method is intended for "searching" for a solutions by randomly re-seeding on failure.
-   * @param ik_pose the desired pose of the link
-   * @param ik_seed_state an initial guess solution for the inverse kinematics
-   * @param timeout The amount of time (in seconds) available to the solver
-   * @param solution the solution vector
-   * @param solution_callback A callback to validate an IK solution
-   * @param error_code an error code that encodes the reason for failure or success
-   * @param consistency_limits The returned solutuion will not deviate more than these from the seed
-   * @return True if a valid solution was found, false otherwise
-   */
-  bool searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
-                        std::vector<double>& solution, const IKCallbackFn& solution_callback,
-                        moveit_msgs::MoveItErrorCodes& error_code, const std::vector<double>& consistency_limits,
-                        const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
-
 private:
   bool timedOut(const ros::WallTime& start_time, double duration) const;
 
diff --git a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
index 2eda07ee0b..0dc4f4496f 100644
--- a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
+++ b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
@@ -154,7 +154,7 @@ bool LMAKinematicsPlugin::getPositionIK(const geometry_msgs::Pose& ik_pose, cons
   std::vector<double> consistency_limits;
 
   // limit search to a single attempt by setting a timeout of zero
-  return searchPositionIK(ik_pose, ik_seed_state, 0.0, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, 0.0, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -165,7 +165,7 @@ bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 {
   std::vector<double> consistency_limits;
 
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -174,7 +174,7 @@ bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
 {
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -185,17 +185,7 @@ bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            const kinematics::KinematicsQueryOptions& options) const
 {
   std::vector<double> consistency_limits;
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
-                          options);
-}
-
-bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
-                                           double timeout, const std::vector<double>& consistency_limits,
-                                           std::vector<double>& solution, const IKCallbackFn& solution_callback,
-                                           moveit_msgs::MoveItErrorCodes& error_code,
-                                           const kinematics::KinematicsQueryOptions& options) const
-{
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, solution_callback, error_code,
                           options);
 }
 
@@ -216,10 +206,9 @@ bool LMAKinematicsPlugin::obeysLimits(const Eigen::VectorXd& values) const
 }
 
 bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
-                                           double timeout, std::vector<double>& solution,
-                                           const IKCallbackFn& solution_callback,
+                                           double timeout, const std::vector<double>& consistency_limits,
+                                           std::vector<double>& solution, const IKCallbackFn& solution_callback,
                                            moveit_msgs::MoveItErrorCodes& error_code,
-                                           const std::vector<double>& consistency_limits,
                                            const kinematics::KinematicsQueryOptions& options) const
 {
   ros::WallTime start_time = ros::WallTime::now();
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index f0a1494648..3f23c70150 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -99,6 +99,12 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
       const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
       const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
+  bool searchPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses, const std::vector<double>& ik_seed_state,
+                        double timeout, const std::vector<double>& consistency_limits, std::vector<double>& solution,
+                        const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
+                        const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(),
+                        const moveit::core::RobotState* context_state = nullptr) const override;
+
   bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
                      std::vector<geometry_msgs::Pose>& poses) const override;
 
@@ -122,18 +128,6 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
   const std::vector<std::string>& getVariableNames() const;
 
 protected:
-  virtual bool
-  searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
-                   std::vector<double>& solution, const IKCallbackFn& solution_callback,
-                   moveit_msgs::MoveItErrorCodes& error_code, const std::vector<double>& consistency_limits,
-                   const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
-
-  virtual bool
-  searchPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses, const std::vector<double>& ik_seed_state,
-                   double timeout, const std::vector<double>& consistency_limits, std::vector<double>& solution,
-                   const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
-                   const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
-
   bool setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices) override;
 
 private:
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index b8f98f914f..e876e79ca7 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -172,8 +172,8 @@ bool SrvKinematicsPlugin::getPositionIK(const geometry_msgs::Pose& ik_pose, cons
 {
   std::vector<double> consistency_limits;
 
-  return searchPositionIK(ik_pose, ik_seed_state, default_timeout_, solution, IKCallbackFn(), error_code,
-                          consistency_limits, options);
+  return searchPositionIK(ik_pose, ik_seed_state, default_timeout_, consistency_limits, solution, IKCallbackFn(),
+                          error_code, options);
 }
 
 bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
@@ -183,7 +183,7 @@ bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 {
   std::vector<double> consistency_limits;
 
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -192,7 +192,7 @@ bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
 {
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, IKCallbackFn(), error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code,
                           options);
 }
 
@@ -203,7 +203,7 @@ bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            const kinematics::KinematicsQueryOptions& options) const
 {
   std::vector<double> consistency_limits;
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
+  return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, solution_callback, error_code,
                           options);
 }
 
@@ -212,17 +212,6 @@ bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
                                            std::vector<double>& solution, const IKCallbackFn& solution_callback,
                                            moveit_msgs::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
-{
-  return searchPositionIK(ik_pose, ik_seed_state, timeout, solution, solution_callback, error_code, consistency_limits,
-                          options);
-}
-
-bool SrvKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
-                                           double timeout, std::vector<double>& solution,
-                                           const IKCallbackFn& solution_callback,
-                                           moveit_msgs::MoveItErrorCodes& error_code,
-                                           const std::vector<double>& consistency_limits,
-                                           const kinematics::KinematicsQueryOptions& options) const
 {
   // Convert single pose into a vector of one pose
   std::vector<geometry_msgs::Pose> ik_poses;
@@ -237,7 +226,8 @@ bool SrvKinematicsPlugin::searchPositionIK(const std::vector<geometry_msgs::Pose
                                            const std::vector<double>& /*consistency_limits*/,
                                            std::vector<double>& solution, const IKCallbackFn& solution_callback,
                                            moveit_msgs::MoveItErrorCodes& error_code,
-                                           const kinematics::KinematicsQueryOptions& /*options*/) const
+                                           const kinematics::KinematicsQueryOptions& /*options*/,
+                                           const moveit::core::RobotState* /*context_state*/) const
 {
   // Check if active
   if (!active_)

From ded7b0aaac06daa5c7da83338485f32ffcf649e8 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Nov 2019 23:36:38 +0100
Subject: [PATCH 112/612] Travis: enable all warnings

---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index f37cd1bfb5..bee34f948e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -19,7 +19,7 @@ env:
     - UPSTREAM_WORKSPACE=moveit.rosinstall
     # moveit_ros_perception: mesh_filter_test fails due to broken Mesa OpenGL
     - TEST_BLACKLIST="moveit_ros_perception"
-    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-but-set-parameter -Wno-unused-function"
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
   matrix:
     - TEST="clang-format catkin_lint"
@@ -33,7 +33,7 @@ matrix: # Add a separate config to the matrix, using clang as compiler
       env: ROS_REPO=ros-shadow-fixed
            TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
-           CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-function -Wno-overloaded-virtual"
+           CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

From 9b7ab3d5a0b67fe6b80681048043ae768f1412dc Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 27 Nov 2019 13:25:51 +0100
Subject: [PATCH 113/612] ControllerManager: wait for done-callback (#1783)

---
 .../action_based_controller_handle.h                        | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
index adcc2efce0..72218f3e2e 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -126,6 +126,12 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
   {
     if (controller_action_client_ && !done_)
       return controller_action_client_->waitForResult(timeout);
+#if 1  // TODO: remove when https://github.com/ros/actionlib/issues/155 is fixed
+    // workaround for actionlib issue: waitForResult() might return before our doneCB finished
+    ros::Time deadline = ros::Time::now() + ros::Duration(0.1);  // limit waiting to 0.1s
+    while (!done_ && ros::ok() && ros::Time::now() < deadline)   // Check the done_ flag explicitly,
+      ros::Duration(0.0001).sleep();                             // which is eventually set in finishControllerExecution
+#endif
     return true;
   }
 

From e16436cb49db9c4b82a496d4a2b969fcb9a697df Mon Sep 17 00:00:00 2001
From: JonasTietz <Jonas.L.Tietz@gmx.de>
Date: Wed, 27 Nov 2019 16:12:39 +0100
Subject: [PATCH 114/612] move_group capability for publishing planning scene
 frames to the tf system (#1761)

Added a move_group capability, which publishes the frames of planning scene objects to the tf system.
---
 moveit_ros/move_group/CMakeLists.txt          |   1 +
 ...efault_capabilities_plugin_description.xml |   6 +
 .../tf_publisher_capability.cpp               | 106 ++++++++++++++++++
 .../tf_publisher_capability.h                 |  59 ++++++++++
 4 files changed, 172 insertions(+)
 create mode 100644 moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
 create mode 100644 moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 783f29faa7..a3f4015b0d 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -58,6 +58,7 @@ add_library(moveit_move_group_default_capabilities
   src/default_capabilities/get_planning_scene_service_capability.cpp
   src/default_capabilities/apply_planning_scene_service_capability.cpp
   src/default_capabilities/clear_octomap_service_capability.cpp
+  src/default_capabilities/tf_publisher_capability.cpp
   )
 set_target_properties(moveit_move_group_default_capabilities PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 add_dependencies(moveit_move_group_default_capabilities ${catkin_EXPORTED_TARGETS})
diff --git a/moveit_ros/move_group/default_capabilities_plugin_description.xml b/moveit_ros/move_group/default_capabilities_plugin_description.xml
index b7bd5d9f0d..aff9edd872 100644
--- a/moveit_ros/move_group/default_capabilities_plugin_description.xml
+++ b/moveit_ros/move_group/default_capabilities_plugin_description.xml
@@ -65,5 +65,11 @@
       Provide a ROS service that allows for clearing the octomap
     </description>
   </class>
+  
+  <class name="move_group/TfPublisher" type="move_group::TfPublisher" base_class_type="move_group::MoveGroupCapability">
+    <description>
+      Provide a capability that publishes PlanningScene frames to the tf system
+    </description>
+  </class>
 
 </library>
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
new file mode 100644
index 0000000000..13a0e3480f
--- /dev/null
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -0,0 +1,106 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Hamburg University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Hamburg University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jonas Tietz */
+
+#include "tf_publisher_capability.h"
+#include <moveit/utils/message_checks.h>
+#include <moveit/move_group/capability_names.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_eigen/tf2_eigen.h>
+
+namespace move_group
+{
+TfPublisher::TfPublisher() : MoveGroupCapability("TfPublisher")
+{
+}
+
+TfPublisher::~TfPublisher()
+{
+  keep_running_ = false;
+  thread_.join();
+}
+
+void TfPublisher::publishPlanningSceneFrames()
+{
+  tf2_ros::TransformBroadcaster broadcaster;
+  geometry_msgs::TransformStamped transform;
+  ros::Rate rate(rate_);
+
+  while (keep_running_)
+  {
+    {
+      planning_scene_monitor::LockedPlanningSceneRO locked_planning_scene(context_->planning_scene_monitor_);
+      collision_detection::WorldConstPtr world = locked_planning_scene->getWorld();
+      std::string planning_frame = locked_planning_scene->getPlanningFrame();
+
+      for (const auto& obj : *world)
+      {
+        std::string parent_frame = prefix_ + obj.second->id_;
+        transform = tf2::eigenToTransform(obj.second->shape_poses_[0]);
+        transform.child_frame_id = parent_frame;
+        transform.header.frame_id = planning_frame;
+        broadcaster.sendTransform(transform);
+
+        moveit::core::FixedTransformsMap subframes = obj.second->subframe_poses_;
+        for (auto& subframe : subframes)
+        {
+          transform = tf2::eigenToTransform(subframe.second);
+          transform.child_frame_id = parent_frame + "/" + subframe.first;
+          transform.header.frame_id = parent_frame;
+          broadcaster.sendTransform(transform);
+        }
+      }
+    }
+
+    rate.sleep();
+  }
+}
+
+void TfPublisher::initialize()
+{
+  ros::NodeHandle nh = ros::NodeHandle("~");
+
+  std::string prefix = nh.getNamespace() + "/";
+  nh.param("planning_scene_frame_publishing_rate", rate_, 10);
+  nh.param("planning_scene_tf_prefix", prefix_, prefix);
+  keep_running_ = true;
+
+  ROS_INFO("Initializing MoveGroupTfPublisher with a frame publishing rate of %d", rate_);
+  thread_ = std::thread(&TfPublisher::publishPlanningSceneFrames, this);
+}
+}  // namespace move_group
+
+#include <class_loader/class_loader.hpp>
+CLASS_LOADER_REGISTER_CLASS(move_group::TfPublisher, move_group::MoveGroupCapability)
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
new file mode 100644
index 0000000000..2a15f4d283
--- /dev/null
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
@@ -0,0 +1,59 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Hamburg University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Hamburg University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jonas Tietz */
+
+#pragma once
+
+#include <moveit/move_group/move_group_capability.h>
+#include <thread>
+
+namespace move_group
+{
+class TfPublisher : public MoveGroupCapability
+{
+public:
+  TfPublisher();
+  ~TfPublisher();
+
+  void initialize() override;
+
+private:
+  void publishPlanningSceneFrames();
+  int rate_;
+  std::string prefix_;
+  std::thread thread_;
+  bool keep_running_;
+};
+}

From d48d57f856b33433c18754497712be8d185a371f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 28 Nov 2019 08:16:37 +0100
Subject: [PATCH 115/612] Enable code-coverage test (#1776)

---
 .travis.yml                |  1 +
 moveit_core/CMakeLists.txt | 10 ----------
 moveit_core/package.xml    |  1 -
 3 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index bee34f948e..6ed584a5ff 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -23,6 +23,7 @@ env:
     - WARNINGS_OK=false
   matrix:
     - TEST="clang-format catkin_lint"
+    - TEST=code-coverage
     - ROS_DISTRO=melodic
     - ROS_DISTRO=kinetic
 
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 813c41187e..64f05c178d 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -145,16 +145,6 @@ catkin_package(
     urdfdom_headers
     )
 
-
-# to run: catkin_make -DENABLE_COVERAGE_TESTING=ON package_name_coverage
-if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
-  find_package(code_coverage REQUIRED)   # catkin package ros-*-code-coverage
-  include(CodeCoverage)
-  APPEND_COVERAGE_COMPILER_FLAGS()
-  set(COVERAGE_EXCLUDES "*/test/*")
-  add_code_coverage(NAME ${PROJECT_NAME}_coverage)
-endif()
-
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
                            ${LIBFCL_INCLUDE_DIRS}
                            )
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 121f19f3b3..70a185040c 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -53,7 +53,6 @@
   <test_depend>tf2_kdl</test_depend>
   <test_depend>orocos_kdl</test_depend>
   <test_depend>rosunit</test_depend>
-  <test_depend>code_coverage</test_depend>
 
   <export>
     <moveit_core plugin="${prefix}/collision_detector_fcl_description.xml"/>

From a1c0adea514d7fc94b94736212835c4a16e85a6b Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Thu, 28 Nov 2019 14:55:30 +0100
Subject: [PATCH 116/612] [moveit_commander] python3 import fixes (#1786)

- force relative import
- try to import StringIO from StringIO module first, then from io module
---
 moveit_commander/src/moveit_commander/conversions.py   | 10 ++++++++--
 .../src/moveit_commander/planning_scene_interface.py   |  4 ++--
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/conversions.py b/moveit_commander/src/moveit_commander/conversions.py
index 9a241d3992..71c2dfe147 100644
--- a/moveit_commander/src/moveit_commander/conversions.py
+++ b/moveit_commander/src/moveit_commander/conversions.py
@@ -32,14 +32,20 @@
 #
 # Author: Ioan Sucan
 
-import StringIO
+try:
+    # Try Python 2.7 behaviour first
+    from StringIO import StringIO
+except ImportError:
+    # Use Python 3.x behaviour as fallback
+    from io import StringIO
+
 from moveit_commander import MoveItCommanderException
 from geometry_msgs.msg import Pose, PoseStamped, Transform
 import rospy
 import tf
 
 def msg_to_string(msg):
-    buf = StringIO.StringIO()
+    buf = StringIO()
     msg.serialize(buf)
     return buf.getvalue()
 
diff --git a/moveit_commander/src/moveit_commander/planning_scene_interface.py b/moveit_commander/src/moveit_commander/planning_scene_interface.py
index e0093e1508..ff393c67de 100644
--- a/moveit_commander/src/moveit_commander/planning_scene_interface.py
+++ b/moveit_commander/src/moveit_commander/planning_scene_interface.py
@@ -33,13 +33,13 @@
 # Author: Ioan Sucan, Felix Messmer
 
 import rospy
-import conversions
+from . import conversions
 
 from moveit_msgs.msg import PlanningScene, CollisionObject, AttachedCollisionObject
 from moveit_ros_planning_interface import _moveit_planning_scene_interface
 from geometry_msgs.msg import Pose, Point
 from shape_msgs.msg import SolidPrimitive, Plane, Mesh, MeshTriangle
-from exception import MoveItCommanderException
+from .exception import MoveItCommanderException
 from moveit_msgs.srv import ApplyPlanningScene, ApplyPlanningSceneRequest
 
 try:

From acead73aae0df309eaeb1a71ebe3f0bffce8efba Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 28 Nov 2019 22:02:15 +0100
Subject: [PATCH 117/612] rviz plugin: Joints tab (#1308)

---
 .../CMakeLists.txt                            |   7 +-
 .../motion_planning_display.h                 |   5 +
 .../motion_planning_frame.h                   |   2 +
 .../motion_planning_frame_joints_widget.h     | 254 ++++++++
 .../src/motion_planning_display.cpp           |  10 +-
 .../src/motion_planning_frame.cpp             |   9 +
 .../motion_planning_frame_joints_widget.cpp   | 561 ++++++++++++++++++
 ...otion_planning_rviz_plugin_frame_joints.ui |  61 ++
 8 files changed, 902 insertions(+), 7 deletions(-)
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame_joints.ui

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index 6f4ce1f245..938e0a86e2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -1,9 +1,13 @@
 set(HEADERS
   include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
   include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+  include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
   include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
 )
-qt_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui)
+qt_wrap_ui(UIC_FILES
+  src/ui/motion_planning_rviz_plugin_frame.ui
+  src/ui/motion_planning_rviz_plugin_frame_joints.ui
+)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
@@ -15,6 +19,7 @@ set(SOURCE_FILES
   src/motion_planning_frame_objects.cpp
   src/motion_planning_frame_scenes.cpp
   src/motion_planning_frame_states.cpp
+  src/motion_planning_frame_joints_widget.cpp
   src/motion_planning_display.cpp
   src/motion_planning_frame_manipulation.cpp
   src/motion_planning_param_widget.cpp
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 09910b555f..1df45780c5 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -156,6 +156,11 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
 
   void toggleSelectPlanningGroupSubscription(bool enable);
 
+Q_SIGNALS:
+  // signals issued when start/goal states of a query changed
+  void queryStartStateChanged();
+  void queryGoalStateChanged();
+
 private Q_SLOTS:
 
   // ******************************************************************************************
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 50996db00e..df3e4edeec 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -86,6 +86,7 @@ MOVEIT_CLASS_FORWARD(RobotStateStorage);
 namespace moveit_rviz_plugin
 {
 class MotionPlanningDisplay;
+class MotionPlanningFrameJointsWidget;
 
 const std::string OBJECT_RECOGNITION_ACTION = "/recognize_objects";
 
@@ -125,6 +126,7 @@ class MotionPlanningFrame : public QWidget
   MotionPlanningDisplay* planning_display_;
   rviz::DisplayContext* context_;
   Ui::MotionPlanningUI* ui_;
+  MotionPlanningFrameJointsWidget* joints_tab_;
 
   moveit::planning_interface::MoveGroupInterfacePtr move_group_;
   moveit::planning_interface::PlanningSceneInterfacePtr planning_scene_interface_;
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
new file mode 100644
index 0000000000..27363dd63c
--- /dev/null
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -0,0 +1,254 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, CITEC, Bielefeld University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of CITEC / Bielefeld University nor the names of
+ *     its contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Robert Haschke */
+
+#pragma once
+
+#include <moveit/macros/class_forward.h>
+#include <moveit/robot_state/robot_state.h>
+#include <Eigen/SVD>
+#include <QAbstractItemModel>
+#include <QWidget>
+#include <QStyledItemDelegate>
+#include <vector>
+#include <memory>
+
+class QSlider;
+
+namespace Ui
+{
+class MotionPlanningFrameJointsUI;
+}
+namespace robot_interaction
+{
+MOVEIT_CLASS_FORWARD(InteractionHandler)
+}
+namespace moveit_rviz_plugin
+{
+/** TableModel to display joint values of a referenced RobotState.
+ *
+ * Unfortunately we cannot store the RobotStatePtr (and thus ensure existence of the state during
+ * the lifetime of this class instance), because RobotInteraction (which is the initial use case)
+ * allocates internally a new RobotState if any other copy is held somewhere else.
+ * Hence, we also store an (unsafe) raw pointer. Lifetime of this raw pointer needs to be ensured.
+ */
+class JMGItemModel : public QAbstractTableModel
+{
+  Q_OBJECT
+  moveit::core::RobotState robot_state_;
+  const moveit::core::JointModelGroup* jmg_;
+
+public:
+  JMGItemModel(const moveit::core::RobotState& robot_state, const std::string& group_name, QObject* parent = nullptr);
+
+  // QAbstractItemModel interface
+  int rowCount(const QModelIndex& parent = QModelIndex()) const override;
+  int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+  Qt::ItemFlags flags(const QModelIndex& index) const override;
+  QVariant data(const QModelIndex& index, int role) const override;
+  QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
+  bool setData(const QModelIndex& index, const QVariant& value, int role) override;
+
+  /// call this on any external change of the RobotState
+  void updateRobotState(const moveit::core::RobotState& state);
+
+  moveit::core::RobotState& getRobotState()
+  {
+    return robot_state_;
+  }
+  const moveit::core::RobotState& getRobotState() const
+  {
+    return robot_state_;
+  }
+  const moveit::core::JointModelGroup* getJointModelGroup() const
+  {
+    return jmg_;
+  }
+
+private:
+  /// retrieve the JointModel corresponding to the variable referenced by index
+  const moveit::core::JointModel* getJointModel(const QModelIndex& index) const;
+  /// retrieve the variable bounds referenced by variable index
+  const moveit::core::VariableBounds* getVariableBounds(const moveit::core::JointModel* jm,
+                                                        const QModelIndex& index) const;
+};
+
+class JointsWidgetEventFilter : public QObject
+{
+  Q_OBJECT
+
+public:
+  JointsWidgetEventFilter(QAbstractItemView* view);
+
+protected:
+  bool eventFilter(QObject* target, QEvent* event) override;
+};
+
+class MotionPlanningDisplay;
+class MotionPlanningFrameJointsWidget : public QWidget
+{
+  Q_OBJECT
+
+public:
+  MotionPlanningFrameJointsWidget(const MotionPlanningFrameJointsWidget&) = delete;
+  MotionPlanningFrameJointsWidget(MotionPlanningDisplay* display, QWidget* parent = nullptr);
+  ~MotionPlanningFrameJointsWidget();
+
+  void changePlanningGroup(const std::string& group_name,
+                           const robot_interaction::InteractionHandlerPtr& start_state_handler,
+                           const robot_interaction::InteractionHandlerPtr& goal_state_handler);
+
+public Q_SLOTS:
+  void queryStartStateChanged();
+  void queryGoalStateChanged();
+  void jogNullspace(double value);
+
+protected:
+  void setActiveModel(JMGItemModel* model);
+  void triggerUpdate(JMGItemModel* model);
+  void updateNullspaceSliders();
+  QSlider* createNSSlider(int i);
+
+private:
+  Ui::MotionPlanningFrameJointsUI* ui_;
+  MotionPlanningDisplay* planning_display_;
+  robot_interaction::InteractionHandlerPtr start_state_handler_;
+  robot_interaction::InteractionHandlerPtr goal_state_handler_;
+  std::unique_ptr<JMGItemModel> start_state_model_;
+  std::unique_ptr<JMGItemModel> goal_state_model_;
+  // break circular loop of stateChanged() -> dataChanged() |-> PlanningDisplay::setQuery*State()
+  bool ignore_state_changes_ = false;
+
+  Eigen::JacobiSVD<Eigen::MatrixXd> svd_;
+  Eigen::MatrixXd nullspace_;
+  std::vector<QSlider*> ns_sliders_;
+};
+
+/// Delegate to show the joint value as with a progress bar indicator between min and max.
+class ProgressBarDelegate : public QStyledItemDelegate
+{
+  Q_OBJECT
+
+public:
+  enum CustomRole
+  {
+    JointTypeRole = Qt::UserRole,
+    VariableBoundsRole
+  };
+
+  ProgressBarDelegate(QWidget* parent = 0) : QStyledItemDelegate(parent)
+  {
+  }
+
+  void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const override;
+  QWidget* createEditor(QWidget* parent, const QStyleOptionViewItem& option, const QModelIndex& index) const override;
+
+private Q_SLOTS:
+  void commitAndCloseEditor();
+};
+
+/// Number editor via progress bar dragging
+class ProgressBarEditor : public QWidget
+{
+  Q_OBJECT
+  Q_PROPERTY(float value READ value WRITE setValue NOTIFY valueChanged USER true)
+
+public:
+  /// Create a progressbar-like slider for editing values in range mix..max
+  ProgressBarEditor(QWidget* parent = nullptr, float min = -1.0, float max = 0.0, int digits = 0);
+
+  void setValue(float value)
+  {
+    value_ = value;
+  }
+  float value() const
+  {
+    return value_;
+  }
+
+Q_SIGNALS:
+  void valueChanged(float value);
+  void editingFinished();
+
+protected:
+  void paintEvent(QPaintEvent* event) override;
+  void mousePressEvent(QMouseEvent* event) override;
+  void mouseMoveEvent(QMouseEvent* event) override;
+  void mouseReleaseEvent(QMouseEvent* event) override;
+
+private:
+  float value_;
+  float min_;
+  float max_;
+  int digits_;  ///< number of decimal digits for formatting of the value
+};
+
+/// Slider that jumps back to zero
+class JogSlider : public QSlider
+{
+  Q_OBJECT
+  int timer_id_;
+  int timer_interval_;  // ms
+  double maximum_;
+
+public:
+  JogSlider(QWidget* parent = nullptr);
+
+  int timerInterval() const
+  {
+    return timer_interval_;
+  }
+  void setTimerInterval(int ms);
+  void setResolution(unsigned int resolution);
+  void setMaximum(double value);
+  double value() const
+  {
+    return QSlider::value() * maximum_ / QSlider::maximum();
+  }
+
+protected:
+  void timerEvent(QTimerEvent* event) override;
+  void mousePressEvent(QMouseEvent* event) override;
+  void mouseReleaseEvent(QMouseEvent* event) override;
+
+private:
+  using QSlider::setMinimum;
+  using QSlider::setMaximum;
+  using QSlider::setRange;
+
+Q_SIGNALS:
+  void triggered(double value);
+};
+}
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index b635d954f5..a30790f242 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -910,9 +910,7 @@ void MotionPlanningDisplay::scheduleDrawQueryStartState(robot_interaction::Inter
     return;
   addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, !error_state_changed),
                    "publishInteractiveMarkers");
-  recomputeQueryStartStateMetrics();
-  addMainLoopJob(boost::bind(&MotionPlanningDisplay::drawQueryStartState, this));
-  context_->queueRender();
+  updateQueryStartState();
 }
 
 void MotionPlanningDisplay::scheduleDrawQueryGoalState(robot_interaction::InteractionHandler* /*unused*/,
@@ -922,13 +920,12 @@ void MotionPlanningDisplay::scheduleDrawQueryGoalState(robot_interaction::Intera
     return;
   addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, !error_state_changed),
                    "publishInteractiveMarkers");
-  recomputeQueryGoalStateMetrics();
-  addMainLoopJob(boost::bind(&MotionPlanningDisplay::drawQueryGoalState, this));
-  context_->queueRender();
+  updateQueryGoalState();
 }
 
 void MotionPlanningDisplay::updateQueryStartState()
 {
+  queryStartStateChanged();
   recomputeQueryStartStateMetrics();
   addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedQueryStartState, this));
   context_->queueRender();
@@ -936,6 +933,7 @@ void MotionPlanningDisplay::updateQueryStartState()
 
 void MotionPlanningDisplay::updateQueryGoalState()
 {
+  queryGoalStateChanged();
   recomputeQueryGoalStateMetrics();
   addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedQueryGoalState, this));
   context_->queueRender();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 970060a362..834d204f0f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -36,6 +36,7 @@
 
 #include <moveit/common_planning_interface_objects/common_objects.h>
 #include <moveit/motion_planning_rviz_plugin/motion_planning_frame.h>
+#include <moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h>
 #include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
 #include <moveit/move_group/capability_names.h>
 
@@ -66,6 +67,11 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
 {
   // set up the GUI
   ui_->setupUi(this);
+  // add more tabs
+  joints_tab_ = new MotionPlanningFrameJointsWidget(planning_display_, ui_->tabWidget);
+  ui_->tabWidget->addTab(joints_tab_, "Joints");
+  connect(planning_display_, SIGNAL(queryStartStateChanged()), joints_tab_, SLOT(queryStartStateChanged()));
+  connect(planning_display_, SIGNAL(queryGoalStateChanged()), joints_tab_, SLOT(queryGoalStateChanged()));
 
   // connect bottons to actions; each action usually registers the function pointer for the actual computation,
   // to keep the GUI more responsive (using the background job processing)
@@ -385,6 +391,9 @@ void MotionPlanningFrame::changePlanningGroup()
 {
   planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::changePlanningGroupHelper, this),
                                       "Frame::changePlanningGroup");
+  joints_tab_->changePlanningGroup(planning_display_->getCurrentPlanningGroup(),
+                                   planning_display_->getQueryStartStateHandler(),
+                                   planning_display_->getQueryGoalStateHandler());
 }
 
 void MotionPlanningFrame::sceneUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
new file mode 100644
index 0000000000..7b9d683c75
--- /dev/null
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -0,0 +1,561 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, CITEC, Bielefeld University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of CITEC / Bielefeld University nor the names of
+ *     its contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Robert Haschke */
+
+#include <moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h>
+#include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
+
+#include "ui_motion_planning_rviz_plugin_frame_joints.h"
+#include <QPainter>
+#include <QSlider>
+
+namespace moveit_rviz_plugin
+{
+JMGItemModel::JMGItemModel(const moveit::core::RobotState& robot_state, const std::string& group_name, QObject* parent)
+  : QAbstractTableModel(parent), robot_state_(robot_state), jmg_(nullptr)
+{
+  if (robot_state_.getRobotModel()->hasJointModelGroup(group_name))
+    jmg_ = robot_state_.getRobotModel()->getJointModelGroup(group_name);
+}
+
+int JMGItemModel::rowCount(const QModelIndex& parent) const
+{
+  if (!jmg_)
+    return robot_state_.getVariableCount();
+  else
+    return jmg_->getVariableCount();
+}
+
+int JMGItemModel::columnCount(const QModelIndex& parent) const
+{
+  return 2;
+}
+
+Qt::ItemFlags JMGItemModel::flags(const QModelIndex& index) const
+{
+  if (!index.isValid())
+    return Qt::ItemFlags();
+
+  Qt::ItemFlags f = QAbstractTableModel::flags(index);
+  if (index.column() == 1)
+  {
+    const moveit::core::JointModel* jm = getJointModel(index);
+    if (!jm->isPassive() && !jm->getMimic())  // these are not editable
+      f |= Qt::ItemIsEditable;
+  }
+  return f;
+}
+
+QVariant JMGItemModel::data(const QModelIndex& index, int role) const
+{
+  if (!index.isValid())
+    return QVariant();
+
+  int idx = jmg_ ? jmg_->getVariableIndexList()[index.row()] : index.row();
+  switch (index.column())
+  {
+    case 0:  // joint name column
+      switch (role)
+      {
+        case Qt::DisplayRole:
+          return QString::fromStdString(robot_state_.getVariableNames()[idx]);
+        case Qt::TextAlignmentRole:
+          return Qt::AlignLeft;
+      }
+      break;
+    case 1:  // joint value column
+    {
+      double value = robot_state_.getVariablePosition(idx);
+      const moveit::core::JointModel* jm = robot_state_.getRobotModel()->getJointOfVariable(idx);
+      switch (role)
+      {
+        case Qt::DisplayRole:
+          return value;
+        case Qt::EditRole:
+          if (jm)
+            return jm->getType() == moveit::core::JointModel::REVOLUTE ? value * 180 / M_PI : value;
+          break;
+        case ProgressBarDelegate::JointTypeRole:
+          if (jm)
+            return jm->getType();
+          break;
+        case ProgressBarDelegate::VariableBoundsRole:
+          if (const moveit::core::VariableBounds* bounds = getVariableBounds(jm, index))
+            return QPointF(bounds->min_position_, bounds->max_position_);
+          break;
+        case Qt::TextAlignmentRole:
+          return Qt::AlignLeft;
+      }
+    }
+  }
+  return QVariant();
+}
+
+QVariant JMGItemModel::headerData(int section, Qt::Orientation orientation, int role) const
+{
+  if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
+    return section == 0 ? "Joint Name" : "Value";
+  return QAbstractTableModel::headerData(section, orientation, role);
+}
+
+bool JMGItemModel::setData(const QModelIndex& index, const QVariant& value, int role)
+{
+  if (index.column() != 1 || role != Qt::EditRole)
+    return false;
+
+  int var_idx = jmg_ ? jmg_->getVariableIndexList()[index.row()] : index.row();
+  const moveit::core::JointModel* jm = robot_state_.getRobotModel()->getJointOfVariable(var_idx);
+  if (!value.canConvert<double>())
+    return false;
+
+  bool ok;
+  double v = value.toDouble(&ok);
+  if (!ok)
+    return false;
+
+  // for revolute joints, we convert degrees to radians
+  if (jm && jm->getType() == moveit::core::JointModel::REVOLUTE)
+    v *= M_PI / 180;
+
+  robot_state_.setVariablePosition(var_idx, v);
+  jm->enforcePositionBounds(robot_state_.getVariablePositions() + jm->getFirstVariableIndex());
+  dataChanged(index, index);
+  return true;
+}
+
+const moveit::core::JointModel* JMGItemModel::getJointModel(const QModelIndex& index) const
+{
+  if (!index.isValid())
+    return nullptr;
+  int var_idx = jmg_ ? jmg_->getVariableIndexList()[index.row()] : index.row();
+  return robot_state_.getRobotModel()->getJointOfVariable(var_idx);
+}
+
+const moveit::core::VariableBounds* JMGItemModel::getVariableBounds(const moveit::core::JointModel* jm,
+                                                                    const QModelIndex& index) const
+{
+  if (!jm)
+    return nullptr;
+  int var_idx = jmg_ ? jmg_->getVariableIndexList()[index.row()] : index.row();
+  const moveit::core::VariableBounds* bounds = &jm->getVariableBounds()[var_idx - jm->getFirstVariableIndex()];
+  return bounds->position_bounded_ ? bounds : nullptr;
+}
+
+// copy positions from new_state and notify about these changes
+void JMGItemModel::updateRobotState(const moveit::core::RobotState& state)
+{
+  if (robot_state_.getRobotModel() != state.getRobotModel())
+    return;
+  robot_state_.setVariablePositions(state.getVariablePositions());
+
+  dataChanged(index(0, 1), index(rowCount() - 1, 1));
+}
+
+MotionPlanningFrameJointsWidget::MotionPlanningFrameJointsWidget(MotionPlanningDisplay* display, QWidget* parent)
+  : QWidget(parent), ui_(new Ui::MotionPlanningFrameJointsUI()), planning_display_(display)
+{
+  ui_->setupUi(this);
+  // intercept mouse events delivered to joints_view_ to open editor on first mouse press
+  ui_->joints_view_->viewport()->installEventFilter(new JointsWidgetEventFilter(ui_->joints_view_));
+  ui_->joints_view_->setItemDelegateForColumn(1, new ProgressBarDelegate(this));
+  svd_.setThreshold(0.001);
+}
+
+MotionPlanningFrameJointsWidget::~MotionPlanningFrameJointsWidget()
+{
+  delete ui_;
+}
+
+void MotionPlanningFrameJointsWidget::changePlanningGroup(
+    const std::string& group_name, const robot_interaction::InteractionHandlerPtr& start_state_handler,
+    const robot_interaction::InteractionHandlerPtr& goal_state_handler)
+{
+  // release previous models (if any)
+  ui_->joints_view_->setModel(nullptr);
+  start_state_model_.reset();
+  goal_state_model_.reset();
+
+  // create new models
+  start_state_handler_ = start_state_handler;
+  goal_state_handler_ = goal_state_handler;
+  start_state_model_.reset(new JMGItemModel(*start_state_handler_->getState(), group_name, this));
+  goal_state_model_.reset(new JMGItemModel(*goal_state_handler_->getState(), group_name, this));
+
+  // forward model updates to the PlanningDisplay
+  connect(start_state_model_.get(), &JMGItemModel::dataChanged, this, [this]() {
+    if (!ignore_state_changes_)
+      planning_display_->setQueryStartState(start_state_model_->getRobotState());
+  });
+  connect(goal_state_model_.get(), &JMGItemModel::dataChanged, this, [this]() {
+    if (!ignore_state_changes_)
+      planning_display_->setQueryGoalState(goal_state_model_->getRobotState());
+  });
+
+  // show the goal state by default
+  setActiveModel(goal_state_model_.get());
+  updateNullspaceSliders();
+}
+
+void MotionPlanningFrameJointsWidget::queryStartStateChanged()
+{
+  if (!start_state_model_ || !start_state_handler_)
+    return;
+  ignore_state_changes_ = true;
+  start_state_model_->updateRobotState(*start_state_handler_->getState());
+  ignore_state_changes_ = false;
+  setActiveModel(start_state_model_.get());
+  updateNullspaceSliders();
+}
+
+void MotionPlanningFrameJointsWidget::queryGoalStateChanged()
+{
+  if (!goal_state_model_ || !goal_state_handler_)
+    return;
+  ignore_state_changes_ = true;
+  goal_state_model_->updateRobotState(*goal_state_handler_->getState());
+  ignore_state_changes_ = false;
+  setActiveModel(goal_state_model_.get());
+  updateNullspaceSliders();
+}
+
+void MotionPlanningFrameJointsWidget::setActiveModel(JMGItemModel* model)
+{
+  ui_->joints_view_->setModel(model);
+  ui_->joints_view_label_->setText(
+      QString("Group joints of %1 state").arg(model == start_state_model_.get() ? "start" : "goal"));
+}
+
+void MotionPlanningFrameJointsWidget::triggerUpdate(JMGItemModel* model)
+{
+  if (model == start_state_model_.get())
+    planning_display_->setQueryStartState(model->getRobotState());
+  else
+    planning_display_->setQueryGoalState(model->getRobotState());
+}
+
+// Find matching key vector in columns of haystack and return the best-aligned column index.
+// Only consider available indexes (> 0). If no match is found, return largest available index.
+// sign becomes -1 if key has changed sign compared to the matching haystack column.
+static Eigen::Index findMatching(const Eigen::VectorXd& key, const Eigen::MatrixXd& haystack,
+                                 const Eigen::VectorXi& available, double& sign)
+{
+  Eigen::Index result = available.array().maxCoeff();
+  double best_match = 0.0;
+  for (unsigned int i = 0; i < available.rows(); ++i)
+  {
+    int index = available[i];
+    if (index < 0)  // index already taken
+      continue;
+    if (index >= haystack.cols())
+      return result;
+    double match = haystack.col(available[i]).transpose() * key;
+    double abs_match = std::abs(match);
+    if (abs_match > 0.5 && abs_match > best_match)
+    {
+      best_match = abs_match;
+      result = index;
+      sign = match > 0 ? 1.0 : -1.0;
+    }
+  }
+  return result;
+}
+
+void MotionPlanningFrameJointsWidget::updateNullspaceSliders()
+{
+  JMGItemModel* model = dynamic_cast<JMGItemModel*>(ui_->joints_view_->model());
+  std::size_t i = 0;
+  if (model && model->getJointModelGroup() && model->getJointModelGroup()->isChain())
+  {
+    model->getRobotState().updateLinkTransforms();
+    Eigen::MatrixXd jacobian;
+    if (!model->getRobotState().getJacobian(model->getJointModelGroup(),
+                                            model->getJointModelGroup()->getLinkModels().back(),
+                                            Eigen::Vector3d::Zero(), jacobian, false))
+      goto cleanup;
+
+    svd_.compute(jacobian, Eigen::ComputeFullV);
+    Eigen::Index rank = svd_.rank();
+    std::size_t ns_dim = svd_.cols() - rank;
+    Eigen::MatrixXd ns(svd_.cols(), ns_dim);
+    Eigen::VectorXi available(ns_dim);
+    for (std::size_t j = 0; j < ns_dim; ++j)
+      available[j] = j;
+
+    ns_sliders_.reserve(ns_dim);
+    // create/unhide sliders
+    for (; i < ns_dim; ++i)
+    {
+      if (i >= ns_sliders_.size())
+        ns_sliders_.push_back(createNSSlider(i + 1));
+      ns_sliders_[i]->show();
+
+      // Find matching null-space basis vector in previous nullspace_
+      double sign = 1.0;
+      const Eigen::VectorXd& current = svd_.matrixV().col(rank + i);
+      Eigen::Index index = findMatching(current, nullspace_, available, sign);
+      ns.col(index).noalias() = sign * current;
+      available[index] = -1;  // mark index as taken
+    }
+    nullspace_ = ns;
+  }
+
+cleanup:
+  if (i == 0)
+    nullspace_.resize(0, 0);
+
+  // hide remaining sliders
+  for (; i < ns_sliders_.size(); ++i)
+    ns_sliders_[i]->hide();
+}
+
+QSlider* MotionPlanningFrameJointsWidget::createNSSlider(int i)
+{
+  JogSlider* slider = new JogSlider(this);
+  slider->setOrientation(Qt::Horizontal);
+  slider->setMaximum(0.1);
+  slider->setToolTip(QString("Nullspace dim #%1").arg(i));
+  ui_->nullspace_layout_->addWidget(slider);
+  connect(slider, SIGNAL(triggered(double)), this, SLOT(jogNullspace(double)));
+  return slider;
+}
+
+void MotionPlanningFrameJointsWidget::jogNullspace(double value)
+{
+  if (value == 0)
+    return;
+
+  std::size_t index = std::find(ns_sliders_.begin(), ns_sliders_.end(), sender()) - ns_sliders_.begin();
+  if (static_cast<int>(index) >= nullspace_.cols())
+    return;
+
+  JMGItemModel* model = dynamic_cast<JMGItemModel*>(ui_->joints_view_->model());
+  if (!model)
+    return;
+
+  Eigen::VectorXd values;
+  model->getRobotState().copyJointGroupPositions(model->getJointModelGroup(), values);
+  values += value * nullspace_.col(index);
+  model->getRobotState().setJointGroupPositions(model->getJointModelGroup(), values);
+  model->getRobotState().harmonizePositions(model->getJointModelGroup());
+  triggerUpdate(model);
+}
+
+void ProgressBarDelegate::paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const
+{
+  // copied from QStyledItemDelegate::paint
+  QStyle* style = option.widget ? option.widget->style() : QApplication::style();
+  QStyleOptionViewItem style_option = option;
+  initStyleOption(&style_option, index);
+
+  if (index.column() == 1)
+  {
+    QVariant joint_type = index.data(JointTypeRole);
+    double value = index.data().toDouble();
+    bool is_revolute = joint_type.isValid() && joint_type.toInt() == moveit::core::JointModel::REVOLUTE;
+    style_option.text = option.locale.toString(is_revolute ? value * 180 / M_PI : value, 'f', is_revolute ? 0 : 3);
+
+    QVariant vbounds = index.data(VariableBoundsRole);
+    if (vbounds.isValid())
+    {
+      QPointF bounds = vbounds.toPointF();
+      const float min = bounds.x();
+      const float max = bounds.y();
+
+      QStyleOptionProgressBar opt;
+      opt.rect = option.rect;
+      opt.minimum = 0;
+      opt.maximum = 1000;
+      opt.progress = 1000. * (value - min) / (max - min);
+      opt.text = style_option.text;
+      opt.textAlignment = style_option.displayAlignment;
+      opt.textVisible = true;
+      style->drawControl(QStyle::CE_ProgressBar, &opt, painter);
+      return;
+    }
+  }
+
+  style->drawControl(QStyle::CE_ItemViewItem, &style_option, painter, option.widget);
+}
+
+QWidget* ProgressBarDelegate::createEditor(QWidget* parent, const QStyleOptionViewItem& option,
+                                           const QModelIndex& index) const
+
+{
+  if (index.column() == 1)
+  {
+    QVariant vbounds = index.data(VariableBoundsRole);
+    if (vbounds.isValid())
+    {
+      QPointF bounds = vbounds.toPointF();
+      float min = bounds.x();
+      float max = bounds.y();
+      bool is_revolute = (index.data(JointTypeRole).toInt() == moveit::core::JointModel::REVOLUTE);
+      if (is_revolute)
+      {
+        min *= 180. / M_PI;
+        max *= 180. / M_PI;
+      }
+      auto* editor = new ProgressBarEditor(parent, min, max, is_revolute ? 0 : 3);
+      connect(editor, &ProgressBarEditor::editingFinished, this, &ProgressBarDelegate::commitAndCloseEditor);
+      connect(editor, &ProgressBarEditor::valueChanged, this, [=](float value) {
+        const_cast<QAbstractItemModel*>(index.model())->setData(index, value, Qt::EditRole);
+      });
+      return editor;
+    }
+  }
+  return QStyledItemDelegate::createEditor(parent, option, index);
+}
+
+void ProgressBarDelegate::commitAndCloseEditor()
+{
+  ProgressBarEditor* editor = qobject_cast<ProgressBarEditor*>(sender());
+  commitData(editor);
+  closeEditor(editor);
+}
+
+JointsWidgetEventFilter::JointsWidgetEventFilter(QAbstractItemView* view) : QObject(view)
+{
+}
+
+bool JointsWidgetEventFilter::eventFilter(QObject* target, QEvent* event)
+{
+  if (event->type() == QEvent::MouseButtonPress)
+  {
+    QAbstractItemView* view = qobject_cast<QAbstractItemView*>(parent());
+    QModelIndex index = view->indexAt(static_cast<QMouseEvent*>(event)->pos());
+    if (index.isValid() && index.column() == 1)  // mouse event on any of joint indexes?
+    {
+      view->setCurrentIndex(index);
+      view->edit(index);
+      return true;  // event handled
+    }
+  }
+  return false;
+}
+
+ProgressBarEditor::ProgressBarEditor(QWidget* parent, float min, float max, int digits)
+  : QWidget(parent), min_(min), max_(max), digits_(digits)
+{
+  // if left mouse button is pressed, grab all future mouse events until button(s) released
+  if (QApplication::mouseButtons() & Qt::LeftButton)
+    this->grabMouse();
+}
+
+void ProgressBarEditor::paintEvent(QPaintEvent* /*event*/)
+{
+  QPainter painter(this);
+
+  QStyleOptionProgressBar opt;
+  opt.rect = rect();
+  opt.palette = this->palette();
+  opt.minimum = 0;
+  opt.maximum = 1000;
+  opt.progress = 1000. * (value_ - min_) / (max_ - min_);
+  opt.text = QLocale().toString(value_, 'f', digits_);
+  opt.textAlignment = Qt::AlignRight;
+  opt.textVisible = true;
+  style()->drawControl(QStyle::CE_ProgressBar, &opt, &painter);
+}
+
+void ProgressBarEditor::mousePressEvent(QMouseEvent* event)
+{
+  if (event->button() == Qt::LeftButton)
+    mouseMoveEvent(event);
+}
+
+void ProgressBarEditor::mouseMoveEvent(QMouseEvent* event)
+{
+  float v = std::min(max_, std::max(min_, min_ + event->x() * (max_ - min_) / width()));
+  if (value_ != v)
+  {
+    value_ = v;
+    valueChanged(v);
+    update();
+  }
+  event->accept();
+}
+
+void ProgressBarEditor::mouseReleaseEvent(QMouseEvent* event)
+{
+  if (event->button() == Qt::LeftButton)
+  {
+    event->accept();
+    editingFinished();
+  }
+}
+
+JogSlider::JogSlider(QWidget* parent) : QSlider(parent)
+{
+  setTimerInterval(50);
+  setResolution(1000);
+  setMaximum(1.0);
+}
+
+void JogSlider::setTimerInterval(int ms)
+{
+  timer_interval_ = ms;
+}
+
+void JogSlider::setResolution(unsigned int resolution)
+{
+  QSlider::setRange(-resolution, +resolution);
+}
+
+void JogSlider::setMaximum(double value)
+{
+  maximum_ = value;
+}
+
+void JogSlider::timerEvent(QTimerEvent* event)
+{
+  QSlider::timerEvent(event);
+  if (event->timerId() == timer_id_)
+    triggered(value());
+}
+
+void JogSlider::mousePressEvent(QMouseEvent* event)
+{
+  QSlider::mousePressEvent(event);
+  timer_id_ = startTimer(timer_interval_);
+}
+
+void JogSlider::mouseReleaseEvent(QMouseEvent* event)
+{
+  killTimer(timer_id_);
+  QSlider::mouseReleaseEvent(event);
+  setValue(0);
+}
+
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame_joints.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame_joints.ui
new file mode 100644
index 0000000000..389365e9bd
--- /dev/null
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame_joints.ui
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MotionPlanningFrameJointsUI</class>
+ <widget class="QWidget" name="MotionPlanningFrameJointsUI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <item>
+    <layout class="QVBoxLayout" name="joints_layout_">
+     <item>
+      <widget class="QLabel" name="joints_view_label_">
+       <property name="text">
+        <string>Group joints:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QTreeView" name="joints_view_">
+       <property name="editTriggers">
+        <set>QAbstractItemView::EditKeyPressed</set>
+       </property>
+       <property name="selectionMode">
+        <enum>QAbstractItemView::NoSelection</enum>
+       </property>
+       <property name="rootIsDecorated">
+        <bool>false</bool>
+       </property>
+       <property name="itemsExpandable">
+        <bool>false</bool>
+       </property>
+       <property name="expandsOnDoubleClick">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Nullspace exploration:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="nullspace_layout_"/>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

From 9305824f6d568d1a92227c292f71dd5dd42be5de Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Fri, 29 Nov 2019 15:42:14 +0100
Subject: [PATCH 118/612] Fix doc string OrientationConstraint (#1793)

Implementation uses XYZ Euler angles (RPY), but documentation said ZXZ.
---
 .../include/moveit/kinematic_constraints/kinematic_constraint.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index a716e8bd86..12804a01b1 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -339,7 +339,7 @@ MOVEIT_CLASS_FORWARD(OrientationConstraint);
  * This class expresses an orientation constraint on a particular
  * link.  The constraint is specified in terms of a quaternion, with
  * tolerances on X,Y, and Z axes.  The rotation difference is computed
- * based on the ZXZ Euler angle formulation.  The header on the
+ * based on the XYZ Euler angle formulation (intrinsic rotations).  The header on the
  * quaternion can be specified in terms of either a fixed frame or a
  * mobile frame.  The type value will return ORIENTATION_CONSTRAINT.
  *

From 609923adaada4a195a62ae74d3410b61e80c6ed4 Mon Sep 17 00:00:00 2001
From: JonasTietz <Jonas.L.Tietz@gmx.de>
Date: Sun, 1 Dec 2019 12:56:34 +0100
Subject: [PATCH 119/612] TfPublisher: fixup and add attached collsion objects
 (#1792)

* fixed transform timestamp

* The move_group TfPublisher capability now also publishes attached collision objects and their subframes to the tf system
---
 .../tf_publisher_capability.cpp               | 51 +++++++++++++++----
 1 file changed, 41 insertions(+), 10 deletions(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index 13a0e3480f..bb666dda04 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -39,6 +39,8 @@
 #include <moveit/move_group/capability_names.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_eigen/tf2_eigen.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_state/attached_body.h>
 
 namespace move_group
 {
@@ -52,6 +54,23 @@ TfPublisher::~TfPublisher()
   thread_.join();
 }
 
+namespace
+{
+void publishSubframes(tf2_ros::TransformBroadcaster& broadcaster, const moveit::core::FixedTransformsMap& subframes,
+                      const std::string& parent_frame, const ros::Time& stamp)
+{
+  geometry_msgs::TransformStamped transform;
+  for (auto& subframe : subframes)
+  {
+    transform = tf2::eigenToTransform(subframe.second);
+    transform.child_frame_id = parent_frame + "/" + subframe.first;
+    transform.header.stamp = stamp;
+    transform.header.frame_id = parent_frame;
+    broadcaster.sendTransform(transform);
+  }
+}
+}  // namespace
+
 void TfPublisher::publishPlanningSceneFrames()
 {
   tf2_ros::TransformBroadcaster broadcaster;
@@ -61,26 +80,38 @@ void TfPublisher::publishPlanningSceneFrames()
   while (keep_running_)
   {
     {
+      ros::Time stamp = ros::Time::now();
       planning_scene_monitor::LockedPlanningSceneRO locked_planning_scene(context_->planning_scene_monitor_);
       collision_detection::WorldConstPtr world = locked_planning_scene->getWorld();
       std::string planning_frame = locked_planning_scene->getPlanningFrame();
 
       for (const auto& obj : *world)
       {
-        std::string parent_frame = prefix_ + obj.second->id_;
+        std::string object_frame = prefix_ + obj.second->id_;
         transform = tf2::eigenToTransform(obj.second->shape_poses_[0]);
-        transform.child_frame_id = parent_frame;
+        transform.child_frame_id = object_frame;
+        transform.header.stamp = stamp;
         transform.header.frame_id = planning_frame;
         broadcaster.sendTransform(transform);
 
-        moveit::core::FixedTransformsMap subframes = obj.second->subframe_poses_;
-        for (auto& subframe : subframes)
-        {
-          transform = tf2::eigenToTransform(subframe.second);
-          transform.child_frame_id = parent_frame + "/" + subframe.first;
-          transform.header.frame_id = parent_frame;
-          broadcaster.sendTransform(transform);
-        }
+        const moveit::core::FixedTransformsMap& subframes = obj.second->subframe_poses_;
+        publishSubframes(broadcaster, subframes, object_frame, stamp);
+      }
+
+      const robot_state::RobotState& rs = locked_planning_scene->getCurrentState();
+      std::vector<const robot_state::AttachedBody*> attached_collision_objects;
+      rs.getAttachedBodies(attached_collision_objects);
+      for (const robot_state::AttachedBody* attached_body : attached_collision_objects)
+      {
+        std::string object_frame = prefix_ + attached_body->getName();
+        transform = tf2::eigenToTransform(attached_body->getFixedTransforms()[0]);
+        transform.child_frame_id = object_frame;
+        transform.header.stamp = stamp;
+        transform.header.frame_id = attached_body->getAttachedLinkName();
+        broadcaster.sendTransform(transform);
+
+        const moveit::core::FixedTransformsMap& subframes = attached_body->getSubframeTransforms();
+        publishSubframes(broadcaster, subframes, object_frame, stamp);
       }
     }
 

From 90bd960ff0fcd49b4d9c61a25162918560346f8c Mon Sep 17 00:00:00 2001
From: Chittaranjan Srinivas Swaminathan <ksatyaki@users.noreply.github.com>
Date: Mon, 2 Dec 2019 18:48:44 +0100
Subject: [PATCH 120/612] Add Missing License (#1779)

---
 .../src/chomp_planning_context.cpp            | 39 ++++++++++++++++---
 1 file changed, 34 insertions(+), 5 deletions(-)

diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
index 248435dee9..35ddbc8a63 100644
--- a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
+++ b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
@@ -1,9 +1,38 @@
-/*
- * chomp_planning_context.cpp
+/*********************************************************************
+ * Software License Agreement (BSD License)
  *
- *  Created on: 27-Jul-2016
- *      Author: ace
- */
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Chittaranjan Srinivas Swaminathan */
 
 #include <chomp_interface/chomp_planning_context.h>
 #include <moveit/trajectory_processing/iterative_time_parameterization.h>

From 5fab74029a09444269c8a427822cc8f783de6439 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Tue, 3 Dec 2019 01:48:39 +0300
Subject: [PATCH 121/612] Fix totg bug giving invalid accelerations (#1729)

---
 .../time_optimal_trajectory_generation.cpp    |  6 ++
 ...est_time_optimal_trajectory_generation.cpp | 77 +++++++++++++++++++
 2 files changed, 83 insertions(+)

diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 68fe5a8ccf..19d1c38cab 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -538,6 +538,12 @@ bool Trajectory::integrateForward(std::list<TrajectoryStep>& trajectory, double
 
     if (next_discontinuity != switching_points.end() && path_pos > next_discontinuity->first)
     {
+      // Avoid having a TrajectoryStep with path_pos near a switching point which will cause an almost identical
+      // TrajectoryStep get added in the next run (https://github.com/ros-planning/moveit/issues/1665)
+      if (path_pos - next_discontinuity->first < EPS)
+      {
+        continue;
+      }
       path_vel = old_path_vel +
                  (next_discontinuity->first - old_path_pos) * (path_vel - old_path_vel) / (path_pos - old_path_pos);
       path_pos = next_discontinuity->first;
diff --git a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
index d05a423ce9..7413afac44 100644
--- a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
@@ -150,6 +150,83 @@ TEST(time_optimal_trajectory_generation, test3)
   EXPECT_DOUBLE_EQ(90.0, trajectory.getPosition(trajectory.getDuration())[3]);
 }
 
+// Test that totg algorithm doesn't give large acceleration
+TEST(time_optimal_trajectory_generation, testLargeAccel)
+{
+  double path_tolerance = 0.1;
+  double resample_dt = 0.1;
+  Eigen::VectorXd waypoint(6);
+  std::list<Eigen::VectorXd> waypoints;
+  Eigen::VectorXd max_velocities(6);
+  Eigen::VectorXd max_accelerations(6);
+
+  // Waypoints
+  // clang-format off
+  waypoint << 1.6113056281076339,
+             -0.21400163389235427,
+             -1.974502599739185,
+              9.9653618690354051e-12,
+             -1.3810916877429624,
+              1.5293902838041467;
+  waypoints.push_back(waypoint);
+
+  waypoint << 1.6088016187976597,
+             -0.21792862470933924,
+             -1.9758628799742952,
+              0.00010424017303217738,
+             -1.3835690515335755,
+              1.5279972853269816;
+  waypoints.push_back(waypoint);
+
+  waypoint << 1.5887695443178671,
+             -0.24934455124521923,
+             -1.9867451218551782,
+              0.00093816147756670078,
+             -1.4033879618584812,
+              1.5168532975096607;
+  waypoints.push_back(waypoint);
+
+  waypoint << 1.1647412393815282,
+             -0.91434018564402375,
+             -2.2170946337498498,
+              0.018590164397622583,
+             -1.8229041212673529,
+              1.2809632867583278;
+  waypoints.push_back(waypoint);
+
+  // Max velocities
+  max_velocities << 0.89535390627300004,
+                    0.89535390627300004,
+                    0.79587013890930003,
+                    0.92022484811399996,
+                    0.82074108075029995,
+                    1.3927727430915;
+  // Max accelerations
+  max_accelerations << 0.82673490883799994,
+                       0.78539816339699997,
+                       0.60883578557700002,
+                       3.2074759432319997,
+                       1.4398966328939999,
+                       4.7292792634680003;
+  // clang-format on
+
+  Trajectory parameterized(Path(waypoints, path_tolerance), max_velocities, max_accelerations, 0.001);
+
+  ASSERT_TRUE(parameterized.isValid());
+
+  size_t sample_count = std::ceil(parameterized.getDuration() / resample_dt);
+  for (size_t sample = 0; sample <= sample_count; ++sample)
+  {
+    // always sample the end of the trajectory as well
+    double t = std::min(parameterized.getDuration(), sample * resample_dt);
+    Eigen::VectorXd acceleration = parameterized.getAcceleration(t);
+
+    ASSERT_EQ(acceleration.size(), 6);
+    for (std::size_t i = 0; i < 6; ++i)
+      EXPECT_NEAR(acceleration(i), 0.0, 100.0) << "Invalid acceleration at position " << sample_count << "\n";
+  }
+}
+
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);

From 58804ed9ad78e02b07bf57a9c8f9fb558103ef1c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 26 Nov 2019 12:55:29 +0100
Subject: [PATCH 122/612] Handle incomplete group states

- issue a warning when building the robot model
- use a RobotState initialized to joint defaults for fake controllers
---
 moveit_core/robot_model/src/robot_model.cpp                | 7 +++++++
 .../src/moveit_fake_controller_manager.cpp                 | 3 ++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index d67af3b052..2abd64c912 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -327,6 +327,7 @@ void RobotModel::buildGroupStates(const srdf::Model& srdf_model)
     if (hasJointModelGroup(group_state.group_))
     {
       JointModelGroup* jmg = getJointModelGroup(group_state.group_);
+      std::vector<const JointModel*> remaining_joints = jmg->getActiveJointModels();
       std::map<std::string, double> state;
       for (std::map<std::string, std::vector<double>>::const_iterator jt = group_state.joint_values_.begin();
            jt != group_state.joint_values_.end(); ++jt)
@@ -335,6 +336,10 @@ void RobotModel::buildGroupStates(const srdf::Model& srdf_model)
         {
           const JointModel* jm = jmg->getJointModel(jt->first);
           const std::vector<std::string>& vn = jm->getVariableNames();
+          // Remove current joint name from remaining list.
+          auto it_found = std::find(remaining_joints.begin(), remaining_joints.end(), jm);
+          if (it_found != remaining_joints.end())
+            remaining_joints.erase(it_found);
           if (vn.size() == jt->second.size())
             for (std::size_t j = 0; j < vn.size(); ++j)
               state[vn[j]] = jt->second[j];
@@ -349,6 +354,8 @@ void RobotModel::buildGroupStates(const srdf::Model& srdf_model)
                                    "but that joint is not part of group '%s'",
                           group_state.name_.c_str(), jt->first.c_str(), jmg->getName().c_str());
       }
+      if (!remaining_joints.empty())
+        ROS_WARN_NAMED(LOGNAME, "Group state '%s' doesn't specify all group joints.", group_state.name_.c_str());
       if (!state.empty())
         jmg->addDefaultState(group_state.name_, state);
     }
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index ee375ead3a..f1fb8a7db4 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -136,9 +136,11 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
 
     robot_model_loader::RobotModelLoader robot_model_loader(ROBOT_DESCRIPTION);
     const robot_model::RobotModelPtr& robot_model = robot_model_loader.getModel();
+    moveit::core::RobotState robot_state(robot_model);
     typedef std::map<std::string, double> JointPoseMap;
     JointPoseMap joints;
 
+    robot_state.setToDefaultValues();  // initialize all joint values (just in case...)
     for (int i = 0, end = param.size(); i != end; ++i)
     {
       try
@@ -151,7 +153,6 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
           continue;
         }
         moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group_name);
-        moveit::core::RobotState robot_state(robot_model);
         const std::vector<std::string>& joint_names = jmg->getActiveJointModelNames();
 
         if (!robot_state.setToDefaultValues(jmg, pose_name))

From 601f550ad416e72755308dbfd0d7889c08f6fb08 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Sat, 30 Nov 2019 14:19:51 +0300
Subject: [PATCH 123/612] Fix flaky moveit_cpp test

- update robot state before planning
- release tf_listener_ and tf_buffer_ in correct order
- publish virtual joint
---
 moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp  | 1 +
 .../planning_interface/moveit_cpp/src/planning_component.cpp | 1 +
 moveit_ros/planning_interface/test/CMakeLists.txt            | 5 ++---
 moveit_ros/planning_interface/test/moveit_cpp_test.cpp       | 3 ---
 moveit_ros/planning_interface/test/moveit_cpp_test.test      | 2 +-
 5 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index dfa5d12bf5..3c0da8bf5f 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -319,6 +319,7 @@ const std::shared_ptr<tf2_ros::Buffer>& MoveItCpp::getTFBuffer() const
 
 void MoveItCpp::clearContents()
 {
+  tf_listener_.reset();
   tf_buffer_.reset();
   planning_scene_monitor_.reset();
   robot_model_.reset();
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index 896ecb783d..ea57f7a833 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -160,6 +160,7 @@ PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParamet
   moveit::core::RobotStatePtr start_state = considered_start_state_;
   if (!start_state)
     start_state = moveit_cpp_->getCurrentState();
+  start_state->update();
   moveit::core::robotStateToRobotStateMsg(*start_state, req.start_state);
   planning_scene->setCurrentState(*start_state);
 
diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 37ff35f2f1..eff482cec1 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -5,9 +5,8 @@ if (CATKIN_ENABLE_TESTING)
   add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
 
-  # TODO: Fix flaky test
-  #add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
-  #target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
+  add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
+  target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
 
   add_rostest(python_move_group.test)
   add_rostest(python_move_group_ns.test)
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.cpp b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
index ebea62a82d..675d7c761b 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
@@ -130,9 +130,6 @@ TEST_F(MoveItCppTest, TestSetStartStateToCurrentState)
 // Test setting the goal using geometry_msgs::PoseStamped and a robot's link name
 TEST_F(MoveItCppTest, TestSetGoalFromPoseStamped)
 {
-  planning_component_ptr->setStartStateToCurrentState();
-
-  geometry_msgs::PoseStamped target_pose1;
   planning_component_ptr->setGoal(target_pose1, "panda_link8");
 
   ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.test b/moveit_ros/planning_interface/test/moveit_cpp_test.test
index dac1ee0807..2e3d327b6a 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp_test.test
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.test
@@ -19,7 +19,7 @@
     </include>
 
     <!-- If needed, broadcast static tf for robot root -->
-    <!--node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" /-->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
 
     <!-- Send fake joint values -->
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

From 3adbfe9de007218fbe1548530cb23ae962361222 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Thu, 5 Dec 2019 13:58:32 -0700
Subject: [PATCH 124/612] Add support for multi-query planning in OMPL (#1799)

If enabled, the internal state of of planners does not get cleared.
This can be enabled per planner. It only makes sense for roadmap-based
planners (or if the start state does not change). Additionally, for
PRM, PRM*, LazyPRM, and LazyPRM* it is possible (when using OMPL 1.5.0)
to load/save roadmaps from disk upon creation/destruction. This is
set in ompl_planning.yaml like so:

planner_configs:
  PersistentPRM:
    type: geometric::PRM
    multi_query_planning_enabled: true
    store_planner_data: true
    load_planner_data: true
    planner_data_path: /tmp/roadmap.graph

This commit also fixes a bug for PRM-family planners where they would
always run as optimizing planners and not terminate when the first
solution was found. This occurs when the default optimization objective
is set when none are specified. The fix is to not set an objective
when none are specified.

Co-Authored-By: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .../model_based_planning_context.h            |   3 +
 .../ompl_interface/planning_context_manager.h |  36 +++
 .../src/model_based_planning_context.cpp      |  76 ++++---
 .../src/planning_context_manager.cpp          | 212 ++++++++++++++----
 4 files changed, 249 insertions(+), 78 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 2e5a046070..65acf98d8f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -418,6 +418,9 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
   bool use_state_validity_cache_;
 
+  /// when false, clears planners before running solve()
+  bool multi_query_planning_enabled_;
+
   ConstraintsLibraryPtr constraints_library_;
 
   bool simplify_solutions_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 29a39e2542..8bff59c4dd 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -41,12 +41,42 @@
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
 #include <moveit/macros/class_forward.h>
 
+#include <ompl/base/PlannerDataStorage.h>
+
 #include <vector>
 #include <string>
 #include <map>
 
 namespace ompl_interface
 {
+class MultiQueryPlannerAllocator
+{
+public:
+  MultiQueryPlannerAllocator() = default;
+  ~MultiQueryPlannerAllocator();
+
+  template <typename T>
+  ob::PlannerPtr allocatePlanner(const ob::SpaceInformationPtr& si, const std::string& new_name,
+                                 const ModelBasedPlanningContextSpecification& spec);
+
+private:
+  template <typename T>
+  ob::PlannerPtr allocatePlannerImpl(const ob::SpaceInformationPtr& si, const std::string& new_name,
+                                     const ModelBasedPlanningContextSpecification& spec, bool load_planner_data = false,
+                                     bool store_planner_data = false, const std::string& file_path = "");
+
+  template <typename T>
+  inline ob::Planner* allocatePersistentPlanner(const ob::PlannerData& data);
+
+  // Storing multi-query planners
+  std::map<std::string, ob::PlannerPtr> planners_;
+
+  std::map<std::string, std::string> planner_data_storage_paths_;
+
+  // Store and load planner data
+  ob::PlannerDataStorage storage_;
+};
+
 class PlanningContextManager
 {
 public:
@@ -175,6 +205,9 @@ class PlanningContextManager
   void registerDefaultPlanners();
   void registerDefaultStateSpaces();
 
+  template <typename T>
+  void registerPlannerAllocatorHelper(const std::string& planner_id);
+
   /** \brief This is the function that constructs new planning contexts if no previous ones exist that are suitable */
   ModelBasedPlanningContextPtr getPlanningContext(const planning_interface::PlannerConfigurationSettings& config,
                                                   const StateSpaceFactoryTypeSelector& factory_selector,
@@ -221,6 +254,9 @@ class PlanningContextManager
   /// needed)
   unsigned int minimum_waypoint_count_;
 
+  /// Multi-query planner allocator
+  MultiQueryPlannerAllocator planner_allocator_;
+
 private:
   MOVEIT_STRUCT_FORWARD(CachedContexts);
   CachedContextsPtr cached_contexts_;
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 10534e1d06..6528ea8bd2 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -89,6 +89,7 @@ ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::
   , max_solution_segment_length_(0.0)
   , minimum_waypoint_count_(0)
   , use_state_validity_cache_(true)
+  , multi_query_planning_enabled_(false)  // maintain "old" behavior by default
   , simplify_solutions_(true)
 {
   complete_initial_robot_state_.update();
@@ -298,44 +299,43 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
   std::string optimizer;
   ompl::base::OptimizationObjectivePtr objective;
   it = cfg.find("optimization_objective");
-  if (it == cfg.end())
-  {
-    optimizer = "PathLengthOptimizationObjective";
-    ROS_DEBUG_NAMED("model_based_planning_context", "No optimization objective specified, defaulting to %s",
-                    optimizer.c_str());
-  }
-  else
+  if (it != cfg.end())
   {
     optimizer = it->second;
     cfg.erase(it);
-  }
 
-  if (optimizer == "PathLengthOptimizationObjective")
-  {
-    objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
-  }
-  else if (optimizer == "MinimaxObjective")
-  {
-    objective.reset(new ompl::base::MinimaxObjective(ompl_simple_setup_->getSpaceInformation()));
-  }
-  else if (optimizer == "StateCostIntegralObjective")
-  {
-    objective.reset(new ompl::base::StateCostIntegralObjective(ompl_simple_setup_->getSpaceInformation()));
-  }
-  else if (optimizer == "MechanicalWorkOptimizationObjective")
-  {
-    objective.reset(new ompl::base::MechanicalWorkOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
-  }
-  else if (optimizer == "MaximizeMinClearanceObjective")
-  {
-    objective.reset(new ompl::base::MaximizeMinClearanceObjective(ompl_simple_setup_->getSpaceInformation()));
-  }
-  else
-  {
-    objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
+    if (optimizer == "PathLengthOptimizationObjective")
+    {
+      objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+    else if (optimizer == "MinimaxObjective")
+    {
+      objective.reset(new ompl::base::MinimaxObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+    else if (optimizer == "StateCostIntegralObjective")
+    {
+      objective.reset(new ompl::base::StateCostIntegralObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+    else if (optimizer == "MechanicalWorkOptimizationObjective")
+    {
+      objective.reset(new ompl::base::MechanicalWorkOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+    else if (optimizer == "MaximizeMinClearanceObjective")
+    {
+      objective.reset(new ompl::base::MaximizeMinClearanceObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+    else
+    {
+      objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
+    }
+
+    ompl_simple_setup_->setOptimizationObjective(objective);
   }
 
-  ompl_simple_setup_->setOptimizationObjective(objective);
+  // Don't clear planner data if multi-query planning is enabled
+  it = cfg.find("multi_query_planning_enabled");
+  if (it != cfg.end())
+    multi_query_planning_enabled_ = boost::lexical_cast<bool>(it->second);
 
   // remove the 'type' parameter; the rest are parameters for the planner itself
   it = cfg.find("type");
@@ -349,8 +349,9 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
   {
     std::string type = it->second;
     cfg.erase(it);
-    ompl_simple_setup_->setPlannerAllocator(std::bind(spec_.planner_selector_(type), std::placeholders::_1,
-                                                      name_ != getGroupName() ? name_ : "", std::cref(spec_)));
+    const std::string planner_name = getGroupName() + "/" + name_;
+    ompl_simple_setup_->setPlannerAllocator(
+        std::bind(spec_.planner_selector_(type), std::placeholders::_1, planner_name, std::cref(spec_)));
     ROS_INFO_NAMED("model_based_planning_context",
                    "Planner configuration '%s' will use planner '%s'. "
                    "Additional configuration parameters will be set when the planner is constructed.",
@@ -534,7 +535,8 @@ void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState(
 
 void ompl_interface::ModelBasedPlanningContext::clear()
 {
-  ompl_simple_setup_->clear();
+  if (!multi_query_planning_enabled_)
+    ompl_simple_setup_->clear();
   ompl_simple_setup_->clearStartStates();
   ompl_simple_setup_->setGoal(ob::GoalPtr());
   ompl_simple_setup_->setStateValidityChecker(ob::StateValidityCheckerPtr());
@@ -627,7 +629,7 @@ void ompl_interface::ModelBasedPlanningContext::preSolve()
   // clear previously computed solutions
   ompl_simple_setup_->getProblemDefinition()->clearSolutionPaths();
   const ob::PlannerPtr planner = ompl_simple_setup_->getPlanner();
-  if (planner)
+  if (planner && !multi_query_planning_enabled_)
     planner->clear();
   startSampling();
   ompl_simple_setup_->getSpaceInformation()->getMotionValidator()->resetMotionCounter();
@@ -726,7 +728,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
   preSolve();
 
   bool result = false;
-  if (count <= 1)
+  if (count <= 1 || multi_query_planning_enabled_)  // multi-query planners should always run in single instances
   {
     ROS_DEBUG_NAMED("model_based_planning_context", "%s: Solving the planning problem once...", name_.c_str());
     ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 3d6c6b21e3..fa2e88a308 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -85,6 +85,143 @@ struct PlanningContextManager::CachedContexts
 
 }  // namespace ompl_interface
 
+ompl_interface::MultiQueryPlannerAllocator::~MultiQueryPlannerAllocator()
+{
+  // Store all planner data
+  for (const auto& entry : planner_data_storage_paths_)
+  {
+    ROS_INFO("Storing planner data");
+    ob::PlannerData data(planners_[entry.first]->getSpaceInformation());
+    planners_[entry.first]->getPlannerData(data);
+    storage_.store(data, entry.second.c_str());
+  }
+}
+
+template <typename T>
+ompl::base::PlannerPtr ompl_interface::MultiQueryPlannerAllocator::allocatePlanner(
+    const ob::SpaceInformationPtr& si, const std::string& new_name, const ModelBasedPlanningContextSpecification& spec)
+{
+  // Store planner instance if multi-query planning is enabled
+  auto cfg = spec.config_;
+  auto it = cfg.find("multi_query_planning_enabled");
+  bool multi_query_planning_enabled = false;
+  if (it != cfg.end())
+  {
+    multi_query_planning_enabled = boost::lexical_cast<bool>(it->second);
+    cfg.erase(it);
+  }
+  if (multi_query_planning_enabled)
+  {
+    // If we already have an instance, use that one
+    auto planner_map_it = planners_.find(new_name);
+    if (planner_map_it != planners_.end())
+      return planner_map_it->second;
+
+    // Certain multi-query planners allow loading and storing the generated planner data. This feature can be
+    // selectively enabled for loading and storing using the bool parameters 'load_planner_data' and
+    // 'store_planner_data'. The storage file path is set using the parameter 'planner_data_path'.
+    // File read and write access are handled by the PlannerDataStorage class. If the file path is invalid
+    // an error message is printed and the planner is constructed/destructed with default values.
+    it = cfg.find("load_planner_data");
+    bool load_planner_data = false;
+    if (it != cfg.end())
+    {
+      load_planner_data = boost::lexical_cast<bool>(it->second);
+      cfg.erase(it);
+    }
+    it = cfg.find("store_planner_data");
+    bool store_planner_data = false;
+    if (it != cfg.end())
+    {
+      store_planner_data = boost::lexical_cast<bool>(it->second);
+      cfg.erase(it);
+    }
+    it = cfg.find("planner_data_path");
+    std::string planner_data_path;
+    if (it != cfg.end())
+    {
+      planner_data_path = it->second;
+      cfg.erase(it);
+    }
+    // Store planner instance for multi-query use
+    planners_[new_name] =
+        allocatePlannerImpl<T>(si, new_name, spec, load_planner_data, store_planner_data, planner_data_path);
+    return planners_[new_name];
+  }
+  else
+  {
+    // Return single-shot planner instance
+    return allocatePlannerImpl<T>(si, new_name, spec);
+  }
+}
+
+template <typename T>
+ompl::base::PlannerPtr ompl_interface::MultiQueryPlannerAllocator::allocatePlannerImpl(
+    const ob::SpaceInformationPtr& si, const std::string& new_name, const ModelBasedPlanningContextSpecification& spec,
+    bool load_planner_data, bool store_planner_data, const std::string& file_path)
+{
+  ob::PlannerPtr planner;
+  // Try to initialize planner with loaded planner data
+  if (load_planner_data)
+  {
+    ROS_INFO("Loading planner data");
+    ob::PlannerData data(si);
+    storage_.load(file_path.c_str(), data);
+    planner.reset(allocatePersistentPlanner<T>(data));
+    if (!planner)
+      ROS_ERROR_NAMED("planning_context_manager",
+                      "Creating a '%s' planner from persistent data is not supported. Going to create a new instance.",
+                      new_name.c_str());
+  }
+  if (!planner)
+    planner.reset(new T(si));
+  if (!new_name.empty())
+    planner->setName(new_name);
+  planner->params().setParams(spec.config_, true);
+  //  Remember which planner instances to store when the destructor is called
+  if (store_planner_data)
+    planner_data_storage_paths_[new_name] = file_path;
+  return planner;
+}
+
+// default implementation
+template <typename T>
+inline ompl::base::Planner*
+ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner(const ob::PlannerData& /*data*/)
+{
+  return nullptr;
+};
+// TODO: remove when ROS Melodic and older are no longer supported
+#if OMPL_VERSION_VALUE >= 1005000
+template <>
+inline ompl::base::Planner*
+ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRM>(const ob::PlannerData& data)
+{
+  return new og::PRM(data);
+};
+template <>
+inline ompl::base::Planner*
+ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRMstar>(
+    const ob::PlannerData& data)
+{
+  return new og::PRMstar(data);
+};
+template <>
+inline ompl::base::Planner*
+ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRM>(
+    const ob::PlannerData& data)
+{
+  return new og::LazyPRM(data);
+};
+template <>
+inline ompl::base::Planner*
+ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMstar>(
+    const ob::PlannerData& data)
+{
+  return new og::LazyPRMstar(data);
+};
+#endif
+
 ompl_interface::PlanningContextManager::PlanningContextManager(robot_model::RobotModelConstPtr robot_model,
                                                                constraint_samplers::ConstraintSamplerManagerPtr csm)
   : robot_model_(std::move(robot_model))
@@ -103,22 +240,6 @@ ompl_interface::PlanningContextManager::PlanningContextManager(robot_model::Robo
 
 ompl_interface::PlanningContextManager::~PlanningContextManager() = default;
 
-namespace
-{
-using namespace ompl_interface;
-
-template <typename T>
-static ompl::base::PlannerPtr allocatePlanner(const ob::SpaceInformationPtr& si, const std::string& new_name,
-                                              const ModelBasedPlanningContextSpecification& spec)
-{
-  ompl::base::PlannerPtr planner(new T(si));
-  if (!new_name.empty())
-    planner->setName(new_name);
-  planner->params().setParams(spec.config_, true);
-  return planner;
-}
-}  // namespace
-
 ompl_interface::ConfiguredPlannerAllocator
 ompl_interface::PlanningContextManager::plannerSelector(const std::string& planner) const
 {
@@ -132,33 +253,42 @@ ompl_interface::PlanningContextManager::plannerSelector(const std::string& plann
   }
 }
 
+template <typename T>
+void ompl_interface::PlanningContextManager::registerPlannerAllocatorHelper(const std::string& planner_id)
+{
+  registerPlannerAllocator(planner_id, [&](const ob::SpaceInformationPtr& si, const std::string& new_name,
+                                           const ModelBasedPlanningContextSpecification& spec) {
+    return planner_allocator_.allocatePlanner<T>(si, new_name, spec);
+  });
+}
+
 void ompl_interface::PlanningContextManager::registerDefaultPlanners()
 {
-  registerPlannerAllocator("geometric::AnytimePathShortening", allocatePlanner<og::AnytimePathShortening>);
-  registerPlannerAllocator("geometric::BFMT", allocatePlanner<og::BFMT>);
-  registerPlannerAllocator("geometric::BiEST", allocatePlanner<og::BiEST>);
-  registerPlannerAllocator("geometric::BiTRRT", allocatePlanner<og::BiTRRT>);
-  registerPlannerAllocator("geometric::BKPIECE", allocatePlanner<og::BKPIECE1>);
-  registerPlannerAllocator("geometric::EST", allocatePlanner<og::EST>);
-  registerPlannerAllocator("geometric::FMT", allocatePlanner<og::FMT>);
-  registerPlannerAllocator("geometric::KPIECE", allocatePlanner<og::KPIECE1>);
-  registerPlannerAllocator("geometric::LazyPRM", allocatePlanner<og::LazyPRM>);
-  registerPlannerAllocator("geometric::LazyPRMstar", allocatePlanner<og::LazyPRMstar>);
-  registerPlannerAllocator("geometric::LazyRRT", allocatePlanner<og::LazyRRT>);
-  registerPlannerAllocator("geometric::LBKPIECE", allocatePlanner<og::LBKPIECE1>);
-  registerPlannerAllocator("geometric::LBTRRT", allocatePlanner<og::LBTRRT>);
-  registerPlannerAllocator("geometric::PDST", allocatePlanner<og::PDST>);
-  registerPlannerAllocator("geometric::PRM", allocatePlanner<og::PRM>);
-  registerPlannerAllocator("geometric::PRMstar", allocatePlanner<og::PRMstar>);
-  registerPlannerAllocator("geometric::ProjEST", allocatePlanner<og::ProjEST>);
-  registerPlannerAllocator("geometric::RRT", allocatePlanner<og::RRT>);
-  registerPlannerAllocator("geometric::RRTConnect", allocatePlanner<og::RRTConnect>);
-  registerPlannerAllocator("geometric::RRTstar", allocatePlanner<og::RRTstar>);
-  registerPlannerAllocator("geometric::SBL", allocatePlanner<og::SBL>);
-  registerPlannerAllocator("geometric::SPARS", allocatePlanner<og::SPARS>);
-  registerPlannerAllocator("geometric::SPARStwo", allocatePlanner<og::SPARStwo>);
-  registerPlannerAllocator("geometric::STRIDE", allocatePlanner<og::STRIDE>);
-  registerPlannerAllocator("geometric::TRRT", allocatePlanner<og::TRRT>);
+  registerPlannerAllocatorHelper<og::AnytimePathShortening>("geometric::AnytimePathShortening");
+  registerPlannerAllocatorHelper<og::BFMT>("geometric::BFMT");
+  registerPlannerAllocatorHelper<og::BiEST>("geometric::BiEST");
+  registerPlannerAllocatorHelper<og::BiTRRT>("geometric::BiTRRT");
+  registerPlannerAllocatorHelper<og::BKPIECE1>("geometric::BKPIECE");
+  registerPlannerAllocatorHelper<og::EST>("geometric::EST");
+  registerPlannerAllocatorHelper<og::FMT>("geometric::FMT");
+  registerPlannerAllocatorHelper<og::KPIECE1>("geometric::KPIECE");
+  registerPlannerAllocatorHelper<og::LazyPRM>("geometric::LazyPRM");
+  registerPlannerAllocatorHelper<og::LazyPRMstar>("geometric::LazyPRMstar");
+  registerPlannerAllocatorHelper<og::LazyRRT>("geometric::LazyRRT");
+  registerPlannerAllocatorHelper<og::LBKPIECE1>("geometric::LBKPIECE");
+  registerPlannerAllocatorHelper<og::LBTRRT>("geometric::LBTRRT");
+  registerPlannerAllocatorHelper<og::PDST>("geometric::PDST");
+  registerPlannerAllocatorHelper<og::PRM>("geometric::PRM");
+  registerPlannerAllocatorHelper<og::PRMstar>("geometric::PRMstar");
+  registerPlannerAllocatorHelper<og::ProjEST>("geometric::ProjEST");
+  registerPlannerAllocatorHelper<og::RRT>("geometric::RRT");
+  registerPlannerAllocatorHelper<og::RRTConnect>("geometric::RRTConnect");
+  registerPlannerAllocatorHelper<og::RRTstar>("geometric::RRTstar");
+  registerPlannerAllocatorHelper<og::SBL>("geometric::SBL");
+  registerPlannerAllocatorHelper<og::SPARS>("geometric::SPARS");
+  registerPlannerAllocatorHelper<og::SPARStwo>("geometric::SPARStwo");
+  registerPlannerAllocatorHelper<og::STRIDE>("geometric::STRIDE");
+  registerPlannerAllocatorHelper<og::TRRT>("geometric::TRRT");
 }
 
 void ompl_interface::PlanningContextManager::registerDefaultStateSpaces()

From fe39430d971fdfadcec0c7316fa67d41bf48b281 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Sat, 7 Dec 2019 13:23:41 -0700
Subject: [PATCH 125/612] clear roadmap validity for LazyPRM/LazyPRMstar when
 using multi-query planning is enabled (#1802)

* clear roadmap validity for LazyPRM/LazyPRMstar when using multi-query planning is enabled

* add #if guard for OMPL version
---
 .../src/model_based_planning_context.cpp           | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 6528ea8bd2..bd64bfadcd 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -70,6 +70,7 @@
 #include "ompl/base/objectives/MinimaxObjective.h"
 #include "ompl/base/objectives/StateCostIntegralObjective.h"
 #include "ompl/base/objectives/MaximizeMinClearanceObjective.h"
+#include <ompl/geometric/planners/prm/LazyPRM.h>
 
 ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::string& name,
                                                                      const ModelBasedPlanningContextSpecification& spec)
@@ -537,6 +538,19 @@ void ompl_interface::ModelBasedPlanningContext::clear()
 {
   if (!multi_query_planning_enabled_)
     ompl_simple_setup_->clear();
+// TODO: remove when ROS Melodic and older are no longer supported
+#if OMPL_VERSION_VALUE >= 1005000
+  else
+  {
+    // For LazyPRM and LazyPRMstar we assume that the environment *could* have changed
+    // This means that we need to reset the validity flags for every node and edge in
+    // the roadmap. For PRM and PRMstar we assume that the environment is static. If
+    // this is not the case, then multi-query planning should not be enabled.
+    auto planner = dynamic_cast<ompl::geometric::LazyPRM*>(ompl_simple_setup_->getPlanner().get());
+    if (planner != nullptr)
+      planner->clearValidity();
+  }
+#endif
   ompl_simple_setup_->clearStartStates();
   ompl_simple_setup_->setGoal(ob::GoalPtr());
   ompl_simple_setup_->setStateValidityChecker(ob::StateValidityCheckerPtr());

From 76c16e61374ee7a80cc8e738b57a181da34f7c42 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 11 Dec 2019 13:50:31 -0600
Subject: [PATCH 126/612] jog_arm: add a C++ API (#1763)

* Example to launch C++ interface in a new thread

* A better multithread example

Start a new folder, src/cpp_interface_example

* Update license formatting in new files only

* JogROSInterface inherits from a base class

* Base interface class is don

* The new API half-works  :P

* Sharing data between threads workks

* It works! The arm moves

* Add C++ interface launch file

* Implement joint commands

* Debug the demo transition from cartesian to joint commands

* Add an example of retrieving the current joint state

* Clang format

* Satisfy linter re. function names

* Ensure the library is available to other packages

* Update license formatting again

* Clang format

* Switch pthread to std::thread, change C++14 compiler options

* Clang format
---
 .../moveit_jog_arm/CMakeLists.txt             |  64 ++++-
 .../config/ur_simulated_config.yaml           |   2 +-
 .../moveit_jog_arm/collision_check_thread.h   |  76 ++---
 .../include/moveit_jog_arm/jog_arm_data.h     |  75 ++---
 .../include/moveit_jog_arm/jog_calcs.h        |  80 +++---
 .../moveit_jog_arm/jog_cpp_interface.h        |  70 +++++
 .../moveit_jog_arm/jog_interface_base.h       |  78 ++++++
 .../moveit_jog_arm/jog_ros_interface.h        | 105 +++----
 .../include/moveit_jog_arm/low_pass_filter.h  |  74 ++---
 .../launch/cpp_interface_example.launch       |   9 +
 .../moveit_jog_arm/launch/spacenav_cpp.launch |   2 +-
 .../launch/spacenav_teleop_tools.launch       |   2 +-
 .../src/collision_check_thread.cpp            |  88 +++---
 .../cpp_interface_example.cpp                 |  98 +++++++
 .../moveit_jog_arm/src/jog_calcs.cpp          | 125 +++++----
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 200 ++++++++++++++
 .../moveit_jog_arm/src/jog_interface_base.cpp | 201 ++++++++++++++
 .../moveit_jog_arm/src/jog_ros_interface.cpp  | 259 ++++--------------
 .../moveit_jog_arm/src/jog_server.cpp         |  74 ++---
 .../moveit_jog_arm/src/low_pass_filter.cpp    |  74 ++---
 .../src/teleop_examples/spacenav_to_twist.cpp |  76 ++---
 21 files changed, 1176 insertions(+), 656 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
 create mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
 create mode 100644 moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch
 create mode 100644 moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
 create mode 100644 moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
 create mode 100644 moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 899efdad17..3502c17a89 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -1,7 +1,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(moveit_jog_arm)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+set(LIBRARY_NAME jog_arm_cpp_api)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
@@ -16,11 +20,11 @@ find_package(catkin REQUIRED COMPONENTS
 )
 find_package(Eigen3 REQUIRED)
 
-
 catkin_package(
   INCLUDE_DIRS
     include
   LIBRARIES
+    ${LIBRARY_NAME}
   CATKIN_DEPENDS
     control_msgs
     geometry_msgs
@@ -37,31 +41,83 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
+#########################################
+## A library providing a C++ interface ##
+#########################################
+
+add_library(${LIBRARY_NAME} SHARED
+  src/collision_check_thread.cpp
+  src/jog_calcs.cpp
+  src/jog_cpp_interface.cpp
+  src/jog_interface_base.cpp
+  src/low_pass_filter.cpp
+)
+add_dependencies(${LIBRARY_NAME} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${LIBRARY_NAME}
+  ${catkin_LIBRARIES}
+  ${Eigen_LIBRARIES}
+)
+
+# An example of using the C++ library
+add_executable(cpp_interface_example
+  src/collision_check_thread.cpp
+  src/cpp_interface_example/cpp_interface_example.cpp
+  src/jog_calcs.cpp
+  src/low_pass_filter.cpp
+)
+add_dependencies(cpp_interface_example ${catkin_EXPORTED_TARGETS})
+target_link_libraries(cpp_interface_example
+  ${catkin_LIBRARIES}
+  ${Eigen_LIBRARIES}
+  ${LIBRARY_NAME}
+)
+
+############################
+## ROS message-based node ##
+############################
+
 add_executable(jog_server
   src/collision_check_thread.cpp
   src/jog_server.cpp
   src/jog_calcs.cpp
+  src/jog_interface_base.cpp
   src/jog_ros_interface.cpp
   src/low_pass_filter.cpp
 )
-
 add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
 target_link_libraries(jog_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
 
+################################################
+## An example of converting joystick commands ##
+################################################
+
 add_executable(spacenav_to_twist
   src/teleop_examples/spacenav_to_twist.cpp
 )
 add_dependencies(spacenav_to_twist ${catkin_EXPORTED_TARGETS})
 target_link_libraries(spacenav_to_twist ${catkin_LIBRARIES})
 
+##################
+## INSTALLATION ##
+##################
+
 install(
   TARGETS
+    ${LIBRARY_NAME}
     jog_server
     spacenav_to_twist
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+#############
+## TESTING ##
+#############
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 839a4b16a5..fe09ddf6ac 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -31,7 +31,7 @@ move_group_name:  manipulator  # Often 'manipulator' or 'arm'
 planning_frame: world  # The MoveIt! planning frame. Often 'base_link'
 
 ## Stopping behaviour
-incoming_command_timeout:  2  # Stop jogging if X seconds elapse without a new cmd
+incoming_command_timeout:  0.1  # Stop jogging if X seconds elapse without a new cmd
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
 # Important because ROS may drop some messages and we need the robot to halt reliably.
 num_halt_msgs_to_publish: 4
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 3c18a34898..4cae9182a7 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -1,40 +1,40 @@
-/*
-     Title     : collision_check_thread.h
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ * Title     : collision_check_thread.h
+ * Project   : moveit_jog_arm
+ * Created   : 1/11/2019
+ * Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #pragma once
 
@@ -49,7 +49,7 @@ class CollisionCheckThread
 {
 public:
   CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
-                       moveit_jog_arm::JogArmShared& shared_variables, pthread_mutex_t& mutex,
+                       moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex,
                        const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 };
 }
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 5b2d384f34..01aa989c73 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -1,45 +1,46 @@
-/*
-     Title     : jog_arm_data.h
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_arm_data.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #pragma once
 
 #include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
+#include <mutex>
 #include <sensor_msgs/JointState.h>
 #include <thread>
 #include <trajectory_msgs/JointTrajectory.h>
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index e80197db22..ff6af3aa45 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -1,40 +1,40 @@
-/*
-     Title     : jog_calcs.h
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_calcs.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #pragma once
 
@@ -51,7 +51,7 @@ namespace moveit_jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
+  JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, std::mutex& mutex,
            const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 
 protected:
@@ -59,7 +59,7 @@ class JogCalcs
 
   sensor_msgs::JointState incoming_jts_;
 
-  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, pthread_mutex_t& mutex);
+  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex);
 
   bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
 
@@ -92,7 +92,7 @@ class JogCalcs
                                   const Eigen::JacobiSVD<Eigen::MatrixXd>& svd);
 
   // Apply velocity scaling for proximity of collisions and singularities
-  bool applyVelocityScaling(JogArmShared& shared_variables, pthread_mutex_t& mutex,
+  bool applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
                             trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
                             double singularity_scale);
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
new file mode 100644
index 0000000000..4a8075f921
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -0,0 +1,70 @@
+/*******************************************************************************
+ *      Title     : jog_cpp_interface.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 11/20/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#pragma once
+
+#include "jog_interface_base.h"
+
+namespace moveit_jog_arm
+{
+/**
+* Class JogCppApi - This class should be instantiated in a new thread
+* See cpp_interface_example.cpp
+*/
+class JogCppApi : JogInterfaceBase
+{
+public:
+  JogCppApi();
+
+  void mainLoop();
+
+  // Provide a Cartesian velocity command to the jogger.
+  // The units are determined by settings in the yaml file.
+  void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);
+
+  // Send joint position(s) commands
+  void provideJointCommand(const control_msgs::JointJog& joint_command);
+
+  // Returns the most recent JointState that the jogger has received.
+  // May eliminate the need to create your own joint_state subscriber.
+  sensor_msgs::JointState getJointState();
+
+private:
+  ros::NodeHandle nh_;
+};
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
new file mode 100644
index 0000000000..3a39a7f87d
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -0,0 +1,78 @@
+/*******************************************************************************
+ *      Title     : jog_interface_base.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#include "collision_check_thread.h"
+#include <Eigen/Eigenvalues>
+#include "jog_arm_data.h"
+#include "jog_calcs.h"
+#include "low_pass_filter.h"
+#include <moveit/robot_state/robot_state.h>
+#include <rosparam_shortcuts/rosparam_shortcuts.h>
+#include <sensor_msgs/Joy.h>
+#include <std_msgs/Float64MultiArray.h>
+
+namespace moveit_jog_arm
+{
+/**
+ * Class JogInterfaceBase - Base class for C++ interface and ROS node.
+ * Handles ROS subs & pubs and creates the worker threads.
+ */
+class JogInterfaceBase
+{
+public:
+  void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
+
+  // Jogging calculation thread
+  bool startJogCalcThread();
+
+  // Collision checking thread
+  bool startCollisionCheckThread();
+
+protected:
+  bool readParameters(ros::NodeHandle& n);
+
+  robot_model_loader::RobotModelLoaderPtr model_loader_ptr_;
+
+  // Store the parameters that were read from ROS server
+  JogArmParameters ros_parameters_;
+
+  // Share data between threads
+  JogArmShared shared_variables_;
+  std::mutex shared_variables_mutex_;
+};
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
index 9a3e023c06..f840fc3a99 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
@@ -1,87 +1,60 @@
-/*
-     Title     : jog_ros_interface.h
-     Project   : moveit_jog_arm
-     Created   : 3/9/2017
-     Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
-
-BSD 3-Clause License
-
-Copyright (c) 2018, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_ros_interface.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 // Server node for arm jogging with MoveIt.
 
 #pragma once
 
-#include "collision_check_thread.h"
-#include <Eigen/Eigenvalues>
-#include "jog_arm_data.h"
-#include "jog_calcs.h"
-#include "low_pass_filter.h"
-#include <moveit/robot_state/robot_state.h>
-#include <rosparam_shortcuts/rosparam_shortcuts.h>
-#include <sensor_msgs/Joy.h>
-#include <std_msgs/Float64MultiArray.h>
+#include "jog_interface_base.h"
 
 namespace moveit_jog_arm
 {
 /**
  * Class JogROSInterface - Instantiated in main(). Handles ROS subs & pubs and creates the worker threads.
  */
-class JogROSInterface
+class JogROSInterface : JogInterfaceBase
 {
 public:
   JogROSInterface();
-  ~JogROSInterface();
 
 private:
   // ROS subscriber callbacks
   void deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg);
   void deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg);
-  void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
-
-  bool readParameters(ros::NodeHandle& n);
-
-  // Jogging calculation thread
-  bool startJogCalcThread();
-
-  // Collision checking thread
-  bool startCollisionCheckThread();
-
-  // Share data between threads
-  JogArmShared shared_variables_;
-  pthread_mutex_t shared_variables_mutex_;
-
-  robot_model_loader::RobotModelLoaderPtr model_loader_ptr_;
-
-  // Store the parameters that were read from ROS server
-  JogArmParameters ros_parameters_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
index dd592524c1..1c753cf11e 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
@@ -1,40 +1,40 @@
-/*
-     Title     : low_pass_filter.h
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Andy Zelenak
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : low_pass_filter.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch b/moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch
new file mode 100644
index 0000000000..bc347ec658
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch
@@ -0,0 +1,9 @@
+<launch>
+  <!-- Launch an example that sends commands via C++ API. -->
+
+  <node name="jog_server" pkg="moveit_jog_arm" type="cpp_interface_example" output="screen" >
+    <param name="parameter_ns" type="string" value="jog_server" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
+  </node>
+
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch b/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
index c78dff5b6b..9aa9f6b0c0 100644
--- a/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
+++ b/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- The package has 2 examples of converting controller commands to jog commands.
+  <!-- The package has 2 examples of converting joystick commands to jog commands.
        This is the lower-latency C++ example. You can modify it in your own package for
        your own type of gamepad or joystick.
        It reduces latency (slightly) compared to spacenav_teleop_tools.launch.
diff --git a/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch b/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
index 6b3a97cf92..5b04243434 100644
--- a/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
+++ b/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- The package has 2 examples of converting controller commands to jog commands.
+  <!-- The package has 2 examples of converting joystick commands to jog commands.
        This is the higher-latency, Python-based teleop_tools example.
        You can modify it in your own package for your own type of gamepad or joystick.
        We do plan to accept pull requests of config files for other controller types using this method.
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 4df88d329a..83551f56c8 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -1,40 +1,40 @@
-/*
-     Title     : collision_check_thread.cpp
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : collision_check_thread.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #include <moveit_jog_arm/collision_check_thread.h>
 
@@ -42,7 +42,7 @@ namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
 CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
-                                           JogArmShared& shared_variables, pthread_mutex_t& mutex,
+                                           JogArmShared& shared_variables, std::mutex& mutex,
                                            const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
 {
   // If user specified true in yaml file
@@ -82,9 +82,9 @@ CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameter
     double velocity_scale_coefficient = -log(0.001) / parameters.collision_proximity_threshold;
 
     // Wait for initial messages
-    ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
+    ROS_INFO_NAMED(LOGNAME, "collision_check_thread: Waiting for first joint msg.");
     ros::topic::waitForMessage<sensor_msgs::JointState>(parameters.joint_topic);
-    ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
+    ROS_INFO_NAMED(LOGNAME, "collision_check_thread: Received first joint msg.");
 
     ROS_INFO_NAMED(LOGNAME, "Waiting for first command msg.");
     ros::topic::waitForMessage<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic);
@@ -97,9 +97,9 @@ CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameter
     /////////////////////////////////////////////////
     while (ros::ok())
     {
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       sensor_msgs::JointState jts = shared_variables.joints;
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
 
       for (std::size_t i = 0; i < jts.position.size(); ++i)
         current_state.setJointPositions(jts.name[i], &jts.position[i]);
@@ -125,9 +125,9 @@ CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameter
             exp(velocity_scale_coefficient * (collision_result.distance - parameters.collision_proximity_threshold));
       }
 
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       shared_variables.collision_velocity_scale = velocity_scale;
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
 
       collision_rate.sleep();
     }
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
new file mode 100644
index 0000000000..921f803a8d
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -0,0 +1,98 @@
+/*******************************************************************************
+ *      Title     : cpp_interface_example.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 11/20/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#include <moveit_jog_arm/jog_cpp_interface.h>
+
+/**
+ * Instantiate the C++ jogging interface.
+ * Send some Cartesian commands, then some joint commands.
+ * Then retrieve the current joint state from the jogger.
+ */
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, moveit_jog_arm::LOGNAME);
+
+  // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
+  moveit_jog_arm::JogCppApi jog_interface;
+  std::thread jogging_thread(&moveit_jog_arm::JogCppApi::mainLoop, &jog_interface);
+
+  // Make a Cartesian velocity message
+  geometry_msgs::TwistStamped velocity_msg;
+  velocity_msg.header.frame_id = "base_link";
+  velocity_msg.twist.linear.y = 0.01;
+  velocity_msg.twist.linear.z = -0.01;
+
+  ros::Rate cmd_rate(100);
+  uint num_commands = 0;
+
+  // Send a few Cartesian velocity commands
+  while (ros::ok() && num_commands < 200)
+  {
+    ++num_commands;
+    velocity_msg.header.stamp = ros::Time::now();
+    jog_interface.provideTwistStampedCommand(velocity_msg);
+    cmd_rate.sleep();
+  }
+
+  // Leave plenty of time for the jogger to halt its previous motion.
+  // For a faster response, adjust the incoming_command_timeout yaml parameter
+  ros::Duration(2).sleep();
+
+  // Make a joint command
+  control_msgs::JointJog base_joint_command;
+  base_joint_command.joint_names.push_back("elbow_joint");
+  base_joint_command.velocities.push_back(0.2);
+  base_joint_command.header.stamp = ros::Time::now();
+
+  // Send a few joint commands
+  num_commands = 0;
+  while (ros::ok() && num_commands < 200)
+  {
+    ++num_commands;
+    base_joint_command.header.stamp = ros::Time::now();
+    jog_interface.provideJointCommand(base_joint_command);
+    cmd_rate.sleep();
+  }
+
+  // Retrieve the current joint state from the jogger
+  sensor_msgs::JointState current_joint_state = jog_interface.getJointState();
+  ROS_INFO_STREAM(current_joint_state);
+
+  jogging_thread.join();
+  return 0;
+}
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index e2674c0448..539f8f118e 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -1,47 +1,47 @@
-/*
-     Title     : jog_calcs.h
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_calcs.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #include <moveit_jog_arm/jog_calcs.h>
 
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, pthread_mutex_t& mutex,
+JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, std::mutex& mutex,
                    const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
   : tf_listener_(tf_buffer_), parameters_(parameters)
 {
@@ -61,9 +61,9 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
 
   // Wait for initial messages
-  ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
+  ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
-  ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
+  ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Received first joint msg.");
 
   resetVelocityFilters();
 
@@ -88,9 +88,9 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   // Initialize the position filters to initial robot joints
   while (!updateJoints() && ros::ok())
   {
-    pthread_mutex_lock(&mutex);
+    mutex.lock();
     incoming_jts_ = shared_variables.joints;
-    pthread_mutex_unlock(&mutex);
+    mutex.unlock();
     ros::Duration(WHILE_LOOP_WAIT).sleep();
   }
   for (std::size_t i = 0; i < num_joints_; ++i)
@@ -104,10 +104,10 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   {
     ros::Duration(WHILE_LOOP_WAIT).sleep();
 
-    pthread_mutex_lock(&mutex);
+    mutex.lock();
     cartesian_deltas = shared_variables.command_deltas;
     joint_deltas = shared_variables.joint_command_deltas;
-    pthread_mutex_unlock(&mutex);
+    mutex.unlock();
   }
 
   // Track the number of cycles during which motion has not occurred.
@@ -120,44 +120,44 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   while (ros::ok())
   {
     // Flag that incoming commands are all zero. May be used to skip calculations/publication
-    pthread_mutex_lock(&mutex);
+    mutex.lock();
     bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
     bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
-    pthread_mutex_unlock(&mutex);
+    mutex.unlock();
 
     if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
       // Reset low-pass filters
       resetVelocityFilters();
 
     // Pull data from the shared variables.
-    pthread_mutex_lock(&mutex);
+    mutex.lock();
     incoming_jts_ = shared_variables.joints;
-    pthread_mutex_unlock(&mutex);
+    mutex.unlock();
 
     // Initialize the position filters to initial robot joints
     while (!updateJoints() && ros::ok())
     {
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       incoming_jts_ = shared_variables.joints;
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
       ros::Duration(WHILE_LOOP_WAIT).sleep();
     }
 
     // Prioritize cartesian jogging above joint jogging
     if (!zero_cartesian_cmd_flag)
     {
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       cartesian_deltas = shared_variables.command_deltas;
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
 
       if (!cartesianJogCalcs(cartesian_deltas, shared_variables, mutex))
         continue;
     }
     else if (!zero_joint_cmd_flag)
     {
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       joint_deltas = shared_variables.joint_command_deltas;
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
 
       if (!jointJogCalcs(joint_deltas, shared_variables))
         continue;
@@ -169,9 +169,9 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
     }
 
     // Halt if the command is stale or inputs are all zero, or commands were zero
-    pthread_mutex_lock(&mutex);
+    mutex.lock();
     bool stale_command = shared_variables.command_is_stale;
-    pthread_mutex_unlock(&mutex);
+    mutex.unlock();
 
     if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
     {
@@ -185,7 +185,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
     // Send the newest target joints
     if (!outgoing_command_.joint_names.empty())
     {
-      pthread_mutex_lock(&mutex);
+      mutex.lock();
       // If everything normal, share the new traj to be published
       if (valid_nonzero_command)
       {
@@ -207,7 +207,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
         shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
       }
-      pthread_mutex_unlock(&mutex);
+      mutex.unlock();
 
       // Store last zero-velocity message flag to prevent superfluous warnings.
       // Cartesian and joint commands must both be zero.
@@ -226,8 +226,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
 }
 
 // Perform the jogging calculations
-bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables,
-                                 pthread_mutex_t& mutex)
+bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex)
 {
   // Check for nan's in the incoming command
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
@@ -460,13 +459,13 @@ trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::J
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
 // Key equation: new_velocity = collision_scale*singularity_scale*previous_velocity
-bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, pthread_mutex_t& mutex,
+bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
                                     trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
                                     double singularity_scale)
 {
-  pthread_mutex_lock(&mutex);
+  mutex.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
-  pthread_mutex_unlock(&mutex);
+  mutex.unlock();
 
   for (size_t i = 0; i < num_joints_; ++i)
   {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
new file mode 100644
index 0000000000..b0ddf2e13a
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -0,0 +1,200 @@
+/*******************************************************************************
+ *      Title     : jog_cpp_interface.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 11/20/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#include "moveit_jog_arm/jog_cpp_interface.h"
+
+namespace moveit_jog_arm
+{
+JogCppApi::JogCppApi()
+{
+  // Read ROS parameters, typically from YAML file
+  if (!readParameters(nh_))
+    exit(EXIT_FAILURE);
+
+  // Load the robot model. This is used by the worker threads.
+  model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
+}
+
+void JogCppApi::mainLoop()
+{
+  // Crunch the numbers in this thread
+  std::thread jogging_thread(&JogInterfaceBase::startJogCalcThread, dynamic_cast<JogInterfaceBase*>(this));
+
+  // Check collisions in this thread
+  std::thread collision_thread(&JogInterfaceBase::startCollisionCheckThread, dynamic_cast<JogInterfaceBase*>(this));
+
+  // ROS subscriptions. Share the data with the worker threads
+  ros::Subscriber joints_sub =
+      nh_.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));
+
+  // Publish freshly-calculated joints to the robot.
+  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+  ros::Publisher outgoing_cmd_pub;
+  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+    outgoing_cmd_pub = nh_.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
+  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+    outgoing_cmd_pub = nh_.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);
+
+  // Wait for incoming topics to appear
+  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
+  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
+
+  // Wait for low pass filters to stabilize
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
+  ros::Duration(10 * ros_parameters_.publish_period).sleep();
+
+  ros::Rate main_rate(1. / ros_parameters_.publish_period);
+
+  while (ros::ok())
+  {
+    ros::spinOnce();
+
+    shared_variables_mutex_.lock();
+    trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
+
+    // Check for stale cmds
+    if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
+        ros::Duration(ros_parameters_.incoming_command_timeout))
+    {
+      // Mark that incoming commands are not stale
+      shared_variables_.command_is_stale = false;
+    }
+    else
+    {
+      shared_variables_.command_is_stale = true;
+    }
+
+    // Publish the most recent trajectory, unless the jogging calculation thread tells not to
+    if (shared_variables_.ok_to_publish)
+    {
+      // Put the outgoing msg in the right format
+      // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+      if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+      {
+        outgoing_command.header.stamp = ros::Time::now();
+        outgoing_cmd_pub.publish(outgoing_command);
+      }
+      else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+      {
+        std_msgs::Float64MultiArray joints;
+        if (ros_parameters_.publish_joint_positions)
+          joints.data = outgoing_command.points[0].positions;
+        else if (ros_parameters_.publish_joint_velocities)
+          joints.data = outgoing_command.points[0].velocities;
+        outgoing_cmd_pub.publish(joints);
+      }
+    }
+    else if (shared_variables_.command_is_stale)
+    {
+      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                  "Try a larger 'incoming_command_timeout' parameter?");
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
+    }
+
+    shared_variables_mutex_.unlock();
+
+    main_rate.sleep();
+  }
+
+  jogging_thread.join();
+  collision_thread.join();
+}
+
+void JogCppApi::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
+{
+  shared_variables_mutex_.lock();
+
+  // Copy everything but the frame name. The frame name is set by yaml file at startup.
+  // (so it isn't copied over and over)
+  shared_variables_.command_deltas.twist = velocity_command.twist;
+  shared_variables_.command_deltas.header = velocity_command.header;
+
+  // Input frame determined by YAML file if not passed with message
+  if (shared_variables_.command_deltas.header.frame_id.empty())
+  {
+    shared_variables_.command_deltas.header.frame_id = ros_parameters_.command_frame;
+  }
+
+  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_halt_msgs_to_publish
+  shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
+                                              shared_variables_.command_deltas.twist.linear.y == 0.0 &&
+                                              shared_variables_.command_deltas.twist.linear.z == 0.0 &&
+                                              shared_variables_.command_deltas.twist.angular.x == 0.0 &&
+                                              shared_variables_.command_deltas.twist.angular.y == 0.0 &&
+                                              shared_variables_.command_deltas.twist.angular.z == 0.0;
+
+  if (!shared_variables_.zero_cartesian_cmd_flag)
+  {
+    shared_variables_.latest_nonzero_cmd_stamp = velocity_command.header.stamp;
+  }
+  shared_variables_mutex_.unlock();
+};
+
+void JogCppApi::provideJointCommand(const control_msgs::JointJog& joint_command)
+{
+  shared_variables_mutex_.lock();
+  shared_variables_.joint_command_deltas = joint_command;
+
+  // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
+  bool all_zeros = true;
+  for (double delta : shared_variables_.joint_command_deltas.velocities)
+  {
+    all_zeros &= (delta == 0.0);
+  };
+  shared_variables_.zero_joint_cmd_flag = all_zeros;
+
+  if (!shared_variables_.zero_joint_cmd_flag)
+  {
+    shared_variables_.latest_nonzero_cmd_stamp = joint_command.header.stamp;
+  }
+  shared_variables_mutex_.unlock();
+}
+
+sensor_msgs::JointState JogCppApi::getJointState()
+{
+  shared_variables_mutex_.lock();
+  sensor_msgs::JointState current_joints = shared_variables_.joints;
+  shared_variables_mutex_.unlock();
+
+  return current_joints;
+}
+
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
new file mode 100644
index 0000000000..7cbb0f59bb
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -0,0 +1,201 @@
+/*******************************************************************************
+ *      Title     : jog_interface_base.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#include "moveit_jog_arm/jog_interface_base.h"
+
+namespace moveit_jog_arm
+{
+// Read ROS parameters, typically from YAML file
+bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
+{
+  std::size_t error = 0;
+
+  // Specified in the launch file. All other parameters will be read from this namespace.
+  std::string parameter_ns;
+  ros::param::get("~parameter_ns", parameter_ns);
+  if (parameter_ns.empty())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
+                                    "type=\"string\" "
+                                    "value=\"left_jog_server\" />");
+    return false;
+  }
+
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_period", ros_parameters_.publish_period);
+  error +=
+      !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_halt_msgs_to_publish",
+                                    ros_parameters_.num_halt_msgs_to_publish);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
+  error +=
+      !rosparam_shortcuts::get("", n, parameter_ns + "/low_pass_filter_coeff", ros_parameters_.low_pass_filter_coeff);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_topic", ros_parameters_.joint_topic);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_in_type", ros_parameters_.command_in_type);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/cartesian_command_in_topic",
+                                    ros_parameters_.cartesian_command_in_topic);
+  error +=
+      !rosparam_shortcuts::get("", n, parameter_ns + "/joint_command_in_topic", ros_parameters_.joint_command_in_topic);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_frame", ros_parameters_.command_frame);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/incoming_command_timeout",
+                                    ros_parameters_.incoming_command_timeout);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/lower_singularity_threshold",
+                                    ros_parameters_.lower_singularity_threshold);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
+                                    ros_parameters_.hard_stop_singularity_threshold);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold",
+                                    ros_parameters_.collision_proximity_threshold);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/warning_topic", ros_parameters_.warning_topic);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_positions",
+                                    ros_parameters_.publish_joint_positions);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_velocities",
+                                    ros_parameters_.publish_joint_velocities);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
+                                    ros_parameters_.publish_joint_accelerations);
+
+  rosparam_shortcuts::shutdownIfError(parameter_ns, error);
+
+  // Input checking
+  if (ros_parameters_.num_halt_msgs_to_publish < 0)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'num_halt_msgs_to_publish' should be greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.hard_stop_singularity_threshold < ros_parameters_.lower_singularity_threshold)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'hard_stop_singularity_threshold' "
+                            "should be greater than 'lower_singularity_threshold.' "
+                            "Check yaml file.");
+    return false;
+  }
+  if ((ros_parameters_.hard_stop_singularity_threshold < 0.) || (ros_parameters_.lower_singularity_threshold < 0.))
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameters 'hard_stop_singularity_threshold' "
+                            "and 'lower_singularity_threshold' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.collision_proximity_threshold < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_proximity_threshold' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.low_pass_filter_coeff < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'low_pass_filter_coeff' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.joint_limit_margin < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'joint_limit_margin' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.command_in_type != "unitless" && ros_parameters_.command_in_type != "speed_units")
+  {
+    ROS_WARN_NAMED(LOGNAME, "command_in_type should be 'unitless' or "
+                            "'speed_units'. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.command_out_type != "trajectory_msgs/JointTrajectory" &&
+      ros_parameters_.command_out_type != "std_msgs/Float64MultiArray")
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter command_out_type should be "
+                            "'trajectory_msgs/JointTrajectory' or "
+                            "'std_msgs/Float64MultiArray'. Check yaml file.");
+    return false;
+  }
+  if (!ros_parameters_.publish_joint_positions && !ros_parameters_.publish_joint_velocities &&
+      !ros_parameters_.publish_joint_accelerations)
+  {
+    ROS_WARN_NAMED(LOGNAME, "At least one of publish_joint_positions / "
+                            "publish_joint_velocities / "
+                            "publish_joint_accelerations must be true. Check "
+                            "yaml file.");
+    return false;
+  }
+  if ((ros_parameters_.command_out_type == "std_msgs/Float64MultiArray") && ros_parameters_.publish_joint_positions &&
+      ros_parameters_.publish_joint_velocities)
+  {
+    ROS_WARN_NAMED(LOGNAME, "When publishing a std_msgs/Float64MultiArray, "
+                            "you must select positions OR velocities.");
+    return false;
+  }
+  if (ros_parameters_.collision_check_rate < 0)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_check_rate' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+
+  return true;
+}
+
+// Listen to joint angles. Store them in a shared variable.
+void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
+{
+  shared_variables_mutex_.lock();
+  shared_variables_.joints = *msg;
+  shared_variables_mutex_.unlock();
+}
+
+// A separate thread for the heavy jogging calculations.
+bool JogInterfaceBase::startJogCalcThread()
+{
+  JogCalcs ja(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
+  return true;
+}
+
+// A separate thread for collision checking.
+bool JogInterfaceBase::startCollisionCheckThread()
+{
+  CollisionCheckThread cc(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
+  return true;
+}
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index c83c59e46a..b7e2fb5540 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -1,40 +1,40 @@
-/*
-     Title     : jog_ros_interface.cpp
-     Project   : moveit_jog_arm
-     Created   : 3/9/2017
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2018, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_ros_interface.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 // Server node for arm jogging with MoveIt.
 
@@ -53,8 +53,6 @@ JogROSInterface::JogROSInterface()
 {
   ros::NodeHandle nh;
 
-  pthread_mutex_init(&shared_variables_mutex_, nullptr);
-
   // Read ROS parameters, typically from YAML file
   if (!readParameters(nh))
     exit(EXIT_FAILURE);
@@ -63,17 +61,18 @@ JogROSInterface::JogROSInterface()
   model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
 
   // Crunch the numbers in this thread
-  std::thread jogging_thread(&JogROSInterface::startJogCalcThread, this);
+  std::thread jogging_thread(&JogInterfaceBase::startJogCalcThread, dynamic_cast<JogInterfaceBase*>(this));
 
   // Check collisions in this thread
-  std::thread collision_thread(&JogROSInterface::startCollisionCheckThread, this);
+  std::thread collision_thread(&JogInterfaceBase::startCollisionCheckThread, dynamic_cast<JogInterfaceBase*>(this));
 
   // ROS subscriptions. Share the data with the worker threads
   ros::Subscriber cmd_sub =
       nh.subscribe(ros_parameters_.cartesian_command_in_topic, 1, &JogROSInterface::deltaCartesianCmdCB, this);
-  ros::Subscriber joints_sub = nh.subscribe(ros_parameters_.joint_topic, 1, &JogROSInterface::jointsCB, this);
   ros::Subscriber joint_jog_cmd_sub =
       nh.subscribe(ros_parameters_.joint_command_in_topic, 1, &JogROSInterface::deltaJointCmdCB, this);
+  ros::Subscriber joints_sub =
+      nh.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));
 
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
@@ -97,7 +96,7 @@ JogROSInterface::JogROSInterface()
   {
     ros::spinOnce();
 
-    pthread_mutex_lock(&shared_variables_mutex_);
+    shared_variables_mutex_.lock();
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
     // Check for stale cmds
@@ -142,7 +141,7 @@ JogROSInterface::JogROSInterface()
       ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
 
-    pthread_mutex_unlock(&shared_variables_mutex_);
+    shared_variables_mutex_.unlock();
 
     main_rate.sleep();
   }
@@ -151,29 +150,10 @@ JogROSInterface::JogROSInterface()
   collision_thread.join();
 }
 
-JogROSInterface::~JogROSInterface()
-{
-  pthread_mutex_destroy(&shared_variables_mutex_);
-}
-
-// A separate thread for the heavy jogging calculations.
-bool JogROSInterface::startJogCalcThread()
-{
-  JogCalcs ja(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
-  return true;
-}
-
-// A separate thread for collision checking.
-bool JogROSInterface::startCollisionCheckThread()
-{
-  CollisionCheckThread cc(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
-  return true;
-}
-
 // Listen to cartesian delta commands. Store them in a shared variable.
 void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
-  pthread_mutex_lock(&shared_variables_mutex_);
+  shared_variables_mutex_.lock();
 
   // Copy everything but the frame name. The frame name is set by yaml file at startup.
   // (so it isn't copied over and over)
@@ -198,13 +178,13 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }
-  pthread_mutex_unlock(&shared_variables_mutex_);
+  shared_variables_mutex_.unlock();
 }
 
 // Listen to joint delta commands. Store them in a shared variable.
 void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
 {
-  pthread_mutex_lock(&shared_variables_mutex_);
+  shared_variables_mutex_.lock();
   shared_variables_.joint_command_deltas = *msg;
 
   // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
@@ -219,151 +199,6 @@ void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }
-  pthread_mutex_unlock(&shared_variables_mutex_);
-}
-
-// Listen to joint angles. Store them in a shared variable.
-void JogROSInterface::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
-{
-  pthread_mutex_lock(&shared_variables_mutex_);
-  shared_variables_.joints = *msg;
-  pthread_mutex_unlock(&shared_variables_mutex_);
-}
-
-// Read ROS parameters, typically from YAML file
-bool JogROSInterface::readParameters(ros::NodeHandle& n)
-{
-  std::size_t error = 0;
-
-  // Specified in the launch file. All other parameters will be read from this namespace.
-  std::string parameter_ns;
-  ros::param::get("~parameter_ns", parameter_ns);
-  if (parameter_ns.empty())
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
-                                    "type=\"string\" "
-                                    "value=\"left_jog_server\" />");
-    return false;
-  }
-
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_period", ros_parameters_.publish_period);
-  error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_halt_msgs_to_publish",
-                                    ros_parameters_.num_halt_msgs_to_publish);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
-  error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/low_pass_filter_coeff", ros_parameters_.low_pass_filter_coeff);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_topic", ros_parameters_.joint_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_in_type", ros_parameters_.command_in_type);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/cartesian_command_in_topic",
-                                    ros_parameters_.cartesian_command_in_topic);
-  error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/joint_command_in_topic", ros_parameters_.joint_command_in_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_frame", ros_parameters_.command_frame);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/incoming_command_timeout",
-                                    ros_parameters_.incoming_command_timeout);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/lower_singularity_threshold",
-                                    ros_parameters_.lower_singularity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
-                                    ros_parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold",
-                                    ros_parameters_.collision_proximity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/warning_topic", ros_parameters_.warning_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_positions",
-                                    ros_parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_velocities",
-                                    ros_parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
-                                    ros_parameters_.publish_joint_accelerations);
-
-  rosparam_shortcuts::shutdownIfError(parameter_ns, error);
-
-  // Input checking
-  if (ros_parameters_.num_halt_msgs_to_publish < 0)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'num_halt_msgs_to_publish' should be greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.hard_stop_singularity_threshold < ros_parameters_.lower_singularity_threshold)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'hard_stop_singularity_threshold' "
-                            "should be greater than 'lower_singularity_threshold.' "
-                            "Check yaml file.");
-    return false;
-  }
-  if ((ros_parameters_.hard_stop_singularity_threshold < 0.) || (ros_parameters_.lower_singularity_threshold < 0.))
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameters 'hard_stop_singularity_threshold' "
-                            "and 'lower_singularity_threshold' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.collision_proximity_threshold < 0.)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_proximity_threshold' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.low_pass_filter_coeff < 0.)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'low_pass_filter_coeff' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.joint_limit_margin < 0.)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'joint_limit_margin' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.command_in_type != "unitless" && ros_parameters_.command_in_type != "speed_units")
-  {
-    ROS_WARN_NAMED(LOGNAME, "command_in_type should be 'unitless' or "
-                            "'speed_units'. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.command_out_type != "trajectory_msgs/JointTrajectory" &&
-      ros_parameters_.command_out_type != "std_msgs/Float64MultiArray")
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter command_out_type should be "
-                            "'trajectory_msgs/JointTrajectory' or "
-                            "'std_msgs/Float64MultiArray'. Check yaml file.");
-    return false;
-  }
-  if (!ros_parameters_.publish_joint_positions && !ros_parameters_.publish_joint_velocities &&
-      !ros_parameters_.publish_joint_accelerations)
-  {
-    ROS_WARN_NAMED(LOGNAME, "At least one of publish_joint_positions / "
-                            "publish_joint_velocities / "
-                            "publish_joint_accelerations must be true. Check "
-                            "yaml file.");
-    return false;
-  }
-  if ((ros_parameters_.command_out_type == "std_msgs/Float64MultiArray") && ros_parameters_.publish_joint_positions &&
-      ros_parameters_.publish_joint_velocities)
-  {
-    ROS_WARN_NAMED(LOGNAME, "When publishing a std_msgs/Float64MultiArray, "
-                            "you must select positions OR velocities.");
-    return false;
-  }
-  if (ros_parameters_.collision_check_rate < 0)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_check_rate' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-
-  return true;
+  shared_variables_mutex_.unlock();
 }
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index 64c03a37ca..9202c3dd00 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -1,40 +1,40 @@
-/*
-     Title     : jog_server.cpp
-     Project   : moveit_jog_arm
-     Created   : 12/31/2018
-     Author    : Andy Zelenak
-
-BSD 3-Clause License
-
-Copyright (c) 2018, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : jog_server.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 12/31/2018
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #include <moveit_jog_arm/jog_ros_interface.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index ce1c6158f5..5071d010c5 100644
--- a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -1,40 +1,40 @@
-/*
-     Title     : low_pass_filter.cpp
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Andy Zelenak
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : low_pass_filter.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #include <moveit_jog_arm/low_pass_filter.h>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
index 033f39fd10..c7f853843d 100644
--- a/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
@@ -1,40 +1,40 @@
-/*
-     Title     : collision_check_thread.cpp
-     Project   : moveit_jog_arm
-     Created   : 1/11/2019
-     Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
-
-BSD 3-Clause License
-
-Copyright (c) 2019, Los Alamos National Security, LLC
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/*******************************************************************************
+ *      Title     : spacenav_to_twist.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
 
 #include "geometry_msgs/TwistStamped.h"
 #include "control_msgs/JointJog.h"
@@ -104,4 +104,4 @@ int main(int argc, char** argv)
   moveit_jog_arm::SpaceNavToTwist to_twist;
 
   return 0;
-}
+}
\ No newline at end of file

From e95beda3ec7936e815889248327ad5e165379553 Mon Sep 17 00:00:00 2001
From: Tejas Kumar Shastha <tejas.kumar.shastha@ipa.fraunhofer.de>
Date: Wed, 18 Dec 2019 11:00:59 +0100
Subject: [PATCH 127/612] Fix Rviz argument in demo_gazebo.launch (#1797)

* rename config -> rviz_config
* replace boolean value with file location
(as in demo.launch)
---
 .../moveit_config_pkg_template/launch/demo_gazebo.launch        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
index cf4d1981c9..f258075a65 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
@@ -58,7 +58,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find [GENERATED_PACKAGE_NAME])/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+    <arg name="rviz_config" value="$(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

From 073ab762ba68d28edfb2ac35c311915352da299d Mon Sep 17 00:00:00 2001
From: RyodoTanaka <groadpg@gmail.com>
Date: Sun, 1 Dec 2019 15:56:45 +0900
Subject: [PATCH 128/612] Resize scene marker with collision object

---
 .../motion_planning_frame.h                   |  2 +
 .../src/motion_planning_frame_objects.cpp     | 45 ++++++++++---------
 2 files changed, 25 insertions(+), 22 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index df3e4edeec..94d4c5c171 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -251,6 +251,8 @@ private Q_SLOTS:
   void populateCollisionObjectsList();
   void computeImportFromText(const std::string& path);
   void computeExportAsText(const std::string& path);
+  visualization_msgs::InteractiveMarker
+  createObjectMarkerMsg(const collision_detection::CollisionEnv::ObjectConstPtr& obj);
 
   // Stored scenes tab
   void computeSaveSceneButtonClicked();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 81b7e43565..b4944874a0 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -106,6 +106,7 @@ void MotionPlanningFrame::sceneScaleChanged(int value)
           ps->getWorldNonConst()->addToObject(scaled_object_->id_, shapes::ShapeConstPtr(s),
                                               scaled_object_->shape_poses_[i]);
         }
+        scene_marker_->processMessage(createObjectMarkerMsg(ps->getWorld()->getObject(scaled_object_->id_)));
         planning_display_->queueRenderSceneGeometry();
       }
       else
@@ -679,6 +680,24 @@ void MotionPlanningFrame::addObject(const collision_detection::WorldPtr& world,
   planning_display_->queueRenderSceneGeometry();
 }
 
+visualization_msgs::InteractiveMarker
+MotionPlanningFrame::createObjectMarkerMsg(const collision_detection::CollisionEnv::ObjectConstPtr& obj)
+{
+  Eigen::Vector3d center;
+  double scale;
+  shapes::computeShapeBoundingSphere(obj->shapes_[0].get(), center, scale);
+  geometry_msgs::PoseStamped shape_pose = tf2::toMsg(tf2::Stamped<Eigen::Isometry3d>(
+      obj->shape_poses_[0], ros::Time(), planning_display_->getRobotModel()->getModelFrame()));
+  scale = (scale + center.cwiseAbs().maxCoeff()) * 2.0 * 1.2;  // add padding of 20% size
+
+  // create an interactive marker msg for the given shape
+  visualization_msgs::InteractiveMarker imarker =
+      robot_interaction::make6DOFMarker("marker_scene_object", shape_pose, scale);
+  imarker.description = obj->id_;
+  interactive_markers::autoComplete(imarker);
+  return imarker;
+}
+
 void MotionPlanningFrame::createSceneInteractiveMarker()
 {
   QList<QListWidgetItem*> sel = ui_->collision_objects_list->selectedItems();
@@ -693,30 +712,12 @@ void MotionPlanningFrame::createSceneInteractiveMarker()
       ps->getWorld()->getObject(sel[0]->text().toStdString());
   if (obj && obj->shapes_.size() == 1)
   {
-    Eigen::Quaterniond eq(obj->shape_poses_[0].rotation());
-    geometry_msgs::PoseStamped shape_pose;
-    shape_pose.pose.position.x = obj->shape_poses_[0].translation()[0];
-    shape_pose.pose.position.y = obj->shape_poses_[0].translation()[1];
-    shape_pose.pose.position.z = obj->shape_poses_[0].translation()[2];
-    shape_pose.pose.orientation.x = eq.x();
-    shape_pose.pose.orientation.y = eq.y();
-    shape_pose.pose.orientation.z = eq.z();
-    shape_pose.pose.orientation.w = eq.w();
-
-    // create an interactive marker for moving the shape in the world
-    visualization_msgs::InteractiveMarker int_marker =
-        robot_interaction::make6DOFMarker(std::string("marker_") + sel[0]->text().toStdString(), shape_pose, 1.0);
-    int_marker.header.frame_id = planning_display_->getRobotModel()->getModelFrame();
-    int_marker.description = sel[0]->text().toStdString();
-
-    rviz::InteractiveMarker* imarker = new rviz::InteractiveMarker(planning_display_->getSceneNode(), context_);
-    interactive_markers::autoComplete(int_marker);
-    imarker->processMessage(int_marker);
-    imarker->setShowAxes(false);
-    scene_marker_.reset(imarker);
+    scene_marker_ = std::make_shared<rviz::InteractiveMarker>(planning_display_->getSceneNode(), context_);
+    scene_marker_->processMessage(createObjectMarkerMsg(obj));
+    scene_marker_->setShowAxes(false);
 
     // Connect signals
-    connect(imarker, SIGNAL(userFeedback(visualization_msgs::InteractiveMarkerFeedback&)), this,
+    connect(scene_marker_.get(), SIGNAL(userFeedback(visualization_msgs::InteractiveMarkerFeedback&)), this,
             SLOT(imProcessFeedback(visualization_msgs::InteractiveMarkerFeedback&)));
   }
   else

From a8d832892368f1986ea46f51b793508ba458645e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Dec 2019 19:08:38 +0100
Subject: [PATCH 129/612] Configure PSM's updateCallback before calling
 onRobotModelLoaded()

... to ensure that the callback is triggered with the initial requestPlanningSceneState().
Otherwise, the list of scene objects in the motion planning panel is not populated.
---
 .../src/motion_planning_display.cpp                         | 4 ++--
 .../src/planning_scene_display.cpp                          | 6 ++----
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index a30790f242..777b0f8a7f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1213,14 +1213,14 @@ void MotionPlanningDisplay::onSceneMonitorReceivedUpdate(
   robot_state::RobotState current_state = getPlanningSceneRO()->getCurrentState();
   std::string group = planning_group_property_->getStdString();
 
-  if (query_start_state_property_->getBool() && !group.empty())
+  if (query_start_state_ && query_start_state_property_->getBool() && !group.empty())
   {
     robot_state::RobotState start = *getQueryStartState();
     updateStateExceptModified(start, current_state);
     setQueryStartState(start);
   }
 
-  if (query_goal_state_property_->getBool() && !group.empty())
+  if (query_goal_state_ && query_goal_state_property_->getBool() && !group.empty())
   {
     robot_state::RobotState goal = *getQueryGoalState();
     updateStateExceptModified(goal, current_state);
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index f3cdfda14c..d04a3f25c4 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -518,6 +518,8 @@ void PlanningSceneDisplay::loadRobotModel()
   if (psm->getPlanningScene())
   {
     planning_scene_monitor_.swap(psm);
+    planning_scene_monitor_->addUpdateCallback(
+        boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
     addMainLoopJob(boost::bind(&PlanningSceneDisplay::onRobotModelLoaded, this));
     setStatus(rviz::StatusProperty::Ok, "PlanningScene", "Planning Scene Loaded Successfully");
     waitForAllMainLoopJobs();
@@ -527,10 +529,6 @@ void PlanningSceneDisplay::loadRobotModel()
     setStatus(rviz::StatusProperty::Error, "PlanningScene", "No Planning Scene Loaded");
   }
 
-  if (planning_scene_monitor_)
-    planning_scene_monitor_->addUpdateCallback(
-        boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
-
   model_is_loading_ = false;
 }
 

From 6c859a65857f980e54a1c1677022cdb6122494db Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Dec 2019 20:19:17 +0100
Subject: [PATCH 130/612] Enable/disable pose+scale group box when collision
 object is selected/deselected

---
 .../src/motion_planning_frame_objects.cpp                   | 6 +++---
 .../src/ui/motion_planning_rviz_plugin_frame.ui             | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index b4944874a0..7f865d531b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -217,14 +217,14 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
 
     ui_->object_status->setText("");
     scene_marker_.reset();
-    ui_->scene_scale->setEnabled(false);
+    ui_->pose_scale_group_box->setEnabled(false);
   }
   else if (planning_display_->getPlanningSceneMonitor())
   {
     // if this is a CollisionWorld element
     if (sel[0]->checkState() == Qt::Unchecked)
     {
-      ui_->scene_scale->setEnabled(true);
+      ui_->pose_scale_group_box->setEnabled(true);
       bool update_scene_marker = false;
       Eigen::Isometry3d obj_pose;
       {
@@ -276,7 +276,7 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
     }
     else
     {
-      ui_->scene_scale->setEnabled(false);
+      ui_->pose_scale_group_box->setEnabled(false);
       // if it is an attached object
       scene_marker_.reset();
       const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 0f6825b916..ce4b982193 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -966,7 +966,7 @@
         </widget>
        </item>
        <item row="1" column="1">
-        <widget class="QGroupBox" name="groupBox_4">
+        <widget class="QGroupBox" name="pose_scale_group_box">
          <property name="title">
           <string>Manage Pose and Scale</string>
          </property>

From fd4c7b55e462eee5caa4f49ae0b3ecf8a9b19e06 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Dec 2019 20:24:14 +0100
Subject: [PATCH 131/612] Enable/disable motion planning panel with display

---
 .../src/motion_planning_display.cpp                         | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 777b0f8a7f..2d6285fd22 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1249,8 +1249,7 @@ void MotionPlanningDisplay::onEnable()
   int_marker_display_->setEnabled(true);
   int_marker_display_->setFixedFrame(fixed_frame_);
 
-  if (frame_ && frame_->parentWidget())
-    frame_->parentWidget()->show();
+  frame_->enable();
 }
 
 // ******************************************************************************************
@@ -1271,8 +1270,7 @@ void MotionPlanningDisplay::onDisable()
   // Planned Path Display
   trajectory_visual_->onDisable();
 
-  if (frame_ && frame_->parentWidget())
-    frame_->parentWidget()->hide();
+  frame_->disable();
 }
 
 // ******************************************************************************************

From 65e7b31d91c75d142b12881b229486576e767cca Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Dec 2019 20:33:55 +0100
Subject: [PATCH 132/612] Reset scene_marker_ when disabling motion planning
 panel

---
 .../motion_planning_rviz_plugin/src/motion_planning_frame.cpp    | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 834d204f0f..18e9ad7922 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -511,6 +511,7 @@ void MotionPlanningFrame::enable()
 void MotionPlanningFrame::disable()
 {
   move_group_.reset();
+  scene_marker_.reset();
   parentWidget()->hide();
 }
 

From 54d1e4944ef84ae44e3c0a007312db3b2649243d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Dec 2019 21:48:25 +0100
Subject: [PATCH 133/612] Reduce step size for pose-adapting widgets

---
 .../src/ui/motion_planning_rviz_plugin_frame.ui   | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index ce4b982193..a5f6f15f3a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -988,6 +988,9 @@
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item>
@@ -998,6 +1001,9 @@
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item>
@@ -1008,6 +1014,9 @@
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1030,7 +1039,7 @@
                <double>3.140000000000000</double>
               </property>
               <property name="singleStep">
-               <double>0.200000000000000</double>
+               <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
@@ -1043,7 +1052,7 @@
                <double>3.140000000000000</double>
               </property>
               <property name="singleStep">
-               <double>0.200000000000000</double>
+               <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
@@ -1056,7 +1065,7 @@
                <double>3.140000000000000</double>
               </property>
               <property name="singleStep">
-               <double>0.200000000000000</double>
+               <double>0.100000000000000</double>
               </property>
              </widget>
             </item>

From 01ff0358b58ef14aeedb1ceee98887c3c49f8911 Mon Sep 17 00:00:00 2001
From: Shivang Patel <shivaang14@gmail.com>
Date: Thu, 19 Dec 2019 13:49:41 -0500
Subject: [PATCH 134/612] deepcopy option for RobotTrajectory's copy
 constructor (#1760)

---
 MIGRATION.md                                  |   1 +
 moveit_core/robot_trajectory/CMakeLists.txt   |   8 +
 .../robot_trajectory/robot_trajectory.h       |   9 +
 .../robot_trajectory/src/robot_trajectory.cpp |  13 ++
 .../test/test_robot_trajectory.cpp            | 211 ++++++++++++++++++
 5 files changed, 242 insertions(+)
 create mode 100644 moveit_core/robot_trajectory/test/test_robot_trajectory.cpp

diff --git a/MIGRATION.md b/MIGRATION.md
index 00cf53f4fb..2c2da8af98 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -9,6 +9,7 @@ API changes in MoveIt releases
 - Requests to `get_planning_scene` service without explicitly setting "components" now return full scene
 - `moveit_ros_plannning` no longer depends on `moveit_ros_perception`
 - `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`. Note that calling `checkRobotCollision` of the `CollisionEnv` does not take a `CollisionRobot` as an argument anymore as it is implicitly contained in the `CollisionEnv`.
+- `RobotTrajectory` provides a copy constructor that allows a shallow (default) and deep copy of waypoints
 
 ## ROS Melodic
 
diff --git a/moveit_core/robot_trajectory/CMakeLists.txt b/moveit_core/robot_trajectory/CMakeLists.txt
index 29b89e5aa2..4f2a069d91 100644
--- a/moveit_core/robot_trajectory/CMakeLists.txt
+++ b/moveit_core/robot_trajectory/CMakeLists.txt
@@ -12,3 +12,11 @@ install(TARGETS ${MOVEIT_LIB_NAME}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(moveit_resources REQUIRED)
+  include_directories(${moveit_resources_INCLUDE_DIRS})
+
+  catkin_add_gtest(test_robot_trajectory test/test_robot_trajectory.cpp)
+  target_link_libraries(test_robot_trajectory moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
+endif()
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index dd2ce58cc8..ae8865e85b 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -55,6 +55,15 @@ class RobotTrajectory
 
   RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const robot_model::JointModelGroup* group);
 
+  /** Assignment operator, performing a shallow copy, i.e. copying waypoints by pointer */
+  RobotTrajectory& operator=(const RobotTrajectory&) = default;
+
+  /** @brief  Copy constructor allowing a shallow or deep copy of waypoints
+   *  @param  other - RobotTrajectory to copy from
+   *  @param  deepcopy - copy waypoints by value (true) or by pointer (false)?
+   */
+  RobotTrajectory(const RobotTrajectory& other, bool deepcopy = false);
+
   const robot_model::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index 0c96f9c8dd..5f75bf5b62 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -53,6 +53,19 @@ RobotTrajectory::RobotTrajectory(const robot_model::RobotModelConstPtr& robot_mo
 {
 }
 
+RobotTrajectory::RobotTrajectory(const RobotTrajectory& other, bool deepcopy)
+{
+  *this = other;  // default assignment operator performs a shallow copy
+  this->waypoints_.clear();
+  if (deepcopy)
+  {
+    for (const auto& waypoint : other.waypoints_)
+    {
+      this->waypoints_.emplace_back(std::make_shared<moveit::core::RobotState>(*waypoint));
+    }
+  }
+}
+
 void RobotTrajectory::setGroupName(const std::string& group_name)
 {
   group_ = robot_model_->getJointModelGroup(group_name);
diff --git a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
new file mode 100644
index 0000000000..ba57080bbd
--- /dev/null
+++ b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
@@ -0,0 +1,211 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Ioan Sucan */
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <gtest/gtest.h>
+
+class RobotTrajectoryTestFixture : public testing::Test
+{
+protected:
+  moveit::core::RobotModelConstPtr robot_model_;
+  robot_state::RobotStatePtr robot_state_;
+  const std::string robot_model_name_ = "panda";
+  const std::string arm_jmg_name_ = "panda_arm";
+
+protected:
+  void SetUp() override
+  {
+    robot_model_ = moveit::core::loadTestingRobotModel(robot_model_name_);
+    robot_state_ = std::make_shared<robot_state::RobotState>(robot_model_);
+    robot_state_->setToDefaultValues();
+    robot_state_->update();
+  }
+
+  void TearDown() override
+  {
+  }
+
+  void initTestTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
+  {
+    // Init a traj
+    ASSERT_TRUE(robot_model_->hasJointModelGroup(arm_jmg_name_)) << "Robot model does not have group: "
+                                                                 << arm_jmg_name_;
+
+    trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, arm_jmg_name_);
+
+    EXPECT_EQ(trajectory->getGroupName(), arm_jmg_name_) << "Generated trajectory group name does not match";
+    EXPECT_TRUE(trajectory->empty()) << "Generated trajectory not empty";
+
+    double duration_from_previous = 0.1;
+    std::size_t waypoint_count = 5;
+    for (std::size_t ix = 0; ix < waypoint_count; ++ix)
+      trajectory->addSuffixWayPoint(robot_state_, duration_from_previous);
+    // Quick check that getDuration is working correctly
+    EXPECT_EQ(trajectory->getDuration(), duration_from_previous * waypoint_count)
+        << "Generated trajectory duration incorrect";
+    EXPECT_EQ(waypoint_count, trajectory->getWayPointDurations().size())
+        << "Generated trajectory has the wrong number of waypoints";
+  }
+
+  void copyTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory,
+                      robot_trajectory::RobotTrajectoryPtr& trajectory_copy, bool deepcopy)
+  {
+    // Copy the trajectory
+    trajectory_copy = std::make_shared<robot_trajectory::RobotTrajectory>(*trajectory, deepcopy);
+    // Quick check that the getDuration values match
+    EXPECT_EQ(trajectory_copy->getDuration(), trajectory->getDuration());
+    EXPECT_EQ(trajectory_copy->getWayPointDurations().size(), trajectory->getWayPointDurations().size());
+  }
+
+  void modifyFirstWaypointPtrAndCheckTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
+  {
+    ///////////////////////////
+    // Get the first waypoint by POINTER, modify it, and check that the value WAS updated in trajectory
+    ///////////////////////////
+    // Get the first waypoint by shared pointer
+    robot_state::RobotStatePtr trajectory_first_waypoint = trajectory->getWayPointPtr(0);
+    // Get the first waypoint joint values
+    std::vector<double> trajectory_first_state;
+    trajectory_first_waypoint->copyJointGroupPositions(arm_jmg_name_, trajectory_first_state);
+
+    // Modify the first waypoint joint values
+    trajectory_first_state[0] += 0.01;
+    trajectory_first_waypoint->setJointGroupPositions(arm_jmg_name_, trajectory_first_state);
+
+    // Check that the trajectory's first waypoint was updated
+    robot_state::RobotStatePtr trajectory_first_waypoint_after_update = trajectory->getWayPointPtr(0);
+    std::vector<double> trajectory_first_state_after_update;
+    trajectory_first_waypoint_after_update->copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
+    EXPECT_EQ(trajectory_first_state[0], trajectory_first_state_after_update[0]);
+  }
+
+  void modifyFirstWaypointAndCheckTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
+  {
+    ///////////////////////////
+    // Get the first waypoint by VALUE, modify it, and check that the value WAS NOT updated in trajectory
+    ///////////////////////////
+    // Get the first waypoint by shared pointer
+    robot_state::RobotState trajectory_first_waypoint = trajectory->getWayPoint(0);
+    // Get the first waypoint joint values
+    std::vector<double> trajectory_first_state;
+    trajectory_first_waypoint.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state);
+
+    // Modify the first waypoint joint values
+    trajectory_first_state[0] += 0.01;
+    trajectory_first_waypoint.setJointGroupPositions(arm_jmg_name_, trajectory_first_state);
+
+    // Check that the trajectory's first waypoint was updated
+    robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+    std::vector<double> trajectory_first_state_after_update;
+    trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
+    EXPECT_NE(trajectory_first_state[0], trajectory_first_state_after_update[0]);
+  }
+};
+
+TEST_F(RobotTrajectoryTestFixture, ModifyFirstWaypointByPtr)
+{
+  robot_trajectory::RobotTrajectoryPtr trajectory;
+  initTestTrajectory(trajectory);
+  modifyFirstWaypointPtrAndCheckTrajectory(trajectory);
+}
+
+TEST_F(RobotTrajectoryTestFixture, ModifyFirstWaypointByValue)
+{
+  robot_trajectory::RobotTrajectoryPtr trajectory;
+  initTestTrajectory(trajectory);
+  modifyFirstWaypointAndCheckTrajectory(trajectory);
+}
+
+TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryShallowCopy)
+{
+  bool deepcopy = false;
+
+  robot_trajectory::RobotTrajectoryPtr trajectory;
+  robot_trajectory::RobotTrajectoryPtr trajectory_copy;
+
+  initTestTrajectory(trajectory);
+  copyTrajectory(trajectory, trajectory_copy, deepcopy);
+  modifyFirstWaypointPtrAndCheckTrajectory(trajectory);
+
+  // Check that modifying the waypoint also modified the trajectory
+  robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+  std::vector<double> trajectory_first_state_after_update;
+  trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
+
+  // Get the first waypoint in the modified trajectory_copy
+  robot_state::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
+  std::vector<double> trajectory_copy_first_state_after_update;
+  trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
+                                                                      trajectory_copy_first_state_after_update);
+
+  // Check that we updated the value correctly in the trajectory
+  EXPECT_EQ(trajectory_first_state_after_update[0], trajectory_copy_first_state_after_update[0]);
+}
+
+TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryDeepCopy)
+{
+  bool deepcopy = true;
+
+  robot_trajectory::RobotTrajectoryPtr trajectory;
+  robot_trajectory::RobotTrajectoryPtr trajectory_copy;
+
+  initTestTrajectory(trajectory);
+  copyTrajectory(trajectory, trajectory_copy, deepcopy);
+  modifyFirstWaypointPtrAndCheckTrajectory(trajectory);
+
+  // Check that modifying the waypoint also modified the trajectory
+  robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+  std::vector<double> trajectory_first_state_after_update;
+  trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
+
+  // Get the first waypoint in the modified trajectory_copy
+  robot_state::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
+  std::vector<double> trajectory_copy_first_state_after_update;
+  trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
+                                                                      trajectory_copy_first_state_after_update);
+
+  // Check that we updated the value correctly in the trajectory
+  EXPECT_NE(trajectory_first_state_after_update[0], trajectory_copy_first_state_after_update[0]);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

From e0b4f854edd3a792ec124bc3d1af816dc3cc190a Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 23 Dec 2019 16:09:15 -0700
Subject: [PATCH 135/612] moveit_jog_arm: Get transforms from RobotState
 instead of TF (#1803)

---
 .../moveit_jog_arm/CMakeLists.txt             |   8 +-
 .../config/ur_simulated_config.yaml           |  18 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |   8 +-
 .../include/moveit_jog_arm/jog_calcs.h        |  19 +-
 .../moveit_jog_arm/jog_cpp_interface.h        |   4 +
 .../moveit_jog_arm/package.xml                |   1 -
 .../moveit_jog_arm/src/jog_calcs.cpp          | 177 ++++++++----------
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  |  17 +-
 .../moveit_jog_arm/src/jog_interface_base.cpp |  12 +-
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |   4 +-
 .../test/arm_setup/config/jog_settings.yaml   |  70 ++++---
 .../integration/test_jog_arm_integration.py   |  17 +-
 12 files changed, 191 insertions(+), 164 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 3502c17a89..58daac76d8 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -7,6 +7,8 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 set(LIBRARY_NAME jog_arm_cpp_api)
 
+set(LIBRARY_NAME jog_arm_cpp_api)
+
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -16,7 +18,6 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   moveit_ros_planning_interface
   rosparam_shortcuts
-  tf2_ros
 )
 find_package(Eigen3 REQUIRED)
 
@@ -30,7 +31,6 @@ catkin_package(
     geometry_msgs
     moveit_ros_planning_interface
     rosparam_shortcuts
-    tf2_ros
   DEPENDS
     EIGEN3
 )
@@ -119,6 +119,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## TESTING ##
 #############
 
+#############
+## TESTING ##
+#############
+
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(ros_pytest REQUIRED)
diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index fe09ddf6ac..67a383643e 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -4,17 +4,17 @@
 use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
 
 ## Properties of incoming commands
-command_frame:  world  # TF frame that incoming cmds are given in
+robot_link_command_frame:  world  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale: # Only used if command_in_type=="unitless"
-  linear:  0.6  # Max linear velocity. Meters per publish_period. Units is [m/s]
-  rotational:  0.3 # Max angular velocity. Rads per publish_period. Units is [rad/s]
+scale:
+  linear:  0.6  # Max linear velocity. Meters per publish_period. Units is [m/s]. Only used if command_in_type=="unitless"
+  rotational:  0.3 # Max angular velocity. Rads per publish_period. Units is [rad/s]. Only used if command_in_type=="unitless"
   joint: 0.3  # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
 low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
 
 ## Properties of outgoing commands
 publish_period: 0.008  # 1/Nominal publish rate [seconds]
-publish_delay: 0.005  # delay between calculation and execution start of command
+publish_delay: 0.005  # Delay between calculation and execution start of command
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
@@ -28,13 +28,13 @@ publish_joint_accelerations: false
 
 ## MoveIt properties
 move_group_name:  manipulator  # Often 'manipulator' or 'arm'
-planning_frame: world  # The MoveIt! planning frame. Often 'base_link'
+planning_frame: world  # The MoveIt planning frame. Often 'base_link' or 'world'
 
 ## Stopping behaviour
-incoming_command_timeout:  0.1  # Stop jogging if X seconds elapse without a new cmd
+incoming_command_timeout:  0.1  # Stop jogging if X seconds elapse without a new command
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
 # Important because ROS may drop some messages and we need the robot to halt reliably.
-num_halt_msgs_to_publish: 4
+num_outgoing_halt_msgs_to_publish: 4
 
 ## Configure handling of singularities and joint limits
 lower_singularity_threshold:  17  # Start decelerating when the condition number hits this (close to singularity)
@@ -48,7 +48,7 @@ joint_topic:  joint_states
 warning_topic: jog_server/halted # Publish boolean warnings to this topic
 command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
 
-## Collision checking
+## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 01aa989c73..c96af15726 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -39,6 +39,7 @@
 #pragma once
 
 #include <control_msgs/JointJog.h>
+#include <Eigen/Geometry>
 #include <geometry_msgs/TwistStamped.h>
 #include <mutex>
 #include <sensor_msgs/JointState.h>
@@ -78,17 +79,20 @@ struct JogArmShared
 
   // Indicates no collision, etc, so outgoing commands can be sent
   bool ok_to_publish = false;
+
+  // The transform from the MoveIt planning frame to robot_link_command_frame
+  Eigen::Isometry3d tf_moveit_to_cmd_frame;
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
-  std::string move_group_name, joint_topic, cartesian_command_in_topic, command_frame, command_out_topic,
+  std::string move_group_name, joint_topic, cartesian_command_in_topic, robot_link_command_frame, command_out_topic,
       planning_frame, warning_topic, joint_command_in_topic, command_in_type, command_out_type;
   double linear_scale, rotational_scale, joint_scale, lower_singularity_threshold, hard_stop_singularity_threshold,
       collision_proximity_threshold, low_pass_filter_coeff, publish_period, incoming_command_timeout,
       joint_limit_margin, collision_check_rate;
-  int num_halt_msgs_to_publish;
+  int num_outgoing_halt_msgs_to_publish;
   bool use_gazebo, check_collisions, publish_joint_positions, publish_joint_velocities, publish_joint_accelerations;
 };
 }
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index ff6af3aa45..70cfbf24a1 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -43,8 +43,6 @@
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <std_msgs/Bool.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <tf2_ros/transform_listener.h>
 
 namespace moveit_jog_arm
 {
@@ -57,7 +55,7 @@ class JogCalcs
 protected:
   ros::NodeHandle nh_;
 
-  sensor_msgs::JointState incoming_jts_;
+  sensor_msgs::JointState incoming_joints_;
 
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex);
 
@@ -80,11 +78,11 @@ class JogCalcs
 
   // Suddenly halt for a joint limit or other critical issue.
   // Is handled differently for position vs. velocity control.
-  void suddenHalt(trajectory_msgs::JointTrajectory& jt_traj);
+  void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
 
   void publishWarning(bool active) const;
 
-  bool checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory_<std::allocator<void>>& new_jt_traj);
+  bool checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory_<std::allocator<void>>& new_joint_traj);
 
   // Possibly calculate a velocity scaling factor, due to proximity of
   // singularity and direction of motion
@@ -93,7 +91,7 @@ class JogCalcs
 
   // Apply velocity scaling for proximity of collisions and singularities
   bool applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
-                            trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
+                            trajectory_msgs::JointTrajectory& new_joint_traj, const Eigen::VectorXd& delta_theta,
                             double singularity_scale);
 
   trajectory_msgs::JointTrajectory composeOutgoingMessage(sensor_msgs::JointState& joint_state) const;
@@ -108,13 +106,10 @@ class JogCalcs
 
   robot_state::RobotStatePtr kinematic_state_;
 
-  sensor_msgs::JointState jt_state_, original_jt_state_;
-  std::map<std::string, std::size_t> jt_state_name_map_;
+  sensor_msgs::JointState joint_state_, original_joint_state_;
+  std::map<std::string, std::size_t> joint_state_name_map_;
   trajectory_msgs::JointTrajectory outgoing_command_;
 
-  tf2_ros::Buffer tf_buffer_;
-  tf2_ros::TransformListener tf_listener_;
-
   std::vector<LowPassFilter> velocity_filters_;
   std::vector<LowPassFilter> position_filters_;
 
@@ -127,6 +122,8 @@ class JogCalcs
   Eigen::JacobiSVD<Eigen::MatrixXd> svd_;
   Eigen::VectorXd delta_theta_;
 
+  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
+
   const int gazebo_redundant_message_count_ = 30;
 
   uint num_joints_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 4a8075f921..42fa925ae9 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -64,6 +64,10 @@ class JogCppApi : JogInterfaceBase
   // May eliminate the need to create your own joint_state subscriber.
   sensor_msgs::JointState getJointState();
 
+  // Get planning link transform.
+  // The transform from the MoveIt planning frame to robot_link_command_frame
+  Eigen::Isometry3d getCommandFrameTransform();
+
 private:
   ros::NodeHandle nh_;
 };
diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index ed1227fce6..9926ba24e7 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -23,7 +23,6 @@
   <depend>geometry_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>rosparam_shortcuts</depend>
-  <depend>tf2_ros</depend>
 
   <exec_depend>joy_teleop</exec_depend>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 539f8f118e..975e4aaf69 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -43,7 +43,7 @@ namespace moveit_jog_arm
 // Constructor for the class that handles jogging calculations
 JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, std::mutex& mutex,
                    const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
-  : tf_listener_(tf_buffer_), parameters_(parameters)
+  : parameters_(parameters)
 {
   // Publish collision status
   warning_pub_ = nh_.advertise<std_msgs::Bool>(parameters_.warning_topic, 1);
@@ -67,15 +67,15 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
 
   resetVelocityFilters();
 
-  jt_state_.name = joint_model_group_->getVariableNames();
-  num_joints_ = jt_state_.name.size();
-  jt_state_.position.resize(num_joints_);
-  jt_state_.velocity.resize(num_joints_);
-  jt_state_.effort.resize(num_joints_);
+  joint_state_.name = joint_model_group_->getVariableNames();
+  num_joints_ = joint_state_.name.size();
+  joint_state_.position.resize(num_joints_);
+  joint_state_.velocity.resize(num_joints_);
+  joint_state_.effort.resize(num_joints_);
   // A map for the indices of incoming joint commands
-  for (std::size_t i = 0; i < jt_state_.name.size(); ++i)
+  for (std::size_t i = 0; i < joint_state_.name.size(); ++i)
   {
-    jt_state_name_map_[jt_state_.name[i]] = i;
+    joint_state_name_map_[joint_state_.name[i]] = i;
   }
 
   // Low-pass filters for the joint positions & velocities
@@ -89,12 +89,12 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   while (!updateJoints() && ros::ok())
   {
     mutex.lock();
-    incoming_jts_ = shared_variables.joints;
+    incoming_joints_ = shared_variables.joints;
     mutex.unlock();
     ros::Duration(WHILE_LOOP_WAIT).sleep();
   }
   for (std::size_t i = 0; i < num_joints_; ++i)
-    position_filters_[i].reset(jt_state_.position[i]);
+    position_filters_[i].reset(joint_state_.position[i]);
 
   // Wait for the first jogging cmd.
   // Store it in a class member for further calcs, then free up the shared variable again.
@@ -131,14 +131,23 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
 
     // Pull data from the shared variables.
     mutex.lock();
-    incoming_jts_ = shared_variables.joints;
+    incoming_joints_ = shared_variables.joints;
+    mutex.unlock();
+
+    kinematic_state_->setVariableValues(joint_state_);
+    original_joint_state_ = joint_state_;
+
+    // Get the transform from MoveIt planning frame to jogging command frame
+    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+    mutex.lock();
+    shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     mutex.unlock();
 
     // Initialize the position filters to initial robot joints
     while (!updateJoints() && ros::ok())
     {
       mutex.lock();
-      incoming_jts_ = shared_variables.joints;
+      incoming_joints_ = shared_variables.joints;
       mutex.unlock();
       ros::Duration(WHILE_LOOP_WAIT).sleep();
     }
@@ -164,8 +173,8 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
     }
     else
     {
-      original_jt_state_ = jt_state_;
-      outgoing_command_ = composeOutgoingMessage(jt_state_);
+      original_joint_state_ = joint_state_;
+      outgoing_command_ = composeOutgoingMessage(joint_state_);
     }
 
     // Halt if the command is stale or inputs are all zero, or commands were zero
@@ -193,15 +202,15 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
         shared_variables.ok_to_publish = true;
       }
       // Skip the jogging publication if all inputs have been zero for several cycles in a row.
-      // num_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
-      else if ((parameters_.num_halt_msgs_to_publish != 0) &&
-               (zero_velocity_count > parameters_.num_halt_msgs_to_publish))
+      // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
+      else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
+               (zero_velocity_count > parameters_.num_outgoing_halt_msgs_to_publish))
       {
         shared_variables.ok_to_publish = false;
         // Reset the velocity filters so robot doesn't jump when commands resume
         resetVelocityFilters();
       }
-      // The command is invalid but we are publishing num_halt_msgs_to_publish
+      // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
       else
       {
         shared_variables.outgoing_command = outgoing_command_;
@@ -247,51 +256,23 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     }
   }
 
-  // Transform the command to the MoveGroup planning frame.
-  geometry_msgs::TransformStamped command_frame_to_planning_frame;
-  try
-  {
-    command_frame_to_planning_frame =
-        tf_buffer_.lookupTransform(parameters_.planning_frame, cmd.header.frame_id, ros::Time(0), ros::Duration(1.0));
-  }
-  catch (tf2::TransformException& ex)
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, ros::this_node::getName() << ": " << ex.what());
-    return false;
-  }
-
-  geometry_msgs::Vector3 lin_vector = cmd.twist.linear;
-  try
-  {
-    tf2::doTransform(lin_vector, lin_vector, command_frame_to_planning_frame);
-  }
-  catch (const tf2::TransformException& ex)
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, ros::this_node::getName() << ": " << ex.what());
-    return false;
-  }
-
-  geometry_msgs::Vector3 rot_vector = cmd.twist.angular;
-  try
-  {
-    tf2::doTransform(rot_vector, rot_vector, command_frame_to_planning_frame);
-  }
-  catch (const tf2::TransformException& ex)
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, ros::this_node::getName() << ": " << ex.what());
-    return false;
-  }
+  // Transform the command to the MoveGroup planning frame
+  Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
+  Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
+  translation_vector = tf_moveit_to_cmd_frame_.linear() * translation_vector;
+  angular_vector = tf_moveit_to_cmd_frame_.linear() * angular_vector;
 
   // Put these components back into a TwistStamped
   cmd.header.frame_id = parameters_.planning_frame;
-  cmd.twist.linear = lin_vector;
-  cmd.twist.angular = rot_vector;
+  cmd.twist.linear.x = translation_vector(0);
+  cmd.twist.linear.y = translation_vector(1);
+  cmd.twist.linear.z = translation_vector(2);
+  cmd.twist.angular.x = angular_vector(0);
+  cmd.twist.angular.y = angular_vector(1);
+  cmd.twist.angular.z = angular_vector(2);
 
   const Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
 
-  kinematic_state_->setVariableValues(jt_state_);
-  original_jt_state_ = jt_state_;
-
   // Convert from cartesian commands to joint commands
   jacobian_ = kinematic_state_->getJacobian(joint_model_group_);
   svd_ = Eigen::JacobiSVD<Eigen::MatrixXd>(jacobian_, Eigen::ComputeThinU | Eigen::ComputeThinV);
@@ -301,7 +282,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   enforceJointVelocityLimits(delta_theta_);
 
-  if (!addJointIncrements(jt_state_, delta_theta_))
+  if (!addJointIncrements(joint_state_, delta_theta_))
     return false;
 
   // Include a velocity estimate for velocity-controlled robots
@@ -310,7 +291,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   lowPassFilterVelocities(joint_vel);
   lowPassFilterPositions();
 
-  outgoing_command_ = composeOutgoingMessage(jt_state_);
+  outgoing_command_ = composeOutgoingMessage(joint_state_);
 
   // If close to a collision or a singularity, decelerate
   applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
@@ -348,10 +329,10 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   // Apply user-defined scaling
   const Eigen::VectorXd delta = scaleJointCommand(cmd);
 
-  kinematic_state_->setVariableValues(jt_state_);
-  original_jt_state_ = jt_state_;
+  kinematic_state_->setVariableValues(joint_state_);
+  original_joint_state_ = joint_state_;
 
-  if (!addJointIncrements(jt_state_, delta))
+  if (!addJointIncrements(joint_state_, delta))
     return false;
 
   // Include a velocity estimate for velocity-controlled robots
@@ -361,9 +342,9 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   lowPassFilterPositions();
 
   // update joint state with new values
-  kinematic_state_->setVariableValues(jt_state_);
+  kinematic_state_->setVariableValues(joint_state_);
 
-  outgoing_command_ = composeOutgoingMessage(jt_state_);
+  outgoing_command_ = composeOutgoingMessage(joint_state_);
 
   // check if new joint state is valid
   if (!checkIfJointsWithinURDFBounds(outgoing_command_))
@@ -403,13 +384,13 @@ void JogCalcs::lowPassFilterPositions()
 {
   for (size_t i = 0; i < num_joints_; ++i)
   {
-    jt_state_.position[i] = position_filters_[i].filter(jt_state_.position[i]);
+    joint_state_.position[i] = position_filters_[i].filter(joint_state_.position[i]);
 
     // Check for nan's
-    if (std::isnan(jt_state_.position[i]))
+    if (std::isnan(joint_state_.position[i]))
     {
-      jt_state_.position[i] = original_jt_state_.position[i];
-      jt_state_.velocity[i] = 0.;
+      joint_state_.position[i] = original_joint_state_.position[i];
+      joint_state_.velocity[i] = 0.;
     }
   }
 }
@@ -418,13 +399,13 @@ void JogCalcs::lowPassFilterVelocities(const Eigen::VectorXd& joint_vel)
 {
   for (size_t i = 0; i < num_joints_; ++i)
   {
-    jt_state_.velocity[i] = velocity_filters_[i].filter(joint_vel[static_cast<long>(i)]);
+    joint_state_.velocity[i] = velocity_filters_[i].filter(joint_vel[static_cast<long>(i)]);
 
     // Check for nan's
-    if (std::isnan(jt_state_.velocity[static_cast<long>(i)]))
+    if (std::isnan(joint_state_.velocity[static_cast<long>(i)]))
     {
-      jt_state_.position[i] = original_jt_state_.position[i];
-      jt_state_.velocity[i] = 0.;
+      joint_state_.position[i] = original_joint_state_.position[i];
+      joint_state_.velocity[i] = 0.;
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "nan in velocity filter");
     }
   }
@@ -432,10 +413,10 @@ void JogCalcs::lowPassFilterVelocities(const Eigen::VectorXd& joint_vel)
 
 trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::JointState& joint_state) const
 {
-  trajectory_msgs::JointTrajectory new_jt_traj;
-  new_jt_traj.header.frame_id = parameters_.planning_frame;
-  new_jt_traj.header.stamp = ros::Time::now();
-  new_jt_traj.joint_names = joint_state.name;
+  trajectory_msgs::JointTrajectory new_joint_traj;
+  new_joint_traj.header.frame_id = parameters_.planning_frame;
+  new_joint_traj.header.stamp = ros::Time::now();
+  new_joint_traj.joint_names = joint_state.name;
 
   trajectory_msgs::JointTrajectoryPoint point;
   point.time_from_start = ros::Duration(parameters_.publish_period);
@@ -451,17 +432,17 @@ trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::J
     std::vector<double> acceleration(num_joints_);
     point.accelerations = acceleration;
   }
-  new_jt_traj.points.push_back(point);
+  new_joint_traj.points.push_back(point);
 
-  return new_jt_traj;
+  return new_joint_traj;
 }
 
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
 // Key equation: new_velocity = collision_scale*singularity_scale*previous_velocity
 bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
-                                    trajectory_msgs::JointTrajectory& new_jt_traj, const Eigen::VectorXd& delta_theta,
-                                    double singularity_scale)
+                                    trajectory_msgs::JointTrajectory& new_joint_traj,
+                                    const Eigen::VectorXd& delta_theta, double singularity_scale)
 {
   mutex.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
@@ -472,12 +453,12 @@ bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, std::mutex&
     if (parameters_.publish_joint_positions)
     {
       // If close to a singularity or joint limit, undo any change to the joint angles
-      new_jt_traj.points[0].positions[i] =
-          new_jt_traj.points[0].positions[i] -
+      new_joint_traj.points[0].positions[i] =
+          new_joint_traj.points[0].positions[i] -
           (1. - singularity_scale * collision_scale) * delta_theta[static_cast<long>(i)];
     }
     if (parameters_.publish_joint_velocities)
-      new_jt_traj.points[0].velocities[i] *= singularity_scale * collision_scale;
+      new_joint_traj.points[0].velocities[i] *= singularity_scale * collision_scale;
   }
 
   return true;
@@ -563,7 +544,7 @@ void JogCalcs::enforceJointVelocityLimits(Eigen::VectorXd& calculated_joint_chan
   }
 }
 
-bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& new_jt_traj)
+bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
 {
   bool halting = false;
 
@@ -576,11 +557,11 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
                                                                               " velocity limit. Enforcing limit.");
 
       kinematic_state_->enforceVelocityBounds(joint);
-      for (std::size_t c = 0; c < new_jt_traj.joint_names.size(); ++c)
+      for (std::size_t c = 0; c < new_joint_traj.joint_names.size(); ++c)
       {
-        if (new_jt_traj.joint_names[c] == joint->getName())
+        if (new_joint_traj.joint_names[c] == joint->getName())
         {
-          new_jt_traj.points[0].velocities[c] = kinematic_state_->getJointVelocities(joint)[0];
+          new_joint_traj.points[0].velocities[c] = kinematic_state_->getJointVelocities(joint)[0];
           break;
         }
       }
@@ -588,11 +569,11 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
 
     // Halt if we're past a joint margin and joint velocity is moving even farther past
     double joint_angle = 0;
-    for (std::size_t c = 0; c < original_jt_state_.name.size(); ++c)
+    for (std::size_t c = 0; c < original_joint_state_.name.size(); ++c)
     {
-      if (original_jt_state_.name[c] == joint->getName())
+      if (original_joint_state_.name[c] == joint->getName())
       {
-        joint_angle = original_jt_state_.position.at(c);
+        joint_angle = original_joint_state_.position.at(c);
         break;
       }
     }
@@ -629,17 +610,17 @@ void JogCalcs::publishWarning(bool active) const
 
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
-void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& jt_traj)
+void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 {
   for (std::size_t i = 0; i < num_joints_; ++i)
   {
     // For position-controlled robots, can reset the joints to a known, good state
     if (parameters_.publish_joint_positions)
-      jt_traj.points[0].positions[i] = original_jt_state_.position[i];
+      joint_traj.points[0].positions[i] = original_joint_state_.position[i];
 
     // For velocity-controlled robots, stop
     if (parameters_.publish_joint_velocities)
-      jt_traj.points[0].velocities[i] = 0;
+      joint_traj.points[0].velocities[i] = 0;
   }
 }
 
@@ -654,16 +635,16 @@ void JogCalcs::resetVelocityFilters()
 bool JogCalcs::updateJoints()
 {
   // Check that the msg contains enough joints
-  if (incoming_jts_.name.size() < num_joints_)
+  if (incoming_joints_.name.size() < num_joints_)
     return false;
 
   // Store joints in a member variable
-  for (std::size_t m = 0; m < incoming_jts_.name.size(); ++m)
+  for (std::size_t m = 0; m < incoming_joints_.name.size(); ++m)
   {
     std::size_t c;
     try
     {
-      c = jt_state_name_map_.at(incoming_jts_.name[m]);
+      c = joint_state_name_map_.at(incoming_joints_.name[m]);
     }
     catch (const std::out_of_range& e)
     {
@@ -671,7 +652,7 @@ bool JogCalcs::updateJoints()
       continue;
     }
 
-    jt_state_.position[c] = incoming_jts_.position[m];
+    joint_state_.position[c] = incoming_joints_.position[m];
   }
 
   return true;
@@ -722,7 +703,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
   {
     try
     {
-      c = jt_state_name_map_.at(command.joint_names[m]);
+      c = joint_state_name_map_.at(command.joint_names[m]);
     }
     catch (const std::out_of_range& e)
     {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index b0ddf2e13a..5064beba98 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -87,11 +87,10 @@ void JogCppApi::mainLoop()
     shared_variables_mutex_.lock();
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
-    // Check for stale cmds
+    // Check if incoming commands are stale
     if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
         ros::Duration(ros_parameters_.incoming_command_timeout))
     {
-      // Mark that incoming commands are not stale
       shared_variables_.command_is_stale = false;
     }
     else
@@ -142,18 +141,16 @@ void JogCppApi::provideTwistStampedCommand(const geometry_msgs::TwistStamped& ve
 {
   shared_variables_mutex_.lock();
 
-  // Copy everything but the frame name. The frame name is set by yaml file at startup.
-  // (so it isn't copied over and over)
   shared_variables_.command_deltas.twist = velocity_command.twist;
   shared_variables_.command_deltas.header = velocity_command.header;
 
   // Input frame determined by YAML file if not passed with message
   if (shared_variables_.command_deltas.header.frame_id.empty())
   {
-    shared_variables_.command_deltas.header.frame_id = ros_parameters_.command_frame;
+    shared_variables_.command_deltas.header.frame_id = ros_parameters_.robot_link_command_frame;
   }
 
-  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_halt_msgs_to_publish
+  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
   shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.y == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.z == 0.0 &&
@@ -197,4 +194,12 @@ sensor_msgs::JointState JogCppApi::getJointState()
   return current_joints;
 }
 
+Eigen::Isometry3d JogCppApi::getCommandFrameTransform()
+{
+  shared_variables_mutex_.lock();
+  Eigen::Isometry3d tf_moveit_to_cmd_frame = shared_variables_.tf_moveit_to_cmd_frame;
+  shared_variables_mutex_.unlock();
+
+  return tf_moveit_to_cmd_frame;
+}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 7cbb0f59bb..f838bdcdaf 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -60,8 +60,8 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_period", ros_parameters_.publish_period);
   error +=
       !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_halt_msgs_to_publish",
-                                    ros_parameters_.num_halt_msgs_to_publish);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
+                                    ros_parameters_.num_outgoing_halt_msgs_to_publish);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
@@ -73,7 +73,8 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                                     ros_parameters_.cartesian_command_in_topic);
   error +=
       !rosparam_shortcuts::get("", n, parameter_ns + "/joint_command_in_topic", ros_parameters_.joint_command_in_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_frame", ros_parameters_.command_frame);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/robot_link_command_frame",
+                                    ros_parameters_.robot_link_command_frame);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/incoming_command_timeout",
                                     ros_parameters_.incoming_command_timeout);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/lower_singularity_threshold",
@@ -100,9 +101,10 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   rosparam_shortcuts::shutdownIfError(parameter_ns, error);
 
   // Input checking
-  if (ros_parameters_.num_halt_msgs_to_publish < 0)
+  if (ros_parameters_.num_outgoing_halt_msgs_to_publish < 0)
   {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'num_halt_msgs_to_publish' should be greater than zero. Check yaml file.");
+    ROS_WARN_NAMED(LOGNAME,
+                   "Parameter 'num_outgoing_halt_msgs_to_publish' should be greater than zero. Check yaml file.");
     return false;
   }
   if (ros_parameters_.hard_stop_singularity_threshold < ros_parameters_.lower_singularity_threshold)
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index b7e2fb5540..978d523273 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -163,10 +163,10 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
   // Input frame determined by YAML file if not passed with message
   if (shared_variables_.command_deltas.header.frame_id.empty())
   {
-    shared_variables_.command_deltas.header.frame_id = ros_parameters_.command_frame;
+    shared_variables_.command_deltas.header.frame_id = ros_parameters_.robot_link_command_frame;
   }
 
-  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_halt_msgs_to_publish
+  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
   shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.y == 0.0 &&
                                               shared_variables_.command_deltas.twist.linear.z == 0.0 &&
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
index 6fd1119af4..dc2294d889 100644
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -1,33 +1,55 @@
+###############################################
+# Modify all parameters related to jogging here
+###############################################
 use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
-check_collisions: true # Check collisions?
+
+## Properties of incoming commands
+robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale: # Only used if command_in_type=="unitless"
-  linear:  0.003  # Max linear velocity. Meters per publish_period.
-  rotational:  0.006  # Max angular velocity. Rads per publish_period.
-  joint: 0.01  # Max joint angular/linear velocity. Rads or Meters per publish period.
-cartesian_command_in_topic:  jog_server/delta_jog_cmds # Topic for xyz commands
-joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for angle commands
-command_frame:  base_link  # TF frame that incoming cmds are given in
-incoming_command_timeout:  1  # Stop jogging if X seconds elapsed without a new cmd
-joint_topic:  joint_states
-move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
-lower_singularity_threshold:  30  # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
-hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity
-collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
-planning_frame: base_link  # The MoveIt planning frame. Often 'base_link'
-low_pass_filter_coeff: 2.  # Larger-> more smoothing to jog commands, but more lag.
+scale:
+  linear:  0.003  # Max linear velocity. Meters per publish_period. Units is [m/s]. Only used if command_in_type=="unitless"
+  rotational:  0.006 # Max angular velocity. Rads per publish_period. Units is [rad/s]. Only used if command_in_type=="unitless"
+  joint: 0.01  # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
+low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
+
+## Properties of outgoing commands
 publish_period: 0.01  # 1/Nominal publish rate [seconds]
-collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-num_halt_msgs_to_publish: 1 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish
-# Publish boolean warnings to this topic
-warning_topic: jog_server/warning
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-command_out_topic: jog_server/command # Find this topic by 'rostopic list' or 'rostopic list | grep command' or 'rqt_graph'
+publish_delay: 0.005  # Delay between calculation and execution start of command
+
 # What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController)
+# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
 # or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
 command_out_type: trajectory_msgs/JointTrajectory
-# Can save some bandwidth as most robots only require positions or velocities
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
 publish_joint_positions: true
 publish_joint_velocities: true
 publish_joint_accelerations: false
+
+## MoveIt properties
+move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
+planning_frame: panda_link0  # The MoveIt planning frame. Often 'panda_link0' or 'world'
+
+## Stopping behaviour
+incoming_command_timeout:  1  # Stop jogging if X seconds elapse without a new command
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_outgoing_halt_msgs_to_publish: 1
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold:  30  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 45 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+joint_topic:  joint_states
+warning_topic: jog_server/halted # Publish boolean warnings to this topic
+command_out_topic: jog_server/command # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
+hard_stop_collision_proximity_threshold: 0.0005 # Stop when a collision is this far [m]
diff --git a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
index ca30f5f3ed..833cad8ea4 100755
--- a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
+++ b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
@@ -8,8 +8,11 @@
 from control_msgs.msg import JointJog
 from trajectory_msgs.msg import JointTrajectory
 
-JOG_ARM_SETTLE_TIME_S = 10
-ROS_SETTLE_TIME_S = 10
+# This can be run as part of a pytest, or like a normal ROS executable:
+# rosrun moveit_jog_arm test_jog_arm_integration.py
+
+JOG_ARM_SETTLE_TIME_S = 3
+ROS_SETTLE_TIME_S = 3
 
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
@@ -47,6 +50,7 @@ def send_cmd(self, linear, angular):
         ts.twist.angular.x, ts.twist.angular.y, ts.twist.angular.z = angular
         self._pub.publish(ts)
 
+
 def test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(node):
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda x: received.append(x)
@@ -64,7 +68,7 @@ def test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(n
     cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
     received = []
     rospy.sleep(1)
-    assert len(received) <= 2 # 2 is 'num_halt_msgs_to_publish' in the config file
+    assert len(received) <= 2 # 2 is 'num_outgoing_halt_msgs_to_publish' in the config file
 
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
@@ -74,6 +78,11 @@ def test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(n
     received = []
     rospy.sleep(test_duration)
     # test_duration/publish_period is the expected number of messages in this duration.
-     # Allow a small +/- window due to rounding/timing errors
+    # Allow a small +/- window due to rounding/timing errors
     assert len(received) >= test_duration/publish_period - 5
     assert len(received) <= test_duration/publish_period + 5
+
+
+if __name__ == '__main__':
+   node = node()
+   test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(node)

From bc752b7c8aef3826df3409efad3756c832ccad7e Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 30 Dec 2019 22:57:13 +0100
Subject: [PATCH 136/612] Add atomic bool flags for terminating JogArm threads
 gracefully (#1816)

---
 .../moveit_jog_arm/collision_check_thread.h   |  16 +-
 .../include/moveit_jog_arm/jog_calcs.h        |  11 +-
 .../moveit_jog_arm/jog_cpp_interface.h        |   9 +-
 .../moveit_jog_arm/jog_interface_base.h       |  10 ++
 .../src/collision_check_thread.cpp            | 157 +++++++++---------
 .../cpp_interface_example.cpp                 |   3 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          |  29 ++--
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  |  27 ++-
 .../moveit_jog_arm/src/jog_interface_base.cpp |  46 ++++-
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |   9 +-
 10 files changed, 209 insertions(+), 108 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 4cae9182a7..73ddd1780c 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <atomic>
 #include "jog_arm_data.h"
 #include "low_pass_filter.h"
 #include <moveit/robot_model_loader/robot_model_loader.h>
@@ -48,8 +49,19 @@ namespace moveit_jog_arm
 class CollisionCheckThread
 {
 public:
-  CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
-                       moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex,
+  CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                        const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+
+  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex);
+
+  void stopMainLoop();
+
+private:
+  // Loop termination flag
+  std::atomic<bool> stop_requested_;
+
+  const moveit_jog_arm::JogArmParameters parameters_;
+
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 };
 }
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 70cfbf24a1..058aec32d9 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <atomic>
 #include "jog_arm_data.h"
 #include "low_pass_filter.h"
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
@@ -49,12 +50,18 @@ namespace moveit_jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, std::mutex& mutex,
-           const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+  JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+
+  void startMainLoop(JogArmShared& shared_variables, std::mutex& mutex);
+
+  void stopMainLoop();
 
 protected:
   ros::NodeHandle nh_;
 
+  // Loop termination flag
+  std::atomic<bool> stop_requested_;
+
   sensor_msgs::JointState incoming_joints_;
 
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex);
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 42fa925ae9..4b174a04f4 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <atomic>
 #include "jog_interface_base.h"
 
 namespace moveit_jog_arm
@@ -51,7 +52,11 @@ class JogCppApi : JogInterfaceBase
 public:
   JogCppApi();
 
-  void mainLoop();
+  ~JogCppApi();
+
+  void startMainLoop();
+
+  void stopMainLoop();
 
   // Provide a Cartesian velocity command to the jogger.
   // The units are determined by settings in the yaml file.
@@ -70,5 +75,7 @@ class JogCppApi : JogInterfaceBase
 
 private:
   ros::NodeHandle nh_;
+
+  std::atomic<bool> stop_requested_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index 3a39a7f87d..ed186be292 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -59,9 +59,11 @@ class JogInterfaceBase
 
   // Jogging calculation thread
   bool startJogCalcThread();
+  bool stopJogCalcThread();
 
   // Collision checking thread
   bool startCollisionCheckThread();
+  bool stopCollisionCheckThread();
 
 protected:
   bool readParameters(ros::NodeHandle& n);
@@ -74,5 +76,13 @@ class JogInterfaceBase
   // Share data between threads
   JogArmShared shared_variables_;
   std::mutex shared_variables_mutex_;
+
+  // Jog calcs
+  std::unique_ptr<JogCalcs> jog_calcs_;
+  std::unique_ptr<std::thread> jog_calc_thread_;
+
+  // Collision checks
+  std::unique_ptr<CollisionCheckThread> collision_checker_;
+  std::unique_ptr<std::thread> collision_check_thread_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 83551f56c8..db121d13e4 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -41,96 +41,93 @@
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
-CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameters parameters,
-                                           JogArmShared& shared_variables, std::mutex& mutex,
+CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                                            const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
+  : parameters_(parameters)
 {
-  // If user specified true in yaml file
-  if (parameters.check_collisions)
+  // MoveIt Setup
+  while (ros::ok() && !model_loader_ptr)
   {
-    // MoveIt Setup
-    while (ros::ok() && !model_loader_ptr)
-    {
-      ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
-      ros::Duration(WHILE_LOOP_WAIT).sleep();
-    }
-    const robot_model::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
-    planning_scene::PlanningScene planning_scene(kinematic_model);
-    collision_detection::CollisionRequest collision_request;
-    collision_request.group_name = parameters.move_group_name;
-    collision_request.distance = true;
-    collision_detection::CollisionResult collision_result;
-    robot_state::RobotState& current_state = planning_scene.getCurrentStateNonConst();
-
-    planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
-    planning_scene_monitor.reset(new planning_scene_monitor::PlanningSceneMonitor(model_loader_ptr));
-    planning_scene_monitor->startSceneMonitor();
-    planning_scene_monitor->startStateMonitor();
-
-    if (planning_scene_monitor->getPlanningScene())
-    {
-      planning_scene_monitor->startSceneMonitor("/planning_scene");
-      planning_scene_monitor->startWorldGeometryMonitor();
-      planning_scene_monitor->startStateMonitor();
-    }
-    else
-    {
-      ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
-      exit(EXIT_FAILURE);
-    }
+    ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
+    ros::Duration(WHILE_LOOP_WAIT).sleep();
+  }
 
-    double velocity_scale_coefficient = -log(0.001) / parameters.collision_proximity_threshold;
+  planning_scene_monitor_.reset(new planning_scene_monitor::PlanningSceneMonitor(model_loader_ptr));
+  planning_scene_monitor_->startSceneMonitor();
+  planning_scene_monitor_->startStateMonitor();
 
-    // Wait for initial messages
-    ROS_INFO_NAMED(LOGNAME, "collision_check_thread: Waiting for first joint msg.");
-    ros::topic::waitForMessage<sensor_msgs::JointState>(parameters.joint_topic);
-    ROS_INFO_NAMED(LOGNAME, "collision_check_thread: Received first joint msg.");
+  if (planning_scene_monitor_->getPlanningScene())
+  {
+    planning_scene_monitor_->startSceneMonitor("/planning_scene");
+    planning_scene_monitor_->startWorldGeometryMonitor();
+    planning_scene_monitor_->startStateMonitor();
+  }
+  else
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
+    exit(EXIT_FAILURE);
+  }
+}
 
-    ROS_INFO_NAMED(LOGNAME, "Waiting for first command msg.");
-    ros::topic::waitForMessage<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic);
-    ROS_INFO_NAMED(LOGNAME, "Received first command msg.");
+void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
+{
+  // Reset loop termination flag
+  stop_requested_ = false;
 
-    ros::Rate collision_rate(parameters.collision_check_rate);
+  // Init collision request and current state
+  collision_detection::CollisionRequest collision_request;
+  collision_request.group_name = parameters_.move_group_name;
+  collision_request.distance = true;
+  collision_detection::CollisionResult collision_result;
+  robot_state::RobotState& current_state = planning_scene_monitor_->getPlanningScene()->getCurrentStateNonConst();
 
-    /////////////////////////////////////////////////
-    // Spin while checking collisions
-    /////////////////////////////////////////////////
-    while (ros::ok())
+  double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
+
+  ros::Rate collision_rate(parameters_.collision_check_rate);
+
+  /////////////////////////////////////////////////
+  // Spin while checking collisions
+  /////////////////////////////////////////////////
+  while (ros::ok() && !stop_requested_)
+  {
+    mutex.lock();
+    sensor_msgs::JointState jts = shared_variables.joints;
+    mutex.unlock();
+
+    for (std::size_t i = 0; i < jts.position.size(); ++i)
+      current_state.setJointPositions(jts.name[i], &jts.position[i]);
+
+    collision_result.clear();
+    planning_scene_monitor_->getPlanningScene()->checkCollision(collision_request, collision_result, current_state);
+
+    // Scale robot velocity according to collision proximity and user-defined thresholds.
+    // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
+    // Proximity decreasing --> decelerate
+    double velocity_scale = 1;
+
+    // If we are far from a collision, velocity_scale should be 1.
+    // If we are very close to a collision, velocity_scale should be ~zero.
+    // When collision_proximity_threshold is breached, start decelerating exponentially.
+    if (collision_result.distance < parameters_.collision_proximity_threshold)
     {
-      mutex.lock();
-      sensor_msgs::JointState jts = shared_variables.joints;
-      mutex.unlock();
-
-      for (std::size_t i = 0; i < jts.position.size(); ++i)
-        current_state.setJointPositions(jts.name[i], &jts.position[i]);
-
-      collision_result.clear();
-      planning_scene_monitor->getPlanningScene()->checkCollision(collision_request, collision_result, current_state);
-
-      // Scale robot velocity according to collision proximity and user-defined thresholds.
-      // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
-      // Proximity decreasing --> decelerate
-      double velocity_scale = 1;
-
-      // If we are far from a collision, velocity_scale should be 1.
-      // If we are very close to a collision, velocity_scale should be ~zero.
-      // When collision_proximity_threshold is breached, start decelerating exponentially.
-      if (collision_result.distance < parameters.collision_proximity_threshold)
-      {
-        // velocity_scale = e ^ k * (collision_distance - threshold)
-        // k = - ln(0.001) / collision_proximity_threshold
-        // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
-        // velocity_scale should equal 0.001 when collision_distance is at zero.
-        velocity_scale =
-            exp(velocity_scale_coefficient * (collision_result.distance - parameters.collision_proximity_threshold));
-      }
-
-      mutex.lock();
-      shared_variables.collision_velocity_scale = velocity_scale;
-      mutex.unlock();
-
-      collision_rate.sleep();
+      // velocity_scale = e ^ k * (collision_distance - threshold)
+      // k = - ln(0.001) / collision_proximity_threshold
+      // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
+      // velocity_scale should equal 0.001 when collision_distance is at zero.
+      velocity_scale =
+          exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
     }
+
+    mutex.lock();
+    shared_variables.collision_velocity_scale = velocity_scale;
+    mutex.unlock();
+
+    collision_rate.sleep();
   }
 }
+
+void CollisionCheckThread::stopMainLoop()
+{
+  stop_requested_ = true;
+}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 921f803a8d..d51e5c9dcc 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -49,7 +49,7 @@ int main(int argc, char** argv)
 
   // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
   moveit_jog_arm::JogCppApi jog_interface;
-  std::thread jogging_thread(&moveit_jog_arm::JogCppApi::mainLoop, &jog_interface);
+  std::thread jogging_thread([&]() { jog_interface.startMainLoop(); });
 
   // Make a Cartesian velocity message
   geometry_msgs::TwistStamped velocity_msg;
@@ -93,6 +93,7 @@ int main(int argc, char** argv)
   sensor_msgs::JointState current_joint_state = jog_interface.getJointState();
   ROS_INFO_STREAM(current_joint_state);
 
+  jog_interface.stopMainLoop();
   jogging_thread.join();
   return 0;
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 975e4aaf69..c5f6648a47 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -41,8 +41,7 @@
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_variables, std::mutex& mutex,
-                   const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
+JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
   : parameters_(parameters)
 {
   // Publish collision status
@@ -59,14 +58,18 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   kinematic_state_->setToDefaultValues();
 
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
+}
+
+void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
+{
+  // Reset loop termination flag
+  stop_requested_ = false;
 
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Received first joint msg.");
 
-  resetVelocityFilters();
-
   joint_state_.name = joint_model_group_->getVariableNames();
   num_joints_ = joint_state_.name.size();
   joint_state_.position.resize(num_joints_);
@@ -86,7 +89,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   }
 
   // Initialize the position filters to initial robot joints
-  while (!updateJoints() && ros::ok())
+  while (!updateJoints() && ros::ok() && !stop_requested_)
   {
     mutex.lock();
     incoming_joints_ = shared_variables.joints;
@@ -100,7 +103,8 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   // Store it in a class member for further calcs, then free up the shared variable again.
   geometry_msgs::TwistStamped cartesian_deltas;
   control_msgs::JointJog joint_deltas;
-  while (ros::ok() && (cartesian_deltas.header.stamp == ros::Time(0.)) && (joint_deltas.header.stamp == ros::Time(0.)))
+  while (ros::ok() && !stop_requested_ && (cartesian_deltas.header.stamp == ros::Time(0.)) &&
+         (joint_deltas.header.stamp == ros::Time(0.)))
   {
     ros::Duration(WHILE_LOOP_WAIT).sleep();
 
@@ -117,7 +121,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   ros::Rate loop_rate(1. / parameters_.publish_period);
 
   // Now do jogging calcs
-  while (ros::ok())
+  while (ros::ok() && !stop_requested_)
   {
     // Flag that incoming commands are all zero. May be used to skip calculations/publication
     mutex.lock();
@@ -144,7 +148,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
     mutex.unlock();
 
     // Initialize the position filters to initial robot joints
-    while (!updateJoints() && ros::ok())
+    while (!updateJoints() && ros::ok() && !stop_requested_)
     {
       mutex.lock();
       incoming_joints_ = shared_variables.joints;
@@ -234,6 +238,11 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, JogArmShared& shared_vari
   }
 }
 
+void JogCalcs::stopMainLoop()
+{
+  stop_requested_ = true;
+}
+
 // Perform the jogging calculations
 bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex)
 {
@@ -648,7 +657,7 @@ bool JogCalcs::updateJoints()
     }
     catch (const std::out_of_range& e)
     {
-      ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Command joint name unknown.");
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joints_.name[m]);
       continue;
     }
 
@@ -707,7 +716,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     }
     catch (const std::out_of_range& e)
     {
-      ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Command joint name unknown.");
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joints_.name[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 5064beba98..b964b61e2d 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -50,13 +50,22 @@ JogCppApi::JogCppApi()
   model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
 }
 
-void JogCppApi::mainLoop()
+JogCppApi::~JogCppApi()
 {
+  stopMainLoop();
+}
+
+void JogCppApi::startMainLoop()
+{
+  // Reset loop termination flag
+  stop_requested_ = false;
+
   // Crunch the numbers in this thread
-  std::thread jogging_thread(&JogInterfaceBase::startJogCalcThread, dynamic_cast<JogInterfaceBase*>(this));
+  startJogCalcThread();
 
   // Check collisions in this thread
-  std::thread collision_thread(&JogInterfaceBase::startCollisionCheckThread, dynamic_cast<JogInterfaceBase*>(this));
+  if (ros_parameters_.check_collisions)
+    startCollisionCheckThread();
 
   // ROS subscriptions. Share the data with the worker threads
   ros::Subscriber joints_sub =
@@ -80,7 +89,7 @@ void JogCppApi::mainLoop()
 
   ros::Rate main_rate(1. / ros_parameters_.publish_period);
 
-  while (ros::ok())
+  while (ros::ok() && !stop_requested_)
   {
     ros::spinOnce();
 
@@ -133,8 +142,14 @@ void JogCppApi::mainLoop()
     main_rate.sleep();
   }
 
-  jogging_thread.join();
-  collision_thread.join();
+  ROS_ERROR("Stopping main loop");
+  stopJogCalcThread();
+  stopCollisionCheckThread();
+}
+
+void JogCppApi::stopMainLoop()
+{
+  stop_requested_ = true;
 }
 
 void JogCppApi::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index f838bdcdaf..1238a4043f 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -190,14 +190,56 @@ void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
 // A separate thread for the heavy jogging calculations.
 bool JogInterfaceBase::startJogCalcThread()
 {
-  JogCalcs ja(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
+  if (!jog_calcs_)
+    jog_calcs_.reset(new JogCalcs(ros_parameters_, model_loader_ptr_));
+
+  jog_calc_thread_.reset(
+      new std::thread([&]() { jog_calcs_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
+
+  return true;
+}
+
+bool JogInterfaceBase::stopJogCalcThread()
+{
+  if (jog_calcs_)
+    jog_calcs_->stopMainLoop();
+
+  if (jog_calc_thread_)
+  {
+    if (jog_calc_thread_->joinable())
+      jog_calc_thread_->join();
+
+    jog_calc_thread_.reset();
+  }
+
   return true;
 }
 
 // A separate thread for collision checking.
 bool JogInterfaceBase::startCollisionCheckThread()
 {
-  CollisionCheckThread cc(ros_parameters_, shared_variables_, shared_variables_mutex_, model_loader_ptr_);
+  if (!collision_checker_)
+    collision_checker_.reset(new CollisionCheckThread(ros_parameters_, model_loader_ptr_));
+
+  collision_check_thread_.reset(
+      new std::thread([&]() { collision_checker_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
+
+  return true;
+}
+
+bool JogInterfaceBase::stopCollisionCheckThread()
+{
+  if (collision_checker_)
+    collision_checker_->stopMainLoop();
+
+  if (collision_check_thread_)
+  {
+    if (collision_check_thread_->joinable())
+      collision_check_thread_->join();
+
+    collision_check_thread_.reset();
+  }
+
   return true;
 }
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 978d523273..bf001ab3e6 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -61,10 +61,11 @@ JogROSInterface::JogROSInterface()
   model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
 
   // Crunch the numbers in this thread
-  std::thread jogging_thread(&JogInterfaceBase::startJogCalcThread, dynamic_cast<JogInterfaceBase*>(this));
+  startJogCalcThread();
 
   // Check collisions in this thread
-  std::thread collision_thread(&JogInterfaceBase::startCollisionCheckThread, dynamic_cast<JogInterfaceBase*>(this));
+  if (ros_parameters_.check_collisions)
+    startCollisionCheckThread();
 
   // ROS subscriptions. Share the data with the worker threads
   ros::Subscriber cmd_sub =
@@ -146,8 +147,8 @@ JogROSInterface::JogROSInterface()
     main_rate.sleep();
   }
 
-  jogging_thread.join();
-  collision_thread.join();
+  stopJogCalcThread();
+  stopCollisionCheckThread();
 }
 
 // Listen to cartesian delta commands. Store them in a shared variable.

From 1d0ccdfd7be184036bf4920b14d4341d269487d6 Mon Sep 17 00:00:00 2001
From: Max Krichenbauer <mail@makx.net>
Date: Tue, 31 Dec 2019 17:22:05 +0100
Subject: [PATCH 137/612] Add the conditional branch scope when the condition
 is false in inport_from_text.cpp. (#1818)

---
 moveit_ros/warehouse/warehouse/src/import_from_text.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)
 mode change 100644 => 100755 moveit_ros/warehouse/warehouse/src/import_from_text.cpp

diff --git a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp b/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
old mode 100644
new mode 100755
index 78fcdfd91b..d1e6229831
--- a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
+++ b/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
@@ -73,8 +73,10 @@ void parseStart(std::istream& in, planning_scene_monitor::PlanningSceneMonitor*
           if (marker != "=")
             joint = ".";
           else
+          {
             in >> value;
-          v[joint] = value;
+            v[joint] = value;
+          }
           if (joint != ".")
             in >> joint;
         }

From 312c354ee561d0bdd6653f26f3b82910f1a4710e Mon Sep 17 00:00:00 2001
From: Pavel-P <pavapil@gmail.com>
Date: Tue, 31 Dec 2019 12:51:36 -0500
Subject: [PATCH 138/612] Fix planning scene interface not respecting custom
 namespace (#1815)

---
 .../src/moveit_commander/planning_scene_interface.py          | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/planning_scene_interface.py b/moveit_commander/src/moveit_commander/planning_scene_interface.py
index ff393c67de..43c6769cd2 100644
--- a/moveit_commander/src/moveit_commander/planning_scene_interface.py
+++ b/moveit_commander/src/moveit_commander/planning_scene_interface.py
@@ -60,8 +60,8 @@ def __init__(self, ns='', synchronous=False, service_timeout=5.0):
         """ Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics. """
         self._psi = _moveit_planning_scene_interface.PlanningSceneInterface(ns)
 
-        self._pub_co = rospy.Publisher('/collision_object', CollisionObject, queue_size=100)
-        self._pub_aco = rospy.Publisher('/attached_collision_object', AttachedCollisionObject, queue_size=100)
+        self._pub_co = rospy.Publisher(ns + '/collision_object', CollisionObject, queue_size=100)
+        self._pub_aco = rospy.Publisher(ns + '/attached_collision_object', AttachedCollisionObject, queue_size=100)
         self.__synchronous = synchronous
         if self.__synchronous:
             self._apply_planning_scene_diff = rospy.ServiceProxy('apply_planning_scene', ApplyPlanningScene)

From f82ed9e9a3e5a1076f3f50a9852a1a01c88c7418 Mon Sep 17 00:00:00 2001
From: Mike Lautman <mikeblautman@gmail.com>
Date: Wed, 1 Jan 2020 02:51:25 -0800
Subject: [PATCH 139/612] Delete attached body before adding a new one with
 same id (#1821)

---
 moveit_core/robot_state/src/robot_state.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index abf7034f98..6fea83bf05 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -880,6 +880,9 @@ const AttachedBody* RobotState::getAttachedBody(const std::string& id) const
 
 void RobotState::attachBody(AttachedBody* attached_body)
 {
+  // If an attached body with the same id exists, remove it
+  clearAttachedBody(attached_body->getName());
+
   attached_body_map_[attached_body->getName()] = attached_body;
   attached_body->computeTransform(getGlobalLinkTransform(attached_body->getAttachedLink()));
   if (attached_body_update_callback_)

From b35dac6bb6bacec1c08a2c9a99b68b081dab2f5b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 18 Dec 2019 23:11:13 +0100
Subject: [PATCH 140/612] remove unset ${OGRE_LIBRARIES} from cmake files

These libs are pulled in from rviz.
---
 .../visualization/motion_planning_rviz_plugin/CMakeLists.txt   | 2 +-
 .../visualization/planning_scene_rviz_plugin/CMakeLists.txt    | 2 +-
 .../visualization/robot_state_rviz_plugin/CMakeLists.txt       | 3 +--
 .../visualization/rviz_plugin_render_tools/CMakeLists.txt      | 1 -
 moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt | 2 +-
 5 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index 938e0a86e2..cfc3325fb5 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -31,7 +31,7 @@ set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NA
 target_link_libraries(${MOVEIT_LIB_NAME}_core
   moveit_rviz_plugin_render_tools
   moveit_planning_scene_rviz_plugin_core
-  ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
+  ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 109bb569f6..a5d5a1d205 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -4,7 +4,7 @@ add_library(${MOVEIT_LIB_NAME}_core
   src/planning_scene_display.cpp
   include/moveit/planning_scene_rviz_plugin/planning_scene_display.h)
 set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_rviz_plugin_render_tools ${catkin_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_rviz_plugin_render_tools ${catkin_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
index 8db0bf29fc..e70644888d 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
@@ -5,7 +5,7 @@ add_library(${MOVEIT_LIB_NAME}_core
   include/moveit/robot_state_rviz_plugin/robot_state_display.h)
 set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_rviz_plugin_render_tools
-  ${catkin_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
+  ${catkin_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
@@ -17,4 +17,3 @@ install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
index a9769d25d1..000aac5ecc 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
@@ -26,7 +26,6 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 target_link_libraries(${MOVEIT_LIB_NAME}
   ${catkin_LIBRARIES}
-  ${OGRE_LIBRARIES}
   ${QT_LIBRARIES}
   ${Boost_LIBRARIES}
 )
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
index 97b09ca864..1708a975e9 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
@@ -16,7 +16,7 @@ set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NA
 target_link_libraries(${MOVEIT_LIB_NAME}_core
   moveit_rviz_plugin_render_tools
   moveit_planning_scene_rviz_plugin_core
-  ${catkin_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES}
+  ${catkin_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES}
 )
 
 # Plugin Initializer

From f9716d47c43c045a2aee604eaef19c5a63864660 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 18 Dec 2019 23:19:05 +0100
Subject: [PATCH 141/612] fixes for Ogre 1.10..1.12

---
 .../src/planning_scene_display.cpp                     |  2 +-
 .../moveit/rviz_plugin_render_tools/octomap_render.h   | 10 +---------
 .../src/planning_scene_render.cpp                      |  2 +-
 3 files changed, 3 insertions(+), 11 deletions(-)

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index d04a3f25c4..33af096a85 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -162,7 +162,7 @@ PlanningSceneDisplay::~PlanningSceneDisplay()
 
   planning_scene_render_.reset();
   if (context_ && context_->getSceneManager() && planning_scene_node_)
-    context_->getSceneManager()->destroySceneNode(planning_scene_node_->getName());
+    context_->getSceneManager()->destroySceneNode(planning_scene_node_);
   if (planning_scene_robot_)
     planning_scene_robot_.reset();
   planning_scene_monitor_.reset();
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index fb11b11fe8..edffaeed3f 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -44,21 +44,13 @@ SILENT_UNUSED_PARAM
 #include <rviz/ogre_helpers/point_cloud.h>
 DIAGNOSTIC_POP
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
+#include <OGRE/OgrePrerequisites.h>
 
 namespace octomap
 {
 class OcTree;
 }
 
-namespace Ogre
-{
-class SceneManager;
-class SceneNode;
-class AxisAlignedBox;
-class Vector3;
-class Quaternion;
-}
-
 namespace moveit_rviz_plugin
 {
 enum OctreeVoxelRenderMode
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index 4ec1d4aa4e..fdfe93fc59 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -53,7 +53,7 @@ PlanningSceneRender::PlanningSceneRender(Ogre::SceneNode* node, rviz::DisplayCon
 
 PlanningSceneRender::~PlanningSceneRender()
 {
-  context_->getSceneManager()->destroySceneNode(planning_scene_geometry_node_->getName());
+  context_->getSceneManager()->destroySceneNode(planning_scene_geometry_node_);
 }
 
 void PlanningSceneRender::clear()

From d8678597530a8cbdb4af5075cd230fdaf1af6aae Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 1 Jan 2020 12:19:14 +0100
Subject: [PATCH 142/612] Cleanup OcTreeRender's constructor interface (#1822)

Require a valid parent_node to be passed.
Modified cherry-pick of #1817.
---
 .../moveit/rviz_plugin_render_tools/octomap_render.h      | 4 +---
 .../rviz_plugin_render_tools/src/octomap_render.cpp       | 8 +-------
 .../rviz_plugin_render_tools/src/render_shapes.cpp        | 2 +-
 3 files changed, 3 insertions(+), 11 deletions(-)
 mode change 100644 => 100755 moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index edffaeed3f..1e086e2156 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -69,8 +69,7 @@ class OcTreeRender
 {
 public:
   OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree, OctreeVoxelRenderMode octree_voxel_rendering,
-               OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneManager* scene_manager,
-               Ogre::SceneNode* parent_node);
+               OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneNode* parent_node);
   virtual ~OcTreeRender();
 
   void setPosition(const Ogre::Vector3& position);
@@ -88,7 +87,6 @@ class OcTreeRender
   std::shared_ptr<const octomap::OcTree> octree_;
 
   Ogre::SceneNode* scene_node_;
-  Ogre::SceneManager* scene_manager_;
 
   double colorFactor_;
   std::size_t octree_depth_;
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
old mode 100644
new mode 100755
index e0ff33fbff..00851951eb
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -54,15 +54,9 @@ typedef std::vector<VPoint> VVPoint;
 
 OcTreeRender::OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree,
                            OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
-                           std::size_t max_octree_depth, Ogre::SceneManager* /*scene_manager*/,
-                           Ogre::SceneNode* parent_node = nullptr)
+                           std::size_t max_octree_depth, Ogre::SceneNode* parent_node)
   : octree_(octree), colorFactor_(0.8)
 {
-  if (!parent_node)
-  {
-    parent_node = scene_manager_->getRootSceneNode();
-  }
-
   if (!max_octree_depth)
   {
     octree_depth_ = octree->getTreeDepth();
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 3a0b6b7ee0..55ad73109e 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -161,7 +161,7 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
     case shapes::OCTREE:
     {
       OcTreeRenderPtr octree(new OcTreeRender(static_cast<const shapes::OcTree*>(s)->octree, octree_voxel_rendering,
-                                              octree_color_mode, 0u, context_->getSceneManager(), node));
+                                              octree_color_mode, 0u, node));
       octree->setPosition(position);
       octree->setOrientation(orientation);
       octree_voxel_grids_.push_back(octree);

From 844a0212865d66541a3d6dc6ac6abef23b0da526 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Fri, 3 Jan 2020 14:06:47 -0700
Subject: [PATCH 143/612] update link transforms before calling checkCollision
 on robot state in jog_arm (#1825)

---
 .../moveit_jog_arm/src/collision_check_thread.cpp                | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index db121d13e4..de07e0a817 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -98,6 +98,7 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
       current_state.setJointPositions(jts.name[i], &jts.position[i]);
 
     collision_result.clear();
+    current_state.updateCollisionBodyTransforms();
     planning_scene_monitor_->getPlanningScene()->checkCollision(collision_request, collision_result, current_state);
 
     // Scale robot velocity according to collision proximity and user-defined thresholds.

From d2c515ac99bf46474371a770cffe6321dce0deb9 Mon Sep 17 00:00:00 2001
From: Max Krichenbauer <mail@makx.net>
Date: Thu, 9 Jan 2020 08:20:10 +0100
Subject: [PATCH 144/612] Add delete process to the doneEditing() function in
 end_effectors_widgets (#1829)

- Correct the indication by the static analysis tool.

Co-authored-by: Kazuki-Hazama <57083115+KazukiHazama@users.noreply.github.com>
---
 moveit_setup_assistant/src/widgets/end_effectors_widget.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index a0d53ee39f..b66487a929 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -564,6 +564,7 @@ void EndEffectorsWidget::doneEditing()
   if (is_new)
   {
     config_data_->srdf_->end_effectors_.push_back(*searched_data);
+    delete searched_data;
   }
 
   // Finish up ------------------------------------------------------

From 16715632306dd0e70248198c937e26d5465e42c2 Mon Sep 17 00:00:00 2001
From: Max Krichenbauer <mail@makx.net>
Date: Thu, 9 Jan 2020 11:54:38 +0100
Subject: [PATCH 145/612] Fix potential memory leak in RDFLoader (#1828)

Use smart pointers to avoid explicit new/delete
(and fix missing deletion of urdf model in error case).
Explicitly express with the code that the internal pointers urdf_ and srdf_ should
be initialized only if their initialization was successful.
---
 moveit_ros/planning/rdf_loader/src/rdf_loader.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
index d4885f1fd3..3c412ef5ee 100644
--- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
+++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
@@ -70,13 +70,13 @@ rdf_loader::RDFLoader::RDFLoader(const std::string& robot_description)
     return;
   }
 
-  urdf::Model* umodel = new urdf::Model();
-  if (!umodel->initString(content))
+  std::unique_ptr<urdf::Model> urdf(new urdf::Model());
+  if (!urdf->initString(content))
   {
     ROS_ERROR_NAMED("rdf_loader", "Unable to parse URDF from parameter '%s'", robot_description_.c_str());
     return;
   }
-  urdf_.reset(umodel);
+  urdf_ = std::move(urdf);
 
   const std::string srdf_description(robot_description_ + "_semantic");
   std::string scontent;
@@ -87,13 +87,13 @@ rdf_loader::RDFLoader::RDFLoader(const std::string& robot_description)
     return;
   }
 
-  srdf_.reset(new srdf::Model());
-  if (!srdf_->initString(*urdf_, scontent))
+  srdf::ModelSharedPtr srdf(new srdf::Model());
+  if (!srdf->initString(*urdf_, scontent))
   {
     ROS_ERROR_NAMED("rdf_loader", "Unable to parse SRDF from parameter '%s'", srdf_description.c_str());
-    srdf_.reset();
     return;
   }
+  srdf_ = std::move(srdf);
 
   ROS_DEBUG_STREAM_NAMED("rdf", "Loaded robot model in " << (ros::WallTime::now() - start).toSec() << " seconds");
 }

From cb5945b69f4dfbd1e5819a2b7bee3e256aee766c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 9 Jan 2020 12:29:32 +0100
Subject: [PATCH 146/612] Cleanup: use range-based for-loop (#1830)

---
 .../src/widgets/end_effectors_widget.cpp                   | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index b66487a929..1e31472d13 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -486,13 +486,12 @@ void EndEffectorsWidget::doneEditing()
   }
 
   // Check that the effector name is unique
-  for (std::vector<srdf::Model::EndEffector>::const_iterator data_it = config_data_->srdf_->end_effectors_.begin();
-       data_it != config_data_->srdf_->end_effectors_.end(); ++data_it)
+  for (const auto& eef : config_data_->srdf_->end_effectors_)
   {
-    if (data_it->name_.compare(effector_name) == 0)  // the names are the same
+    if (eef.name_ == effector_name)
     {
       // is this our existing effector? check if effector pointers are same
-      if (&(*data_it) != searched_data)
+      if (&eef != searched_data)
       {
         QMessageBox::warning(
             this, "Error Saving",

From a8913a71fdf46c1a47a51dbcdc003fc10fb5f113 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 26 Jun 2019 19:57:31 +0200
Subject: [PATCH 147/612] Empty collision checker template for usage with
 tesseract and bullet (#1499)

* Adding documentation to collision detection (#1488)

* CMake adaptions for Tesseract integration

* Empty collision detector template for tesseract and bullet

* Making bullet as a collision plugin available

* Adding missing error messages

* Adding new folders and libraries to cmake

* Fixing the BSD license

* clang-format
---
 moveit_core/CMakeLists.txt                    |   3 +
 .../collision_detection_bullet/CMakeLists.txt |  29 ++++
 .../collision_detection_bullet/README.md      |   6 +
 .../collision_common.h                        |  48 ++++++
 .../collision_detector_allocator_bt.h         |  55 ++++++
 .../collision_detector_bt_plugin_loader.h     |  51 ++++++
 .../collision_robot_bt.h                      |  94 +++++++++++
 .../collision_world_bt.h                      |  86 ++++++++++
 .../src/collision_common.cpp                  |  43 +++++
 .../collision_detector_bt_plugin_loader.cpp   |  49 ++++++
 .../src/collision_robot_bt.cpp                | 143 ++++++++++++++++
 .../src/collision_world_bt.cpp                | 156 ++++++++++++++++++
 .../collision_detector_bt_description.xml     |   8 +
 moveit_core/package.xml                       |   1 +
 14 files changed, 772 insertions(+)
 create mode 100644 moveit_core/collision_detection_bullet/CMakeLists.txt
 create mode 100644 moveit_core/collision_detection_bullet/README.md
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_common.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
 create mode 100644 moveit_core/collision_detector_bt_description.xml

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 64f05c178d..14207baef4 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -71,6 +71,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     backtrace/include
     collision_detection/include
     collision_detection_fcl/include
+    collision_detection_bullet/include
     constraint_samplers/include
     controller_manager/include
     distance_field/include
@@ -107,6 +108,7 @@ catkin_package(
     moveit_planning_interface
     moveit_collision_detection
     moveit_collision_detection_fcl
+    moveit_collision_detection_bullet
     moveit_kinematic_constraints
     moveit_planning_scene
     moveit_constraint_samplers
@@ -186,6 +188,7 @@ add_subdirectory(robot_state)
 add_subdirectory(robot_trajectory)
 add_subdirectory(collision_detection)
 add_subdirectory(collision_detection_fcl)
+add_subdirectory(collision_detection_bullet)
 add_subdirectory(kinematic_constraints)
 add_subdirectory(planning_scene)
 add_subdirectory(constraint_samplers)
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
new file mode 100644
index 0000000000..3e87ca6c78
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -0,0 +1,29 @@
+set(MOVEIT_LIB_NAME moveit_collision_detection_bullet)
+
+add_library(${MOVEIT_LIB_NAME}
+  src/collision_common.cpp
+  src/collision_robot_bt.cpp
+  src/collision_world_bt.cpp
+)
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+
+target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${LIBFCL_LIBRARIES} ${Boost_LIBRARIES})
+add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+
+add_library(collision_detector_bt_plugin src/collision_detector_bt_plugin_loader.cpp)
+set_target_properties(collision_detector_bt_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(collision_detector_bt_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
+
+
+install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_bt_plugin
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+install(FILES ../collision_detector_bt_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(moveit_resources REQUIRED)
+  include_directories(${moveit_resources_INCLUDE_DIRS})
+endif()
diff --git a/moveit_core/collision_detection_bullet/README.md b/moveit_core/collision_detection_bullet/README.md
new file mode 100644
index 0000000000..c0b85486c0
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/README.md
@@ -0,0 +1,6 @@
+### Using Bullet as a collision checker [experimental]
+To use Bullet as a collision checker you can:
+a) create a new planning scene and manually switch to Bullet using the planning_scene.setActiveCollisionDetector()
+b) manually switch to Bullet using the `CollisionPluginLoader`
+c) manually instantiate a `CollisionRobotBt` and `CollisionWorldBt`
+d) use rosparam to set the collision checker (preferred but not tested yet) when starting a new `move_group`
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h
new file mode 100644
index 0000000000..ac0a27aa40
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h
@@ -0,0 +1,48 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_COMMON_
+#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_COMMON_
+
+#include <moveit/collision_detection/world.h>
+#include <moveit/collision_detection/collision_world.h>
+
+namespace collision_detection
+{
+// TODO: Add common functionality for all Bullet collision checkers.
+}
+
+#endif
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h
new file mode 100644
index 0000000000..b914e8c2a5
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h
@@ -0,0 +1,55 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_BT_H_
+#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_BT_H_
+
+#include <moveit/collision_detection/collision_detector_allocator.h>
+#include <moveit/collision_detection_bullet/collision_robot_bt.h>
+#include <moveit/collision_detection_bullet/collision_world_bt.h>
+
+namespace collision_detection
+{
+/** \brief An allocator for Bullet collision detectors */
+class CollisionDetectorAllocatorBt
+    : public CollisionDetectorAllocatorTemplate<CollisionWorldBt, CollisionRobotBt, CollisionDetectorAllocatorBt>
+{
+public:
+  static const std::string NAME;  // defined in collision_world_bt.cpp
+};
+}
+
+#endif
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h
new file mode 100644
index 0000000000..d60a29ce64
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h
@@ -0,0 +1,51 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
+#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
+
+#include <moveit/collision_detection/collision_plugin.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bt.h>
+
+namespace collision_detection
+{
+class CollisionDetectorBtPluginLoader : public CollisionPlugin
+{
+public:
+  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const;
+};
+}
+#endif  // MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h
new file mode 100644
index 0000000000..a0aadf4b4a
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h
@@ -0,0 +1,94 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_ROBOT_
+#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_ROBOT_
+
+#include <moveit/collision_detection_bullet/collision_common.h>
+
+namespace collision_detection
+{
+class CollisionRobotBt : public CollisionRobot
+{
+  friend class CollisionWorldBt;
+
+public:
+  CollisionRobotBt(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
+
+  CollisionRobotBt(const CollisionRobotBt& other);
+
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                          const robot_state::RobotState& state) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                          const AllowedCollisionMatrix& acm) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                          const robot_state::RobotState& state2) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                          const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
+
+  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                           const CollisionRobot& other_robot,
+                           const robot_state::RobotState& other_state) const override;
+  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                           const CollisionRobot& other_robot, const robot_state::RobotState& other_state,
+                           const AllowedCollisionMatrix& acm) const override;
+  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
+                           const robot_state::RobotState& other_state1,
+                           const robot_state::RobotState& other_state2) const override;
+  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
+                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
+                           const robot_state::RobotState& other_state1, const robot_state::RobotState& other_state2,
+                           const AllowedCollisionMatrix& acm) const override;
+
+  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                    const robot_state::RobotState& state) const override;
+
+  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
+                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
+
+protected:
+  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
+
+  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                                const AllowedCollisionMatrix* acm) const;
+  void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                 const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                 const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
+};
+}
+
+#endif
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h
new file mode 100644
index 0000000000..fb614b3c18
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h
@@ -0,0 +1,86 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_WORLD_BT_
+#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_WORLD_BT_
+
+#include <moveit/collision_detection_bullet/collision_robot_bt.h>
+
+namespace collision_detection
+{
+class CollisionWorldBt : public CollisionWorld
+{
+public:
+  CollisionWorldBt();
+  explicit CollisionWorldBt(const WorldPtr& world);
+  CollisionWorldBt(const CollisionWorldBt& other, const WorldPtr& world);
+  ~CollisionWorldBt() override;
+
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                           const robot_state::RobotState& state) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                           const AllowedCollisionMatrix& acm) const override;
+  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
+                           const CollisionWorld& other_world) const override;
+  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
+                           const AllowedCollisionMatrix& acm) const override;
+
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
+                     const robot_state::RobotState& state) const override;
+
+  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;
+
+  void setWorld(const WorldPtr& world) override;
+
+protected:
+  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
+                                 const AllowedCollisionMatrix* acm) const;
+  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
+
+private:
+  void initialize();
+  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
+  World::ObserverHandle observer_handle_;
+};
+}
+
+#endif
diff --git a/moveit_core/collision_detection_bullet/src/collision_common.cpp b/moveit_core/collision_detection_bullet/src/collision_common.cpp
new file mode 100644
index 0000000000..ecae7a988f
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_common.cpp
@@ -0,0 +1,43 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_common.h>
+#include <geometric_shapes/shapes.h>
+
+namespace collision_detection
+{
+// TODO: Add common functionality for all collision detection here.
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp b/moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp
new file mode 100644
index 0000000000..461ea927e3
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp
@@ -0,0 +1,49 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace collision_detection
+{
+bool CollisionDetectorBtPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const
+{
+  scene->setActiveCollisionDetector(CollisionDetectorAllocatorBt::create(), exclusive);
+  return true;
+}
+}
+
+PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorBtPluginLoader, collision_detection::CollisionPlugin)
diff --git a/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp b/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
new file mode 100644
index 0000000000..95755456fe
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
@@ -0,0 +1,143 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_robot_bt.h>
+
+namespace collision_detection
+{
+CollisionRobotBt::CollisionRobotBt(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+  : CollisionRobot(model, padding, scale)
+{
+}
+
+CollisionRobotBt::CollisionRobotBt(const CollisionRobotBt& other) : CollisionRobot(other)
+{
+}
+
+void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state) const
+{
+  checkSelfCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+{
+  checkSelfCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state1,
+                                          const robot_state::RobotState& state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                          const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                          const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBt::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                const robot_state::RobotState& state,
+                                                const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self collision checking not yet implemented");
+}
+
+void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                           const robot_state::RobotState& other_state) const
+{
+  checkOtherCollisionHelper(req, res, state, other_robot, other_state, nullptr);
+}
+
+void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                           const robot_state::RobotState& other_state,
+                                           const AllowedCollisionMatrix& acm) const
+{
+  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
+}
+
+void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                           const CollisionRobot& other_robot,
+                                           const robot_state::RobotState& other_state1,
+                                           const robot_state::RobotState& other_state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                           const CollisionRobot& other_robot,
+                                           const robot_state::RobotState& other_state1,
+                                           const robot_state::RobotState& other_state2,
+                                           const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBt::checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                 const robot_state::RobotState& state,
+                                                 const CollisionRobot& other_robot,
+                                                 const robot_state::RobotState& other_state,
+                                                 const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Other collision not implemented yet.");
+}
+
+void CollisionRobotBt::updatedPaddingOrScaling(const std::vector<std::string>& links)
+{
+}
+
+void CollisionRobotBt::distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                                    const robot_state::RobotState& state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to self not implemented yet.");
+}
+
+void CollisionRobotBt::distanceOther(const DistanceRequest& req, DistanceResult& res,
+                                     const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                     const robot_state::RobotState& other_state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to other not implemented yet.");
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp b/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
new file mode 100644
index 0000000000..530c2d8d00
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
@@ -0,0 +1,156 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_world_bt.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bt.h>
+
+#include <boost/bind.hpp>
+
+namespace collision_detection
+{
+const std::string CollisionDetectorAllocatorBt::NAME("Bullet");
+
+CollisionWorldBt::CollisionWorldBt() : CollisionWorld()
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
+}
+
+CollisionWorldBt::CollisionWorldBt(const WorldPtr& world) : CollisionWorld(world)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+CollisionWorldBt::CollisionWorldBt(const CollisionWorldBt& other, const WorldPtr& world) : CollisionWorld(other, world)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
+}
+
+CollisionWorldBt::~CollisionWorldBt()
+{
+  getWorld()->removeObserver(observer_handle_);
+}
+
+void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionRobot& robot, const robot_state::RobotState& state) const
+{
+  checkRobotCollisionHelper(req, res, robot, state, nullptr);
+}
+
+void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionRobot& robot, const robot_state::RobotState& state,
+                                           const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelper(req, res, robot, state, &acm);
+}
+
+void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionRobot& robot, const robot_state::RobotState& state1,
+                                           const robot_state::RobotState& state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionRobot& robot, const robot_state::RobotState& state1,
+                                           const robot_state::RobotState& state2,
+                                           const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
+}
+
+void CollisionWorldBt::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
+                                                 const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet robot world collision checking not yet implemented");
+}
+
+void CollisionWorldBt::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionWorld& other_world) const
+{
+  checkWorldCollisionHelper(req, res, other_world, nullptr);
+}
+
+void CollisionWorldBt::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
+                                           const CollisionWorld& other_world, const AllowedCollisionMatrix& acm) const
+{
+  checkWorldCollisionHelper(req, res, other_world, &acm);
+}
+
+void CollisionWorldBt::checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                 const CollisionWorld& other_world,
+                                                 const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
+}
+
+void CollisionWorldBt::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  // turn off notifications about old world
+  getWorld()->removeObserver(observer_handle_);
+
+  CollisionWorld::setWorld(world);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
+
+  // get notifications any objects already in the new world
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+void CollisionWorldBt::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
+{
+}
+
+void CollisionWorldBt::distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
+                                     const robot_state::RobotState& state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
+}
+
+void CollisionWorldBt::distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detector_bt_description.xml b/moveit_core/collision_detector_bt_description.xml
new file mode 100644
index 0000000000..4065ee048d
--- /dev/null
+++ b/moveit_core/collision_detector_bt_description.xml
@@ -0,0 +1,8 @@
+<library path="lib/libcollision_detector_bt_plugin">
+  <class name="Bullet" type="collision_detection::CollisionDetectorBtPluginLoader"
+  base_class_type="collision_detection::CollisionPlugin">
+    <description>
+      Bullet Collision Detector
+    </description>
+  </class>
+</library>
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 70a185040c..f0b2e0774f 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -56,5 +56,6 @@
 
   <export>
     <moveit_core plugin="${prefix}/collision_detector_fcl_description.xml"/>
+    <moveit_core plugin="${prefix}/collision_detector_bt_description.xml"/>
   </export>
 </package>

From 60d7fc9434e91f034330083069f0c055093e197b Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Thu, 11 Jul 2019 15:07:44 +0200
Subject: [PATCH 148/612] Generic collision detection test suite (#1543)

Generalize collision detection tests by using a templated test fixture.
---
 .../test_collision_common.h                   | 554 ++++++++++++++++++
 .../test/test_fcl_collision_detection.cpp     | 514 +---------------
 2 files changed, 562 insertions(+), 506 deletions(-)
 create mode 100644 moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
new file mode 100644
index 0000000000..c3ae2f9c9f
--- /dev/null
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
@@ -0,0 +1,554 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: E. Gil Jones */
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_robot.h>
+#include <moveit/collision_detection/collision_detector_allocator.h>
+#include <urdf_parser/urdf_parser.h>
+#include <geometric_shapes/shape_operations.h>
+
+#include <gtest/gtest.h>
+#include <sstream>
+#include <algorithm>
+#include <ctype.h>
+#include <fstream>
+
+template <class CollisionAllocatorType>
+class CollisionDetectorTest : public ::testing::Test
+{
+public:
+  std::shared_ptr<CollisionAllocatorType> value_;
+
+protected:
+  CollisionDetectorTest()
+  {
+  }
+
+  void SetUp() override
+  {
+    value_.reset(new CollisionAllocatorType);
+    robot_model_ = moveit::core::loadTestingRobotModel("pr2");
+    robot_model_ok_ = static_cast<bool>(robot_model_);
+    kinect_dae_resource_ = "package://moveit_resources/pr2_description/urdf/meshes/sensors/kinect_v0/kinect.dae";
+
+    acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
+
+    crobot_ = value_->allocateRobot(robot_model_);
+    cworld_ = value_->allocateWorld(collision_detection::WorldPtr(new collision_detection::World()));
+  }
+
+  void TearDown() override
+  {
+  }
+
+  bool robot_model_ok_;
+
+  robot_model::RobotModelPtr robot_model_;
+
+  collision_detection::CollisionRobotPtr crobot_;
+  collision_detection::CollisionWorldPtr cworld_;
+
+  collision_detection::AllowedCollisionMatrixPtr acm_;
+
+  std::string kinect_dae_resource_;
+};
+
+TYPED_TEST_CASE_P(CollisionDetectorTest);
+
+TYPED_TEST_P(CollisionDetectorTest, InitOK)
+{
+  ASSERT_TRUE(this->robot_model_ok_);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, DefaultNotInCollision)
+{
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_FALSE(res.collision);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, LinksInCollision)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res1;
+  collision_detection::CollisionResult res2;
+  collision_detection::CollisionResult res3;
+  // req.contacts = true;
+  // req.max_contacts = 100;
+
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
+  offset.translation().x() = .01;
+
+  //  robot_state.getLinkState("base_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
+  //  robot_state.getLinkState("base_bellow_link")->updateGivenGlobalLinkTransform(offset);
+  robot_state.updateStateWithLinkAt("base_link", Eigen::Isometry3d::Identity());
+  robot_state.updateStateWithLinkAt("base_bellow_link", offset);
+  robot_state.update();
+
+  this->acm_->setEntry("base_link", "base_bellow_link", false);
+  this->crobot_->checkSelfCollision(req, res1, robot_state, *this->acm_);
+  ASSERT_TRUE(res1.collision);
+
+  this->acm_->setEntry("base_link", "base_bellow_link", true);
+  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  ASSERT_FALSE(res2.collision);
+
+  //  req.verbose = true;
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
+  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(offset);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", Eigen::Isometry3d::Identity());
+  robot_state.updateStateWithLinkAt("l_gripper_palm_link", offset);
+  robot_state.update();
+
+  this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
+  this->crobot_->checkSelfCollision(req, res3, robot_state, *this->acm_);
+  ASSERT_TRUE(res3.collision);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, ContactReporting)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 1;
+
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
+  offset.translation().x() = .01;
+
+  //  robot_state.getLinkState("base_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
+  //  robot_state.getLinkState("base_bellow_link")->updateGivenGlobalLinkTransform(offset);
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
+  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(offset);
+
+  robot_state.updateStateWithLinkAt("base_link", Eigen::Isometry3d::Identity());
+  robot_state.updateStateWithLinkAt("base_bellow_link", offset);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", Eigen::Isometry3d::Identity());
+  robot_state.updateStateWithLinkAt("l_gripper_palm_link", offset);
+  robot_state.update();
+
+  this->acm_->setEntry("base_link", "base_bellow_link", false);
+  this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
+
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  EXPECT_EQ(res.contacts.size(), 1u);
+  EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
+
+  res.clear();
+  req.max_contacts = 2;
+  req.max_contacts_per_pair = 1;
+  //  req.verbose = true;
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  EXPECT_EQ(res.contacts.size(), 2u);
+  EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
+
+  res.contacts.clear();
+  res.contact_count = 0;
+
+  req.max_contacts = 10;
+  req.max_contacts_per_pair = 2;
+  this->acm_.reset(new collision_detection::AllowedCollisionMatrix(this->robot_model_->getLinkModelNames(), false));
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  EXPECT_LE(res.contacts.size(), 10u);
+  EXPECT_LE(res.contact_count, 10u);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 1;
+
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
+
+  pos1.translation().x() = 5.0;
+  pos2.translation().x() = 5.01;
+
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
+  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
+  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
+  robot_state.update();
+
+  this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
+
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  ASSERT_EQ(res.contacts.size(), 1u);
+  ASSERT_EQ(res.contacts.begin()->second.size(), 1u);
+
+  for (collision_detection::CollisionResult::ContactMap::const_iterator it = res.contacts.begin();
+       it != res.contacts.end(); it++)
+  {
+    EXPECT_NEAR(it->second[0].pos.x(), 5.0, .33);
+  }
+
+  pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
+  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(0.965, 0.0, 0.258, 0.0));
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
+  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
+  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
+  robot_state.update();
+
+  collision_detection::CollisionResult res2;
+  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  ASSERT_TRUE(res2.collision);
+  ASSERT_EQ(res2.contacts.size(), 1u);
+  ASSERT_EQ(res2.contacts.begin()->second.size(), 1u);
+
+  for (collision_detection::CollisionResult::ContactMap::const_iterator it = res2.contacts.begin();
+       it != res2.contacts.end(); it++)
+  {
+    EXPECT_NEAR(it->second[0].pos.x(), 3.0, 0.33);
+  }
+
+  pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
+  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(M_PI / 4.0, 0.0, M_PI / 4.0, 0.0));
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
+  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
+  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
+  robot_state.update();
+
+  collision_detection::CollisionResult res3;
+  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  ASSERT_FALSE(res3.collision);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  this->acm_.reset(new collision_detection::AllowedCollisionMatrix(this->robot_model_->getLinkModelNames(), true));
+
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  pos1.translation().x() = 5.0;
+
+  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
+  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
+  robot_state.update();
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_FALSE(res.collision);
+
+  shapes::Shape* shape = new shapes::Box(.1, .1, .1);
+  this->cworld_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
+
+  res = collision_detection::CollisionResult();
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+
+  // deletes shape
+  this->cworld_->getWorld()->removeObject("box");
+
+  shape = new shapes::Box(.1, .1, .1);
+  std::vector<shapes::ShapeConstPtr> shapes;
+  EigenSTL::vector_Isometry3d poses;
+  shapes.push_back(shapes::ShapeConstPtr(shape));
+  poses.push_back(Eigen::Isometry3d::Identity());
+  std::vector<std::string> touch_links;
+  robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
+
+  res = collision_detection::CollisionResult();
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+
+  // deletes shape
+  robot_state.clearAttachedBody("box");
+
+  touch_links.push_back("r_gripper_palm_link");
+  touch_links.push_back("r_gripper_motor_accelerometer_link");
+  shapes[0].reset(new shapes::Box(.1, .1, .1));
+  robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
+  robot_state.update();
+
+  res = collision_detection::CollisionResult();
+  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  ASSERT_FALSE(res.collision);
+
+  pos1.translation().x() = 5.01;
+  shapes::Shape* coll = new shapes::Box(.1, .1, .1);
+  this->cworld_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
+  res = collision_detection::CollisionResult();
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+
+  this->acm_->setEntry("coll", "r_gripper_palm_link", true);
+  res = collision_detection::CollisionResult();
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  ASSERT_TRUE(res.collision);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, DiffSceneTester)
+{
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  collision_detection::CollisionRobotPtr new_crobot = this->value_->allocateRobot(this->crobot_);
+
+  ros::WallTime before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  double first_check = (ros::WallTime::now() - before).toSec();
+  before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  double second_check = (ros::WallTime::now() - before).toSec();
+
+  EXPECT_LT(fabs(first_check - second_check), .05);
+
+  std::vector<shapes::ShapeConstPtr> shapes;
+  shapes.resize(1);
+
+  shapes[0].reset(shapes::createMeshFromResource(this->kinect_dae_resource_));
+
+  EigenSTL::vector_Isometry3d poses;
+  poses.push_back(Eigen::Isometry3d::Identity());
+
+  std::vector<std::string> touch_links;
+  robot_state.attachBody("kinect", shapes, poses, touch_links, "r_gripper_palm_link");
+
+  before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  first_check = (ros::WallTime::now() - before).toSec();
+  before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  second_check = (ros::WallTime::now() - before).toSec();
+
+  // the first check is going to take a while, as data must be constructed
+  EXPECT_LT(second_check, .1);
+
+  collision_detection::CollisionRobotPtr other_new_crobot = this->value_->allocateRobot(this->crobot_);
+  before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  first_check = (ros::WallTime::now() - before).toSec();
+  before = ros::WallTime::now();
+  new_crobot->checkSelfCollision(req, res, robot_state);
+  second_check = (ros::WallTime::now() - before).toSec();
+
+  EXPECT_LT(fabs(first_check - second_check), .05);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, ConvertObjectToAttached)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  shapes::ShapeConstPtr shape(shapes::createMeshFromResource(this->kinect_dae_resource_));
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
+  pos2.translation().x() = 10.0;
+
+  this->cworld_->getWorld()->addToObject("kinect", shape, pos1);
+
+  robot_state::RobotState robot_state(this->robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.update();
+
+  ros::WallTime before = ros::WallTime::now();
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state);
+  double first_check = (ros::WallTime::now() - before).toSec();
+  before = ros::WallTime::now();
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state);
+  double second_check = (ros::WallTime::now() - before).toSec();
+
+  EXPECT_LT(second_check, .05);
+
+  collision_detection::CollisionWorld::ObjectConstPtr object = this->cworld_->getWorld()->getObject("kinect");
+  this->cworld_->getWorld()->removeObject("kinect");
+
+  robot_state::RobotState robot_state1(this->robot_model_);
+  robot_state::RobotState robot_state2(this->robot_model_);
+  robot_state1.setToDefaultValues();
+  robot_state2.setToDefaultValues();
+  robot_state1.update();
+  robot_state2.update();
+
+  std::vector<std::string> touch_links;
+  robot_state1.attachBody("kinect", object->shapes_, object->shape_poses_, touch_links, "r_gripper_palm_link");
+
+  EigenSTL::vector_Isometry3d other_poses;
+  other_poses.push_back(pos2);
+
+  // This creates a new set of constant properties for the attached body, which happens to be the same as the one above;
+  robot_state2.attachBody("kinect", object->shapes_, object->shape_poses_, touch_links, "r_gripper_palm_link");
+
+  // going to take a while, but that's fine
+  res = collision_detection::CollisionResult();
+  this->crobot_->checkSelfCollision(req, res, robot_state1);
+
+  EXPECT_TRUE(res.collision);
+
+  before = ros::WallTime::now();
+  this->crobot_->checkSelfCollision(req, res, robot_state1, *this->acm_);
+  first_check = (ros::WallTime::now() - before).toSec();
+  before = ros::WallTime::now();
+  req.verbose = true;
+  res = collision_detection::CollisionResult();
+  this->crobot_->checkSelfCollision(req, res, robot_state2, *this->acm_);
+  second_check = (ros::WallTime::now() - before).toSec();
+
+  EXPECT_LT(first_check, .05);
+  EXPECT_LT(fabs(first_check - second_check), .1);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, TestCollisionMapAdditionSpeed)
+{
+  EigenSTL::vector_Isometry3d poses;
+  std::vector<shapes::ShapeConstPtr> shapes;
+  for (unsigned int i = 0; i < 10000; i++)
+  {
+    poses.push_back(Eigen::Isometry3d::Identity());
+    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(.01, .01, .01)));
+  }
+  ros::WallTime start = ros::WallTime::now();
+  this->cworld_->getWorld()->addToObject("map", shapes, poses);
+  double t = (ros::WallTime::now() - start).toSec();
+  EXPECT_GE(1.0, t);
+  // this is not really a failure; it is just that slow;
+  // looking into doing collision checking with a voxel grid.
+  ROS_INFO_NAMED("collision_detection.bullet", "Adding boxes took %g", t);
+}
+
+TYPED_TEST_P(CollisionDetectorTest, MoveMesh)
+{
+  robot_state::RobotState robot_state1(this->robot_model_);
+  robot_state1.setToDefaultValues();
+  robot_state1.update();
+
+  Eigen::Isometry3d kinect_pose;
+  kinect_pose.setIdentity();
+  shapes::ShapePtr kinect_shape;
+  kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_));
+
+  this->cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+
+  Eigen::Isometry3d np;
+  for (unsigned int i = 0; i < 5; i++)
+  {
+    np = Eigen::Translation3d(i * .001, i * .001, i * .001) * Eigen::Quaterniond::Identity();
+    this->cworld_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
+    collision_detection::CollisionRequest req;
+    collision_detection::CollisionResult res;
+    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+  }
+}
+
+TYPED_TEST_P(CollisionDetectorTest, TestChangingShapeSize)
+{
+  robot_state::RobotState robot_state1(this->robot_model_);
+  robot_state1.setToDefaultValues();
+  robot_state1.update();
+
+  collision_detection::CollisionRequest req1;
+  collision_detection::CollisionResult res1;
+
+  ASSERT_FALSE(res1.collision);
+
+  EigenSTL::vector_Isometry3d poses;
+  std::vector<shapes::ShapeConstPtr> shapes;
+  for (unsigned int i = 0; i < 5; i++)
+  {
+    this->cworld_->getWorld()->removeObject("shape");
+    shapes.clear();
+    poses.clear();
+    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
+    poses.push_back(Eigen::Isometry3d::Identity());
+    this->cworld_->getWorld()->addToObject("shape", shapes, poses);
+    collision_detection::CollisionRequest req;
+    collision_detection::CollisionResult res;
+    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+    ASSERT_TRUE(res.collision);
+  }
+
+  Eigen::Isometry3d kinect_pose = Eigen::Isometry3d::Identity();
+  shapes::ShapePtr kinect_shape;
+  kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_));
+  this->cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+  collision_detection::CollisionRequest req2;
+  collision_detection::CollisionResult res2;
+  this->cworld_->checkCollision(req2, res2, *this->crobot_, robot_state1, *this->acm_);
+  ASSERT_TRUE(res2.collision);
+  for (unsigned int i = 0; i < 5; i++)
+  {
+    this->cworld_->getWorld()->removeObject("shape");
+    shapes.clear();
+    poses.clear();
+    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
+    poses.push_back(Eigen::Isometry3d::Identity());
+    this->cworld_->getWorld()->addToObject("shape", shapes, poses);
+    collision_detection::CollisionRequest req;
+    collision_detection::CollisionResult res;
+    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+    ASSERT_TRUE(res.collision);
+  }
+}
+
+REGISTER_TYPED_TEST_CASE_P(CollisionDetectorTest, InitOK, DefaultNotInCollision, LinksInCollision, ContactReporting,
+                           ContactPositions, AttachedBodyTester, DiffSceneTester, ConvertObjectToAttached,
+                           TestCollisionMapAdditionSpeed, MoveMesh, TestChangingShapeSize);
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
index e4ea360a95..5dffe19a8b 100644
--- a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2008, Willow Garage, Inc.
+ *  Copyright (c) 2019, Jens Petit
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
+ *   * Neither the name of the copyright holder nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -32,513 +32,15 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: E. Gil Jones */
+/* Author: Jens Petit */
 
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_state/robot_state.h>
-#include <moveit/collision_detection_fcl/collision_env_fcl.h>
-#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection/test_collision_common.h>
 
-#include <urdf_parser/urdf_parser.h>
-#include <geometric_shapes/shape_operations.h>
+INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheck, CollisionDetectorTest,
+                              collision_detection::CollisionDetectorAllocatorFCL);
 
-#include <gtest/gtest.h>
-#include <sstream>
-#include <algorithm>
-#include <ctype.h>
-#include <fstream>
-
-typedef collision_detection::CollisionEnvFCL DefaultEnvType;
-
-class FclCollisionDetectionTester : public testing::Test
-{
-protected:
-  void SetUp() override
-  {
-    robot_model_ = moveit::core::loadTestingRobotModel("pr2");
-    robot_model_ok_ = static_cast<bool>(robot_model_);
-    kinect_dae_resource_ = "package://moveit_resources/pr2_description/urdf/meshes/sensors/kinect_v0/kinect.dae";
-
-    acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
-
-    c_env_.reset(new DefaultEnvType(robot_model_));
-  }
-
-  void TearDown() override
-  {
-  }
-
-protected:
-  bool robot_model_ok_;
-
-  robot_model::RobotModelPtr robot_model_;
-
-  collision_detection::CollisionEnvPtr c_env_;
-
-  collision_detection::AllowedCollisionMatrixPtr acm_;
-
-  std::string kinect_dae_resource_;
-};
-
-TEST_F(FclCollisionDetectionTester, InitOK)
-{
-  ASSERT_TRUE(robot_model_ok_);
-}
-
-TEST_F(FclCollisionDetectionTester, DefaultNotInCollision)
-{
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res;
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_FALSE(res.collision);
-}
-
-TEST_F(FclCollisionDetectionTester, LinksInCollision)
-{
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res1;
-  collision_detection::CollisionResult res2;
-  collision_detection::CollisionResult res3;
-  // req.contacts = true;
-  // req.max_contacts = 100;
-
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
-  offset.translation().x() = .01;
-
-  //  robot_state.getLinkState("base_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
-  //  robot_state.getLinkState("base_bellow_link")->updateGivenGlobalLinkTransform(offset);
-  robot_state.updateStateWithLinkAt("base_link", Eigen::Isometry3d::Identity());
-  robot_state.updateStateWithLinkAt("base_bellow_link", offset);
-  robot_state.update();
-
-  acm_->setEntry("base_link", "base_bellow_link", false);
-  c_env_->checkSelfCollision(req, res1, robot_state, *acm_);
-  ASSERT_TRUE(res1.collision);
-
-  acm_->setEntry("base_link", "base_bellow_link", true);
-  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
-  ASSERT_FALSE(res2.collision);
-
-  //  req.verbose = true;
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
-  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(offset);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", Eigen::Isometry3d::Identity());
-  robot_state.updateStateWithLinkAt("l_gripper_palm_link", offset);
-  robot_state.update();
-
-  acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-  c_env_->checkSelfCollision(req, res3, robot_state, *acm_);
-  ASSERT_TRUE(res3.collision);
-}
-
-TEST_F(FclCollisionDetectionTester, ContactReporting)
-{
-  collision_detection::CollisionRequest req;
-  req.contacts = true;
-  req.max_contacts = 1;
-
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
-  offset.translation().x() = .01;
-
-  //  robot_state.getLinkState("base_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
-  //  robot_state.getLinkState("base_bellow_link")->updateGivenGlobalLinkTransform(offset);
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(Eigen::Isometry3d::Identity());
-  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(offset);
-
-  robot_state.updateStateWithLinkAt("base_link", Eigen::Isometry3d::Identity());
-  robot_state.updateStateWithLinkAt("base_bellow_link", offset);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", Eigen::Isometry3d::Identity());
-  robot_state.updateStateWithLinkAt("l_gripper_palm_link", offset);
-  robot_state.update();
-
-  acm_->setEntry("base_link", "base_bellow_link", false);
-  acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-
-  collision_detection::CollisionResult res;
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-  EXPECT_EQ(res.contacts.size(), 1u);
-  EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
-
-  res.clear();
-  req.max_contacts = 2;
-  req.max_contacts_per_pair = 1;
-  //  req.verbose = true;
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-  EXPECT_EQ(res.contacts.size(), 2u);
-  EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
-
-  res.contacts.clear();
-  res.contact_count = 0;
-
-  req.max_contacts = 10;
-  req.max_contacts_per_pair = 2;
-  acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-  EXPECT_LE(res.contacts.size(), 10u);
-  EXPECT_LE(res.contact_count, 10u);
-}
-
-TEST_F(FclCollisionDetectionTester, ContactPositions)
-{
-  collision_detection::CollisionRequest req;
-  req.contacts = true;
-  req.max_contacts = 1;
-
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
-  Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
-
-  pos1.translation().x() = 5.0;
-  pos2.translation().x() = 5.01;
-
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
-  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
-  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
-  robot_state.update();
-
-  acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-
-  collision_detection::CollisionResult res;
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-  ASSERT_EQ(res.contacts.size(), 1u);
-  ASSERT_EQ(res.contacts.begin()->second.size(), 1u);
-
-  for (collision_detection::CollisionResult::ContactMap::const_iterator it = res.contacts.begin();
-       it != res.contacts.end(); it++)
-  {
-    EXPECT_NEAR(it->second[0].pos.x(), 5.0, .33);
-  }
-
-  pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
-  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(0.965, 0.0, 0.258, 0.0));
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
-  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
-  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
-  robot_state.update();
-
-  collision_detection::CollisionResult res2;
-  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
-  ASSERT_TRUE(res2.collision);
-  ASSERT_EQ(res2.contacts.size(), 1u);
-  ASSERT_EQ(res2.contacts.begin()->second.size(), 1u);
-
-  for (collision_detection::CollisionResult::ContactMap::const_iterator it = res2.contacts.begin();
-       it != res2.contacts.end(); it++)
-  {
-    EXPECT_NEAR(it->second[0].pos.x(), 3.0, 0.33);
-  }
-
-  pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
-  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(M_PI / 4.0, 0.0, M_PI / 4.0, 0.0));
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
-  //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
-  robot_state.updateStateWithLinkAt("l_gripper_palm_link", pos2);
-  robot_state.update();
-
-  collision_detection::CollisionResult res3;
-  c_env_->checkSelfCollision(req, res2, robot_state, *acm_);
-  ASSERT_FALSE(res3.collision);
-}
-
-TEST_F(FclCollisionDetectionTester, AttachedBodyTester)
-{
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res;
-
-  acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
-
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
-  pos1.translation().x() = 5.0;
-
-  //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
-  robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
-  robot_state.update();
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_FALSE(res.collision);
-
-  shapes::Shape* shape = new shapes::Box(.1, .1, .1);
-  c_env_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
-
-  res = collision_detection::CollisionResult();
-  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-
-  // deletes shape
-  c_env_->getWorld()->removeObject("box");
-
-  shape = new shapes::Box(.1, .1, .1);
-  std::vector<shapes::ShapeConstPtr> shapes;
-  EigenSTL::vector_Isometry3d poses;
-  shapes.push_back(shapes::ShapeConstPtr(shape));
-  poses.push_back(Eigen::Isometry3d::Identity());
-  std::vector<std::string> touch_links;
-  robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
-
-  res = collision_detection::CollisionResult();
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-
-  // deletes shape
-  robot_state.clearAttachedBody("box");
-
-  touch_links.push_back("r_gripper_palm_link");
-  touch_links.push_back("r_gripper_motor_accelerometer_link");
-  shapes[0].reset(new shapes::Box(.1, .1, .1));
-  robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
-  robot_state.update();
-
-  res = collision_detection::CollisionResult();
-  c_env_->checkSelfCollision(req, res, robot_state, *acm_);
-  ASSERT_FALSE(res.collision);
-
-  pos1.translation().x() = 5.01;
-  shapes::Shape* coll = new shapes::Box(.1, .1, .1);
-  c_env_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
-  res = collision_detection::CollisionResult();
-  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-
-  acm_->setEntry("coll", "r_gripper_palm_link", true);
-  res = collision_detection::CollisionResult();
-  c_env_->checkRobotCollision(req, res, robot_state, *acm_);
-  ASSERT_TRUE(res.collision);
-}
-
-TEST_F(FclCollisionDetectionTester, DiffSceneTester)
-{
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res;
-  collision_detection::CollisionEnvFCL* casted_env_pointer =
-      dynamic_cast<collision_detection::CollisionEnvFCL*>(c_env_.get());
-  collision_detection::CollisionEnvFCL new_c_env(*casted_env_pointer, c_env_->getWorld());
-
-  ros::WallTime before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  double first_check = (ros::WallTime::now() - before).toSec();
-  before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  double second_check = (ros::WallTime::now() - before).toSec();
-
-  EXPECT_LT(fabs(first_check - second_check), .05);
-
-  std::vector<shapes::ShapeConstPtr> shapes;
-  shapes.resize(1);
-
-  shapes[0].reset(shapes::createMeshFromResource(kinect_dae_resource_));
-
-  EigenSTL::vector_Isometry3d poses;
-  poses.push_back(Eigen::Isometry3d::Identity());
-
-  std::vector<std::string> touch_links;
-  robot_state.attachBody("kinect", shapes, poses, touch_links, "r_gripper_palm_link");
-
-  before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  first_check = (ros::WallTime::now() - before).toSec();
-  before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  second_check = (ros::WallTime::now() - before).toSec();
-
-  // the first check is going to take a while, as data must be constructed
-  EXPECT_LT(second_check, .1);
-
-  collision_detection::CollisionEnvFCL other_new_c_env(*casted_env_pointer, c_env_->getWorld());
-  before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  first_check = (ros::WallTime::now() - before).toSec();
-  before = ros::WallTime::now();
-  new_c_env.checkSelfCollision(req, res, robot_state);
-  second_check = (ros::WallTime::now() - before).toSec();
-
-  EXPECT_LT(fabs(first_check - second_check), .05);
-}
-
-TEST_F(FclCollisionDetectionTester, ConvertObjectToAttached)
-{
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res;
-
-  shapes::ShapeConstPtr shape(shapes::createMeshFromResource(kinect_dae_resource_));
-  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
-  Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
-  pos2.translation().x() = 10.0;
-
-  c_env_->getWorld()->addToObject("kinect", shape, pos1);
-
-  robot_state::RobotState robot_state(robot_model_);
-  robot_state.setToDefaultValues();
-  robot_state.update();
-
-  ros::WallTime before = ros::WallTime::now();
-  c_env_->checkRobotCollision(req, res, robot_state);
-  double first_check = (ros::WallTime::now() - before).toSec();
-  before = ros::WallTime::now();
-  c_env_->checkRobotCollision(req, res, robot_state);
-  double second_check = (ros::WallTime::now() - before).toSec();
-
-  EXPECT_LT(second_check, .05);
-
-  collision_detection::CollisionEnv::ObjectConstPtr object = c_env_->getWorld()->getObject("kinect");
-  c_env_->getWorld()->removeObject("kinect");
-
-  robot_state::RobotState robot_state1(robot_model_);
-  robot_state::RobotState robot_state2(robot_model_);
-  robot_state1.setToDefaultValues();
-  robot_state2.setToDefaultValues();
-  robot_state1.update();
-  robot_state2.update();
-
-  std::vector<std::string> touch_links;
-  robot_state1.attachBody("kinect", object->shapes_, object->shape_poses_, touch_links, "r_gripper_palm_link");
-
-  EigenSTL::vector_Isometry3d other_poses;
-  other_poses.push_back(pos2);
-
-  // This creates a new set of constant properties for the attached body, which happens to be the same as the one above;
-  robot_state2.attachBody("kinect", object->shapes_, object->shape_poses_, touch_links, "r_gripper_palm_link");
-
-  // going to take a while, but that's fine
-  res = collision_detection::CollisionResult();
-  c_env_->checkSelfCollision(req, res, robot_state1);
-
-  EXPECT_TRUE(res.collision);
-
-  before = ros::WallTime::now();
-  c_env_->checkSelfCollision(req, res, robot_state1, *acm_);
-  first_check = (ros::WallTime::now() - before).toSec();
-  before = ros::WallTime::now();
-  req.verbose = true;
-  res = collision_detection::CollisionResult();
-  c_env_->checkSelfCollision(req, res, robot_state2, *acm_);
-  second_check = (ros::WallTime::now() - before).toSec();
-
-  EXPECT_LT(first_check, .05);
-  EXPECT_LT(fabs(first_check - second_check), .1);
-}
-
-TEST_F(FclCollisionDetectionTester, TestCollisionMapAdditionSpeed)
-{
-  EigenSTL::vector_Isometry3d poses;
-  std::vector<shapes::ShapeConstPtr> shapes;
-  for (unsigned int i = 0; i < 10000; i++)
-  {
-    poses.push_back(Eigen::Isometry3d::Identity());
-    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(.01, .01, .01)));
-  }
-  ros::WallTime start = ros::WallTime::now();
-  c_env_->getWorld()->addToObject("map", shapes, poses);
-  double t = (ros::WallTime::now() - start).toSec();
-  EXPECT_GE(1.0, t);
-  // this is not really a failure; it is just that slow;
-  // looking into doing collision checking with a voxel grid.
-  ROS_INFO_NAMED("collision_detection.fcl", "Adding boxes took %g", t);
-}
-
-TEST_F(FclCollisionDetectionTester, MoveMesh)
-{
-  robot_state::RobotState robot_state1(robot_model_);
-  robot_state1.setToDefaultValues();
-  robot_state1.update();
-
-  Eigen::Isometry3d kinect_pose;
-  kinect_pose.setIdentity();
-  shapes::ShapePtr kinect_shape;
-  kinect_shape.reset(shapes::createMeshFromResource(kinect_dae_resource_));
-
-  c_env_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
-
-  Eigen::Isometry3d np;
-  for (unsigned int i = 0; i < 5; i++)
-  {
-    np = Eigen::Translation3d(i * .001, i * .001, i * .001) * Eigen::Quaterniond::Identity();
-    c_env_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
-    collision_detection::CollisionRequest req;
-    collision_detection::CollisionResult res;
-    c_env_->checkCollision(req, res, robot_state1, *acm_);
-  }
-}
-
-TEST_F(FclCollisionDetectionTester, TestChangingShapeSize)
-{
-  robot_state::RobotState robot_state1(robot_model_);
-  robot_state1.setToDefaultValues();
-  robot_state1.update();
-
-  collision_detection::CollisionRequest req1;
-  collision_detection::CollisionResult res1;
-
-  ASSERT_FALSE(res1.collision);
-
-  EigenSTL::vector_Isometry3d poses;
-  std::vector<shapes::ShapeConstPtr> shapes;
-  for (unsigned int i = 0; i < 5; i++)
-  {
-    c_env_->getWorld()->removeObject("shape");
-    shapes.clear();
-    poses.clear();
-    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
-    poses.push_back(Eigen::Isometry3d::Identity());
-    c_env_->getWorld()->addToObject("shape", shapes, poses);
-    collision_detection::CollisionRequest req;
-    collision_detection::CollisionResult res;
-    c_env_->checkCollision(req, res, robot_state1, *acm_);
-    ASSERT_TRUE(res.collision);
-  }
-
-  Eigen::Isometry3d kinect_pose = Eigen::Isometry3d::Identity();
-  shapes::ShapePtr kinect_shape;
-  kinect_shape.reset(shapes::createMeshFromResource(kinect_dae_resource_));
-  c_env_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
-  collision_detection::CollisionRequest req2;
-  collision_detection::CollisionResult res2;
-  c_env_->checkCollision(req2, res2, robot_state1, *acm_);
-  ASSERT_TRUE(res2.collision);
-  for (unsigned int i = 0; i < 5; i++)
-  {
-    c_env_->getWorld()->removeObject("shape");
-    shapes.clear();
-    poses.clear();
-    shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
-    poses.push_back(Eigen::Isometry3d::Identity());
-    c_env_->getWorld()->addToObject("shape", shapes, poses);
-    collision_detection::CollisionRequest req;
-    collision_detection::CollisionResult res;
-    c_env_->checkCollision(req, res, robot_state1, *acm_);
-    ASSERT_TRUE(res.collision);
-  }
-}
-
-int main(int argc, char** argv)
+int main(int argc, char* argv[])
 {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();

From ef174182d10dc64797dd844ef1530b74963815dc Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 23 Jul 2019 22:46:48 +0200
Subject: [PATCH 149/612] Bullet Collision Detection (#1504)

* Added discrete BVH Bullet manager
* Added continuous collision detection
* Cleanup of tesseract code
   * removed simple collision managers
   * changed enum to enum classes
   * fixed typos
   * removing debugging statements
   * removing tesseract allowed collision matrix
   * removed tesseract macros
   * replaced typedefs of stl containers
   * removed tesseract attached object code
   * ACM members of collision robot and world removed and ACM check into callback out of class
   * remove ContactTestType and replace through MoveIt CollisionRequest
   * BodyType int changed to enum
   * removed tesseract_msgs dependency and unnecessary tesseract code
   * changed dependency from bullet3_ros to debian Bullet package

* Adding bullet and tesseract simple collision manager to the template:
   * added benchmark case for checking collision speed
   * tests for bullet collision checking

* Adding missing features:
  * attached objects
  * contact reporting max number of contacts fixed
  * Bullet plugin xml name fixed
  * padding and scaling for robot added
  * updated tests
---
 .travis.yml                                   |   1 -
 moveit_core/CMakeLists.txt                    |   6 +-
 .../collision_detection/collision_common.h    |   9 +
 .../test_collision_common.h                   |   3 +-
 .../test_collision_common_panda.h             | 258 ++++++
 .../collision_detection_bullet/CMakeLists.txt |  28 +-
 .../collision_detection_bullet/README.md      |   2 +-
 .../bullet_integration/basic_types.h          | 106 +++
 .../bullet_discrete_bvh_manager.h             | 191 +++++
 .../bullet_integration/bullet_utils.h         | 803 ++++++++++++++++++
 .../contact_checker_common.h                  | 271 ++++++
 .../bullet_integration/ros_bullet_utils.h     | 109 +++
 ... => collision_detector_allocator_bullet.h} |  19 +-
 ...collision_detector_bullet_plugin_loader.h} |  10 +-
 ...on_robot_bt.h => collision_robot_bullet.h} |  43 +-
 ...on_world_bt.h => collision_world_bullet.h} |  50 +-
 .../bullet_discrete_bvh_manager.cpp           | 306 +++++++
 .../src/bullet_integration/bullet_utils.cpp   | 343 ++++++++
 ...llision_detector_bullet_plugin_loader.cpp} |   4 +-
 .../src/collision_robot_bt.cpp                | 143 ----
 .../src/collision_robot_bullet.cpp            | 267 ++++++
 .../src/collision_world_bt.cpp                | 156 ----
 .../src/collision_world_bullet.cpp            | 247 ++++++
 .../test_bullet_collision_detection.cpp}      |  15 +-
 .../test_bullet_collision_detection_panda.cpp |  47 +
 .../collision_detection_fcl/CMakeLists.txt    |   4 +-
 .../test_fcl_collision_detection_panda.cpp}   |  14 +-
 ...collision_detector_bullet_description.xml} |   0
 moveit_core/package.xml                       |   3 +-
 .../launch/collision_checker_compare.launch   |  10 +
 30 files changed, 3103 insertions(+), 365 deletions(-)
 create mode 100644 moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
 rename moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/{collision_detector_allocator_bt.h => collision_detector_allocator_bullet.h} (76%)
 rename moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/{collision_detector_bt_plugin_loader.h => collision_detector_bullet_plugin_loader.h} (84%)
 rename moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/{collision_robot_bt.h => collision_robot_bullet.h} (69%)
 rename moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/{collision_world_bt.h => collision_world_bullet.h} (66%)
 create mode 100644 moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
 rename moveit_core/collision_detection_bullet/src/{collision_detector_bt_plugin_loader.cpp => collision_detector_bullet_plugin_loader.cpp} (95%)
 delete mode 100644 moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
 delete mode 100644 moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
 rename moveit_core/collision_detection_bullet/{include/moveit/collision_detection_bullet/collision_common.h => test/test_bullet_collision_detection.cpp} (81%)
 create mode 100644 moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_panda.cpp
 rename moveit_core/{collision_detection_bullet/src/collision_common.cpp => collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp} (81%)
 rename moveit_core/{collision_detector_bt_description.xml => collision_detector_bullet_description.xml} (100%)
 create mode 100644 moveit_ros/planning/launch/collision_checker_compare.launch

diff --git a/.travis.yml b/.travis.yml
index 6ed584a5ff..c51f7602da 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -25,7 +25,6 @@ env:
     - TEST="clang-format catkin_lint"
     - TEST=code-coverage
     - ROS_DISTRO=melodic
-    - ROS_DISTRO=kinetic
 
 matrix: # Add a separate config to the matrix, using clang as compiler
   include:
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 14207baef4..57f19a86be 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -14,8 +14,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
 endif()
 
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   message("${PROJECT_NAME}: You did not request a specific build type: Choosing 'Release' for maximum performance")
   set(CMAKE_BUILD_TYPE Release)
@@ -23,6 +21,8 @@ endif()
 
 find_package(Boost REQUIRED system filesystem date_time thread iostreams)
 find_package(Eigen3 REQUIRED)
+ # TODO: Move collision detection into separate packages
+find_package(Bullet REQUIRED)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL_PC REQUIRED fcl)
@@ -145,10 +145,12 @@ catkin_package(
     OCTOMAP
     urdfdom
     urdfdom_headers
+    BULLET
     )
 
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
                            ${LIBFCL_INCLUDE_DIRS}
+                           ${BULLET_INCLUDE_DIRS}
                            )
 
 #catkin_lint: ignore_once external_directory  (${VERSION_FILE_PATH})
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 2991951395..96f3343d0b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -94,6 +94,15 @@ struct Contact
 
   /** \brief The type of the second body involved in the contact */
   BodyType body_type_2;
+
+  /** \brief The distance percentage between casted poses until collision.
+   *
+   *  If the value is 0, then the collision occured in the start pose. If the value is 1, then the collision occured in
+   *  the end pose. */
+  double percent_interpolation;
+
+  /** \brief The two nearest points connecting the two bodies */
+  Eigen::Vector3d nearest_points[2];
 };
 
 /** \brief When collision costs are computed, this structure contains information about the partial cost incurred in a
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
index c3ae2f9c9f..331c5a154e 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
@@ -469,7 +469,8 @@ TYPED_TEST_P(CollisionDetectorTest, TestCollisionMapAdditionSpeed)
   ros::WallTime start = ros::WallTime::now();
   this->cworld_->getWorld()->addToObject("map", shapes, poses);
   double t = (ros::WallTime::now() - start).toSec();
-  EXPECT_GE(1.0, t);
+  // TODO: investigate why bullet collision checking is considerably slower here
+  EXPECT_GE(5.0, t);
   // this is not really a failure; it is just that slow;
   // looking into doing collision checking with a voxel grid.
   ROS_INFO_NAMED("collision_detection.bullet", "Adding boxes took %g", t);
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
new file mode 100644
index 0000000000..a57733f3dd
--- /dev/null
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -0,0 +1,258 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection/collision_robot.h>
+#include <moveit/collision_detection/collision_detector_allocator.h>
+
+#include <urdf_parser/urdf_parser.h>
+#include <geometric_shapes/shape_operations.h>
+
+#include <gtest/gtest.h>
+#include <sstream>
+#include <algorithm>
+#include <ctype.h>
+#include <fstream>
+
+/** \brief Brings the panda robot in user defined home position */
+inline void setToHome(robot_state::RobotState& panda_state)
+{
+  panda_state.setToDefaultValues();
+  double joint2 = -0.785;
+  double joint4 = -2.356;
+  double joint6 = 1.571;
+  double joint7 = 0.785;
+  panda_state.setJointPositions("panda_joint2", &joint2);
+  panda_state.setJointPositions("panda_joint4", &joint4);
+  panda_state.setJointPositions("panda_joint6", &joint6);
+  panda_state.setJointPositions("panda_joint7", &joint7);
+  panda_state.update();
+}
+
+template <class CollisionAllocatorType>
+class CollisionDetectorPandaTest : public testing::Test
+{
+public:
+  std::shared_ptr<CollisionAllocatorType> value_;
+
+protected:
+  void SetUp() override
+  {
+    value_.reset(new CollisionAllocatorType);
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    robot_model_ok_ = static_cast<bool>(robot_model_);
+
+    acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
+
+    acm_->setEntry("panda_link0", "panda_link1", true);
+    acm_->setEntry("panda_link1", "panda_link2", true);
+    acm_->setEntry("panda_link2", "panda_link3", true);
+    acm_->setEntry("panda_link3", "panda_link4", true);
+    acm_->setEntry("panda_link4", "panda_link5", true);
+    acm_->setEntry("panda_link5", "panda_link6", true);
+    acm_->setEntry("panda_link6", "panda_link7", true);
+    acm_->setEntry("panda_link7", "panda_hand", true);
+    acm_->setEntry("panda_hand", "panda_rightfinger", true);
+    acm_->setEntry("panda_hand", "panda_leftfinger", true);
+    acm_->setEntry("panda_rightfinger", "panda_leftfinger", true);
+    acm_->setEntry("panda_link5", "panda_link7", true);
+    acm_->setEntry("panda_link6", "panda_hand", true);
+
+    crobot_ = value_->allocateRobot(robot_model_);
+    cworld_ = value_->allocateWorld(collision_detection::WorldPtr(new collision_detection::World()));
+
+    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    setToHome(*robot_state_);
+  }
+
+  void TearDown() override
+  {
+  }
+
+  bool robot_model_ok_;
+
+  robot_model::RobotModelPtr robot_model_;
+
+  collision_detection::CollisionWorldPtr cworld_;
+  collision_detection::CollisionRobotPtr crobot_;
+
+  collision_detection::AllowedCollisionMatrixPtr acm_;
+
+  robot_state::RobotStatePtr robot_state_;
+};
+
+TYPED_TEST_CASE_P(CollisionDetectorPandaTest);
+
+/** \brief Correct setup testing. */
+TYPED_TEST_P(CollisionDetectorPandaTest, InitOK)
+{
+  ASSERT_TRUE(this->robot_model_ok_);
+}
+
+/** \brief Tests the default values specified in the SRDF if they are collision free. */
+TYPED_TEST_P(CollisionDetectorPandaTest, DefaultNotInCollision)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+}
+
+/** \brief A configuration where the robot should collide with itself. */
+TYPED_TEST_P(CollisionDetectorPandaTest, LinksInCollision)
+{
+  // Sets the joint values to zero which is a colliding configuration
+  this->robot_state_->setToDefaultValues();
+  this->robot_state_->update();
+
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  ASSERT_TRUE(res.collision);
+}
+
+// TODO: Add collision check capability within world itself and then enable test
+/** \brief Two boxes in collision in the world environment. */
+TYPED_TEST_P(CollisionDetectorPandaTest, DISABLED_WorldToWorldCollision)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  shapes::Shape* shape = new shapes::Box(.5, .5, .5);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos_1 = Eigen::Isometry3d::Identity();
+  pos_1.translation().x() = 1;
+  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos_1);
+
+  Eigen::Isometry3d pos_2 = Eigen::Isometry3d::Identity();
+  pos_2.translation().x() = 1.2;
+  this->cworld_->getWorld()->addToObject("box_2", shape_ptr, pos_2);
+
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+
+  ASSERT_TRUE(res.collision);
+}
+
+/** \brief Adding obstacles to the world which are tested against the robot. Simple cases. */
+TYPED_TEST_P(CollisionDetectorPandaTest, RobotWorldCollision_1)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  shapes::Shape* shape = new shapes::Box(.1, .1, .1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  pos1.translation().z() = 0.3;
+  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos1);
+
+  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  this->cworld_->getWorld()->moveObject("box", pos1);
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  this->cworld_->getWorld()->moveObject("box", pos1);
+  ASSERT_FALSE(res.collision);
+}
+
+/** \brief Adding obstacles to the world which are tested against the robot. */
+TYPED_TEST_P(CollisionDetectorPandaTest, RobotWorldCollision_2)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  req.max_contacts = 10;
+  req.contacts = true;
+  req.verbose = true;
+
+  shapes::Shape* shape = new shapes::Box(.4, .4, .4);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
+  pos1.translation().z() = 0.3;
+  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos1);
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  ASSERT_GE(res.contact_count, 3u);
+  res.clear();
+}
+
+/** \brief Tests the padding through expanding the link geometry in such a way that a collision occurs. */
+TYPED_TEST_P(CollisionDetectorPandaTest, PaddingTest)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 10;
+  collision_detection::CollisionResult res;
+
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  // Adding the box right in front of the robot hand
+  shapes::Shape* shape = new shapes::Box(0.1, 0.1, 0.1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+  pos.translation().x() = 0.43;
+  pos.translation().y() = 0;
+  pos.translation().z() = 0.55;
+  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+
+  this->crobot_->setLinkPadding("panda_hand", 0.08);
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_TRUE(res.collision);
+  res.clear();
+
+  this->crobot_->setLinkPadding("panda_hand", 0.0);
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+}
+
+REGISTER_TYPED_TEST_CASE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
+                           DISABLED_WorldToWorldCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest);
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 3e87ca6c78..6e1ba5526f 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -1,29 +1,39 @@
 set(MOVEIT_LIB_NAME moveit_collision_detection_bullet)
 
 add_library(${MOVEIT_LIB_NAME}
-  src/collision_common.cpp
-  src/collision_robot_bt.cpp
-  src/collision_world_bt.cpp
+  src/collision_robot_bullet.cpp
+  src/collision_world_bullet.cpp
+  src/bullet_integration/bullet_utils.cpp
+  src/bullet_integration/bullet_discrete_bvh_manager.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${LIBFCL_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection
+    ${catkin_LIBRARIES} ${urdfdom_LIBRARIES}
+    ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES}
+    ${BULLET_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
-add_library(collision_detector_bt_plugin src/collision_detector_bt_plugin_loader.cpp)
-set_target_properties(collision_detector_bt_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(collision_detector_bt_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
+add_library(collision_detector_bullet_plugin src/collision_detector_bullet_plugin_loader.cpp)
+set_target_properties(collision_detector_bullet_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(collision_detector_bullet_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
 
 
-install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_bt_plugin
+install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_bullet_plugin
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
-install(FILES ../collision_detector_bt_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES ../collision_detector_bullet_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(moveit_resources REQUIRED)
   include_directories(${moveit_resources_INCLUDE_DIRS})
+
+  catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection.cpp)
+  target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+
+  catkin_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
+  target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 endif()
diff --git a/moveit_core/collision_detection_bullet/README.md b/moveit_core/collision_detection_bullet/README.md
index c0b85486c0..b808244650 100644
--- a/moveit_core/collision_detection_bullet/README.md
+++ b/moveit_core/collision_detection_bullet/README.md
@@ -2,5 +2,5 @@
 To use Bullet as a collision checker you can:
 a) create a new planning scene and manually switch to Bullet using the planning_scene.setActiveCollisionDetector()
 b) manually switch to Bullet using the `CollisionPluginLoader`
-c) manually instantiate a `CollisionRobotBt` and `CollisionWorldBt`
+c) manually instantiate a `CollisionRobotBullet` and `CollisionWorldBullet`
 d) use rosparam to set the collision checker (preferred but not tested yet) when starting a new `move_group`
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
new file mode 100644
index 0000000000..385ed46f23
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
@@ -0,0 +1,106 @@
+/*********************************************************************
+ * Software License Agreement (Apache License)
+ *
+ * Copyright (c) 2013, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <Eigen/StdVector>
+#include <geometric_shapes/shapes.h>
+#include <unordered_map>
+#include <vector>
+#include <memory>
+#include <functional>
+#include <map>
+#include <moveit/collision_detection/collision_common.h>
+
+namespace collision_detection_bullet
+{
+template <typename T>
+using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
+
+template <typename Key, typename Value>
+using AlignedMap = std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+template <typename Key, typename Value>
+using AlignedUnorderedMap = std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>,
+                                               Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+/** @brief Checks if contact is allowed or not. Returns true if yes, otherwise false.
+ *
+ * The order of strings should not matter, the function should handled by the function. */
+typedef std::function<bool(const std::string&, const std::string&, const collision_detection::AllowedCollisionMatrix*)>
+    IsContactAllowedFn;
+
+enum class CollisionObjectType
+{
+  USE_SHAPE_TYPE = 0, /**< @brief Infer the type from the type specified in the shapes::Shape class */
+
+  // all of the following convert the meshes to custom collision objects
+  CONVEX_HULL = 1,  /**< @brief Use the mesh in shapes::Shape but make it a convex hulls collision object (if not convex
+                      it will be converted) */
+  MULTI_SPHERE = 2, /**< @brief Use the mesh and represent it by multiple spheres collision object */
+  SDF = 3           /**< @brief Use the mesh and rpresent it by a signed distance fields collision object */
+};
+
+/** \brief Bundles the data for a collision query */
+struct ContactTestData
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  ContactTestData(const std::vector<std::string>& active, const double& contact_distance, const IsContactAllowedFn& fn,
+                  collision_detection::CollisionResult& res, const collision_detection::CollisionRequest& req,
+                  const collision_detection::AllowedCollisionMatrix* acm)
+    : active(active)
+    , contact_distance(contact_distance)
+    , fn(fn)
+    , acm(acm)
+    , res(res)
+    , req(req)
+    , done(false)
+    , pair_done(false)
+  {
+  }
+
+  const std::vector<std::string>& active;
+
+  /** \brief If after a positive broadphase check the distance is below this threshold, a contact is added. */
+  const double& contact_distance;
+
+  /** \brief User defined function which checks if contact is allowed between two objects */
+  const IsContactAllowedFn& fn;
+
+  /** \brief Indicates collision objects which are allowed to be in contact */
+  const collision_detection::AllowedCollisionMatrix* acm;
+
+  collision_detection::CollisionResult& res;
+  const collision_detection::CollisionRequest& req;
+
+  /// Indicates if search is finished
+  bool done;
+
+  /// Indicates if search between a single pair is finished
+  bool pair_done;
+};
+
+}  // namespace collision_detection_bullet
+
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
new file mode 100644
index 0000000000..8067a160de
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
@@ -0,0 +1,191 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
+#include <moveit/macros/class_forward.h>
+
+namespace collision_detection_bullet
+{
+MOVEIT_CLASS_FORWARD(BulletDiscreteBVHManager)
+
+/** @brief A bounding volume hierarchy (BVH) implementaiton of a discrete bullet manager */
+class BulletDiscreteBVHManager
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** \brief Constructor */
+  BulletDiscreteBVHManager();
+
+  ~BulletDiscreteBVHManager();
+
+  /**@brief Clone the manager
+   *
+   * This is to be used for multi threaded applications. A user should make a clone for each thread. */
+  BulletDiscreteBVHManagerPtr clone() const;
+
+  /**@brief Add a object to the checker
+   * @param name            The name of the object, must be unique.
+   * @param mask_id         User defined id which gets stored in the results structure.
+   * @param shapes          A vector of shapes that make up the collision object.
+   * @param shape_poses     A vector of poses for each shape, must be same length as shapes
+   * @param shape_types     A vector of shape types for encode the collision object. If the vector is of length 1 it is
+   * used for all shapes.
+   * @param collision_object_types A int identifying a conversion mode for the object. (ex. convert meshes to convex
+   * hulls)
+   * @return true if successfully added, otherwise false. */
+  bool addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
+                          const std::vector<shapes::ShapeConstPtr>& shapes,
+                          const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                          const std::vector<CollisionObjectType>& collision_object_types, bool enabled = true);
+
+  /**@brief Find if a collision object already exists
+   * @param name The name of the collision object
+   * @return true if it exists, otherwise false. */
+  bool hasCollisionObject(const std::string& name) const;
+
+  /**@brief Remove an object from the checker
+   * @param name The name of the object
+   * @return true if successfully removed, otherwise false. */
+  bool removeCollisionObject(const std::string& name);
+
+  /**@brief Enable an object
+   * @param name The name of the object */
+  bool enableCollisionObject(const std::string& name);
+
+  /**@brief Disable an object
+   * @param name The name of the object */
+  bool disableCollisionObject(const std::string& name);
+
+  /**@brief Set a single collision object's tansform
+   * @param name The name of the object
+   * @param pose The tranformation in world */
+  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
+
+  /**@brief Set a single collision object's tansform
+   * @param name The name of the object
+   * @param pose The tranformation in world */
+  void setCollisionObjectsTransform(const std::string& name, const btTransform& pose);
+
+  /**@brief Set a series of collision objects' tranforms
+   * @param names The names of the object
+   * @param poses The tranformations in world */
+  void setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                    const AlignedVector<Eigen::Isometry3d>& poses);
+
+  /**@brief Set a series of collision objects' tranforms
+   * @param transforms A transform map <name, pose> */
+  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms);
+
+  /**@brief Set which collision objects can move
+   * @param names A vector of collision object names */
+  void setActiveCollisionObjects(const std::vector<std::string>& names);
+
+  /**@brief Get which collision objects can move
+   * @return A list of collision object names */
+  const std::vector<std::string>& getActiveCollisionObjects() const;
+
+  /**@brief Set the contact distance threshold for which collision should be considered.
+   * @param contact_distance The contact distance */
+  void setContactDistanceThreshold(double contact_distance);
+
+  /**@brief Get the contact distance threshold
+   * @return The contact distance */
+  double getContactDistanceThreshold() const;
+
+  /** @brief Set the active function for determining if two links are allowed to be in collision */
+  void setIsContactAllowedFn(IsContactAllowedFn fn);
+
+  /** @brief Get the active function for determining if two links are allowed to be in collision */
+  IsContactAllowedFn getIsContactAllowedFn() const;
+
+  /**@brief Perform a contact test for all objects in the manager
+   * @param collisions The Contact results data
+   * @param acm The allowed collision matrix
+   * @param req The contact request */
+  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
+                   const collision_detection::AllowedCollisionMatrix* acm);
+
+  /**@brief Perform a contact test for all objects in the manager and the external ones provided
+   * @param collisions The Contact results data
+   * @param req The contact request
+   * @param acm The allowed collision matrix
+   * @param req The contact request
+   * @param cows_external Objects to check which are not part of the manager */
+  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
+                   const collision_detection::AllowedCollisionMatrix* acm,
+                   const std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows_external);
+
+  /**@brief Add a bullet collision object to the manager
+  *  @param cow The bullet collision object */
+  void addCollisionObject(const CollisionObjectWrapperPtr& cow);
+
+  /**@brief Return collision objects
+   * @return A map of collision objects <name, collision object> */
+  const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
+
+private:
+  /** @brief A list of the active collision objects */
+  std::vector<std::string> active_;
+
+  /** @brief The contact distance threshold */
+  double contact_distance_;
+
+  /** @brief The is allowed collision function */
+  IsContactAllowedFn fn_;
+
+  /** @brief The bullet collision dispatcher used for getting object to object collison algorithm */
+  std::unique_ptr<btCollisionDispatcher> dispatcher_;
+
+  /** @brief The bullet collision dispatcher configuration information */
+  btDispatcherInfo dispatch_info_;
+
+  /** @brief The bullet collision configuration */
+  btDefaultCollisionConfiguration coll_config_;
+
+  /** @brief The bullet broadphase interface */
+  std::unique_ptr<btBroadphaseInterface> broadphase_;
+
+  /** @brief A map of all (static and active) collision objects being managed */
+  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
+
+  /**@brief Perform a contact test for the provided object which is not part of the manager
+   * @param cow The Collision object
+   * @param collisions The collision results */
+  void contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions);
+};
+}  // namespace collision_detection_bullet
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
new file mode 100644
index 0000000000..d6462ebefe
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -0,0 +1,803 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * Copyright (c) 2013, John Schulman
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: John Schulman, Levi Armstrong */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
+
+#include <btBulletCollisionCommon.h>
+#include <geometric_shapes/mesh_operations.h>
+#include <ros/console.h>
+
+#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
+#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/macros/declare_ptr.h>
+#include <moveit/macros/class_forward.h>
+
+namespace collision_detection_bullet
+{
+#define METERS
+
+const btScalar BULLET_MARGIN = 0.0f;
+const btScalar BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS;
+const btScalar BULLET_LENGTH_TOLERANCE = 0.001f METERS;
+const btScalar BULLET_EPSILON = 1e-3f;                   // numerical precision limit
+const btScalar BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f;  // All pairs closer than this distance get reported
+const bool BULLET_COMPOUND_USE_DYNAMIC_AABB = true;
+
+MOVEIT_CLASS_FORWARD(CollisionObjectWrapper)
+
+/** \brief Converts eigen vector to bullet vector */
+inline btVector3 convertEigenToBt(const Eigen::Vector3d& v)
+{
+  return btVector3(static_cast<btScalar>(v[0]), static_cast<btScalar>(v[1]), static_cast<btScalar>(v[2]));
+}
+
+/** \brief Converts bullet vector to eigen vector */
+inline Eigen::Vector3d convertBtToEigen(const btVector3& v)
+{
+  return Eigen::Vector3d(static_cast<double>(v.x()), static_cast<double>(v.y()), static_cast<double>(v.z()));
+}
+
+/** \brief Converts eigen quaternion to bullet quaternion */
+inline btQuaternion convertEigenToBt(const Eigen::Quaterniond& q)
+{
+  return btQuaternion(static_cast<btScalar>(q.x()), static_cast<btScalar>(q.y()), static_cast<btScalar>(q.z()),
+                      static_cast<btScalar>(q.w()));
+}
+
+/** \brief Converts eigen matrix to bullet matrix */
+inline btMatrix3x3 convertEigenToBt(const Eigen::Matrix3d& r)
+{
+  return btMatrix3x3(static_cast<btScalar>(r(0, 0)), static_cast<btScalar>(r(0, 1)), static_cast<btScalar>(r(0, 2)),
+                     static_cast<btScalar>(r(1, 0)), static_cast<btScalar>(r(1, 1)), static_cast<btScalar>(r(1, 2)),
+                     static_cast<btScalar>(r(2, 0)), static_cast<btScalar>(r(2, 1)), static_cast<btScalar>(r(2, 2)));
+}
+
+/** \brief Converts bullet transform to eigen transform */
+inline btTransform convertEigenToBt(const Eigen::Isometry3d& t)
+{
+  const Eigen::Matrix3d& rot = t.matrix().block<3, 3>(0, 0);
+  const Eigen::Vector3d& tran = t.translation();
+
+  btMatrix3x3 mat = convertEigenToBt(rot);
+  btVector3 translation = convertEigenToBt(tran);
+
+  return btTransform(mat, translation);
+}
+
+/** @brief Tesseract bullet collision object.
+ *
+ *  A wrapper around bullet's collision object which contains specific information related to bullet */
+class CollisionObjectWrapper : public btCollisionObject
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** \brief Standard constructor */
+  CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                         const std::vector<shapes::ShapeConstPtr>& shapes,
+                         const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                         const std::vector<CollisionObjectType>& collision_object_types);
+
+  /** \brief Constructor for attached robot objects */
+  CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                         const std::vector<shapes::ShapeConstPtr>& shapes,
+                         const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                         const std::vector<CollisionObjectType>& collision_object_types,
+                         const std::set<std::string>& touch_links);
+
+  /** \brief Bitfield specifies to which group the object belongs */
+  short int m_collision_filter_group;
+
+  /** \brief Bitfield specifies against which other groups the object is collision checked */
+  short int m_collision_filter_mask;
+
+  /** \brief Indicates if the collision object is used for a collision check */
+  bool m_enabled;
+
+  /** \brief The robot links the collision objects is allowed to touch */
+  std::set<std::string> m_touch_links;
+
+  /** @brief Get the collision object name */
+  const std::string& getName() const
+  {
+    return m_name;
+  }
+
+  /** @brief Get a user defined type */
+  const collision_detection::BodyType& getTypeID() const
+  {
+    return m_type_id;
+  }
+
+  /** \brief Check if two CollisionObjectWrapper objects point to the same source object
+   *  \return True if same objects, false otherwise */
+  bool sameObject(const CollisionObjectWrapper& other) const
+  {
+    return m_name == other.m_name && m_type_id == other.m_type_id && m_shapes.size() == other.m_shapes.size() &&
+           m_shape_poses.size() == other.m_shape_poses.size() &&
+           std::equal(m_shapes.begin(), m_shapes.end(), other.m_shapes.begin()) &&
+           std::equal(m_shape_poses.begin(), m_shape_poses.end(), other.m_shape_poses.begin(),
+                      [](const Eigen::Isometry3d& t1, const Eigen::Isometry3d& t2) { return t1.isApprox(t2); });
+  }
+
+  /** @brief Get the collision objects axis aligned bounding box
+   *  @param aabb_min The minimum point
+   *  @param aabb_max The maximum point */
+  void getAABB(btVector3& aabb_min, btVector3& aabb_max) const
+  {
+    getCollisionShape()->getAabb(getWorldTransform(), aabb_min, aabb_max);
+    const btScalar& d = getContactProcessingThreshold();
+    btVector3 contact_threshold(d, d, d);
+    aabb_min -= contact_threshold;
+    aabb_max += contact_threshold;
+  }
+
+  /** @brief Clones the collision objects but not the collision shape wich is const.
+   *  @return Shared Pointer to the cloned collision object */
+  std::shared_ptr<CollisionObjectWrapper> clone()
+  {
+    std::shared_ptr<CollisionObjectWrapper> clone_cow(
+        new CollisionObjectWrapper(m_name, m_type_id, m_shapes, m_shape_poses, m_collision_object_types, m_data));
+    clone_cow->setCollisionShape(getCollisionShape());
+    clone_cow->setWorldTransform(getWorldTransform());
+    clone_cow->m_collision_filter_group = m_collision_filter_group;
+    clone_cow->m_collision_filter_mask = m_collision_filter_mask;
+    clone_cow->m_enabled = m_enabled;
+    clone_cow->setBroadphaseHandle(nullptr);
+    clone_cow->m_touch_links = m_touch_links;
+    clone_cow->setContactProcessingThreshold(this->getContactProcessingThreshold());
+    return clone_cow;
+  }
+
+  /** \brief Manage memory of a raw pointer shape */
+  template <class T>
+  void manage(T* t)
+  {
+    m_data.push_back(std::shared_ptr<T>(t));
+  }
+
+  /** \brief Manage memory of a shared pointer shape */
+  template <class T>
+  void manage(std::shared_ptr<T> t)
+  {
+    m_data.push_back(t);
+  }
+
+protected:
+  /** @brief Special constructor used by the clone method */
+  CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                         const std::vector<shapes::ShapeConstPtr>& shapes,
+                         const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                         const std::vector<CollisionObjectType>& collision_object_types,
+                         const std::vector<std::shared_ptr<void>>& data);
+
+  std::string m_name;
+  collision_detection::BodyType m_type_id;
+
+  /** @brief The shapes that define the collison object */
+  std::vector<shapes::ShapeConstPtr> m_shapes;
+
+  /** @brief The poses of the shapes */
+  AlignedVector<Eigen::Isometry3d> m_shape_poses;
+
+  /** @brief The shape collision object type to be used */
+  std::vector<CollisionObjectType> m_collision_object_types;
+
+  /** @brief Manages the collision shape pointer so they get destroyed */
+  std::vector<std::shared_ptr<void>> m_data;
+};
+
+/** \brief Computes the local supporting vertex of a convex shape.
+ *
+ *  If multiple vertices with equal support products exists, their average is calculated and returned.
+ *
+ *  \param shape The convex shape to check
+ *  \param localNormal The support direction to search for in shape local coordinates
+ *  \param outsupport The value of the calculated support mapping
+ *  \param outpt The computed support point */
+inline void getAverageSupport(const btConvexShape* shape, const btVector3& localNormal, float& outsupport,
+                              btVector3& outpt)
+{
+  btVector3 pt_sum(0, 0, 0);
+  float pt_count = 0;
+  float max_support = -1000;
+
+  const btPolyhedralConvexShape* pshape = dynamic_cast<const btPolyhedralConvexShape*>(shape);
+  if (pshape)
+  {
+    int n_pts = pshape->getNumVertices();
+
+    for (int i = 0; i < n_pts; ++i)
+    {
+      btVector3 pt;
+      pshape->getVertex(i, pt);
+
+      float sup = pt.dot(localNormal);
+      if (sup > max_support + BULLET_EPSILON)
+      {
+        pt_count = 1;
+        pt_sum = pt;
+        max_support = sup;
+      }
+      else if (sup < max_support - BULLET_EPSILON)
+      {
+      }
+      else
+      {
+        pt_count += 1;
+        pt_sum += pt;
+      }
+    }
+    outsupport = max_support;
+    outpt = pt_sum / pt_count;
+  }
+  else
+  {
+    outpt = shape->localGetSupportingVertexWithoutMargin(localNormal);
+    outsupport = localNormal.dot(outpt);
+  }
+}
+
+/** @brief Check if a collision check is required between the provided collision objects
+ *  @param cow1 The first collision object
+ *  @param cow2 The second collision object
+ *  @param acm  The contact allowed function pointer
+ *  @param verbose Indicate if verbose information should be printed
+ *  @return True if the two collision objects should be checked for collision, otherwise false */
+inline bool needsCollisionCheck(const CollisionObjectWrapper& cow1, const CollisionObjectWrapper& cow2,
+                                const IsContactAllowedFn& allowed_fn,
+                                const collision_detection::AllowedCollisionMatrix* acm, bool verbose = false)
+{
+  if (!cow1.m_enabled)
+    return false;
+
+  if (!cow2.m_enabled)
+    return false;
+
+  if (!((cow2.m_collision_filter_group & cow1.m_collision_filter_mask) &&
+        (cow1.m_collision_filter_group & cow2.m_collision_filter_mask)))
+    return false;
+
+  if (isContactAllowed(cow1.getName(), cow2.getName(), allowed_fn, acm, verbose))
+    return false;
+
+  if (cow1.getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
+      cow2.getTypeID() == collision_detection::BodyType::ROBOT_LINK)
+    if (cow1.m_touch_links.find(cow2.getName()) != cow1.m_touch_links.end())
+      return false;
+
+  if (cow2.getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
+      cow1.getTypeID() == collision_detection::BodyType::ROBOT_LINK)
+    if (cow2.m_touch_links.find(cow1.getName()) == cow2.m_touch_links.end())
+      return false;
+
+  // TODO: Add check for two objects attached to the same link
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Checking collision btw " << cow1.getName() << " vs "
+                                                                                 << cow2.getName());
+
+  return true;
+}
+
+/** \brief Converts a bullet contact result to MoveIt format and adds it to the result data structure */
+inline btScalar addDiscreteSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,
+                                        const btCollisionObjectWrapper* colObj1Wrap, ContactTestData& collisions)
+{
+  assert(dynamic_cast<const CollisionObjectWrapper*>(colObj0Wrap->getCollisionObject()) != nullptr);
+  assert(dynamic_cast<const CollisionObjectWrapper*>(colObj1Wrap->getCollisionObject()) != nullptr);
+  const CollisionObjectWrapper* cd0 = static_cast<const CollisionObjectWrapper*>(colObj0Wrap->getCollisionObject());
+  const CollisionObjectWrapper* cd1 = static_cast<const CollisionObjectWrapper*>(colObj1Wrap->getCollisionObject());
+
+  std::pair<std::string, std::string> pc = getObjectPairKey(cd0->getName(), cd1->getName());
+
+  const auto& it = collisions.res.contacts.find(pc);
+  bool found = (it != collisions.res.contacts.end());
+
+  collision_detection::Contact contact;
+  contact.body_name_1 = cd0->getName();
+  contact.body_name_2 = cd1->getName();
+  contact.depth = static_cast<double>(cp.m_distance1);
+  contact.normal = convertBtToEigen(-1 * cp.m_normalWorldOnB);
+  contact.pos = convertBtToEigen(cp.m_positionWorldOnA);
+  contact.nearest_points[0] = contact.pos;
+  contact.nearest_points[1] = convertBtToEigen(cp.m_positionWorldOnB);
+
+  contact.body_type_1 = cd0->getTypeID();
+  contact.body_type_2 = cd0->getTypeID();
+
+  if (!processResult(collisions, contact, pc, found))
+  {
+    return 0;
+  }
+
+  return 1;
+}
+
+/** \brief Processes a contact point */
+struct TesseractBridgedManifoldResult : public btManifoldResult
+{
+  btCollisionWorld::ContactResultCallback& m_resultCallback;
+
+  TesseractBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap,
+                                 btCollisionWorld::ContactResultCallback& resultCallback)
+    : btManifoldResult(obj0Wrap, obj1Wrap), m_resultCallback(resultCallback)
+  {
+  }
+
+  void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) override
+  {
+    bool is_swapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+    btVector3 point_a = pointInWorld + normalOnBInWorld * depth;
+    btVector3 local_a;
+    btVector3 local_b;
+    if (is_swapped)
+    {
+      local_a = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
+      local_b = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
+    }
+    else
+    {
+      local_a = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
+      local_b = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
+    }
+
+    btManifoldPoint new_pt(local_a, local_b, normalOnBInWorld, depth);
+    new_pt.m_positionWorldOnA = point_a;
+    new_pt.m_positionWorldOnB = pointInWorld;
+
+    // BP mod, store contact triangles.
+    if (is_swapped)
+    {
+      new_pt.m_partId0 = m_partId1;
+      new_pt.m_partId1 = m_partId0;
+      new_pt.m_index0 = m_index1;
+      new_pt.m_index1 = m_index0;
+    }
+    else
+    {
+      new_pt.m_partId0 = m_partId0;
+      new_pt.m_partId1 = m_partId1;
+      new_pt.m_index0 = m_index0;
+      new_pt.m_index1 = m_index1;
+    }
+
+    // experimental feature info, for per-triangle material etc.
+    const btCollisionObjectWrapper* obj0_wrap = is_swapped ? m_body1Wrap : m_body0Wrap;
+    const btCollisionObjectWrapper* obj1_wrap = is_swapped ? m_body0Wrap : m_body1Wrap;
+    m_resultCallback.addSingleResult(new_pt, obj0_wrap, new_pt.m_partId0, new_pt.m_index0, obj1_wrap, new_pt.m_partId1,
+                                     new_pt.m_index1);
+  }
+};
+
+/** @brief Abstract interface for both discrete and continuous reporting of contact points */
+struct BroadphaseContactResultCallback
+{
+  ContactTestData& collisions_;
+  double contact_distance_;
+  bool verbose_;
+
+  BroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
+    : collisions_(collisions), contact_distance_(contact_distance), verbose_(verbose)
+  {
+  }
+
+  virtual ~BroadphaseContactResultCallback() = default;
+
+  virtual bool needsCollision(const CollisionObjectWrapper* cow0, const CollisionObjectWrapper* cow1) const
+  {
+    return !collisions_.done && needsCollisionCheck(*cow0, *cow1, collisions_.fn, collisions_.acm, verbose_);
+  }
+
+  virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0,
+                                   int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1,
+                                   int index1) = 0;
+};
+
+/** \brief addSingleResult of this struct is called each time the broadphase check indicates a collision. */
+struct DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultCallback
+{
+  DiscreteBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
+    : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
+  {
+  }
+
+  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
+                           int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
+                           int /*index1*/) override
+  {
+    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
+      return 0;
+    }
+
+    return addDiscreteSingleResult(cp, colObj0Wrap, colObj1Wrap, collisions_);
+  }
+};
+
+/** \brief Processes a contact point */
+struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
+{
+  BroadphaseContactResultCallback& result_callback_;
+
+  TesseractBroadphaseBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap,
+                                           const btCollisionObjectWrapper* obj1Wrap,
+                                           BroadphaseContactResultCallback& result_callback)
+    : btManifoldResult(obj0Wrap, obj1Wrap), result_callback_(result_callback)
+  {
+  }
+
+  void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) override
+  {
+    if (result_callback_.collisions_.done || result_callback_.collisions_.pair_done ||
+        depth > static_cast<btScalar>(result_callback_.contact_distance_))
+    {
+      return;
+    }
+
+    bool is_swapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+    btVector3 point_a = pointInWorld + normalOnBInWorld * depth;
+    btVector3 local_a;
+    btVector3 local_b;
+    if (is_swapped)
+    {
+      local_a = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
+      local_b = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
+    }
+    else
+    {
+      local_a = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
+      local_b = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
+    }
+
+    btManifoldPoint new_pt(local_a, local_b, normalOnBInWorld, depth);
+    new_pt.m_positionWorldOnA = point_a;
+    new_pt.m_positionWorldOnB = pointInWorld;
+
+    // BP mod, store contact triangles.
+    if (is_swapped)
+    {
+      new_pt.m_partId0 = m_partId1;
+      new_pt.m_partId1 = m_partId0;
+      new_pt.m_index0 = m_index1;
+      new_pt.m_index1 = m_index0;
+    }
+    else
+    {
+      new_pt.m_partId0 = m_partId0;
+      new_pt.m_partId1 = m_partId1;
+      new_pt.m_index0 = m_index0;
+      new_pt.m_index1 = m_index1;
+    }
+
+    // experimental feature info, for per-triangle material etc.
+    const btCollisionObjectWrapper* obj0_wrap = is_swapped ? m_body1Wrap : m_body0Wrap;
+    const btCollisionObjectWrapper* obj1_wrap = is_swapped ? m_body0Wrap : m_body1Wrap;
+    result_callback_.addSingleResult(new_pt, obj0_wrap, new_pt.m_partId0, new_pt.m_index0, obj1_wrap, new_pt.m_partId1,
+                                     new_pt.m_index1);
+  }
+};
+
+/** @brief Check a collision object not in the broadphase to the broadphase which may eventually be exposed.
+ *
+ *  This is copied directly out of BulletWorld */
+struct TesseractSingleContactCallback : public btBroadphaseAabbCallback
+{
+  btCollisionObject* m_collisionObject;    /**< @brief The bullet collision object */
+  btCollisionDispatcher* m_dispatcher;     /**< @brief The bullet collision dispatcher used for getting object to object
+                                              collison algorithm */
+  const btDispatcherInfo& m_dispatch_info; /**< @brief The bullet collision dispatcher configuration information */
+  btCollisionWorld::ContactResultCallback& m_resultCallback;
+
+  TesseractSingleContactCallback(btCollisionObject* collisionObject, btCollisionDispatcher* dispatcher,
+                                 const btDispatcherInfo& dispatch_info,
+                                 btCollisionWorld::ContactResultCallback& resultCallback)
+    : m_collisionObject(collisionObject)
+    , m_dispatcher(dispatcher)
+    , m_dispatch_info(dispatch_info)
+    , m_resultCallback(resultCallback)
+  {
+  }
+
+  bool process(const btBroadphaseProxy* proxy) override
+  {
+    btCollisionObject* collision_object = static_cast<btCollisionObject*>(proxy->m_clientObject);
+    if (collision_object == m_collisionObject)
+      return true;
+
+    if (m_resultCallback.needsCollision(collision_object->getBroadphaseHandle()))
+    {
+      btCollisionObjectWrapper ob0(nullptr, m_collisionObject->getCollisionShape(), m_collisionObject,
+                                   m_collisionObject->getWorldTransform(), -1, -1);
+      btCollisionObjectWrapper ob1(nullptr, collision_object->getCollisionShape(), collision_object,
+                                   collision_object->getWorldTransform(), -1, -1);
+
+      btCollisionAlgorithm* algorithm = m_dispatcher->findAlgorithm(&ob0, &ob1, nullptr, BT_CLOSEST_POINT_ALGORITHMS);
+      if (algorithm)
+      {
+        TesseractBridgedManifoldResult contact_point_result(&ob0, &ob1, m_resultCallback);
+        contact_point_result.m_closestPointDistanceThreshold = m_resultCallback.m_closestDistanceThreshold;
+
+        // discrete collision detection query
+        algorithm->processCollision(&ob0, &ob1, m_dispatch_info, &contact_point_result);
+
+        algorithm->~btCollisionAlgorithm();
+        m_dispatcher->freeCollisionAlgorithm(algorithm);
+      }
+    }
+    return true;
+  }
+};
+
+/** @brief A callback function that is called as part of the broadphase collision checking.
+ *
+ *  If the AABB of two collision objects are overlapping the processOverlap method is called and they are checked for
+ *  collision/distance and the results are stored in collision_. */
+class TesseractCollisionPairCallback : public btOverlapCallback
+{
+  const btDispatcherInfo& dispatch_info_;
+  btCollisionDispatcher* dispatcher_;
+  BroadphaseContactResultCallback& results_callback_;
+
+public:
+  TesseractCollisionPairCallback(const btDispatcherInfo& dispatchInfo, btCollisionDispatcher* dispatcher,
+                                 BroadphaseContactResultCallback& results_callback)
+    : dispatch_info_(dispatchInfo), dispatcher_(dispatcher), results_callback_(results_callback)
+  {
+  }
+
+  ~TesseractCollisionPairCallback() override = default;
+
+  bool processOverlap(btBroadphasePair& pair) override
+  {
+    results_callback_.collisions_.pair_done = false;
+
+    if (results_callback_.collisions_.done)
+    {
+      return false;
+    }
+
+    const CollisionObjectWrapper* cow0 = static_cast<const CollisionObjectWrapper*>(pair.m_pProxy0->m_clientObject);
+    const CollisionObjectWrapper* cow1 = static_cast<const CollisionObjectWrapper*>(pair.m_pProxy1->m_clientObject);
+
+    std::pair<std::string, std::string> pair_names{ cow0->getName(), cow1->getName() };
+    ROS_DEBUG_STREAM("Processing " << cow0->getName() << " vs " << cow1->getName());
+
+    if (results_callback_.needsCollision(cow0, cow1))
+    {
+      btCollisionObjectWrapper obj0_wrap(nullptr, cow0->getCollisionShape(), cow0, cow0->getWorldTransform(), -1, -1);
+      btCollisionObjectWrapper obj1_wrap(nullptr, cow1->getCollisionShape(), cow1, cow1->getWorldTransform(), -1, -1);
+
+      // dispatcher will keep algorithms persistent in the collision pair
+      if (!pair.m_algorithm)
+      {
+        pair.m_algorithm = dispatcher_->findAlgorithm(&obj0_wrap, &obj1_wrap, nullptr, BT_CLOSEST_POINT_ALGORITHMS);
+      }
+
+      if (pair.m_algorithm)
+      {
+        TesseractBroadphaseBridgedManifoldResult contact_point_result(&obj0_wrap, &obj1_wrap, results_callback_);
+        contact_point_result.m_closestPointDistanceThreshold =
+            static_cast<btScalar>(results_callback_.contact_distance_);
+
+        // discrete collision detection query
+        pair.m_algorithm->processCollision(&obj0_wrap, &obj1_wrap, dispatch_info_, &contact_point_result);
+      }
+    }
+    return false;
+  }
+};
+
+/** \brief Casts a geometric shape into a btCollisionShape */
+btCollisionShape* createShapePrimitive(const shapes::ShapeConstPtr& geom,
+                                       const CollisionObjectType& collision_object_type, CollisionObjectWrapper* cow);
+
+/** @brief Update a collision objects filters
+ *  @param active A list of active collision objects
+ *  @param cow The collision object to update.
+ *  @param continuous Indicate if the object is a continuous collision object.
+ *
+ *  Currently continuous collision objects can only be checked against static objects. Continuous to Continuous
+ *  collision checking is currently not supports. TODO LEVI: Add support for Continuous to Continuous collision
+ *  checking. */
+inline void updateCollisionObjectFilters(const std::vector<std::string>& active, CollisionObjectWrapper& cow,
+                                         bool continuous)
+{
+  cow.m_collision_filter_group = btBroadphaseProxy::KinematicFilter;
+
+  if (!isLinkActive(active, cow.getName()))
+  {
+    cow.m_collision_filter_group = btBroadphaseProxy::StaticFilter;
+  }
+
+  if (cow.m_collision_filter_group == btBroadphaseProxy::StaticFilter)
+  {
+    cow.m_collision_filter_mask = btBroadphaseProxy::KinematicFilter;
+  }
+  else
+  {
+    (continuous) ? (cow.m_collision_filter_mask = btBroadphaseProxy::StaticFilter) :
+                   (cow.m_collision_filter_mask = btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter);
+  }
+
+  if (cow.getBroadphaseHandle())
+  {
+    cow.getBroadphaseHandle()->m_collisionFilterGroup = cow.m_collision_filter_group;
+    cow.getBroadphaseHandle()->m_collisionFilterMask = cow.m_collision_filter_mask;
+  }
+}
+
+/** \brief Wrapper around constructing a CollisionObjectWrapper */
+inline CollisionObjectWrapperPtr createCollisionObject(const std::string& name,
+                                                       const collision_detection::BodyType& type_id,
+                                                       const std::vector<shapes::ShapeConstPtr>& shapes,
+                                                       const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                                       const std::vector<CollisionObjectType>& collision_object_types,
+                                                       bool enabled = true)
+{
+  // dont add object that does not have geometry
+  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size()))
+  {
+    ROS_DEBUG_NAMED("collision_detection.bullet", "ignoring link %s", name.c_str());
+    return nullptr;
+  }
+
+  CollisionObjectWrapperPtr new_cow(
+      new CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types));
+
+  new_cow->m_enabled = enabled;
+  new_cow->setContactProcessingThreshold(BULLET_DEFAULT_CONTACT_DISTANCE);
+
+  ROS_DEBUG_NAMED("collision_detection.bullet", "Created collision object for link %s", new_cow->getName().c_str());
+  return new_cow;
+}
+
+// TODO: Unify with other createCollisionObject functions
+/** \brief Wrapper around constructing a CollisionObjectWrapper for attached objects */
+inline CollisionObjectWrapperPtr createCollisionObject(const std::string& name,
+                                                       const collision_detection::BodyType& type_id,
+                                                       const std::vector<shapes::ShapeConstPtr>& shapes,
+                                                       const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                                       const std::vector<CollisionObjectType>& collision_object_types,
+                                                       const std::set<std::string>& touch_links, bool enabled = true)
+{
+  // dont add object that does not have geometry
+  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size()))
+  {
+    ROS_DEBUG_NAMED("collision_detection.bullet", "ignoring link %s", name.c_str());
+    return nullptr;
+  }
+
+  CollisionObjectWrapperPtr new_cow(
+      new CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types, touch_links));
+
+  new_cow->m_enabled = enabled;
+  new_cow->setContactProcessingThreshold(BULLET_DEFAULT_CONTACT_DISTANCE);
+
+  ROS_DEBUG_NAMED("collision_detection.bullet", "Created collision object for link %s", new_cow->getName().c_str());
+  return new_cow;
+}
+
+/** \brief Processes a contact after positive broadphase check */
+struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallback
+{
+  ContactTestData& collisions_;
+  const CollisionObjectWrapperPtr cow_;
+  double contact_distance_;
+  bool verbose_;
+
+  DiscreteCollisionCollector(ContactTestData& collisions, const CollisionObjectWrapperPtr& cow, double contact_distance,
+                             bool verbose = false)
+    : collisions_(collisions), cow_(cow), contact_distance_(contact_distance), verbose_(verbose)
+  {
+    m_closestDistanceThreshold = static_cast<btScalar>(contact_distance);
+    m_collisionFilterGroup = cow->m_collision_filter_group;
+    m_collisionFilterMask = cow->m_collision_filter_mask;
+  }
+
+  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
+                           int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
+                           int /*index1*/) override
+  {
+    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
+      return 0;
+    }
+
+    return addDiscreteSingleResult(cp, colObj0Wrap, colObj1Wrap, collisions_);
+  }
+
+  bool needsCollision(btBroadphaseProxy* proxy0) const override
+  {
+    return !collisions_.done &&
+           needsCollisionCheck(*cow_, *(static_cast<CollisionObjectWrapper*>(proxy0->m_clientObject)), collisions_.fn,
+                               collisions_.acm, verbose_);
+  }
+};
+
+/** @brief Update the Broadphase AABB for the input collision object
+ *  @param cow The collision objects
+ *  @param broadphase The bullet broadphase interface
+ *  @param dispatcher The bullet collision dispatcher */
+inline void updateBroadphaseAABB(const CollisionObjectWrapperPtr& cow,
+                                 const std::unique_ptr<btBroadphaseInterface>& broadphase,
+                                 const std::unique_ptr<btCollisionDispatcher>& dispatcher)
+{
+  btVector3 aabb_min, aabb_max;
+  cow->getAABB(aabb_min, aabb_max);
+
+  // Update the broadphase aabb
+  assert(cow->getBroadphaseHandle() != nullptr);
+  broadphase->setAabb(cow->getBroadphaseHandle(), aabb_min, aabb_max, dispatcher.get());
+}
+
+/** @brief Remove the collision object from broadphase
+ *  @param cow The collision objects
+ *  @param broadphase The bullet broadphase interface
+ *  @param dispatcher The bullet collision dispatcher */
+inline void removeCollisionObjectFromBroadphase(const CollisionObjectWrapperPtr& cow,
+                                                const std::unique_ptr<btBroadphaseInterface>& broadphase,
+                                                const std::unique_ptr<btCollisionDispatcher>& dispatcher)
+{
+  btBroadphaseProxy* bp = cow->getBroadphaseHandle();
+  if (bp)
+  {
+    // only clear the cached algorithms
+    broadphase->getOverlappingPairCache()->cleanProxyFromPairs(bp, dispatcher.get());
+    broadphase->destroyProxy(bp, dispatcher.get());
+    cow->setBroadphaseHandle(nullptr);
+  }
+}
+
+/** @brief Add the collision object to broadphase
+ *  @param cow The collision objects
+ *  @param broadphase The bullet broadphase interface
+ *  @param dispatcher The bullet collision dispatcher */
+inline void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr& cow,
+                                           const std::unique_ptr<btBroadphaseInterface>& broadphase,
+                                           const std::unique_ptr<btCollisionDispatcher>& dispatcher)
+{
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Added " << cow->getName() << " to broadphase");
+  btVector3 aabb_min, aabb_max;
+  cow->getAABB(aabb_min, aabb_max);
+
+  // Add the active collision object to the broadphase
+  int type = cow->getCollisionShape()->getShapeType();
+  cow->setBroadphaseHandle(broadphase->createProxy(aabb_min, aabb_max, type, cow.get(), cow->m_collision_filter_group,
+                                                   cow->m_collision_filter_mask, dispatcher.get()));
+}
+}  // namespace collision_detection_bullet
+#endif  //  MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
new file mode 100644
index 0000000000..b4929e6dfb
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
@@ -0,0 +1,271 @@
+/*********************************************************************
+ * Software License Agreement (Apache License)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
+
+#include <LinearMath/btConvexHullComputer.h>
+#include <cstdio>
+#include <Eigen/Geometry>
+#include <fstream>
+
+#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_matrix.h>
+
+namespace collision_detection_bullet
+{
+/**
+ * @brief Get a key for two object to search the collision matrix
+ * @param obj1 First collision object name
+ * @param obj2 Second collision object name
+ * @return The collision pair key
+ */
+inline std::pair<std::string, std::string> getObjectPairKey(const std::string& obj1, const std::string& obj2)
+{
+  return obj1 < obj2 ? std::make_pair(obj1, obj2) : std::make_pair(obj2, obj1);
+}
+
+/**
+ * @brief This will check if a link is active provided a list. If the list is empty the link is considered active.
+ * @param active List of active link names
+ * @param name The name of link to check if it is active.
+ */
+inline bool isLinkActive(const std::vector<std::string>& active, const std::string& name)
+{
+  return active.empty() || (std::find(active.begin(), active.end(), name) != active.end());
+}
+
+/**
+ * @brief Determine if contact is allowed between two objects.
+ * @param name1 The name of the first object
+ * @param name2 The name of the second object
+ * @param acm The contact allowed function
+ * @param verbose If true print debug informaton
+ * @return True if contact is allowed between the two object, otherwise false.
+ */
+inline bool isContactAllowed(const std::string& name1, const std::string& name2, const IsContactAllowedFn& acm_fn,
+                             const collision_detection::AllowedCollisionMatrix* acm, bool verbose = false)
+{
+  // do not distance check geoms part of the same object / link / attached body
+  if (name1 == name2)
+    return true;
+
+  if (acm_fn != nullptr && acm_fn(name1, name2, acm))
+  {
+    if (verbose)
+    {
+      ROS_DEBUG_NAMED("collision_detection.bullet",
+                      "Collision between '%s' and '%s' is allowed. No contacts are computed.", name1.c_str(),
+                      name2.c_str());
+    }
+    return true;
+  }
+
+  if (verbose)
+  {
+    ROS_DEBUG_NAMED("collision_detection.bullet", "Actually checking collisions between %s and %s", name1.c_str(),
+                    name2.c_str());
+  }
+
+  return false;
+}
+
+/** \brief Stores a single contact result in the requested way.
+*   \param found Indicates if a contact for this pair of objects has already been found
+*   \return Pointer to the newly inserted contact */
+inline collision_detection::Contact* processResult(ContactTestData& cdata, collision_detection::Contact& contact,
+                                                   const std::pair<std::string, std::string>& key, bool found)
+{
+  // add deepest penetration / smallest distance to result
+  if (cdata.req.distance)
+  {
+    if (contact.depth < cdata.res.distance)
+    {
+      cdata.res.distance = contact.depth;
+    }
+  }
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Contact btw " << key.first << " and " << key.second
+                                                                      << " dist: " << contact.depth);
+  if (!found)
+  {
+    cdata.res.collision = true;
+    std::vector<collision_detection::Contact> data;
+    if (!cdata.req.contacts)
+    {
+      cdata.done = true;
+      return nullptr;
+    }
+    else
+    {
+      data.reserve(cdata.req.max_contacts_per_pair);
+      data.emplace_back(contact);
+      cdata.res.contact_count++;
+    }
+
+    if (cdata.res.contact_count >= cdata.req.max_contacts)
+    {
+      cdata.done = true;
+    }
+
+    if (cdata.req.max_contacts_per_pair == 1u)
+    {
+      cdata.pair_done = true;
+    }
+
+    return &(cdata.res.contacts.insert(std::make_pair(key, data)).first->second.back());
+  }
+  else
+  {
+    std::vector<collision_detection::Contact>& dr = cdata.res.contacts[key];
+    dr.emplace_back(contact);
+    cdata.res.contact_count++;
+
+    if (dr.size() >= cdata.req.max_contacts_per_pair)
+    {
+      cdata.pair_done = true;
+    }
+
+    if (cdata.res.contact_count >= cdata.req.max_contacts)
+    {
+      cdata.done = true;
+    }
+
+    return &(dr.back());
+  }
+
+  return nullptr;
+}
+
+/**
+ * @brief Create a convex hull from vertices using Bullet Convex Hull Computer
+ * @param (Output) vertices A vector of vertices
+ * @param (Output) faces The first values indicates the number of vertices that define the face followed by the vertice
+ * index
+ * @param (input) input A vector of point to create a convex hull from
+ * @param (input) shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length
+ *                units towards the center along its normal).
+ * @param (input) shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where
+ *                "innerRadius" is the minimum distance of a face to the center of the convex hull.
+ * @return The number of faces. If less than zero an error occured when trying to create the convex hull
+ */
+inline int createConvexHull(AlignedVector<Eigen::Vector3d>& vertices, std::vector<int>& faces,
+                            const AlignedVector<Eigen::Vector3d>& input, double shrink = -1, double shrinkClamp = -1)
+{
+  vertices.clear();
+  faces.clear();
+
+  btConvexHullComputer conv;
+  btAlignedObjectArray<btVector3> points;
+  points.reserve(static_cast<int>(input.size()));
+  for (const Eigen::Vector3d& v : input)
+  {
+    points.push_back(btVector3(static_cast<btScalar>(v[0]), static_cast<btScalar>(v[1]), static_cast<btScalar>(v[2])));
+  }
+
+  btScalar val = conv.compute(&points[0].getX(), sizeof(btVector3), points.size(), static_cast<btScalar>(shrink),
+                              static_cast<btScalar>(shrinkClamp));
+  if (val < 0)
+  {
+    ROS_ERROR("Failed to create convex hull");
+    return -1;
+  }
+
+  int num_verts = conv.vertices.size();
+  vertices.reserve(static_cast<size_t>(num_verts));
+  for (int i = 0; i < num_verts; i++)
+  {
+    btVector3& v = conv.vertices[i];
+    vertices.push_back(Eigen::Vector3d(v.getX(), v.getY(), v.getZ()));
+  }
+
+  int num_faces = conv.faces.size();
+  faces.reserve(static_cast<size_t>(3 * num_faces));
+  for (int i = 0; i < num_faces; i++)
+  {
+    std::vector<int> face;
+    face.reserve(3);
+
+    const btConvexHullComputer::Edge* source_edge = &(conv.edges[conv.faces[i]]);
+    int a = source_edge->getSourceVertex();
+    face.push_back(a);
+
+    int b = source_edge->getTargetVertex();
+    face.push_back(b);
+
+    const btConvexHullComputer::Edge* edge = source_edge->getNextEdgeOfFace();
+    int c = edge->getTargetVertex();
+    face.push_back(c);
+
+    edge = edge->getNextEdgeOfFace();
+    c = edge->getTargetVertex();
+    while (c != a)
+    {
+      face.push_back(c);
+
+      edge = edge->getNextEdgeOfFace();
+      c = edge->getTargetVertex();
+    }
+    faces.push_back(static_cast<int>(face.size()));
+    faces.insert(faces.end(), face.begin(), face.end());
+  }
+
+  return num_faces;
+}
+
+inline bool allowedCollisionCheck(const std::string& body_1, const std::string& body_2,
+                                  const collision_detection::AllowedCollisionMatrix* acm)
+{
+  collision_detection::AllowedCollision::Type allowed_type;
+
+  if (acm != nullptr)
+  {
+    if (acm->getEntry(body_1, body_2, allowed_type))
+    {
+      if (allowed_type == collision_detection::AllowedCollision::Type::NEVER)
+      {
+        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not allowed entry in ACM found, collision check between "
+                                                                 << body_1 << " and " << body_2);
+        return false;
+      }
+      else
+      {
+        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Entry in ACM found, skipping collision check as allowed "
+                                                                 << body_1 << " and " << body_2);
+        return true;
+      }
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
+                                                               << body_1 << " and " << body_2);
+      return false;
+    }
+  }
+  else
+  {
+    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
+                                                                                            << body_2);
+    return false;
+  }
+}
+}  // namespace collision_detection_bullet
+
+#endif  //  MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
new file mode 100644
index 0000000000..c192b86df9
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
@@ -0,0 +1,109 @@
+/*********************************************************************
+ * Software License Agreement (Apache License)
+ *
+ * Copyright (c) 2018, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
+
+#include <octomap_msgs/conversions.h>
+#include <geometric_shapes/shape_messages.h>
+#include <geometric_shapes/shapes.h>
+#include <geometric_shapes/shape_operations.h>
+#include <ros/console.h>
+
+#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
+
+namespace collision_detection_bullet
+{
+/** \brief Recursively traverses robot from root to get all active links
+*
+*   \param active_links Stores the active links
+*   \param urdf_link The current urdf link representation
+*   \param active Indicates if link is considered active */
+static inline void getActiveLinkNamesRecursive(std::vector<std::string>& active_links,
+                                               const urdf::LinkConstSharedPtr& urdf_link, bool active)
+{
+  if (active)
+  {
+    active_links.push_back(urdf_link->name);
+    for (const auto& child_link : urdf_link->child_links)
+    {
+      getActiveLinkNamesRecursive(active_links, child_link, active);
+    }
+  }
+  else
+  {
+    for (std::size_t i = 0; i < urdf_link->child_links.size(); ++i)
+    {
+      const urdf::LinkConstSharedPtr child_link = urdf_link->child_links[i];
+      if ((child_link->parent_joint) && (child_link->parent_joint->type != urdf::Joint::FIXED))
+        getActiveLinkNamesRecursive(active_links, child_link, true);
+      else
+        getActiveLinkNamesRecursive(active_links, child_link, active);
+    }
+  }
+}
+
+inline shapes::ShapePtr constructShape(const urdf::Geometry* geom)
+{
+  shapes::Shape* result = nullptr;
+  switch (geom->type)
+  {
+    case urdf::Geometry::SPHERE:
+      result = new shapes::Sphere(static_cast<const urdf::Sphere*>(geom)->radius);
+      break;
+    case urdf::Geometry::BOX:
+    {
+      urdf::Vector3 dim = static_cast<const urdf::Box*>(geom)->dim;
+      result = new shapes::Box(dim.x, dim.y, dim.z);
+    }
+    break;
+    case urdf::Geometry::CYLINDER:
+      result = new shapes::Cylinder(static_cast<const urdf::Cylinder*>(geom)->radius,
+                                    static_cast<const urdf::Cylinder*>(geom)->length);
+      break;
+    case urdf::Geometry::MESH:
+    {
+      const urdf::Mesh* mesh = static_cast<const urdf::Mesh*>(geom);
+      if (!mesh->filename.empty())
+      {
+        Eigen::Vector3d scale(mesh->scale.x, mesh->scale.y, mesh->scale.z);
+        shapes::Mesh* m = shapes::createMeshFromResource(mesh->filename, scale);
+        result = m;
+      }
+    }
+    break;
+    default:
+      ROS_ERROR("Unknown geometry type: %d", static_cast<int>(geom->type));
+      break;
+  }
+
+  return shapes::ShapePtr(result);
+}
+
+inline Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose)
+{
+  Eigen::Quaterniond q(pose.rotation.w, pose.rotation.x, pose.rotation.y, pose.rotation.z);
+  Eigen::Isometry3d result;
+  result.translation() = Eigen::Vector3d(pose.position.x, pose.position.y, pose.position.z);
+  result.linear() = q.toRotationMatrix();
+  return result;
+}
+}  // namespace collision_detection_bullet
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
similarity index 76%
rename from moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h
rename to moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
index b914e8c2a5..513bea0e16 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
@@ -34,22 +34,23 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_BT_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_BT_H_
+#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
+#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_detection_bullet/collision_robot_bt.h>
-#include <moveit/collision_detection_bullet/collision_world_bt.h>
+#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
+#include <moveit/collision_detection_bullet/collision_world_bullet.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
-class CollisionDetectorAllocatorBt
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldBt, CollisionRobotBt, CollisionDetectorAllocatorBt>
+class CollisionDetectorAllocatorBullet
+    : public CollisionDetectorAllocatorTemplate<CollisionWorldBullet, CollisionRobotBullet,
+                                                CollisionDetectorAllocatorBullet>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_bt.cpp
+  static const std::string NAME;  // defined in collision_world_bullet.cpp
 };
-}
+}  // namespace collision_detection
 
-#endif
+#endif  // MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
similarity index 84%
rename from moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h
rename to moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
index d60a29ce64..76182e582c 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
@@ -34,18 +34,18 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
-#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
 
 #include <moveit/collision_detection/collision_plugin.h>
-#include <moveit/collision_detection_bullet/collision_detector_allocator_bt.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
 
 namespace collision_detection
 {
 class CollisionDetectorBtPluginLoader : public CollisionPlugin
 {
 public:
-  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const;
+  bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
 };
 }
-#endif  // MOVEIT_COLLISION_DETECTION_BT_COLLISION_DETECTOR_BT_PLUGIN_LOADER_H_
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
similarity index 69%
rename from moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h
rename to moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
index a0aadf4b4a..de04d45100 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bt.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
@@ -34,21 +34,22 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_ROBOT_
-#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_ROBOT_
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
 
-#include <moveit/collision_detection_bullet/collision_common.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
+#include <moveit/collision_detection/collision_robot.h>
 
 namespace collision_detection
 {
-class CollisionRobotBt : public CollisionRobot
+class CollisionRobotBullet : public CollisionRobot
 {
-  friend class CollisionWorldBt;
+  friend class CollisionWorldBullet;
 
 public:
-  CollisionRobotBt(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
+  CollisionRobotBullet(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
 
-  CollisionRobotBt(const CollisionRobotBt& other);
+  CollisionRobotBullet(const CollisionRobotBullet& other);
 
   void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                           const robot_state::RobotState& state) const override;
@@ -81,14 +82,38 @@ class CollisionRobotBt : public CollisionRobot
                      const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
 
 protected:
+  /** \brief Updates the poses of the objects in the manager according to given robot state */
+  void updateTransformsFromState(const robot_state::RobotState& state,
+                                 const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const;
+
+  /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
+   */
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
+  /** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
+  void addAttachedOjects(const robot_state::RobotState& state,
+                         std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
+
+  /** \brief Bundles the different checkSelfCollision functions into a single function */
   void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
                                 const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Bundles the different continuous checkSelfCollision functions into a single function */
+  void checkSelfCollisionCCDHelper(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Bundles the different checkOtherCollision functions into a single function */
   void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state, const CollisionRobot& other_robot,
                                  const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Construts a bullet collision object out of a robot link */
+  void addLinkAsCollisionObjectWrapper(const urdf::LinkSharedPtr& link);
+
+  /** \brief Handles all self collision checks */
+  collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
 };
-}
+}  // namespace collision_detection
 
-#endif
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
similarity index 66%
rename from moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h
rename to moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
index fb614b3c18..ea8473d3dc 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bt.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
@@ -34,20 +34,26 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_WORLD_BT_
-#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_WORLD_BT_
+#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
+#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
 
-#include <moveit/collision_detection_bullet/collision_robot_bt.h>
+#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
+#include <moveit/collision_detection/collision_world.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
+#include <memory>
 
 namespace collision_detection
 {
-class CollisionWorldBt : public CollisionWorld
+class CollisionWorldBullet : public CollisionWorld
 {
 public:
-  CollisionWorldBt();
-  explicit CollisionWorldBt(const WorldPtr& world);
-  CollisionWorldBt(const CollisionWorldBt& other, const WorldPtr& world);
-  ~CollisionWorldBt() override;
+  CollisionWorldBullet();
+
+  explicit CollisionWorldBullet(const WorldPtr& world);
+
+  CollisionWorldBullet(const CollisionWorldBullet& other, const WorldPtr& world);
+
+  ~CollisionWorldBullet() override;
 
   void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                            const robot_state::RobotState& state) const override;
@@ -71,16 +77,38 @@ class CollisionWorldBt : public CollisionWorld
   void setWorld(const WorldPtr& world) override;
 
 protected:
+  /** \brief Bundles the different checkWorldCollision functions into a single function */
   void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                  const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Bundles the different checkRobotCollision functions into a single function */
   void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                  const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
+  /** \brief Bundles the different continuous checkRobotCollision functions into a single function */
+  void checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
+                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                    const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Adds a world object to the collision managers */
+  void addToManager(const World::Object* obj);
+
+  /** \brief Updates a managed collision object with its world representation.
+   *
+   * We have three cases: 1) the object is part of the manager and not of world --> delete it
+   *                      2) the object is not in the manager, therefore register to manager,
+   *                      3) the object is in the manager then delete and add the modified */
+  void updateManagedObject(const std::string& id);
+
+  /** \brief Handles all discrete collision checks */
+  collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
+
 private:
-  void initialize();
+  /** \brief Callback function executed for each change to the world environment */
   void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
+
   World::ObserverHandle observer_handle_;
 };
-}
+}  // namespace collision_detection
 
-#endif
+#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
new file mode 100644
index 0000000000..b55b3a7c02
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
@@ -0,0 +1,306 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#include <utility>
+
+#include "moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h"
+
+namespace collision_detection_bullet
+{
+BulletDiscreteBVHManager::BulletDiscreteBVHManager()
+{
+  dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
+
+  dispatcher_->registerCollisionCreateFunc(
+      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
+      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
+
+  dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
+                                  ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
+
+  broadphase_.reset(new btDbvtBroadphase());
+
+  contact_distance_ = 0;
+}
+
+BulletDiscreteBVHManager::~BulletDiscreteBVHManager()
+{
+  // clean up remaining objects
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& cow : link2cow_)
+  {
+    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
+  }
+}
+
+BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
+{
+  BulletDiscreteBVHManagerPtr manager(new BulletDiscreteBVHManager());
+
+  for (const std::pair<const std::string, CollisionObjectWrapperPtr>& cow : link2cow_)
+  {
+    CollisionObjectWrapperPtr new_cow = cow.second->clone();
+
+    assert(new_cow->getCollisionShape());
+    assert(new_cow->getCollisionShape()->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);
+
+    new_cow->setWorldTransform(cow.second->getWorldTransform());
+    new_cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance_));
+    manager->addCollisionObject(new_cow);
+  }
+
+  manager->setActiveCollisionObjects(active_);
+  manager->setContactDistanceThreshold(contact_distance_);
+  manager->setIsContactAllowedFn(fn_);
+
+  return manager;
+}
+
+bool BulletDiscreteBVHManager::addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
+                                                  const std::vector<shapes::ShapeConstPtr>& shapes,
+                                                  const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                                  const std::vector<CollisionObjectType>& collision_object_types,
+                                                  bool enabled)
+{
+  CollisionObjectWrapperPtr new_cow =
+      createCollisionObject(name, mask_id, shapes, shape_poses, collision_object_types, enabled);
+  if (new_cow != nullptr)
+  {
+    addCollisionObject(new_cow);
+    return true;
+  }
+  return false;
+}
+
+bool BulletDiscreteBVHManager::hasCollisionObject(const std::string& name) const
+{
+  return (link2cow_.find(name) != link2cow_.end());
+}
+
+bool BulletDiscreteBVHManager::removeCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
+  if (it != link2cow_.end())
+  {
+    removeCollisionObjectFromBroadphase(it->second, broadphase_, dispatcher_);
+    link2cow_.erase(name);
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletDiscreteBVHManager::enableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = true;
+    return true;
+  }
+  return false;
+}
+
+bool BulletDiscreteBVHManager::disableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = false;
+    return true;
+  }
+  return false;
+}
+
+void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose)
+{
+  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
+  // geometry
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    cow->setWorldTransform(convertEigenToBt(pose));
+
+    // Update Collision Object Broadphase AABB
+    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::string& name, const btTransform& pose)
+{
+  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
+  // geometry
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    cow->setWorldTransform(pose);
+
+    // Update Collision Object Broadphase AABB
+    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                                            const AlignedVector<Eigen::Isometry3d>& poses)
+{
+  assert(names.size() == poses.size());
+  for (size_t i = 0u; i < names.size(); ++i)
+  {
+    setCollisionObjectsTransform(names[i], poses[i]);
+  }
+}
+
+void BulletDiscreteBVHManager::setCollisionObjectsTransform(
+    const AlignedMap<std::string, Eigen::Isometry3d>& transforms)
+{
+  for (const std::pair<const std::string, Eigen::Isometry3d>& transform : transforms)
+  {
+    setCollisionObjectsTransform(transform.first, transform.second);
+  }
+}
+
+void BulletDiscreteBVHManager::setActiveCollisionObjects(const std::vector<std::string>& names)
+{
+  active_ = names;
+
+  // Now need to update the broadphase with correct aabb
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    updateCollisionObjectFilters(active_, *cow, false);
+  }
+}
+
+const std::vector<std::string>& BulletDiscreteBVHManager::getActiveCollisionObjects() const
+{
+  return active_;
+}
+
+void BulletDiscreteBVHManager::setContactDistanceThreshold(double contact_distance)
+{
+  contact_distance_ = contact_distance;
+
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
+    assert(cow->getBroadphaseHandle() != nullptr);
+    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+double BulletDiscreteBVHManager::getContactDistanceThreshold() const
+{
+  return contact_distance_;
+}
+
+void BulletDiscreteBVHManager::setIsContactAllowedFn(IsContactAllowedFn fn)
+{
+  fn_ = std::move(fn);
+}
+
+IsContactAllowedFn BulletDiscreteBVHManager::getIsContactAllowedFn() const
+{
+  return fn_;
+}
+
+void BulletDiscreteBVHManager::contactTest(collision_detection::CollisionResult& collisions,
+                                           const collision_detection::CollisionRequest& req,
+                                           const collision_detection::AllowedCollisionMatrix* acm)
+{
+  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
+
+  broadphase_->calculateOverlappingPairs(dispatcher_.get());
+  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
+
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Num overlapping candidates "
+                                                           << pair_cache->getNumOverlappingPairs());
+
+  DiscreteBroadphaseContactResultCallback cc(cdata, contact_distance_);
+  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
+  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
+
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", (collisions.collision ? "In" : "No") << " collision with "
+                                                                                            << collisions.contact_count
+                                                                                            << " collisions");
+}
+
+void BulletDiscreteBVHManager::contactTest(
+    collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
+    const collision_detection::AllowedCollisionMatrix* acm,
+    const std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows_external)
+{
+  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
+
+  broadphase_->calculateOverlappingPairs(dispatcher_.get());
+  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
+
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Num overlapping candidates "
+                                                           << pair_cache->getNumOverlappingPairs());
+
+  DiscreteBroadphaseContactResultCallback cc(cdata, contact_distance_);
+  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
+  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
+
+  for (const CollisionObjectWrapperPtr& cow : cows_external)
+  {
+    contactTest(cow, cdata);
+  }
+
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", (collisions.collision ? "In" : "No") << " collision with "
+                                                                                            << collisions.contact_count
+                                                                                            << " collisions");
+}
+
+void BulletDiscreteBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
+{
+  link2cow_[cow->getName()] = cow;
+  addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
+}
+
+const std::map<std::string, CollisionObjectWrapperPtr>& BulletDiscreteBVHManager::getCollisionObjects() const
+{
+  return link2cow_;
+}
+
+void BulletDiscreteBVHManager::contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions)
+{
+  btVector3 min_aabb, max_aabb;
+  cow->getAABB(min_aabb, max_aabb);
+
+  DiscreteCollisionCollector cc(collisions, cow, static_cast<double>(cow->getContactProcessingThreshold()));
+  TesseractSingleContactCallback contact_cb(cow.get(), dispatcher_.get(), dispatch_info_, cc);
+  broadphase_->aabbTest(min_aabb, max_aabb, contact_cb);
+}
+}  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
new file mode 100644
index 0000000000..18b21bafaf
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
@@ -0,0 +1,343 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * Copyright (c) 2013, John Schulman
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: John Schulman, Levi Armstrong */
+
+#include "moveit/collision_detection_bullet/bullet_integration/bullet_utils.h"
+
+#include <BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h>
+#include <BulletCollision/CollisionShapes/btShapeHull.h>
+#include <BulletCollision/Gimpact/btGImpactShape.h>
+#include <geometric_shapes/shapes.h>
+#include <memory>
+#include <octomap/octomap.h>
+#include <ros/console.h>
+
+namespace collision_detection_bullet
+{
+btCollisionShape* createShapePrimitive(const shapes::Box* geom, const CollisionObjectType& collision_object_type)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE);
+  const double* size = geom->size;
+  btScalar a = static_cast<btScalar>(size[0] / 2);
+  btScalar b = static_cast<btScalar>(size[1] / 2);
+  btScalar c = static_cast<btScalar>(size[2] / 2);
+
+  return (new btBoxShape(btVector3(a, b, c)));
+}
+
+btCollisionShape* createShapePrimitive(const shapes::Sphere* geom, const CollisionObjectType& collision_object_type)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE);
+  return (new btSphereShape(static_cast<btScalar>(geom->radius)));
+}
+
+btCollisionShape* createShapePrimitive(const shapes::Cylinder* geom, const CollisionObjectType& collision_object_type)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE);
+  btScalar r = static_cast<btScalar>(geom->radius);
+  btScalar l = static_cast<btScalar>(geom->length / 2);
+  return (new btCylinderShapeZ(btVector3(r, r, l)));
+}
+
+btCollisionShape* createShapePrimitive(const shapes::Cone* geom, const CollisionObjectType& collision_object_type)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE);
+  btScalar r = static_cast<btScalar>(geom->radius);
+  btScalar l = static_cast<btScalar>(geom->length);
+  return (new btConeShapeZ(r, l));
+}
+
+btCollisionShape* createShapePrimitive(const shapes::Mesh* geom, const CollisionObjectType& collision_object_type,
+                                       CollisionObjectWrapper* cow)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE ||
+         collision_object_type == CollisionObjectType::CONVEX_HULL ||
+         collision_object_type == CollisionObjectType::SDF);
+
+  if (geom->vertex_count > 0 && geom->triangle_count > 0)
+  {
+    // convert the mesh to the assigned collision object type
+    switch (collision_object_type)
+    {
+      case CollisionObjectType::CONVEX_HULL:
+      {
+        // Create a convex hull shape to approximate Trimesh
+        collision_detection_bullet::AlignedVector<Eigen::Vector3d> input;
+        collision_detection_bullet::AlignedVector<Eigen::Vector3d> vertices;
+        std::vector<int> faces;
+
+        input.reserve(geom->vertex_count);
+        for (unsigned int i = 0; i < geom->vertex_count; ++i)
+          input.push_back(Eigen::Vector3d(geom->vertices[3 * i], geom->vertices[3 * i + 1], geom->vertices[3 * i + 2]));
+
+        if (collision_detection_bullet::createConvexHull(vertices, faces, input) < 0)
+          return nullptr;
+
+        btConvexHullShape* subshape = new btConvexHullShape();
+        for (const Eigen::Vector3d& v : vertices)
+          subshape->addPoint(
+              btVector3(static_cast<btScalar>(v[0]), static_cast<btScalar>(v[1]), static_cast<btScalar>(v[2])));
+
+        return subshape;
+      }
+      case CollisionObjectType::USE_SHAPE_TYPE:
+      {
+        btCompoundShape* compound =
+            new btCompoundShape(BULLET_COMPOUND_USE_DYNAMIC_AABB, static_cast<int>(geom->triangle_count));
+        compound->setMargin(
+            BULLET_MARGIN);  // margin: compound seems to have no effect when positive but has an effect when negative
+
+        for (unsigned i = 0; i < geom->triangle_count; ++i)
+        {
+          btVector3 v[3];
+          for (unsigned x = 0; x < 3; ++x)
+          {
+            unsigned idx = geom->triangles[3 * i + x];
+            for (unsigned y = 0; y < 3; ++y)
+            {
+              v[x][y] = static_cast<btScalar>(geom->vertices[3 * idx + y]);
+            }
+          }
+
+          btCollisionShape* subshape = new btTriangleShapeEx(v[0], v[1], v[2]);
+          if (subshape != nullptr)
+          {
+            cow->manage(subshape);
+            subshape->setMargin(BULLET_MARGIN);
+            btTransform geom_trans;
+            geom_trans.setIdentity();
+            compound->addChildShape(geom_trans, subshape);
+          }
+        }
+
+        return compound;
+      }
+      default:
+      {
+        ROS_ERROR("This bullet shape type (%d) is not supported for geometry meshs",
+                  static_cast<int>(collision_object_type));
+        return nullptr;
+      }
+    }
+  }
+  ROS_ERROR("The mesh is empty!");
+  return nullptr;
+}
+
+btCollisionShape* createShapePrimitive(const shapes::OcTree* geom, const CollisionObjectType& collision_object_type,
+                                       CollisionObjectWrapper* cow)
+{
+  assert(collision_object_type == CollisionObjectType::USE_SHAPE_TYPE ||
+         collision_object_type == CollisionObjectType::CONVEX_HULL ||
+         collision_object_type == CollisionObjectType::SDF ||
+         collision_object_type == CollisionObjectType::MULTI_SPHERE);
+
+  btCompoundShape* subshape =
+      new btCompoundShape(BULLET_COMPOUND_USE_DYNAMIC_AABB, static_cast<int>(geom->octree->size()));
+  double occupancy_threshold = geom->octree->getOccupancyThres();
+
+  // convert the mesh to the assigned collision object type
+  switch (collision_object_type)
+  {
+    case CollisionObjectType::USE_SHAPE_TYPE:
+    {
+      for (auto it = geom->octree->begin(static_cast<unsigned char>(geom->octree->getTreeDepth())),
+                end = geom->octree->end();
+           it != end; ++it)
+      {
+        if (it->getOccupancy() >= occupancy_threshold)
+        {
+          double size = it.getSize();
+          btTransform geom_trans;
+          geom_trans.setIdentity();
+          geom_trans.setOrigin(btVector3(static_cast<btScalar>(it.getX()), static_cast<btScalar>(it.getY()),
+                                         static_cast<btScalar>(it.getZ())));
+          btScalar l = static_cast<btScalar>(size / 2);
+          btBoxShape* childshape = new btBoxShape(btVector3(l, l, l));
+          childshape->setMargin(BULLET_MARGIN);
+          cow->manage(childshape);
+
+          subshape->addChildShape(geom_trans, childshape);
+        }
+      }
+      return subshape;
+    }
+    case CollisionObjectType::MULTI_SPHERE:
+    {
+      for (auto it = geom->octree->begin(static_cast<unsigned char>(geom->octree->getTreeDepth())),
+                end = geom->octree->end();
+           it != end; ++it)
+      {
+        if (it->getOccupancy() >= occupancy_threshold)
+        {
+          double size = it.getSize();
+          btTransform geom_trans;
+          geom_trans.setIdentity();
+          geom_trans.setOrigin(btVector3(static_cast<btScalar>(it.getX()), static_cast<btScalar>(it.getY()),
+                                         static_cast<btScalar>(it.getZ())));
+          btSphereShape* childshape =
+              new btSphereShape(static_cast<btScalar>(std::sqrt(2 * ((size / 2) * (size / 2)))));
+          childshape->setMargin(BULLET_MARGIN);
+          cow->manage(childshape);
+
+          subshape->addChildShape(geom_trans, childshape);
+        }
+      }
+      return subshape;
+    }
+    default:
+    {
+      ROS_ERROR("This bullet shape type (%d) is not supported for geometry octree",
+                static_cast<int>(collision_object_type));
+      return nullptr;
+    }
+  }
+}
+
+btCollisionShape* createShapePrimitive(const shapes::ShapeConstPtr& geom,
+                                       const CollisionObjectType& collision_object_type, CollisionObjectWrapper* cow)
+{
+  switch (geom->type)
+  {
+    case shapes::BOX:
+    {
+      return createShapePrimitive(static_cast<const shapes::Box*>(geom.get()), collision_object_type);
+    }
+    case shapes::SPHERE:
+    {
+      return createShapePrimitive(static_cast<const shapes::Sphere*>(geom.get()), collision_object_type);
+    }
+    case shapes::CYLINDER:
+    {
+      return createShapePrimitive(static_cast<const shapes::Cylinder*>(geom.get()), collision_object_type);
+    }
+    case shapes::CONE:
+    {
+      return createShapePrimitive(static_cast<const shapes::Cone*>(geom.get()), collision_object_type);
+    }
+    case shapes::MESH:
+    {
+      return createShapePrimitive(static_cast<const shapes::Mesh*>(geom.get()), collision_object_type, cow);
+    }
+    case shapes::OCTREE:
+    {
+      return createShapePrimitive(static_cast<const shapes::OcTree*>(geom.get()), collision_object_type, cow);
+    }
+    default:
+    {
+      ROS_ERROR("This geometric shape type (%d) is not supported using BULLET yet", static_cast<int>(geom->type));
+      return nullptr;
+    }
+  }
+}
+
+CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                                               const std::vector<shapes::ShapeConstPtr>& shapes,
+                                               const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                               const std::vector<CollisionObjectType>& collision_object_types)
+  : m_name(name)
+  , m_type_id(type_id)
+  , m_shapes(shapes)
+  , m_shape_poses(shape_poses)
+  , m_collision_object_types(collision_object_types)
+{
+  this->setContactProcessingThreshold(0);
+  assert(!shapes.empty());
+  assert(!shape_poses.empty());
+  assert(!collision_object_types.empty());
+  assert(!name.empty());
+  assert(shapes.size() == shape_poses.size());
+  assert(shapes.size() == collision_object_types.size());
+
+  m_collision_filter_group = btBroadphaseProxy::KinematicFilter;
+  m_collision_filter_mask = btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter;
+
+  if (shapes.size() == 1)
+  {
+    btCollisionShape* shape = createShapePrimitive(m_shapes[0], collision_object_types[0], this);
+    shape->setMargin(BULLET_MARGIN);
+    manage(shape);
+    setCollisionShape(shape);
+    setWorldTransform(convertEigenToBt(m_shape_poses[0]));
+  }
+  else
+  {
+    btCompoundShape* compound =
+        new btCompoundShape(BULLET_COMPOUND_USE_DYNAMIC_AABB, static_cast<int>(m_shapes.size()));
+    manage(compound);
+    // margin on compound seems to have no effect when positive but has an effect when negative
+    compound->setMargin(BULLET_MARGIN);
+    setCollisionShape(compound);
+
+    setWorldTransform(convertEigenToBt(m_shape_poses[0]));
+    Eigen::Isometry3d inv_world = m_shape_poses[0].inverse();
+
+    for (std::size_t j = 0; j < m_shapes.size(); ++j)
+    {
+      btCollisionShape* subshape = createShapePrimitive(m_shapes[j], collision_object_types[j], this);
+      if (subshape != nullptr)
+      {
+        manage(subshape);
+        subshape->setMargin(BULLET_MARGIN);
+        btTransform geom_trans = convertEigenToBt(inv_world * m_shape_poses[j]);
+        compound->addChildShape(geom_trans, subshape);
+      }
+    }
+  }
+}
+
+CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                                               const std::vector<shapes::ShapeConstPtr>& shapes,
+                                               const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                               const std::vector<CollisionObjectType>& collision_object_types,
+                                               const std::set<std::string>& touch_links)
+  : CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types)
+{
+  m_touch_links = touch_links;
+}
+
+CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
+                                               const std::vector<shapes::ShapeConstPtr>& shapes,
+                                               const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                               const std::vector<CollisionObjectType>& collision_object_types,
+                                               const std::vector<std::shared_ptr<void>>& data)
+  : m_name(name)
+  , m_type_id(type_id)
+  , m_shapes(shapes)
+  , m_shape_poses(shape_poses)
+  , m_collision_object_types(collision_object_types)
+  , m_data(data)
+{
+  this->setContactProcessingThreshold(0);
+}
+}  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp b/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
similarity index 95%
rename from moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp
rename to moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
index 461ea927e3..8279cf6d0d 100644
--- a/moveit_core/collision_detection_bullet/src/collision_detector_bt_plugin_loader.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
@@ -34,14 +34,14 @@
 
 /* Author: Jens Petit */
 
-#include <moveit/collision_detection_bullet/collision_detector_bt_plugin_loader.h>
+#include <moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h>
 #include <pluginlib/class_list_macros.h>
 
 namespace collision_detection
 {
 bool CollisionDetectorBtPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const
 {
-  scene->setActiveCollisionDetector(CollisionDetectorAllocatorBt::create(), exclusive);
+  scene->setActiveCollisionDetector(CollisionDetectorAllocatorBullet::create(), exclusive);
   return true;
 }
 }
diff --git a/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp b/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
deleted file mode 100644
index 95755456fe..0000000000
--- a/moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#include <moveit/collision_detection_bullet/collision_robot_bt.h>
-
-namespace collision_detection
-{
-CollisionRobotBt::CollisionRobotBt(const robot_model::RobotModelConstPtr& model, double padding, double scale)
-  : CollisionRobot(model, padding, scale)
-{
-}
-
-CollisionRobotBt::CollisionRobotBt(const CollisionRobotBt& other) : CollisionRobot(other)
-{
-}
-
-void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state) const
-{
-  checkSelfCollisionHelper(req, res, state, nullptr);
-}
-
-void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
-{
-  checkSelfCollisionHelper(req, res, state, &acm);
-}
-
-void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state1,
-                                          const robot_state::RobotState& state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBt::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                          const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBt::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                const robot_state::RobotState& state,
-                                                const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self collision checking not yet implemented");
-}
-
-void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                           const robot_state::RobotState& other_state) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, nullptr);
-}
-
-void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                           const robot_state::RobotState& other_state,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
-}
-
-void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                           const CollisionRobot& other_robot,
-                                           const robot_state::RobotState& other_state1,
-                                           const robot_state::RobotState& other_state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBt::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                           const CollisionRobot& other_robot,
-                                           const robot_state::RobotState& other_state1,
-                                           const robot_state::RobotState& other_state2,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBt::checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                 const robot_state::RobotState& state,
-                                                 const CollisionRobot& other_robot,
-                                                 const robot_state::RobotState& other_state,
-                                                 const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Other collision not implemented yet.");
-}
-
-void CollisionRobotBt::updatedPaddingOrScaling(const std::vector<std::string>& links)
-{
-}
-
-void CollisionRobotBt::distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                                    const robot_state::RobotState& state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to self not implemented yet.");
-}
-
-void CollisionRobotBt::distanceOther(const DistanceRequest& req, DistanceResult& res,
-                                     const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                     const robot_state::RobotState& other_state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to other not implemented yet.");
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
new file mode 100644
index 0000000000..43a2a2683f
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
@@ -0,0 +1,267 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
+#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
+#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
+#include <urdf/model.h>
+
+namespace collision_detection
+{
+CollisionRobotBullet::CollisionRobotBullet(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+  : CollisionRobot(model, padding, scale), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+{
+  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
+                       std::placeholders::_3);
+
+  manager_->setIsContactAllowedFn(fun);
+
+  for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
+  {
+    addLinkAsCollisionObjectWrapper(link.second);
+  }
+
+  std::vector<std::string> active;
+  collision_detection_bullet::getActiveLinkNamesRecursive(active, robot_model_->getURDF()->getRoot(), true);
+  manager_->setActiveCollisionObjects(active);
+}
+
+CollisionRobotBullet::CollisionRobotBullet(const CollisionRobotBullet& other)
+  : CollisionRobot(other), manager_(other.manager_->clone())
+{
+}
+
+void CollisionRobotBullet::addAttachedOjects(
+    const robot_state::RobotState& state,
+    std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
+{
+  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  state.getAttachedBodies(attached_bodies);
+  for (const robot_state::AttachedBody*& body : attached_bodies)
+  {
+    const EigenSTL::vector_Isometry3d& attached_body_transform = body->getGlobalCollisionBodyTransforms();
+    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types(
+        attached_body_transform.size(), collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+    cows.emplace_back(collision_detection_bullet::createCollisionObject(
+        body->getName(), collision_detection::BodyType::ROBOT_ATTACHED, body->getShapes(), attached_body_transform,
+        collision_object_types, body->getTouchLinks(), true));
+  }
+}
+
+void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                              const robot_state::RobotState& state) const
+{
+  checkSelfCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                              const robot_state::RobotState& state,
+                                              const AllowedCollisionMatrix& acm) const
+{
+  checkSelfCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                              const robot_state::RobotState& state1,
+                                              const robot_state::RobotState& state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                              const robot_state::RobotState& state1,
+                                              const robot_state::RobotState& state2,
+                                              const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBullet::checkSelfCollisionCCDHelper(const CollisionRequest& req, CollisionResult& res,
+                                                       const robot_state::RobotState& state1,
+                                                       const robot_state::RobotState& state2,
+                                                       const AllowedCollisionMatrix* acm) const
+{
+  // TODO: Not in bullet yet
+}
+
+void CollisionRobotBullet::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                    const robot_state::RobotState& state,
+                                                    const AllowedCollisionMatrix* acm) const
+{
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
+  addAttachedOjects(state, cows);
+  collision_detection_bullet::BulletDiscreteBVHManagerPtr discrete_clone_manager = manager_->clone();
+  updateTransformsFromState(state, discrete_clone_manager);
+  discrete_clone_manager->contactTest(res, req, acm, cows);
+}
+
+void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                               const robot_state::RobotState& other_state) const
+{
+  checkOtherCollisionHelper(req, res, state, other_robot, other_state, nullptr);
+}
+
+void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                               const robot_state::RobotState& other_state,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
+}
+
+void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state1,
+                                               const robot_state::RobotState& state2, const CollisionRobot& other_robot,
+                                               const robot_state::RobotState& other_state1,
+                                               const robot_state::RobotState& other_state2) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet other robot continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const robot_state::RobotState& state1,
+                                               const robot_state::RobotState& state2, const CollisionRobot& other_robot,
+                                               const robot_state::RobotState& other_state1,
+                                               const robot_state::RobotState& other_state2,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet other robot continuous collision checking not yet implemented");
+}
+
+void CollisionRobotBullet::checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                     const robot_state::RobotState& state,
+                                                     const CollisionRobot& other_robot,
+                                                     const robot_state::RobotState& other_state,
+                                                     const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Other collision not implemented yet.");
+}
+
+void CollisionRobotBullet::updatedPaddingOrScaling(const std::vector<std::string>& links)
+{
+  for (const std::string& link : links)
+  {
+    if (robot_model_->getURDF()->links_.find(link) != robot_model_->getURDF()->links_.end())
+    {
+      addLinkAsCollisionObjectWrapper(robot_model_->getURDF()->links_[link]);
+    }
+    else
+    {
+      ROS_ERROR_NAMED("collision_detection.bullet", "Updating padding or scaling for unknown link: '%s'", link.c_str());
+    }
+  }
+}
+
+void CollisionRobotBullet::distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                                        const robot_state::RobotState& state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to self not implemented yet.");
+}
+
+void CollisionRobotBullet::distanceOther(const DistanceRequest& req, DistanceResult& res,
+                                         const robot_state::RobotState& state, const CollisionRobot& other_robot,
+                                         const robot_state::RobotState& other_state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to other not implemented yet.");
+}
+
+void CollisionRobotBullet::updateTransformsFromState(
+    const robot_state::RobotState& state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const
+{
+  // updating link positions with the current robot state
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& link :
+       manager->getCollisionObjects())
+  {
+    // select the first of the transformations for each link (composed of multiple shapes...)
+    manager->setCollisionObjectsTransform(link.first, state.getCollisionBodyTransform(link.first, 0));
+  }
+}
+
+void CollisionRobotBullet::addLinkAsCollisionObjectWrapper(const urdf::LinkSharedPtr& link)
+{
+  if (!link->collision_array.empty())
+  {
+    const std::vector<urdf::CollisionSharedPtr>& col_array =
+        link->collision_array.empty() ? std::vector<urdf::CollisionSharedPtr>(1, link->collision) :
+                                        link->collision_array;
+
+    std::vector<shapes::ShapeConstPtr> shapes;
+    collision_detection_bullet::AlignedVector<Eigen::Isometry3d> shape_poses;
+    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
+
+    for (const auto& i : col_array)
+    {
+      if (i && i->geometry)
+      {
+        shapes::ShapePtr shape = collision_detection_bullet::constructShape(i->geometry.get());
+
+        if (shape)
+        {
+          if (fabs(getLinkScale(link->name) - 1.0) >= std::numeric_limits<double>::epsilon() ||
+              fabs(getLinkPadding(link->name)) >= std::numeric_limits<double>::epsilon())
+          {
+            shape->scaleAndPadd(getLinkScale(link->name), getLinkPadding(link->name));
+          }
+
+          shapes.push_back(shape);
+          shape_poses.push_back(collision_detection_bullet::urdfPose2Eigen(i->origin));
+
+          if (shape->type == shapes::MESH)
+          {
+            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+          }
+          else
+          {
+            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+          }
+        }
+      }
+    }
+
+    collision_detection_bullet::CollisionObjectWrapperPtr cow = collision_detection_bullet::createCollisionObject(
+        link->name, collision_detection::BodyType::ROBOT_LINK, shapes, shape_poses, collision_object_types, true);
+
+    if (manager_->hasCollisionObject(link->name))
+    {
+      manager_->removeCollisionObject(link->name);
+    }
+    manager_->addCollisionObject(cow);
+  }
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp b/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
deleted file mode 100644
index 530c2d8d00..0000000000
--- a/moveit_core/collision_detection_bullet/src/collision_world_bt.cpp
+++ /dev/null
@@ -1,156 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#include <moveit/collision_detection_bullet/collision_world_bt.h>
-#include <moveit/collision_detection_bullet/collision_detector_allocator_bt.h>
-
-#include <boost/bind.hpp>
-
-namespace collision_detection
-{
-const std::string CollisionDetectorAllocatorBt::NAME("Bullet");
-
-CollisionWorldBt::CollisionWorldBt() : CollisionWorld()
-{
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldBt::CollisionWorldBt(const WorldPtr& world) : CollisionWorld(world)
-{
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-CollisionWorldBt::CollisionWorldBt(const CollisionWorldBt& other, const WorldPtr& world) : CollisionWorld(other, world)
-{
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldBt::~CollisionWorldBt()
-{
-  getWorld()->removeObserver(observer_handle_);
-}
-
-void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionRobot& robot, const robot_state::RobotState& state) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, nullptr);
-}
-
-void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionRobot& robot, const robot_state::RobotState& state,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, &acm);
-}
-
-void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                           const robot_state::RobotState& state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionWorldBt::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                           const robot_state::RobotState& state2,
-                                           const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet continuous collision checking not yet implemented");
-}
-
-void CollisionWorldBt::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                 const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet robot world collision checking not yet implemented");
-}
-
-void CollisionWorldBt::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionWorld& other_world) const
-{
-  checkWorldCollisionHelper(req, res, other_world, nullptr);
-}
-
-void CollisionWorldBt::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                           const CollisionWorld& other_world, const AllowedCollisionMatrix& acm) const
-{
-  checkWorldCollisionHelper(req, res, other_world, &acm);
-}
-
-void CollisionWorldBt::checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                 const CollisionWorld& other_world,
-                                                 const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
-}
-
-void CollisionWorldBt::setWorld(const WorldPtr& world)
-{
-  if (world == getWorld())
-    return;
-
-  // turn off notifications about old world
-  getWorld()->removeObserver(observer_handle_);
-
-  CollisionWorld::setWorld(world);
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBt::notifyObjectChange, this, _1, _2));
-
-  // get notifications any objects already in the new world
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-void CollisionWorldBt::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
-{
-}
-
-void CollisionWorldBt::distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                                     const robot_state::RobotState& state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
-}
-
-void CollisionWorldBt::distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
new file mode 100644
index 0000000000..9b5d164681
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
@@ -0,0 +1,247 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_world_bullet.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
+#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
+#include <boost/bind.hpp>
+#include <bullet/btBulletCollisionCommon.h>
+
+namespace collision_detection
+{
+const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
+
+CollisionWorldBullet::CollisionWorldBullet()
+  : CollisionWorld(), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
+
+  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
+                       std::placeholders::_3);
+  manager_->setIsContactAllowedFn(fun);
+}
+
+CollisionWorldBullet::CollisionWorldBullet(const WorldPtr& world)
+  : CollisionWorld(world), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+
+  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
+                       std::placeholders::_3);
+  manager_->setIsContactAllowedFn(fun);
+}
+
+CollisionWorldBullet::CollisionWorldBullet(const CollisionWorldBullet& other, const WorldPtr& world)
+  : CollisionWorld(other, world)
+{
+  manager_ = other.manager_->clone();
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
+}
+
+CollisionWorldBullet::~CollisionWorldBullet()
+{
+  getWorld()->removeObserver(observer_handle_);
+}
+
+void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionRobot& robot, const robot_state::RobotState& state) const
+{
+  checkRobotCollisionHelper(req, res, robot, state, nullptr);
+}
+
+void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionRobot& robot, const robot_state::RobotState& state,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelper(req, res, robot, state, &acm);
+}
+
+void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionRobot& robot, const robot_state::RobotState& state1,
+                                               const robot_state::RobotState& state2) const
+{
+  checkRobotCollisionHelperCCD(req, res, robot, state1, state2, nullptr);
+}
+
+void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionRobot& robot, const robot_state::RobotState& state1,
+                                               const robot_state::RobotState& state2,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelperCCD(req, res, robot, state1, state2, &acm);
+}
+
+void CollisionWorldBullet::checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
+                                                        const CollisionRobot& robot,
+                                                        const robot_state::RobotState& state1,
+                                                        const robot_state::RobotState& state2,
+                                                        const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Continuous collision checking not implemented yet");
+}
+
+void CollisionWorldBullet::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                     const CollisionRobot& robot, const robot_state::RobotState& state,
+                                                     const AllowedCollisionMatrix* acm) const
+{
+  const CollisionRobotBullet& robot_bt = dynamic_cast<const CollisionRobotBullet&>(robot);
+
+  collision_detection_bullet::BulletDiscreteBVHManagerPtr discrete_clone_manager = manager_->clone();
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
+  robot_bt.addAttachedOjects(state, attached_cows);
+
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow :
+       robot_bt.manager_->getCollisionObjects())
+  {
+    collision_detection_bullet::CollisionObjectWrapperPtr new_cow = cow.second->clone();
+    discrete_clone_manager->addCollisionObject(new_cow);
+    discrete_clone_manager->setCollisionObjectsTransform(new_cow->getName(),
+                                                         state.getCollisionBodyTransform(new_cow->getName(), 0));
+  }
+
+  discrete_clone_manager->setActiveCollisionObjects(robot_bt.manager_->getActiveCollisionObjects());
+
+  discrete_clone_manager->contactTest(res, req, acm, attached_cows);
+}
+
+void CollisionWorldBullet::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionWorld& other_world) const
+{
+  checkWorldCollisionHelper(req, res, other_world, nullptr);
+}
+
+void CollisionWorldBullet::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
+                                               const CollisionWorld& other_world,
+                                               const AllowedCollisionMatrix& acm) const
+{
+  checkWorldCollisionHelper(req, res, other_world, &acm);
+}
+
+void CollisionWorldBullet::checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                     const CollisionWorld& other_world,
+                                                     const AllowedCollisionMatrix* acm) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
+}
+
+void CollisionWorldBullet::addToManager(const World::Object* obj)
+{
+  std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
+
+  for (const shapes::ShapeConstPtr& shape : obj->shapes_)
+  {
+    if (shape->type == shapes::MESH)
+      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+    else
+      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+  }
+
+  manager_->addCollisionObject(obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_, obj->shape_poses_,
+                               collision_object_types, true);
+}
+
+void CollisionWorldBullet::updateManagedObject(const std::string& id)
+{
+  if (getWorld()->hasObject(id))
+  {
+    auto it = getWorld()->find(id);
+    if (manager_->hasCollisionObject(id))
+    {
+      manager_->removeCollisionObject(id);
+      addToManager(it->second.get());
+    }
+    else
+    {
+      addToManager(it->second.get());
+    }
+  }
+  else
+  {
+    if (manager_->hasCollisionObject(id))
+    {
+      manager_->removeCollisionObject(id);
+    }
+  }
+}
+
+void CollisionWorldBullet::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  // turn off notifications about old world
+  getWorld()->removeObserver(observer_handle_);
+
+  CollisionWorld::setWorld(world);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
+
+  // get notifications any objects already in the new world
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+void CollisionWorldBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
+{
+  if (action == World::DESTROY)
+  {
+    manager_->removeCollisionObject(obj->id_);
+  }
+  else
+  {
+    updateManagedObject(obj->id_);
+  }
+}
+
+void CollisionWorldBullet::distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
+                                         const robot_state::RobotState& state) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet distance calculation not implemented yet.");
+}
+
+void CollisionWorldBullet::distanceWorld(const DistanceRequest& req, DistanceResult& res,
+                                         const CollisionWorld& world) const
+{
+  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet distance calculation not implemented yet.");
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp
similarity index 81%
rename from moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h
rename to moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp
index ac0a27aa40..3f22bab5f0 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_common.h
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp
@@ -34,15 +34,14 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BT_COLLISION_COMMON_
-#define MOVEIT_COLLISION_DETECTION_BT_COLLISION_COMMON_
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+#include <moveit/collision_detection/test_collision_common.h>
 
-#include <moveit/collision_detection/world.h>
-#include <moveit/collision_detection/collision_world.h>
+INSTANTIATE_TYPED_TEST_CASE_P(BulletCollisionCheck, CollisionDetectorTest,
+                              collision_detection::CollisionDetectorAllocatorBullet);
 
-namespace collision_detection
+int main(int argc, char* argv[])
 {
-// TODO: Add common functionality for all Bullet collision checkers.
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
 }
-
-#endif
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_panda.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_panda.cpp
new file mode 100644
index 0000000000..339cd15c3b
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_panda.cpp
@@ -0,0 +1,47 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+#include <moveit/collision_detection/test_collision_common_panda.h>
+
+INSTANTIATE_TYPED_TEST_CASE_P(BulletCollisionCheckPanda, CollisionDetectorPandaTest,
+                              collision_detection::CollisionDetectorAllocatorBullet);
+
+int main(int argc, char* argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 939f958d32..fbeefa76fd 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -30,6 +30,6 @@ if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 
-  catkin_add_gtest(test_fcl_collision_env test/test_fcl_env.cpp)
-  target_link_libraries(test_fcl_collision_env moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  catkin_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
+  target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 endif()
diff --git a/moveit_core/collision_detection_bullet/src/collision_common.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
similarity index 81%
rename from moveit_core/collision_detection_bullet/src/collision_common.cpp
rename to moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
index ecae7a988f..b83b267171 100644
--- a/moveit_core/collision_detection_bullet/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
@@ -34,10 +34,14 @@
 
 /* Author: Jens Petit */
 
-#include <moveit/collision_detection_bullet/collision_common.h>
-#include <geometric_shapes/shapes.h>
+#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection/test_collision_common_panda.h>
 
-namespace collision_detection
+INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest,
+                              collision_detection::CollisionDetectorAllocatorFCL);
+
+int main(int argc, char* argv[])
 {
-// TODO: Add common functionality for all collision detection here.
-}  // namespace collision_detection
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_core/collision_detector_bt_description.xml b/moveit_core/collision_detector_bullet_description.xml
similarity index 100%
rename from moveit_core/collision_detector_bt_description.xml
rename to moveit_core/collision_detector_bullet_description.xml
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index f0b2e0774f..2e540b1fc3 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -22,6 +22,7 @@
   <depend>assimp</depend>
   <depend>boost</depend>
   <depend>eigen</depend>
+  <depend>bullet</depend>
   <depend>eigen_stl_containers</depend>
   <depend>libfcl-dev</depend>
   <depend version_gte="0.5.2">geometric_shapes</depend>
@@ -56,6 +57,6 @@
 
   <export>
     <moveit_core plugin="${prefix}/collision_detector_fcl_description.xml"/>
-    <moveit_core plugin="${prefix}/collision_detector_bt_description.xml"/>
+    <moveit_core plugin="${prefix}/collision_detector_bullet_description.xml"/>
   </export>
 </package>
diff --git a/moveit_ros/planning/launch/collision_checker_compare.launch b/moveit_ros/planning/launch/collision_checker_compare.launch
new file mode 100644
index 0000000000..5c9526b876
--- /dev/null
+++ b/moveit_ros/planning/launch/collision_checker_compare.launch
@@ -0,0 +1,10 @@
+<launch>
+  <!-- send Panda urdf to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
+
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch"/>
+
+  <node name="compare_collision_checking_speed" pkg="moveit_ros_planning" type="moveit_compare_collision_checking_speed_fcl_bullet" respawn="false" output="screen">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+  </node>
+</launch>

From 7297e06e6e5f19e678f541b9708cffbfd0369d77 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 20 Aug 2019 03:44:05 +0200
Subject: [PATCH 150/612] Adding continuous collision detection to Bullet
 (#1551)

* Adding continous collision detection:
  * check only active links added
  * benchmark FCL vs Bullet
  * renaming files from bt to bullet
  * renaming variables from bt to bullet
  * clang-tidy and clang-format
  * renaming of variables to be in moveit format
  * continuous tests added
  * CCD active links changed
  * distance testing added to panda test suite

* New collision features:
  * broadphase early culling
  * minimal distance reporting
  * renaming collision filter and group
  * removed extra margin on AABB for bullet
  * ACM in test from SRDF

* PR review
---
 .../test_collision_common_panda.h             |  67 ++-
 .../collision_detection_bullet/CMakeLists.txt |   5 +-
 .../bullet_cast_bvh_manager.h                 | 217 ++++++++
 .../bullet_discrete_bvh_manager.h             |   3 +
 .../bullet_integration/bullet_utils.h         | 495 +++++++++++++++++-
 .../contact_checker_common.h                  |  25 +-
 .../collision_robot_bullet.h                  |   3 +
 .../collision_world_bullet.h                  |   4 +
 .../bullet_cast_bvh_manager.cpp               | 410 +++++++++++++++
 .../bullet_discrete_bvh_manager.cpp           |   7 +-
 .../src/bullet_integration/bullet_utils.cpp   |   4 +-
 .../src/collision_robot_bullet.cpp            |  12 +-
 .../src/collision_world_bullet.cpp            |  58 +-
 ...t_bullet_continuous_collision_checking.cpp | 401 ++++++++++++++
 .../planning_components_tools/CMakeLists.txt  |   3 +
 ...re_collision_speed_checking_fcl_bullet.cpp | 355 +++++++++++++
 16 files changed, 2009 insertions(+), 60 deletions(-)
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
 create mode 100644 moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
 create mode 100644 moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
 create mode 100644 moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
index a57733f3dd..02c3ac73bf 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -79,21 +79,15 @@ class CollisionDetectorPandaTest : public testing::Test
     robot_model_ = moveit::core::loadTestingRobotModel("panda");
     robot_model_ok_ = static_cast<bool>(robot_model_);
 
-    acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), false));
-
-    acm_->setEntry("panda_link0", "panda_link1", true);
-    acm_->setEntry("panda_link1", "panda_link2", true);
-    acm_->setEntry("panda_link2", "panda_link3", true);
-    acm_->setEntry("panda_link3", "panda_link4", true);
-    acm_->setEntry("panda_link4", "panda_link5", true);
-    acm_->setEntry("panda_link5", "panda_link6", true);
-    acm_->setEntry("panda_link6", "panda_link7", true);
-    acm_->setEntry("panda_link7", "panda_hand", true);
-    acm_->setEntry("panda_hand", "panda_rightfinger", true);
-    acm_->setEntry("panda_hand", "panda_leftfinger", true);
-    acm_->setEntry("panda_rightfinger", "panda_leftfinger", true);
-    acm_->setEntry("panda_link5", "panda_link7", true);
-    acm_->setEntry("panda_link6", "panda_hand", true);
+    acm_.reset(new collision_detection::AllowedCollisionMatrix());
+    // Use default collision operations in the SRDF to setup the acm
+    const std::vector<std::string>& collision_links = robot_model_->getLinkModelNamesWithCollisionGeometry();
+    acm_->setEntry(collision_links, collision_links, false);
+
+    // allow collisions for pairs that have been disabled
+    const std::vector<srdf::Model::DisabledCollision>& dc = robot_model_->getSRDF()->getDisabledCollisionPairs();
+    for (const srdf::Model::DisabledCollision& it : dc)
+      acm_->setEntry(it.link1_, it.link2_, true);
 
     crobot_ = value_->allocateRobot(robot_model_);
     cworld_ = value_->allocateWorld(collision_detection::WorldPtr(new collision_detection::World()));
@@ -138,8 +132,11 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DefaultNotInCollision)
 /** \brief A configuration where the robot should collide with itself. */
 TYPED_TEST_P(CollisionDetectorPandaTest, LinksInCollision)
 {
-  // Sets the joint values to zero which is a colliding configuration
-  this->robot_state_->setToDefaultValues();
+  // Sets the joints into a colliding configuration
+  double joint2 = 0.15;
+  double joint4 = -3.0;
+  this->robot_state_->setJointPositions("panda_joint2", &joint2);
+  this->robot_state_->setJointPositions("panda_joint4", &joint4);
   this->robot_state_->update();
 
   collision_detection::CollisionRequest req;
@@ -254,5 +251,39 @@ TYPED_TEST_P(CollisionDetectorPandaTest, PaddingTest)
   ASSERT_FALSE(res.collision);
 }
 
+/** \brief Tests the distance reporting with the robot itself */
+TYPED_TEST_P(CollisionDetectorPandaTest, DistanceSelf)
+{
+  collision_detection::CollisionRequest req;
+  req.distance = true;
+  collision_detection::CollisionResult res;
+  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+  EXPECT_NEAR(res.distance, 0.13, 0.01);
+}
+
+TYPED_TEST_P(CollisionDetectorPandaTest, DistanceWorld)
+{
+  collision_detection::CollisionRequest req;
+  req.distance = true;
+  collision_detection::CollisionResult res;
+
+  // Adding the box right in front of the robot hand
+  shapes::Shape* shape = new shapes::Box(0.1, 0.1, 0.1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+  pos.translation().x() = 0.43;
+  pos.translation().y() = 0;
+  pos.translation().z() = 0.55;
+  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+
+  this->crobot_->setLinkPadding("panda_hand", 0.0);
+  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  ASSERT_FALSE(res.collision);
+  EXPECT_NEAR(res.distance, 0.029, 0.01);
+}
+
 REGISTER_TYPED_TEST_CASE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
-                           DISABLED_WorldToWorldCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest);
+                           DISABLED_WorldToWorldCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest,
+                           DistanceSelf, DistanceWorld);
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 6e1ba5526f..d50c5a9ed4 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -5,6 +5,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/collision_world_bullet.cpp
   src/bullet_integration/bullet_utils.cpp
   src/bullet_integration/bullet_discrete_bvh_manager.cpp
+  src/bullet_integration/bullet_cast_bvh_manager.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
@@ -18,7 +19,6 @@ add_library(collision_detector_bullet_plugin src/collision_detector_bullet_plugi
 set_target_properties(collision_detector_bullet_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(collision_detector_bullet_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
 
-
 install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_bullet_plugin
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
@@ -36,4 +36,7 @@ if(CATKIN_ENABLE_TESTING)
 
   catkin_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+
+  catkin_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
+  target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 endif()
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
new file mode 100644
index 0000000000..40085ff76c
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
@@ -0,0 +1,217 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#ifndef TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
+#define TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
+#include <moveit/macros/class_forward.h>
+
+namespace collision_detection_bullet
+{
+MOVEIT_CLASS_FORWARD(BulletCastBVHManager)
+
+/** @brief A bounding volume hierarchy (BVH) implementation of a tesseract contact manager */
+class BulletCastBVHManager
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** \brief Constructor */
+  BulletCastBVHManager();
+
+  ~BulletCastBVHManager();
+
+  /** @brief Clone the manager
+   *
+   * This is to be used for multi threaded applications. A user should make a clone for each thread. */
+  BulletCastBVHManagerPtr clone() const;
+
+  /**@brief Add a collision object to the checker
+   *
+   * All objects are added should initially be added as static objects. Use the setContactRequest method of defining
+   * which collision objects are moving.
+   *
+   * @param name            The name of the object, must be unique.
+   * @param mask_id         User defined id which gets stored in the results structure.
+   * @param shapes          A vector of shapes that make up the collision object.
+   * @param shape_poses     A vector of poses for each shape, must be same length as shapes
+   * @param shape_types     A vector of shape types for encode the collision object. If the vector is of length 1 it is
+   * used for all shapes.
+   * @param collision_object_types A int identifying a conversion mode for the object. (ex. convert meshes to convex
+   * hulls)
+   * @param enabled         Indicate if the object is enabled for collision checking.
+   * @return true if successfully added, otherwise false. */
+  bool addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
+                          const std::vector<shapes::ShapeConstPtr>& shapes,
+                          const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                          const std::vector<CollisionObjectType>& collision_object_types, bool enabled = true);
+
+  /**@brief Find if a collision object already exists
+   * @param name The name of the collision object
+   * @return true if it exists, otherwise false. */
+  bool hasCollisionObject(const std::string& name) const;
+
+  /**@brief Remove an object from the checker
+   * @param name The name of the object
+   * @return true if successfully removed, otherwise false. */
+  bool removeCollisionObject(const std::string& name);
+
+  /**@brief Enable an object
+   * @param name The name of the object
+   * @return true if successfully enabled, otherwise false. */
+  bool enableCollisionObject(const std::string& name);
+
+  /**@brief Disable an object
+   * @param name The name of the object
+   * @return true if successfully disabled, otherwise false. */
+  bool disableCollisionObject(const std::string& name);
+
+  /**@brief Set a single static collision object's tansform
+   * @param name The name of the object
+   * @param pose The tranformation in world */
+  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
+
+  /**@brief Set a series of static collision objects' tranforms
+   * @param names The names of the objects
+   * @param poses The tranformations in world */
+  void setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                    const AlignedVector<Eigen::Isometry3d>& poses);
+
+  /**@brief Set a series of static collision objects' tranforms
+   * @param transforms A transform map <name, pose> */
+  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms);
+
+  /**@brief Set a single cast (moving) collision object's tansforms
+   *
+   * This should only be used for moving objects.
+   *
+   * @param name The name of the object
+   * @param pose1 The start tranformation in world
+   * @param pose2 The end tranformation in world */
+  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
+                                    const Eigen::Isometry3d& pose2);
+
+  /**@brief Set a series of cast (moving) collision objects' tranforms
+   *
+   * This should only be used for moving objects. Use the base class methods for static objects.
+   *
+   * @param names The name of the object
+   * @param pose1 The start tranformations in world
+   * @param pose2 The end tranformations in world */
+  void setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                    const AlignedVector<Eigen::Isometry3d>& pose1,
+                                    const AlignedVector<Eigen::Isometry3d>& pose2);
+
+  /**@brief Set a series of cast (moving) collision objects' tranforms
+   *
+   * This should only be used for moving objects. Use the base class methods for static objects.
+   *
+   * @param pose1 A start transform map <name, pose>
+   * @param pose2 A end transform map <name, pose> */
+  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& pose1,
+                                    const AlignedMap<std::string, Eigen::Isometry3d>& pose2);
+
+  /**@brief Set which collision objects are active
+   * @param names A vector of collision object names */
+  void setActiveCollisionObjects(const std::vector<std::string>& names);
+
+  /**@brief Get which collision objects are active
+   * @return A vector of collision object names */
+  const std::vector<std::string>& getActiveCollisionObjects() const;
+
+  /**@brief Set the contact distance threshold for which collision should be considered through expanding the AABB by
+   * the contact_distance for all links.
+   *
+   * @param contact_distance The contact distance */
+  void setContactDistanceThreshold(double contact_distance);
+
+  /**@brief Get the contact distance threshold
+   * @return The contact distance */
+  double getContactDistanceThreshold() const;
+
+  /** @brief Set the function for determining if two links are allowed to be in collision */
+  void setIsContactAllowedFn(IsContactAllowedFn fn);
+
+  /** @brief Get the function for determining if two links are allowed to be in collision */
+  IsContactAllowedFn getIsContactAllowedFn() const;
+
+  /**@brief Perform a contact test for all objects
+   * @param collisions The Contact results data
+   * @param req The collision request data
+   * @param acm The allowed collision matrix */
+  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
+                   const collision_detection::AllowedCollisionMatrix* acm);
+
+  /**@brief Add a tesseract collision object to the manager
+   * @param cow The tesseract bullet collision object */
+  void addCollisionObject(const CollisionObjectWrapperPtr& cow);
+
+  /** \brief Callback function for culling objects before a broadphase check */
+  BroadphaseFilterCallback filter_callback_;
+
+private:
+  /** @brief A list of the active collision objects */
+  std::vector<std::string> active_;
+
+  /** @brief The contact distance threshold */
+  double contact_distance_;
+
+  /** @brief The is allowed collision function */
+  IsContactAllowedFn fn_;
+
+  /** @brief The bullet collision dispatcher used for getting object to object collison algorithm */
+  std::unique_ptr<btCollisionDispatcher> dispatcher_;
+
+  /** @brief The bullet collision dispatcher configuration information */
+  btDispatcherInfo dispatch_info_;
+
+  /** @brief The bullet collision configuration */
+  btDefaultCollisionConfiguration coll_config_;
+
+  /** @brief The bullet broadphase interface */
+  std::unique_ptr<btBroadphaseInterface> broadphase_;
+
+  /** @brief A map of collision objects being managed */
+  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
+
+  /** @brief A map of cast collision objects being managed. */
+  std::map<std::string, CollisionObjectWrapperPtr> link2castcow_;
+
+  /**@brief Perform a contact test for the provided object which is not part of the manager
+   * @param cow The Collision object
+   * @param collisions The collision results */
+  void contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions);
+};
+}  // namespace collision_detection_bullet
+#endif  //  TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
index 8067a160de..b9e8e91e96 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
@@ -157,6 +157,9 @@ class BulletDiscreteBVHManager
    * @return A map of collision objects <name, collision object> */
   const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
 
+  /** \brief Callback function for culling objects before a broadphase check */
+  BroadphaseFilterCallback filter_callback_;
+
 private:
   /** @brief A list of the active collision objects */
   std::vector<std::string> active_;
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
index d6462ebefe..c2a604837e 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -119,10 +119,10 @@ class CollisionObjectWrapper : public btCollisionObject
                          const std::set<std::string>& touch_links);
 
   /** \brief Bitfield specifies to which group the object belongs */
-  short int m_collision_filter_group;
+  short int m_collisionFilterGroup;
 
   /** \brief Bitfield specifies against which other groups the object is collision checked */
-  short int m_collision_filter_mask;
+  short int m_collisionFilterMask;
 
   /** \brief Indicates if the collision object is used for a collision check */
   bool m_enabled;
@@ -160,7 +160,9 @@ class CollisionObjectWrapper : public btCollisionObject
   {
     getCollisionShape()->getAabb(getWorldTransform(), aabb_min, aabb_max);
     const btScalar& d = getContactProcessingThreshold();
-    btVector3 contact_threshold(d, d, d);
+    // added as bullet expands each AABB by 4 cm
+    double dis = d;  // - 0.04;
+    btVector3 contact_threshold(dis, dis, dis);
     aabb_min -= contact_threshold;
     aabb_max += contact_threshold;
   }
@@ -173,8 +175,8 @@ class CollisionObjectWrapper : public btCollisionObject
         new CollisionObjectWrapper(m_name, m_type_id, m_shapes, m_shape_poses, m_collision_object_types, m_data));
     clone_cow->setCollisionShape(getCollisionShape());
     clone_cow->setWorldTransform(getWorldTransform());
-    clone_cow->m_collision_filter_group = m_collision_filter_group;
-    clone_cow->m_collision_filter_mask = m_collision_filter_mask;
+    clone_cow->m_collisionFilterGroup = m_collisionFilterGroup;
+    clone_cow->m_collisionFilterMask = m_collisionFilterMask;
     clone_cow->m_enabled = m_enabled;
     clone_cow->setBroadphaseHandle(nullptr);
     clone_cow->m_touch_links = m_touch_links;
@@ -220,6 +222,106 @@ class CollisionObjectWrapper : public btCollisionObject
   std::vector<std::shared_ptr<void>> m_data;
 };
 
+/** @brief Casted collision shape used for checking if an object is collision free between two discrete poses
+ *
+ *  The cast is not explicitely computed but implicitely represented through the single shape and the transformation
+ *  between the first and second pose. */
+struct CastHullShape : public btConvexShape
+{
+public:
+  /** \brief The casted shape */
+  btConvexShape* m_shape;
+
+  /** \brief Transformation from the first pose to the second pose */
+  btTransform m_shape_transform;
+
+  CastHullShape(btConvexShape* shape, const btTransform& t01) : m_shape(shape), m_shape_transform(t01)
+  {
+    m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
+  }
+
+  void updateCastTransform(const btTransform& t01)
+  {
+    m_shape_transform = t01;
+  }
+
+  /** \brief From both shape poses computes the support vertex and returns the larger one. */
+  btVector3 localGetSupportingVertex(const btVector3& vec) const override
+  {
+    btVector3 sv0 = m_shape->localGetSupportingVertex(vec);
+    btVector3 sv1 = m_shape_transform * m_shape->localGetSupportingVertex(vec * m_shape_transform.getBasis());
+    return (vec.dot(sv0) > vec.dot(sv1)) ? sv0 : sv1;
+  }
+
+  void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* /*vectors*/,
+                                                         btVector3* /*supportVerticesOut*/,
+                                                         int /*numVectors*/) const override
+  {
+    throw std::runtime_error("not implemented");
+  }
+
+  /** \brief Shape specific fast recalculation of the AABB at a certain pose
+   *
+   *  The AABB is not recalculated from scratch but updated depending on the given transformation. */
+  void getAabb(const btTransform& t_w0, btVector3& aabbMin, btVector3& aabbMax) const override
+  {
+    m_shape->getAabb(t_w0, aabbMin, aabbMax);
+    btVector3 min1, max1;
+    m_shape->getAabb(t_w0 * m_shape_transform, min1, max1);
+    aabbMin.setMin(min1);
+    aabbMax.setMax(max1);
+  }
+
+  void getAabbSlow(const btTransform& /*t*/, btVector3& /*aabbMin*/, btVector3& /*aabbMax*/) const override
+  {
+    throw std::runtime_error("shouldn't happen");
+  }
+
+  void setLocalScaling(const btVector3& /*scaling*/) override
+  {
+  }
+
+  const btVector3& getLocalScaling() const override
+  {
+    static btVector3 out(1, 1, 1);
+    return out;
+  }
+
+  void setMargin(btScalar /*margin*/) override
+  {
+  }
+
+  btScalar getMargin() const override
+  {
+    return 0;
+  }
+
+  int getNumPreferredPenetrationDirections() const override
+  {
+    return 0;
+  }
+
+  void getPreferredPenetrationDirection(int /*index*/, btVector3& /*penetrationVector*/) const override
+  {
+    throw std::runtime_error("not implemented");
+  }
+
+  void calculateLocalInertia(btScalar /*mass*/, btVector3& /*inertia*/) const override
+  {
+    throw std::runtime_error("not implemented");
+  }
+
+  const char* getName() const override
+  {
+    return "CastHull";
+  }
+
+  btVector3 localGetSupportingVertexWithoutMargin(const btVector3& v) const override
+  {
+    return localGetSupportingVertex(v);
+  }
+};
+
 /** \brief Computes the local supporting vertex of a convex shape.
  *
  *  If multiple vertices with equal support products exists, their average is calculated and returned.
@@ -287,8 +389,8 @@ inline bool needsCollisionCheck(const CollisionObjectWrapper& cow1, const Collis
   if (!cow2.m_enabled)
     return false;
 
-  if (!((cow2.m_collision_filter_group & cow1.m_collision_filter_mask) &&
-        (cow1.m_collision_filter_group & cow2.m_collision_filter_mask)))
+  if ((!(cow2.m_collisionFilterGroup & cow1.m_collisionFilterMask) ||
+       !(cow1.m_collisionFilterGroup & cow2.m_collisionFilterMask)))
     return false;
 
   if (isContactAllowed(cow1.getName(), cow2.getName(), allowed_fn, acm, verbose))
@@ -345,7 +447,107 @@ inline btScalar addDiscreteSingleResult(btManifoldPoint& cp, const btCollisionOb
   return 1;
 }
 
-/** \brief Processes a contact point */
+inline btScalar addCastSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*index0*/,
+                                    const btCollisionObjectWrapper* colObj1Wrap, int /*index1*/,
+                                    ContactTestData& collisions)
+{
+  assert(dynamic_cast<const CollisionObjectWrapper*>(colObj0Wrap->getCollisionObject()) != nullptr);
+  assert(dynamic_cast<const CollisionObjectWrapper*>(colObj1Wrap->getCollisionObject()) != nullptr);
+
+  const CollisionObjectWrapper* cd0 = static_cast<const CollisionObjectWrapper*>(colObj0Wrap->getCollisionObject());
+  const CollisionObjectWrapper* cd1 = static_cast<const CollisionObjectWrapper*>(colObj1Wrap->getCollisionObject());
+
+  std::pair<std::string, std::string> pc = getObjectPairKey(cd0->getName(), cd1->getName());
+
+  const auto& it = collisions.res.contacts.find(pc);
+  bool found = (it != collisions.res.contacts.end());
+
+  collision_detection::Contact contact;
+  contact.body_name_1 = cd0->getName();
+  contact.body_name_2 = cd1->getName();
+  contact.depth = static_cast<double>(cp.m_distance1);
+  contact.normal = convertBtToEigen(-1 * cp.m_normalWorldOnB);
+  contact.pos = convertBtToEigen(cp.m_positionWorldOnA);
+
+  contact.body_type_1 = cd0->getTypeID();
+  contact.body_type_2 = cd0->getTypeID();
+
+  collision_detection::Contact* col = processResult(collisions, contact, pc, found);
+
+  if (!col)
+  {
+    return 0;
+  }
+
+  assert(!((cd0->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter) &&
+           (cd1->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)));
+
+  bool cast_shape_is_first = cd0->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter;
+
+  btVector3 normal_world_from_cast = (cast_shape_is_first ? -1 : 1) * cp.m_normalWorldOnB;
+  const btCollisionObjectWrapper* first_col_obj_wrap = (cast_shape_is_first ? colObj0Wrap : colObj1Wrap);
+
+  // we want the contact information of the non-casted object come first, therefore swap values
+  if (cast_shape_is_first)
+  {
+    std::swap(col->nearest_points[0], col->nearest_points[1]);
+    contact.pos = convertBtToEigen(cp.m_positionWorldOnB);
+    std::swap(col->body_name_1, col->body_name_2);
+    std::swap(col->body_type_1, col->body_type_2);
+    col->normal *= -1;
+  }
+
+  btTransform tf_world0, tf_world1;
+  const CastHullShape* shape = static_cast<const CastHullShape*>(first_col_obj_wrap->getCollisionShape());
+
+  tf_world0 = first_col_obj_wrap->getWorldTransform();
+  tf_world1 = first_col_obj_wrap->getWorldTransform() * shape->m_shape_transform;
+
+  // transform normals into pose local coordinate systems
+  btVector3 normal_local0 = normal_world_from_cast * tf_world0.getBasis();
+  btVector3 normal_local1 = normal_world_from_cast * tf_world1.getBasis();
+
+  btVector3 pt_local0;
+  float localsup0;
+  getAverageSupport(shape->m_shape, normal_local0, localsup0, pt_local0);
+  btVector3 pt_world0 = tf_world0 * pt_local0;
+  btVector3 pt_local1;
+  float localsup1;
+  getAverageSupport(shape->m_shape, normal_local1, localsup1, pt_local1);
+  btVector3 pt_world1 = tf_world1 * pt_local1;
+
+  float sup0 = normal_world_from_cast.dot(pt_world0);
+  float sup1 = normal_world_from_cast.dot(pt_world1);
+
+  // TODO: this section is potentially problematic. think hard about the math
+  if (sup0 - sup1 > BULLET_SUPPORT_FUNC_TOLERANCE)
+  {
+    col->percent_interpolation = 0;
+  }
+  else if (sup1 - sup0 > BULLET_SUPPORT_FUNC_TOLERANCE)
+  {
+    col->percent_interpolation = 1;
+  }
+  else
+  {
+    const btVector3& pt_on_cast = cast_shape_is_first ? cp.m_positionWorldOnA : cp.m_positionWorldOnB;
+    float l0c = (pt_on_cast - pt_world0).length();
+    float l1c = (pt_on_cast - pt_world1).length();
+
+    if (l0c + l1c < BULLET_LENGTH_TOLERANCE)
+    {
+      col->percent_interpolation = .5;
+    }
+    else
+    {
+      col->percent_interpolation = static_cast<double>(l0c / (l0c + l1c));
+    }
+  }
+
+  return 1;
+}
+
+/** @brief This is copied directly out of BulletWorld */
 struct TesseractBridgedManifoldResult : public btManifoldResult
 {
   btCollisionWorld::ContactResultCallback& m_resultCallback;
@@ -401,7 +603,10 @@ struct TesseractBridgedManifoldResult : public btManifoldResult
   }
 };
 
-/** @brief Abstract interface for both discrete and continuous reporting of contact points */
+/** @brief Abstract interface for both discrete and continuous broadphase collision pair
+ *
+ *  /e needsCollision is the callback executed before a narrowphase check is executed.
+ *  /e addSingleResult is the callback executed after the narrowphase check delivers a result. */
 struct BroadphaseContactResultCallback
 {
   ContactTestData& collisions_;
@@ -447,7 +652,28 @@ struct DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultC
   }
 };
 
-/** \brief Processes a contact point */
+/** \brief addSingleResult of this struct is called each time the broadphase check indicates a collision. */
+struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallback
+{
+  CastBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
+    : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
+  {
+  }
+
+  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
+                           int index0, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
+                           int index1) override
+  {
+    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
+      return 0;
+    }
+
+    return addCastSingleResult(cp, colObj0Wrap, index0, colObj1Wrap, index1, collisions_);
+  }
+};
+
 struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
 {
   BroadphaseContactResultCallback& result_callback_;
@@ -593,10 +819,11 @@ class TesseractCollisionPairCallback : public btOverlapCallback
     const CollisionObjectWrapper* cow1 = static_cast<const CollisionObjectWrapper*>(pair.m_pProxy1->m_clientObject);
 
     std::pair<std::string, std::string> pair_names{ cow0->getName(), cow1->getName() };
-    ROS_DEBUG_STREAM("Processing " << cow0->getName() << " vs " << cow1->getName());
 
     if (results_callback_.needsCollision(cow0, cow1))
     {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Processing " << cow0->getName() << " vs "
+                                                                         << cow1->getName());
       btCollisionObjectWrapper obj0_wrap(nullptr, cow0->getCollisionShape(), cow0, cow0->getWorldTransform(), -1, -1);
       btCollisionObjectWrapper obj1_wrap(nullptr, cow1->getCollisionShape(), cow1, cow1->getWorldTransform(), -1, -1);
 
@@ -616,6 +843,11 @@ class TesseractCollisionPairCallback : public btOverlapCallback
         pair.m_algorithm->processCollision(&obj0_wrap, &obj1_wrap, dispatch_info_, &contact_point_result);
       }
     }
+    else
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not processing " << cow0->getName() << " vs "
+                                                                             << cow1->getName());
+    }
     return false;
   }
 };
@@ -635,28 +867,25 @@ btCollisionShape* createShapePrimitive(const shapes::ShapeConstPtr& geom,
 inline void updateCollisionObjectFilters(const std::vector<std::string>& active, CollisionObjectWrapper& cow,
                                          bool continuous)
 {
-  cow.m_collision_filter_group = btBroadphaseProxy::KinematicFilter;
-
   if (!isLinkActive(active, cow.getName()))
   {
-    cow.m_collision_filter_group = btBroadphaseProxy::StaticFilter;
-  }
-
-  if (cow.m_collision_filter_group == btBroadphaseProxy::StaticFilter)
-  {
-    cow.m_collision_filter_mask = btBroadphaseProxy::KinematicFilter;
+    cow.m_collisionFilterGroup = btBroadphaseProxy::StaticFilter;
+    cow.m_collisionFilterMask = btBroadphaseProxy::KinematicFilter;
   }
   else
   {
-    (continuous) ? (cow.m_collision_filter_mask = btBroadphaseProxy::StaticFilter) :
-                   (cow.m_collision_filter_mask = btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter);
+    cow.m_collisionFilterGroup = btBroadphaseProxy::KinematicFilter;
+    cow.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
   }
 
   if (cow.getBroadphaseHandle())
   {
-    cow.getBroadphaseHandle()->m_collisionFilterGroup = cow.m_collision_filter_group;
-    cow.getBroadphaseHandle()->m_collisionFilterMask = cow.m_collision_filter_mask;
+    cow.getBroadphaseHandle()->m_collisionFilterGroup = cow.m_collisionFilterGroup;
+    cow.getBroadphaseHandle()->m_collisionFilterMask = cow.m_collisionFilterMask;
   }
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "COW " << cow.getName() << " group "
+                                                              << cow.m_collisionFilterGroup << " mask "
+                                                              << cow.m_collisionFilterMask);
 }
 
 /** \brief Wrapper around constructing a CollisionObjectWrapper */
@@ -723,8 +952,8 @@ struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallba
     : collisions_(collisions), cow_(cow), contact_distance_(contact_distance), verbose_(verbose)
   {
     m_closestDistanceThreshold = static_cast<btScalar>(contact_distance);
-    m_collisionFilterGroup = cow->m_collision_filter_group;
-    m_collisionFilterMask = cow->m_collision_filter_mask;
+    m_collisionFilterGroup = cow->m_collisionFilterGroup;
+    m_collisionFilterMask = cow->m_collisionFilterMask;
   }
 
   btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
@@ -748,6 +977,137 @@ struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallba
   }
 };
 
+struct CastCollisionCollector : public btCollisionWorld::ContactResultCallback
+{
+  ContactTestData& collisions_;
+  const CollisionObjectWrapperPtr cow_;
+  double contact_distance_;
+  bool verbose_;
+
+  CastCollisionCollector(ContactTestData& collisions, const CollisionObjectWrapperPtr& cow, double contact_distance,
+                         bool verbose = false)
+    : collisions_(collisions), cow_(cow), contact_distance_(contact_distance), verbose_(verbose)
+  {
+    m_closestDistanceThreshold = static_cast<btScalar>(contact_distance);
+    m_collisionFilterGroup = cow->m_collisionFilterGroup;
+    m_collisionFilterMask = cow->m_collisionFilterMask;
+  }
+
+  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
+                           int index0, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
+                           int index1) override
+  {
+    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
+      return 0;
+    }
+
+    return addCastSingleResult(cp, colObj0Wrap, index0, colObj1Wrap, index1, collisions_);
+  }
+
+  bool needsCollision(btBroadphaseProxy* proxy0) const override
+  {
+    return !collisions_.done &&
+           needsCollisionCheck(*cow_, *(static_cast<CollisionObjectWrapper*>(proxy0->m_clientObject)), collisions_.fn,
+                               collisions_.acm, verbose_);
+  }
+};
+
+inline CollisionObjectWrapperPtr makeCastCollisionObject(const CollisionObjectWrapperPtr& cow)
+{
+  CollisionObjectWrapperPtr new_cow = cow->clone();
+
+  btTransform tf;
+  tf.setIdentity();
+
+  if (btBroadphaseProxy::isConvex(new_cow->getCollisionShape()->getShapeType()))
+  {
+    assert(dynamic_cast<btConvexShape*>(new_cow->getCollisionShape()) != nullptr);
+    btConvexShape* convex = static_cast<btConvexShape*>(new_cow->getCollisionShape());
+
+    // This checks if the collision object is already a cast collision object
+    assert(convex->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);
+
+    CastHullShape* shape = new CastHullShape(convex, tf);
+
+    new_cow->manage(shape);
+    new_cow->setCollisionShape(shape);
+  }
+  else if (btBroadphaseProxy::isCompound(new_cow->getCollisionShape()->getShapeType()))
+  {
+    btCompoundShape* compound = static_cast<btCompoundShape*>(new_cow->getCollisionShape());
+    btCompoundShape* new_compound =
+        new btCompoundShape(BULLET_COMPOUND_USE_DYNAMIC_AABB, compound->getNumChildShapes());
+
+    for (int i = 0; i < compound->getNumChildShapes(); ++i)
+    {
+      if (btBroadphaseProxy::isConvex(compound->getChildShape(i)->getShapeType()))
+      {
+        btConvexShape* convex = static_cast<btConvexShape*>(compound->getChildShape(i));
+        assert(convex->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);  // This checks if already a cast collision object
+
+        btTransform geom_trans = compound->getChildTransform(i);
+
+        btCollisionShape* subshape = new CastHullShape(convex, tf);
+
+        new_cow->manage(subshape);
+        subshape->setMargin(BULLET_MARGIN);
+        new_compound->addChildShape(geom_trans, subshape);
+      }
+      else if (btBroadphaseProxy::isCompound(compound->getChildShape(i)->getShapeType()))
+      {
+        btCompoundShape* second_compound = static_cast<btCompoundShape*>(compound->getChildShape(i));
+        btCompoundShape* new_second_compound =
+            new btCompoundShape(BULLET_COMPOUND_USE_DYNAMIC_AABB, second_compound->getNumChildShapes());
+        for (int j = 0; j < second_compound->getNumChildShapes(); ++j)
+        {
+          assert(!btBroadphaseProxy::isCompound(second_compound->getChildShape(j)->getShapeType()));
+
+          btConvexShape* convex = static_cast<btConvexShape*>(second_compound->getChildShape(j));
+          assert(convex->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);  // This checks if already a cast collision object
+
+          btTransform geom_trans = second_compound->getChildTransform(j);
+
+          btCollisionShape* subshape = new CastHullShape(convex, tf);
+
+          new_cow->manage(subshape);
+          subshape->setMargin(BULLET_MARGIN);
+          new_second_compound->addChildShape(geom_trans, subshape);
+        }
+
+        btTransform geom_trans = compound->getChildTransform(i);
+
+        new_cow->manage(new_second_compound);
+
+        // margin on compound seems to have no effect when positive but has an effect when negative
+        new_second_compound->setMargin(BULLET_MARGIN);
+        new_compound->addChildShape(geom_trans, new_second_compound);
+      }
+      else
+      {
+        ROS_ERROR_NAMED("collision_detection.bullet",
+                        "I can only collision check convex shapes and compound shapes made of convex shapes");
+        throw std::runtime_error("I can only collision check convex shapes and compound shapes made of convex shapes");
+      }
+    }
+
+    // margin on compound seems to have no effect when positive but has an effect when negative
+    new_compound->setMargin(BULLET_MARGIN);
+    new_cow->manage(new_compound);
+    new_cow->setCollisionShape(new_compound);
+    new_cow->setWorldTransform(cow->getWorldTransform());
+  }
+  else
+  {
+    ROS_ERROR_NAMED("collision_detection.bullet",
+                    "I can only collision check convex shapes and compound shapes made of convex shapes");
+    throw std::runtime_error("I can only collision check convex shapes and compound shapes made of convex shapes");
+  }
+
+  return new_cow;
+}
+
 /** @brief Update the Broadphase AABB for the input collision object
  *  @param cow The collision objects
  *  @param broadphase The bullet broadphase interface
@@ -796,8 +1156,89 @@ inline void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr& cow,
 
   // Add the active collision object to the broadphase
   int type = cow->getCollisionShape()->getShapeType();
-  cow->setBroadphaseHandle(broadphase->createProxy(aabb_min, aabb_max, type, cow.get(), cow->m_collision_filter_group,
-                                                   cow->m_collision_filter_mask, dispatcher.get()));
+  cow->setBroadphaseHandle(broadphase->createProxy(aabb_min, aabb_max, type, cow.get(), cow->m_collisionFilterGroup,
+                                                   cow->m_collisionFilterMask, dispatcher.get()));
 }
+
+struct BroadphaseFilterCallback : public btOverlapFilterCallback
+{
+  virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override
+  {
+    bool cull = !(proxy0->m_collisionFilterMask & proxy1->m_collisionFilterGroup);
+    cull = cull || !(proxy1->m_collisionFilterMask & proxy0->m_collisionFilterGroup);
+
+    if (cull)
+      return false;
+
+    const CollisionObjectWrapper* cow0 = static_cast<const CollisionObjectWrapper*>(proxy0->m_clientObject);
+    const CollisionObjectWrapper* cow1 = static_cast<const CollisionObjectWrapper*>(proxy1->m_clientObject);
+
+    if (!cow0->m_enabled)
+      return false;
+
+    if (!cow1->m_enabled)
+      return false;
+
+    if (acm_ && acmCheck(cow0->getName(), cow1->getName()))
+      return false;
+
+    if (cow0->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
+        cow1->getTypeID() == collision_detection::BodyType::ROBOT_LINK)
+      if (cow0->m_touch_links.find(cow1->getName()) != cow0->m_touch_links.end())
+        return false;
+
+    if (cow1->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
+        cow0->getTypeID() == collision_detection::BodyType::ROBOT_LINK)
+      if (cow1->m_touch_links.find(cow0->getName()) == cow1->m_touch_links.end())
+        return false;
+
+    // TODO: Add check for two objects attached to the same link
+    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Broadphase pass " << cow0->getName() << " vs "
+                                                                            << cow1->getName());
+
+    return true;
+  }
+
+  bool acmCheck(const std::string& body_1, const std::string& body_2) const
+  {
+    collision_detection::AllowedCollision::Type allowed_type;
+
+    if (!acm_)
+    {
+      if (acm_->getEntry(body_1, body_2, allowed_type))
+      {
+        if (allowed_type == collision_detection::AllowedCollision::Type::NEVER)
+        {
+          ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                                 "Not allowed entry in ACM found, collision check between " << body_1 << " and "
+                                                                                            << body_2);
+          return false;
+        }
+        else
+        {
+          ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                                 "Entry in ACM found, skipping collision check as allowed " << body_1 << " and "
+                                                                                            << body_2);
+          return true;
+        }
+      }
+      else
+      {
+        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
+                                                                 << body_1 << " and " << body_2);
+        return false;
+      }
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
+                                                                                              << body_2);
+      return false;
+    }
+  }
+
+  const collision_detection::AllowedCollisionMatrix* acm_{ nullptr };
+};
+
 }  // namespace collision_detection_bullet
 #endif  //  MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
index b4929e6dfb..4acf787851 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
@@ -102,15 +102,26 @@ inline collision_detection::Contact* processResult(ContactTestData& cdata, colli
       cdata.res.distance = contact.depth;
     }
   }
+
   ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Contact btw " << key.first << " and " << key.second
                                                                       << " dist: " << contact.depth);
+  // case if pair hasn't a contact yet
   if (!found)
   {
-    cdata.res.collision = true;
+    if (contact.depth <= 0)
+    {
+      cdata.res.collision = true;
+    }
+
     std::vector<collision_detection::Contact> data;
+
+    // if we dont want contacts we are done here
     if (!cdata.req.contacts)
     {
-      cdata.done = true;
+      if (!cdata.req.distance)
+      {
+        cdata.done = true;
+      }
       return nullptr;
     }
     else
@@ -122,7 +133,10 @@ inline collision_detection::Contact* processResult(ContactTestData& cdata, colli
 
     if (cdata.res.contact_count >= cdata.req.max_contacts)
     {
-      cdata.done = true;
+      if (!cdata.req.distance)
+      {
+        cdata.done = true;
+      }
     }
 
     if (cdata.req.max_contacts_per_pair == 1u)
@@ -145,7 +159,10 @@ inline collision_detection::Contact* processResult(ContactTestData& cdata, colli
 
     if (cdata.res.contact_count >= cdata.req.max_contacts)
     {
-      cdata.done = true;
+      if (!cdata.req.distance)
+      {
+        cdata.done = true;
+      }
     }
 
     return &(dr.back());
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
index de04d45100..9299a0511d 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
@@ -113,6 +113,9 @@ class CollisionRobotBullet : public CollisionRobot
 
   /** \brief Handles all self collision checks */
   collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
+
+  /** \brief Active links corresponding to all links of the robot */
+  std::vector<std::string> active_;
 };
 }  // namespace collision_detection
 
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
index ea8473d3dc..06b35a1e04 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
@@ -40,6 +40,7 @@
 #include <moveit/collision_detection_bullet/collision_robot_bullet.h>
 #include <moveit/collision_detection/collision_world.h>
 #include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
 #include <memory>
 
 namespace collision_detection
@@ -103,6 +104,9 @@ class CollisionWorldBullet : public CollisionWorld
   /** \brief Handles all discrete collision checks */
   collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
 
+  /** \brief Handles all continuous collision checks */
+  collision_detection_bullet::BulletCastBVHManagerPtr bt_manager_CCD_;
+
 private:
   /** \brief Callback function executed for each change to the world environment */
   void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
new file mode 100644
index 0000000000..83da7d1c3d
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
@@ -0,0 +1,410 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Levi Armstrong */
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
+#include <map>
+#include <utility>
+
+namespace collision_detection_bullet
+{
+BulletCastBVHManager::BulletCastBVHManager()
+{
+  dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
+
+  dispatcher_->registerCollisionCreateFunc(
+      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
+      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
+
+  dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
+                                  ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
+
+  broadphase_.reset(new btDbvtBroadphase());
+
+  broadphase_->getOverlappingPairCache()->setOverlapFilterCallback(&filter_callback_);
+
+  contact_distance_ = 0;
+}
+
+BulletCastBVHManager::~BulletCastBVHManager()
+{
+  // clean up remaining objects
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2cow_)
+    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
+
+  // clean up remaining objects
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2castcow_)
+    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
+}
+
+BulletCastBVHManagerPtr BulletCastBVHManager::clone() const
+{
+  BulletCastBVHManagerPtr manager(new BulletCastBVHManager());
+
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2cow_)
+  {
+    CollisionObjectWrapperPtr new_cow = cow.second->clone();
+
+    assert(new_cow->getCollisionShape());
+    assert(new_cow->getCollisionShape()->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);
+
+    new_cow->setWorldTransform(cow.second->getWorldTransform());
+    new_cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance_));
+    manager->addCollisionObject(new_cow);
+  }
+
+  manager->setActiveCollisionObjects(active_);
+  manager->setContactDistanceThreshold(contact_distance_);
+  manager->setIsContactAllowedFn(fn_);
+
+  return manager;
+}
+
+bool BulletCastBVHManager::addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
+                                              const std::vector<shapes::ShapeConstPtr>& shapes,
+                                              const AlignedVector<Eigen::Isometry3d>& shape_poses,
+                                              const std::vector<CollisionObjectType>& collision_object_types,
+                                              bool enabled)
+{
+  CollisionObjectWrapperPtr new_cow =
+      createCollisionObject(name, mask_id, shapes, shape_poses, collision_object_types, enabled);
+  if (new_cow != nullptr)
+  {
+    addCollisionObject(new_cow);
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletCastBVHManager::hasCollisionObject(const std::string& name) const
+{
+  return (link2cow_.find(name) != link2cow_.end());
+}
+
+bool BulletCastBVHManager::removeCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow1 = it->second;
+    removeCollisionObjectFromBroadphase(cow1, broadphase_, dispatcher_);
+    link2cow_.erase(name);
+
+    CollisionObjectWrapperPtr& cow2 = link2castcow_[name];
+    removeCollisionObjectFromBroadphase(cow2, broadphase_, dispatcher_);
+    link2castcow_.erase(name);
+
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletCastBVHManager::enableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = true;
+    link2castcow_[name]->m_enabled = true;
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletCastBVHManager::disableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = false;
+    link2castcow_[name]->m_enabled = false;
+    return true;
+  }
+
+  return false;
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose)
+{
+  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
+  // geometry
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    btTransform tf = convertEigenToBt(pose);
+    cow->setWorldTransform(tf);
+    link2castcow_[name]->setWorldTransform(tf);
+
+    // Now update Broadphase AABB (See BulletWorld updateSingleAabb function)
+    if (cow->getBroadphaseHandle())
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                                        const AlignedVector<Eigen::Isometry3d>& poses)
+{
+  assert(names.size() == poses.size());
+  for (size_t i = 0u; i < names.size(); ++i)
+  {
+    setCollisionObjectsTransform(names[i], poses[i]);
+  }
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms)
+{
+  for (const std::pair<const std::string, Eigen::Isometry3d>& transform : transforms)
+  {
+    setCollisionObjectsTransform(transform.first, transform.second);
+  }
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
+                                                        const Eigen::Isometry3d& pose2)
+{
+  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
+  // geometry
+  auto it = link2castcow_.find(name);
+  if (it != link2castcow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    assert(cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter);
+
+    btTransform tf1 = convertEigenToBt(pose1);
+    btTransform tf2 = convertEigenToBt(pose2);
+
+    cow->setWorldTransform(tf1);
+    link2cow_[name]->setWorldTransform(tf1);
+
+    // If collision object is disabled dont proceed
+    if (cow->m_enabled)
+    {
+      if (btBroadphaseProxy::isConvex(cow->getCollisionShape()->getShapeType()))
+      {
+        static_cast<CastHullShape*>(cow->getCollisionShape())->updateCastTransform(tf1.inverseTimes(tf2));
+      }
+      else if (btBroadphaseProxy::isCompound(cow->getCollisionShape()->getShapeType()))
+      {
+        btCompoundShape* compound = static_cast<btCompoundShape*>(cow->getCollisionShape());
+
+        for (int i = 0; i < compound->getNumChildShapes(); ++i)
+        {
+          if (btBroadphaseProxy::isConvex(compound->getChildShape(i)->getShapeType()))
+          {
+            const btTransform& local_tf = compound->getChildTransform(i);
+
+            btTransform delta_tf = (tf1 * local_tf).inverseTimes(tf2 * local_tf);
+            static_cast<CastHullShape*>(compound->getChildShape(i))->updateCastTransform(delta_tf);
+            compound->updateChildTransform(i, local_tf, false);  // This is required to update the BVH tree
+          }
+          else if (btBroadphaseProxy::isCompound(compound->getChildShape(i)->getShapeType()))
+          {
+            btCompoundShape* second_compound = static_cast<btCompoundShape*>(compound->getChildShape(i));
+
+            for (int j = 0; j < second_compound->getNumChildShapes(); ++j)
+            {
+              assert(!btBroadphaseProxy::isCompound(second_compound->getChildShape(j)->getShapeType()));
+              const btTransform& local_tf = second_compound->getChildTransform(j);
+
+              btTransform delta_tf = (tf1 * local_tf).inverseTimes(tf2 * local_tf);
+              static_cast<CastHullShape*>(second_compound->getChildShape(j))->updateCastTransform(delta_tf);
+              second_compound->updateChildTransform(j, local_tf, false);  // This is required to update the BVH tree
+            }
+            second_compound->recalculateLocalAabb();
+          }
+        }
+        compound->recalculateLocalAabb();
+      }
+      else
+      {
+        ROS_ERROR_NAMED(
+            "collision_detection.bullet",
+            "I can only continuous collision check convex shapes and compound shapes made of convex shapes");
+        throw std::runtime_error(
+            "I can only continuous collision check convex shapes and compound shapes made of convex shapes");
+      }
+
+      // Now update Broadphase AABB (See BulletWorld updateSingleAabb function)
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+    }
+  }
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
+                                                        const AlignedVector<Eigen::Isometry3d>& pose1,
+                                                        const AlignedVector<Eigen::Isometry3d>& pose2)
+{
+  if (names.size() != pose1.size() || names.size() != pose2.size())
+  {
+    ROS_ERROR_NAMED("collision_detection.bullet", "The number of poses does not fit the number of collision objects.");
+  }
+
+  for (size_t i = 0u; i < names.size(); ++i)
+    setCollisionObjectsTransform(names[i], pose1[i], pose2[i]);
+}
+
+void BulletCastBVHManager::setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& pose1,
+                                                        const AlignedMap<std::string, Eigen::Isometry3d>& pose2)
+{
+  assert(pose1.size() == pose2.size());
+  auto it1 = pose1.begin();
+  auto it2 = pose2.begin();
+  while (it1 != pose1.end())
+  {
+    assert(pose1.find(it1->first) != pose2.end());
+    setCollisionObjectsTransform(it1->first, it1->second, it2->second);
+    std::advance(it1, 1);
+    std::advance(it2, 1);
+  }
+}
+
+void BulletCastBVHManager::setActiveCollisionObjects(const std::vector<std::string>& names)
+{
+  active_ = names;
+
+  // Now need to update the broadphase with correct aabb
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+
+    // Need to check if a collision object is still active, select cast or normal to broadphase
+    if (isLinkActive(active_, cow->getName()))
+    {
+      updateCollisionObjectFilters(active_, *cow, false);
+      CollisionObjectWrapperPtr& active_cow = link2castcow_[cow->getName()];
+      updateCollisionObjectFilters(active_, *active_cow, true);
+
+      removeCollisionObjectFromBroadphase(active_cow, broadphase_, dispatcher_);
+      removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
+      addCollisionObjectToBroadphase(active_cow, broadphase_, dispatcher_);
+    }
+    else
+    {
+      updateCollisionObjectFilters(active_, *cow, false);
+      CollisionObjectWrapperPtr& cast_cow = link2castcow_[cow->getName()];
+      updateCollisionObjectFilters(active_, *cast_cow, true);
+
+      removeCollisionObjectFromBroadphase(cast_cow, broadphase_, dispatcher_);
+      removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
+      addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
+    }
+  }
+}
+
+const std::vector<std::string>& BulletCastBVHManager::getActiveCollisionObjects() const
+{
+  return active_;
+}
+
+void BulletCastBVHManager::setContactDistanceThreshold(double contact_distance)
+{
+  contact_distance_ = contact_distance;
+
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
+    if (cow->getBroadphaseHandle())
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2castcow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
+    if (cow->getBroadphaseHandle())
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+double BulletCastBVHManager::getContactDistanceThreshold() const
+{
+  return contact_distance_;
+}
+
+void BulletCastBVHManager::setIsContactAllowedFn(IsContactAllowedFn fn)
+{
+  fn_ = std::move(fn);
+}
+
+IsContactAllowedFn BulletCastBVHManager::getIsContactAllowedFn() const
+{
+  return fn_;
+}
+
+void BulletCastBVHManager::contactTest(collision_detection::CollisionResult& collisions,
+                                       const collision_detection::CollisionRequest& req,
+                                       const collision_detection::AllowedCollisionMatrix* acm)
+{
+  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
+  broadphase_->calculateOverlappingPairs(dispatcher_.get());
+  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
+
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bulelt", "Number overlapping candidates "
+                                                           << pair_cache->getNumOverlappingPairs());
+
+  CastBroadphaseContactResultCallback cc(cdata, contact_distance_);
+  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
+  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
+}
+
+void BulletCastBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
+{
+  link2cow_[cow->getName()] = cow;
+  CollisionObjectWrapperPtr cast_cow = makeCastCollisionObject(cow);
+  link2castcow_[cast_cow->getName()] = cast_cow;
+
+  const CollisionObjectWrapperPtr& selected_cow =
+      (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter) ? cast_cow : cow;
+  btVector3 aabb_min, aabb_max;
+  selected_cow->getAABB(aabb_min, aabb_max);
+
+  int type = selected_cow->getCollisionShape()->getShapeType();
+  selected_cow->setBroadphaseHandle(broadphase_->createProxy(aabb_min, aabb_max, type, selected_cow.get(),
+                                                             selected_cow->m_collisionFilterGroup,
+                                                             selected_cow->m_collisionFilterMask, dispatcher_.get()));
+}
+
+void BulletCastBVHManager::contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions)
+{
+  btVector3 aabb_min, aabb_max;
+  cow->getAABB(aabb_min, aabb_max);
+
+  CastCollisionCollector cc(collisions, cow, static_cast<double>(cow->getContactProcessingThreshold()));
+  TesseractSingleContactCallback contact_cb(cow.get(), dispatcher_.get(), dispatch_info_, cc);
+  broadphase_->aabbTest(aabb_min, aabb_max, contact_cb);
+}
+}  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
index b55b3a7c02..73640cf3a8 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
@@ -50,6 +50,8 @@ BulletDiscreteBVHManager::BulletDiscreteBVHManager()
 
   broadphase_.reset(new btDbvtBroadphase());
 
+  broadphase_->getOverlappingPairCache()->setOverlapFilterCallback(&filter_callback_);
+
   contact_distance_ = 0;
 }
 
@@ -78,7 +80,6 @@ BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
     manager->addCollisionObject(new_cow);
   }
 
-  manager->setActiveCollisionObjects(active_);
   manager->setContactDistanceThreshold(contact_distance_);
   manager->setIsContactAllowedFn(fn_);
 
@@ -199,6 +200,10 @@ void BulletDiscreteBVHManager::setActiveCollisionObjects(const std::vector<std::
   {
     CollisionObjectWrapperPtr& cow = co.second;
     updateCollisionObjectFilters(active_, *cow, false);
+
+    // The broadphase tree structure has to be updated, therefore remove and add is necessary
+    removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
+    addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
   }
 }
 
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
index 18b21bafaf..c8704a8a8e 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
@@ -279,8 +279,8 @@ CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const co
   assert(shapes.size() == shape_poses.size());
   assert(shapes.size() == collision_object_types.size());
 
-  m_collision_filter_group = btBroadphaseProxy::KinematicFilter;
-  m_collision_filter_mask = btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter;
+  m_collisionFilterGroup = btBroadphaseProxy::KinematicFilter;
+  m_collisionFilterMask = btBroadphaseProxy::KinematicFilter;
 
   if (shapes.size() == 1)
   {
diff --git a/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
index 43a2a2683f..bb2ed2f584 100644
--- a/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
@@ -54,9 +54,7 @@ CollisionRobotBullet::CollisionRobotBullet(const robot_model::RobotModelConstPtr
     addLinkAsCollisionObjectWrapper(link.second);
   }
 
-  std::vector<std::string> active;
-  collision_detection_bullet::getActiveLinkNamesRecursive(active, robot_model_->getURDF()->getRoot(), true);
-  manager_->setActiveCollisionObjects(active);
+  collision_detection_bullet::getActiveLinkNamesRecursive(active_, robot_model_->getURDF()->getRoot(), true);
 }
 
 CollisionRobotBullet::CollisionRobotBullet(const CollisionRobotBullet& other)
@@ -126,6 +124,14 @@ void CollisionRobotBullet::checkSelfCollisionHelper(const CollisionRequest& req,
   addAttachedOjects(state, cows);
   collision_detection_bullet::BulletDiscreteBVHManagerPtr discrete_clone_manager = manager_->clone();
   updateTransformsFromState(state, discrete_clone_manager);
+
+  if (req.distance)
+  {
+    discrete_clone_manager->setContactDistanceThreshold(2);
+  }
+
+  discrete_clone_manager->filter_callback_.acm_ = acm;
+
   discrete_clone_manager->contactTest(res, req, acm, cows);
 }
 
diff --git a/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
index 9b5d164681..837fd0706d 100644
--- a/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
@@ -46,7 +46,9 @@ namespace collision_detection
 const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
 
 CollisionWorldBullet::CollisionWorldBullet()
-  : CollisionWorld(), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+  : CollisionWorld()
+  , manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+  , bt_manager_CCD_(new collision_detection_bullet::BulletCastBVHManager)
 {
   // request notifications about changes to new world
   observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
@@ -54,10 +56,13 @@ CollisionWorldBullet::CollisionWorldBullet()
   auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
                        std::placeholders::_3);
   manager_->setIsContactAllowedFn(fun);
+  bt_manager_CCD_->setIsContactAllowedFn(fun);
 }
 
 CollisionWorldBullet::CollisionWorldBullet(const WorldPtr& world)
-  : CollisionWorld(world), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+  : CollisionWorld(world)
+  , manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
+  , bt_manager_CCD_(new collision_detection_bullet::BulletCastBVHManager)
 {
   // request notifications about changes to new world
   observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
@@ -66,12 +71,14 @@ CollisionWorldBullet::CollisionWorldBullet(const WorldPtr& world)
   auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
                        std::placeholders::_3);
   manager_->setIsContactAllowedFn(fun);
+  bt_manager_CCD_->setIsContactAllowedFn(fun);
 }
 
 CollisionWorldBullet::CollisionWorldBullet(const CollisionWorldBullet& other, const WorldPtr& world)
   : CollisionWorld(other, world)
 {
   manager_ = other.manager_->clone();
+  bt_manager_CCD_ = other.bt_manager_CCD_->clone();
 
   // request notifications about changes to new world
   observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
@@ -116,7 +123,37 @@ void CollisionWorldBullet::checkRobotCollisionHelperCCD(const CollisionRequest&
                                                         const robot_state::RobotState& state2,
                                                         const AllowedCollisionMatrix* acm) const
 {
-  ROS_ERROR_NAMED("collision_detection.bullet", "Continuous collision checking not implemented yet");
+  const CollisionRobotBullet& robot_bt = dynamic_cast<const CollisionRobotBullet&>(robot);
+
+  collision_detection_bullet::BulletCastBVHManagerPtr cast_clone_manager = bt_manager_CCD_->clone();
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
+  robot_bt.addAttachedOjects(state1, attached_cows);
+  std::vector<std::string> active_objects;
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
+  {
+    cast_clone_manager->addCollisionObject(cow);
+    cast_clone_manager->setCollisionObjectsTransform(
+        cow->getName(), state1.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0],
+        state2.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0]);
+    active_objects.push_back(cow->getName());
+  }
+
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow :
+       robot_bt.manager_->getCollisionObjects())
+  {
+    collision_detection_bullet::CollisionObjectWrapperPtr new_cow = cow.second->clone();
+    cast_clone_manager->addCollisionObject(new_cow);
+    cast_clone_manager->setCollisionObjectsTransform(new_cow->getName(),
+                                                     state1.getCollisionBodyTransform(new_cow->getName(), 0),
+                                                     state2.getCollisionBodyTransform(new_cow->getName(), 0));
+  }
+
+  collision_detection_bullet::getActiveLinkNamesRecursive(active_objects,
+                                                          robot_bt.getRobotModel()->getURDF()->getRoot(), true);
+  cast_clone_manager->setActiveCollisionObjects(active_objects);
+  cast_clone_manager->filter_callback_.acm_ = acm;
+  cast_clone_manager->contactTest(res, req, acm);
 }
 
 void CollisionWorldBullet::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
@@ -138,7 +175,14 @@ void CollisionWorldBullet::checkRobotCollisionHelper(const CollisionRequest& req
                                                          state.getCollisionBodyTransform(new_cow->getName(), 0));
   }
 
-  discrete_clone_manager->setActiveCollisionObjects(robot_bt.manager_->getActiveCollisionObjects());
+  discrete_clone_manager->setActiveCollisionObjects(robot_bt.active_);
+
+  if (req.distance)
+  {
+    discrete_clone_manager->setContactDistanceThreshold(std::numeric_limits<double>::max());
+  }
+
+  discrete_clone_manager->filter_callback_.acm_ = acm;
 
   discrete_clone_manager->contactTest(res, req, acm, attached_cows);
 }
@@ -177,6 +221,9 @@ void CollisionWorldBullet::addToManager(const World::Object* obj)
 
   manager_->addCollisionObject(obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_, obj->shape_poses_,
                                collision_object_types, true);
+
+  bt_manager_CCD_->addCollisionObject(obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_,
+                                      obj->shape_poses_, collision_object_types, true);
 }
 
 void CollisionWorldBullet::updateManagedObject(const std::string& id)
@@ -187,6 +234,7 @@ void CollisionWorldBullet::updateManagedObject(const std::string& id)
     if (manager_->hasCollisionObject(id))
     {
       manager_->removeCollisionObject(id);
+      bt_manager_CCD_->removeCollisionObject(id);
       addToManager(it->second.get());
     }
     else
@@ -199,6 +247,7 @@ void CollisionWorldBullet::updateManagedObject(const std::string& id)
     if (manager_->hasCollisionObject(id))
     {
       manager_->removeCollisionObject(id);
+      bt_manager_CCD_->removeCollisionObject(id);
     }
   }
 }
@@ -225,6 +274,7 @@ void CollisionWorldBullet::notifyObjectChange(const ObjectConstPtr& obj, World::
   if (action == World::DESTROY)
   {
     manager_->removeCollisionObject(obj->id_);
+    bt_manager_CCD_->removeCollisionObject(obj->id_);
   }
   else
   {
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
new file mode 100644
index 0000000000..f5b5014c33
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -0,0 +1,401 @@
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
+#include <moveit/collision_detection/collision_common.h>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+
+#include <moveit/collision_detection_bullet/collision_world_bullet.h>
+#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
+#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
+
+#include <urdf_parser/urdf_parser.h>
+#include <geometric_shapes/shape_operations.h>
+
+/** \brief Brings the panda robot in user defined home position */
+inline void setToHome(robot_state::RobotState& panda_state)
+{
+  panda_state.setToDefaultValues();
+  double joint2 = -0.785;
+  double joint4 = -2.356;
+  double joint6 = 1.571;
+  double joint7 = 0.785;
+  panda_state.setJointPositions("panda_joint2", &joint2);
+  panda_state.setJointPositions("panda_joint4", &joint4);
+  panda_state.setJointPositions("panda_joint6", &joint6);
+  panda_state.setJointPositions("panda_joint7", &joint7);
+  panda_state.update();
+}
+
+class BulletCollisionDetectionTester : public testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    robot_model_ok_ = static_cast<bool>(robot_model_);
+
+    acm_.reset(new collision_detection::AllowedCollisionMatrix());
+    // Use default collision operations in the SRDF to setup the acm
+    const std::vector<std::string>& collision_links = robot_model_->getLinkModelNamesWithCollisionGeometry();
+    acm_->setEntry(collision_links, collision_links, false);
+
+    // allow collisions for pairs that have been disabled
+    const std::vector<srdf::Model::DisabledCollision>& dc = robot_model_->getSRDF()->getDisabledCollisionPairs();
+    for (const srdf::Model::DisabledCollision& it : dc)
+      acm_->setEntry(it.link1_, it.link2_, true);
+
+    crobot_.reset(new collision_detection::CollisionRobotBullet(robot_model_));
+    cworld_.reset(new collision_detection::CollisionWorldBullet());
+
+    robot_state_.reset(new robot_state::RobotState(robot_model_));
+
+    setToHome(*robot_state_);
+  }
+
+  void TearDown() override
+  {
+  }
+
+protected:
+  bool robot_model_ok_;
+
+  robot_model::RobotModelPtr robot_model_;
+
+  collision_detection::CollisionWorldPtr cworld_;
+  collision_detection::CollisionRobotPtr crobot_;
+
+  collision_detection::AllowedCollisionMatrixPtr acm_;
+
+  robot_state::RobotStatePtr robot_state_;
+};
+
+void addCollisionObjects(collision_detection_bullet::BulletCastBVHManager& checker)
+{
+  ////////////////////////////
+  // Add static box to checker
+  ////////////////////////////
+  shapes::ShapePtr static_box(new shapes::Box(1, 1, 1));
+  Eigen::Isometry3d static_box_pose;
+  static_box_pose.setIdentity();
+
+  std::vector<shapes::ShapeConstPtr> obj1_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
+  obj1_shapes.push_back(static_box);
+  obj1_poses.push_back(static_box_pose);
+  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+  checker.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses,
+                             obj1_types);
+
+  ////////////////////////////
+  // Add moving box to checker
+  ////////////////////////////
+  shapes::ShapePtr moving_box(new shapes::Box(0.2, 0.2, 0.2));
+  Eigen::Isometry3d moving_box_pose;
+
+  moving_box_pose.setIdentity();
+  moving_box_pose.translation() = Eigen::Vector3d(0.5, -0.5, 0);
+
+  std::vector<shapes::ShapeConstPtr> obj2_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
+  obj2_shapes.push_back(moving_box);
+  obj2_poses.push_back(moving_box_pose);
+  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+  checker.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses,
+                             obj2_types);
+}
+
+void addCollisionObjectsMesh(collision_detection_bullet::BulletCastBVHManager& checker)
+{
+  ////////////////////////////
+  // Add static box to checker
+  ////////////////////////////
+  shapes::ShapePtr static_box(new shapes::Box(0.3, 0.3, 0.3));
+  Eigen::Isometry3d static_box_pose;
+  static_box_pose.setIdentity();
+
+  std::vector<shapes::ShapeConstPtr> obj1_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
+  obj1_shapes.push_back(static_box);
+  obj1_poses.push_back(static_box_pose);
+  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+  checker.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses,
+                             obj1_types);
+
+  ////////////////////////////
+  // Add moving mesh to checker
+  ////////////////////////////
+
+  std::vector<shapes::ShapeConstPtr> obj2_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
+
+  obj1_poses.push_back(static_box_pose);
+  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+  Eigen::Isometry3d s_pose;
+  s_pose.setIdentity();
+
+  std::string kinect = "package://moveit_resources/panda_description/meshes/collision/hand.stl";
+  shapes::ShapeConstPtr s;
+  s.reset(shapes::createMeshFromResource(kinect));
+  obj2_shapes.push_back(s);
+  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+  obj2_poses.push_back(s_pose);
+
+  checker.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses,
+                             obj2_types);
+}
+
+void runTest(collision_detection_bullet::BulletCastBVHManager& checker, collision_detection::CollisionResult& result,
+             std::vector<collision_detection::Contact>& result_vector, Eigen::Isometry3d& start_pos,
+             Eigen::Isometry3d& end_pos)
+{
+  //////////////////////////////////////
+  // Test when object is inside another
+  //////////////////////////////////////
+  checker.setActiveCollisionObjects({ "moving_box_link" });
+  checker.setContactDistanceThreshold(0.1);
+
+  // Set the collision object transforms
+  checker.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
+  checker.setCollisionObjectsTransform("moving_box_link", start_pos, end_pos);
+
+  // Perform collision check
+  collision_detection::CollisionRequest request;
+  request.contacts = true;
+  // collision_detection_bullet::ContactResultMap result;
+  checker.contactTest(result, request, nullptr);
+
+  for (const auto& contacts_all : result.contacts)
+  {
+    for (const auto& contact : contacts_all.second)
+    {
+      result_vector.push_back(contact);
+    }
+  }
+}
+
+// TODO: Add continuous to continuous collision checking
+/** \brief Continuous self collision checks are not supported yet by the bullet integration */
+TEST_F(BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
+{
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+
+  robot_state::RobotState state1(robot_model_);
+  robot_state::RobotState state2(robot_model_);
+
+  setToHome(state1);
+  double joint2 = 0.15;
+  double joint4 = -3.0;
+  double joint5 = -0.8;
+  double joint7 = -0.785;
+  state1.setJointPositions("panda_joint2", &joint2);
+  state1.setJointPositions("panda_joint4", &joint4);
+  state1.setJointPositions("panda_joint5", &joint5);
+  state1.setJointPositions("panda_joint7", &joint7);
+  state1.update();
+
+  crobot_->checkSelfCollision(req, res, state1, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  setToHome(state2);
+  double joint_5_other = 0.8;
+  state2.setJointPositions("panda_joint2", &joint2);
+  state2.setJointPositions("panda_joint4", &joint4);
+  state2.setJointPositions("panda_joint5", &joint_5_other);
+  state2.setJointPositions("panda_joint7", &joint7);
+  state2.update();
+
+  crobot_->checkSelfCollision(req, res, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  crobot_->checkSelfCollision(req, res, state1, state2, *acm_);
+  ROS_INFO_STREAM("Continous to continous collisions are not supported yet, therefore fail here.");
+  ASSERT_TRUE(res.collision);
+  res.clear();
+}
+
+/** \brief Two similar robot poses are used as start and end pose of a continuous collision check. */
+TEST_F(BulletCollisionDetectionTester, ContinuousCollisionWorld)
+{
+  collision_detection::CollisionRequest req;
+  req.contacts = true;
+  req.max_contacts = 10;
+  collision_detection::CollisionResult res;
+
+  robot_state::RobotState state1(robot_model_);
+  robot_state::RobotState state2(robot_model_);
+
+  setToHome(state1);
+  state1.update();
+
+  setToHome(state2);
+  double joint_2{ 0.05 };
+  double joint_4{ -1.6 };
+  state2.setJointPositions("panda_joint2", &joint_2);
+  state2.setJointPositions("panda_joint4", &joint_4);
+  state2.update();
+
+  cworld_->checkRobotCollision(req, res, *crobot_, state1, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  // Adding the box which is not in collision with the individual states but with the casted one.
+  shapes::Shape* shape = new shapes::Box(0.1, 0.1, 0.1);
+  shapes::ShapeConstPtr shape_ptr(shape);
+
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+  pos.translation().x() = 0.43;
+  pos.translation().y() = 0;
+  pos.translation().z() = 0.55;
+  cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+
+  cworld_->checkRobotCollision(req, res, *crobot_, state1, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  cworld_->checkRobotCollision(req, res, *crobot_, state2, *acm_);
+  ASSERT_FALSE(res.collision);
+  res.clear();
+
+  cworld_->checkRobotCollision(req, res, *crobot_, state1, state2, *acm_);
+  ASSERT_TRUE(res.collision);
+  ASSERT_EQ(res.contact_count, 4u);
+  res.clear();
+}
+
+TEST(ContinuousCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)
+{
+  collision_detection::CollisionResult result;
+  std::vector<collision_detection::Contact> result_vector;
+
+  Eigen::Isometry3d start_pos, end_pos;
+  start_pos.setIdentity();
+  start_pos.translation().x() = -2;
+  end_pos.setIdentity();
+  end_pos.translation().x() = 2;
+
+  collision_detection_bullet::BulletCastBVHManager checker;
+  addCollisionObjects(checker);
+  runTest(checker, result, result_vector, start_pos, end_pos);
+
+  ASSERT_TRUE(result.collision);
+  EXPECT_NEAR(result_vector[0].depth, -0.6, 0.001);
+  EXPECT_NEAR(result_vector[0].percent_interpolation, 0.6, 0.001);
+}
+
+TEST(ContinuousCollisionUnit, BulletCastMeshVsBox)
+{
+  collision_detection_bullet::BulletCastBVHManager checker;
+  addCollisionObjectsMesh(checker);
+
+  Eigen::Isometry3d start_pos, end_pos;
+  start_pos.setIdentity();
+  start_pos.translation().x() = -1.9;
+  end_pos.setIdentity();
+  end_pos.translation().x() = 1.9;
+
+  collision_detection::CollisionResult result;
+  std::vector<collision_detection::Contact> result_vector;
+
+  runTest(checker, result, result_vector, start_pos, end_pos);
+
+  ASSERT_TRUE(result.collision);
+}
+
+TEST(ContinuousCollisionUnit, TwoManagers)
+{
+  collision_detection_bullet::BulletCastBVHManager checker_continuous;
+  collision_detection_bullet::BulletDiscreteBVHManager checker_discrete;
+
+  ////////////////////////////
+  // Add static box to checker
+  ////////////////////////////
+  shapes::ShapePtr static_box(new shapes::Box(.1, .1, .1));
+  Eigen::Isometry3d static_box_pose;
+  static_box_pose.setIdentity();
+
+  std::vector<shapes::ShapeConstPtr> obj1_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
+  obj1_shapes.push_back(static_box);
+  obj1_poses.push_back(static_box_pose);
+  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+  checker_continuous.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes,
+                                        obj1_poses, obj1_types);
+  checker_discrete.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes,
+                                      obj1_poses, obj1_types);
+
+  ////////////////////////
+  // Add moving sphere to checker
+  ////////////////////////
+  shapes::ShapePtr sphere;
+  sphere.reset(
+      shapes::createMeshFromResource("package://moveit_resources/panda_description/meshes/collision/link0.stl"));
+
+  Eigen::Isometry3d sphere_pose;
+  sphere_pose.setIdentity();
+
+  std::vector<shapes::ShapeConstPtr> obj2_shapes;
+  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
+  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
+  obj2_shapes.push_back(sphere);
+  obj2_poses.push_back(sphere_pose);
+  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+
+  checker_continuous.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes,
+                                        obj2_poses, obj2_types);
+  checker_discrete.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes,
+                                      obj2_poses, obj2_types);
+
+  checker_continuous.setActiveCollisionObjects({ "moving_box_link" });
+  checker_continuous.setContactDistanceThreshold(0.1);
+
+  // Set the collision object transforms
+  checker_continuous.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
+  checker_discrete.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
+
+  Eigen::Isometry3d start_pos, end_pos;
+  start_pos.setIdentity();
+  start_pos.translation().x() = -1.9;
+  end_pos.setIdentity();
+  end_pos.translation().x() = 1.9;
+  checker_continuous.setCollisionObjectsTransform("moving_box_link", start_pos, end_pos);
+
+  Eigen::Isometry3d start_pos_2;
+  start_pos_2.setIdentity();
+  start_pos_2.translation().x() = -1.9;
+  checker_discrete.setCollisionObjectsTransform("moving_box_link", start_pos_2);
+
+  collision_detection::CollisionResult result;
+  collision_detection::CollisionResult result_2;
+  collision_detection::CollisionRequest request;
+
+  // Perform collision check
+  checker_discrete.contactTest(result_2, request, nullptr);
+  checker_continuous.contactTest(result, request, nullptr);
+
+  ASSERT_TRUE(result.collision);
+  ASSERT_FALSE(result_2.collision);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_ros/planning/planning_components_tools/CMakeLists.txt b/moveit_ros/planning/planning_components_tools/CMakeLists.txt
index 53924e04e5..77f51dacd2 100644
--- a/moveit_ros/planning/planning_components_tools/CMakeLists.txt
+++ b/moveit_ros/planning/planning_components_tools/CMakeLists.txt
@@ -14,6 +14,9 @@ target_link_libraries(moveit_visualize_robot_collision_volume moveit_planning_sc
 add_executable(moveit_evaluate_collision_checking_speed src/evaluate_collision_checking_speed.cpp)
 target_link_libraries(moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
+add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
+target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
 add_executable(moveit_kinematics_speed_and_validity_evaluator src/kinematics_speed_and_validity_evaluator.cpp)
 target_link_libraries(moveit_kinematics_speed_and_validity_evaluator moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
new file mode 100644
index 0000000000..3afa3dfdd5
--- /dev/null
+++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
@@ -0,0 +1,355 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/collision_plugin_loader/collision_plugin_loader.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <geometric_shapes/shape_operations.h>
+#include <random_numbers/random_numbers.h>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/utils/robot_model_test_utils.h>
+
+static const std::string ROBOT_DESCRIPTION = "robot_description";
+static const int MAX_SEARCH_FACTOR_CLUTTER = 3;
+static const int MAX_SEARCH_FACTOR_STATES = 30;
+
+enum class RobotStateSelector
+{
+  IN_COLLISION,
+  NOT_IN_COLLISION,
+  RANDOM,
+};
+
+enum class CollisionDetector
+{
+  FCL,
+  BULLET,
+};
+
+enum class CollisionObjectType
+{
+  MESH,
+  BOX,
+};
+
+/** \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added
+ *  objects are not in collision.
+*
+*   \param planning_scene The planning scene
+*   \param num_objects The number of objects to be cluttered
+*   \param CollisionObjectType Type of object to clutter (mesh or box) */
+void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const size_t num_objects,
+                  CollisionObjectType type)
+{
+  ROS_INFO("Cluttering scene...");
+
+  random_numbers::RandomNumberGenerator num_generator = random_numbers::RandomNumberGenerator(123);
+
+  // allow all robot links to be in collision for world check
+  collision_detection::AllowedCollisionMatrix acm{ collision_detection::AllowedCollisionMatrix(
+      planning_scene->getRobotModel()->getLinkModelNames(), true) };
+
+  // set the robot state to home position
+  robot_state::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
+  collision_detection::CollisionRequest req;
+  current_state.setToDefaultValues(current_state.getJointModelGroup("panda_arm"), "home");
+  current_state.update();
+
+  // load panda link5 as world collision object
+  std::string name;
+  shapes::ShapeConstPtr shape;
+  std::string kinect = "package://moveit_resources/panda_description/meshes/collision/link5.stl";
+
+  Eigen::Quaterniond quat;
+  Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
+
+  size_t added_objects{ 0 };
+  size_t i{ 0 };
+  // create random objects until as many added as desired or quit if too many attempts
+  while (added_objects < num_objects && i < num_objects * MAX_SEARCH_FACTOR_CLUTTER)
+  {
+    // add with random size and random position
+    pos.translation().x() = num_generator.uniformReal(-1.0, 1.0);
+    pos.translation().y() = num_generator.uniformReal(-1.0, 1.0);
+    pos.translation().z() = num_generator.uniformReal(0.0, 1.0);
+
+    quat.x() = num_generator.uniformReal(-1.0, 1.0);
+    quat.y() = num_generator.uniformReal(-1.0, 1.0);
+    quat.z() = num_generator.uniformReal(-1.0, 1.0);
+    quat.w() = num_generator.uniformReal(-1.0, 1.0);
+    quat.normalize();
+    pos.rotate(quat);
+
+    switch (type)
+    {
+      case CollisionObjectType::MESH:
+      {
+        shapes::Mesh* mesh = shapes::createMeshFromResource(kinect);
+        mesh->scale(num_generator.uniformReal(0.3, 1.0));
+        shape.reset(mesh);
+        name = "mesh";
+        break;
+      }
+      case CollisionObjectType::BOX:
+      {
+        shape.reset(new shapes::Box(num_generator.uniformReal(0.05, 0.2), num_generator.uniformReal(0.05, 0.2),
+                                    num_generator.uniformReal(0.05, 0.2)));
+        name = "box";
+        break;
+      }
+    }
+
+    name.append(std::to_string(i));
+    planning_scene->getWorldNonConst()->addToObject(name, shape, pos);
+
+    // try if it isn't in collision if yes, ok, if no remove.
+    collision_detection::CollisionResult res;
+    planning_scene->checkCollision(req, res, current_state, acm);
+
+    if (!res.collision)
+    {
+      added_objects++;
+    }
+    else
+    {
+      ROS_DEBUG_STREAM("Object was in collision, remove");
+      planning_scene->getWorldNonConst()->removeObject(name);
+    }
+
+    i++;
+  }
+  ROS_INFO_STREAM("Cluttered the planning scene with " << added_objects << " objects");
+}
+
+/** \brief Runs a collision detection benchmark and measures the time.
+*
+*   \param trials The number of repeated collision checks for each state
+*   \param scene The planning scene
+*   \param CollisionDetector The type of collision detector
+*   \param only_self Flag for only self collision check performed */
+void runCollisionDetection(unsigned int trials, const planning_scene::PlanningScenePtr& scene,
+                           const std::vector<robot_state::RobotState>& states, const CollisionDetector col_detector,
+                           bool only_self, bool distance = false)
+{
+  collision_detection::AllowedCollisionMatrix acm{ collision_detection::AllowedCollisionMatrix(
+      scene->getRobotModel()->getLinkModelNames(), true) };
+
+  ROS_INFO_STREAM("Starting detection using " << (col_detector == CollisionDetector::FCL ? "FCL" : "Bullet"));
+
+  if (col_detector == CollisionDetector::FCL)
+  {
+    scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());
+  }
+  else
+  {
+    scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create());
+  }
+
+  collision_detection::CollisionResult res;
+  collision_detection::CollisionRequest req;
+
+  req.distance = distance;
+  // for world collision request detailed information
+  if (!only_self)
+  {
+    req.contacts = true;
+    req.max_contacts = 999;
+    req.max_contacts_per_pair = 99;
+  }
+
+  ros::WallTime start = ros::WallTime::now();
+  for (unsigned int i = 0; i < trials; ++i)
+  {
+    for (auto& state : states)
+    {
+      res.clear();
+
+      if (only_self)
+      {
+        scene->checkSelfCollision(req, res);
+      }
+      else
+      {
+        scene->checkCollision(req, res, state);
+      }
+    }
+  }
+  double duration = (ros::WallTime::now() - start).toSec();
+  ROS_INFO("Performed %lf collision checks per second", (double)trials * states.size() / duration);
+  ROS_INFO_STREAM("Total number was " << trials * states.size() << " checks.");
+  ROS_INFO_STREAM("We had " << states.size() << " different robot states which were "
+                            << (res.collision ? "in collison " : "not in collision ") << "with " << res.contact_count);
+
+  // color collided objects red
+  for (auto& contact : res.contacts)
+  {
+    ROS_INFO_STREAM("Between: " << contact.first.first << " and " << contact.first.second);
+    std_msgs::ColorRGBA red;
+    red.a = 0.8;
+    red.r = 1;
+    red.g = 0;
+    red.b = 0;
+    scene->setObjectColor(contact.first.first, red);
+    scene->setObjectColor(contact.first.second, red);
+  }
+
+  scene->setCurrentState(states.back());
+}
+
+/** \brief Samples valid states of the robot which can be in collision if desired.
+ *  \param desired_states Specifier for type for desired state
+ *  \param num_states Number of desired states
+ *  \param scene The planning scene
+ *  \param robot_states Result vector */
+void findStates(const RobotStateSelector desired_states, unsigned int num_states,
+                const planning_scene::PlanningScenePtr& scene, std::vector<robot_state::RobotState>& robot_states)
+{
+  robot_state::RobotState& current_state{ scene->getCurrentStateNonConst() };
+  collision_detection::CollisionRequest req;
+
+  size_t i{ 0 };
+  while (robot_states.size() < num_states && i < num_states * MAX_SEARCH_FACTOR_STATES)
+  {
+    current_state.setToRandomPositions();
+    current_state.update();
+    collision_detection::CollisionResult res;
+    scene->checkSelfCollision(req, res);
+    ROS_INFO_STREAM("Found state " << (res.collision ? "in collision" : "not in collision"));
+
+    switch (desired_states)
+    {
+      case RobotStateSelector::IN_COLLISION:
+        if (res.collision)
+          robot_states.push_back(current_state);
+        break;
+      case RobotStateSelector::NOT_IN_COLLISION:
+        if (!res.collision)
+          robot_states.push_back(current_state);
+        break;
+      case RobotStateSelector::RANDOM:
+        robot_states.push_back(current_state);
+        break;
+    }
+    i++;
+  }
+
+  if (!robot_states.empty())
+  {
+    scene->setCurrentState(robot_states[0]);
+  }
+  else
+  {
+    ROS_ERROR_STREAM("Did not find any correct states.");
+  }
+}
+
+int main(int argc, char** argv)
+{
+  robot_model::RobotModelPtr robot_model;
+  ros::init(argc, argv, "compare_collision_checking_speed");
+  ros::NodeHandle node_handle;
+
+  ros::Publisher planning_scene_diff_publisher = node_handle.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
+
+  unsigned int trials = 5000;
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+  ros::WallDuration sleep_t(2.5);
+
+  robot_model = moveit::core::loadTestingRobotModel("panda");
+
+  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
+  planning_scene_monitor::PlanningSceneMonitor psm(planning_scene, ROBOT_DESCRIPTION);
+  psm.startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
+  psm.startSceneMonitor();
+  planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create());
+
+  collision_detection::CollisionRequest req;
+  collision_detection::CollisionResult res;
+  collision_detection::AllowedCollisionMatrix acm{ collision_detection::AllowedCollisionMatrix(
+      robot_model->getLinkModelNames(), true) };
+  planning_scene->checkCollision(req, res, planning_scene->getCurrentState(), acm);
+
+  ROS_INFO("Starting...");
+
+  if (psm.getPlanningScene())
+  {
+    ros::Duration(0.5).sleep();
+
+    robot_state::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
+    current_state.setToDefaultValues(current_state.getJointModelGroup("panda_arm"), "home");
+    current_state.update();
+
+    std::vector<robot_state::RobotState> sampled_states;
+    sampled_states.push_back(current_state);
+
+    ROS_INFO("Starting benchmark: Robot in empty world, only self collision check");
+    runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::BULLET, true);
+    runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::FCL, true);
+
+    planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create());
+
+    clutterWorld(planning_scene, 100, CollisionObjectType::MESH);
+
+    ROS_INFO("Starting benchmark: Robot in cluttered world, no collision with world");
+    runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::BULLET, false);
+    runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::FCL, false);
+
+    double joint_2 = 1.5;
+    current_state.setJointPositions("panda_joint2", &joint_2);
+    current_state.update();
+
+    std::vector<robot_state::RobotState> sampled_states_2;
+    sampled_states_2.push_back(current_state);
+
+    ROS_INFO("Starting benchmark: Robot in cluttered world, in collision with world");
+    runCollisionDetection(trials, planning_scene, sampled_states_2, CollisionDetector::BULLET, false);
+    runCollisionDetection(trials, planning_scene, sampled_states_2, CollisionDetector::FCL, false);
+
+    moveit_msgs::PlanningScene planning_scene_msg;
+    planning_scene->getPlanningSceneMsg(planning_scene_msg);
+    planning_scene_diff_publisher.publish(planning_scene_msg);
+  }
+  else
+  {
+    ROS_ERROR("Planning scene not configured");
+  }
+
+  return 0;
+}

From eb62957e4559bcce3fef6fd774943b4dfd6d99a6 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Mon, 11 Nov 2019 20:08:23 +0100
Subject: [PATCH 151/612] Unified Collision Environment Bullet (#1572)

* Templated tests adapted for unified collision env

* Unified Bullet collision environment:
  * broadphase filtering adapted for early culling
  * ACM from SRDF in test
  * cleanup for bullet single collision env
  * removed link2castcow for CCD and only use constructor of COW directly
  * parent class for collision managers
  * removed function pointer for ACM check
  * removed extra self-collision manager and use only single manager
  * speed benchmark for unified environment

* PR review:
  * more descriptive variable names
  * added user to TODO

* PR review:
  * shortening namespace
  * documentation improvements
  * virtual destructor of BVH manager
  * remove extra speed benchmark
  * bugfix for not initialized managers

* Licenses revised of old tesseract files

* PR review:
  * replaced include guards through pragma
  * used default instead of empty {} for ctor/dtor

* Comments in Bullet readme about thread safety and speed
---
 .../test_collision_common.h                   | 103 ++--
 .../test_collision_common_panda.h             |  75 +--
 .../collision_detection_bullet/CMakeLists.txt |   4 +-
 .../collision_detection_bullet/README.md      |  12 +-
 .../bullet_integration/basic_types.h          |  31 +-
 .../bullet_integration/bullet_bvh_manager.h   | 157 ++++++
 .../bullet_cast_bvh_manager.h                 | 158 +-----
 .../bullet_discrete_bvh_manager.h             | 139 +----
 .../bullet_integration/bullet_utils.h         | 498 ++++--------------
 .../contact_checker_common.h                  |  76 +--
 .../bullet_integration/ros_bullet_utils.h     |   4 +-
 .../collision_detector_allocator_bullet.h     |  13 +-
 .../collision_detector_bullet_plugin_loader.h |   4 +-
 .../collision_env_bullet.h                    | 148 ++++++
 .../collision_robot_bullet.h                  | 122 -----
 .../collision_world_bullet.h                  | 118 -----
 .../bullet_integration/bullet_bvh_manager.cpp | 168 ++++++
 .../bullet_cast_bvh_manager.cpp               | 283 +---------
 .../bullet_discrete_bvh_manager.cpp           | 234 +-------
 .../src/bullet_integration/bullet_utils.cpp   |  31 +-
 .../src/collision_env_bullet.cpp              | 432 +++++++++++++++
 .../src/collision_robot_bullet.cpp            | 273 ----------
 .../src/collision_world_bullet.cpp            | 297 -----------
 ...t_bullet_continuous_collision_checking.cpp | 204 +++----
 .../collision_common.h                        |   2 +-
 .../src/collision_common.cpp                  |   2 +-
 26 files changed, 1261 insertions(+), 2327 deletions(-)
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h
 create mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
 delete mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
 delete mode 100644 moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
 create mode 100644 moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
 create mode 100644 moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
 delete mode 100644 moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
 delete mode 100644 moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
index 331c5a154e..d62c1e8872 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
@@ -38,8 +38,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 #include <moveit/collision_detection/collision_common.h>
-#include <moveit/collision_detection/collision_world.h>
-#include <moveit/collision_detection/collision_robot.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <urdf_parser/urdf_parser.h>
 #include <geometric_shapes/shape_operations.h>
@@ -70,8 +69,7 @@ class CollisionDetectorTest : public ::testing::Test
 
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
-    crobot_ = value_->allocateRobot(robot_model_);
-    cworld_ = value_->allocateWorld(collision_detection::WorldPtr(new collision_detection::World()));
+    cenv_ = value_->allocateEnv(robot_model_);
   }
 
   void TearDown() override
@@ -82,8 +80,7 @@ class CollisionDetectorTest : public ::testing::Test
 
   robot_model::RobotModelPtr robot_model_;
 
-  collision_detection::CollisionRobotPtr crobot_;
-  collision_detection::CollisionWorldPtr cworld_;
+  collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
@@ -105,7 +102,7 @@ TYPED_TEST_P(CollisionDetectorTest, DefaultNotInCollision)
 
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_FALSE(res.collision);
 }
 
@@ -132,11 +129,11 @@ TYPED_TEST_P(CollisionDetectorTest, LinksInCollision)
   robot_state.update();
 
   this->acm_->setEntry("base_link", "base_bellow_link", false);
-  this->crobot_->checkSelfCollision(req, res1, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res1, robot_state, *this->acm_);
   ASSERT_TRUE(res1.collision);
 
   this->acm_->setEntry("base_link", "base_bellow_link", true);
-  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_);
   ASSERT_FALSE(res2.collision);
 
   //  req.verbose = true;
@@ -147,7 +144,7 @@ TYPED_TEST_P(CollisionDetectorTest, LinksInCollision)
   robot_state.update();
 
   this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
-  this->crobot_->checkSelfCollision(req, res3, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res3, robot_state, *this->acm_);
   ASSERT_TRUE(res3.collision);
 }
 
@@ -179,7 +176,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactReporting)
   this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contacts.size(), 1u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -188,7 +185,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactReporting)
   req.max_contacts = 2;
   req.max_contacts_per_pair = 1;
   //  req.verbose = true;
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_EQ(res.contacts.size(), 2u);
   EXPECT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -199,7 +196,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactReporting)
   req.max_contacts = 10;
   req.max_contacts_per_pair = 2;
   this->acm_.reset(new collision_detection::AllowedCollisionMatrix(this->robot_model_->getLinkModelNames(), false));
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
   EXPECT_LE(res.contacts.size(), 10u);
   EXPECT_LE(res.contact_count, 10u);
@@ -230,7 +227,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false);
 
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_EQ(res.contacts.size(), 1u);
   ASSERT_EQ(res.contacts.begin()->second.size(), 1u);
@@ -250,7 +247,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   robot_state.update();
 
   collision_detection::CollisionResult res2;
-  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_);
   ASSERT_TRUE(res2.collision);
   ASSERT_EQ(res2.contacts.size(), 1u);
   ASSERT_EQ(res2.contacts.begin()->second.size(), 1u);
@@ -270,7 +267,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   robot_state.update();
 
   collision_detection::CollisionResult res3;
-  this->crobot_->checkSelfCollision(req, res2, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_);
   ASSERT_FALSE(res3.collision);
 }
 
@@ -291,18 +288,18 @@ TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
   //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
   robot_state.update();
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_FALSE(res.collision);
 
   shapes::Shape* shape = new shapes::Box(.1, .1, .1);
-  this->cworld_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
+  this->cenv_->getWorld()->addToObject("box", shapes::ShapeConstPtr(shape), pos1);
 
   res = collision_detection::CollisionResult();
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
-  this->cworld_->getWorld()->removeObject("box");
+  this->cenv_->getWorld()->removeObject("box");
 
   shape = new shapes::Box(.1, .1, .1);
   std::vector<shapes::ShapeConstPtr> shapes;
@@ -313,7 +310,7 @@ TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
   robot_state.attachBody("box", shapes, poses, touch_links, "r_gripper_palm_link");
 
   res = collision_detection::CollisionResult();
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
 
   // deletes shape
@@ -326,19 +323,19 @@ TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
   robot_state.update();
 
   res = collision_detection::CollisionResult();
-  this->crobot_->checkSelfCollision(req, res, robot_state, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_);
   ASSERT_FALSE(res.collision);
 
   pos1.translation().x() = 5.01;
   shapes::Shape* coll = new shapes::Box(.1, .1, .1);
-  this->cworld_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
+  this->cenv_->getWorld()->addToObject("coll", shapes::ShapeConstPtr(coll), pos1);
   res = collision_detection::CollisionResult();
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
 
   this->acm_->setEntry("coll", "r_gripper_palm_link", true);
   res = collision_detection::CollisionResult();
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state, *this->acm_);
+  this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_);
   ASSERT_TRUE(res.collision);
 }
 
@@ -351,13 +348,13 @@ TYPED_TEST_P(CollisionDetectorTest, DiffSceneTester)
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
 
-  collision_detection::CollisionRobotPtr new_crobot = this->value_->allocateRobot(this->crobot_);
+  collision_detection::CollisionEnvPtr new_cenv = this->value_->allocateEnv(this->cenv_, this->cenv_->getWorld());
 
   ros::WallTime before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   double first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   double second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(fabs(first_check - second_check), .05);
@@ -374,21 +371,21 @@ TYPED_TEST_P(CollisionDetectorTest, DiffSceneTester)
   robot_state.attachBody("kinect", shapes, poses, touch_links, "r_gripper_palm_link");
 
   before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   second_check = (ros::WallTime::now() - before).toSec();
 
   // the first check is going to take a while, as data must be constructed
   EXPECT_LT(second_check, .1);
 
-  collision_detection::CollisionRobotPtr other_new_crobot = this->value_->allocateRobot(this->crobot_);
+  collision_detection::CollisionEnvPtr other_new_cenv = this->value_->allocateEnv(this->cenv_, this->cenv_->getWorld());
   before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  new_crobot->checkSelfCollision(req, res, robot_state);
+  new_cenv->checkSelfCollision(req, res, robot_state);
   second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(fabs(first_check - second_check), .05);
@@ -404,23 +401,23 @@ TYPED_TEST_P(CollisionDetectorTest, ConvertObjectToAttached)
   Eigen::Isometry3d pos2 = Eigen::Isometry3d::Identity();
   pos2.translation().x() = 10.0;
 
-  this->cworld_->getWorld()->addToObject("kinect", shape, pos1);
+  this->cenv_->getWorld()->addToObject("kinect", shape, pos1);
 
   robot_state::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
   ros::WallTime before = ros::WallTime::now();
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state);
+  this->cenv_->checkRobotCollision(req, res, robot_state);
   double first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, robot_state);
+  this->cenv_->checkRobotCollision(req, res, robot_state);
   double second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(second_check, .05);
 
-  collision_detection::CollisionWorld::ObjectConstPtr object = this->cworld_->getWorld()->getObject("kinect");
-  this->cworld_->getWorld()->removeObject("kinect");
+  collision_detection::CollisionEnv::ObjectConstPtr object = this->cenv_->getWorld()->getObject("kinect");
+  this->cenv_->getWorld()->removeObject("kinect");
 
   robot_state::RobotState robot_state1(this->robot_model_);
   robot_state::RobotState robot_state2(this->robot_model_);
@@ -440,17 +437,17 @@ TYPED_TEST_P(CollisionDetectorTest, ConvertObjectToAttached)
 
   // going to take a while, but that's fine
   res = collision_detection::CollisionResult();
-  this->crobot_->checkSelfCollision(req, res, robot_state1);
+  this->cenv_->checkSelfCollision(req, res, robot_state1);
 
   EXPECT_TRUE(res.collision);
 
   before = ros::WallTime::now();
-  this->crobot_->checkSelfCollision(req, res, robot_state1, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state1, *this->acm_);
   first_check = (ros::WallTime::now() - before).toSec();
   before = ros::WallTime::now();
   req.verbose = true;
   res = collision_detection::CollisionResult();
-  this->crobot_->checkSelfCollision(req, res, robot_state2, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, robot_state2, *this->acm_);
   second_check = (ros::WallTime::now() - before).toSec();
 
   EXPECT_LT(first_check, .05);
@@ -467,7 +464,7 @@ TYPED_TEST_P(CollisionDetectorTest, TestCollisionMapAdditionSpeed)
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(.01, .01, .01)));
   }
   ros::WallTime start = ros::WallTime::now();
-  this->cworld_->getWorld()->addToObject("map", shapes, poses);
+  this->cenv_->getWorld()->addToObject("map", shapes, poses);
   double t = (ros::WallTime::now() - start).toSec();
   // TODO: investigate why bullet collision checking is considerably slower here
   EXPECT_GE(5.0, t);
@@ -487,16 +484,16 @@ TYPED_TEST_P(CollisionDetectorTest, MoveMesh)
   shapes::ShapePtr kinect_shape;
   kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_));
 
-  this->cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+  this->cenv_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
 
   Eigen::Isometry3d np;
   for (unsigned int i = 0; i < 5; i++)
   {
     np = Eigen::Translation3d(i * .001, i * .001, i * .001) * Eigen::Quaterniond::Identity();
-    this->cworld_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
+    this->cenv_->getWorld()->moveShapeInObject("kinect", kinect_shape, np);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+    this->cenv_->checkCollision(req, res, robot_state1, *this->acm_);
   }
 }
 
@@ -515,37 +512,37 @@ TYPED_TEST_P(CollisionDetectorTest, TestChangingShapeSize)
   std::vector<shapes::ShapeConstPtr> shapes;
   for (unsigned int i = 0; i < 5; i++)
   {
-    this->cworld_->getWorld()->removeObject("shape");
+    this->cenv_->getWorld()->removeObject("shape");
     shapes.clear();
     poses.clear();
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
     poses.push_back(Eigen::Isometry3d::Identity());
-    this->cworld_->getWorld()->addToObject("shape", shapes, poses);
+    this->cenv_->getWorld()->addToObject("shape", shapes, poses);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+    this->cenv_->checkCollision(req, res, robot_state1, *this->acm_);
     ASSERT_TRUE(res.collision);
   }
 
   Eigen::Isometry3d kinect_pose = Eigen::Isometry3d::Identity();
   shapes::ShapePtr kinect_shape;
   kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_));
-  this->cworld_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
+  this->cenv_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose);
   collision_detection::CollisionRequest req2;
   collision_detection::CollisionResult res2;
-  this->cworld_->checkCollision(req2, res2, *this->crobot_, robot_state1, *this->acm_);
+  this->cenv_->checkCollision(req2, res2, robot_state1, *this->acm_);
   ASSERT_TRUE(res2.collision);
   for (unsigned int i = 0; i < 5; i++)
   {
-    this->cworld_->getWorld()->removeObject("shape");
+    this->cenv_->getWorld()->removeObject("shape");
     shapes.clear();
     poses.clear();
     shapes.push_back(shapes::ShapeConstPtr(new shapes::Box(1 + i * .0001, 1 + i * .0001, 1 + i * .0001)));
     poses.push_back(Eigen::Isometry3d::Identity());
-    this->cworld_->getWorld()->addToObject("shape", shapes, poses);
+    this->cenv_->getWorld()->addToObject("shape", shapes, poses);
     collision_detection::CollisionRequest req;
     collision_detection::CollisionResult res;
-    this->cworld_->checkCollision(req, res, *this->crobot_, robot_state1, *this->acm_);
+    this->cenv_->checkCollision(req, res, robot_state1, *this->acm_);
     ASSERT_TRUE(res.collision);
   }
 }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
index 02c3ac73bf..42f356a4d8 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -38,8 +38,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 #include <moveit/collision_detection/collision_common.h>
-#include <moveit/collision_detection/collision_world.h>
-#include <moveit/collision_detection/collision_robot.h>
+#include <moveit/collision_detection/collision_env.h>
 #include <moveit/collision_detection/collision_detector_allocator.h>
 
 #include <urdf_parser/urdf_parser.h>
@@ -89,8 +88,7 @@ class CollisionDetectorPandaTest : public testing::Test
     for (const srdf::Model::DisabledCollision& it : dc)
       acm_->setEntry(it.link1_, it.link2_, true);
 
-    crobot_ = value_->allocateRobot(robot_model_);
-    cworld_ = value_->allocateWorld(collision_detection::WorldPtr(new collision_detection::World()));
+    cenv_ = value_->allocateEnv(robot_model_);
 
     robot_state_.reset(new robot_state::RobotState(robot_model_));
     setToHome(*robot_state_);
@@ -104,8 +102,7 @@ class CollisionDetectorPandaTest : public testing::Test
 
   robot_model::RobotModelPtr robot_model_;
 
-  collision_detection::CollisionWorldPtr cworld_;
-  collision_detection::CollisionRobotPtr crobot_;
+  collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
@@ -125,7 +122,7 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DefaultNotInCollision)
 {
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
 }
 
@@ -141,30 +138,7 @@ TYPED_TEST_P(CollisionDetectorPandaTest, LinksInCollision)
 
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
-  ASSERT_TRUE(res.collision);
-}
-
-// TODO: Add collision check capability within world itself and then enable test
-/** \brief Two boxes in collision in the world environment. */
-TYPED_TEST_P(CollisionDetectorPandaTest, DISABLED_WorldToWorldCollision)
-{
-  collision_detection::CollisionRequest req;
-  collision_detection::CollisionResult res;
-
-  shapes::Shape* shape = new shapes::Box(.5, .5, .5);
-  shapes::ShapeConstPtr shape_ptr(shape);
-
-  Eigen::Isometry3d pos_1 = Eigen::Isometry3d::Identity();
-  pos_1.translation().x() = 1;
-  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos_1);
-
-  Eigen::Isometry3d pos_2 = Eigen::Isometry3d::Identity();
-  pos_2.translation().x() = 1.2;
-  this->cworld_->getWorld()->addToObject("box_2", shape_ptr, pos_2);
-
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
-
+  this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_TRUE(res.collision);
 }
 
@@ -179,22 +153,22 @@ TYPED_TEST_P(CollisionDetectorPandaTest, RobotWorldCollision_1)
 
   Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
   pos1.translation().z() = 0.3;
-  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos1);
+  this->cenv_->getWorld()->addToObject("box", shape_ptr, pos1);
 
-  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_TRUE(res.collision);
   res.clear();
 
-  this->cworld_->getWorld()->moveObject("box", pos1);
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->getWorld()->moveObject("box", pos1);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_TRUE(res.collision);
   res.clear();
 
-  this->cworld_->getWorld()->moveObject("box", pos1);
+  this->cenv_->getWorld()->moveObject("box", pos1);
   ASSERT_FALSE(res.collision);
 }
 
@@ -212,8 +186,8 @@ TYPED_TEST_P(CollisionDetectorPandaTest, RobotWorldCollision_2)
 
   Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
   pos1.translation().z() = 0.3;
-  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos1);
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->getWorld()->addToObject("box", shape_ptr, pos1);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_GE(res.contact_count, 3u);
   res.clear();
@@ -227,7 +201,7 @@ TYPED_TEST_P(CollisionDetectorPandaTest, PaddingTest)
   req.max_contacts = 10;
   collision_detection::CollisionResult res;
 
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
@@ -239,15 +213,15 @@ TYPED_TEST_P(CollisionDetectorPandaTest, PaddingTest)
   pos.translation().x() = 0.43;
   pos.translation().y() = 0;
   pos.translation().z() = 0.55;
-  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+  this->cenv_->getWorld()->addToObject("box", shape_ptr, pos);
 
-  this->crobot_->setLinkPadding("panda_hand", 0.08);
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->setLinkPadding("panda_hand", 0.08);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_TRUE(res.collision);
   res.clear();
 
-  this->crobot_->setLinkPadding("panda_hand", 0.0);
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->setLinkPadding("panda_hand", 0.0);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
 }
 
@@ -257,7 +231,7 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DistanceSelf)
   collision_detection::CollisionRequest req;
   req.distance = true;
   collision_detection::CollisionResult res;
-  this->crobot_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
+  this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
   EXPECT_NEAR(res.distance, 0.13, 0.01);
 }
@@ -276,14 +250,13 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DistanceWorld)
   pos.translation().x() = 0.43;
   pos.translation().y() = 0;
   pos.translation().z() = 0.55;
-  this->cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+  this->cenv_->getWorld()->addToObject("box", shape_ptr, pos);
 
-  this->crobot_->setLinkPadding("panda_hand", 0.0);
-  this->cworld_->checkRobotCollision(req, res, *this->crobot_, *this->robot_state_, *this->acm_);
+  this->cenv_->setLinkPadding("panda_hand", 0.0);
+  this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
   EXPECT_NEAR(res.distance, 0.029, 0.01);
 }
 
 REGISTER_TYPED_TEST_CASE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
-                           DISABLED_WorldToWorldCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest,
-                           DistanceSelf, DistanceWorld);
+                           RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld);
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index d50c5a9ed4..4b4ccf6547 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -1,11 +1,11 @@
 set(MOVEIT_LIB_NAME moveit_collision_detection_bullet)
 
 add_library(${MOVEIT_LIB_NAME}
-  src/collision_robot_bullet.cpp
-  src/collision_world_bullet.cpp
   src/bullet_integration/bullet_utils.cpp
   src/bullet_integration/bullet_discrete_bvh_manager.cpp
   src/bullet_integration/bullet_cast_bvh_manager.cpp
+  src/collision_env_bullet.cpp
+  src/bullet_integration/bullet_bvh_manager.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
diff --git a/moveit_core/collision_detection_bullet/README.md b/moveit_core/collision_detection_bullet/README.md
index b808244650..63b95739f6 100644
--- a/moveit_core/collision_detection_bullet/README.md
+++ b/moveit_core/collision_detection_bullet/README.md
@@ -1,6 +1,8 @@
 ### Using Bullet as a collision checker [experimental]
-To use Bullet as a collision checker you can:
-a) create a new planning scene and manually switch to Bullet using the planning_scene.setActiveCollisionDetector()
-b) manually switch to Bullet using the `CollisionPluginLoader`
-c) manually instantiate a `CollisionRobotBullet` and `CollisionWorldBullet`
-d) use rosparam to set the collision checker (preferred but not tested yet) when starting a new `move_group`
+To use Bullet as a collision checker you can manually switch to Bullet using the planning_scene.setActiveCollisionDetector()
+
+### Speed Benchmarks
+For speed comparisons to FCL please see (relative link to README of benchmark script will be added).
+
+### Current Limitations
+The collision detection using Bullet is not thread safe as the internal collision managers are `mutable` members of the collision environment.
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
index 385ed46f23..d243c030be 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
@@ -18,8 +18,7 @@
 
 /* Author: Levi Armstrong */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
+#pragma once
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -44,12 +43,6 @@ template <typename Key, typename Value>
 using AlignedUnorderedMap = std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>,
                                                Eigen::aligned_allocator<std::pair<const Key, Value>>>;
 
-/** @brief Checks if contact is allowed or not. Returns true if yes, otherwise false.
- *
- * The order of strings should not matter, the function should handled by the function. */
-typedef std::function<bool(const std::string&, const std::string&, const collision_detection::AllowedCollisionMatrix*)>
-    IsContactAllowedFn;
-
 enum class CollisionObjectType
 {
   USE_SHAPE_TYPE = 0, /**< @brief Infer the type from the type specified in the shapes::Shape class */
@@ -66,17 +59,9 @@ struct ContactTestData
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  ContactTestData(const std::vector<std::string>& active, const double& contact_distance, const IsContactAllowedFn& fn,
-                  collision_detection::CollisionResult& res, const collision_detection::CollisionRequest& req,
-                  const collision_detection::AllowedCollisionMatrix* acm)
-    : active(active)
-    , contact_distance(contact_distance)
-    , fn(fn)
-    , acm(acm)
-    , res(res)
-    , req(req)
-    , done(false)
-    , pair_done(false)
+  ContactTestData(const std::vector<std::string>& active, const double& contact_distance,
+                  collision_detection::CollisionResult& res, const collision_detection::CollisionRequest& req)
+    : active(active), contact_distance(contact_distance), res(res), req(req), done(false), pair_done(false)
   {
   }
 
@@ -85,12 +70,6 @@ struct ContactTestData
   /** \brief If after a positive broadphase check the distance is below this threshold, a contact is added. */
   const double& contact_distance;
 
-  /** \brief User defined function which checks if contact is allowed between two objects */
-  const IsContactAllowedFn& fn;
-
-  /** \brief Indicates collision objects which are allowed to be in contact */
-  const collision_detection::AllowedCollisionMatrix* acm;
-
   collision_detection::CollisionResult& res;
   const collision_detection::CollisionRequest& req;
 
@@ -102,5 +81,3 @@ struct ContactTestData
 };
 
 }  // namespace collision_detection_bullet
-
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BASIC_TYPES_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h
new file mode 100644
index 0000000000..140f684f16
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h
@@ -0,0 +1,157 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: Levi Armstrong, Jens Petit */
+
+#pragma once
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
+#include <moveit/macros/class_forward.h>
+
+namespace collision_detection_bullet
+{
+MOVEIT_CLASS_FORWARD(BulletBVHManager)
+
+/** @brief A bounding volume hierarchy (BVH) implementation of a tesseract contact manager */
+class BulletBVHManager
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** \brief Constructor */
+  BulletBVHManager();
+
+  virtual ~BulletBVHManager();
+
+  /** @brief Clone the manager
+   *
+   * This is to be used for multi threaded applications. A user should make a clone for each thread. */
+  BulletBVHManagerPtr clone() const;
+
+  /**@brief Find if a collision object already exists
+   * @param name The name of the collision object
+   * @return true if it exists, otherwise false. */
+  bool hasCollisionObject(const std::string& name) const;
+
+  /**@brief Remove an object from the checker
+   * @param name The name of the object
+   * @return true if successfully removed, otherwise false. */
+  bool removeCollisionObject(const std::string& name);
+
+  /**@brief Enable an object
+   * @param name The name of the object
+   * @return true if successfully enabled, otherwise false. */
+  bool enableCollisionObject(const std::string& name);
+
+  /**@brief Disable an object
+   * @param name The name of the object
+   * @return true if successfully disabled, otherwise false. */
+  bool disableCollisionObject(const std::string& name);
+
+  /**@brief Set a single static collision object's tansform
+   * @param name The name of the object
+   * @param pose The tranformation in world */
+  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
+
+  /**@brief Set which collision objects are active
+   * @param names A vector of collision object names */
+  void setActiveCollisionObjects(const std::vector<std::string>& names);
+
+  /**@brief Get which collision objects are active
+   * @return A vector of collision object names */
+  const std::vector<std::string>& getActiveCollisionObjects() const;
+
+  /**@brief Set the contact distance threshold for which collision should be considered through expanding the AABB by
+   * the
+   * contact_distance for all links.
+   * @param contact_distance The contact distance */
+  void setContactDistanceThreshold(double contact_distance);
+
+  /**@brief Get the contact distance threshold
+   * @return The contact distance */
+  double getContactDistanceThreshold() const;
+
+  /**@brief Perform a contact test for all objects
+   * @param collisions The Contact results data
+   * @param req The collision request data
+   * @param acm The allowed collision matrix
+   * @param self Used for indicating self collision checks */
+  virtual void contactTest(collision_detection::CollisionResult& collisions,
+                           const collision_detection::CollisionRequest& req,
+                           const collision_detection::AllowedCollisionMatrix* acm, bool self) = 0;
+
+  /**@brief Add a collision object to the checker
+   *
+   * All objects are added should initially be added as static objects. Use the setContactRequest method of defining
+   * which collision objects are moving.
+   *
+   * @param name            The name of the object, must be unique.
+   * @param mask_id         User defined id which gets stored in the results structure.
+   * @param shapes          A vector of shapes that make up the collision object.
+   * @param shape_poses     A vector of poses for each shape, must be same length as shapes
+   * @param shape_types     A vector of shape types for encode the collision object. If the vector is of length 1 it is
+   * used for all shapes.
+   * @param collision_object_types A int identifying a conversion mode for the object. (ex. convert meshes to convex
+   * hulls)
+   * @param enabled         Indicate if the object is enabled for collision checking.
+   * @return true if successfully added, otherwise false. */
+  /**@brief Add a tesseract collision object to the manager
+   * @param cow The tesseract bullet collision object */
+  virtual void addCollisionObject(const CollisionObjectWrapperPtr& cow) = 0;
+
+  const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
+
+protected:
+  /** @brief A map of collision objects being managed */
+  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
+
+  /** @brief A list of the active collision links */
+  std::vector<std::string> active_;
+
+  /** @brief The contact distance threshold */
+  double contact_distance_;
+
+  /** @brief The bullet collision dispatcher used for getting object to object collison algorithm */
+  std::unique_ptr<btCollisionDispatcher> dispatcher_;
+
+  /** @brief The bullet collision dispatcher configuration information */
+  btDispatcherInfo dispatch_info_;
+
+  /** @brief The bullet collision configuration */
+  btDefaultCollisionConfiguration coll_config_;
+
+  /** @brief The bullet broadphase interface */
+  std::unique_ptr<btBroadphaseInterface> broadphase_;
+
+  /** \brief Callback function for culling objects before a broadphase check */
+  BroadphaseFilterCallback filter_callback_;
+};
+}  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
index 40085ff76c..45013d2113 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
@@ -29,12 +29,12 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Levi Armstrong */
+/* Author: Levi Armstrong, Jens Petit */
 
-#ifndef TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
-#define TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
+#pragma once
 
 #include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h>
 #include <moveit/macros/class_forward.h>
 
 namespace collision_detection_bullet
@@ -42,76 +42,21 @@ namespace collision_detection_bullet
 MOVEIT_CLASS_FORWARD(BulletCastBVHManager)
 
 /** @brief A bounding volume hierarchy (BVH) implementation of a tesseract contact manager */
-class BulletCastBVHManager
+class BulletCastBVHManager : public BulletBVHManager
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /** \brief Constructor */
-  BulletCastBVHManager();
+  BulletCastBVHManager() = default;
 
-  ~BulletCastBVHManager();
+  virtual ~BulletCastBVHManager() = default;
 
-  /** @brief Clone the manager
+  /**@brief Clone the manager
    *
    * This is to be used for multi threaded applications. A user should make a clone for each thread. */
   BulletCastBVHManagerPtr clone() const;
 
-  /**@brief Add a collision object to the checker
-   *
-   * All objects are added should initially be added as static objects. Use the setContactRequest method of defining
-   * which collision objects are moving.
-   *
-   * @param name            The name of the object, must be unique.
-   * @param mask_id         User defined id which gets stored in the results structure.
-   * @param shapes          A vector of shapes that make up the collision object.
-   * @param shape_poses     A vector of poses for each shape, must be same length as shapes
-   * @param shape_types     A vector of shape types for encode the collision object. If the vector is of length 1 it is
-   * used for all shapes.
-   * @param collision_object_types A int identifying a conversion mode for the object. (ex. convert meshes to convex
-   * hulls)
-   * @param enabled         Indicate if the object is enabled for collision checking.
-   * @return true if successfully added, otherwise false. */
-  bool addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
-                          const std::vector<shapes::ShapeConstPtr>& shapes,
-                          const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                          const std::vector<CollisionObjectType>& collision_object_types, bool enabled = true);
-
-  /**@brief Find if a collision object already exists
-   * @param name The name of the collision object
-   * @return true if it exists, otherwise false. */
-  bool hasCollisionObject(const std::string& name) const;
-
-  /**@brief Remove an object from the checker
-   * @param name The name of the object
-   * @return true if successfully removed, otherwise false. */
-  bool removeCollisionObject(const std::string& name);
-
-  /**@brief Enable an object
-   * @param name The name of the object
-   * @return true if successfully enabled, otherwise false. */
-  bool enableCollisionObject(const std::string& name);
-
-  /**@brief Disable an object
-   * @param name The name of the object
-   * @return true if successfully disabled, otherwise false. */
-  bool disableCollisionObject(const std::string& name);
-
-  /**@brief Set a single static collision object's tansform
-   * @param name The name of the object
-   * @param pose The tranformation in world */
-  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
-
-  /**@brief Set a series of static collision objects' tranforms
-   * @param names The names of the objects
-   * @param poses The tranformations in world */
-  void setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                    const AlignedVector<Eigen::Isometry3d>& poses);
-
-  /**@brief Set a series of static collision objects' tranforms
-   * @param transforms A transform map <name, pose> */
-  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms);
-
   /**@brief Set a single cast (moving) collision object's tansforms
    *
    * This should only be used for moving objects.
@@ -119,99 +64,18 @@ class BulletCastBVHManager
    * @param name The name of the object
    * @param pose1 The start tranformation in world
    * @param pose2 The end tranformation in world */
-  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
-                                    const Eigen::Isometry3d& pose2);
-
-  /**@brief Set a series of cast (moving) collision objects' tranforms
-   *
-   * This should only be used for moving objects. Use the base class methods for static objects.
-   *
-   * @param names The name of the object
-   * @param pose1 The start tranformations in world
-   * @param pose2 The end tranformations in world */
-  void setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                    const AlignedVector<Eigen::Isometry3d>& pose1,
-                                    const AlignedVector<Eigen::Isometry3d>& pose2);
-
-  /**@brief Set a series of cast (moving) collision objects' tranforms
-   *
-   * This should only be used for moving objects. Use the base class methods for static objects.
-   *
-   * @param pose1 A start transform map <name, pose>
-   * @param pose2 A end transform map <name, pose> */
-  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& pose1,
-                                    const AlignedMap<std::string, Eigen::Isometry3d>& pose2);
-
-  /**@brief Set which collision objects are active
-   * @param names A vector of collision object names */
-  void setActiveCollisionObjects(const std::vector<std::string>& names);
-
-  /**@brief Get which collision objects are active
-   * @return A vector of collision object names */
-  const std::vector<std::string>& getActiveCollisionObjects() const;
-
-  /**@brief Set the contact distance threshold for which collision should be considered through expanding the AABB by
-   * the contact_distance for all links.
-   *
-   * @param contact_distance The contact distance */
-  void setContactDistanceThreshold(double contact_distance);
-
-  /**@brief Get the contact distance threshold
-   * @return The contact distance */
-  double getContactDistanceThreshold() const;
-
-  /** @brief Set the function for determining if two links are allowed to be in collision */
-  void setIsContactAllowedFn(IsContactAllowedFn fn);
-
-  /** @brief Get the function for determining if two links are allowed to be in collision */
-  IsContactAllowedFn getIsContactAllowedFn() const;
+  void setCastCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
+                                        const Eigen::Isometry3d& pose2);
 
   /**@brief Perform a contact test for all objects
    * @param collisions The Contact results data
    * @param req The collision request data
    * @param acm The allowed collision matrix */
   void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
-                   const collision_detection::AllowedCollisionMatrix* acm);
+                   const collision_detection::AllowedCollisionMatrix* acm, bool self) override;
 
   /**@brief Add a tesseract collision object to the manager
    * @param cow The tesseract bullet collision object */
-  void addCollisionObject(const CollisionObjectWrapperPtr& cow);
-
-  /** \brief Callback function for culling objects before a broadphase check */
-  BroadphaseFilterCallback filter_callback_;
-
-private:
-  /** @brief A list of the active collision objects */
-  std::vector<std::string> active_;
-
-  /** @brief The contact distance threshold */
-  double contact_distance_;
-
-  /** @brief The is allowed collision function */
-  IsContactAllowedFn fn_;
-
-  /** @brief The bullet collision dispatcher used for getting object to object collison algorithm */
-  std::unique_ptr<btCollisionDispatcher> dispatcher_;
-
-  /** @brief The bullet collision dispatcher configuration information */
-  btDispatcherInfo dispatch_info_;
-
-  /** @brief The bullet collision configuration */
-  btDefaultCollisionConfiguration coll_config_;
-
-  /** @brief The bullet broadphase interface */
-  std::unique_ptr<btBroadphaseInterface> broadphase_;
-
-  /** @brief A map of collision objects being managed */
-  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
-
-  /** @brief A map of cast collision objects being managed. */
-  std::map<std::string, CollisionObjectWrapperPtr> link2castcow_;
-
-  /**@brief Perform a contact test for the provided object which is not part of the manager
-   * @param cow The Collision object
-   * @param collisions The collision results */
-  void contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions);
+  void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
 };
 }  // namespace collision_detection_bullet
-#endif  //  TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
index b9e8e91e96..eea9e17820 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
@@ -29,12 +29,12 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Levi Armstrong */
+/* Author: Levi Armstrong, Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
+#pragma once
 
 #include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h>
 #include <moveit/macros/class_forward.h>
 
 namespace collision_detection_bullet
@@ -42,153 +42,30 @@ namespace collision_detection_bullet
 MOVEIT_CLASS_FORWARD(BulletDiscreteBVHManager)
 
 /** @brief A bounding volume hierarchy (BVH) implementaiton of a discrete bullet manager */
-class BulletDiscreteBVHManager
+class BulletDiscreteBVHManager : public BulletBVHManager
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /** \brief Constructor */
-  BulletDiscreteBVHManager();
+  BulletDiscreteBVHManager() = default;
 
-  ~BulletDiscreteBVHManager();
+  virtual ~BulletDiscreteBVHManager() = default;
 
   /**@brief Clone the manager
    *
    * This is to be used for multi threaded applications. A user should make a clone for each thread. */
   BulletDiscreteBVHManagerPtr clone() const;
 
-  /**@brief Add a object to the checker
-   * @param name            The name of the object, must be unique.
-   * @param mask_id         User defined id which gets stored in the results structure.
-   * @param shapes          A vector of shapes that make up the collision object.
-   * @param shape_poses     A vector of poses for each shape, must be same length as shapes
-   * @param shape_types     A vector of shape types for encode the collision object. If the vector is of length 1 it is
-   * used for all shapes.
-   * @param collision_object_types A int identifying a conversion mode for the object. (ex. convert meshes to convex
-   * hulls)
-   * @return true if successfully added, otherwise false. */
-  bool addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
-                          const std::vector<shapes::ShapeConstPtr>& shapes,
-                          const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                          const std::vector<CollisionObjectType>& collision_object_types, bool enabled = true);
-
-  /**@brief Find if a collision object already exists
-   * @param name The name of the collision object
-   * @return true if it exists, otherwise false. */
-  bool hasCollisionObject(const std::string& name) const;
-
-  /**@brief Remove an object from the checker
-   * @param name The name of the object
-   * @return true if successfully removed, otherwise false. */
-  bool removeCollisionObject(const std::string& name);
-
-  /**@brief Enable an object
-   * @param name The name of the object */
-  bool enableCollisionObject(const std::string& name);
-
-  /**@brief Disable an object
-   * @param name The name of the object */
-  bool disableCollisionObject(const std::string& name);
-
-  /**@brief Set a single collision object's tansform
-   * @param name The name of the object
-   * @param pose The tranformation in world */
-  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
-
-  /**@brief Set a single collision object's tansform
-   * @param name The name of the object
-   * @param pose The tranformation in world */
-  void setCollisionObjectsTransform(const std::string& name, const btTransform& pose);
-
-  /**@brief Set a series of collision objects' tranforms
-   * @param names The names of the object
-   * @param poses The tranformations in world */
-  void setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                    const AlignedVector<Eigen::Isometry3d>& poses);
-
-  /**@brief Set a series of collision objects' tranforms
-   * @param transforms A transform map <name, pose> */
-  void setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms);
-
-  /**@brief Set which collision objects can move
-   * @param names A vector of collision object names */
-  void setActiveCollisionObjects(const std::vector<std::string>& names);
-
-  /**@brief Get which collision objects can move
-   * @return A list of collision object names */
-  const std::vector<std::string>& getActiveCollisionObjects() const;
-
-  /**@brief Set the contact distance threshold for which collision should be considered.
-   * @param contact_distance The contact distance */
-  void setContactDistanceThreshold(double contact_distance);
-
-  /**@brief Get the contact distance threshold
-   * @return The contact distance */
-  double getContactDistanceThreshold() const;
-
-  /** @brief Set the active function for determining if two links are allowed to be in collision */
-  void setIsContactAllowedFn(IsContactAllowedFn fn);
-
-  /** @brief Get the active function for determining if two links are allowed to be in collision */
-  IsContactAllowedFn getIsContactAllowedFn() const;
-
   /**@brief Perform a contact test for all objects in the manager
    * @param collisions The Contact results data
    * @param acm The allowed collision matrix
    * @param req The contact request */
   void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
-                   const collision_detection::AllowedCollisionMatrix* acm);
-
-  /**@brief Perform a contact test for all objects in the manager and the external ones provided
-   * @param collisions The Contact results data
-   * @param req The contact request
-   * @param acm The allowed collision matrix
-   * @param req The contact request
-   * @param cows_external Objects to check which are not part of the manager */
-  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
-                   const collision_detection::AllowedCollisionMatrix* acm,
-                   const std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows_external);
+                   const collision_detection::AllowedCollisionMatrix* acm, bool self) override;
 
   /**@brief Add a bullet collision object to the manager
   *  @param cow The bullet collision object */
-  void addCollisionObject(const CollisionObjectWrapperPtr& cow);
-
-  /**@brief Return collision objects
-   * @return A map of collision objects <name, collision object> */
-  const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
-
-  /** \brief Callback function for culling objects before a broadphase check */
-  BroadphaseFilterCallback filter_callback_;
-
-private:
-  /** @brief A list of the active collision objects */
-  std::vector<std::string> active_;
-
-  /** @brief The contact distance threshold */
-  double contact_distance_;
-
-  /** @brief The is allowed collision function */
-  IsContactAllowedFn fn_;
-
-  /** @brief The bullet collision dispatcher used for getting object to object collison algorithm */
-  std::unique_ptr<btCollisionDispatcher> dispatcher_;
-
-  /** @brief The bullet collision dispatcher configuration information */
-  btDispatcherInfo dispatch_info_;
-
-  /** @brief The bullet collision configuration */
-  btDefaultCollisionConfiguration coll_config_;
-
-  /** @brief The bullet broadphase interface */
-  std::unique_ptr<btBroadphaseInterface> broadphase_;
-
-  /** @brief A map of all (static and active) collision objects being managed */
-  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
-
-  /**@brief Perform a contact test for the provided object which is not part of the manager
-   * @param cow The Collision object
-   * @param collisions The collision results */
-  void contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions);
+  void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
 };
 }  // namespace collision_detection_bullet
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_COLLISION_BULLET_DISCRETE_BVH_MANAGER_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
index c2a604837e..29f2434724 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -32,8 +32,7 @@
 
 /* Authors: John Schulman, Levi Armstrong */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
+#pragma once
 
 #include <btBulletCollisionCommon.h>
 #include <geometric_shapes/mesh_operations.h>
@@ -58,6 +57,44 @@ const bool BULLET_COMPOUND_USE_DYNAMIC_AABB = true;
 
 MOVEIT_CLASS_FORWARD(CollisionObjectWrapper)
 
+/** \brief Allowed = true */
+inline bool acmCheck(const std::string& body_1, const std::string& body_2,
+                     const collision_detection::AllowedCollisionMatrix* acm)
+{
+  collision_detection::AllowedCollision::Type allowed_type;
+
+  if (acm != nullptr)
+  {
+    if (acm->getEntry(body_1, body_2, allowed_type))
+    {
+      if (allowed_type == collision_detection::AllowedCollision::Type::NEVER)
+      {
+        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not allowed entry in ACM found, collision check between "
+                                                                 << body_1 << " and " << body_2);
+        return false;
+      }
+      else
+      {
+        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Entry in ACM found, skipping collision check as allowed "
+                                                                 << body_1 << " and " << body_2);
+        return true;
+      }
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
+                                                               << body_1 << " and " << body_2);
+      return false;
+    }
+  }
+  else
+  {
+    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
+                                                                                            << body_2);
+    return false;
+  }
+}
+
 /** \brief Converts eigen vector to bullet vector */
 inline btVector3 convertEigenToBt(const Eigen::Vector3d& v)
 {
@@ -99,17 +136,22 @@ inline btTransform convertEigenToBt(const Eigen::Isometry3d& t)
 
 /** @brief Tesseract bullet collision object.
  *
- *  A wrapper around bullet's collision object which contains specific information related to bullet */
+ *  A wrapper around bullet's collision object which contains specific information related to bullet. One of the main
+ *  differences is that a bullet collision object has a single world transformation and all shapes have transformation
+ *  relative to this world transform. The default collision object category is active and active objects are checked
+ *  against active objects and static objects whereas static objects are only checked against active ones. */
 class CollisionObjectWrapper : public btCollisionObject
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  /** \brief Standard constructor */
+  /** \brief Standard constructor
+   *
+   *  \param shape_poses Assumes all poses are in a single global frame */
   CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
                          const std::vector<shapes::ShapeConstPtr>& shapes,
                          const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                         const std::vector<CollisionObjectType>& collision_object_types);
+                         const std::vector<CollisionObjectType>& collision_object_types, bool active = true);
 
   /** \brief Constructor for attached robot objects */
   CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
@@ -125,7 +167,7 @@ class CollisionObjectWrapper : public btCollisionObject
   short int m_collisionFilterMask;
 
   /** \brief Indicates if the collision object is used for a collision check */
-  bool m_enabled;
+  bool m_enabled{ true };
 
   /** \brief The robot links the collision objects is allowed to touch */
   std::set<std::string> m_touch_links;
@@ -159,10 +201,9 @@ class CollisionObjectWrapper : public btCollisionObject
   void getAABB(btVector3& aabb_min, btVector3& aabb_max) const
   {
     getCollisionShape()->getAabb(getWorldTransform(), aabb_min, aabb_max);
-    const btScalar& d = getContactProcessingThreshold();
-    // added as bullet expands each AABB by 4 cm
-    double dis = d;  // - 0.04;
-    btVector3 contact_threshold(dis, dis, dis);
+    const btScalar& distance = getContactProcessingThreshold();
+    // note that bullet expands each AABB by 4 cm
+    btVector3 contact_threshold(distance, distance, distance);
     aabb_min -= contact_threshold;
     aabb_max += contact_threshold;
   }
@@ -206,16 +247,18 @@ class CollisionObjectWrapper : public btCollisionObject
                          const std::vector<CollisionObjectType>& collision_object_types,
                          const std::vector<std::shared_ptr<void>>& data);
 
+  /** \brief The name of the object, must be unique. */
   std::string m_name;
+
   collision_detection::BodyType m_type_id;
 
   /** @brief The shapes that define the collison object */
   std::vector<shapes::ShapeConstPtr> m_shapes;
 
-  /** @brief The poses of the shapes */
+  /** @brief The poses of the shapes, must be same length as m_shapes */
   AlignedVector<Eigen::Isometry3d> m_shape_poses;
 
-  /** @brief The shape collision object type to be used */
+  /** @brief The shape collision object type to be used. */
   std::vector<CollisionObjectType> m_collision_object_types;
 
   /** @brief Manages the collision shape pointer so they get destroyed */
@@ -240,17 +283,18 @@ struct CastHullShape : public btConvexShape
     m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
   }
 
-  void updateCastTransform(const btTransform& t01)
+  void updateCastTransform(const btTransform& cast_transform)
   {
-    m_shape_transform = t01;
+    m_shape_transform = cast_transform;
   }
 
   /** \brief From both shape poses computes the support vertex and returns the larger one. */
   btVector3 localGetSupportingVertex(const btVector3& vec) const override
   {
-    btVector3 sv0 = m_shape->localGetSupportingVertex(vec);
-    btVector3 sv1 = m_shape_transform * m_shape->localGetSupportingVertex(vec * m_shape_transform.getBasis());
-    return (vec.dot(sv0) > vec.dot(sv1)) ? sv0 : sv1;
+    btVector3 support_vector_0 = m_shape->localGetSupportingVertex(vec);
+    btVector3 support_vector_1 =
+        m_shape_transform * m_shape->localGetSupportingVertex(vec * m_shape_transform.getBasis());
+    return (vec.dot(support_vector_0) > vec.dot(support_vector_1)) ? support_vector_0 : support_vector_1;
   }
 
   void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* /*vectors*/,
@@ -263,11 +307,11 @@ struct CastHullShape : public btConvexShape
   /** \brief Shape specific fast recalculation of the AABB at a certain pose
    *
    *  The AABB is not recalculated from scratch but updated depending on the given transformation. */
-  void getAabb(const btTransform& t_w0, btVector3& aabbMin, btVector3& aabbMax) const override
+  void getAabb(const btTransform& transform_world, btVector3& aabbMin, btVector3& aabbMax) const override
   {
-    m_shape->getAabb(t_w0, aabbMin, aabbMax);
+    m_shape->getAabb(transform_world, aabbMin, aabbMax);
     btVector3 min1, max1;
-    m_shape->getAabb(t_w0 * m_shape_transform, min1, max1);
+    m_shape->getAabb(transform_world * m_shape_transform, min1, max1);
     aabbMin.setMin(min1);
     aabbMax.setMax(max1);
   }
@@ -373,46 +417,6 @@ inline void getAverageSupport(const btConvexShape* shape, const btVector3& local
   }
 }
 
-/** @brief Check if a collision check is required between the provided collision objects
- *  @param cow1 The first collision object
- *  @param cow2 The second collision object
- *  @param acm  The contact allowed function pointer
- *  @param verbose Indicate if verbose information should be printed
- *  @return True if the two collision objects should be checked for collision, otherwise false */
-inline bool needsCollisionCheck(const CollisionObjectWrapper& cow1, const CollisionObjectWrapper& cow2,
-                                const IsContactAllowedFn& allowed_fn,
-                                const collision_detection::AllowedCollisionMatrix* acm, bool verbose = false)
-{
-  if (!cow1.m_enabled)
-    return false;
-
-  if (!cow2.m_enabled)
-    return false;
-
-  if ((!(cow2.m_collisionFilterGroup & cow1.m_collisionFilterMask) ||
-       !(cow1.m_collisionFilterGroup & cow2.m_collisionFilterMask)))
-    return false;
-
-  if (isContactAllowed(cow1.getName(), cow2.getName(), allowed_fn, acm, verbose))
-    return false;
-
-  if (cow1.getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
-      cow2.getTypeID() == collision_detection::BodyType::ROBOT_LINK)
-    if (cow1.m_touch_links.find(cow2.getName()) != cow1.m_touch_links.end())
-      return false;
-
-  if (cow2.getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
-      cow1.getTypeID() == collision_detection::BodyType::ROBOT_LINK)
-    if (cow2.m_touch_links.find(cow1.getName()) == cow2.m_touch_links.end())
-      return false;
-
-  // TODO: Add check for two objects attached to the same link
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Checking collision btw " << cow1.getName() << " vs "
-                                                                                 << cow2.getName());
-
-  return true;
-}
-
 /** \brief Converts a bullet contact result to MoveIt format and adds it to the result data structure */
 inline btScalar addDiscreteSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,
                                         const btCollisionObjectWrapper* colObj1Wrap, ContactTestData& collisions)
@@ -547,63 +551,14 @@ inline btScalar addCastSingleResult(btManifoldPoint& cp, const btCollisionObject
   return 1;
 }
 
-/** @brief This is copied directly out of BulletWorld */
-struct TesseractBridgedManifoldResult : public btManifoldResult
+/** \brief Checks if the collision pair is kinematic vs kinematic objects */
+inline bool isOnlyKinematic(const CollisionObjectWrapper* cow0, const CollisionObjectWrapper* cow1)
 {
-  btCollisionWorld::ContactResultCallback& m_resultCallback;
-
-  TesseractBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap,
-                                 btCollisionWorld::ContactResultCallback& resultCallback)
-    : btManifoldResult(obj0Wrap, obj1Wrap), m_resultCallback(resultCallback)
-  {
-  }
-
-  void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) override
-  {
-    bool is_swapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-    btVector3 point_a = pointInWorld + normalOnBInWorld * depth;
-    btVector3 local_a;
-    btVector3 local_b;
-    if (is_swapped)
-    {
-      local_a = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
-      local_b = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-    }
-    else
-    {
-      local_a = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(point_a);
-      local_b = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-    }
-
-    btManifoldPoint new_pt(local_a, local_b, normalOnBInWorld, depth);
-    new_pt.m_positionWorldOnA = point_a;
-    new_pt.m_positionWorldOnB = pointInWorld;
-
-    // BP mod, store contact triangles.
-    if (is_swapped)
-    {
-      new_pt.m_partId0 = m_partId1;
-      new_pt.m_partId1 = m_partId0;
-      new_pt.m_index0 = m_index1;
-      new_pt.m_index1 = m_index0;
-    }
-    else
-    {
-      new_pt.m_partId0 = m_partId0;
-      new_pt.m_partId1 = m_partId1;
-      new_pt.m_index0 = m_index0;
-      new_pt.m_index1 = m_index1;
-    }
-
-    // experimental feature info, for per-triangle material etc.
-    const btCollisionObjectWrapper* obj0_wrap = is_swapped ? m_body1Wrap : m_body0Wrap;
-    const btCollisionObjectWrapper* obj1_wrap = is_swapped ? m_body0Wrap : m_body1Wrap;
-    m_resultCallback.addSingleResult(new_pt, obj0_wrap, new_pt.m_partId0, new_pt.m_index0, obj1_wrap, new_pt.m_partId1,
-                                     new_pt.m_index1);
-  }
-};
+  return cow0->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter &&
+         cow1->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter;
+}
 
-/** @brief Abstract interface for both discrete and continuous broadphase collision pair
+/** @brief Callback structure for both discrete and continuous broadphase collision pair
  *
  *  /e needsCollision is the callback executed before a narrowphase check is executed.
  *  /e addSingleResult is the callback executed after the narrowphase check delivers a result. */
@@ -611,58 +566,41 @@ struct BroadphaseContactResultCallback
 {
   ContactTestData& collisions_;
   double contact_distance_;
-  bool verbose_;
+  const collision_detection::AllowedCollisionMatrix* acm_{ nullptr };
 
-  BroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
-    : collisions_(collisions), contact_distance_(contact_distance), verbose_(verbose)
-  {
-  }
+  /** \brief Indicates if the callback is used for only self-collision checking */
+  bool self_;
 
-  virtual ~BroadphaseContactResultCallback() = default;
+  /** \brief Indicates if the callback is used for casted collisions */
+  bool cast_{ false };
 
-  virtual bool needsCollision(const CollisionObjectWrapper* cow0, const CollisionObjectWrapper* cow1) const
+  BroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance,
+                                  const collision_detection::AllowedCollisionMatrix* acm, bool self, bool cast = false)
+    : collisions_(collisions), contact_distance_(contact_distance), acm_(acm), self_(self), cast_(cast)
   {
-    return !collisions_.done && needsCollisionCheck(*cow0, *cow1, collisions_.fn, collisions_.acm, verbose_);
   }
 
-  virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0,
-                                   int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1,
-                                   int index1) = 0;
-};
-
-/** \brief addSingleResult of this struct is called each time the broadphase check indicates a collision. */
-struct DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultCallback
-{
-  DiscreteBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
-    : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
-  {
-  }
+  ~BroadphaseContactResultCallback() = default;
 
-  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
-                           int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
-                           int /*index1*/) override
+  /** \brief This callback is used for each overlapping pair in a pair cache of the broadphase interface to check if a
+   *  collision check should done for the pair. */
+  // TODO: Add check for two objects attached to the same link
+  bool needsCollision(const CollisionObjectWrapper* cow0, const CollisionObjectWrapper* cow1) const
   {
-    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
+    if (cast_)
     {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
-      return 0;
+      return !collisions_.done && !isOnlyKinematic(cow0, cow1) && !acmCheck(cow0->getName(), cow1->getName(), acm_);
+    }
+    else
+    {
+      return !collisions_.done && (self_ ? isOnlyKinematic(cow0, cow1) : !isOnlyKinematic(cow0, cow1)) &&
+             !acmCheck(cow0->getName(), cow1->getName(), acm_);
     }
-
-    return addDiscreteSingleResult(cp, colObj0Wrap, colObj1Wrap, collisions_);
-  }
-};
-
-/** \brief addSingleResult of this struct is called each time the broadphase check indicates a collision. */
-struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallback
-{
-  CastBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
-    : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
-  {
   }
 
-  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
-                           int index0, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
-                           int index1) override
+  /** \brief This callback is used after btManifoldResult processed a collision result. */
+  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0,
+                           const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
   {
     if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
     {
@@ -670,7 +608,14 @@ struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallb
       return 0;
     }
 
-    return addCastSingleResult(cp, colObj0Wrap, index0, colObj1Wrap, index1, collisions_);
+    if (cast_)
+    {
+      return addCastSingleResult(cp, colObj0Wrap, index0, colObj1Wrap, index1, collisions_);
+    }
+    else
+    {
+      return addDiscreteSingleResult(cp, colObj0Wrap, colObj1Wrap, collisions_);
+    }
   }
 };
 
@@ -736,57 +681,6 @@ struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
   }
 };
 
-/** @brief Check a collision object not in the broadphase to the broadphase which may eventually be exposed.
- *
- *  This is copied directly out of BulletWorld */
-struct TesseractSingleContactCallback : public btBroadphaseAabbCallback
-{
-  btCollisionObject* m_collisionObject;    /**< @brief The bullet collision object */
-  btCollisionDispatcher* m_dispatcher;     /**< @brief The bullet collision dispatcher used for getting object to object
-                                              collison algorithm */
-  const btDispatcherInfo& m_dispatch_info; /**< @brief The bullet collision dispatcher configuration information */
-  btCollisionWorld::ContactResultCallback& m_resultCallback;
-
-  TesseractSingleContactCallback(btCollisionObject* collisionObject, btCollisionDispatcher* dispatcher,
-                                 const btDispatcherInfo& dispatch_info,
-                                 btCollisionWorld::ContactResultCallback& resultCallback)
-    : m_collisionObject(collisionObject)
-    , m_dispatcher(dispatcher)
-    , m_dispatch_info(dispatch_info)
-    , m_resultCallback(resultCallback)
-  {
-  }
-
-  bool process(const btBroadphaseProxy* proxy) override
-  {
-    btCollisionObject* collision_object = static_cast<btCollisionObject*>(proxy->m_clientObject);
-    if (collision_object == m_collisionObject)
-      return true;
-
-    if (m_resultCallback.needsCollision(collision_object->getBroadphaseHandle()))
-    {
-      btCollisionObjectWrapper ob0(nullptr, m_collisionObject->getCollisionShape(), m_collisionObject,
-                                   m_collisionObject->getWorldTransform(), -1, -1);
-      btCollisionObjectWrapper ob1(nullptr, collision_object->getCollisionShape(), collision_object,
-                                   collision_object->getWorldTransform(), -1, -1);
-
-      btCollisionAlgorithm* algorithm = m_dispatcher->findAlgorithm(&ob0, &ob1, nullptr, BT_CLOSEST_POINT_ALGORITHMS);
-      if (algorithm)
-      {
-        TesseractBridgedManifoldResult contact_point_result(&ob0, &ob1, m_resultCallback);
-        contact_point_result.m_closestPointDistanceThreshold = m_resultCallback.m_closestDistanceThreshold;
-
-        // discrete collision detection query
-        algorithm->processCollision(&ob0, &ob1, m_dispatch_info, &contact_point_result);
-
-        algorithm->~btCollisionAlgorithm();
-        m_dispatcher->freeCollisionAlgorithm(algorithm);
-      }
-    }
-    return true;
-  }
-};
-
 /** @brief A callback function that is called as part of the broadphase collision checking.
  *
  *  If the AABB of two collision objects are overlapping the processOverlap method is called and they are checked for
@@ -795,6 +689,8 @@ class TesseractCollisionPairCallback : public btOverlapCallback
 {
   const btDispatcherInfo& dispatch_info_;
   btCollisionDispatcher* dispatcher_;
+
+  /** \brief Callback executed for each broadphase pair to check if needs collision */
   BroadphaseContactResultCallback& results_callback_;
 
 public:
@@ -819,7 +715,6 @@ class TesseractCollisionPairCallback : public btOverlapCallback
     const CollisionObjectWrapper* cow1 = static_cast<const CollisionObjectWrapper*>(pair.m_pProxy1->m_clientObject);
 
     std::pair<std::string, std::string> pair_names{ cow0->getName(), cow1->getName() };
-
     if (results_callback_.needsCollision(cow0, cow1))
     {
       ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Processing " << cow0->getName() << " vs "
@@ -864,9 +759,9 @@ btCollisionShape* createShapePrimitive(const shapes::ShapeConstPtr& geom,
  *  Currently continuous collision objects can only be checked against static objects. Continuous to Continuous
  *  collision checking is currently not supports. TODO LEVI: Add support for Continuous to Continuous collision
  *  checking. */
-inline void updateCollisionObjectFilters(const std::vector<std::string>& active, CollisionObjectWrapper& cow,
-                                         bool continuous)
+inline void updateCollisionObjectFilters(const std::vector<std::string>& active, CollisionObjectWrapper& cow)
 {
+  // if not active make cow part of static
   if (!isLinkActive(active, cow.getName()))
   {
     cow.m_collisionFilterGroup = btBroadphaseProxy::StaticFilter;
@@ -875,7 +770,7 @@ inline void updateCollisionObjectFilters(const std::vector<std::string>& active,
   else
   {
     cow.m_collisionFilterGroup = btBroadphaseProxy::KinematicFilter;
-    cow.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
+    cow.m_collisionFilterMask = btBroadphaseProxy::KinematicFilter | btBroadphaseProxy::StaticFilter;
   }
 
   if (cow.getBroadphaseHandle())
@@ -888,132 +783,6 @@ inline void updateCollisionObjectFilters(const std::vector<std::string>& active,
                                                               << cow.m_collisionFilterMask);
 }
 
-/** \brief Wrapper around constructing a CollisionObjectWrapper */
-inline CollisionObjectWrapperPtr createCollisionObject(const std::string& name,
-                                                       const collision_detection::BodyType& type_id,
-                                                       const std::vector<shapes::ShapeConstPtr>& shapes,
-                                                       const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                                                       const std::vector<CollisionObjectType>& collision_object_types,
-                                                       bool enabled = true)
-{
-  // dont add object that does not have geometry
-  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size()))
-  {
-    ROS_DEBUG_NAMED("collision_detection.bullet", "ignoring link %s", name.c_str());
-    return nullptr;
-  }
-
-  CollisionObjectWrapperPtr new_cow(
-      new CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types));
-
-  new_cow->m_enabled = enabled;
-  new_cow->setContactProcessingThreshold(BULLET_DEFAULT_CONTACT_DISTANCE);
-
-  ROS_DEBUG_NAMED("collision_detection.bullet", "Created collision object for link %s", new_cow->getName().c_str());
-  return new_cow;
-}
-
-// TODO: Unify with other createCollisionObject functions
-/** \brief Wrapper around constructing a CollisionObjectWrapper for attached objects */
-inline CollisionObjectWrapperPtr createCollisionObject(const std::string& name,
-                                                       const collision_detection::BodyType& type_id,
-                                                       const std::vector<shapes::ShapeConstPtr>& shapes,
-                                                       const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                                                       const std::vector<CollisionObjectType>& collision_object_types,
-                                                       const std::set<std::string>& touch_links, bool enabled = true)
-{
-  // dont add object that does not have geometry
-  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size()))
-  {
-    ROS_DEBUG_NAMED("collision_detection.bullet", "ignoring link %s", name.c_str());
-    return nullptr;
-  }
-
-  CollisionObjectWrapperPtr new_cow(
-      new CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types, touch_links));
-
-  new_cow->m_enabled = enabled;
-  new_cow->setContactProcessingThreshold(BULLET_DEFAULT_CONTACT_DISTANCE);
-
-  ROS_DEBUG_NAMED("collision_detection.bullet", "Created collision object for link %s", new_cow->getName().c_str());
-  return new_cow;
-}
-
-/** \brief Processes a contact after positive broadphase check */
-struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallback
-{
-  ContactTestData& collisions_;
-  const CollisionObjectWrapperPtr cow_;
-  double contact_distance_;
-  bool verbose_;
-
-  DiscreteCollisionCollector(ContactTestData& collisions, const CollisionObjectWrapperPtr& cow, double contact_distance,
-                             bool verbose = false)
-    : collisions_(collisions), cow_(cow), contact_distance_(contact_distance), verbose_(verbose)
-  {
-    m_closestDistanceThreshold = static_cast<btScalar>(contact_distance);
-    m_collisionFilterGroup = cow->m_collisionFilterGroup;
-    m_collisionFilterMask = cow->m_collisionFilterMask;
-  }
-
-  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
-                           int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
-                           int /*index1*/) override
-  {
-    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
-    {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
-      return 0;
-    }
-
-    return addDiscreteSingleResult(cp, colObj0Wrap, colObj1Wrap, collisions_);
-  }
-
-  bool needsCollision(btBroadphaseProxy* proxy0) const override
-  {
-    return !collisions_.done &&
-           needsCollisionCheck(*cow_, *(static_cast<CollisionObjectWrapper*>(proxy0->m_clientObject)), collisions_.fn,
-                               collisions_.acm, verbose_);
-  }
-};
-
-struct CastCollisionCollector : public btCollisionWorld::ContactResultCallback
-{
-  ContactTestData& collisions_;
-  const CollisionObjectWrapperPtr cow_;
-  double contact_distance_;
-  bool verbose_;
-
-  CastCollisionCollector(ContactTestData& collisions, const CollisionObjectWrapperPtr& cow, double contact_distance,
-                         bool verbose = false)
-    : collisions_(collisions), cow_(cow), contact_distance_(contact_distance), verbose_(verbose)
-  {
-    m_closestDistanceThreshold = static_cast<btScalar>(contact_distance);
-    m_collisionFilterGroup = cow->m_collisionFilterGroup;
-    m_collisionFilterMask = cow->m_collisionFilterMask;
-  }
-
-  btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int /*partId0*/,
-                           int index0, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
-                           int index1) override
-  {
-    if (cp.m_distance1 > static_cast<btScalar>(contact_distance_))
-    {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not close enough for collision with " << cp.m_distance1);
-      return 0;
-    }
-
-    return addCastSingleResult(cp, colObj0Wrap, index0, colObj1Wrap, index1, collisions_);
-  }
-
-  bool needsCollision(btBroadphaseProxy* proxy0) const override
-  {
-    return !collisions_.done &&
-           needsCollisionCheck(*cow_, *(static_cast<CollisionObjectWrapper*>(proxy0->m_clientObject)), collisions_.fn,
-                               collisions_.acm, verbose_);
-  }
-};
-
 inline CollisionObjectWrapperPtr makeCastCollisionObject(const CollisionObjectWrapperPtr& cow)
 {
   CollisionObjectWrapperPtr new_cow = cow->clone();
@@ -1119,7 +888,6 @@ inline void updateBroadphaseAABB(const CollisionObjectWrapperPtr& cow,
   btVector3 aabb_min, aabb_max;
   cow->getAABB(aabb_min, aabb_max);
 
-  // Update the broadphase aabb
   assert(cow->getBroadphaseHandle() != nullptr);
   broadphase->setAabb(cow->getBroadphaseHandle(), aabb_min, aabb_max, dispatcher.get());
 }
@@ -1154,7 +922,6 @@ inline void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr& cow,
   btVector3 aabb_min, aabb_max;
   cow->getAABB(aabb_min, aabb_max);
 
-  // Add the active collision object to the broadphase
   int type = cow->getCollisionShape()->getShapeType();
   cow->setBroadphaseHandle(broadphase->createProxy(aabb_min, aabb_max, type, cow.get(), cow->m_collisionFilterGroup,
                                                    cow->m_collisionFilterMask, dispatcher.get()));
@@ -1179,9 +946,6 @@ struct BroadphaseFilterCallback : public btOverlapFilterCallback
     if (!cow1->m_enabled)
       return false;
 
-    if (acm_ && acmCheck(cow0->getName(), cow1->getName()))
-      return false;
-
     if (cow0->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
         cow1->getTypeID() == collision_detection::BodyType::ROBOT_LINK)
       if (cow0->m_touch_links.find(cow1->getName()) != cow0->m_touch_links.end())
@@ -1189,56 +953,18 @@ struct BroadphaseFilterCallback : public btOverlapFilterCallback
 
     if (cow1->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
         cow0->getTypeID() == collision_detection::BodyType::ROBOT_LINK)
-      if (cow1->m_touch_links.find(cow0->getName()) == cow1->m_touch_links.end())
+      if (cow1->m_touch_links.find(cow0->getName()) != cow1->m_touch_links.end())
+        return false;
+
+    if (cow0->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED &&
+        cow1->getTypeID() == collision_detection::BodyType::ROBOT_ATTACHED)
+      if (cow0->m_touch_links == cow1->m_touch_links)
         return false;
 
-    // TODO: Add check for two objects attached to the same link
     ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Broadphase pass " << cow0->getName() << " vs "
                                                                             << cow1->getName());
-
     return true;
   }
-
-  bool acmCheck(const std::string& body_1, const std::string& body_2) const
-  {
-    collision_detection::AllowedCollision::Type allowed_type;
-
-    if (!acm_)
-    {
-      if (acm_->getEntry(body_1, body_2, allowed_type))
-      {
-        if (allowed_type == collision_detection::AllowedCollision::Type::NEVER)
-        {
-          ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
-                                 "Not allowed entry in ACM found, collision check between " << body_1 << " and "
-                                                                                            << body_2);
-          return false;
-        }
-        else
-        {
-          ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
-                                 "Entry in ACM found, skipping collision check as allowed " << body_1 << " and "
-                                                                                            << body_2);
-          return true;
-        }
-      }
-      else
-      {
-        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
-                                                                 << body_1 << " and " << body_2);
-        return false;
-      }
-    }
-    else
-    {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
-                                                                                              << body_2);
-      return false;
-    }
-  }
-
-  const collision_detection::AllowedCollisionMatrix* acm_{ nullptr };
 };
 
 }  // namespace collision_detection_bullet
-#endif  //  MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_BULLET_UTILS_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
index 4acf787851..d6e2861398 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
@@ -18,8 +18,7 @@
 
 /* Author: Levi Armstrong */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
+#pragma once
 
 #include <LinearMath/btConvexHullComputer.h>
 #include <cstdio>
@@ -53,41 +52,6 @@ inline bool isLinkActive(const std::vector<std::string>& active, const std::stri
   return active.empty() || (std::find(active.begin(), active.end(), name) != active.end());
 }
 
-/**
- * @brief Determine if contact is allowed between two objects.
- * @param name1 The name of the first object
- * @param name2 The name of the second object
- * @param acm The contact allowed function
- * @param verbose If true print debug informaton
- * @return True if contact is allowed between the two object, otherwise false.
- */
-inline bool isContactAllowed(const std::string& name1, const std::string& name2, const IsContactAllowedFn& acm_fn,
-                             const collision_detection::AllowedCollisionMatrix* acm, bool verbose = false)
-{
-  // do not distance check geoms part of the same object / link / attached body
-  if (name1 == name2)
-    return true;
-
-  if (acm_fn != nullptr && acm_fn(name1, name2, acm))
-  {
-    if (verbose)
-    {
-      ROS_DEBUG_NAMED("collision_detection.bullet",
-                      "Collision between '%s' and '%s' is allowed. No contacts are computed.", name1.c_str(),
-                      name2.c_str());
-    }
-    return true;
-  }
-
-  if (verbose)
-  {
-    ROS_DEBUG_NAMED("collision_detection.bullet", "Actually checking collisions between %s and %s", name1.c_str(),
-                    name2.c_str());
-  }
-
-  return false;
-}
-
 /** \brief Stores a single contact result in the requested way.
 *   \param found Indicates if a contact for this pair of objects has already been found
 *   \return Pointer to the newly inserted contact */
@@ -247,42 +211,4 @@ inline int createConvexHull(AlignedVector<Eigen::Vector3d>& vertices, std::vecto
   return num_faces;
 }
 
-inline bool allowedCollisionCheck(const std::string& body_1, const std::string& body_2,
-                                  const collision_detection::AllowedCollisionMatrix* acm)
-{
-  collision_detection::AllowedCollision::Type allowed_type;
-
-  if (acm != nullptr)
-  {
-    if (acm->getEntry(body_1, body_2, allowed_type))
-    {
-      if (allowed_type == collision_detection::AllowedCollision::Type::NEVER)
-      {
-        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not allowed entry in ACM found, collision check between "
-                                                                 << body_1 << " and " << body_2);
-        return false;
-      }
-      else
-      {
-        ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Entry in ACM found, skipping collision check as allowed "
-                                                                 << body_1 << " and " << body_2);
-        return true;
-      }
-    }
-    else
-    {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
-                                                               << body_1 << " and " << body_2);
-      return false;
-    }
-  }
-  else
-  {
-    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
-                                                                                            << body_2);
-    return false;
-  }
-}
 }  // namespace collision_detection_bullet
-
-#endif  //  MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_CONTACT_CHECKER_COMMON_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
index c192b86df9..7eb2e43f5a 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
@@ -18,8 +18,7 @@
 
 /* Author: Levi Armstrong */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
+#pragma once
 
 #include <octomap_msgs/conversions.h>
 #include <geometric_shapes/shape_messages.h>
@@ -106,4 +105,3 @@ inline Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose)
   return result;
 }
 }  // namespace collision_detection_bullet
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_BULLET_INTEGRATION_ROS_BULLET_UTILS_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
index 513bea0e16..fec946f357 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
@@ -34,23 +34,18 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
-#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
-#include <moveit/collision_detection_bullet/collision_world_bullet.h>
+#include <moveit/collision_detection_bullet/collision_env_bullet.h>
 
 namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
 class CollisionDetectorAllocatorBullet
-    : public CollisionDetectorAllocatorTemplate<CollisionWorldBullet, CollisionRobotBullet,
-                                                CollisionDetectorAllocatorBullet>
+    : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
 {
 public:
-  static const std::string NAME;  // defined in collision_world_bullet.cpp
+  static const std::string NAME;  // defined in collision_env_bullet.cpp
 };
 }  // namespace collision_detection
-
-#endif  // MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ALLOCATOR_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
index 76182e582c..46c28ae63c 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
@@ -34,8 +34,7 @@
 
 /* Author: Jens Petit */
 
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
+#pragma once
 
 #include <moveit/collision_detection/collision_plugin.h>
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
@@ -48,4 +47,3 @@ class CollisionDetectorBtPluginLoader : public CollisionPlugin
   bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
 };
 }
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_DETECTOR_BULLET_PLUGIN_LOADER_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
new file mode 100644
index 0000000000..31a0a9e070
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -0,0 +1,148 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#pragma once
+
+#include <moveit/collision_detection/collision_env.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
+
+namespace collision_detection
+{
+/** \brief  */
+class CollisionEnvBullet : public CollisionEnv
+{
+public:
+  CollisionEnvBullet() = delete;
+
+  CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+
+  CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+                     double scale = 1.0);
+
+  CollisionEnvBullet(const CollisionEnvBullet& other, const WorldPtr& world);
+
+  ~CollisionEnvBullet() override;
+
+  CollisionEnvBullet(CollisionEnvBullet&) = delete;
+
+  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state) const override;
+
+  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                  const robot_state::RobotState& state,
+                                  const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state,
+                                   const AllowedCollisionMatrix& acm) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1,
+                                   const robot_state::RobotState& state2) const override;
+
+  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const AllowedCollisionMatrix& acm) const override;
+
+  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                            const robot_state::RobotState& state) const override;
+
+  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                             const robot_state::RobotState& state) const override;
+
+  void setWorld(const WorldPtr& world) override;
+
+protected:
+  /** \brief Updates the poses of the objects in the manager according to given robot state */
+  void updateTransformsFromState(const robot_state::RobotState& state,
+                                 const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const;
+
+  /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
+   */
+  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
+
+  /** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
+  void addAttachedOjects(const robot_state::RobotState& state,
+                         std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
+
+  /** \brief Bundles the different checkSelfCollision functions into a single function */
+  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                                const AllowedCollisionMatrix* acm) const;
+
+  void checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
+                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                    const AllowedCollisionMatrix* acm) const;
+
+  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
+
+  /** \brief Construts a bullet collision object out of a robot link */
+  void addLinkAsCollisionObject(const urdf::LinkSharedPtr& link);
+
+  /** \brief Handles self collision checks */
+  mutable collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_{
+    new collision_detection_bullet::BulletDiscreteBVHManager()
+  };
+
+  /** \brief Handles continuous robot world collision checks */
+  mutable collision_detection_bullet::BulletCastBVHManagerPtr manager_CCD_{
+    new collision_detection_bullet::BulletCastBVHManager()
+  };
+
+  /** \brief Adds a world object to the collision managers */
+  void addToManager(const World::Object* obj);
+
+  /** \brief Updates a managed collision object with its world representation.
+   *
+   * We have three cases: 1) the object is part of the manager and not of world --> delete it
+   *                      2) the object is not in the manager, therefore register to manager,
+   *                      3) the object is in the manager then delete and add the modified */
+  void updateManagedObject(const std::string& id);
+
+  /** \brief The active links where active refers to the group which can collide with everything */
+  std::vector<std::string> active_;
+
+private:
+  /** \brief Callback function executed for each change to the world environment */
+  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
+
+  World::ObserverHandle observer_handle_;
+};
+}
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
deleted file mode 100644
index 9299a0511d..0000000000
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_robot_bullet.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
-
-#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
-#include <moveit/collision_detection/collision_robot.h>
-
-namespace collision_detection
-{
-class CollisionRobotBullet : public CollisionRobot
-{
-  friend class CollisionWorldBullet;
-
-public:
-  CollisionRobotBullet(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
-
-  CollisionRobotBullet(const CollisionRobotBullet& other);
-
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                          const robot_state::RobotState& state) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                          const AllowedCollisionMatrix& acm) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                          const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
-
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                           const CollisionRobot& other_robot, const robot_state::RobotState& other_state,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1,
-                           const robot_state::RobotState& other_state2) const override;
-  void checkOtherCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                           const robot_state::RobotState& other_state1, const robot_state::RobotState& other_state2,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const robot_state::RobotState& state) const override;
-
-  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
-                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
-
-protected:
-  /** \brief Updates the poses of the objects in the manager according to given robot state */
-  void updateTransformsFromState(const robot_state::RobotState& state,
-                                 const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const;
-
-  /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
-   */
-  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
-
-  /** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
-  void addAttachedOjects(const robot_state::RobotState& state,
-                         std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
-
-  /** \brief Bundles the different checkSelfCollision functions into a single function */
-  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                                const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Bundles the different continuous checkSelfCollision functions into a single function */
-  void checkSelfCollisionCCDHelper(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                   const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Bundles the different checkOtherCollision functions into a single function */
-  void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                 const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                 const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Construts a bullet collision object out of a robot link */
-  void addLinkAsCollisionObjectWrapper(const urdf::LinkSharedPtr& link);
-
-  /** \brief Handles all self collision checks */
-  collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
-
-  /** \brief Active links corresponding to all links of the robot */
-  std::vector<std::string> active_;
-};
-}  // namespace collision_detection
-
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_ROBOT_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
deleted file mode 100644
index 06b35a1e04..0000000000
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_world_bullet.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#ifndef MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
-#define MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
-
-#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
-#include <moveit/collision_detection/collision_world.h>
-#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
-#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
-#include <memory>
-
-namespace collision_detection
-{
-class CollisionWorldBullet : public CollisionWorld
-{
-public:
-  CollisionWorldBullet();
-
-  explicit CollisionWorldBullet(const WorldPtr& world);
-
-  CollisionWorldBullet(const CollisionWorldBullet& other, const WorldPtr& world);
-
-  ~CollisionWorldBullet() override;
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                           const CollisionWorld& other_world) const override;
-  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                           const AllowedCollisionMatrix& acm) const override;
-
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                     const robot_state::RobotState& state) const override;
-
-  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;
-
-  void setWorld(const WorldPtr& world) override;
-
-protected:
-  /** \brief Bundles the different checkWorldCollision functions into a single function */
-  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
-                                 const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Bundles the different checkRobotCollision functions into a single function */
-  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Bundles the different continuous checkRobotCollision functions into a single function */
-  void checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
-                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
-                                    const AllowedCollisionMatrix* acm) const;
-
-  /** \brief Adds a world object to the collision managers */
-  void addToManager(const World::Object* obj);
-
-  /** \brief Updates a managed collision object with its world representation.
-   *
-   * We have three cases: 1) the object is part of the manager and not of world --> delete it
-   *                      2) the object is not in the manager, therefore register to manager,
-   *                      3) the object is in the manager then delete and add the modified */
-  void updateManagedObject(const std::string& id);
-
-  /** \brief Handles all discrete collision checks */
-  collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_;
-
-  /** \brief Handles all continuous collision checks */
-  collision_detection_bullet::BulletCastBVHManagerPtr bt_manager_CCD_;
-
-private:
-  /** \brief Callback function executed for each change to the world environment */
-  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
-
-  World::ObserverHandle observer_handle_;
-};
-}  // namespace collision_detection
-
-#endif  // MOVEIT_COLLISION_DETECTION_BULLET_COLLISION_WORLD_BULLET_H_
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
new file mode 100644
index 0000000000..800fe90fd0
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
@@ -0,0 +1,168 @@
+/*********************************************************************
+ * Software License Agreement (BSD-2-Clause)
+ *
+ * Copyright (c) 2017, Southwest Research Institute
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: Levi Armstrong, Jens Petit */
+
+#include <moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h>
+#include <map>
+#include <utility>
+
+namespace collision_detection_bullet
+{
+BulletBVHManager::BulletBVHManager()
+{
+  dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
+
+  dispatcher_->registerCollisionCreateFunc(
+      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
+      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
+
+  dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
+                                  ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
+
+  broadphase_.reset(new btDbvtBroadphase());
+
+  broadphase_->getOverlappingPairCache()->setOverlapFilterCallback(&filter_callback_);
+
+  contact_distance_ = BULLET_DEFAULT_CONTACT_DISTANCE;
+}
+
+BulletBVHManager::~BulletBVHManager()
+{
+  // clean up remaining objects
+  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2cow_)
+    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
+}
+
+bool BulletBVHManager::hasCollisionObject(const std::string& name) const
+{
+  return (link2cow_.find(name) != link2cow_.end());
+}
+
+bool BulletBVHManager::removeCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
+    link2cow_.erase(name);
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletBVHManager::enableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = true;
+    return true;
+  }
+
+  return false;
+}
+
+bool BulletBVHManager::disableCollisionObject(const std::string& name)
+{
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    it->second->m_enabled = false;
+    return true;
+  }
+
+  return false;
+}
+
+void BulletBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose)
+{
+  // TODO(j-petit): Find a way to remove this check. Need to store information in CollisionEnv transforms with geometry
+  auto it = link2cow_.find(name);
+  if (it != link2cow_.end())
+  {
+    CollisionObjectWrapperPtr& cow = it->second;
+    btTransform tf = convertEigenToBt(pose);
+    cow->setWorldTransform(tf);
+
+    // Now update Broadphase AABB (See BulletWorld updateSingleAabb function)
+    if (cow->getBroadphaseHandle())
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+void BulletBVHManager::setActiveCollisionObjects(const std::vector<std::string>& names)
+{
+  active_ = names;
+
+  // Now need to update the broadphase with correct aabb
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    updateCollisionObjectFilters(active_, *cow);
+
+    // The broadphase tree structure has to be updated, therefore remove and add is necessary
+    removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
+    addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
+  }
+}
+
+const std::vector<std::string>& BulletBVHManager::getActiveCollisionObjects() const
+{
+  return active_;
+}
+
+void BulletBVHManager::setContactDistanceThreshold(double contact_distance)
+{
+  contact_distance_ = contact_distance;
+
+  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
+  {
+    CollisionObjectWrapperPtr& cow = co.second;
+    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
+    if (cow->getBroadphaseHandle())
+      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
+  }
+}
+
+double BulletBVHManager::getContactDistanceThreshold() const
+{
+  return contact_distance_;
+}
+
+const std::map<std::string, CollisionObjectWrapperPtr>& BulletBVHManager::getCollisionObjects() const
+{
+  return link2cow_;
+}
+
+}  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
index 83da7d1c3d..e047be3324 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
@@ -29,7 +29,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Levi Armstrong */
+/* Author: Levi Armstrong, Jens Petit */
 
 #include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
 #include <map>
@@ -37,35 +37,6 @@
 
 namespace collision_detection_bullet
 {
-BulletCastBVHManager::BulletCastBVHManager()
-{
-  dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
-
-  dispatcher_->registerCollisionCreateFunc(
-      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
-      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
-
-  dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
-                                  ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
-
-  broadphase_.reset(new btDbvtBroadphase());
-
-  broadphase_->getOverlappingPairCache()->setOverlapFilterCallback(&filter_callback_);
-
-  contact_distance_ = 0;
-}
-
-BulletCastBVHManager::~BulletCastBVHManager()
-{
-  // clean up remaining objects
-  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2cow_)
-    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
-
-  // clean up remaining objects
-  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow : link2castcow_)
-    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
-}
-
 BulletCastBVHManagerPtr BulletCastBVHManager::clone() const
 {
   BulletCastBVHManagerPtr manager(new BulletCastBVHManager());
@@ -84,121 +55,17 @@ BulletCastBVHManagerPtr BulletCastBVHManager::clone() const
 
   manager->setActiveCollisionObjects(active_);
   manager->setContactDistanceThreshold(contact_distance_);
-  manager->setIsContactAllowedFn(fn_);
 
   return manager;
 }
 
-bool BulletCastBVHManager::addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
-                                              const std::vector<shapes::ShapeConstPtr>& shapes,
-                                              const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                                              const std::vector<CollisionObjectType>& collision_object_types,
-                                              bool enabled)
-{
-  CollisionObjectWrapperPtr new_cow =
-      createCollisionObject(name, mask_id, shapes, shape_poses, collision_object_types, enabled);
-  if (new_cow != nullptr)
-  {
-    addCollisionObject(new_cow);
-    return true;
-  }
-
-  return false;
-}
-
-bool BulletCastBVHManager::hasCollisionObject(const std::string& name) const
-{
-  return (link2cow_.find(name) != link2cow_.end());
-}
-
-bool BulletCastBVHManager::removeCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);
-  if (it != link2cow_.end())
-  {
-    CollisionObjectWrapperPtr& cow1 = it->second;
-    removeCollisionObjectFromBroadphase(cow1, broadphase_, dispatcher_);
-    link2cow_.erase(name);
-
-    CollisionObjectWrapperPtr& cow2 = link2castcow_[name];
-    removeCollisionObjectFromBroadphase(cow2, broadphase_, dispatcher_);
-    link2castcow_.erase(name);
-
-    return true;
-  }
-
-  return false;
-}
-
-bool BulletCastBVHManager::enableCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);
-  if (it != link2cow_.end())
-  {
-    it->second->m_enabled = true;
-    link2castcow_[name]->m_enabled = true;
-    return true;
-  }
-
-  return false;
-}
-
-bool BulletCastBVHManager::disableCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);
-  if (it != link2cow_.end())
-  {
-    it->second->m_enabled = false;
-    link2castcow_[name]->m_enabled = false;
-    return true;
-  }
-
-  return false;
-}
-
-void BulletCastBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose)
+void BulletCastBVHManager::setCastCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
+                                                            const Eigen::Isometry3d& pose2)
 {
   // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
   // geometry
   auto it = link2cow_.find(name);
   if (it != link2cow_.end())
-  {
-    CollisionObjectWrapperPtr& cow = it->second;
-    btTransform tf = convertEigenToBt(pose);
-    cow->setWorldTransform(tf);
-    link2castcow_[name]->setWorldTransform(tf);
-
-    // Now update Broadphase AABB (See BulletWorld updateSingleAabb function)
-    if (cow->getBroadphaseHandle())
-      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-}
-
-void BulletCastBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                                        const AlignedVector<Eigen::Isometry3d>& poses)
-{
-  assert(names.size() == poses.size());
-  for (size_t i = 0u; i < names.size(); ++i)
-  {
-    setCollisionObjectsTransform(names[i], poses[i]);
-  }
-}
-
-void BulletCastBVHManager::setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& transforms)
-{
-  for (const std::pair<const std::string, Eigen::Isometry3d>& transform : transforms)
-  {
-    setCollisionObjectsTransform(transform.first, transform.second);
-  }
-}
-
-void BulletCastBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
-                                                        const Eigen::Isometry3d& pose2)
-{
-  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
-  // geometry
-  auto it = link2castcow_.find(name);
-  if (it != link2castcow_.end())
   {
     CollisionObjectWrapperPtr& cow = it->second;
     assert(cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter);
@@ -263,148 +130,42 @@ void BulletCastBVHManager::setCollisionObjectsTransform(const std::string& name,
   }
 }
 
-void BulletCastBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                                        const AlignedVector<Eigen::Isometry3d>& pose1,
-                                                        const AlignedVector<Eigen::Isometry3d>& pose2)
-{
-  if (names.size() != pose1.size() || names.size() != pose2.size())
-  {
-    ROS_ERROR_NAMED("collision_detection.bullet", "The number of poses does not fit the number of collision objects.");
-  }
-
-  for (size_t i = 0u; i < names.size(); ++i)
-    setCollisionObjectsTransform(names[i], pose1[i], pose2[i]);
-}
-
-void BulletCastBVHManager::setCollisionObjectsTransform(const AlignedMap<std::string, Eigen::Isometry3d>& pose1,
-                                                        const AlignedMap<std::string, Eigen::Isometry3d>& pose2)
-{
-  assert(pose1.size() == pose2.size());
-  auto it1 = pose1.begin();
-  auto it2 = pose2.begin();
-  while (it1 != pose1.end())
-  {
-    assert(pose1.find(it1->first) != pose2.end());
-    setCollisionObjectsTransform(it1->first, it1->second, it2->second);
-    std::advance(it1, 1);
-    std::advance(it2, 1);
-  }
-}
-
-void BulletCastBVHManager::setActiveCollisionObjects(const std::vector<std::string>& names)
-{
-  active_ = names;
-
-  // Now need to update the broadphase with correct aabb
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
-  {
-    CollisionObjectWrapperPtr& cow = co.second;
-
-    // Need to check if a collision object is still active, select cast or normal to broadphase
-    if (isLinkActive(active_, cow->getName()))
-    {
-      updateCollisionObjectFilters(active_, *cow, false);
-      CollisionObjectWrapperPtr& active_cow = link2castcow_[cow->getName()];
-      updateCollisionObjectFilters(active_, *active_cow, true);
-
-      removeCollisionObjectFromBroadphase(active_cow, broadphase_, dispatcher_);
-      removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
-      addCollisionObjectToBroadphase(active_cow, broadphase_, dispatcher_);
-    }
-    else
-    {
-      updateCollisionObjectFilters(active_, *cow, false);
-      CollisionObjectWrapperPtr& cast_cow = link2castcow_[cow->getName()];
-      updateCollisionObjectFilters(active_, *cast_cow, true);
-
-      removeCollisionObjectFromBroadphase(cast_cow, broadphase_, dispatcher_);
-      removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
-      addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
-    }
-  }
-}
-
-const std::vector<std::string>& BulletCastBVHManager::getActiveCollisionObjects() const
-{
-  return active_;
-}
-
-void BulletCastBVHManager::setContactDistanceThreshold(double contact_distance)
-{
-  contact_distance_ = contact_distance;
-
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
-  {
-    CollisionObjectWrapperPtr& cow = co.second;
-    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
-    if (cow->getBroadphaseHandle())
-      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2castcow_)
-  {
-    CollisionObjectWrapperPtr& cow = co.second;
-    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
-    if (cow->getBroadphaseHandle())
-      updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-}
-
-double BulletCastBVHManager::getContactDistanceThreshold() const
-{
-  return contact_distance_;
-}
-
-void BulletCastBVHManager::setIsContactAllowedFn(IsContactAllowedFn fn)
-{
-  fn_ = std::move(fn);
-}
-
-IsContactAllowedFn BulletCastBVHManager::getIsContactAllowedFn() const
-{
-  return fn_;
-}
-
 void BulletCastBVHManager::contactTest(collision_detection::CollisionResult& collisions,
                                        const collision_detection::CollisionRequest& req,
-                                       const collision_detection::AllowedCollisionMatrix* acm)
+                                       const collision_detection::AllowedCollisionMatrix* acm, bool self = false)
 {
-  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
+  ContactTestData cdata(active_, contact_distance_, collisions, req);
   broadphase_->calculateOverlappingPairs(dispatcher_.get());
   btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
 
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bulelt", "Number overlapping candidates "
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Number overlapping candidates "
                                                            << pair_cache->getNumOverlappingPairs());
 
-  CastBroadphaseContactResultCallback cc(cdata, contact_distance_);
+  BroadphaseContactResultCallback cc(cdata, contact_distance_, acm, false, true);
   TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
   pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
 }
 
 void BulletCastBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
 {
-  link2cow_[cow->getName()] = cow;
-  CollisionObjectWrapperPtr cast_cow = makeCastCollisionObject(cow);
-  link2castcow_[cast_cow->getName()] = cast_cow;
+  std::string name = cow->getName();
+  if (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)
+  {
+    CollisionObjectWrapperPtr cast_cow = makeCastCollisionObject(cow);
+    link2cow_[name] = cast_cow;
+  }
+  else
+  {
+    link2cow_[name] = cow;
+  }
 
-  const CollisionObjectWrapperPtr& selected_cow =
-      (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter) ? cast_cow : cow;
   btVector3 aabb_min, aabb_max;
-  selected_cow->getAABB(aabb_min, aabb_max);
+  link2cow_[name]->getAABB(aabb_min, aabb_max);
 
-  int type = selected_cow->getCollisionShape()->getShapeType();
-  selected_cow->setBroadphaseHandle(broadphase_->createProxy(aabb_min, aabb_max, type, selected_cow.get(),
-                                                             selected_cow->m_collisionFilterGroup,
-                                                             selected_cow->m_collisionFilterMask, dispatcher_.get()));
+  int type = link2cow_[name]->getCollisionShape()->getShapeType();
+  link2cow_[name]->setBroadphaseHandle(
+      broadphase_->createProxy(aabb_min, aabb_max, type, link2cow_[name].get(), link2cow_[name]->m_collisionFilterGroup,
+                               link2cow_[name]->m_collisionFilterMask, dispatcher_.get()));
 }
 
-void BulletCastBVHManager::contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions)
-{
-  btVector3 aabb_min, aabb_max;
-  cow->getAABB(aabb_min, aabb_max);
-
-  CastCollisionCollector cc(collisions, cow, static_cast<double>(cow->getContactProcessingThreshold()));
-  TesseractSingleContactCallback contact_cb(cow.get(), dispatcher_.get(), dispatch_info_, cc);
-  broadphase_->aabbTest(aabb_min, aabb_max, contact_cb);
-}
 }  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
index 73640cf3a8..68eda45091 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
@@ -29,41 +29,12 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Levi Armstrong */
-
-#include <utility>
+/* Author: Levi Armstrong, Jens Petit */
 
 #include "moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h"
 
 namespace collision_detection_bullet
 {
-BulletDiscreteBVHManager::BulletDiscreteBVHManager()
-{
-  dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
-
-  dispatcher_->registerCollisionCreateFunc(
-      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
-      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
-
-  dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
-                                  ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
-
-  broadphase_.reset(new btDbvtBroadphase());
-
-  broadphase_->getOverlappingPairCache()->setOverlapFilterCallback(&filter_callback_);
-
-  contact_distance_ = 0;
-}
-
-BulletDiscreteBVHManager::~BulletDiscreteBVHManager()
-{
-  // clean up remaining objects
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& cow : link2cow_)
-  {
-    removeCollisionObjectFromBroadphase(cow.second, broadphase_, dispatcher_);
-  }
-}
-
 BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
 {
   BulletDiscreteBVHManagerPtr manager(new BulletDiscreteBVHManager());
@@ -80,171 +51,17 @@ BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
     manager->addCollisionObject(new_cow);
   }
 
+  manager->setActiveCollisionObjects(active_);
   manager->setContactDistanceThreshold(contact_distance_);
-  manager->setIsContactAllowedFn(fn_);
 
   return manager;
 }
 
-bool BulletDiscreteBVHManager::addCollisionObject(const std::string& name, const collision_detection::BodyType& mask_id,
-                                                  const std::vector<shapes::ShapeConstPtr>& shapes,
-                                                  const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                                                  const std::vector<CollisionObjectType>& collision_object_types,
-                                                  bool enabled)
-{
-  CollisionObjectWrapperPtr new_cow =
-      createCollisionObject(name, mask_id, shapes, shape_poses, collision_object_types, enabled);
-  if (new_cow != nullptr)
-  {
-    addCollisionObject(new_cow);
-    return true;
-  }
-  return false;
-}
-
-bool BulletDiscreteBVHManager::hasCollisionObject(const std::string& name) const
-{
-  return (link2cow_.find(name) != link2cow_.end());
-}
-
-bool BulletDiscreteBVHManager::removeCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
-  if (it != link2cow_.end())
-  {
-    removeCollisionObjectFromBroadphase(it->second, broadphase_, dispatcher_);
-    link2cow_.erase(name);
-    return true;
-  }
-
-  return false;
-}
-
-bool BulletDiscreteBVHManager::enableCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
-  if (it != link2cow_.end())
-  {
-    it->second->m_enabled = true;
-    return true;
-  }
-  return false;
-}
-
-bool BulletDiscreteBVHManager::disableCollisionObject(const std::string& name)
-{
-  auto it = link2cow_.find(name);  // Levi TODO: Should these check be removed?
-  if (it != link2cow_.end())
-  {
-    it->second->m_enabled = false;
-    return true;
-  }
-  return false;
-}
-
-void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose)
-{
-  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
-  // geometry
-  auto it = link2cow_.find(name);
-  if (it != link2cow_.end())
-  {
-    CollisionObjectWrapperPtr& cow = it->second;
-    cow->setWorldTransform(convertEigenToBt(pose));
-
-    // Update Collision Object Broadphase AABB
-    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-}
-
-void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::string& name, const btTransform& pose)
-{
-  // TODO: Find a way to remove this check. Need to store information in Tesseract EnvState indicating transforms with
-  // geometry
-  auto it = link2cow_.find(name);
-  if (it != link2cow_.end())
-  {
-    CollisionObjectWrapperPtr& cow = it->second;
-    cow->setWorldTransform(pose);
-
-    // Update Collision Object Broadphase AABB
-    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-}
-
-void BulletDiscreteBVHManager::setCollisionObjectsTransform(const std::vector<std::string>& names,
-                                                            const AlignedVector<Eigen::Isometry3d>& poses)
-{
-  assert(names.size() == poses.size());
-  for (size_t i = 0u; i < names.size(); ++i)
-  {
-    setCollisionObjectsTransform(names[i], poses[i]);
-  }
-}
-
-void BulletDiscreteBVHManager::setCollisionObjectsTransform(
-    const AlignedMap<std::string, Eigen::Isometry3d>& transforms)
-{
-  for (const std::pair<const std::string, Eigen::Isometry3d>& transform : transforms)
-  {
-    setCollisionObjectsTransform(transform.first, transform.second);
-  }
-}
-
-void BulletDiscreteBVHManager::setActiveCollisionObjects(const std::vector<std::string>& names)
-{
-  active_ = names;
-
-  // Now need to update the broadphase with correct aabb
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
-  {
-    CollisionObjectWrapperPtr& cow = co.second;
-    updateCollisionObjectFilters(active_, *cow, false);
-
-    // The broadphase tree structure has to be updated, therefore remove and add is necessary
-    removeCollisionObjectFromBroadphase(cow, broadphase_, dispatcher_);
-    addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
-  }
-}
-
-const std::vector<std::string>& BulletDiscreteBVHManager::getActiveCollisionObjects() const
-{
-  return active_;
-}
-
-void BulletDiscreteBVHManager::setContactDistanceThreshold(double contact_distance)
-{
-  contact_distance_ = contact_distance;
-
-  for (std::pair<const std::string, CollisionObjectWrapperPtr>& co : link2cow_)
-  {
-    CollisionObjectWrapperPtr& cow = co.second;
-    cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance));
-    assert(cow->getBroadphaseHandle() != nullptr);
-    updateBroadphaseAABB(cow, broadphase_, dispatcher_);
-  }
-}
-
-double BulletDiscreteBVHManager::getContactDistanceThreshold() const
-{
-  return contact_distance_;
-}
-
-void BulletDiscreteBVHManager::setIsContactAllowedFn(IsContactAllowedFn fn)
-{
-  fn_ = std::move(fn);
-}
-
-IsContactAllowedFn BulletDiscreteBVHManager::getIsContactAllowedFn() const
-{
-  return fn_;
-}
-
 void BulletDiscreteBVHManager::contactTest(collision_detection::CollisionResult& collisions,
                                            const collision_detection::CollisionRequest& req,
-                                           const collision_detection::AllowedCollisionMatrix* acm)
+                                           const collision_detection::AllowedCollisionMatrix* acm, bool self)
 {
-  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
+  ContactTestData cdata(active_, contact_distance_, collisions, req);
 
   broadphase_->calculateOverlappingPairs(dispatcher_.get());
   btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
@@ -252,7 +69,7 @@ void BulletDiscreteBVHManager::contactTest(collision_detection::CollisionResult&
   ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Num overlapping candidates "
                                                            << pair_cache->getNumOverlappingPairs());
 
-  DiscreteBroadphaseContactResultCallback cc(cdata, contact_distance_);
+  BroadphaseContactResultCallback cc(cdata, contact_distance_, acm, self);
   TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
   pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
 
@@ -261,51 +78,10 @@ void BulletDiscreteBVHManager::contactTest(collision_detection::CollisionResult&
                                                                                             << " collisions");
 }
 
-void BulletDiscreteBVHManager::contactTest(
-    collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
-    const collision_detection::AllowedCollisionMatrix* acm,
-    const std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows_external)
-{
-  ContactTestData cdata(active_, contact_distance_, fn_, collisions, req, acm);
-
-  broadphase_->calculateOverlappingPairs(dispatcher_.get());
-  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
-
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Num overlapping candidates "
-                                                           << pair_cache->getNumOverlappingPairs());
-
-  DiscreteBroadphaseContactResultCallback cc(cdata, contact_distance_);
-  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
-  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
-
-  for (const CollisionObjectWrapperPtr& cow : cows_external)
-  {
-    contactTest(cow, cdata);
-  }
-
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", (collisions.collision ? "In" : "No") << " collision with "
-                                                                                            << collisions.contact_count
-                                                                                            << " collisions");
-}
-
 void BulletDiscreteBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
 {
   link2cow_[cow->getName()] = cow;
   addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
 }
 
-const std::map<std::string, CollisionObjectWrapperPtr>& BulletDiscreteBVHManager::getCollisionObjects() const
-{
-  return link2cow_;
-}
-
-void BulletDiscreteBVHManager::contactTest(const CollisionObjectWrapperPtr& cow, ContactTestData& collisions)
-{
-  btVector3 min_aabb, max_aabb;
-  cow->getAABB(min_aabb, max_aabb);
-
-  DiscreteCollisionCollector cc(collisions, cow, static_cast<double>(cow->getContactProcessingThreshold()));
-  TesseractSingleContactCallback contact_cb(cow.get(), dispatcher_.get(), dispatch_info_, cc);
-  broadphase_->aabbTest(min_aabb, max_aabb, contact_cb);
-}
 }  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
index c8704a8a8e..2617787cb4 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
@@ -264,23 +264,33 @@ btCollisionShape* createShapePrimitive(const shapes::ShapeConstPtr& geom,
 CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const collision_detection::BodyType& type_id,
                                                const std::vector<shapes::ShapeConstPtr>& shapes,
                                                const AlignedVector<Eigen::Isometry3d>& shape_poses,
-                                               const std::vector<CollisionObjectType>& collision_object_types)
+                                               const std::vector<CollisionObjectType>& collision_object_types,
+                                               bool active)
   : m_name(name)
   , m_type_id(type_id)
   , m_shapes(shapes)
   , m_shape_poses(shape_poses)
   , m_collision_object_types(collision_object_types)
 {
-  this->setContactProcessingThreshold(0);
-  assert(!shapes.empty());
-  assert(!shape_poses.empty());
-  assert(!collision_object_types.empty());
+  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size() || collision_object_types.empty() ||
+                                                shapes.size() != collision_object_types.size()))
+  {
+    throw std::exception();
+  }
+
+  this->setContactProcessingThreshold(BULLET_DEFAULT_CONTACT_DISTANCE);
   assert(!name.empty());
-  assert(shapes.size() == shape_poses.size());
-  assert(shapes.size() == collision_object_types.size());
 
-  m_collisionFilterGroup = btBroadphaseProxy::KinematicFilter;
-  m_collisionFilterMask = btBroadphaseProxy::KinematicFilter;
+  if (active)
+  {
+    m_collisionFilterGroup = btBroadphaseProxy::KinematicFilter;
+    m_collisionFilterMask = btBroadphaseProxy::KinematicFilter | btBroadphaseProxy::StaticFilter;
+  }
+  else
+  {
+    m_collisionFilterGroup = btBroadphaseProxy::StaticFilter;
+    m_collisionFilterMask = btBroadphaseProxy::KinematicFilter;
+  }
 
   if (shapes.size() == 1)
   {
@@ -321,7 +331,7 @@ CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const co
                                                const AlignedVector<Eigen::Isometry3d>& shape_poses,
                                                const std::vector<CollisionObjectType>& collision_object_types,
                                                const std::set<std::string>& touch_links)
-  : CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types)
+  : CollisionObjectWrapper(name, type_id, shapes, shape_poses, collision_object_types, true)
 {
   m_touch_links = touch_links;
 }
@@ -338,6 +348,5 @@ CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const co
   , m_collision_object_types(collision_object_types)
   , m_data(data)
 {
-  this->setContactProcessingThreshold(0);
 }
 }  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
new file mode 100644
index 0000000000..f42bc09b6e
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
@@ -0,0 +1,432 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
+#include <moveit/collision_detection_bullet/collision_env_bullet.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
+#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
+#include <boost/bind.hpp>
+#include <bullet/btBulletCollisionCommon.h>
+
+namespace collision_detection
+{
+const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
+const double MAX_DISTANCE_MARGIN = 99;
+
+CollisionEnvBullet::CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+  : CollisionEnv(model, padding, scale)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+
+  for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
+  {
+    addLinkAsCollisionObject(link.second);
+  }
+}
+
+CollisionEnvBullet::CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, const WorldPtr& world,
+                                       double padding, double scale)
+  : CollisionEnv(model, world, padding, scale)
+{
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+
+  for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
+  {
+    addLinkAsCollisionObject(link.second);
+  }
+
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+CollisionEnvBullet::CollisionEnvBullet(const CollisionEnvBullet& other, const WorldPtr& world)
+  : CollisionEnv(other, world)
+{
+  // TODO(j-petit): Verify this constructor
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+
+  for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : other.robot_model_->getURDF()->links_)
+  {
+    addLinkAsCollisionObject(link.second);
+  }
+}
+
+CollisionEnvBullet::~CollisionEnvBullet()
+{
+  getWorld()->removeObserver(observer_handle_);
+}
+
+void CollisionEnvBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                            const robot_state::RobotState& state) const
+{
+  checkSelfCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionEnvBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                                            const robot_state::RobotState& state,
+                                            const AllowedCollisionMatrix& acm) const
+{
+  checkSelfCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionEnvBullet::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                  const robot_state::RobotState& state,
+                                                  const AllowedCollisionMatrix* acm) const
+{
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
+  addAttachedOjects(state, cows);
+
+  if (req.distance)
+  {
+    manager_->setContactDistanceThreshold(MAX_DISTANCE_MARGIN);
+  }
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : cows)
+  {
+    manager_->addCollisionObject(cow);
+    manager_->setCollisionObjectsTransform(
+        cow->getName(), state.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0]);
+  }
+
+  // updating link positions with the current robot state
+  for (const std::string& link : active_)
+  {
+    manager_->setCollisionObjectsTransform(link, state.getCollisionBodyTransform(link, 0));
+  }
+
+  manager_->contactTest(res, req, acm, true);
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : cows)
+  {
+    manager_->removeCollisionObject(cow->getName());
+  }
+}
+
+void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                             const robot_state::RobotState& state) const
+{
+  checkRobotCollisionHelper(req, res, state, nullptr);
+}
+
+void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                             const robot_state::RobotState& state,
+                                             const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelper(req, res, state, &acm);
+}
+
+void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                             const robot_state::RobotState& state1,
+                                             const robot_state::RobotState& state2) const
+{
+  checkRobotCollisionHelperCCD(req, res, state1, state2, nullptr);
+}
+
+void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                                             const robot_state::RobotState& state1,
+                                             const robot_state::RobotState& state2,
+                                             const AllowedCollisionMatrix& acm) const
+{
+  checkRobotCollisionHelperCCD(req, res, state1, state2, &acm);
+}
+
+void CollisionEnvBullet::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                                   const robot_state::RobotState& state,
+                                                   const AllowedCollisionMatrix* acm) const
+{
+  if (req.distance)
+  {
+    manager_->setContactDistanceThreshold(MAX_DISTANCE_MARGIN);
+  }
+
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
+  addAttachedOjects(state, attached_cows);
+  updateTransformsFromState(state, manager_);
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
+  {
+    manager_->addCollisionObject(cow);
+    manager_->setCollisionObjectsTransform(
+        cow->getName(), state.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0]);
+  }
+
+  manager_->contactTest(res, req, acm, false);
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
+  {
+    manager_->removeCollisionObject(cow->getName());
+  }
+}
+
+void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
+                                                      const robot_state::RobotState& state1,
+                                                      const robot_state::RobotState& state2,
+                                                      const AllowedCollisionMatrix* acm) const
+{
+  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
+  addAttachedOjects(state1, attached_cows);
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
+  {
+    manager_CCD_->addCollisionObject(cow);
+    manager_CCD_->setCastCollisionObjectsTransform(
+        cow->getName(), state1.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0],
+        state2.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0]);
+  }
+
+  for (const std::string& link : active_)
+  {
+    manager_CCD_->setCastCollisionObjectsTransform(link, state1.getCollisionBodyTransform(link, 0),
+                                                   state2.getCollisionBodyTransform(link, 0));
+  }
+
+  manager_CCD_->contactTest(res, req, acm, false);
+
+  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
+  {
+    manager_CCD_->removeCollisionObject(cow->getName());
+  }
+}
+
+void CollisionEnvBullet::distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                                      const robot_state::RobotState& state) const
+{
+  ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
+}
+
+void CollisionEnvBullet::distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                                       const robot_state::RobotState& state) const
+{
+  ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
+}
+
+void CollisionEnvBullet::addToManager(const World::Object* obj)
+{
+  std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
+
+  for (const shapes::ShapeConstPtr& shape : obj->shapes_)
+  {
+    if (shape->type == shapes::MESH)
+      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+    else
+      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+  }
+
+  collision_detection_bullet::CollisionObjectWrapperPtr cow(new collision_detection_bullet::CollisionObjectWrapper(
+      obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_, obj->shape_poses_, collision_object_types,
+      false));
+
+  manager_->addCollisionObject(cow);
+  manager_CCD_->addCollisionObject(cow->clone());
+}
+
+void CollisionEnvBullet::updateManagedObject(const std::string& id)
+{
+  if (getWorld()->hasObject(id))
+  {
+    auto it = getWorld()->find(id);
+    if (manager_->hasCollisionObject(id))
+    {
+      manager_->removeCollisionObject(id);
+      manager_CCD_->removeCollisionObject(id);
+      addToManager(it->second.get());
+    }
+    else
+    {
+      addToManager(it->second.get());
+    }
+  }
+  else
+  {
+    if (manager_->hasCollisionObject(id))
+    {
+      manager_->removeCollisionObject(id);
+      manager_CCD_->removeCollisionObject(id);
+    }
+  }
+}
+
+void CollisionEnvBullet::setWorld(const WorldPtr& world)
+{
+  if (world == getWorld())
+    return;
+
+  // turn off notifications about old world
+  getWorld()->removeObserver(observer_handle_);
+
+  CollisionEnv::setWorld(world);
+
+  // request notifications about changes to new world
+  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+
+  // get notifications any objects already in the new world
+  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
+}
+
+void CollisionEnvBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
+{
+  if (action == World::DESTROY)
+  {
+    manager_->removeCollisionObject(obj->id_);
+    manager_CCD_->removeCollisionObject(obj->id_);
+  }
+  else
+  {
+    updateManagedObject(obj->id_);
+  }
+}
+
+void CollisionEnvBullet::addAttachedOjects(
+    const robot_state::RobotState& state,
+    std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
+{
+  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  state.getAttachedBodies(attached_bodies);
+
+  for (const robot_state::AttachedBody*& body : attached_bodies)
+  {
+    const EigenSTL::vector_Isometry3d& attached_body_transform = body->getGlobalCollisionBodyTransforms();
+
+    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types(
+        attached_body_transform.size(), collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+
+    try
+    {
+      collision_detection_bullet::CollisionObjectWrapperPtr cow(new collision_detection_bullet::CollisionObjectWrapper(
+          body->getName(), collision_detection::BodyType::ROBOT_ATTACHED, body->getShapes(), attached_body_transform,
+          collision_object_types, body->getTouchLinks()));
+      cows.push_back(cow);
+    }
+    catch (std::exception&)
+    {
+      ROS_ERROR_STREAM_NAMED("collision_detetction.bullet", "Not adding " << body->getName()
+                                                                          << " due to bad arguments.");
+    }
+  }
+}
+
+void CollisionEnvBullet::updatedPaddingOrScaling(const std::vector<std::string>& links)
+{
+  for (const std::string& link : links)
+  {
+    if (robot_model_->getURDF()->links_.find(link) != robot_model_->getURDF()->links_.end())
+    {
+      addLinkAsCollisionObject(robot_model_->getURDF()->links_[link]);
+    }
+    else
+    {
+      ROS_ERROR_NAMED("collision_detection.bullet", "Updating padding or scaling for unknown link: '%s'", link.c_str());
+    }
+  }
+}
+
+void CollisionEnvBullet::updateTransformsFromState(
+    const robot_state::RobotState& state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const
+{
+  // updating link positions with the current robot state
+  for (const std::string& link : active_)
+  {
+    // select the first of the transformations for each link (composed of multiple shapes...)
+    manager->setCollisionObjectsTransform(link, state.getCollisionBodyTransform(link, 0));
+  }
+}
+
+void CollisionEnvBullet::addLinkAsCollisionObject(const urdf::LinkSharedPtr& link)
+{
+  if (!link->collision_array.empty())
+  {
+    const std::vector<urdf::CollisionSharedPtr>& col_array =
+        link->collision_array.empty() ? std::vector<urdf::CollisionSharedPtr>(1, link->collision) :
+                                        link->collision_array;
+
+    std::vector<shapes::ShapeConstPtr> shapes;
+    collision_detection_bullet::AlignedVector<Eigen::Isometry3d> shape_poses;
+    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
+
+    for (const auto& i : col_array)
+    {
+      if (i && i->geometry)
+      {
+        shapes::ShapePtr shape = collision_detection_bullet::constructShape(i->geometry.get());
+
+        if (shape)
+        {
+          if (fabs(getLinkScale(link->name) - 1.0) >= std::numeric_limits<double>::epsilon() ||
+              fabs(getLinkPadding(link->name)) >= std::numeric_limits<double>::epsilon())
+          {
+            shape->scaleAndPadd(getLinkScale(link->name), getLinkPadding(link->name));
+          }
+
+          shapes.push_back(shape);
+          shape_poses.push_back(collision_detection_bullet::urdfPose2Eigen(i->origin));
+
+          if (shape->type == shapes::MESH)
+          {
+            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+          }
+          else
+          {
+            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+          }
+        }
+      }
+    }
+
+    if (manager_->hasCollisionObject(link->name))
+    {
+      manager_->removeCollisionObject(link->name);
+      manager_CCD_->removeCollisionObject(link->name);
+    }
+
+    try
+    {
+      collision_detection_bullet::CollisionObjectWrapperPtr cow(new collision_detection_bullet::CollisionObjectWrapper(
+          link->name, collision_detection::BodyType::ROBOT_LINK, shapes, shape_poses, collision_object_types, true));
+      manager_->addCollisionObject(cow);
+      manager_CCD_->addCollisionObject(cow->clone());
+      active_.push_back(cow->getName());
+    }
+    catch (std::exception&)
+    {
+      ROS_ERROR_STREAM_NAMED("collision_detetction.bullet", "Not adding " << link->name << " due to bad arguments.");
+    }
+  }
+}
+
+}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
deleted file mode 100644
index bb2ed2f584..0000000000
--- a/moveit_core/collision_detection_bullet/src/collision_robot_bullet.cpp
+++ /dev/null
@@ -1,273 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
-#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
-#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
-#include <urdf/model.h>
-
-namespace collision_detection
-{
-CollisionRobotBullet::CollisionRobotBullet(const robot_model::RobotModelConstPtr& model, double padding, double scale)
-  : CollisionRobot(model, padding, scale), manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
-{
-  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
-                       std::placeholders::_3);
-
-  manager_->setIsContactAllowedFn(fun);
-
-  for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
-  {
-    addLinkAsCollisionObjectWrapper(link.second);
-  }
-
-  collision_detection_bullet::getActiveLinkNamesRecursive(active_, robot_model_->getURDF()->getRoot(), true);
-}
-
-CollisionRobotBullet::CollisionRobotBullet(const CollisionRobotBullet& other)
-  : CollisionRobot(other), manager_(other.manager_->clone())
-{
-}
-
-void CollisionRobotBullet::addAttachedOjects(
-    const robot_state::RobotState& state,
-    std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
-{
-  std::vector<const robot_state::AttachedBody*> attached_bodies;
-  state.getAttachedBodies(attached_bodies);
-  for (const robot_state::AttachedBody*& body : attached_bodies)
-  {
-    const EigenSTL::vector_Isometry3d& attached_body_transform = body->getGlobalCollisionBodyTransforms();
-    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types(
-        attached_body_transform.size(), collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
-
-    cows.emplace_back(collision_detection_bullet::createCollisionObject(
-        body->getName(), collision_detection::BodyType::ROBOT_ATTACHED, body->getShapes(), attached_body_transform,
-        collision_object_types, body->getTouchLinks(), true));
-  }
-}
-
-void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                              const robot_state::RobotState& state) const
-{
-  checkSelfCollisionHelper(req, res, state, nullptr);
-}
-
-void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                              const robot_state::RobotState& state,
-                                              const AllowedCollisionMatrix& acm) const
-{
-  checkSelfCollisionHelper(req, res, state, &acm);
-}
-
-void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                              const robot_state::RobotState& state1,
-                                              const robot_state::RobotState& state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                              const robot_state::RobotState& state1,
-                                              const robot_state::RobotState& state2,
-                                              const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet self continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBullet::checkSelfCollisionCCDHelper(const CollisionRequest& req, CollisionResult& res,
-                                                       const robot_state::RobotState& state1,
-                                                       const robot_state::RobotState& state2,
-                                                       const AllowedCollisionMatrix* acm) const
-{
-  // TODO: Not in bullet yet
-}
-
-void CollisionRobotBullet::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state,
-                                                    const AllowedCollisionMatrix* acm) const
-{
-  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
-  addAttachedOjects(state, cows);
-  collision_detection_bullet::BulletDiscreteBVHManagerPtr discrete_clone_manager = manager_->clone();
-  updateTransformsFromState(state, discrete_clone_manager);
-
-  if (req.distance)
-  {
-    discrete_clone_manager->setContactDistanceThreshold(2);
-  }
-
-  discrete_clone_manager->filter_callback_.acm_ = acm;
-
-  discrete_clone_manager->contactTest(res, req, acm, cows);
-}
-
-void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                               const robot_state::RobotState& other_state) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, nullptr);
-}
-
-void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                               const robot_state::RobotState& other_state,
-                                               const AllowedCollisionMatrix& acm) const
-{
-  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
-}
-
-void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state1,
-                                               const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                                               const robot_state::RobotState& other_state1,
-                                               const robot_state::RobotState& other_state2) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet other robot continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBullet::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state1,
-                                               const robot_state::RobotState& state2, const CollisionRobot& other_robot,
-                                               const robot_state::RobotState& other_state1,
-                                               const robot_state::RobotState& other_state2,
-                                               const AllowedCollisionMatrix& acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet other robot continuous collision checking not yet implemented");
-}
-
-void CollisionRobotBullet::checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                     const robot_state::RobotState& state,
-                                                     const CollisionRobot& other_robot,
-                                                     const robot_state::RobotState& other_state,
-                                                     const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Other collision not implemented yet.");
-}
-
-void CollisionRobotBullet::updatedPaddingOrScaling(const std::vector<std::string>& links)
-{
-  for (const std::string& link : links)
-  {
-    if (robot_model_->getURDF()->links_.find(link) != robot_model_->getURDF()->links_.end())
-    {
-      addLinkAsCollisionObjectWrapper(robot_model_->getURDF()->links_[link]);
-    }
-    else
-    {
-      ROS_ERROR_NAMED("collision_detection.bullet", "Updating padding or scaling for unknown link: '%s'", link.c_str());
-    }
-  }
-}
-
-void CollisionRobotBullet::distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                                        const robot_state::RobotState& state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to self not implemented yet.");
-}
-
-void CollisionRobotBullet::distanceOther(const DistanceRequest& req, DistanceResult& res,
-                                         const robot_state::RobotState& state, const CollisionRobot& other_robot,
-                                         const robot_state::RobotState& other_state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Collision distance to other not implemented yet.");
-}
-
-void CollisionRobotBullet::updateTransformsFromState(
-    const robot_state::RobotState& state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const
-{
-  // updating link positions with the current robot state
-  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& link :
-       manager->getCollisionObjects())
-  {
-    // select the first of the transformations for each link (composed of multiple shapes...)
-    manager->setCollisionObjectsTransform(link.first, state.getCollisionBodyTransform(link.first, 0));
-  }
-}
-
-void CollisionRobotBullet::addLinkAsCollisionObjectWrapper(const urdf::LinkSharedPtr& link)
-{
-  if (!link->collision_array.empty())
-  {
-    const std::vector<urdf::CollisionSharedPtr>& col_array =
-        link->collision_array.empty() ? std::vector<urdf::CollisionSharedPtr>(1, link->collision) :
-                                        link->collision_array;
-
-    std::vector<shapes::ShapeConstPtr> shapes;
-    collision_detection_bullet::AlignedVector<Eigen::Isometry3d> shape_poses;
-    std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
-
-    for (const auto& i : col_array)
-    {
-      if (i && i->geometry)
-      {
-        shapes::ShapePtr shape = collision_detection_bullet::constructShape(i->geometry.get());
-
-        if (shape)
-        {
-          if (fabs(getLinkScale(link->name) - 1.0) >= std::numeric_limits<double>::epsilon() ||
-              fabs(getLinkPadding(link->name)) >= std::numeric_limits<double>::epsilon())
-          {
-            shape->scaleAndPadd(getLinkScale(link->name), getLinkPadding(link->name));
-          }
-
-          shapes.push_back(shape);
-          shape_poses.push_back(collision_detection_bullet::urdfPose2Eigen(i->origin));
-
-          if (shape->type == shapes::MESH)
-          {
-            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
-          }
-          else
-          {
-            collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
-          }
-        }
-      }
-    }
-
-    collision_detection_bullet::CollisionObjectWrapperPtr cow = collision_detection_bullet::createCollisionObject(
-        link->name, collision_detection::BodyType::ROBOT_LINK, shapes, shape_poses, collision_object_types, true);
-
-    if (manager_->hasCollisionObject(link->name))
-    {
-      manager_->removeCollisionObject(link->name);
-    }
-    manager_->addCollisionObject(cow);
-  }
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
deleted file mode 100644
index 837fd0706d..0000000000
--- a/moveit_core/collision_detection_bullet/src/collision_world_bullet.cpp
+++ /dev/null
@@ -1,297 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Jens Petit
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Jens Petit */
-
-#include <moveit/collision_detection_bullet/collision_world_bullet.h>
-#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
-#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
-#include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
-#include <boost/bind.hpp>
-#include <bullet/btBulletCollisionCommon.h>
-
-namespace collision_detection
-{
-const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
-
-CollisionWorldBullet::CollisionWorldBullet()
-  : CollisionWorld()
-  , manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
-  , bt_manager_CCD_(new collision_detection_bullet::BulletCastBVHManager)
-{
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
-
-  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
-                       std::placeholders::_3);
-  manager_->setIsContactAllowedFn(fun);
-  bt_manager_CCD_->setIsContactAllowedFn(fun);
-}
-
-CollisionWorldBullet::CollisionWorldBullet(const WorldPtr& world)
-  : CollisionWorld(world)
-  , manager_(new collision_detection_bullet::BulletDiscreteBVHManager)
-  , bt_manager_CCD_(new collision_detection_bullet::BulletCastBVHManager)
-{
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-
-  auto fun = std::bind(&collision_detection_bullet::allowedCollisionCheck, std::placeholders::_1, std::placeholders::_2,
-                       std::placeholders::_3);
-  manager_->setIsContactAllowedFn(fun);
-  bt_manager_CCD_->setIsContactAllowedFn(fun);
-}
-
-CollisionWorldBullet::CollisionWorldBullet(const CollisionWorldBullet& other, const WorldPtr& world)
-  : CollisionWorld(other, world)
-{
-  manager_ = other.manager_->clone();
-  bt_manager_CCD_ = other.bt_manager_CCD_->clone();
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
-}
-
-CollisionWorldBullet::~CollisionWorldBullet()
-{
-  getWorld()->removeObserver(observer_handle_);
-}
-
-void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionRobot& robot, const robot_state::RobotState& state) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, nullptr);
-}
-
-void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionRobot& robot, const robot_state::RobotState& state,
-                                               const AllowedCollisionMatrix& acm) const
-{
-  checkRobotCollisionHelper(req, res, robot, state, &acm);
-}
-
-void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                               const robot_state::RobotState& state2) const
-{
-  checkRobotCollisionHelperCCD(req, res, robot, state1, state2, nullptr);
-}
-
-void CollisionWorldBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionRobot& robot, const robot_state::RobotState& state1,
-                                               const robot_state::RobotState& state2,
-                                               const AllowedCollisionMatrix& acm) const
-{
-  checkRobotCollisionHelperCCD(req, res, robot, state1, state2, &acm);
-}
-
-void CollisionWorldBullet::checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
-                                                        const CollisionRobot& robot,
-                                                        const robot_state::RobotState& state1,
-                                                        const robot_state::RobotState& state2,
-                                                        const AllowedCollisionMatrix* acm) const
-{
-  const CollisionRobotBullet& robot_bt = dynamic_cast<const CollisionRobotBullet&>(robot);
-
-  collision_detection_bullet::BulletCastBVHManagerPtr cast_clone_manager = bt_manager_CCD_->clone();
-  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
-  robot_bt.addAttachedOjects(state1, attached_cows);
-  std::vector<std::string> active_objects;
-
-  for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
-  {
-    cast_clone_manager->addCollisionObject(cow);
-    cast_clone_manager->setCollisionObjectsTransform(
-        cow->getName(), state1.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0],
-        state2.getAttachedBody(cow->getName())->getGlobalCollisionBodyTransforms()[0]);
-    active_objects.push_back(cow->getName());
-  }
-
-  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow :
-       robot_bt.manager_->getCollisionObjects())
-  {
-    collision_detection_bullet::CollisionObjectWrapperPtr new_cow = cow.second->clone();
-    cast_clone_manager->addCollisionObject(new_cow);
-    cast_clone_manager->setCollisionObjectsTransform(new_cow->getName(),
-                                                     state1.getCollisionBodyTransform(new_cow->getName(), 0),
-                                                     state2.getCollisionBodyTransform(new_cow->getName(), 0));
-  }
-
-  collision_detection_bullet::getActiveLinkNamesRecursive(active_objects,
-                                                          robot_bt.getRobotModel()->getURDF()->getRoot(), true);
-  cast_clone_manager->setActiveCollisionObjects(active_objects);
-  cast_clone_manager->filter_callback_.acm_ = acm;
-  cast_clone_manager->contactTest(res, req, acm);
-}
-
-void CollisionWorldBullet::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                     const CollisionRobot& robot, const robot_state::RobotState& state,
-                                                     const AllowedCollisionMatrix* acm) const
-{
-  const CollisionRobotBullet& robot_bt = dynamic_cast<const CollisionRobotBullet&>(robot);
-
-  collision_detection_bullet::BulletDiscreteBVHManagerPtr discrete_clone_manager = manager_->clone();
-  std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
-  robot_bt.addAttachedOjects(state, attached_cows);
-
-  for (const std::pair<const std::string, collision_detection_bullet::CollisionObjectWrapperPtr>& cow :
-       robot_bt.manager_->getCollisionObjects())
-  {
-    collision_detection_bullet::CollisionObjectWrapperPtr new_cow = cow.second->clone();
-    discrete_clone_manager->addCollisionObject(new_cow);
-    discrete_clone_manager->setCollisionObjectsTransform(new_cow->getName(),
-                                                         state.getCollisionBodyTransform(new_cow->getName(), 0));
-  }
-
-  discrete_clone_manager->setActiveCollisionObjects(robot_bt.active_);
-
-  if (req.distance)
-  {
-    discrete_clone_manager->setContactDistanceThreshold(std::numeric_limits<double>::max());
-  }
-
-  discrete_clone_manager->filter_callback_.acm_ = acm;
-
-  discrete_clone_manager->contactTest(res, req, acm, attached_cows);
-}
-
-void CollisionWorldBullet::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionWorld& other_world) const
-{
-  checkWorldCollisionHelper(req, res, other_world, nullptr);
-}
-
-void CollisionWorldBullet::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const CollisionWorld& other_world,
-                                               const AllowedCollisionMatrix& acm) const
-{
-  checkWorldCollisionHelper(req, res, other_world, &acm);
-}
-
-void CollisionWorldBullet::checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                     const CollisionWorld& other_world,
-                                                     const AllowedCollisionMatrix* acm) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet checking with other world not implemented yet.");
-}
-
-void CollisionWorldBullet::addToManager(const World::Object* obj)
-{
-  std::vector<collision_detection_bullet::CollisionObjectType> collision_object_types;
-
-  for (const shapes::ShapeConstPtr& shape : obj->shapes_)
-  {
-    if (shape->type == shapes::MESH)
-      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
-    else
-      collision_object_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
-  }
-
-  manager_->addCollisionObject(obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_, obj->shape_poses_,
-                               collision_object_types, true);
-
-  bt_manager_CCD_->addCollisionObject(obj->id_, collision_detection::BodyType::WORLD_OBJECT, obj->shapes_,
-                                      obj->shape_poses_, collision_object_types, true);
-}
-
-void CollisionWorldBullet::updateManagedObject(const std::string& id)
-{
-  if (getWorld()->hasObject(id))
-  {
-    auto it = getWorld()->find(id);
-    if (manager_->hasCollisionObject(id))
-    {
-      manager_->removeCollisionObject(id);
-      bt_manager_CCD_->removeCollisionObject(id);
-      addToManager(it->second.get());
-    }
-    else
-    {
-      addToManager(it->second.get());
-    }
-  }
-  else
-  {
-    if (manager_->hasCollisionObject(id))
-    {
-      manager_->removeCollisionObject(id);
-      bt_manager_CCD_->removeCollisionObject(id);
-    }
-  }
-}
-
-void CollisionWorldBullet::setWorld(const WorldPtr& world)
-{
-  if (world == getWorld())
-    return;
-
-  // turn off notifications about old world
-  getWorld()->removeObserver(observer_handle_);
-
-  CollisionWorld::setWorld(world);
-
-  // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionWorldBullet::notifyObjectChange, this, _1, _2));
-
-  // get notifications any objects already in the new world
-  getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
-}
-
-void CollisionWorldBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Action action)
-{
-  if (action == World::DESTROY)
-  {
-    manager_->removeCollisionObject(obj->id_);
-    bt_manager_CCD_->removeCollisionObject(obj->id_);
-  }
-  else
-  {
-    updateManagedObject(obj->id_);
-  }
-}
-
-void CollisionWorldBullet::distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
-                                         const robot_state::RobotState& state) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet distance calculation not implemented yet.");
-}
-
-void CollisionWorldBullet::distanceWorld(const DistanceRequest& req, DistanceResult& res,
-                                         const CollisionWorld& world) const
-{
-  ROS_ERROR_NAMED("collision_detection.bullet", "Bullet distance calculation not implemented yet.");
-}
-
-}  // end of namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
index f5b5014c33..4dd5115d2b 100644
--- a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Jens Petit
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jens Petit */
+
 #include <gtest/gtest.h>
 #include <ros/ros.h>
 
@@ -9,13 +45,14 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
-#include <moveit/collision_detection_bullet/collision_world_bullet.h>
-#include <moveit/collision_detection_bullet/collision_robot_bullet.h>
+#include <moveit/collision_detection_bullet/collision_env_bullet.h>
 #include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
 
 #include <urdf_parser/urdf_parser.h>
 #include <geometric_shapes/shape_operations.h>
 
+namespace cb = collision_detection_bullet;
+
 /** \brief Brings the panda robot in user defined home position */
 inline void setToHome(robot_state::RobotState& panda_state)
 {
@@ -49,8 +86,7 @@ class BulletCollisionDetectionTester : public testing::Test
     for (const srdf::Model::DisabledCollision& it : dc)
       acm_->setEntry(it.link1_, it.link2_, true);
 
-    crobot_.reset(new collision_detection::CollisionRobotBullet(robot_model_));
-    cworld_.reset(new collision_detection::CollisionWorldBullet());
+    cenv_.reset(new collision_detection::CollisionEnvBullet(robot_model_));
 
     robot_state_.reset(new robot_state::RobotState(robot_model_));
 
@@ -66,15 +102,14 @@ class BulletCollisionDetectionTester : public testing::Test
 
   robot_model::RobotModelPtr robot_model_;
 
-  collision_detection::CollisionWorldPtr cworld_;
-  collision_detection::CollisionRobotPtr crobot_;
+  collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
   robot_state::RobotStatePtr robot_state_;
 };
 
-void addCollisionObjects(collision_detection_bullet::BulletCastBVHManager& checker)
+void addCollisionObjects(cb::BulletCastBVHManager& checker)
 {
   ////////////////////////////
   // Add static box to checker
@@ -84,14 +119,15 @@ void addCollisionObjects(collision_detection_bullet::BulletCastBVHManager& check
   static_box_pose.setIdentity();
 
   std::vector<shapes::ShapeConstPtr> obj1_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
+  cb::AlignedVector<Eigen::Isometry3d> obj1_poses;
+  std::vector<cb::CollisionObjectType> obj1_types;
   obj1_shapes.push_back(static_box);
   obj1_poses.push_back(static_box_pose);
-  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+  obj1_types.push_back(cb::CollisionObjectType::USE_SHAPE_TYPE);
 
-  checker.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses,
-                             obj1_types);
+  cb::CollisionObjectWrapperPtr cow_1(new cb::CollisionObjectWrapper(
+      "static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses, obj1_types));
+  checker.addCollisionObject(cow_1);
 
   ////////////////////////////
   // Add moving box to checker
@@ -103,17 +139,18 @@ void addCollisionObjects(collision_detection_bullet::BulletCastBVHManager& check
   moving_box_pose.translation() = Eigen::Vector3d(0.5, -0.5, 0);
 
   std::vector<shapes::ShapeConstPtr> obj2_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
+  cb::AlignedVector<Eigen::Isometry3d> obj2_poses;
+  std::vector<cb::CollisionObjectType> obj2_types;
   obj2_shapes.push_back(moving_box);
   obj2_poses.push_back(moving_box_pose);
-  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+  obj2_types.push_back(cb::CollisionObjectType::USE_SHAPE_TYPE);
 
-  checker.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses,
-                             obj2_types);
+  cb::CollisionObjectWrapperPtr cow_2(new cb::CollisionObjectWrapper(
+      "moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses, obj2_types));
+  checker.addCollisionObject(cow_2);
 }
 
-void addCollisionObjectsMesh(collision_detection_bullet::BulletCastBVHManager& checker)
+void addCollisionObjectsMesh(cb::BulletCastBVHManager& checker)
 {
   ////////////////////////////
   // Add static box to checker
@@ -123,25 +160,25 @@ void addCollisionObjectsMesh(collision_detection_bullet::BulletCastBVHManager& c
   static_box_pose.setIdentity();
 
   std::vector<shapes::ShapeConstPtr> obj1_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
+  cb::AlignedVector<Eigen::Isometry3d> obj1_poses;
+  std::vector<cb::CollisionObjectType> obj1_types;
   obj1_shapes.push_back(static_box);
   obj1_poses.push_back(static_box_pose);
-  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
-
-  checker.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses,
-                             obj1_types);
+  obj1_types.push_back(cb::CollisionObjectType::USE_SHAPE_TYPE);
 
+  cb::CollisionObjectWrapperPtr cow_1(new cb::CollisionObjectWrapper(
+      "static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes, obj1_poses, obj1_types));
+  checker.addCollisionObject(cow_1);
   ////////////////////////////
   // Add moving mesh to checker
   ////////////////////////////
 
   std::vector<shapes::ShapeConstPtr> obj2_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
+  cb::AlignedVector<Eigen::Isometry3d> obj2_poses;
+  std::vector<cb::CollisionObjectType> obj2_types;
 
   obj1_poses.push_back(static_box_pose);
-  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
+  obj1_types.push_back(cb::CollisionObjectType::USE_SHAPE_TYPE);
 
   Eigen::Isometry3d s_pose;
   s_pose.setIdentity();
@@ -150,14 +187,15 @@ void addCollisionObjectsMesh(collision_detection_bullet::BulletCastBVHManager& c
   shapes::ShapeConstPtr s;
   s.reset(shapes::createMeshFromResource(kinect));
   obj2_shapes.push_back(s);
-  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
+  obj2_types.push_back(cb::CollisionObjectType::CONVEX_HULL);
   obj2_poses.push_back(s_pose);
 
-  checker.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses,
-                             obj2_types);
+  cb::CollisionObjectWrapperPtr cow_2(new cb::CollisionObjectWrapper(
+      "moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes, obj2_poses, obj2_types));
+  checker.addCollisionObject(cow_2);
 }
 
-void runTest(collision_detection_bullet::BulletCastBVHManager& checker, collision_detection::CollisionResult& result,
+void runTest(cb::BulletCastBVHManager& checker, collision_detection::CollisionResult& result,
              std::vector<collision_detection::Contact>& result_vector, Eigen::Isometry3d& start_pos,
              Eigen::Isometry3d& end_pos)
 {
@@ -169,13 +207,13 @@ void runTest(collision_detection_bullet::BulletCastBVHManager& checker, collisio
 
   // Set the collision object transforms
   checker.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
-  checker.setCollisionObjectsTransform("moving_box_link", start_pos, end_pos);
+  checker.setCastCollisionObjectsTransform("moving_box_link", start_pos, end_pos);
 
   // Perform collision check
   collision_detection::CollisionRequest request;
   request.contacts = true;
-  // collision_detection_bullet::ContactResultMap result;
-  checker.contactTest(result, request, nullptr);
+  // cb::ContactResultMap result;
+  checker.contactTest(result, request, nullptr, false);
 
   for (const auto& contacts_all : result.contacts)
   {
@@ -186,7 +224,7 @@ void runTest(collision_detection_bullet::BulletCastBVHManager& checker, collisio
   }
 }
 
-// TODO: Add continuous to continuous collision checking
+// TODO(j-petit): Add continuous to continuous collision checking
 /** \brief Continuous self collision checks are not supported yet by the bullet integration */
 TEST_F(BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
 {
@@ -207,7 +245,7 @@ TEST_F(BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
   state1.setJointPositions("panda_joint7", &joint7);
   state1.update();
 
-  crobot_->checkSelfCollision(req, res, state1, *acm_);
+  cenv_->checkSelfCollision(req, res, state1, *acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
@@ -219,11 +257,10 @@ TEST_F(BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
   state2.setJointPositions("panda_joint7", &joint7);
   state2.update();
 
-  crobot_->checkSelfCollision(req, res, state2, *acm_);
+  cenv_->checkSelfCollision(req, res, state2, *acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
-  crobot_->checkSelfCollision(req, res, state1, state2, *acm_);
   ROS_INFO_STREAM("Continous to continous collisions are not supported yet, therefore fail here.");
   ASSERT_TRUE(res.collision);
   res.clear();
@@ -250,7 +287,7 @@ TEST_F(BulletCollisionDetectionTester, ContinuousCollisionWorld)
   state2.setJointPositions("panda_joint4", &joint_4);
   state2.update();
 
-  cworld_->checkRobotCollision(req, res, *crobot_, state1, state2, *acm_);
+  cenv_->checkRobotCollision(req, res, state1, state2, *acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
@@ -262,17 +299,17 @@ TEST_F(BulletCollisionDetectionTester, ContinuousCollisionWorld)
   pos.translation().x() = 0.43;
   pos.translation().y() = 0;
   pos.translation().z() = 0.55;
-  cworld_->getWorld()->addToObject("box", shape_ptr, pos);
+  cenv_->getWorld()->addToObject("box", shape_ptr, pos);
 
-  cworld_->checkRobotCollision(req, res, *crobot_, state1, *acm_);
+  cenv_->checkRobotCollision(req, res, state1, *acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
-  cworld_->checkRobotCollision(req, res, *crobot_, state2, *acm_);
+  cenv_->checkRobotCollision(req, res, state2, *acm_);
   ASSERT_FALSE(res.collision);
   res.clear();
 
-  cworld_->checkRobotCollision(req, res, *crobot_, state1, state2, *acm_);
+  cenv_->checkRobotCollision(req, res, state1, state2, *acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_EQ(res.contact_count, 4u);
   res.clear();
@@ -289,7 +326,7 @@ TEST(ContinuousCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)
   end_pos.setIdentity();
   end_pos.translation().x() = 2;
 
-  collision_detection_bullet::BulletCastBVHManager checker;
+  cb::BulletCastBVHManager checker;
   addCollisionObjects(checker);
   runTest(checker, result, result_vector, start_pos, end_pos);
 
@@ -300,7 +337,7 @@ TEST(ContinuousCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)
 
 TEST(ContinuousCollisionUnit, BulletCastMeshVsBox)
 {
-  collision_detection_bullet::BulletCastBVHManager checker;
+  cb::BulletCastBVHManager checker;
   addCollisionObjectsMesh(checker);
 
   Eigen::Isometry3d start_pos, end_pos;
@@ -317,83 +354,6 @@ TEST(ContinuousCollisionUnit, BulletCastMeshVsBox)
   ASSERT_TRUE(result.collision);
 }
 
-TEST(ContinuousCollisionUnit, TwoManagers)
-{
-  collision_detection_bullet::BulletCastBVHManager checker_continuous;
-  collision_detection_bullet::BulletDiscreteBVHManager checker_discrete;
-
-  ////////////////////////////
-  // Add static box to checker
-  ////////////////////////////
-  shapes::ShapePtr static_box(new shapes::Box(.1, .1, .1));
-  Eigen::Isometry3d static_box_pose;
-  static_box_pose.setIdentity();
-
-  std::vector<shapes::ShapeConstPtr> obj1_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj1_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj1_types;
-  obj1_shapes.push_back(static_box);
-  obj1_poses.push_back(static_box_pose);
-  obj1_types.push_back(collision_detection_bullet::CollisionObjectType::USE_SHAPE_TYPE);
-
-  checker_continuous.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes,
-                                        obj1_poses, obj1_types);
-  checker_discrete.addCollisionObject("static_box_link", collision_detection::BodyType::WORLD_OBJECT, obj1_shapes,
-                                      obj1_poses, obj1_types);
-
-  ////////////////////////
-  // Add moving sphere to checker
-  ////////////////////////
-  shapes::ShapePtr sphere;
-  sphere.reset(
-      shapes::createMeshFromResource("package://moveit_resources/panda_description/meshes/collision/link0.stl"));
-
-  Eigen::Isometry3d sphere_pose;
-  sphere_pose.setIdentity();
-
-  std::vector<shapes::ShapeConstPtr> obj2_shapes;
-  collision_detection_bullet::AlignedVector<Eigen::Isometry3d> obj2_poses;
-  std::vector<collision_detection_bullet::CollisionObjectType> obj2_types;
-  obj2_shapes.push_back(sphere);
-  obj2_poses.push_back(sphere_pose);
-  obj2_types.push_back(collision_detection_bullet::CollisionObjectType::CONVEX_HULL);
-
-  checker_continuous.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes,
-                                        obj2_poses, obj2_types);
-  checker_discrete.addCollisionObject("moving_box_link", collision_detection::BodyType::WORLD_OBJECT, obj2_shapes,
-                                      obj2_poses, obj2_types);
-
-  checker_continuous.setActiveCollisionObjects({ "moving_box_link" });
-  checker_continuous.setContactDistanceThreshold(0.1);
-
-  // Set the collision object transforms
-  checker_continuous.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
-  checker_discrete.setCollisionObjectsTransform("static_box_link", Eigen::Isometry3d::Identity());
-
-  Eigen::Isometry3d start_pos, end_pos;
-  start_pos.setIdentity();
-  start_pos.translation().x() = -1.9;
-  end_pos.setIdentity();
-  end_pos.translation().x() = 1.9;
-  checker_continuous.setCollisionObjectsTransform("moving_box_link", start_pos, end_pos);
-
-  Eigen::Isometry3d start_pos_2;
-  start_pos_2.setIdentity();
-  start_pos_2.translation().x() = -1.9;
-  checker_discrete.setCollisionObjectsTransform("moving_box_link", start_pos_2);
-
-  collision_detection::CollisionResult result;
-  collision_detection::CollisionResult result_2;
-  collision_detection::CollisionRequest request;
-
-  // Perform collision check
-  checker_discrete.contactTest(result_2, request, nullptr);
-  checker_continuous.contactTest(result, request, nullptr);
-
-  ASSERT_TRUE(result.collision);
-  ASSERT_FALSE(result_2.collision);
-}
-
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index c5b89cca28..9df7168c69 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan */
+/* Author: Ioan Sucan, Jens Petit */
 
 #pragma once
 
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 0cf3446237..7a936b2771 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan, Jia Pan */
+/* Author: Ioan Sucan, Jia Pan, Jens Petit */
 
 #include <moveit/collision_detection_fcl/collision_common.h>
 #include <geometric_shapes/shapes.h>

From 753604ca172b47c4a00fd297c84c37f30b6204bc Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 26 Nov 2019 16:23:11 +0100
Subject: [PATCH 152/612] Readme for speed benchmark (#1648)

* FCL Bullet benchmark readme
  * Benchmark script and launch file updated

* PR review fixups
---
 .../launch/collision_checker_compare.launch   |   6 ++++
 .../planning_components_tools/README.md       |  22 +++++++++++++
 .../collision_speed_100_box_collision.png     | Bin 0 -> 148089 bytes
 .../collision_speed_100_meshes_collision.png  | Bin 0 -> 419183 bytes
 ...ollision_speed_100_meshes_no_collision.png | Bin 0 -> 359517 bytes
 ...re_collision_speed_checking_fcl_bullet.cpp |  31 ++++++++++++++----
 6 files changed, 52 insertions(+), 7 deletions(-)
 create mode 100644 moveit_ros/planning/planning_components_tools/README.md
 create mode 100644 moveit_ros/planning/planning_components_tools/images/collision_speed_100_box_collision.png
 create mode 100644 moveit_ros/planning/planning_components_tools/images/collision_speed_100_meshes_collision.png
 create mode 100644 moveit_ros/planning/planning_components_tools/images/collision_speed_100_meshes_no_collision.png

diff --git a/moveit_ros/planning/launch/collision_checker_compare.launch b/moveit_ros/planning/launch/collision_checker_compare.launch
index 5c9526b876..3be9255091 100644
--- a/moveit_ros/planning/launch/collision_checker_compare.launch
+++ b/moveit_ros/planning/launch/collision_checker_compare.launch
@@ -1,4 +1,6 @@
 <launch>
+  <arg name="visualization" default="false" doc="turns on and off visualization with rviz"/>
+
   <!-- send Panda urdf to parameter server -->
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
 
@@ -6,5 +8,9 @@
 
   <node name="compare_collision_checking_speed" pkg="moveit_ros_planning" type="moveit_compare_collision_checking_speed_fcl_bullet" respawn="false" output="screen">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+    <param name="visualization" value="$(arg visualization)" type="bool"/>
   </node>
+
+  <include if="$(arg visualization)" file="$(find panda_moveit_config)/launch/demo.launch"/>
+
 </launch>
diff --git a/moveit_ros/planning/planning_components_tools/README.md b/moveit_ros/planning/planning_components_tools/README.md
new file mode 100644
index 0000000000..766a4776f8
--- /dev/null
+++ b/moveit_ros/planning/planning_components_tools/README.md
@@ -0,0 +1,22 @@
+# Planning Component Tools
+
+## Compare collision checking speeds: FCL vs Bullet
+The launch file `collision_checker_compare.launch` starts a benchmark between FCL and Bullet as a collision detection library. The script `compare_collision_speed_checking_fcl_bullet.cpp` performs the actual speed tests.
+
+The collision scenarios can be visualized. By default, visualization is turned off in the launch file but can be activated through `visualization:=true` as an argument to the `roslaunch`. If activated, rviz is launched and visualizations like in the images below are created. For the speed test, either meshes or other available shape primitives like the box can be used.
+
+The clutter world objects are randomly placed such that they don't collide with the robot. The robot can then be moved to a colliding configuration. In the images, the red color of world objects indicates a collision with the robot.
+
+<p align="center">
+    <img src="images/collision_speed_100_meshes_no_collision.png" width="400">
+    <img src="images/collision_speed_100_meshes_collision.png" width="400">
+    <img src="images/collision_speed_100_box_collision.png" width="400">
+</p>
+
+The results of the speed test are printed to the console. Their unit is collision checks per second. A current overview over the results is given in the table below. Note that absolute values are not relevant because they are depending on the computing power of the local machine but the relative differences between Bullet and FCL should be reproducible.
+
+| Collision environment | Bullet | FCL |
+| :--------------- |------------:| ----:|
+| Robot self check, no collision |  220,000 | 110,000 |
+| World clutter 100 meshes, no collision | 37,000 | 38,000 |
+| World clutter 100 meshes, 4 in collision | 8,000 | 3,000 |
diff --git a/moveit_ros/planning/planning_components_tools/images/collision_speed_100_box_collision.png b/moveit_ros/planning/planning_components_tools/images/collision_speed_100_box_collision.png
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HcmV?d00001

diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
index 3afa3dfdd5..36a75ca4bb 100644
--- a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
@@ -45,9 +45,14 @@
 #include <moveit/utils/robot_model_test_utils.h>
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
+
+/** \brief Factor to compute the maximum number of trials random clutter generation. */
 static const int MAX_SEARCH_FACTOR_CLUTTER = 3;
+
+/** \brief Factor to compute the maximum number of trials for random state generation. */
 static const int MAX_SEARCH_FACTOR_STATES = 30;
 
+/** \brief Defines a random robot state. */
 enum class RobotStateSelector
 {
   IN_COLLISION,
@@ -55,12 +60,14 @@ enum class RobotStateSelector
   RANDOM,
 };
 
+/** \brief Enumerates the available collision detectors. */
 enum class CollisionDetector
 {
   FCL,
   BULLET,
 };
 
+/** \brief Enumerates the different types of collision objects. */
 enum class CollisionObjectType
 {
   MESH,
@@ -68,7 +75,7 @@ enum class CollisionObjectType
 };
 
 /** \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added
- *  objects are not in collision.
+ *  objects are not in collision with the robot.
 *
 *   \param planning_scene The planning scene
 *   \param num_objects The number of objects to be cluttered
@@ -188,8 +195,11 @@ void runCollisionDetection(unsigned int trials, const planning_scene::PlanningSc
   if (!only_self)
   {
     req.contacts = true;
-    req.max_contacts = 999;
-    req.max_contacts_per_pair = 99;
+    req.max_contacts = 99;
+    req.max_contacts_per_pair = 10;
+    // If distance is turned on it will slow down the collision checking a lot. Try reducing the
+    // number of contacts consequently.
+    // req.distance = true;
   }
 
   ros::WallTime start = ros::WallTime::now();
@@ -286,7 +296,7 @@ int main(int argc, char** argv)
 
   ros::Publisher planning_scene_diff_publisher = node_handle.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
 
-  unsigned int trials = 5000;
+  unsigned int trials = 10000;
 
   ros::AsyncSpinner spinner(1);
   spinner.start();
@@ -331,6 +341,7 @@ int main(int argc, char** argv)
     runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::BULLET, false);
     runCollisionDetection(trials, planning_scene, sampled_states, CollisionDetector::FCL, false);
 
+    // bring the robot into a position which collides with the world clutter
     double joint_2 = 1.5;
     current_state.setJointPositions("panda_joint2", &joint_2);
     current_state.update();
@@ -342,9 +353,15 @@ int main(int argc, char** argv)
     runCollisionDetection(trials, planning_scene, sampled_states_2, CollisionDetector::BULLET, false);
     runCollisionDetection(trials, planning_scene, sampled_states_2, CollisionDetector::FCL, false);
 
-    moveit_msgs::PlanningScene planning_scene_msg;
-    planning_scene->getPlanningSceneMsg(planning_scene_msg);
-    planning_scene_diff_publisher.publish(planning_scene_msg);
+    bool visualize;
+    node_handle.getParam("/compare_collision_checking_speed/visualization", visualize);
+    if (visualize)
+    {
+      // publishes the planning scene to visualize in rviz if possible
+      moveit_msgs::PlanningScene planning_scene_msg;
+      planning_scene->getPlanningSceneMsg(planning_scene_msg);
+      planning_scene_diff_publisher.publish(planning_scene_msg);
+    }
   }
   else
   {

From a6c173f3fbd6a3433908c370b0178ef8c6e9d6e8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20G=C3=BCnther?= <martin.guenther@dfki.de>
Date: Mon, 13 Jan 2020 17:42:10 +0100
Subject: [PATCH 153/612] ikfast: implement Translation*AxisAngle4D IK type
 (#1823)

---
 .../templates/ikfast61_moveit_plugin_template.cpp | 15 ++++++---------
 1 file changed, 6 insertions(+), 9 deletions(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index b90eb5faf7..775d9dc104 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -596,15 +596,6 @@ size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector<d
       ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : nullptr, solutions);
       return solutions.GetNumSolutions();
 
-    case IKP_TranslationXAxisAngle4D:
-    case IKP_TranslationYAxisAngle4D:
-    case IKP_TranslationZAxisAngle4D:
-      // For *TranslationXAxisAngle4D*, *TranslationYAxisAngle4D*, *TranslationZAxisAngle4D* - end effector origin
-      // reaches desired 3D translation, manipulator direction makes a specific angle with x/y/z-axis (defined in the
-      // manipulator base link’s coordinate system)
-      ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet.");
-      return 0;
-
     case IKP_TranslationLocalGlobal6D:
       // For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end
       // effector coordinate system.
@@ -618,6 +609,10 @@ size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector<d
       ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet.");
       return 0;
 
+    case IKP_TranslationXAxisAngle4D:
+    // For *TranslationXAxisAngle4D*, *TranslationYAxisAngle4D*, *TranslationZAxisAngle4D* - end effector origin
+    // reaches desired 3D translation, manipulator direction makes a specific angle with x/y/z-axis (defined in the
+    // manipulator base link's coordinate system)
     case IKP_TranslationXAxisAngleZNorm4D:
       double roll, pitch, yaw;
       // For **TranslationXAxisAngleZNorm4D** - end effector origin reaches desired 3D translation, manipulator
@@ -627,6 +622,7 @@ size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector<d
       ComputeIk(trans, &yaw, vfree.size() > 0 ? &vfree[0] : nullptr, solutions);
       return solutions.GetNumSolutions();
 
+    case IKP_TranslationYAxisAngle4D:
     case IKP_TranslationYAxisAngleXNorm4D:
       // For **TranslationYAxisAngleXNorm4D** - end effector origin reaches desired 3D translation, manipulator
       // direction needs to be orthogonal to x axis and be rotated at a certain angle starting from the y axis (defined
@@ -635,6 +631,7 @@ size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector<d
       ComputeIk(trans, &roll, vfree.size() > 0 ? &vfree[0] : nullptr, solutions);
       return solutions.GetNumSolutions();
 
+    case IKP_TranslationZAxisAngle4D:
     case IKP_TranslationZAxisAngleYNorm4D:
       // For **TranslationZAxisAngleYNorm4D** - end effector origin reaches desired 3D translation, manipulator
       // direction needs to be orthogonal to y axis and be rotated at a certain angle starting from the z axis (defined

From a2b7b02f7a7157f37659fe3a708dd9c87fc84d65 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 15 Jan 2020 09:09:30 +0100
Subject: [PATCH 154/612] Fix RobotTrajectory's copy constructor (#1834)

Fixup for 01ff0358b58ef14aeedb1ceee98887c3c49f8911 (#1760)
---
 moveit_core/robot_trajectory/src/robot_trajectory.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index 5f75bf5b62..70e837ca9d 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -56,9 +56,9 @@ RobotTrajectory::RobotTrajectory(const robot_model::RobotModelConstPtr& robot_mo
 RobotTrajectory::RobotTrajectory(const RobotTrajectory& other, bool deepcopy)
 {
   *this = other;  // default assignment operator performs a shallow copy
-  this->waypoints_.clear();
   if (deepcopy)
   {
+    this->waypoints_.clear();
     for (const auto& waypoint : other.waypoints_)
     {
       this->waypoints_.emplace_back(std::make_shared<moveit::core::RobotState>(*waypoint));

From 06a9e4beac1e94d862c8286a22561529cb03d638 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 16 Jan 2020 09:32:39 +0100
Subject: [PATCH 155/612] moveit_jog_arm: fix dependencies + catkin_lint issues

---
 moveit_experimental/moveit_jog_arm/CMakeLists.txt | 8 +++++++-
 moveit_experimental/moveit_jog_arm/package.xml    | 4 ++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 58daac76d8..8130c87c6a 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -18,6 +18,9 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   moveit_ros_planning_interface
   rosparam_shortcuts
+  sensor_msgs
+  std_msgs
+  trajectory_msgs
 )
 find_package(Eigen3 REQUIRED)
 
@@ -31,6 +34,9 @@ catkin_package(
     geometry_msgs
     moveit_ros_planning_interface
     rosparam_shortcuts
+    sensor_msgs
+    std_msgs
+    trajectory_msgs
   DEPENDS
     EIGEN3
 )
@@ -78,10 +84,10 @@ target_link_libraries(cpp_interface_example
 
 add_executable(jog_server
   src/collision_check_thread.cpp
-  src/jog_server.cpp
   src/jog_calcs.cpp
   src/jog_interface_base.cpp
   src/jog_ros_interface.cpp
+  src/jog_server.cpp
   src/low_pass_filter.cpp
 )
 add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index 9926ba24e7..d57541434a 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -21,10 +21,14 @@
 
   <depend>control_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>trajectory_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>rosparam_shortcuts</depend>
 
   <exec_depend>joy_teleop</exec_depend>
+  <exec_depend>spacenav_node</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>ros_pytest</test_depend>

From 8f75792ba52237646fa560ee3b26c617e4ab8ea5 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Fri, 17 Jan 2020 15:56:09 +0100
Subject: [PATCH 156/612] Adapt cmake for Bullet (#1744)

* cmake for using Bullet only if correct version available

* Fixup

* PR review fixup

* Rewrite with own FindBullet.cmake

* Use pkg-config

* Fix travis failure for melodic

* Fix moveit_ros_planning dependency on Bullet
---
 .travis.yml                                   |  1 +
 moveit_core/CMakeLists.txt                    | 29 +++++++++++++++----
 moveit_core/CMakeModules/FindBullet.cmake     | 10 +++++++
 .../planning_components_tools/CMakeLists.txt  |  6 ++--
 4 files changed, 38 insertions(+), 8 deletions(-)
 create mode 100644 moveit_core/CMakeModules/FindBullet.cmake

diff --git a/.travis.yml b/.travis.yml
index c51f7602da..6ed584a5ff 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -25,6 +25,7 @@ env:
     - TEST="clang-format catkin_lint"
     - TEST=code-coverage
     - ROS_DISTRO=melodic
+    - ROS_DISTRO=kinetic
 
 matrix: # Add a separate config to the matrix, using clang as compiler
   include:
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 57f19a86be..5f1ff12c85 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -21,8 +21,21 @@ endif()
 
 find_package(Boost REQUIRED system filesystem date_time thread iostreams)
 find_package(Eigen3 REQUIRED)
- # TODO: Move collision detection into separate packages
-find_package(Bullet REQUIRED)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+
+# TODO: Move collision detection into separate packages
+find_package(Bullet 2.87)
+
+# TODO(j-petit): Version check can be dropped when Xenial reaches end-of-life
+if(BULLET_FOUND)
+  set(BULLET_ENABLE "BULLET")
+  set(BULLET_LIB "moveit_collision_detection_bullet")
+  set(BULLET_INC "collision_detection_bullet/include")
+  message(STATUS "Compiling with Bullet")
+else()
+  message(STATUS "Version of Bullet too old or not available: disabling Bullet collision detection plugin. Try using Ubuntu 18.04 or later.")
+endif()
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL_PC REQUIRED fcl)
@@ -30,6 +43,7 @@ pkg_check_modules(LIBFCL_PC REQUIRED fcl)
 find_path(LIBFCL_INCLUDE_DIRS fcl/config.h HINTS ${LIBFCL_PC_INCLUDE_DIR} ${LIBFCL_PC_INCLUDE_DIRS})
 find_library(LIBFCL_LIBRARIES fcl HINTS ${LIBFCL_PC_LIBRARY_DIRS})
 
+
 find_package(octomap REQUIRED)
 find_package(urdfdom REQUIRED)
 find_package(urdfdom_headers REQUIRED)
@@ -71,7 +85,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     backtrace/include
     collision_detection/include
     collision_detection_fcl/include
-    collision_detection_bullet/include
+    ${BULLET_INC}
     constraint_samplers/include
     controller_manager/include
     distance_field/include
@@ -108,7 +122,7 @@ catkin_package(
     moveit_planning_interface
     moveit_collision_detection
     moveit_collision_detection_fcl
-    moveit_collision_detection_bullet
+    ${BULLET_LIB}
     moveit_kinematic_constraints
     moveit_planning_scene
     moveit_constraint_samplers
@@ -145,7 +159,7 @@ catkin_package(
     OCTOMAP
     urdfdom
     urdfdom_headers
-    BULLET
+    ${BULLET_ENABLE}
     )
 
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
@@ -190,7 +204,6 @@ add_subdirectory(robot_state)
 add_subdirectory(robot_trajectory)
 add_subdirectory(collision_detection)
 add_subdirectory(collision_detection_fcl)
-add_subdirectory(collision_detection_bullet)
 add_subdirectory(kinematic_constraints)
 add_subdirectory(planning_scene)
 add_subdirectory(constraint_samplers)
@@ -201,3 +214,7 @@ add_subdirectory(distance_field)
 add_subdirectory(collision_distance_field)
 add_subdirectory(kinematics_metrics)
 add_subdirectory(dynamics_solver)
+
+if(BULLET_ENABLE)
+  add_subdirectory(collision_detection_bullet)
+endif()
diff --git a/moveit_core/CMakeModules/FindBullet.cmake b/moveit_core/CMakeModules/FindBullet.cmake
new file mode 100644
index 0000000000..1dff096d89
--- /dev/null
+++ b/moveit_core/CMakeModules/FindBullet.cmake
@@ -0,0 +1,10 @@
+include(FindPackageHandleStandardArgs)
+find_package(PkgConfig)
+
+if(PKGCONFIG_FOUND)
+  pkg_check_modules(BULLET bullet)
+endif()
+
+find_package_handle_standard_args(Bullet
+                                  REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS
+                                  VERSION_VAR BULLET_VERSION)
diff --git a/moveit_ros/planning/planning_components_tools/CMakeLists.txt b/moveit_ros/planning/planning_components_tools/CMakeLists.txt
index 77f51dacd2..4faa041dfb 100644
--- a/moveit_ros/planning/planning_components_tools/CMakeLists.txt
+++ b/moveit_ros/planning/planning_components_tools/CMakeLists.txt
@@ -14,8 +14,10 @@ target_link_libraries(moveit_visualize_robot_collision_volume moveit_planning_sc
 add_executable(moveit_evaluate_collision_checking_speed src/evaluate_collision_checking_speed.cpp)
 target_link_libraries(moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
-target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet")
+  add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
+  target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+endif()
 
 add_executable(moveit_kinematics_speed_and_validity_evaluator src/kinematics_speed_and_validity_evaluator.cpp)
 target_link_libraries(moveit_kinematics_speed_and_validity_evaluator moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})

From 384c231b143b73ada9a8ee0eb11cf22435309ef3 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 20 Jan 2020 20:08:41 +0100
Subject: [PATCH 157/612] Travis: temporarily disable ros-shadow-fixed test

See https://github.com/ros/rosdistro/pull/23469#issuecomment-576397569 for details.
---
 .travis.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 6ed584a5ff..8c83fc2ead 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,8 +31,7 @@ matrix: # Add a separate config to the matrix, using clang as compiler
   include:
     # add a config to the matrix using clang as compiler and also test ikfast plugin creation
     - compiler: clang
-      env: ROS_REPO=ros-shadow-fixed
-           TEST=clang-tidy-fix
+      env: TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
 

From 546d6e052df1a92c0f3805f3c079c80fdc9916d0 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 20 Jan 2020 21:28:21 +0100
Subject: [PATCH 158/612] Fix command frame transform computation (#1842)

* Fix JogArm command frame handling

* Add comments to clarify frame transforms
---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 41 ++++++++++++-------
 1 file changed, 27 insertions(+), 14 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index c5f6648a47..bf38f99f78 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -142,7 +142,10 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     original_joint_state_ = joint_state_;
 
     // Get the transform from MoveIt planning frame to jogging command frame
-    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+    // We solve (planning_frame -> base -> robot_link_command_frame)
+    // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
+    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                              kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
     mutex.lock();
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     mutex.unlock();
@@ -266,19 +269,29 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   }
 
   // Transform the command to the MoveGroup planning frame
-  Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
-  Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
-  translation_vector = tf_moveit_to_cmd_frame_.linear() * translation_vector;
-  angular_vector = tf_moveit_to_cmd_frame_.linear() * angular_vector;
-
-  // Put these components back into a TwistStamped
-  cmd.header.frame_id = parameters_.planning_frame;
-  cmd.twist.linear.x = translation_vector(0);
-  cmd.twist.linear.y = translation_vector(1);
-  cmd.twist.linear.z = translation_vector(2);
-  cmd.twist.angular.x = angular_vector(0);
-  cmd.twist.angular.y = angular_vector(1);
-  cmd.twist.angular.z = angular_vector(2);
+  if (cmd.header.frame_id != parameters_.planning_frame)
+  {
+    Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
+    Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
+
+    // We solve (planning_frame -> base -> cmd.header.frame_id)
+    // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
+    const auto tf_planning_to_cmd_frame =
+        kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+        kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
+
+    translation_vector = tf_planning_to_cmd_frame.linear() * translation_vector;
+    angular_vector = tf_planning_to_cmd_frame.linear() * angular_vector;
+
+    // Put these components back into a TwistStamped
+    cmd.header.frame_id = parameters_.planning_frame;
+    cmd.twist.linear.x = translation_vector(0);
+    cmd.twist.linear.y = translation_vector(1);
+    cmd.twist.linear.z = translation_vector(2);
+    cmd.twist.angular.x = angular_vector(0);
+    cmd.twist.angular.y = angular_vector(1);
+    cmd.twist.angular.z = angular_vector(2);
+  }
 
   const Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
 

From 1e1f0fe2ea6178c0c07260721384e2ce1d672a62 Mon Sep 17 00:00:00 2001
From: llach <llach@techfak.uni-bielefeld.de>
Date: Mon, 13 Jan 2020 16:36:31 +0100
Subject: [PATCH 159/612] forward controller names to
 TrajectoryExecutionManager

- ExecutableTrajectory has a new member controller_names_
- PlanExecution includes that list when pushing trajctory parts to the
TrajectoryExecutionManager
---
 .../include/moveit/plan_execution/plan_representation.h  | 9 +++++++--
 .../planning/plan_execution/src/plan_execution.cpp       | 2 +-
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
index 809cb259c7..724414768f 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
@@ -52,8 +52,12 @@ struct ExecutableTrajectory
   {
   }
 
-  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description)
-    : trajectory_(trajectory), description_(description), trajectory_monitoring_(true)
+  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description,
+                       std::vector<std::string> controller_names = {})
+    : trajectory_(trajectory)
+    , description_(description)
+    , trajectory_monitoring_(true)
+    , controller_names_(std::move(controller_names))
   {
   }
 
@@ -62,6 +66,7 @@ struct ExecutableTrajectory
   bool trajectory_monitoring_;
   collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
   boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
+  std::vector<std::string> controller_names_;
 };
 
 /// A generic representation on what a computed motion plan looks like
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index f669e03af8..b282a34a9d 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -370,7 +370,7 @@ moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor(E
     // convert to message, pass along
     moveit_msgs::RobotTrajectory msg;
     plan.plan_components_[i].trajectory_->getRobotTrajectoryMsg(msg);
-    if (!trajectory_execution_manager_->push(msg))
+    if (!trajectory_execution_manager_->push(msg, plan.plan_components_[i].controller_names_))
     {
       trajectory_execution_manager_->clear();
       ROS_ERROR_STREAM_NAMED("plan_execution", "Apparently trajectory initialization failed");

From 590a1d2b1d21feea4c5c05026e888d159315a9fe Mon Sep 17 00:00:00 2001
From: llach <llach@techfak.uni-bielefeld.de>
Date: Mon, 13 Jan 2020 16:44:15 +0100
Subject: [PATCH 160/612] read "default" parameter in MoveitControllerManagers

When reading controller configurations, "default" is ignored as
opposed to what is currently written in the documentation.
MoveIt{Fake|Simple}ControllerManager now maintains map of controller name and
ControllerState where "default" is initialized as "false" or whatever
is given in the configuration.
MoveIt{Fake|Simple}ControllerManager::getControllerState() now returns the
state that is held in that map instead of a default one.
---
 .../src/moveit_fake_controller_manager.cpp      | 17 +++++++++--------
 .../src/moveit_simple_controller_manager.cpp    | 17 +++++++++--------
 2 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index f1fb8a7db4..64c28f82cc 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -115,6 +115,12 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
           controllers_[name].reset(new InterpolatingController(name, joints, pub_));
         else
           ROS_ERROR_STREAM("Unknown fake controller type: " << type);
+
+        moveit_controller_manager::MoveItControllerManager::ControllerState state;
+        state.default_ = controller_list[i].hasMember("default") ? (bool)controller_list[i]["default"] : false;
+        state.active_ = true;
+
+        controller_states_[name] = state;
       }
       catch (...)
       {
@@ -258,16 +264,10 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
     }
   }
 
-  /*
-   * Controllers are all active and default.
-   */
   moveit_controller_manager::MoveItControllerManager::ControllerState
-  getControllerState(const std::string& /*name*/) override
+  getControllerState(const std::string& name) override
   {
-    moveit_controller_manager::MoveItControllerManager::ControllerState state;
-    state.active_ = true;
-    state.default_ = true;
-    return state;
+    return controller_states_[name];
   }
 
   /* Cannot switch our controllers */
@@ -281,6 +281,7 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
   ros::NodeHandle node_handle_;
   ros::Publisher pub_;
   std::map<std::string, BaseFakeControllerPtr> controllers_;
+  std::map<std::string, moveit_controller_manager::MoveItControllerManager::ControllerState> controller_states_;
 };
 
 }  // end namespace moveit_fake_controller_manager
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
index 46c8a507f1..83d8a6f7b3 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
@@ -145,6 +145,12 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
           continue;
         }
 
+        moveit_controller_manager::MoveItControllerManager::ControllerState state;
+        state.default_ = controller_list[i].hasMember("default") ? (bool)controller_list[i]["default"] : false;
+        state.active_ = true;
+
+        controller_states_[name] = state;
+
         /* add list of joints, used by controller manager and MoveIt */
         for (int j = 0; j < controller_list[i]["joints"].size(); ++j)
           new_handle->addJoint(std::string(controller_list[i]["joints"][j]));
@@ -220,16 +226,10 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
     }
   }
 
-  /*
-   * Controllers are all active and default -- that's what makes this thing simple.
-   */
   moveit_controller_manager::MoveItControllerManager::ControllerState
-  getControllerState(const std::string& /* name */) override
+  getControllerState(const std::string& name) override
   {
-    moveit_controller_manager::MoveItControllerManager::ControllerState state;
-    state.active_ = true;
-    state.default_ = true;
-    return state;
+    return controller_states_[name];
   }
 
   /* Cannot switch our controllers */
@@ -242,6 +242,7 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
 protected:
   ros::NodeHandle node_handle_;
   std::map<std::string, ActionBasedControllerHandleBasePtr> controllers_;
+  std::map<std::string, moveit_controller_manager::MoveItControllerManager::ControllerState> controller_states_;
 };
 
 }  // end namespace moveit_simple_controller_manager

From 3a57141b48435de0a6026f9fc3496165c72e19e6 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 21 Jan 2020 09:51:36 -0500
Subject: [PATCH 161/612] Reduce console output warnings (#1845)

* Reduce console output warnings

* jog_arm: cleanup PSM setup

* clang-format

* fix cut-and-paste error

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .../src/collision_check_thread.cpp             | 18 ++++++++----------
 .../ompl/ompl_interface/src/ompl_interface.cpp |  4 ++--
 .../src/occupancy_map_monitor.cpp              |  3 ++-
 .../moveit_cpp/src/moveit_cpp.cpp              |  2 +-
 4 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index de07e0a817..0335e88d8d 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -53,20 +53,18 @@ CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameter
   }
 
   planning_scene_monitor_.reset(new planning_scene_monitor::PlanningSceneMonitor(model_loader_ptr));
-  planning_scene_monitor_->startSceneMonitor();
-  planning_scene_monitor_->startStateMonitor();
-
-  if (planning_scene_monitor_->getPlanningScene())
-  {
-    planning_scene_monitor_->startSceneMonitor("/planning_scene");
-    planning_scene_monitor_->startWorldGeometryMonitor();
-    planning_scene_monitor_->startStateMonitor();
-  }
-  else
+  if (!planning_scene_monitor_->getPlanningScene())
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
     exit(EXIT_FAILURE);
   }
+
+  planning_scene_monitor_->startSceneMonitor();
+  planning_scene_monitor_->startWorldGeometryMonitor(
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+      false /* skip octomap monitor */);
+  planning_scene_monitor_->startStateMonitor();
 }
 
 void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index 8f68566bd2..dc4ffc5371 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -51,7 +51,7 @@ ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstP
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
-  ROS_INFO("Initializing OMPL interface using ROS parameters");
+  ROS_DEBUG("Initializing OMPL interface using ROS parameters");
   loadPlannerConfigurations();
   loadConstraintSamplers();
 }
@@ -66,7 +66,7 @@ ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstP
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
-  ROS_INFO("Initializing OMPL interface using specified configuration");
+  ROS_DEBUG("Initializing OMPL interface using specified configuration");
   setPlannerConfigurations(pconfig);
   loadConstraintSamplers();
 }
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
index 284f429bb7..482b317963 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -90,7 +90,8 @@ void OccupancyMapMonitor::initialize()
         ROS_WARN("No target frame specified for Octomap. No transforms will be applied to received data.");
 
   if (!tf_buffer_ && !map_frame_.empty())
-    ROS_WARN("Target frame specified but no TF instance specified. No transforms will be applied to received data.");
+    ROS_WARN_STREAM("Target frame \"" << map_frame_ << "\" specified but no TF instance (buffer) specified. "
+                                                       "No transforms will be applied to received data.");
 
   tree_.reset(new OccMapTree(map_resolution_));
   tree_const_ = tree_;
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 3c0da8bf5f..a53c5d5f80 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -94,7 +94,7 @@ MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& /*unused*/,
   trajectory_execution_manager_.reset(new trajectory_execution_manager::TrajectoryExecutionManager(
       robot_model_, planning_scene_monitor_->getStateMonitor()));
 
-  ROS_INFO_NAMED(LOGNAME, "MoveItCpp running");
+  ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp running");
 }
 
 MoveItCpp::MoveItCpp(MoveItCpp&& other)

From 92032b5167f78f12550ff3d48d3b75afca29461f Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 22 Jan 2020 06:33:24 -0500
Subject: [PATCH 162/612] Move attribution below license file, standardize with
 MoveIt (#1847)

---
 .../moveit_jog_arm/src/collision_check_thread.cpp     | 11 ++++++-----
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp  | 11 ++++++-----
 .../moveit_jog_arm/src/jog_cpp_interface.cpp          | 11 ++++++-----
 .../moveit_jog_arm/src/jog_interface_base.cpp         | 11 ++++++-----
 .../moveit_jog_arm/src/jog_ros_interface.cpp          | 11 ++++++-----
 moveit_experimental/moveit_jog_arm/src/jog_server.cpp | 11 ++++++-----
 .../moveit_jog_arm/src/low_pass_filter.cpp            | 11 ++++++-----
 7 files changed, 42 insertions(+), 35 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 0335e88d8d..27f22d8137 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : collision_check_thread.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 1/11/2019
- *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : collision_check_thread.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ */
+
 #include <moveit_jog_arm/collision_check_thread.h>
 
 namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index bf38f99f78..ff73fc3fd0 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : jog_calcs.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 1/11/2019
- *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : jog_calcs.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ */
+
 #include <moveit_jog_arm/jog_calcs.h>
 
 namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index b964b61e2d..4da4f70ba9 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : jog_cpp_interface.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 11/20/2019
- *      Author    : Andy Zelenak
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : jog_cpp_interface.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 11/20/2019
+ *      Author    : Andy Zelenak
+ */
+
 #include "moveit_jog_arm/jog_cpp_interface.h"
 
 namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 1238a4043f..2708788b46 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : jog_interface_base.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 3/9/2017
- *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : jog_interface_base.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ */
+
 #include "moveit_jog_arm/jog_interface_base.h"
 
 namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index bf001ab3e6..a6fc001d78 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : jog_ros_interface.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 3/9/2017
- *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : jog_ros_interface.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 3/9/2017
+ *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
+ */
+
 // Server node for arm jogging with MoveIt.
 
 #include <moveit_jog_arm/jog_ros_interface.h>
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index 9202c3dd00..ee49feee62 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : jog_server.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 12/31/2018
- *      Author    : Andy Zelenak
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : jog_server.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 12/31/2018
+ *      Author    : Andy Zelenak
+ */
+
 #include <moveit_jog_arm/jog_ros_interface.h>
 
 int main(int argc, char** argv)
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index 5071d010c5..8170474b40 100644
--- a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -1,9 +1,4 @@
 /*******************************************************************************
- *      Title     : low_pass_filter.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 1/11/2019
- *      Author    : Andy Zelenak
- *
  * BSD 3-Clause License
  *
  * Copyright (c) 2019, Los Alamos National Security, LLC
@@ -36,6 +31,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+/*      Title     : low_pass_filter.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Andy Zelenak
+ */
+
 #include <moveit_jog_arm/low_pass_filter.h>
 
 namespace moveit_jog_arm

From 27e02032277e2b900558b69defbc2976d7c52c1e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 22 Jan 2020 14:02:43 +0100
Subject: [PATCH 163/612] Revert "Travis: temporarily disable ros-shadow-fixed
 test" (#1851)

This reverts commit 384c231b143b73ada9a8ee0eb11cf22435309ef3.
---
 .travis.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 8c83fc2ead..6ed584a5ff 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,7 +31,8 @@ matrix: # Add a separate config to the matrix, using clang as compiler
   include:
     # add a config to the matrix using clang as compiler and also test ikfast plugin creation
     - compiler: clang
-      env: TEST=clang-tidy-fix
+      env: ROS_REPO=ros-shadow-fixed
+           TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
 

From cd16a503350848df545735d404abda8ad186cf49 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 22 Jan 2020 13:23:44 -0500
Subject: [PATCH 164/612] [jog_arm] Pass planning scene monitor into cpp
 interface (#1849)

* [jog_arm] Pass planning scene monitor into cpp interface

- Separate LOGNAME into each file
- Add unit test

* Add PR feedback
---
 .../moveit_jog_arm/CMakeLists.txt             |  22 ++--
 .../moveit_jog_arm/collision_check_thread.h   |  11 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |   1 -
 .../moveit_jog_arm/jog_cpp_interface.h        |   4 +-
 .../moveit_jog_arm/jog_interface_base.h       |   5 +-
 .../moveit_jog_arm/jog_ros_interface.h        |   2 +-
 .../src/collision_check_thread.cpp            |  42 +++-----
 .../cpp_interface_example.cpp                 |  22 +++-
 .../moveit_jog_arm/src/jog_calcs.cpp          |   2 +
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  |  11 +-
 .../moveit_jog_arm/src/jog_interface_base.cpp |  10 +-
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |  18 +++-
 .../moveit_jog_arm/src/jog_server.cpp         |   4 +-
 .../moveit_jog_arm/src/low_pass_filter.cpp    |   3 +
 .../test/jog_cpp_interface_test.cpp           | 101 ++++++++++++++++++
 .../test/jog_cpp_interface_test.test          |  12 +++
 .../test/launch/jog_arm_integration_test.test |   9 +-
 17 files changed, 223 insertions(+), 56 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
 create mode 100644 moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 8130c87c6a..439ea9ee85 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -7,8 +7,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 set(LIBRARY_NAME jog_arm_cpp_api)
 
-set(LIBRARY_NAME jog_arm_cpp_api)
-
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -66,10 +64,7 @@ target_link_libraries(${LIBRARY_NAME}
 
 # An example of using the C++ library
 add_executable(cpp_interface_example
-  src/collision_check_thread.cpp
   src/cpp_interface_example/cpp_interface_example.cpp
-  src/jog_calcs.cpp
-  src/low_pass_filter.cpp
 )
 add_dependencies(cpp_interface_example ${catkin_EXPORTED_TARGETS})
 target_link_libraries(cpp_interface_example
@@ -125,12 +120,21 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## TESTING ##
 #############
 
-#############
-## TESTING ##
-#############
-
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(ros_pytest REQUIRED)
+
+  # jog_server
   add_rostest(test/launch/jog_arm_integration_test.test)
+
+  # jog_cpp_interface
+  add_rostest_gtest(jog_cpp_interface_test
+    test/jog_cpp_interface_test.test
+    test/jog_cpp_interface_test.cpp
+  )
+  target_link_libraries(jog_cpp_interface_test
+    ${LIBRARY_NAME}
+    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
+  )
 endif()
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 73ddd1780c..b413501cd7 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -49,8 +49,16 @@ namespace moveit_jog_arm
 class CollisionCheckThread
 {
 public:
+  /** \brief Constructor
+   *  \param parameters: common settings of jog_arm
+   *  \param planning_scene_monitor: PSM should already have scene monitor and state monitor started when passed into
+   * this class
+   */
   CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
-                       const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+
+  // Get thread-safe read only lock of planning scene
+  planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
 
   void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex);
 
@@ -62,6 +70,7 @@ class CollisionCheckThread
 
   const moveit_jog_arm::JogArmParameters parameters_;
 
+  // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 };
 }
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index c96af15726..9a890df1ec 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -48,7 +48,6 @@
 
 namespace moveit_jog_arm
 {
-static const std::string LOGNAME = "jog_server";
 static const double WHILE_LOOP_WAIT = 0.001;
 
 // Variables to share between threads, and their mutexes
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 4b174a04f4..e9a070e178 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -47,10 +47,10 @@ namespace moveit_jog_arm
 * Class JogCppApi - This class should be instantiated in a new thread
 * See cpp_interface_example.cpp
 */
-class JogCppApi : JogInterfaceBase
+class JogCppApi : protected JogInterfaceBase
 {
 public:
-  JogCppApi();
+  JogCppApi(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   ~JogCppApi();
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index ed186be292..32cbc66893 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -55,6 +55,8 @@ namespace moveit_jog_arm
 class JogInterfaceBase
 {
 public:
+  JogInterfaceBase();
+
   void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
 
   // Jogging calculation thread
@@ -68,7 +70,8 @@ class JogInterfaceBase
 protected:
   bool readParameters(ros::NodeHandle& n);
 
-  robot_model_loader::RobotModelLoaderPtr model_loader_ptr_;
+  // Pointer to the collision environment
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
   // Store the parameters that were read from ROS server
   JogArmParameters ros_parameters_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
index f840fc3a99..7afe5029f5 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
@@ -47,7 +47,7 @@ namespace moveit_jog_arm
 /**
  * Class JogROSInterface - Instantiated in main(). Handles ROS subs & pubs and creates the worker threads.
  */
-class JogROSInterface : JogInterfaceBase
+class JogROSInterface : protected JogInterfaceBase
 {
 public:
   JogROSInterface();
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 27f22d8137..2b7f3f644f 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -39,33 +39,21 @@
 
 #include <moveit_jog_arm/collision_check_thread.h>
 
+static const std::string LOGNAME = "collision_check_thread";
+
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
-CollisionCheckThread::CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
-                                           const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
-  : parameters_(parameters)
+CollisionCheckThread::CollisionCheckThread(
+    const moveit_jog_arm::JogArmParameters& parameters,
+    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : parameters_(parameters), planning_scene_monitor_(planning_scene_monitor)
 {
-  // MoveIt Setup
-  while (ros::ok() && !model_loader_ptr)
-  {
-    ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
-    ros::Duration(WHILE_LOOP_WAIT).sleep();
-  }
-
-  planning_scene_monitor_.reset(new planning_scene_monitor::PlanningSceneMonitor(model_loader_ptr));
-  if (!planning_scene_monitor_->getPlanningScene())
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
-    exit(EXIT_FAILURE);
-  }
+}
 
-  planning_scene_monitor_->startSceneMonitor();
-  planning_scene_monitor_->startWorldGeometryMonitor(
-      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
-      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
-      false /* skip octomap monitor */);
-  planning_scene_monitor_->startStateMonitor();
+planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
+{
+  return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
 }
 
 void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
@@ -73,15 +61,16 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
   // Reset loop termination flag
   stop_requested_ = false;
 
-  // Init collision request and current state
+  // Init collision request
   collision_detection::CollisionRequest collision_request;
   collision_request.group_name = parameters_.move_group_name;
   collision_request.distance = true;
   collision_detection::CollisionResult collision_result;
-  robot_state::RobotState& current_state = planning_scene_monitor_->getPlanningScene()->getCurrentStateNonConst();
 
-  double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
+  // Copy the planning scene's version of current state into new memory
+  robot_state::RobotState current_state(getLockedPlanningSceneRO()->getCurrentState());
 
+  double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
   ros::Rate collision_rate(parameters_.collision_check_rate);
 
   /////////////////////////////////////////////////
@@ -98,7 +87,8 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
 
     collision_result.clear();
     current_state.updateCollisionBodyTransforms();
-    planning_scene_monitor_->getPlanningScene()->checkCollision(collision_request, collision_result, current_state);
+    // Do thread-safe collsion collision checking
+    getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
 
     // Scale robot velocity according to collision proximity and user-defined thresholds.
     // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index d51e5c9dcc..5ccd8cedb2 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -38,6 +38,8 @@
 
 #include <moveit_jog_arm/jog_cpp_interface.h>
 
+static const std::string LOGNAME = "cpp_interface_example";
+
 /**
  * Instantiate the C++ jogging interface.
  * Send some Cartesian commands, then some joint commands.
@@ -45,10 +47,26 @@
  */
 int main(int argc, char** argv)
 {
-  ros::init(argc, argv, moveit_jog_arm::LOGNAME);
+  ros::init(argc, argv, LOGNAME);
+
+  // Load the planning scene monitor
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
+  planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+  if (!planning_scene_monitor->getPlanningScene())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
+    exit(EXIT_FAILURE);
+  }
+
+  planning_scene_monitor->startSceneMonitor();
+  planning_scene_monitor->startWorldGeometryMonitor(
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+      false /* skip octomap monitor */);
+  planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
-  moveit_jog_arm::JogCppApi jog_interface;
+  moveit_jog_arm::JogCppApi jog_interface(planning_scene_monitor);
   std::thread jogging_thread([&]() { jog_interface.startMainLoop(); });
 
   // Make a Cartesian velocity message
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ff73fc3fd0..af403d9834 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -39,6 +39,8 @@
 
 #include <moveit_jog_arm/jog_calcs.h>
 
+static const std::string LOGNAME = "jog_calcs";
+
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles jogging calculations
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 4da4f70ba9..71f6aeb39c 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -39,16 +39,19 @@
 
 #include "moveit_jog_arm/jog_cpp_interface.h"
 
+// TODO(davetcoleman): rename JogCppApi to JogCppInterface to match file name
+
+static const std::string LOGNAME = "jog_cpp_interface";
+
 namespace moveit_jog_arm
 {
-JogCppApi::JogCppApi()
+JogCppApi::JogCppApi(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
 {
+  planning_scene_monitor_ = planning_scene_monitor;
+
   // Read ROS parameters, typically from YAML file
   if (!readParameters(nh_))
     exit(EXIT_FAILURE);
-
-  // Load the robot model. This is used by the worker threads.
-  model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
 }
 
 JogCppApi::~JogCppApi()
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 2708788b46..676f9597a5 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -39,8 +39,14 @@
 
 #include "moveit_jog_arm/jog_interface_base.h"
 
+static const std::string LOGNAME = "jog_interface_base";
+
 namespace moveit_jog_arm
 {
+JogInterfaceBase::JogInterfaceBase()
+{
+}
+
 // Read ROS parameters, typically from YAML file
 bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
 {
@@ -192,7 +198,7 @@ void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
 bool JogInterfaceBase::startJogCalcThread()
 {
   if (!jog_calcs_)
-    jog_calcs_.reset(new JogCalcs(ros_parameters_, model_loader_ptr_));
+    jog_calcs_.reset(new JogCalcs(ros_parameters_, planning_scene_monitor_->getRobotModelLoader()));
 
   jog_calc_thread_.reset(
       new std::thread([&]() { jog_calcs_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
@@ -220,7 +226,7 @@ bool JogInterfaceBase::stopJogCalcThread()
 bool JogInterfaceBase::startCollisionCheckThread()
 {
   if (!collision_checker_)
-    collision_checker_.reset(new CollisionCheckThread(ros_parameters_, model_loader_ptr_));
+    collision_checker_.reset(new CollisionCheckThread(ros_parameters_, planning_scene_monitor_));
 
   collision_check_thread_.reset(
       new std::thread([&]() { collision_checker_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index a6fc001d78..9caaeaf802 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -41,6 +41,8 @@
 
 #include <moveit_jog_arm/jog_ros_interface.h>
 
+static const std::string LOGNAME = "jog_ros_interface";
+
 namespace moveit_jog_arm
 {
 /////////////////////////////////////////////////////////////////////////////////
@@ -58,8 +60,20 @@ JogROSInterface::JogROSInterface()
   if (!readParameters(nh))
     exit(EXIT_FAILURE);
 
-  // Load the robot model. This is used by the worker threads.
-  model_loader_ptr_ = std::shared_ptr<robot_model_loader::RobotModelLoader>(new robot_model_loader::RobotModelLoader);
+  // Load the planning scene monitor
+  planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+  if (!planning_scene_monitor_->getPlanningScene())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
+    exit(EXIT_FAILURE);
+  }
+
+  planning_scene_monitor_->startSceneMonitor();
+  planning_scene_monitor_->startWorldGeometryMonitor(
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+      false /* skip octomap monitor */);
+  planning_scene_monitor_->startStateMonitor();
 
   // Crunch the numbers in this thread
   startJogCalcThread();
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index ee49feee62..f258211f45 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -39,9 +39,11 @@
 
 #include <moveit_jog_arm/jog_ros_interface.h>
 
+static const std::string LOGNAME = "jog_server";
+
 int main(int argc, char** argv)
 {
-  ros::init(argc, argv, moveit_jog_arm::LOGNAME);
+  ros::init(argc, argv, LOGNAME);
 
   moveit_jog_arm::JogROSInterface ros_interface;
 
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index 8170474b40..536d75deeb 100644
--- a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -38,6 +38,9 @@
  */
 
 #include <moveit_jog_arm/low_pass_filter.h>
+#include <string>
+
+static const std::string LOGNAME = "low_pass_filter";
 
 namespace moveit_jog_arm
 {
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
new file mode 100644
index 0000000000..b1cb6b9a80
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -0,0 +1,101 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Dave Coleman
+   Desc:   Stub test for the C++ interface to JogArm
+*/
+
+// C++
+#include <string>
+
+// ROS
+#include <ros/ros.h>
+
+// Testing
+#include <gtest/gtest.h>
+
+// Main class
+#include <moveit_jog_arm/jog_cpp_interface.h>
+
+static const std::string LOGNAME = "jog_cpp_interface_test";
+
+namespace moveit_jog_arm
+{
+class TestJogCppInterface : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    nh_.reset(new ros::NodeHandle("~"));
+
+    // Load the planning scene monitor
+    planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+    planning_scene_monitor_->startSceneMonitor();
+    planning_scene_monitor_->startStateMonitor();
+  }
+  void TearDown() override
+  {
+  }
+
+protected:
+  std::unique_ptr<ros::NodeHandle> nh_;
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+};  // class TestJogCppInterface
+
+TEST_F(TestJogCppInterface, InitTest)
+{
+  moveit_jog_arm::JogCppApi jog_cpp_interface(planning_scene_monitor_);
+  ros::Duration(2).sleep();
+}
+
+// TODO(davetcoleman): due to many blocking checks for ROS messages, and
+// an abundance of threads, unit tests are not currently feasible for the
+// cpp interface. This should be addressed in future re-factors
+
+}  // namespace moveit_jog_arm
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "jog_cpp_interface_test_test");
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+
+  spinner.stop();
+  ros::shutdown();
+  return result;
+}
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
new file mode 100644
index 0000000000..e0fc2aaa85
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="10" args="">
+    <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+  </test>
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
index 4cd7ccb4c2..fbe629e8b6 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
@@ -2,12 +2,13 @@
 <launch>
   <arg name="debug" value="false" />
 
-  <!-- send urdf to param server -->
-  <param name="robot_description"
-  command="$(find xacro)/xacro --inorder '$(find moveit_resources)/panda_description/urdf/panda.urdf'"/>
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
 
   <!-- Note, we're using fake, simulated trajectory controllers.
-       These aren't suitable for actually jogging a robot in RViz, but they are good enough to 
+       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
        test jog node output.
   -->
   <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">

From 2a855950318d06631a8d439f8aa8ed3ca090f98d Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 22 Jan 2020 11:40:42 -0700
Subject: [PATCH 165/612] [jog_arm] Remove scale/joint parameter (#1838)

* Remove the velocity check with the scale/joint parameter

Add a unit test for direct joint jogging commands

Add a check that publish_period > 0

* Clang format
---
 .../config/ur_simulated_config.yaml           |  8 ++--
 .../include/moveit_jog_arm/jog_arm_data.h     | 32 ++++++++++---
 .../include/moveit_jog_arm/jog_calcs.h        |  9 ++--
 .../moveit_jog_arm/src/jog_calcs.cpp          | 24 ++--------
 .../moveit_jog_arm/src/jog_interface_base.cpp |  6 +++
 .../test/arm_setup/config/jog_settings.yaml   |  8 ++--
 .../integration/test_jog_arm_integration.py   | 48 ++++++++++++++-----
 7 files changed, 86 insertions(+), 49 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 67a383643e..396d8a2741 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -7,9 +7,11 @@ use_gazebo: true # Whether the robot is started in a Gazebo simulation environme
 robot_link_command_frame:  world  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
-  linear:  0.6  # Max linear velocity. Meters per publish_period. Units is [m/s]. Only used if command_in_type=="unitless"
-  rotational:  0.3 # Max angular velocity. Rads per publish_period. Units is [rad/s]. Only used if command_in_type=="unitless"
-  joint: 0.3  # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
+  # Scale parameters are only used if command_in_type=="unitless"
+  linear:  0.6  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational:  0.3 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+  joint: 0.01
 low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
 
 ## Properties of outgoing commands
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 9a890df1ec..0e21bd74ac 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -86,12 +86,32 @@ struct JogArmShared
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
-  std::string move_group_name, joint_topic, cartesian_command_in_topic, robot_link_command_frame, command_out_topic,
-      planning_frame, warning_topic, joint_command_in_topic, command_in_type, command_out_type;
-  double linear_scale, rotational_scale, joint_scale, lower_singularity_threshold, hard_stop_singularity_threshold,
-      collision_proximity_threshold, low_pass_filter_coeff, publish_period, incoming_command_timeout,
-      joint_limit_margin, collision_check_rate;
+  std::string move_group_name;
+  std::string joint_topic;
+  std::string cartesian_command_in_topic;
+  std::string robot_link_command_frame;
+  std::string command_out_topic;
+  std::string planning_frame;
+  std::string warning_topic;
+  std::string joint_command_in_topic;
+  std::string command_in_type;
+  std::string command_out_type;
+  double linear_scale;
+  double rotational_scale;
+  double joint_scale;
+  double lower_singularity_threshold;
+  double hard_stop_singularity_threshold;
+  double collision_proximity_threshold;
+  double low_pass_filter_coeff;
+  double publish_period;
+  double incoming_command_timeout;
+  double joint_limit_margin;
+  double collision_check_rate;
   int num_outgoing_halt_msgs_to_publish;
-  bool use_gazebo, check_collisions, publish_joint_positions, publish_joint_velocities, publish_joint_accelerations;
+  bool use_gazebo;
+  bool check_collisions;
+  bool publish_joint_positions;
+  bool publish_joint_velocities;
+  bool publish_joint_accelerations;
 };
 }
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 058aec32d9..b98775e0bb 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -77,9 +77,6 @@ class JogCalcs
 
   bool addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const;
 
-  // Scale the delta theta to match joint velocity limits. Uniform scaling
-  void enforceJointVelocityLimits(Eigen::VectorXd& calculated_joint_velocity);
-
   // Reset the data stored in low-pass filters so the trajectory won't jump when jogging is resumed.
   void resetVelocityFilters();
 
@@ -89,7 +86,8 @@ class JogCalcs
 
   void publishWarning(bool active) const;
 
-  bool checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory_<std::allocator<void>>& new_joint_traj);
+  // Scale the delta theta to match joint velocity limits
+  bool checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj);
 
   // Possibly calculate a velocity scaling factor, due to proximity of
   // singularity and direction of motion
@@ -127,7 +125,8 @@ class JogCalcs
   // For jacobian calculations
   Eigen::MatrixXd jacobian_, pseudo_inverse_, matrix_s_;
   Eigen::JacobiSVD<Eigen::MatrixXd> svd_;
-  Eigen::VectorXd delta_theta_;
+  // Use ArrayXd type to enable more coefficient-wise operations
+  Eigen::ArrayXd delta_theta_;
 
   Eigen::Isometry3d tf_moveit_to_cmd_frame_;
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index af403d9834..440aab95df 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -305,8 +305,6 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   pseudo_inverse_ = svd_.matrixV() * matrix_s_.inverse() * svd_.matrixU().transpose();
   delta_theta_ = pseudo_inverse_ * delta_x;
 
-  enforceJointVelocityLimits(delta_theta_);
-
   if (!addJointIncrements(joint_state_, delta_theta_))
     return false;
 
@@ -322,7 +320,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
                        decelerateForSingularity(delta_x, svd_));
 
-  if (!checkIfJointsWithinURDFBounds(outgoing_command_))
+  if (!checkIfJointsWithinSRDFBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     publishWarning(true);
@@ -352,7 +350,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   }
 
   // Apply user-defined scaling
-  const Eigen::VectorXd delta = scaleJointCommand(cmd);
+  Eigen::ArrayXd delta = scaleJointCommand(cmd);
 
   kinematic_state_->setVariableValues(joint_state_);
   original_joint_state_ = joint_state_;
@@ -371,8 +369,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
 
   outgoing_command_ = composeOutgoingMessage(joint_state_);
 
-  // check if new joint state is valid
-  if (!checkIfJointsWithinURDFBounds(outgoing_command_))
+  if (!checkIfJointsWithinSRDFBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     publishWarning(true);
@@ -557,19 +554,7 @@ double JogCalcs::decelerateForSingularity(const Eigen::VectorXd& commanded_veloc
   return velocity_scale;
 }
 
-void JogCalcs::enforceJointVelocityLimits(Eigen::VectorXd& calculated_joint_change)
-{
-  double maximum_joint_change = calculated_joint_change.cwiseAbs().maxCoeff();
-  if (maximum_joint_change > parameters_.joint_scale * parameters_.publish_period)
-  {
-    // Scale the entire joint velocity vector so that each joint velocity is below min, and the output movement is
-    // scaled uniformly to match expected motion
-    calculated_joint_change =
-        calculated_joint_change * parameters_.joint_scale * parameters_.publish_period / maximum_joint_change;
-  }
-}
-
-bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
+bool JogCalcs::checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
 {
   bool halting = false;
 
@@ -622,7 +607,6 @@ bool JogCalcs::checkIfJointsWithinURDFBounds(trajectory_msgs::JointTrajectory& n
       }
     }
   }
-
   return !halting;
 }
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 676f9597a5..77c5f0f583 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -108,6 +108,12 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   rosparam_shortcuts::shutdownIfError(parameter_ns, error);
 
   // Input checking
+  if (ros_parameters_.publish_period <= 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'publish_period' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
   if (ros_parameters_.num_outgoing_halt_msgs_to_publish < 0)
   {
     ROS_WARN_NAMED(LOGNAME,
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
index dc2294d889..6907b090f7 100644
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -7,9 +7,11 @@ use_gazebo: false # Whether the robot is started in a Gazebo simulation environm
 robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
-  linear:  0.003  # Max linear velocity. Meters per publish_period. Units is [m/s]. Only used if command_in_type=="unitless"
-  rotational:  0.006 # Max angular velocity. Rads per publish_period. Units is [rad/s]. Only used if command_in_type=="unitless"
-  joint: 0.01  # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
+  # Scale parameters are only used if command_in_type=="unitless"
+  linear:  0.003  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational:  0.006 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+  joint: 0.01
 low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
 
 ## Properties of outgoing commands
diff --git a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
index 833cad8ea4..fe1a0323a1 100755
--- a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
+++ b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
@@ -29,11 +29,11 @@ class JointJogCmd(object):
     def __init__(self):
         self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=1)
 
-    def send_cmd(self, joint_pos):
+    def send_joint_velocity_cmd(self, joint_pos):
         jj = JointJog()
         jj.header.stamp = rospy.Time.now()
         jj.joint_names = ['joint_{}'.format(i) for i in range(len(joint_pos))]
-        jj.deltas = list(map(float, joint_pos))
+        jj.velocities = list(map(float, joint_pos))
         self._pub.publish(jj)
 
 
@@ -51,11 +51,10 @@ def send_cmd(self, linear, angular):
         self._pub.publish(ts)
 
 
-def test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(node):
+def test_jog_arm_trajectory_generated_when_jog_command_is_received(node):
     sub = rospy.Subscriber(
-        COMMAND_OUT_TOPIC, JointTrajectory, lambda x: received.append(x)
+        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
-    joint_cmd = JointJogCmd()
     cartesian_cmd = CartesianJogCmd()
     time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
     time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
@@ -72,17 +71,42 @@ def test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(n
 
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
-    test_duration = 1
-    publish_period = 0.01 # 'publish_period' from config file
+    TEST_DURATION = 1
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from config file
     cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
     received = []
-    rospy.sleep(test_duration)
-    # test_duration/publish_period is the expected number of messages in this duration.
+    rospy.sleep(TEST_DURATION)
+    # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
+    # Allow a small +/- window due to rounding/timing errors
+    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 5
+    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 5
+
+
+def test_jog_arm_joint_command(node):
+    # Test sending a joint command
+
+    sub = rospy.Subscriber(
+        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
+    )
+
+    joint_cmd = JointJogCmd()
+    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
+    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
+
+    received = []
+    TEST_DURATION = 1
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from config file
+    JOINT_VELOCITY_LIMIT = 1
+    velocities = [0.1]
+    joint_cmd.send_joint_velocity_cmd(velocities)
+    rospy.sleep(TEST_DURATION)
+    # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
     # Allow a small +/- window due to rounding/timing errors
-    assert len(received) >= test_duration/publish_period - 5
-    assert len(received) <= test_duration/publish_period + 5
+    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 5
+    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 5
 
 
 if __name__ == '__main__':
    node = node()
-   test_jog_arm_generates_joint_trajectory_when_joint_jog_command_is_received(node)
+   test_jog_arm_trajectory_generated_when_jog_command_is_received(node)
+   test_jog_arm_joint_command(node)

From 75104b0d49a755f635af0867b5668dcbceae8fc9 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 22 Jan 2020 11:41:57 -0700
Subject: [PATCH 166/612] jog_arm: prevent a crash at velocity limit (#1837)

* Prevent crash when a velocity limit is exceeded

* Add another condition.

* Move points.size() check to top of function

* Move traj size check to top of function.

* Move traj size check again

* Clang tidy
---
 .../moveit_jog_arm/src/jog_calcs.cpp            | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 440aab95df..3523900ba3 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -558,6 +558,12 @@ bool JogCalcs::checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& n
 {
   bool halting = false;
 
+  if (!new_joint_traj.points.empty())
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "Empty trajectory passed into checkIfJointsWithinURDFBounds().");
+    return true;  // technically an empty trajectory is still within bounds
+  }
+
   for (auto joint : joint_model_group_->getJointModels())
   {
     if (!kinematic_state_->satisfiesVelocityBounds(joint))
@@ -565,14 +571,19 @@ bool JogCalcs::checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& n
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, ros::this_node::getName() << " " << joint->getName() << " "
                                                                            << " close to a "
                                                                               " velocity limit. Enforcing limit.");
-
       kinematic_state_->enforceVelocityBounds(joint);
       for (std::size_t c = 0; c < new_joint_traj.joint_names.size(); ++c)
       {
         if (new_joint_traj.joint_names[c] == joint->getName())
         {
-          new_joint_traj.points[0].velocities[c] = kinematic_state_->getJointVelocities(joint)[0];
-          break;
+          // TODO(andyz): This is caused by publishing in position mode -- which does not initialize the velocity
+          // members.
+          // TODO(andyz): Also need to adjust the joint positions that would be published.
+          if (new_joint_traj.points[0].velocities.size() > c + 1)
+          {
+            new_joint_traj.points[0].velocities[c] = *(kinematic_state_->getJointVelocities(joint));
+            break;
+          }
         }
       }
     }

From 577a38e41100877874caa5dadbb08fec65e8aad4 Mon Sep 17 00:00:00 2001
From: adornbush <50332900+adornbush@users.noreply.github.com>
Date: Wed, 22 Jan 2020 13:47:18 -0500
Subject: [PATCH 167/612] add license headers to bfs3d source files (#1804)

Co-authored-by: aurone <andrew.dornbush@gmail.com>
---
 .../core/sbpl_interface/src/bfs3d/BFS_3D.cpp  | 34 +++++++++++++++++++
 .../core/sbpl_interface/src/bfs3d/Search.cpp  | 34 +++++++++++++++++++
 2 files changed, 68 insertions(+)

diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
index 9fc8f84eb6..29f81140c1 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
@@ -1,3 +1,37 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Maxim Likhachev
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Maxim Likhachev nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
 #include <sbpl_interface/bfs3d/BFS_3D.h>
 
 namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
index b446977e8f..9acff406cf 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
@@ -1,3 +1,37 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Maxim Likhachev
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Maxim Likhachev nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
 #include <sbpl_interface/bfs3d/BFS_3D.h>
 #include <iostream>
 #include <boost/thread.hpp>

From 1389df26358746d123306915fe1751616d09dc34 Mon Sep 17 00:00:00 2001
From: Dave Coleman <davetcoleman@gmail.com>
Date: Tue, 21 Jan 2020 14:25:27 -0500
Subject: [PATCH 168/612] [jog_arm] Improve formatting in comments

---
 .../include/moveit_jog_arm/collision_check_thread.h         | 6 +++---
 .../moveit_jog_arm/test/jog_cpp_interface_test.cpp          | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index b413501cd7..cd6d98f9c2 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -51,13 +51,13 @@ class CollisionCheckThread
 public:
   /** \brief Constructor
    *  \param parameters: common settings of jog_arm
-   *  \param planning_scene_monitor: PSM should already have scene monitor and state monitor started when passed into
-   * this class
+   *  \param planning_scene_monitor: PSM should have scene monitor and state monitor
+   *                                 already started when passed into this class
    */
   CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  // Get thread-safe read only lock of planning scene
+  // Get thread-safe read-only lock of planning scene
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
 
   void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex);
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index b1cb6b9a80..5247c5091b 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -76,7 +76,7 @@ class TestJogCppInterface : public ::testing::Test
 TEST_F(TestJogCppInterface, InitTest)
 {
   moveit_jog_arm::JogCppApi jog_cpp_interface(planning_scene_monitor_);
-  ros::Duration(2).sleep();
+  ros::Duration(1).sleep();  // Give the started thread some time to run
 }
 
 // TODO(davetcoleman): due to many blocking checks for ROS messages, and

From 38fa392ae4eb694d2c7a04ed970978456e83482f Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 22 Jan 2020 17:06:25 -0500
Subject: [PATCH 169/612] Improve RobotState documentation (#1846)

---
 .../include/moveit/robot_state/robot_state.h  | 138 +++++++++---------
 moveit_core/robot_state/src/robot_state.cpp   |  10 +-
 2 files changed, 78 insertions(+), 70 deletions(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 43789a908d..ecd5a6c3d0 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -48,6 +48,13 @@
 
 #include <boost/assert.hpp>
 
+/* Terminology
+   * Model Frame: RobotModel's root frame == PlanningScene's planning frame
+     If the SRDF defines a virtual, non-fixed (e.g. floating) joint, this is the parent of this virtual joint.
+     Otherwise, it is the root link of the URDF model.
+   * Dirty Link Transforms: a caching tool for reducing the frequency of calculating forward kinematics
+*/
+
 namespace moveit
 {
 namespace core
@@ -572,8 +579,7 @@ class RobotState
    */
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const std::string& joint_group_name, const double* gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -582,8 +588,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const std::string& joint_group_name, const std::vector<double>& gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -592,21 +597,18 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const JointModelGroup* group, const std::vector<double>& gstate)
   {
     setJointGroupPositions(group, &gstate[0]);
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const JointModelGroup* group, const double* gstate);
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const std::string& joint_group_name, const Eigen::VectorXd& values)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -615,8 +617,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const JointModelGroup* group, const Eigen::VectorXd& values);
 
   /** \brief For a given group, copy the position values of the variables that make up the group into another location,
@@ -678,8 +679,7 @@ as the new values that correspond to the group */
    */
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const std::string& joint_group_name, const double* gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -688,8 +688,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const std::string& joint_group_name, const std::vector<double>& gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -698,21 +697,18 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const JointModelGroup* group, const std::vector<double>& gstate)
   {
     setJointGroupVelocities(group, &gstate[0]);
   }
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const JointModelGroup* group, const double* gstate);
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const std::string& joint_group_name, const Eigen::VectorXd& values)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -721,8 +717,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given velocities for the variables that make up a group, in the order found in the group (including values
-of mimic joints), set those
-as the new values that correspond to the group */
+   *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupVelocities(const JointModelGroup* group, const Eigen::VectorXd& values);
 
   /** \brief For a given group, copy the velocity values of the variables that make up the group into another location,
@@ -784,8 +779,7 @@ as the new values that correspond to the group */
    */
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const std::string& joint_group_name, const double* gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -794,8 +788,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const std::string& joint_group_name, const std::vector<double>& gstate)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -804,21 +797,18 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const JointModelGroup* group, const std::vector<double>& gstate)
   {
     setJointGroupAccelerations(group, &gstate[0]);
   }
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const JointModelGroup* group, const double* gstate);
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const std::string& joint_group_name, const Eigen::VectorXd& values)
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
@@ -827,8 +817,7 @@ as the new values that correspond to the group */
   }
 
   /** \brief Given accelerations for the variables that make up a group, in the order found in the group (including
-values of mimic joints), set those
-as the new values that correspond to the group */
+   *   values of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupAccelerations(const JointModelGroup* group, const Eigen::VectorXd& values);
 
   /** \brief For a given group, copy the acceleration values of the variables that make up the group into another
@@ -1311,6 +1300,12 @@ as the new values that correspond to the group */
   /** \brief Update the state after setting a particular link to the input global transform pose.*/
   void updateStateWithLinkAt(const LinkModel* link, const Eigen::Isometry3d& transform, bool backward = false);
 
+  /** \brief Get the link transform w.r.t. the root link (model frame) of the RobotModel.
+   *   This is typically the root link of the URDF unless a virtual joint is present.
+   *   Checks the cache and if there are any dirty (non-updated) transforms, first updates them as needed.
+   *   A related, more comprehensive function is |getFrameTransform|, which additionally to link frames
+   *   also searches for attached object frames and their subframes.
+   */
   const Eigen::Isometry3d& getGlobalLinkTransform(const std::string& link_name)
   {
     return getGlobalLinkTransform(robot_model_->getLinkModel(link_name));
@@ -1322,6 +1317,27 @@ as the new values that correspond to the group */
     return global_link_transforms_[link->getLinkIndex()];
   }
 
+  const Eigen::Isometry3d& getGlobalLinkTransform(const std::string& link_name) const
+  {
+    return getGlobalLinkTransform(robot_model_->getLinkModel(link_name));
+  }
+
+  const Eigen::Isometry3d& getGlobalLinkTransform(const LinkModel* link) const
+  {
+    BOOST_VERIFY(checkLinkTransforms());
+    return global_link_transforms_[link->getLinkIndex()];
+  }
+
+  /** \brief Get the link transform w.r.t. the root link (model frame) of the RobotModel.
+   *   This is typically the root link of the URDF unless a virtual joint is present.
+   *   Checks the cache and if there are any dirty (non-updated) transforms, first updates them as needed.
+   *
+   *   As opposed to the visual links in |getGlobalLinkTransform|, this function returns
+   *   the collision link transform used for collision checking.
+   *
+   *   @param link_name: name of link to lookup
+   *   @param index: specify which collision body to lookup, if more than one exists
+   */
   const Eigen::Isometry3d& getCollisionBodyTransform(const std::string& link_name, std::size_t index)
   {
     return getCollisionBodyTransform(robot_model_->getLinkModel(link_name), index);
@@ -1333,6 +1349,17 @@ as the new values that correspond to the group */
     return global_collision_body_transforms_[link->getFirstCollisionBodyTransformIndex() + index];
   }
 
+  const Eigen::Isometry3d& getCollisionBodyTransform(const std::string& link_name, std::size_t index) const
+  {
+    return getCollisionBodyTransform(robot_model_->getLinkModel(link_name), index);
+  }
+
+  const Eigen::Isometry3d& getCollisionBodyTransform(const LinkModel* link, std::size_t index) const
+  {
+    BOOST_VERIFY(checkCollisionTransforms());
+    return global_collision_body_transforms_[link->getFirstCollisionBodyTransformIndex() + index];
+  }
+
   const Eigen::Isometry3d& getJointTransform(const std::string& joint_name)
   {
     return getJointTransform(robot_model_->getJointModel(joint_name));
@@ -1350,28 +1377,6 @@ as the new values that correspond to the group */
     return variable_joint_transforms_[idx];
   }
 
-  const Eigen::Isometry3d& getGlobalLinkTransform(const std::string& link_name) const
-  {
-    return getGlobalLinkTransform(robot_model_->getLinkModel(link_name));
-  }
-
-  const Eigen::Isometry3d& getGlobalLinkTransform(const LinkModel* link) const
-  {
-    BOOST_VERIFY(checkLinkTransforms());
-    return global_link_transforms_[link->getLinkIndex()];
-  }
-
-  const Eigen::Isometry3d& getCollisionBodyTransform(const std::string& link_name, std::size_t index) const
-  {
-    return getCollisionBodyTransform(robot_model_->getLinkModel(link_name), index);
-  }
-
-  const Eigen::Isometry3d& getCollisionBodyTransform(const LinkModel* link, std::size_t index) const
-  {
-    BOOST_VERIFY(checkCollisionTransforms());
-    return global_collision_body_transforms_[link->getFirstCollisionBodyTransformIndex() + index];
-  }
-
   const Eigen::Isometry3d& getJointTransform(const std::string& joint_name) const
   {
     return getJointTransform(robot_model_->getJointModel(joint_name));
@@ -1638,24 +1643,24 @@ as the new values that correspond to the group */
     return *rng_;
   }
 
-  /** \brief Get the transformation matrix from the model frame to the frame identified by \e frame_id
+  /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
    * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
   const Eigen::Isometry3d& getFrameTransform(const std::string& frame_id, bool* frame_found = nullptr);
 
-  /** \brief Get the transformation matrix from the model frame to the frame identified by \e frame_id
+  /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
    * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
   const Eigen::Isometry3d& getFrameTransform(const std::string& frame_id, bool* frame_found = nullptr) const;
 
-  /** \brief Get the transformation matrix from the model frame to the frame identified by \e frame_id
+  /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
    * If this frame is attached to a robot link, the link pointer is returned in \e robot_link.
    * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
   const Eigen::Isometry3d& getFrameInfo(const std::string& frame_id, const LinkModel*& robot_link,
                                         bool& frame_found) const;
 
-  /** \brief Check if a transformation matrix from the model frame to frame \e frame_id is known */
+  /** \brief Check if a transformation matrix from the model frame (root of model) to frame \e frame_id is known */
   bool knowsFrameTransform(const std::string& frame_id) const;
 
   /** @brief Get a MarkerArray that fully describes the robot markers for a given robot.
@@ -1812,9 +1817,12 @@ as the new values that correspond to the group */
   const JointModel* dirty_link_transforms_;
   const JointModel* dirty_collision_body_transforms_;
 
-  Eigen::Isometry3d* variable_joint_transforms_;         // this points to an element in transforms_, so it is aligned
-  Eigen::Isometry3d* global_link_transforms_;            // this points to an element in transforms_, so it is aligned
-  Eigen::Isometry3d* global_collision_body_transforms_;  // this points to an element in transforms_, so it is aligned
+  // All the following transform variables point into aligned memory in memory_
+  // They are updated lazily, based on the flags in dirty_joint_transforms_
+  // resp. the pointers dirty_link_transforms_ and dirty_collision_body_transforms_
+  Eigen::Isometry3d* variable_joint_transforms_;         ///< Local transforms of all joints
+  Eigen::Isometry3d* global_link_transforms_;            ///< Transforms from model frame to link frame for each link
+  Eigen::Isometry3d* global_collision_body_transforms_;  ///< Transforms from model frame to collision bodies
   unsigned char* dirty_joint_transforms_;
 
   /** \brief All attached bodies that are part of this state, indexed by their name */
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 6fea83bf05..4c4c90b4d2 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -631,21 +631,21 @@ void RobotState::updateLinkTransformsInternal(const JointModel* start)
     if (parent)  // root JointModel will not have a parent
     {
       int idx_parent = parent->getLinkIndex();
-      if (link->parentJointIsFixed())
+      if (link->parentJointIsFixed())  // fixed joint
         global_link_transforms_[idx_link].affine().noalias() =
             global_link_transforms_[idx_parent].affine() * link->getJointOriginTransform().matrix();
-      else
+      else  // non-fixed joint
       {
-        if (link->jointOriginTransformIsIdentity())
+        if (link->jointOriginTransformIsIdentity())  // Link has identity transform
           global_link_transforms_[idx_link].affine().noalias() =
               global_link_transforms_[idx_parent].affine() * getJointTransform(link->getParentJointModel()).matrix();
-        else
+        else  // Link has non-identity transform
           global_link_transforms_[idx_link].affine().noalias() =
               global_link_transforms_[idx_parent].affine() * link->getJointOriginTransform().matrix() *
               getJointTransform(link->getParentJointModel()).matrix();
       }
     }
-    else
+    else  // is the origin / root / 'model frame'
     {
       if (link->jointOriginTransformIsIdentity())
         global_link_transforms_[idx_link] = getJointTransform(link->getParentJointModel());

From 5cebef9e4584e19b4970ada1b48d8c61fe4de06e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sandro=20Magalh=C3=A3es?=
 <samagalhaes@users.noreply.github.com>
Date: Wed, 22 Jan 2020 22:43:32 +0000
Subject: [PATCH 170/612] Add support for pos_vel_controllers and
 pos_vel_acc_controllers (#1806)

* Add support for pos_vel_controllers and pos_vel_acc_controllers

Added the support for the new controllores derived from
JointTrajectoryControllers.
Just adds the acknowledge for this controller in the moveit ros control
plugin interface

* Clang-format correct
---
 .../moveit_ros_control_interface_plugins.xml                | 6 ++++++
 .../src/widgets/controller_edit_widget.cpp                  | 5 +++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml b/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
index 2bbf76e67e..3bac259dd2 100644
--- a/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
+++ b/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
@@ -9,5 +9,11 @@
     <class name="effort_controllers/JointTrajectoryController" type="moveit_ros_control_interface::JointTrajectoryControllerAllocator" base_class_type="moveit_ros_control_interface::ControllerHandleAllocator">
         <description></description>
     </class>
+    <class name="pos_vel_controllers/JointTrajectoryController" type="moveit_ros_control_interface::JointTrajectoryControllerAllocator" base_class_type="moveit_ros_control_interface::ControllerHandleAllocator">
+        <description></description>
+    </class>
+    <class name="pos_vel_acc_controllers/JointTrajectoryController" type="moveit_ros_control_interface::JointTrajectoryControllerAllocator" base_class_type="moveit_ros_control_interface::ControllerHandleAllocator">
+        <description></description>
+    </class>
   </library>
 </class_libraries>
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
index 5840fe2894..f86d0f7d5a 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
@@ -195,11 +195,12 @@ void ControllerEditWidget::loadControllersTypesComboBox()
     return;
   has_loaded_ = true;
 
-  const std::array<std::string, 8> default_types = {
+  const std::array<std::string, 10> default_types = {
     "effort_controllers/JointTrajectoryController",   "effort_controllers/JointPositionController",
     "effort_controllers/JointVelocityController",     "effort_controllers/JointEffortController",
     "position_controllers/JointPositionController",   "position_controllers/JointTrajectoryController",
-    "velocity_controllers/JointTrajectoryController", "velocity_controllers/JointVelocityController"
+    "velocity_controllers/JointTrajectoryController", "velocity_controllers/JointVelocityController",
+    "pos_vel_controllers/JointTrajectoryController",  "pos_vel_acc_controllers/JointTrajectoryController"
   };
 
   // Remove all old items

From a85738b7a1f1913bf97f99e138dfc8d22b0d3dad Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 23 Jan 2020 08:50:37 +0100
Subject: [PATCH 171/612] Move get_planning_scene service into PSM for
 reusability (#1854)

---
 .../get_planning_scene_service_capability.cpp | 16 +---------
 .../get_planning_scene_service_capability.h   |  7 ----
 .../planning_scene_monitor.h                  | 31 ++++++++++++++----
 .../src/planning_scene_monitor.cpp            | 32 +++++++++++++++++--
 4 files changed, 56 insertions(+), 30 deletions(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
index 89ccb8d817..5bdba89f0b 100644
--- a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
@@ -45,23 +45,9 @@ MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService() : MoveGroup
 
 void MoveGroupGetPlanningSceneService::initialize()
 {
-  get_scene_service_ = root_node_handle_.advertiseService(
-      GET_PLANNING_SCENE_SERVICE_NAME, &MoveGroupGetPlanningSceneService::getPlanningSceneService, this);
+  context_->planning_scene_monitor_->providePlanningSceneService(GET_PLANNING_SCENE_SERVICE_NAME);
 }
 
-bool MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
-                                                               moveit_msgs::GetPlanningScene::Response& res)
-{
-  if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
-    context_->planning_scene_monitor_->updateFrameTransforms();
-  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
-
-  moveit_msgs::PlanningSceneComponents all_components;
-  all_components.components = UINT_MAX;  // Return all scene components if nothing is specified.
-  ps->getPlanningSceneMsg(res.scene, req.components.components ? req.components : all_components);
-
-  return true;
-}
 }  // namespace move_group
 
 #include <class_loader/class_loader.hpp>
diff --git a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
index c1cbfde2a7..9ce1b3bb19 100644
--- a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <moveit/move_group/move_group_capability.h>
-#include <moveit_msgs/GetPlanningScene.h>
 
 namespace move_group
 {
@@ -47,11 +46,5 @@ class MoveGroupGetPlanningSceneService : public MoveGroupCapability
   MoveGroupGetPlanningSceneService();
 
   void initialize() override;
-
-private:
-  bool getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
-                               moveit_msgs::GetPlanningScene::Response& res);
-
-  ros::ServiceServer get_scene_service_;
 };
 }
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index 49db508c9f..d79b575eb9 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -45,6 +45,7 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 #include <moveit/collision_plugin_loader/collision_plugin_loader.h>
+#include <moveit_msgs/GetPlanningScene.h>
 #include <boost/noncopyable.hpp>
 #include <boost/thread/shared_mutex.hpp>
 #include <boost/thread/recursive_mutex.hpp>
@@ -324,19 +325,29 @@ class PlanningSceneMonitor : private boost::noncopyable
       return 0.0;
   }
 
-  /** @brief Start the scene monitor
+  /** @brief Start the scene monitor (ROS topic-based)
    *  @param scene_topic The name of the planning scene topic
    */
   void startSceneMonitor(const std::string& scene_topic = DEFAULT_PLANNING_SCENE_TOPIC);
 
-  /** @brief Request planning scene state using a service call
-   *  @param service_name The name of the service to use for requesting the
-   *     planning scene.  This must be a service of type
-   *     moveit_msgs::GetPlanningScene and is usually called
-   *     "/get_planning_scene".
+  /** @brief Request a full planning scene state using a service call
+   *         Be careful not to use this in conjunction with providePlanningSceneService(),
+   *         as it will create a pointless feedback loop.
+   *  @param service_name The name of the service to use for requesting the planning scene.
+   *         This must be a service of type moveit_msgs::GetPlanningScene and is usually called
+   *         "/get_planning_scene".
    */
   bool requestPlanningSceneState(const std::string& service_name = DEFAULT_PLANNING_SCENE_SERVICE);
 
+  /** @brief Create an optional service for getting the complete planning scene
+   *         This is useful for satisfying the Rviz PlanningScene display's need for a service
+   *         without having to use a move_group node.
+   *         Be careful not to use this in conjunction with requestPlanningSceneState(),
+   *         as it will create a pointless feedback loop.
+   *  @param service_name The topic to provide the service
+   */
+  void providePlanningSceneService(const std::string& service_name = DEFAULT_PLANNING_SCENE_SERVICE);
+
   /** @brief Stop the scene monitor*/
   void stopSceneMonitor();
 
@@ -495,6 +506,10 @@ class PlanningSceneMonitor : private boost::noncopyable
   ros::Subscriber attached_collision_object_subscriber_;
   ros::Subscriber collision_object_subscriber_;
 
+  // provide an optional service to get the full planning scene state
+  // this is used by MoveGroup and related application nodes
+  ros::ServiceServer get_scene_service_;
+
   // include a octomap monitor
   std::unique_ptr<occupancy_map_monitor::OccupancyMapMonitor> octomap_monitor_;
 
@@ -535,6 +550,10 @@ class PlanningSceneMonitor : private boost::noncopyable
   // Callback for a new planning scene msg
   void newPlanningSceneCallback(const moveit_msgs::PlanningSceneConstPtr& scene);
 
+  // Callback for requesting the full planning scene via service
+  bool getPlanningSceneServiceCallback(moveit_msgs::GetPlanningScene::Request& req,
+                                       moveit_msgs::GetPlanningScene::Response& res);
+
   // Lock for state_update_pending_ and dt_state_update_
   boost::mutex state_pending_mutex_;
 
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index 21d4ed1e43..2381e06035 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -467,6 +467,11 @@ void PlanningSceneMonitor::triggerSceneUpdateEvent(SceneUpdateType update_type)
 
 bool PlanningSceneMonitor::requestPlanningSceneState(const std::string& service_name)
 {
+  if (get_scene_service_.getService() == service_name)
+  {
+    ROS_FATAL_STREAM_NAMED(LOGNAME, "requestPlanningSceneState() to self-provided service '" << service_name << "'");
+    throw std::runtime_error("requestPlanningSceneState() to self-provided service: " + service_name);
+  }
   // use global namespace for service
   ros::ServiceClient client = ros::NodeHandle().serviceClient<moveit_msgs::GetPlanningScene>(service_name);
   // all scene components are returned if none are specified
@@ -485,13 +490,36 @@ bool PlanningSceneMonitor::requestPlanningSceneState(const std::string& service_
   }
   else
   {
-    ROS_INFO_NAMED(LOGNAME, "Failed to call service %s, have you launched move_group? at %s:%d", service_name.c_str(),
-                   __FILE__, __LINE__);
+    ROS_INFO_NAMED(
+        LOGNAME, "Failed to call service %s, have you launched move_group or called psm.providePlanningSceneService()?",
+        service_name.c_str());
     return false;
   }
   return true;
 }
 
+void PlanningSceneMonitor::providePlanningSceneService(const std::string& service_name)
+{
+  // Load the service
+  get_scene_service_ =
+      root_nh_.advertiseService(service_name, &PlanningSceneMonitor::getPlanningSceneServiceCallback, this);
+}
+
+bool PlanningSceneMonitor::getPlanningSceneServiceCallback(moveit_msgs::GetPlanningScene::Request& req,
+                                                           moveit_msgs::GetPlanningScene::Response& res)
+{
+  if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
+    updateFrameTransforms();
+
+  moveit_msgs::PlanningSceneComponents all_components;
+  all_components.components = UINT_MAX;  // Return all scene components if nothing is specified.
+
+  boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
+  scene_->getPlanningSceneMsg(res.scene, req.components.components ? req.components : all_components);
+
+  return true;
+}
+
 void PlanningSceneMonitor::newPlanningSceneCallback(const moveit_msgs::PlanningSceneConstPtr& scene)
 {
   newPlanningSceneMessage(*scene);

From bebed3ab6016c0b1d25504c5ebff647df2849607 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Thu, 23 Jan 2020 10:30:27 +0100
Subject: [PATCH 172/612] Rename PR2-related collision test files (#1856)

---
 .../{test_collision_common.h => test_collision_common_pr2.h}    | 0
 moveit_core/collision_detection_bullet/CMakeLists.txt           | 2 +-
 ...on_detection.cpp => test_bullet_collision_detection_pr2.cpp} | 2 +-
 moveit_core/collision_detection_fcl/CMakeLists.txt              | 2 +-
 .../include/moveit/collision_detection_fcl/collision_common.h   | 2 +-
 moveit_core/collision_detection_fcl/src/collision_common.cpp    | 2 +-
 ...ision_detection.cpp => test_fcl_collision_detection_pr2.cpp} | 2 +-
 7 files changed, 6 insertions(+), 6 deletions(-)
 rename moveit_core/collision_detection/include/moveit/collision_detection/{test_collision_common.h => test_collision_common_pr2.h} (100%)
 rename moveit_core/collision_detection_bullet/test/{test_bullet_collision_detection.cpp => test_bullet_collision_detection_pr2.cpp} (97%)
 rename moveit_core/collision_detection_fcl/test/{test_fcl_collision_detection.cpp => test_fcl_collision_detection_pr2.cpp} (97%)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
similarity index 100%
rename from moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
rename to moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 4b4ccf6547..799fead00d 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -31,7 +31,7 @@ if(CATKIN_ENABLE_TESTING)
   find_package(moveit_resources REQUIRED)
   include_directories(${moveit_resources_INCLUDE_DIRS})
 
-  catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection.cpp)
+  catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 
   catkin_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_pr2.cpp
similarity index 97%
rename from moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp
rename to moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_pr2.cpp
index 3f22bab5f0..e522c6d67e 100644
--- a/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection.cpp
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_pr2.cpp
@@ -35,7 +35,7 @@
 /* Author: Jens Petit */
 
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
-#include <moveit/collision_detection/test_collision_common.h>
+#include <moveit/collision_detection/test_collision_common_pr2.h>
 
 INSTANTIATE_TYPED_TEST_CASE_P(BulletCollisionCheck, CollisionDetectorTest,
                               collision_detection::CollisionDetectorAllocatorBullet);
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index fbeefa76fd..3889763ac4 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -27,7 +27,7 @@ if(CATKIN_ENABLE_TESTING)
   find_package(moveit_resources REQUIRED)
   include_directories(${moveit_resources_INCLUDE_DIRS})
 
-  catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection.cpp)
+  catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 
   catkin_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 9df7168c69..c5b89cca28 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan, Jens Petit */
+/* Author: Ioan Sucan */
 
 #pragma once
 
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 7a936b2771..0cf3446237 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Ioan Sucan, Jia Pan, Jens Petit */
+/* Author: Ioan Sucan, Jia Pan */
 
 #include <moveit/collision_detection_fcl/collision_common.h>
 #include <geometric_shapes/shapes.h>
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_pr2.cpp
similarity index 97%
rename from moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
rename to moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_pr2.cpp
index 5dffe19a8b..efe312cf3b 100644
--- a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_pr2.cpp
@@ -35,7 +35,7 @@
 /* Author: Jens Petit */
 
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
-#include <moveit/collision_detection/test_collision_common.h>
+#include <moveit/collision_detection/test_collision_common_pr2.h>
 
 INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheck, CollisionDetectorTest,
                               collision_detection::CollisionDetectorAllocatorFCL);

From e582953c8c7a92f19674479f9986fd45d44d4f92 Mon Sep 17 00:00:00 2001
From: Luca Rinelli <rinelliluca@gmail.com>
Date: Thu, 23 Jan 2020 11:17:42 +0100
Subject: [PATCH 173/612] Fix typo in cmake file (#1857)

---
 moveit_ros/planning_interface/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 8a907efba1..0eb0f40575 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIR
 find_package(Boost REQUIRED)
 if(Boost_VERSION LESS 106700)
   set(BOOST_PYTHON_COMPONENT python)
-elseif()
+else()
   set(BOOST_PYTHON_COMPONENT python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR})
 endif()
 

From d7b05fa1a2073a57d0fdea76472fecd40e7613d9 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 23 Jan 2020 11:39:49 +0100
Subject: [PATCH 174/612] getFrameInfo(): Avoid double search for link name
 (#1853)

---
 moveit_core/robot_state/src/robot_state.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 4c4c90b4d2..519df14dce 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1019,11 +1019,9 @@ const Eigen::Isometry3d& RobotState::getFrameInfo(const std::string& frame_id, c
     frame_found = true;
     return IDENTITY_TRANSFORM;
   }
-  if (robot_model_->hasLinkModel(frame_id))
+  if ((robot_link = robot_model_->getLinkModel(frame_id, &frame_found)))
   {
-    robot_link = robot_model_->getLinkModel(frame_id);
     BOOST_VERIFY(checkLinkTransforms());
-    frame_found = true;
     return global_link_transforms_[robot_link->getLinkIndex()];
   }
   robot_link = nullptr;

From 4f996c71a1734e82ddab5e49b188a2d5cc20ea7d Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Thu, 23 Jan 2020 07:10:01 -0700
Subject: [PATCH 175/612] [jog_arm] Various small fixes (#1859)

- Fix logic error, testing for empty trajectory
- Restore the integration test timeout
- Rename checkIfJointsWithingSRDFBounds -> enforceSRDFJointBounds
---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h     | 2 +-
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp      | 8 ++++----
 .../test/integration/test_jog_arm_integration.py          | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index b98775e0bb..4c91199557 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -87,7 +87,7 @@ class JogCalcs
   void publishWarning(bool active) const;
 
   // Scale the delta theta to match joint velocity limits
-  bool checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj);
+  bool enforceSRDFJointBounds(trajectory_msgs::JointTrajectory& new_joint_traj);
 
   // Possibly calculate a velocity scaling factor, due to proximity of
   // singularity and direction of motion
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 3523900ba3..ec550da754 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -320,7 +320,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
                        decelerateForSingularity(delta_x, svd_));
 
-  if (!checkIfJointsWithinSRDFBounds(outgoing_command_))
+  if (!enforceSRDFJointBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     publishWarning(true);
@@ -369,7 +369,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
 
   outgoing_command_ = composeOutgoingMessage(joint_state_);
 
-  if (!checkIfJointsWithinSRDFBounds(outgoing_command_))
+  if (!enforceSRDFJointBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     publishWarning(true);
@@ -554,11 +554,11 @@ double JogCalcs::decelerateForSingularity(const Eigen::VectorXd& commanded_veloc
   return velocity_scale;
 }
 
-bool JogCalcs::checkIfJointsWithinSRDFBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
+bool JogCalcs::enforceSRDFJointBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
 {
   bool halting = false;
 
-  if (!new_joint_traj.points.empty())
+  if (new_joint_traj.points.empty())
   {
     ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "Empty trajectory passed into checkIfJointsWithinURDFBounds().");
     return true;  // technically an empty trajectory is still within bounds
diff --git a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
index fe1a0323a1..3c901e0b64 100755
--- a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
+++ b/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
@@ -11,8 +11,8 @@
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_jog_arm test_jog_arm_integration.py
 
-JOG_ARM_SETTLE_TIME_S = 3
-ROS_SETTLE_TIME_S = 3
+JOG_ARM_SETTLE_TIME_S = 10
+ROS_SETTLE_TIME_S = 10
 
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'

From 2395183dccc373eda9da9cf7ee5295d601413ceb Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Fri, 31 Jan 2020 08:06:11 +0100
Subject: [PATCH 176/612] Adapt message serialization for Python 3 (#1870)

* Replaced has_key with in statement
  In Python 3, the method `has_key` was removed from dictionaries.
  It is replaced with an `key in dict_instance` statement.
* Replaced StringIO with BytesIO for python msg serialization
* Use py_bindings_tools::ByteString as byte-based serialization buffer on C++ side
  Python 3 interprets strings as unicode, but we want the serialization buffers to be bytes.
---
 .../bin/moveit_commander_cmdline.py           |   2 +-
 .../src/moveit_commander/conversions.py       |   4 +-
 .../src/moveit_commander/interpreter.py       |  12 +-
 .../src/moveit_commander/robot.py             |   4 +-
 .../src/wrap_python_move_group.cpp            |  51 ++++-----
 .../wrap_python_planning_scene_interface.cpp  |   8 +-
 .../moveit/py_bindings_tools/serialize_msg.h  | 103 ++++++++++++++----
 .../src/wrap_python_robot_interface.cpp       |  26 ++---
 .../moveitjoy_module.py                       |   2 +-
 9 files changed, 139 insertions(+), 73 deletions(-)

diff --git a/moveit_commander/bin/moveit_commander_cmdline.py b/moveit_commander/bin/moveit_commander_cmdline.py
index 61a37e8898..821b4ffed5 100755
--- a/moveit_commander/bin/moveit_commander_cmdline.py
+++ b/moveit_commander/bin/moveit_commander_cmdline.py
@@ -45,7 +45,7 @@ def complete(self, text, state):
         prefix = ""
         if len(cmds) > 0:
             prefix = cmds[0]
-            if not self.options.has_key(prefix):
+            if not prefix in self.options:
                 prefix = ""
 
         if state == 0:
diff --git a/moveit_commander/src/moveit_commander/conversions.py b/moveit_commander/src/moveit_commander/conversions.py
index 71c2dfe147..f9129ffd8f 100644
--- a/moveit_commander/src/moveit_commander/conversions.py
+++ b/moveit_commander/src/moveit_commander/conversions.py
@@ -36,8 +36,8 @@
     # Try Python 2.7 behaviour first
     from StringIO import StringIO
 except ImportError:
-    # Use Python 3.x behaviour as fallback
-    from io import StringIO
+    # Use Python 3.x behaviour as fallback and choose the non-unicode version
+    from io import BytesIO as StringIO
 
 from moveit_commander import MoveItCommanderException
 from geometry_msgs.msg import Pose, PoseStamped, Transform
diff --git a/moveit_commander/src/moveit_commander/interpreter.py b/moveit_commander/src/moveit_commander/interpreter.py
index 02cc10e4d4..c9088de375 100644
--- a/moveit_commander/src/moveit_commander/interpreter.py
+++ b/moveit_commander/src/moveit_commander/interpreter.py
@@ -103,7 +103,7 @@ def execute_generic_command(self, cmd):
                         clist[1] = self._prev_group_name
                         if len(clist[1]) == 0:
                             return (MoveGroupInfoLevel.DEBUG, "OK")
-                    if self._gdict.has_key(clist[1]):
+                    if clist[1] in self._gdict:
                         self._prev_group_name = self._group_name
                         self._group_name = clist[1]
                         return (MoveGroupInfoLevel.DEBUG, "OK")
@@ -267,7 +267,7 @@ def execute_group_command(self, g, cmdorig):
         assign_match = re.match(r"^(\w+)\s*=\s*(\w+)$", cmd)
         if assign_match:
             known = g.get_remembered_joint_values()
-            if known.has_key(assign_match.group(2)):
+            if assign_match.group(2) in known:
                 g.remember_joint_values(assign_match.group(1), known[assign_match.group(2)])
                 return (MoveGroupInfoLevel.SUCCESS, assign_match.group(1) + " is now the same as " + assign_match.group(2))
             else:
@@ -286,7 +286,7 @@ def execute_group_command(self, g, cmdorig):
         component_match = re.match(r"^(\w+)\s*\[\s*(\d+)\s*\]\s*=\s*([\d\.e\-\+]+)$", cmd)
         if component_match:
             known = g.get_remembered_joint_values()
-            if known.has_key(component_match.group(1)):
+            if component_match.group(1) in known:
                 try:
                     val = known[component_match.group(1)]
                     val[int(component_match.group(2))] = float(component_match.group(3))
@@ -303,7 +303,7 @@ def execute_group_command(self, g, cmdorig):
         # if this is an unknown one-word command, it is probably a variable
         if len(clist) == 1:
             known = g.get_remembered_joint_values()
-            if known.has_key(cmd):
+            if cmd in known:
                 return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[cmd]]) + "]")
             else:
                 return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
@@ -381,7 +381,7 @@ def execute_group_command(self, g, cmdorig):
                 return (MoveGroupInfoLevel.SUCCESS, "Forgot joint values under the name " + clist[1])
             elif clist[0] == "show":
                 known = g.get_remembered_joint_values()
-                if known.has_key(clist[1]):
+                if clist[1] in known:
                     return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[clist[1]]]) + "]")
                 else:
                     return (MoveGroupInfoLevel.WARN, "Joint values for " + clist[1] + " are not known")
@@ -423,7 +423,7 @@ def execute_group_command(self, g, cmdorig):
                 return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
 
         if len(clist) == 3:
-            if clist[0] == "go" and self.GO_DIRS.has_key(clist[1]):
+            if clist[0] == "go" and clist[1] in self.GO_DIRS:
                 self._last_plan = None
                 try:
                     offset = float(clist[2])
diff --git a/moveit_commander/src/moveit_commander/robot.py b/moveit_commander/src/moveit_commander/robot.py
index 6336600aca..137fe4b4b4 100644
--- a/moveit_commander/src/moveit_commander/robot.py
+++ b/moveit_commander/src/moveit_commander/robot.py
@@ -261,7 +261,7 @@ def get_group(self, name):
         @param name str: Name of movegroup
         @rtype: moveit_commander.MoveGroupCommander
         """
-        if not self._groups.has_key(name):
+        if not name in self._groups:
             if not self.has_group(name):
                 raise MoveItCommanderException("There is no group named %s" % name)
             self._groups[name] = MoveGroupCommander(name, self._robot_description, self._ns)
@@ -279,7 +279,7 @@ def get_default_owner_group(self, joint_name):
         Get the name of the smallest group (fewest joints) that includes
         the joint name specified as argument.
         """
-        if not self._joint_owner_groups.has_key(joint_name):
+        if not joint_name in self._joint_owner_groups:
             group = None
             for g in self.get_group_names():
                 if joint_name in self.get_joint_names(g):
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 50646a8777..f12bd4be97 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -94,21 +94,23 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return setJointValueTarget(v);
   }
 
-  bool setJointValueTargetFromPosePython(const std::string& pose_str, const std::string& eef, bool approx)
+  bool setJointValueTargetFromPosePython(const py_bindings_tools::ByteString& pose_str, const std::string& eef,
+                                         bool approx)
   {
     geometry_msgs::Pose pose_msg;
     py_bindings_tools::deserializeMsg(pose_str, pose_msg);
     return approx ? setApproximateJointValueTarget(pose_msg, eef) : setJointValueTarget(pose_msg, eef);
   }
 
-  bool setJointValueTargetFromPoseStampedPython(const std::string& pose_str, const std::string& eef, bool approx)
+  bool setJointValueTargetFromPoseStampedPython(const py_bindings_tools::ByteString& pose_str, const std::string& eef,
+                                                bool approx)
   {
     geometry_msgs::PoseStamped pose_msg;
     py_bindings_tools::deserializeMsg(pose_str, pose_msg);
     return approx ? setApproximateJointValueTarget(pose_msg, eef) : setJointValueTarget(pose_msg, eef);
   }
 
-  bool setJointValueTargetFromJointStatePython(const std::string& js_str)
+  bool setJointValueTargetFromJointStatePython(const py_bindings_tools::ByteString& js_str)
   {
     sensor_msgs::JointState js_msg;
     py_bindings_tools::deserializeMsg(js_str, js_msg);
@@ -125,7 +127,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return l;
   }
 
-  std::string getJointValueTarget()
+  py_bindings_tools::ByteString getJointValueTarget()
   {
     moveit_msgs::RobotState msg;
     const robot_state::RobotState state = moveit::planning_interface::MoveGroupInterface::getTargetRobotState();
@@ -143,7 +145,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return getPlanningFrame().c_str();
   }
 
-  std::string getInterfaceDescriptionPython()
+  py_bindings_tools::ByteString getInterfaceDescriptionPython()
   {
     moveit_msgs::PlannerInterfaceDescription msg;
     getInterfaceDescription(msg);
@@ -260,7 +262,8 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return place(object_name, msg, plan_only) == MoveItErrorCode::SUCCESS;
   }
 
-  bool placeLocation(const std::string& object_name, const std::string& location_str, bool plan_only = false)
+  bool placeLocation(const std::string& object_name, const py_bindings_tools::ByteString& location_str,
+                     bool plan_only = false)
   {
     std::vector<moveit_msgs::PlaceLocation> locations(1);
     py_bindings_tools::deserializeMsg(location_str, locations[0]);
@@ -313,7 +316,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return output;
   }
 
-  void setStartStatePython(const std::string& msg_str)
+  void setStartStatePython(const py_bindings_tools::ByteString& msg_str)
   {
     moveit_msgs::RobotState msg;
     py_bindings_tools::deserializeMsg(msg_str, msg);
@@ -326,7 +329,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     convertListToArrayOfPoses(poses, msg);
     return setPoseTargets(msg, end_effector_link);
   }
-  std::string getPoseTargetPython(const std::string& end_effector_link)
+  py_bindings_tools::ByteString getPoseTargetPython(const std::string& end_effector_link)
   {
     geometry_msgs::PoseStamped pose = moveit::planning_interface::MoveGroupInterface::getPoseTarget(end_effector_link);
     return py_bindings_tools::serializeMsg(pose);
@@ -406,14 +409,14 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return attachObject(object_name, link_name, py_bindings_tools::stringFromList(touch_links));
   }
 
-  bool executePython(const std::string& plan_str)
+  bool executePython(const py_bindings_tools::ByteString& plan_str)
   {
     MoveGroupInterface::Plan plan;
     py_bindings_tools::deserializeMsg(plan_str, plan.trajectory_);
     return execute(plan) == MoveItErrorCode::SUCCESS;
   }
 
-  bool asyncExecutePython(const std::string& plan_str)
+  bool asyncExecutePython(const py_bindings_tools::ByteString& plan_str)
   {
     MoveGroupInterface::Plan plan;
     py_bindings_tools::deserializeMsg(plan_str, plan.trajectory_);
@@ -436,7 +439,8 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
   }
 
   bp::tuple computeCartesianPathConstrainedPython(const bp::list& waypoints, double eef_step, double jump_threshold,
-                                                  bool avoid_collisions, const std::string& path_constraints_str)
+                                                  bool avoid_collisions,
+                                                  const py_bindings_tools::ByteString& path_constraints_str)
   {
     moveit_msgs::Constraints path_constraints;
     py_bindings_tools::deserializeMsg(path_constraints_str, path_constraints);
@@ -454,7 +458,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return bp::make_tuple(py_bindings_tools::serializeMsg(trajectory), fraction);
   }
 
-  int pickGrasp(const std::string& object, const std::string& grasp_str, bool plan_only = false)
+  int pickGrasp(const std::string& object, const py_bindings_tools::ByteString& grasp_str, bool plan_only = false)
   {
     moveit_msgs::Grasp grasp;
     py_bindings_tools::deserializeMsg(grasp_str, grasp);
@@ -466,27 +470,27 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     int l = bp::len(grasp_list);
     std::vector<moveit_msgs::Grasp> grasps(l);
     for (int i = 0; i < l; ++i)
-      py_bindings_tools::deserializeMsg(bp::extract<std::string>(grasp_list[i]), grasps[i]);
+      py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(grasp_list[i]), grasps[i]);
     return pick(object, std::move(grasps), plan_only).val;
   }
 
-  void setPathConstraintsFromMsg(const std::string& constraints_str)
+  void setPathConstraintsFromMsg(const py_bindings_tools::ByteString& constraints_str)
   {
     moveit_msgs::Constraints constraints_msg;
     py_bindings_tools::deserializeMsg(constraints_str, constraints_msg);
     setPathConstraints(constraints_msg);
   }
 
-  std::string getPathConstraintsPython()
+  py_bindings_tools::ByteString getPathConstraintsPython()
   {
     moveit_msgs::Constraints constraints_msg(getPathConstraints());
-    std::string constraints_str = py_bindings_tools::serializeMsg(constraints_msg);
-    return constraints_str;
+    return py_bindings_tools::serializeMsg(constraints_msg);
   }
 
-  std::string retimeTrajectory(const std::string& ref_state_str, const std::string& traj_str,
-                               double velocity_scaling_factor, double acceleration_scaling_factor,
-                               const std::string& algorithm)
+  py_bindings_tools::ByteString retimeTrajectory(const py_bindings_tools::ByteString& ref_state_str,
+                                                 const py_bindings_tools::ByteString& traj_str,
+                                                 double velocity_scaling_factor, double acceleration_scaling_factor,
+                                                 const std::string& algorithm)
   {
     // Convert reference state message to object
     moveit_msgs::RobotState ref_state_msg;
@@ -524,15 +528,12 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
       // Convert the retimed trajectory back into a message
       traj_obj.getRobotTrajectoryMsg(traj_msg);
-      std::string traj_str = py_bindings_tools::serializeMsg(traj_msg);
-
-      // Return it.
-      return traj_str;
+      return py_bindings_tools::serializeMsg(traj_msg);
     }
     else
     {
       ROS_ERROR("Unable to convert RobotState message to RobotState instance.");
-      return "";
+      return py_bindings_tools::ByteString("");
     }
   }
 
diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/wrap_python_planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/wrap_python_planning_scene_interface.cpp
index e1e825b0b0..e0cd8f7818 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/wrap_python_planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/wrap_python_planning_scene_interface.cpp
@@ -74,7 +74,7 @@ class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitial
   bp::dict getObjectPosesPython(const bp::list& object_ids)
   {
     std::map<std::string, geometry_msgs::Pose> ops = getObjectPoses(py_bindings_tools::stringFromList(object_ids));
-    std::map<std::string, std::string> ser_ops;
+    std::map<std::string, py_bindings_tools::ByteString> ser_ops;
     for (std::map<std::string, geometry_msgs::Pose>::const_iterator it = ops.begin(); it != ops.end(); ++it)
       ser_ops[it->first] = py_bindings_tools::serializeMsg(it->second);
 
@@ -85,7 +85,7 @@ class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitial
   {
     std::map<std::string, moveit_msgs::CollisionObject> objs =
         getObjects(py_bindings_tools::stringFromList(object_ids));
-    std::map<std::string, std::string> ser_objs;
+    std::map<std::string, py_bindings_tools::ByteString> ser_objs;
     for (std::map<std::string, moveit_msgs::CollisionObject>::const_iterator it = objs.begin(); it != objs.end(); ++it)
       ser_objs[it->first] = py_bindings_tools::serializeMsg(it->second);
 
@@ -96,7 +96,7 @@ class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitial
   {
     std::map<std::string, moveit_msgs::AttachedCollisionObject> aobjs =
         getAttachedObjects(py_bindings_tools::stringFromList(object_ids));
-    std::map<std::string, std::string> ser_aobjs;
+    std::map<std::string, py_bindings_tools::ByteString> ser_aobjs;
     for (std::map<std::string, moveit_msgs::AttachedCollisionObject>::const_iterator it = aobjs.begin();
          it != aobjs.end(); ++it)
       ser_aobjs[it->first] = py_bindings_tools::serializeMsg(it->second);
@@ -104,7 +104,7 @@ class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitial
     return py_bindings_tools::dictFromType(ser_aobjs);
   }
 
-  bool applyPlanningScenePython(const std::string& ps_str)
+  bool applyPlanningScenePython(const py_bindings_tools::ByteString& ps_str)
   {
     moveit_msgs::PlanningScene ps_msg;
     py_bindings_tools::deserializeMsg(ps_str, ps_msg);
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
index 5b9a9a306f..9ca48182db 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
@@ -37,36 +37,101 @@
 #pragma once
 
 #include <ros/ros.h>
+#include <Python.h>
+#include <boost/python.hpp>
+#include <string>
+#include <stdexcept>
+#include <type_traits>
 
 namespace moveit
 {
 namespace py_bindings_tools
 {
-/** \brief Convert a ROS message to a string */
-template <typename T>
-std::string serializeMsg(const T& msg)
+/** \brief C++ Wrapper class for Python 3 \c Bytes Object */
+class ByteString : public boost::python::object
 {
-  // we use the fact char is same size as uint8_t;
-  assert(sizeof(uint8_t) == sizeof(char));
-  std::size_t size = ros::serialization::serializationLength(msg);
-  std::string result(size, '\0');
-  if (size)
+public:
+  // constructors for bp::handle and friends
+  BOOST_PYTHON_FORWARD_OBJECT_CONSTRUCTORS(ByteString, boost::python::object)
+  ByteString() : boost::python::object(boost::python::handle<>(PyBytes_FromString("")))
+  {
+  }
+  explicit ByteString(const char* s) : boost::python::object(boost::python::handle<>(PyBytes_FromString(s)))
+  {
+  }
+  explicit ByteString(const std::string& s)
+    : boost::python::object(boost::python::handle<>(PyBytes_FromStringAndSize(s.c_str(), s.size())))
+  {
+  }
+  // bp::list[] returns a proxy which has to be converted to an object first
+  template <typename T>
+  explicit ByteString(const boost::python::api::proxy<T>& proxy) : boost::python::object(proxy)
+  {
+  }
+  /** \brief Serializes a ROS message into a Python Bytes object
+   * The second template parameter ensures that this overload is only chosen with a ROS message argument
+   */
+  template <typename T, typename std::enable_if<ros::message_traits::IsMessage<T>::value, int>::type = 0>
+  explicit ByteString(const T& msg)
+    : boost::python::object(
+          boost::python::handle<>(PyBytes_FromStringAndSize(nullptr, ros::serialization::serializationLength(msg))))
   {
-    // we convert the message into a string because that is easy to sent back & forth with Python
-    // This is fine since C0x because &string[0] is guaranteed to point to a contiguous block of memory
-    ros::serialization::OStream stream_arg(reinterpret_cast<uint8_t*>(&result[0]), size);
+    ros::serialization::OStream stream_arg(reinterpret_cast<uint8_t*>(PyBytes_AS_STRING(ptr())),
+                                           PyBytes_GET_SIZE(ptr()));
     ros::serialization::serialize(stream_arg, msg);
   }
-  return result;
-}
 
-/** \brief Convert a string to a ROS message */
+  /** \brief Convert content to a ROS message */
+  template <typename T>
+  void deserialize(T& msg) const
+  {
+    static_assert(sizeof(uint8_t) == sizeof(char), "ros/python buffer layout mismatch");
+    char* buf = PyBytes_AsString(ptr());
+    // buf == NULL on error
+    if (!buf)
+    {
+      throw std::runtime_error("Underlying python object is not a Bytes/String instance");
+    }
+    // unfortunately no constructor with const uint8_t
+    ros::serialization::IStream stream_arg(reinterpret_cast<uint8_t*>(buf), PyBytes_GET_SIZE(ptr()));
+    ros::serialization::deserialize(stream_arg, msg);
+  }
+};
+
+/** \brief Convert a ROS message to a Python Bytestring */
 template <typename T>
-void deserializeMsg(const std::string& data, T& msg)
+ByteString serializeMsg(const T& msg)
 {
-  assert(sizeof(uint8_t) == sizeof(char));
-  ros::serialization::IStream stream_arg(const_cast<uint8_t*>(reinterpret_cast<const uint8_t*>(&data[0])), data.size());
-  ros::serialization::deserialize(stream_arg, msg);
-}
+  return ByteString(msg);
 }
+
+/** \brief Convert a Python Bytestring to a ROS message */
+template <typename T>
+void deserializeMsg(const ByteString& data, T& msg)
+{
+  data.deserialize(msg);
 }
+
+}  // namespace py_bindings_tools
+}  // namespace moveit
+
+namespace boost
+{
+namespace python
+{
+namespace converter
+{
+// only accept Python 3 Bytes / Python 2 String instance when used as C++ function parameter
+template <>
+struct object_manager_traits<moveit::py_bindings_tools::ByteString>
+#if PY_VERSION_HEX >= 0x03000000
+    : pytype_object_manager_traits<&PyBytes_Type, moveit::py_bindings_tools::ByteString>
+#else
+    : pytype_object_manager_traits<&PyString_Type, moveit::py_bindings_tools::ByteString>
+#endif
+
+{
+};
+}  // namespace converter
+}  // namespace python
+}  // namespace boost
diff --git a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
index daa49825da..be238104f4 100644
--- a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
+++ b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
@@ -223,10 +223,10 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return true;
   }
 
-  std::string getCurrentState()
+  py_bindings_tools::ByteString getCurrentState()
   {
     if (!ensureCurrentState())
-      return "";
+      return py_bindings_tools::ByteString("");
     robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
     moveit_msgs::RobotState msg;
     robot_state::robotStateToRobotStateMsg(*s, msg);
@@ -244,7 +244,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return boost::python::make_tuple(parent_group.first, parent_group.second);
   }
 
-  std::string getRobotMarkersPythonDictList(bp::dict& values, bp::list& links)
+  py_bindings_tools::ByteString getRobotMarkersPythonDictList(bp::dict& values, bp::list& links)
   {
     robot_state::RobotStatePtr state;
     if (ensureCurrentState())
@@ -273,13 +273,13 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return py_bindings_tools::serializeMsg(msg);
   }
 
-  std::string getRobotMarkersPythonDict(bp::dict& values)
+  py_bindings_tools::ByteString getRobotMarkersPythonDict(bp::dict& values)
   {
     bp::list links = py_bindings_tools::listFromString(robot_model_->getLinkModelNames());
     return getRobotMarkersPythonDictList(values, links);
   }
 
-  std::string getRobotMarkersFromMsg(const std::string& state_str)
+  py_bindings_tools::ByteString getRobotMarkersFromMsg(const py_bindings_tools::ByteString& state_str)
   {
     moveit_msgs::RobotState state_msg;
     robot_state::RobotState state(robot_model_);
@@ -292,10 +292,10 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return py_bindings_tools::serializeMsg(msg);
   }
 
-  std::string getRobotMarkers()
+  py_bindings_tools::ByteString getRobotMarkers()
   {
     if (!ensureCurrentState())
-      return "";
+      return py_bindings_tools::ByteString();
     robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
     visualization_msgs::MarkerArray msg;
     s->getRobotMarkers(msg, s->getRobotModel()->getLinkModelNames());
@@ -303,10 +303,10 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return py_bindings_tools::serializeMsg(msg);
   }
 
-  std::string getRobotMarkersPythonList(const bp::list& links)
+  py_bindings_tools::ByteString getRobotMarkersPythonList(const bp::list& links)
   {
     if (!ensureCurrentState())
-      return "";
+      return py_bindings_tools::ByteString("");
     robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
     visualization_msgs::MarkerArray msg;
     s->getRobotMarkers(msg, py_bindings_tools::stringFromList(links));
@@ -314,10 +314,10 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return py_bindings_tools::serializeMsg(msg);
   }
 
-  std::string getRobotMarkersGroup(const std::string& group)
+  py_bindings_tools::ByteString getRobotMarkersGroup(const std::string& group)
   {
     if (!ensureCurrentState())
-      return "";
+      return py_bindings_tools::ByteString("");
     robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
     const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     visualization_msgs::MarkerArray msg;
@@ -329,11 +329,11 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     return py_bindings_tools::serializeMsg(msg);
   }
 
-  std::string getRobotMarkersGroupPythonDict(const std::string& group, bp::dict& values)
+  py_bindings_tools::ByteString getRobotMarkersGroupPythonDict(const std::string& group, bp::dict& values)
   {
     const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (!jmg)
-      return "";
+      return py_bindings_tools::ByteString("");
     bp::list links = py_bindings_tools::listFromString(jmg->getLinkModelNames());
     return getRobotMarkersPythonDictList(values, links);
   }
diff --git a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
index 3868b0e3ad..5bf253c3ab 100644
--- a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
+++ b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
@@ -453,7 +453,7 @@ def waitForInitialPose(self, next_topic, timeout=None):
                 self.marker_lock.acquire()
                 self.initialize_poses = True
                 topic_suffix = next_topic.split("/")[-1]
-                if self.initial_poses.has_key(topic_suffix):
+                if topic_suffix in self.initial_poses:
                     self.pre_pose = PoseStamped(pose=self.initial_poses[topic_suffix])
                     self.initialize_poses = False
                     return True

From 1ec63725e998a377edb743bd33819fc9e304dab7 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Tue, 4 Feb 2020 05:22:41 +0900
Subject: [PATCH 177/612] Fix segfault in totg (#1861)

Ensure acos argument in valid range
---
 .../src/time_optimal_trajectory_generation.cpp                 | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 19d1c38cab..26b1cd815a 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -110,7 +110,6 @@ class CircularPathSegment : public PathSegment
     const Eigen::VectorXd start_direction = (intersection - start).normalized();
     const Eigen::VectorXd end_direction = (end - intersection).normalized();
 
-    // check if directions are divergent
     if ((start_direction - end_direction).norm() < 0.000001)
     {
       length_ = 0.0;
@@ -122,7 +121,7 @@ class CircularPathSegment : public PathSegment
     }
 
     // directions must be different at this point so angle is always non-zero
-    const double angle = acos(start_direction.dot(end_direction));
+    const double angle = acos(std::max(-1.0, start_direction.dot(end_direction)));
     const double start_distance = (start - intersection).norm();
     const double end_distance = (end - intersection).norm();
 

From e43a0a0bc8ccc63a78b385275d721a9234ab260c Mon Sep 17 00:00:00 2001
From: RMonica <RMonica@users.noreply.github.com>
Date: Wed, 5 Feb 2020 15:19:03 +0100
Subject: [PATCH 178/612] Fix pruning of enclosed nodes when rendering octomap
 in RViz (#1685)

---
 .../src/octomap_render.cpp                    | 31 ++++++++++++++-----
 1 file changed, 24 insertions(+), 7 deletions(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
index 00851951eb..07d5868a90 100755
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -166,6 +166,8 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr<const octomap::OcTree>&
 
   size_t point_count = 0;
   {
+    int step_size = 1 << (octree->getTreeDepth() - octree_depth_);  // for pruning of occluded voxels
+
     // traverse all leafs in the tree:
     for (octomap::OcTree::iterator it = octree->begin(octree_depth_), end = octree->end(); it != end; ++it)
     {
@@ -178,20 +180,35 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr<const octomap::OcTree>&
         bool all_neighbors_found = true;
 
         octomap::OcTreeKey key;
-        octomap::OcTreeKey n_key = it.getKey();
+        octomap::OcTreeKey n_key = it.getIndexKey();  // key of the maximum-depth voxel at the current voxel corner
+
+        // determine indices of potentially neighboring voxels for depths < maximum tree depth
+        // +/-1 at maximum depth, -1 and +depth_difference on other depths
+        int diff_base = 1 << (octree->getTreeDepth() - it.getDepth());
+        int diff[2] = { -1, diff_base };
 
-        for (key[2] = n_key[2] - 1; all_neighbors_found && key[2] <= n_key[2] + 1; ++key[2])
+        // cells with adjacent faces can occlude a voxel, iterate over the cases x,y,z (idxCase) and +/- (diff)
+        for (unsigned int idx_case = 0; idx_case < 3; ++idx_case)
         {
-          for (key[1] = n_key[1] - 1; all_neighbors_found && key[1] <= n_key[1] + 1; ++key[1])
+          int idx_0 = idx_case % 3;
+          int idx_1 = (idx_case + 1) % 3;
+          int idx_2 = (idx_case + 2) % 3;
+
+          for (int i = 0; all_neighbors_found && i < 2; ++i)
           {
-            for (key[0] = n_key[0] - 1; all_neighbors_found && key[0] <= n_key[0] + 1; ++key[0])
+            key[idx_0] = n_key[idx_0] + diff[i];
+            // if rendering is restricted to treeDepth < maximum tree depth inner nodes with distance step_size can
+            // already occlude a voxel
+            for (key[idx_1] = n_key[idx_1] + diff[0] + 1; all_neighbors_found && key[idx_1] < n_key[idx_1] + diff[1];
+                 key[idx_1] += step_size)
             {
-              if (key != n_key)
+              for (key[idx_2] = n_key[idx_2] + diff[0] + 1; all_neighbors_found && key[idx_2] < n_key[idx_2] + diff[1];
+                   key[idx_2] += step_size)
               {
-                octomap::OcTreeNode* node = octree->search(key);
+                octomap::OcTreeNode* node = octree->search(key, octree_depth_);
 
                 // the left part evaluates to 1 for free voxels and 2 for occupied voxels
-                if (!(node && (((int)octree->isNodeOccupied(node)) + 1) & render_mode_mask))
+                if (!(node && ((((int)octree->isNodeOccupied(node)) + 1) & render_mode_mask)))
                 {
                   // we do not have a neighbor => break!
                   all_neighbors_found = false;

From 49892146c95659c4230a3372c36ba89598fdee0a Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 5 Feb 2020 07:27:12 -0700
Subject: [PATCH 179/612] [jog_arm] Rework the halt msg functionality (#1868)

* Rework the halt msg functionality

* Add a test for halt messages from the jogger

* Clang format and lint
---
 .../moveit_jog_arm/CMakeLists.txt             |  7 +-
 .../include/moveit_jog_arm/jog_calcs.h        | 10 ++-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 17 +++--
 .../arm_setup/config/singular_position.yaml   | 10 +++
 .../test/launch/jog_arm_halt_msg_test.test    | 39 +++++++++++
 ...t.test => jog_arm_msg_reception_test.test} |  4 +-
 .../test_halt_msg/test_jog_arm_halt_msg.py    | 66 +++++++++++++++++++
 .../test_jog_arm_msg_reception.py}            |  5 +-
 8 files changed, 145 insertions(+), 13 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
 create mode 100644 moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
 rename moveit_experimental/moveit_jog_arm/test/launch/{jog_arm_integration_test.test => jog_arm_msg_reception_test.test} (89%)
 create mode 100755 moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
 rename moveit_experimental/moveit_jog_arm/test/{integration/test_jog_arm_integration.py => test_msg_reception/test_jog_arm_msg_reception.py} (95%)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 439ea9ee85..8bff931ad1 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -124,8 +124,11 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(ros_pytest REQUIRED)
 
-  # jog_server
-  add_rostest(test/launch/jog_arm_integration_test.test)
+  # Python integration test of basic message reception/publication
+  add_rostest(test/launch/jog_arm_msg_reception_test.test)
+
+  # Python integration test that a halt message is published at a singularity
+  add_rostest(test/launch/jog_arm_halt_msg_test.test)
 
   # jog_cpp_interface
   add_rostest_gtest(jog_cpp_interface_test
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 4c91199557..7a65867b31 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -94,7 +94,15 @@ class JogCalcs
   double decelerateForSingularity(const Eigen::VectorXd& commanded_velocity,
                                   const Eigen::JacobiSVD<Eigen::MatrixXd>& svd);
 
-  // Apply velocity scaling for proximity of collisions and singularities
+  /**
+   * Slow motion down if close to singularity or collision.
+   * @param shared_variables data shared between threads, tells how close we are to collision
+   * @param mutex locks shared data
+   * @param new_joint_traj store the motion in the first waypoint of this trajectory
+   * @param delta_theta motion command, used in calculating new_joint_tray
+   * @param singularity_scale tells how close we are to a singularity
+   * @return false if very close to collision or singularity
+   */
   bool applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
                             trajectory_msgs::JointTrajectory& new_joint_traj, const Eigen::VectorXd& delta_theta,
                             double singularity_scale);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ec550da754..bcb8675fbe 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -316,11 +316,15 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   outgoing_command_ = composeOutgoingMessage(joint_state_);
 
-  // If close to a collision or a singularity, decelerate
-  applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
-                       decelerateForSingularity(delta_x, svd_));
-
-  if (!enforceSRDFJointBounds(outgoing_command_))
+  // If close to a collision or a singularity, decelerate and publish a warning
+  if (!applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
+                            decelerateForSingularity(delta_x, svd_)))
+  {
+    suddenHalt(outgoing_command_);
+    publishWarning(true);
+  }
+  // If a joint limit would be exceeded, halt and publish a warning
+  else if (!enforceSRDFJointBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     publishWarning(true);
@@ -483,7 +487,8 @@ bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, std::mutex&
       new_joint_traj.points[0].velocities[i] *= singularity_scale * collision_scale;
   }
 
-  return true;
+  // Heuristic: flag that we are stuck if velocity scaling is < X%
+  return collision_scale * singularity_scale >= 0.1;
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
new file mode 100644
index 0000000000..582482f8b2
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
@@ -0,0 +1,10 @@
+zeros:
+  panda_joint1: 0
+  panda_joint2: 0
+  panda_joint3: 0
+  panda_joint4: 0
+  panda_joint5: 0
+  panda_joint6: 1.57
+  panda_joint7: 1.57
+publish_default_positions: True
+
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
new file mode 100644
index 0000000000..5f25dfdd33
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="debug" value="false" />
+
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Note, we're using fake, simulated trajectory controllers.
+       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
+       test jog node output.
+  -->
+  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
+    <arg name="fake_execution" value="true"/>
+  </include>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/singular_position.yaml" />
+  </node>
+
+  <group ns="jog_server" if="$(arg debug)">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+  </group>
+
+  <group unless="$(arg debug)">
+    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
+      <param name="parameter_ns" type="string" value="jog_server"/>
+      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    </node>
+  </group>
+
+  <param name="test_module" value="$(find moveit_jog_arm)/test/test_halt_msg" />
+  <test test-name="jog_arm_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
similarity index 89%
rename from moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
rename to moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
index fbe629e8b6..343bd87c49 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_integration_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
@@ -34,6 +34,6 @@
     </node>
   </group>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/integration" />
-  <test test-name="jog_arm_integration_test" pkg="ros_pytest" type="ros_pytest_runner" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/test_msg_reception" />
+  <test test-name="jog_arm_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
new file mode 100755
index 0000000000..741c18a0b4
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+import time
+
+import pytest
+import rospy
+from geometry_msgs.msg import TwistStamped
+
+from control_msgs.msg import JointJog
+from std_msgs.msg import Bool
+
+# The robot starts at a singular position (see config file).
+# Listen for a halt message from the jogger.
+# This can be run as part of a pytest, or like a normal ROS executable:
+# rosrun moveit_jog_arm test_jog_arm_integration.py
+
+JOG_ARM_SETTLE_TIME_S = 10
+ROS_SETTLE_TIME_S = 10
+
+CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
+
+# jog_arm should publish 'true' here if it halts
+HALT_TOPIC = 'jog_server/halted'
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('pytest', anonymous=True)
+
+
+class CartesianJogCmd(object):
+    def __init__(self):
+        self._pub = rospy.Publisher(
+            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=1
+        )
+
+    def send_cmd(self, linear, angular):
+        ts = TwistStamped()
+        ts.header.stamp = rospy.Time.now()
+        ts.twist.linear.x, ts.twist.linear.y, ts.twist.linear.z = linear
+        ts.twist.angular.x, ts.twist.angular.y, ts.twist.angular.z = angular
+        self._pub.publish(ts)
+
+
+def test_jog_arm_halt_msg(node):
+    sub = rospy.Subscriber(
+        HALT_TOPIC, Bool, lambda msg: received.append(msg)
+    )
+    cartesian_cmd = CartesianJogCmd()
+    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
+    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
+
+    # This nonzero command should produce jogging output
+    # A subscriber in a different thread fills `received`
+    TEST_DURATION = 1
+    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
+    received = []
+    rospy.sleep(TEST_DURATION)
+
+    # Check the received messages
+    assert len(received) > 1
+    assert received[-1].data == True
+
+
+if __name__ == '__main__':
+   node = node()
+   test_jog_arm_halt_msg(node)
diff --git a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
similarity index 95%
rename from moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
rename to moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
index 3c901e0b64..e5cea2f0d4 100755
--- a/moveit_experimental/moveit_jog_arm/test/integration/test_jog_arm_integration.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
@@ -8,6 +8,7 @@
 from control_msgs.msg import JointJog
 from trajectory_msgs.msg import JointTrajectory
 
+# Test that the jogger publishes controller commands when it receives Cartesian or joint commands.
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_jog_arm test_jog_arm_integration.py
 
@@ -51,7 +52,7 @@ def send_cmd(self, linear, angular):
         self._pub.publish(ts)
 
 
-def test_jog_arm_trajectory_generated_when_jog_command_is_received(node):
+def test_jog_arm_cartesian_command(node):
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
@@ -108,5 +109,5 @@ def test_jog_arm_joint_command(node):
 
 if __name__ == '__main__':
    node = node()
-   test_jog_arm_trajectory_generated_when_jog_command_is_received(node)
+   test_jog_arm_cartesian_command(node)
    test_jog_arm_joint_command(node)

From cf5899e87d2190aae5354e7b6d10284cf8cfa054 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 5 Feb 2020 09:47:37 -0700
Subject: [PATCH 180/612] Improve pull request template with hyperlinks (#1879)

---
 .github/PULL_REQUEST_TEMPLATE.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index e653cc1ef4..fbd1d34b45 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -5,8 +5,8 @@ Please explain the changes you made, including a reference to the related issue
 ### Checklist
 - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
 - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/)
-- [ ] Document API changes relevant to the user in the MIGRATION.md notes
-- [ ] Create tests, which fail without this PR [reference](https://ros-planning.github.io/moveit_tutorials/)
+- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit/blob/master/MIGRATION.md) notes
+- [ ] Create tests, which fail without this PR [reference](https://ros-planning.github.io/moveit_tutorials/doc/tests/tests_tutorial.html)
 - [ ] Include a screenshot if changing a GUI
 - [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers
 

From b36d5144f4257090470dc167212ccbcde905b82c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 5 Feb 2020 17:48:20 +0100
Subject: [PATCH 181/612] Fix spurious warning message (# IK attempts) (#1876)

---
 .../kinematics_plugin_loader/src/kinematics_plugin_loader.cpp  | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
index 6756b71f90..2f1e24d15b 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
+++ b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -346,7 +346,8 @@ robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const s
 
           // TODO: Remove in future release (deprecated in PR #1288, Jan-2019, Melodic)
           std::string ksolver_attempts_param_name;
-          if (nh.searchParam(base_param_name + "/kinematics_solver_attempts", ksolver_attempts_param_name))
+          if (nh.searchParam(base_param_name + "/kinematics_solver_attempts", ksolver_attempts_param_name) &&
+              nh.hasParam(ksolver_attempts_param_name))
           {
             ROS_WARN_ONCE_NAMED(LOGNAME, "Kinematics solver doesn't support #attempts anymore, but only a timeout.\n"
                                          "Please remove the parameter '%s' from your configuration.",

From 75b79108fd0587d6388a4b10cb960dc8092bde69 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 5 Feb 2020 12:04:28 -0600
Subject: [PATCH 182/612] Always provide the end effector transform, not just
 while robot is jogging

Delete a redundant transform variable

Add an isInitialized() function

Add a method to temporarily pause message publication

Use ros::Rate instead of constant sleeps in while loops

Check for an uninitialized transform
---
 .../include/moveit_jog_arm/jog_arm_data.h     |   2 -
 .../include/moveit_jog_arm/jog_calcs.h        |  38 ++-
 .../moveit_jog_arm/jog_cpp_interface.h        |  11 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 309 ++++++++----------
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  |  20 +-
 .../test_jog_arm_msg_reception.py             |   6 +-
 6 files changed, 186 insertions(+), 200 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 0e21bd74ac..a37818d44c 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -48,8 +48,6 @@
 
 namespace moveit_jog_arm
 {
-static const double WHILE_LOOP_WAIT = 0.001;
-
 // Variables to share between threads, and their mutexes
 struct JogArmShared
 {
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 7a65867b31..54304dd177 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -56,11 +56,24 @@ class JogCalcs
 
   void stopMainLoop();
 
+  void haltOutgoingJogCmds();
+
+  /** \brief Check if the robot state is being updated and the end effector transform is known
+   *  @return true if initialized properly
+   */
+  bool isInitialized();
+
 protected:
   ros::NodeHandle nh_;
 
   // Loop termination flag
-  std::atomic<bool> stop_requested_;
+  std::atomic<bool> stop_jog_loop_requested_;
+
+  // Flag that outgoing commands to the robot should not be published
+  std::atomic<bool> halt_outgoing_jog_cmds_;
+
+  // Flag that robot state is up to date, end effector transform is known
+  std::atomic<bool> is_initialized_;
 
   sensor_msgs::JointState incoming_joints_;
 
@@ -69,7 +82,7 @@ class JogCalcs
   bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
 
   // Parse the incoming joint msg for the joints of our MoveGroup
-  bool updateJoints();
+  bool updateJoints(std::mutex& mutex, const JogArmShared& shared_variables);
 
   Eigen::VectorXd scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const;
 
@@ -77,9 +90,6 @@ class JogCalcs
 
   bool addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const;
 
-  // Reset the data stored in low-pass filters so the trajectory won't jump when jogging is resumed.
-  void resetVelocityFilters();
-
   // Suddenly halt for a joint limit or other critical issue.
   // Is handled differently for position vs. velocity control.
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
@@ -98,20 +108,23 @@ class JogCalcs
    * Slow motion down if close to singularity or collision.
    * @param shared_variables data shared between threads, tells how close we are to collision
    * @param mutex locks shared data
-   * @param new_joint_traj store the motion in the first waypoint of this trajectory
    * @param delta_theta motion command, used in calculating new_joint_tray
    * @param singularity_scale tells how close we are to a singularity
    * @return false if very close to collision or singularity
    */
-  bool applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
-                            trajectory_msgs::JointTrajectory& new_joint_traj, const Eigen::VectorXd& delta_theta,
+  void applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex, Eigen::ArrayXd& delta_theta,
                             double singularity_scale);
 
-  trajectory_msgs::JointTrajectory composeOutgoingMessage(sensor_msgs::JointState& joint_state) const;
+  trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
 
-  void lowPassFilterVelocities(const Eigen::VectorXd& joint_vel);
+  void lowPassFilterPositions(sensor_msgs::JointState& joint_state);
 
-  void lowPassFilterPositions();
+  void calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta);
+
+  /** \brief Convert joint deltas to an outgoing JointTrajectory command.
+    * This happens for joint commands and Cartesian commands.
+    */
+  bool convertDeltasToOutgoingCmd();
 
   void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const;
 
@@ -123,7 +136,6 @@ class JogCalcs
   std::map<std::string, std::size_t> joint_state_name_map_;
   trajectory_msgs::JointTrajectory outgoing_command_;
 
-  std::vector<LowPassFilter> velocity_filters_;
   std::vector<LowPassFilter> position_filters_;
 
   ros::Publisher warning_pub_;
@@ -141,5 +153,7 @@ class JogCalcs
   const int gazebo_redundant_message_count_ = 30;
 
   uint num_joints_;
+
+  ros::Rate default_sleep_rate_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index e9a070e178..0fb1568ce9 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -69,9 +69,14 @@ class JogCppApi : protected JogInterfaceBase
   // May eliminate the need to create your own joint_state subscriber.
   sensor_msgs::JointState getJointState();
 
-  // Get planning link transform.
-  // The transform from the MoveIt planning frame to robot_link_command_frame
-  Eigen::Isometry3d getCommandFrameTransform();
+  /**
+   * Get the MoveIt planning link transform.
+   * The transform from the MoveIt planning frame to robot_link_command_frame
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
 private:
   ros::NodeHandle nh_;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index bcb8675fbe..63b12042da 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -45,7 +45,7 @@ namespace moveit_jog_arm
 {
 // Constructor for the class that handles jogging calculations
 JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
-  : parameters_(parameters)
+  : parameters_(parameters), default_sleep_rate_(1000)
 {
   // Publish collision status
   warning_pub_ = nh_.advertise<std_msgs::Bool>(parameters_.warning_topic, 1);
@@ -54,7 +54,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
   while (ros::ok() && !model_loader_ptr)
   {
     ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
-    ros::Duration(WHILE_LOOP_WAIT).sleep();
+    default_sleep_rate_.sleep();
   }
   const robot_model::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
   kinematic_state_ = std::make_shared<robot_state::RobotState>(kinematic_model);
@@ -65,8 +65,10 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
 
 void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
 {
-  // Reset loop termination flag
-  stop_requested_ = false;
+  // Reset flags
+  stop_jog_loop_requested_ = false;
+  halt_outgoing_jog_cmds_ = false;
+  is_initialized_ = false;
 
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
@@ -87,33 +89,56 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
   // Low-pass filters for the joint positions & velocities
   for (size_t i = 0; i < num_joints_; ++i)
   {
-    velocity_filters_.emplace_back(parameters_.low_pass_filter_coeff);
     position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
   }
 
   // Initialize the position filters to initial robot joints
-  while (!updateJoints() && ros::ok() && !stop_requested_)
+  while (!updateJoints(mutex, shared_variables) && ros::ok())
   {
+    if (stop_jog_loop_requested_)
+      return;
+
     mutex.lock();
     incoming_joints_ = shared_variables.joints;
     mutex.unlock();
-    ros::Duration(WHILE_LOOP_WAIT).sleep();
+    default_sleep_rate_.sleep();
   }
-  for (std::size_t i = 0; i < num_joints_; ++i)
-    position_filters_[i].reset(joint_state_.position[i]);
+
+  is_initialized_ = true;
 
   // Wait for the first jogging cmd.
   // Store it in a class member for further calcs, then free up the shared variable again.
   geometry_msgs::TwistStamped cartesian_deltas;
   control_msgs::JointJog joint_deltas;
-  while (ros::ok() && !stop_requested_ && (cartesian_deltas.header.stamp == ros::Time(0.)) &&
-         (joint_deltas.header.stamp == ros::Time(0.)))
+  while (ros::ok() && (cartesian_deltas.header.stamp == ros::Time(0.)) && (joint_deltas.header.stamp == ros::Time(0.)))
   {
-    ros::Duration(WHILE_LOOP_WAIT).sleep();
+    if (stop_jog_loop_requested_)
+      return;
+
+    default_sleep_rate_.sleep();
 
+    // Ensure the low-pass filter matches reality
+    for (std::size_t i = 0; i < num_joints_; ++i)
+      position_filters_[i].reset(joint_state_.position[i]);
+
+    //  Check for a new command
     mutex.lock();
     cartesian_deltas = shared_variables.command_deltas;
     joint_deltas = shared_variables.joint_command_deltas;
+    incoming_joints_ = shared_variables.joints;
+    mutex.unlock();
+
+    kinematic_state_->setVariableValues(joint_state_);
+
+    // Always update the end-effector transform in case the getCommandFrameTransform() method is being used
+    // Get the transform from MoveIt planning frame to jogging command frame
+    // We solve (planning_frame -> base -> robot_link_command_frame)
+    // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
+    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                              kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+
+    mutex.lock();
+    shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     mutex.unlock();
   }
 
@@ -124,25 +149,16 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
   ros::Rate loop_rate(1. / parameters_.publish_period);
 
   // Now do jogging calcs
-  while (ros::ok() && !stop_requested_)
+  while (ros::ok() && !stop_jog_loop_requested_)
   {
-    // Flag that incoming commands are all zero. May be used to skip calculations/publication
-    mutex.lock();
-    bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
-    bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
-    mutex.unlock();
-
-    if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
-      // Reset low-pass filters
-      resetVelocityFilters();
-
-    // Pull data from the shared variables.
-    mutex.lock();
-    incoming_joints_ = shared_variables.joints;
-    mutex.unlock();
-
+    // Always update the joints and end-effector transform for 2 reasons:
+    // 1) in case the getCommandFrameTransform() method is being used
+    // 2) so the low-pass filters are up to date and don't cause a jump
+    while (!updateJoints(mutex, shared_variables) && ros::ok())
+    {
+      default_sleep_rate_.sleep();
+    }
     kinematic_state_->setVariableValues(joint_state_);
-    original_joint_state_ = joint_state_;
 
     // Get the transform from MoveIt planning frame to jogging command frame
     // We solve (planning_frame -> base -> robot_link_command_frame)
@@ -153,57 +169,61 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     mutex.unlock();
 
-    // Initialize the position filters to initial robot joints
-    while (!updateJoints() && ros::ok() && !stop_requested_)
+    // If paused, just keep the low-pass filters up to date with current joints so a jump doesn't occur when
+    // restarting
+    if (halt_outgoing_jog_cmds_)
     {
-      mutex.lock();
-      incoming_joints_ = shared_variables.joints;
-      mutex.unlock();
-      ros::Duration(WHILE_LOOP_WAIT).sleep();
+      for (std::size_t i = 0; i < num_joints_; ++i)
+        position_filters_[i].reset(joint_state_.position[i]);
     }
-
-    // Prioritize cartesian jogging above joint jogging
-    if (!zero_cartesian_cmd_flag)
+    // Do jogging calculations only if the robot should move, for efficiency
+    else
     {
+      // Flag that incoming commands are all zero. May be used to skip calculations/publication
       mutex.lock();
-      cartesian_deltas = shared_variables.command_deltas;
+      bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
+      bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
       mutex.unlock();
 
-      if (!cartesianJogCalcs(cartesian_deltas, shared_variables, mutex))
-        continue;
-    }
-    else if (!zero_joint_cmd_flag)
-    {
-      mutex.lock();
-      joint_deltas = shared_variables.joint_command_deltas;
-      mutex.unlock();
+      // Prioritize cartesian jogging above joint jogging
+      if (!zero_cartesian_cmd_flag)
+      {
+        mutex.lock();
+        cartesian_deltas = shared_variables.command_deltas;
+        mutex.unlock();
 
-      if (!jointJogCalcs(joint_deltas, shared_variables))
-        continue;
-    }
-    else
-    {
-      original_joint_state_ = joint_state_;
-      outgoing_command_ = composeOutgoingMessage(joint_state_);
-    }
+        if (!cartesianJogCalcs(cartesian_deltas, shared_variables, mutex))
+          continue;
+      }
+      else if (!zero_joint_cmd_flag)
+      {
+        mutex.lock();
+        joint_deltas = shared_variables.joint_command_deltas;
+        mutex.unlock();
 
-    // Halt if the command is stale or inputs are all zero, or commands were zero
-    mutex.lock();
-    bool stale_command = shared_variables.command_is_stale;
-    mutex.unlock();
+        if (!jointJogCalcs(joint_deltas, shared_variables))
+          continue;
+      }
+      else
+      {
+        outgoing_command_ = composeJointTrajMessage(joint_state_);
+      }
 
-    if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
-    {
-      suddenHalt(outgoing_command_);
-      zero_cartesian_cmd_flag = true;
-      zero_joint_cmd_flag = true;
-    }
+      // Halt if the command is stale or inputs are all zero, or commands were zero
+      mutex.lock();
+      bool stale_command = shared_variables.command_is_stale;
+      mutex.unlock();
 
-    bool valid_nonzero_command = !zero_cartesian_cmd_flag || !zero_joint_cmd_flag;
+      if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
+      {
+        suddenHalt(outgoing_command_);
+        zero_cartesian_cmd_flag = true;
+        zero_joint_cmd_flag = true;
+      }
 
-    // Send the newest target joints
-    if (!outgoing_command_.joint_names.empty())
-    {
+      bool valid_nonzero_command = !zero_cartesian_cmd_flag || !zero_joint_cmd_flag;
+
+      // Send the newest target joints
       mutex.lock();
       // If everything normal, share the new traj to be published
       if (valid_nonzero_command)
@@ -217,8 +237,6 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
                (zero_velocity_count > parameters_.num_outgoing_halt_msgs_to_publish))
       {
         shared_variables.ok_to_publish = false;
-        // Reset the velocity filters so robot doesn't jump when commands resume
-        resetVelocityFilters();
       }
       // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
       else
@@ -233,7 +251,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
       {
         // Avoid overflow
-        if (zero_velocity_count < INT_MAX)
+        if (zero_velocity_count < std::numeric_limits<int>::max())
           ++zero_velocity_count;
       }
       else
@@ -246,7 +264,17 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
 
 void JogCalcs::stopMainLoop()
 {
-  stop_requested_ = true;
+  stop_jog_loop_requested_ = true;
+}
+
+void JogCalcs::haltOutgoingJogCmds()
+{
+  halt_outgoing_jog_cmds_ = true;
+}
+
+bool JogCalcs::isInitialized()
+{
+  return is_initialized_;
 }
 
 // Perform the jogging calculations
@@ -277,14 +305,8 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
     Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
 
-    // We solve (planning_frame -> base -> cmd.header.frame_id)
-    // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
-    const auto tf_planning_to_cmd_frame =
-        kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-        kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
-
-    translation_vector = tf_planning_to_cmd_frame.linear() * translation_vector;
-    angular_vector = tf_planning_to_cmd_frame.linear() * angular_vector;
+    translation_vector = tf_moveit_to_cmd_frame_.linear() * translation_vector;
+    angular_vector = tf_moveit_to_cmd_frame_.linear() * angular_vector;
 
     // Put these components back into a TwistStamped
     cmd.header.frame_id = parameters_.planning_frame;
@@ -305,40 +327,10 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   pseudo_inverse_ = svd_.matrixV() * matrix_s_.inverse() * svd_.matrixU().transpose();
   delta_theta_ = pseudo_inverse_ * delta_x;
 
-  if (!addJointIncrements(joint_state_, delta_theta_))
-    return false;
-
-  // Include a velocity estimate for velocity-controlled robots
-  Eigen::VectorXd joint_vel(delta_theta_ / parameters_.publish_period);
-
-  lowPassFilterVelocities(joint_vel);
-  lowPassFilterPositions();
-
-  outgoing_command_ = composeOutgoingMessage(joint_state_);
-
-  // If close to a collision or a singularity, decelerate and publish a warning
-  if (!applyVelocityScaling(shared_variables, mutex, outgoing_command_, delta_theta_,
-                            decelerateForSingularity(delta_x, svd_)))
-  {
-    suddenHalt(outgoing_command_);
-    publishWarning(true);
-  }
-  // If a joint limit would be exceeded, halt and publish a warning
-  else if (!enforceSRDFJointBounds(outgoing_command_))
-  {
-    suddenHalt(outgoing_command_);
-    publishWarning(true);
-  }
-  else
-    publishWarning(false);
-
-  // If using Gazebo simulator, insert redundant points
-  if (parameters_.use_gazebo)
-  {
-    insertRedundantPointsIntoTrajectory(outgoing_command_, gazebo_redundant_message_count_);
-  }
+  // If close to a collision or a singularity, decelerate
+  applyVelocityScaling(shared_variables, mutex, delta_theta_, decelerateForSingularity(delta_x, svd_));
 
-  return true;
+  return convertDeltasToOutgoingCmd();
 }
 
 bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*shared_variables*/)
@@ -354,24 +346,24 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   }
 
   // Apply user-defined scaling
-  Eigen::ArrayXd delta = scaleJointCommand(cmd);
+  delta_theta_ = scaleJointCommand(cmd);
 
   kinematic_state_->setVariableValues(joint_state_);
-  original_joint_state_ = joint_state_;
 
-  if (!addJointIncrements(joint_state_, delta))
-    return false;
+  return convertDeltasToOutgoingCmd();
+}
 
-  // Include a velocity estimate for velocity-controlled robots
-  Eigen::VectorXd joint_vel(delta / parameters_.publish_period);
+bool JogCalcs::convertDeltasToOutgoingCmd()
+{
+  if (!addJointIncrements(joint_state_, delta_theta_))
+    return false;
 
-  lowPassFilterVelocities(joint_vel);
-  lowPassFilterPositions();
+  lowPassFilterPositions(joint_state_);
 
-  // update joint state with new values
-  kinematic_state_->setVariableValues(joint_state_);
+  // Calculate joint velocities here so that positions are filtered and SRDF bounds still get checked
+  calculateJointVelocities(joint_state_, delta_theta_);
 
-  outgoing_command_ = composeOutgoingMessage(joint_state_);
+  outgoing_command_ = composeJointTrajMessage(joint_state_);
 
   if (!enforceSRDFJointBounds(outgoing_command_))
   {
@@ -406,38 +398,23 @@ void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTraject
   }
 }
 
-void JogCalcs::lowPassFilterPositions()
+void JogCalcs::lowPassFilterPositions(sensor_msgs::JointState& joint_state)
 {
-  for (size_t i = 0; i < num_joints_; ++i)
+  for (size_t i = 0; i < position_filters_.size(); ++i)
   {
-    joint_state_.position[i] = position_filters_[i].filter(joint_state_.position[i]);
-
-    // Check for nan's
-    if (std::isnan(joint_state_.position[i]))
-    {
-      joint_state_.position[i] = original_joint_state_.position[i];
-      joint_state_.velocity[i] = 0.;
-    }
+    joint_state.position[i] = position_filters_[i].filter(joint_state.position[i]);
   }
 }
 
-void JogCalcs::lowPassFilterVelocities(const Eigen::VectorXd& joint_vel)
+void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta)
 {
-  for (size_t i = 0; i < num_joints_; ++i)
+  for (int i = 0; i < delta_theta.size(); ++i)
   {
-    joint_state_.velocity[i] = velocity_filters_[i].filter(joint_vel[static_cast<long>(i)]);
-
-    // Check for nan's
-    if (std::isnan(joint_state_.velocity[static_cast<long>(i)]))
-    {
-      joint_state_.position[i] = original_joint_state_.position[i];
-      joint_state_.velocity[i] = 0.;
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "nan in velocity filter");
-    }
+    joint_state.velocity[i] = delta_theta[i] / parameters_.publish_period;
   }
 }
 
-trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::JointState& joint_state) const
+trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::JointState& joint_state) const
 {
   trajectory_msgs::JointTrajectory new_joint_traj;
   new_joint_traj.header.frame_id = parameters_.planning_frame;
@@ -465,30 +442,14 @@ trajectory_msgs::JointTrajectory JogCalcs::composeOutgoingMessage(sensor_msgs::J
 
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
-// Key equation: new_velocity = collision_scale*singularity_scale*previous_velocity
-bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, std::mutex& mutex,
-                                    trajectory_msgs::JointTrajectory& new_joint_traj,
-                                    const Eigen::VectorXd& delta_theta, double singularity_scale)
+void JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex,
+                                    Eigen::ArrayXd& delta_theta, double singularity_scale)
 {
   mutex.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
   mutex.unlock();
 
-  for (size_t i = 0; i < num_joints_; ++i)
-  {
-    if (parameters_.publish_joint_positions)
-    {
-      // If close to a singularity or joint limit, undo any change to the joint angles
-      new_joint_traj.points[0].positions[i] =
-          new_joint_traj.points[0].positions[i] -
-          (1. - singularity_scale * collision_scale) * delta_theta[static_cast<long>(i)];
-    }
-    if (parameters_.publish_joint_velocities)
-      new_joint_traj.points[0].velocities[i] *= singularity_scale * collision_scale;
-  }
-
-  // Heuristic: flag that we are stuck if velocity scaling is < X%
-  return collision_scale * singularity_scale >= 0.1;
+  delta_theta = collision_scale * singularity_scale * delta_theta;
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
@@ -649,16 +610,13 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
   }
 }
 
-// Reset the data stored in filters so the trajectory won't jump when jogging is resumed.
-void JogCalcs::resetVelocityFilters()
-{
-  for (std::size_t i = 0; i < num_joints_; ++i)
-    velocity_filters_[i].reset(0);  // Zero velocity
-}
-
 // Parse the incoming joint msg for the joints of our MoveGroup
-bool JogCalcs::updateJoints()
+bool JogCalcs::updateJoints(std::mutex& mutex, const JogArmShared& shared_variables)
 {
+  mutex.lock();
+  incoming_joints_ = shared_variables.joints;
+  mutex.unlock();
+
   // Check that the msg contains enough joints
   if (incoming_joints_.name.size() < num_joints_)
     return false;
@@ -680,6 +638,9 @@ bool JogCalcs::updateJoints()
     joint_state_.position[c] = incoming_joints_.position[m];
   }
 
+  // Cache the original joints in case they need to be reset
+  original_joint_state_ = joint_state_;
+
   return true;
 }
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 71f6aeb39c..bb6e15ad12 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -146,7 +146,6 @@ void JogCppApi::startMainLoop()
     main_rate.sleep();
   }
 
-  ROS_ERROR("Stopping main loop");
   stopJogCalcThread();
   stopCollisionCheckThread();
 }
@@ -213,12 +212,21 @@ sensor_msgs::JointState JogCppApi::getJointState()
   return current_joints;
 }
 
-Eigen::Isometry3d JogCppApi::getCommandFrameTransform()
+bool JogCppApi::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  shared_variables_mutex_.lock();
-  Eigen::Isometry3d tf_moveit_to_cmd_frame = shared_variables_.tf_moveit_to_cmd_frame;
-  shared_variables_mutex_.unlock();
+  if (jog_calcs_->isInitialized())
+  {
+    shared_variables_mutex_.lock();
+    transform = shared_variables_.tf_moveit_to_cmd_frame;
+    shared_variables_mutex_.unlock();
+
+    // All zeros means the transform wasn't initialized, so return false
+    if (transform.matrix().isZero(0))
+      return false;
+  }
+  else
+    return false;
 
-  return tf_moveit_to_cmd_frame;
+  return true;
 }
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
index e5cea2f0d4..c80109ffa2 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
@@ -68,7 +68,7 @@ def test_jog_arm_cartesian_command(node):
     cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
     received = []
     rospy.sleep(1)
-    assert len(received) <= 2 # 2 is 'num_outgoing_halt_msgs_to_publish' in the config file
+    assert len(received) <= 4 # 'num_outgoing_halt_msgs_to_publish' in the config file
 
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
@@ -103,8 +103,8 @@ def test_jog_arm_joint_command(node):
     rospy.sleep(TEST_DURATION)
     # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
     # Allow a small +/- window due to rounding/timing errors
-    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 5
-    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 5
+    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 20
+    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 20
 
 
 if __name__ == '__main__':

From 83728716e0c754e841fa629d477006ed6e8c8434 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 5 Feb 2020 13:00:34 -0600
Subject: [PATCH 183/612] Fix the publishWarning() functionality

---
 .../include/moveit_jog_arm/jog_calcs.h        |  5 ++++-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 20 ++++++++++++-------
 2 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 54304dd177..d6d7cf5e54 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -112,7 +112,7 @@ class JogCalcs
    * @param singularity_scale tells how close we are to a singularity
    * @return false if very close to collision or singularity
    */
-  void applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex, Eigen::ArrayXd& delta_theta,
+  bool applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex, Eigen::ArrayXd& delta_theta,
                             double singularity_scale);
 
   trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
@@ -140,6 +140,9 @@ class JogCalcs
 
   ros::Publisher warning_pub_;
 
+  // Flag that a warning should be published
+  bool has_warning_ = false;
+
   JogArmParameters parameters_;
 
   // For jacobian calculations
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 63b12042da..4913864ceb 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -328,7 +328,11 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   delta_theta_ = pseudo_inverse_ * delta_x;
 
   // If close to a collision or a singularity, decelerate
-  applyVelocityScaling(shared_variables, mutex, delta_theta_, decelerateForSingularity(delta_x, svd_));
+  if (!applyVelocityScaling(shared_variables, mutex, delta_theta_, decelerateForSingularity(delta_x, svd_)))
+  {
+    has_warning_ = true;
+    suddenHalt(outgoing_command_);
+  }
 
   return convertDeltasToOutgoingCmd();
 }
@@ -368,13 +372,12 @@ bool JogCalcs::convertDeltasToOutgoingCmd()
   if (!enforceSRDFJointBounds(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
-    publishWarning(true);
-  }
-  else
-  {
-    publishWarning(false);
+    has_warning_ = true;
   }
 
+  publishWarning(has_warning_);
+  has_warning_ = false;
+
   // done with calculations
   if (parameters_.use_gazebo)
   {
@@ -442,7 +445,7 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
 
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
-void JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex,
+bool JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex,
                                     Eigen::ArrayXd& delta_theta, double singularity_scale)
 {
   mutex.lock();
@@ -450,6 +453,9 @@ void JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::m
   mutex.unlock();
 
   delta_theta = collision_scale * singularity_scale * delta_theta;
+
+  // Heuristic: flag that we are stuck if velocity scaling is < X%
+  return collision_scale * singularity_scale >= 0.1;
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion

From f6308f405d40a61b1df0126a9bbcc5e238b8efaa Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 5 Feb 2020 19:57:08 +0100
Subject: [PATCH 184/612] Fixup: Use CMAKE_CXX_STANDARD to enforce c++14 for
 portability (#1607)

set(CMAKE_CXX_STANDARD_REQUIRED ON)
---
 moveit/CMakeLists.txt                                       | 2 +-
 moveit_core/CMakeLists.txt                                  | 1 +
 moveit_experimental/moveit_jog_arm/CMakeLists.txt           | 2 +-
 moveit_kinematics/CMakeLists.txt                            | 1 +
 .../ikfast_kinematics_plugin/templates/CMakeLists.txt       | 1 +
 moveit_planners/chomp/chomp_interface/CMakeLists.txt        | 1 +
 moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt   | 1 +
 .../chomp/chomp_optimizer_adapter/CMakeLists.txt            | 1 +
 moveit_planners/moveit_planners/CMakeLists.txt              | 2 +-
 moveit_planners/ompl/CMakeLists.txt                         | 1 +
 moveit_planners/trajopt/CMakeLists.txt                      | 6 ++++--
 .../moveit_fake_controller_manager/CMakeLists.txt           | 1 +
 moveit_plugins/moveit_plugins/CMakeLists.txt                | 2 +-
 moveit_plugins/moveit_ros_control_interface/CMakeLists.txt  | 1 +
 .../moveit_simple_controller_manager/CMakeLists.txt         | 1 +
 moveit_ros/benchmarks/CMakeLists.txt                        | 1 +
 moveit_ros/manipulation/CMakeLists.txt                      | 1 +
 moveit_ros/move_group/CMakeLists.txt                        | 1 +
 moveit_ros/moveit_ros/CMakeLists.txt                        | 2 +-
 moveit_ros/occupancy_map_monitor/CMakeLists.txt             | 1 +
 moveit_ros/perception/CMakeLists.txt                        | 1 +
 moveit_ros/planning/CMakeLists.txt                          | 1 +
 moveit_ros/planning_interface/CMakeLists.txt                | 1 +
 moveit_ros/robot_interaction/CMakeLists.txt                 | 1 +
 moveit_ros/visualization/CMakeLists.txt                     | 1 +
 moveit_ros/warehouse/CMakeLists.txt                         | 1 +
 moveit_runtime/CMakeLists.txt                               | 2 +-
 moveit_setup_assistant/CMakeLists.txt                       | 1 +
 28 files changed, 31 insertions(+), 8 deletions(-)

diff --git a/moveit/CMakeLists.txt b/moveit/CMakeLists.txt
index 9d8f3239d4..9acc0a9b9e 100644
--- a/moveit/CMakeLists.txt
+++ b/moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 5f1ff12c85..4dd4e6be27 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_core)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Warnings
diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 8bff931ad1..f83181ee73 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_jog_arm)
 
 set(CMAKE_CXX_STANDARD 14)
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 9383ecfb6c..b422c10827 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_kinematics)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index e4020ed280..f1ca31f341 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(_PACKAGE_NAME_)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
index a811145448..1c64f232e5 100644
--- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_chomp)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # find catkin in isolation so that CATKIN_ENABLE_TESTING is defined
diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
index d02a10255a..cd3e7a29b0 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(chomp_motion_planner)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
index 0e69e70585..fd4f0bdd5a 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_chomp_optimizer_adapter)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/moveit_planners/moveit_planners/CMakeLists.txt b/moveit_planners/moveit_planners/CMakeLists.txt
index e6e2b34540..753bb7b4d9 100644
--- a/moveit_planners/moveit_planners/CMakeLists.txt
+++ b/moveit_planners/moveit_planners/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 677f51f1d4..9edbe70b8d 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -3,6 +3,7 @@ project(moveit_planners_ompl)
 
 # At least C++11 required for OMPL
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/CMakeLists.txt
index f93e000d34..ad66fd900c 100644
--- a/moveit_planners/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/CMakeLists.txt
@@ -1,7 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_trajopt)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index 7a24177c77..7102c1ec77 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_fake_controller_manager)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_plugins/moveit_plugins/CMakeLists.txt b/moveit_plugins/moveit_plugins/CMakeLists.txt
index 03c972ba5f..9afdc1d9d8 100644
--- a/moveit_plugins/moveit_plugins/CMakeLists.txt
+++ b/moveit_plugins/moveit_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_plugins)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index c590d3de6d..5b310439ed 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_control_interface)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index 48c02ea8b5..db6dec30d5 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_simple_controller_manager)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index b3cd004a94..1a84d206de 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -4,6 +4,7 @@ project(moveit_ros_benchmarks)
 set(MOVEIT_LIB_NAME moveit_ros_benchmarks)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
index 7173cbb2cc..efab60effe 100644
--- a/moveit_ros/manipulation/CMakeLists.txt
+++ b/moveit_ros/manipulation/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_manipulation)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index a3f4015b0d..5775f3b07b 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_move_group)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/moveit_ros/CMakeLists.txt b/moveit_ros/moveit_ros/CMakeLists.txt
index 75cf534418..5425d0c2e5 100644
--- a/moveit_ros/moveit_ros/CMakeLists.txt
+++ b/moveit_ros/moveit_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index bdb0bae0f1..290a0525ed 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -3,6 +3,7 @@ project(moveit_ros_occupancy_map_monitor)
 set(MOVEIT_LIB_NAME ${PROJECT_NAME})
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 9e203bf937..fe26aadc4b 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_perception)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 option(WITH_OPENGL "Build the parts that depend on OpenGL" ON)
diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index b3833b5447..c61c9cb6f6 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 0eb0f40575..57942ccdf8 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning_interface)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index d18735a809..1c05eee701 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_robot_interaction)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index ba60500eb6..572ef94865 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_visualization)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
index 9efe441920..7441199a93 100644
--- a/moveit_ros/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_warehouse)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
diff --git a/moveit_runtime/CMakeLists.txt b/moveit_runtime/CMakeLists.txt
index 18700d6157..0224cde26c 100644
--- a/moveit_runtime/CMakeLists.txt
+++ b/moveit_runtime/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(moveit_runtime)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index e70d73f585..5fe318ad31 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_setup_assistant)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")

From 45346d60b9534a32f6479378954caa031567133f Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Fri, 7 Feb 2020 01:29:18 -0800
Subject: [PATCH 185/612] Fix various build issues on Windows (#1880)

---
 moveit_core/CMakeLists.txt                       | 16 +++++++++++-----
 moveit_core/kinematics_base/CMakeLists.txt       |  9 ++++++---
 moveit_kinematics/test/CMakeLists.txt            |  4 +++-
 moveit_ros/perception/mesh_filter/CMakeLists.txt |  2 +-
 4 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 4dd4e6be27..f8b6bf2984 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -5,10 +5,12 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-# Warnings
-add_compile_options(-Wall -Wextra
-  -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wcast-qual
-  -Wno-unused-parameter -Wno-unused-function)
+if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  # Enable warnings
+  add_compile_options(-Wall -Wextra
+    -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wcast-qual
+    -Wno-unused-parameter -Wno-unused-function)
+endif()
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # This too often has false-positives
   add_compile_options(-Wno-maybe-uninitialized)
@@ -20,7 +22,11 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-find_package(Boost REQUIRED system filesystem date_time thread iostreams)
+# boost::iostreams on Windows depends on boost::zlib
+if(WIN32)
+  set(EXTRA_BOOST_COMPONENTS zlib)
+endif()
+find_package(Boost REQUIRED system filesystem date_time thread iostreams ${EXTRA_BOOST_COMPONENTS})
 find_package(Eigen3 REQUIRED)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
diff --git a/moveit_core/kinematics_base/CMakeLists.txt b/moveit_core/kinematics_base/CMakeLists.txt
index 2ec7a736f4..5e0931e401 100644
--- a/moveit_core/kinematics_base/CMakeLists.txt
+++ b/moveit_core/kinematics_base/CMakeLists.txt
@@ -2,9 +2,12 @@ set(MOVEIT_LIB_NAME moveit_kinematics_base)
 
 add_library(${MOVEIT_LIB_NAME} src/kinematics_base.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-# Avoid warnings about deprecated members of KinematicsBase when building KinematicsBase itself.
-# TODO: remove when deperecated variables (tip_frame_, search_discretization_) are finally removed.
-target_compile_options(${MOVEIT_LIB_NAME} PRIVATE -Wno-deprecated-declarations)
+
+if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  # Avoid warnings about deprecated members of KinematicsBase when building KinematicsBase itself.
+  # TODO: remove when deperecated variables (tip_frame_, search_discretization_) are finally removed.
+  target_compile_options(${MOVEIT_LIB_NAME} PRIVATE -Wno-deprecated-declarations)
+endif()
 
 # This line is needed to ensure that messages are done being built before this is built
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
diff --git a/moveit_kinematics/test/CMakeLists.txt b/moveit_kinematics/test/CMakeLists.txt
index be739327c6..dd05543291 100644
--- a/moveit_kinematics/test/CMakeLists.txt
+++ b/moveit_kinematics/test/CMakeLists.txt
@@ -8,7 +8,9 @@ if(CATKIN_ENABLE_TESTING)
 
   catkin_add_executable_with_gtest(test_kinematics_plugin test_kinematics_plugin.cpp)
   target_link_libraries(test_kinematics_plugin ${catkin_LIBRARIES} ${moveit_ros_planning_LIBRARIES} ${xmlrpcpp_LIBRARIES})
-  target_compile_options(test_kinematics_plugin PRIVATE -Wno-deprecated-declarations)
+  if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    target_compile_options(test_kinematics_plugin PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   set(DEPS DEPENDENCIES test_kinematics_plugin)
   set(ARGS ARGS ik_plugin:=kdl_kinematics_plugin/KDLKinematicsPlugin)
diff --git a/moveit_ros/perception/mesh_filter/CMakeLists.txt b/moveit_ros/perception/mesh_filter/CMakeLists.txt
index f08902a474..8d8a00743b 100644
--- a/moveit_ros/perception/mesh_filter/CMakeLists.txt
+++ b/moveit_ros/perception/mesh_filter/CMakeLists.txt
@@ -9,7 +9,7 @@ add_library(${MOVEIT_LIB_NAME}
   )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${gl_LIBS} glut GLEW)
+target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${gl_LIBS} GLUT::GLUT ${GLEW_LIBRARIES})
 
 if (CATKIN_ENABLE_TESTING)
   #catkin_lint: ignore_once env_var

From 500a236ffe551aac09b11779206209bf17a06048 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Fri, 7 Feb 2020 18:23:53 +0100
Subject: [PATCH 186/612] CurrentStateMonitor: Initialize velocity/effort with
 unset dynamics

---
 .../planning_scene_monitor/src/current_state_monitor.cpp      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
index 0f4dbe8f20..41d5cbc2bc 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
@@ -385,7 +385,7 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
       {
         // update joint velocities
         if (joint_state->name.size() == joint_state->velocity.size() &&
-            robot_state_.getJointVelocities(jm)[0] != joint_state->velocity[i])
+            (!robot_state_.hasVelocities() || robot_state_.getJointVelocities(jm)[0] != joint_state->velocity[i]))
         {
           update = true;
           robot_state_.setJointVelocities(jm, &(joint_state->velocity[i]));
@@ -393,7 +393,7 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
 
         // update joint efforts
         if (joint_state->name.size() == joint_state->effort.size() &&
-            robot_state_.getJointEffort(jm)[0] != joint_state->effort[i])
+            (!robot_state_.hasEffort() || robot_state_.getJointEffort(jm)[0] != joint_state->effort[i]))
         {
           update = true;
           robot_state_.setJointEfforts(jm, &(joint_state->effort[i]));

From ecec26d1b57aa3b8afc22044cd0837e5a13afe95 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 7 Feb 2020 23:02:39 +0100
Subject: [PATCH 187/612] fix RobotState::copyFrom()

Velocity and (acceleration or effort) each contribute one set of variables only.
---
 moveit_core/robot_state/src/robot_state.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 519df14dce..21fea88a78 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -144,9 +144,9 @@ void RobotState::copyFrom(const RobotState& other)
   if (dirty_link_transforms_ == robot_model_->getRootJoint())
   {
     // everything is dirty; no point in copying transforms; copy positions, potentially velocity & acceleration
-    memcpy(position_, other.position_, robot_model_->getVariableCount() * sizeof(double) *
-                                           (1 + ((has_velocity_ || has_acceleration_ || has_effort_) ? 1 : 0) +
-                                            ((has_acceleration_ || has_effort_) ? 1 : 0)));
+    memcpy(position_, other.position_,
+           robot_model_->getVariableCount() * sizeof(double) *
+               (1 + (has_velocity_ ? 1 : 0) + ((has_acceleration_ || has_effort_) ? 1 : 0)));
     // and just initialize transforms
     initTransforms();
   }

From bd85e7d78e3992b8671d3a1814bcd7eaee2ac076 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Thu, 13 Feb 2020 18:31:50 +0900
Subject: [PATCH 188/612] Add error message on failure to initialize occupancy
 map monitor (#1873)

Error when no sensors could be found.
---
 .../occupancy_map_monitor/src/occupancy_map_monitor.cpp     | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
index 482b317963..0cd6e75434 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -174,6 +174,8 @@ void OccupancyMapMonitor::initialize()
       ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
     }
   }
+  else
+    ROS_ERROR("Failed to find 3D sensor plugin parameters for octomap generation");
 
   /* advertise a service for loading octomaps from disk */
   save_map_srv_ = nh_.advertiseService("save_map", &OccupancyMapMonitor::saveMapCallback, this);
@@ -189,8 +191,8 @@ void OccupancyMapMonitor::addUpdater(const OccupancyMapUpdaterPtr& updater)
     if (map_updaters_.size() > 1)
     {
       mesh_handles_.resize(map_updaters_.size());
-      if (map_updaters_.size() ==
-          2)  // when we had one updater only, we passed direcly the transform cache callback to that updater
+      // when we had one updater only, we passed direcly the transform cache callback to that updater
+      if (map_updaters_.size() == 2)
       {
         map_updaters_[0]->setTransformCacheCallback(
             boost::bind(&OccupancyMapMonitor::getShapeTransformCache, this, 0, _1, _2, _3));

From b7767de73aeb728e0e7d1d1eb08aa5686e586f73 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Thu, 13 Feb 2020 21:16:41 +0900
Subject: [PATCH 189/612] NAMED logging for moveit_ros_perception (#1897)

---
 .../src/occupancy_map_monitor.cpp             | 51 +++++++++++--------
 .../src/occupancy_map_server.cpp              |  6 ++-
 .../src/occupancy_map_updater.cpp             |  4 +-
 .../src/depth_image_octomap_updater.cpp       | 34 +++++++------
 .../src/lazy_free_space_updater.cpp           | 31 ++++++-----
 .../src/shape_mask.cpp                        | 14 ++---
 .../src/pointcloud_octomap_updater.cpp        | 21 ++++----
 .../semantic_world/src/semantic_world.cpp     | 29 ++++++-----
 8 files changed, 107 insertions(+), 83 deletions(-)

diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
index 0cd6e75434..c87ee47189 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -43,6 +43,8 @@
 
 namespace occupancy_map_monitor
 {
+static const std::string LOGNAME = "occupancy_map_monitor";
+
 OccupancyMapMonitor::OccupancyMapMonitor(double map_resolution)
   : map_resolution_(map_resolution), debug_info_(false), mesh_handle_count_(0), nh_("~"), active_(false)
 {
@@ -77,21 +79,26 @@ void OccupancyMapMonitor::initialize()
 {
   /* load params from param server */
   if (map_resolution_ <= std::numeric_limits<double>::epsilon())
+  {
     if (!nh_.getParam("octomap_resolution", map_resolution_))
     {
       map_resolution_ = 0.1;
-      ROS_WARN("Resolution not specified for Octomap. Assuming resolution = %g instead", map_resolution_);
+      ROS_WARN_NAMED(LOGNAME, "Resolution not specified for Octomap. Assuming resolution = %g instead",
+                     map_resolution_);
     }
-  ROS_DEBUG("Using resolution = %lf m for building octomap", map_resolution_);
+  }
+  ROS_DEBUG_NAMED(LOGNAME, "Using resolution = %lf m for building octomap", map_resolution_);
 
   if (map_frame_.empty())
     if (!nh_.getParam("octomap_frame", map_frame_))
       if (tf_buffer_)
-        ROS_WARN("No target frame specified for Octomap. No transforms will be applied to received data.");
+        ROS_WARN_NAMED(LOGNAME, "No target frame specified for Octomap. "
+                                "No transforms will be applied to received data.");
 
   if (!tf_buffer_ && !map_frame_.empty())
-    ROS_WARN_STREAM("Target frame \"" << map_frame_ << "\" specified but no TF instance (buffer) specified. "
-                                                       "No transforms will be applied to received data.");
+    ROS_WARN_STREAM_NAMED(LOGNAME, "Target frame \"" << map_frame_
+                                                     << "\" specified but no TF instance (buffer) specified. "
+                                                        "No transforms will be applied to received data.");
 
   tree_.reset(new OccMapTree(map_resolution_));
   tree_const_ = tree_;
@@ -106,20 +113,20 @@ void OccupancyMapMonitor::initialize()
         {
           if (sensor_list[i].getType() != XmlRpc::XmlRpcValue::TypeStruct)
           {
-            ROS_ERROR("Params for octomap updater %d not a struct; ignoring.", i);
+            ROS_ERROR_NAMED(LOGNAME, "Params for octomap updater %d not a struct; ignoring.", i);
             continue;
           }
 
           if (!sensor_list[i].hasMember("sensor_plugin"))
           {
-            ROS_ERROR("No sensor plugin specified for octomap updater %d; ignoring.", i);
+            ROS_ERROR_NAMED(LOGNAME, "No sensor plugin specified for octomap updater %d; ignoring.", i);
             continue;
           }
 
           std::string sensor_plugin = std::string(sensor_list[i]["sensor_plugin"]);
           if (sensor_plugin.empty() || sensor_plugin[0] == '~')
           {
-            ROS_INFO("Skipping octomap updater plugin '%s'", sensor_plugin.c_str());
+            ROS_INFO_STREAM_NAMED(LOGNAME, "Skipping octomap updater plugin '" << sensor_plugin << "'");
             continue;
           }
 
@@ -132,7 +139,7 @@ void OccupancyMapMonitor::initialize()
             }
             catch (pluginlib::PluginlibException& ex)
             {
-              ROS_FATAL_STREAM("Exception while creating octomap updater plugin loader " << ex.what());
+              ROS_FATAL_STREAM_NAMED(LOGNAME, "Exception while creating octomap updater plugin loader " << ex.what());
             }
           }
 
@@ -144,22 +151,22 @@ void OccupancyMapMonitor::initialize()
           }
           catch (pluginlib::PluginlibException& ex)
           {
-            ROS_ERROR_STREAM("Exception while loading octomap updater '" << sensor_plugin << "': " << ex.what()
-                                                                         << std::endl);
+            ROS_ERROR_STREAM_NAMED(LOGNAME, "Exception while loading octomap updater '"
+                                                << sensor_plugin << "': " << ex.what() << std::endl);
           }
           if (up)
           {
             /* pass the params struct directly in to the updater */
             if (!up->setParams(sensor_list[i]))
             {
-              ROS_ERROR("Failed to configure updater of type %s", up->getType().c_str());
+              ROS_ERROR_STREAM_NAMED(LOGNAME, "Failed to configure updater of type " << up->getType());
               continue;
             }
 
             if (!up->initialize())
             {
-              ROS_ERROR("Unable to initialize map updater of type %s (plugin %s)", up->getType().c_str(),
-                        sensor_plugin.c_str());
+              ROS_ERROR_NAMED(LOGNAME, "Unable to initialize map updater of type %s (plugin %s)", up->getType().c_str(),
+                              sensor_plugin.c_str());
               continue;
             }
 
@@ -167,15 +174,15 @@ void OccupancyMapMonitor::initialize()
           }
         }
       else
-        ROS_ERROR("List of sensors must be an array!");
+        ROS_ERROR_NAMED(LOGNAME, "List of sensors must be an array!");
     }
     catch (XmlRpc::XmlRpcException& ex)
     {
-      ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "XmlRpc Exception: " << ex.getMessage());
     }
   }
   else
-    ROS_ERROR("Failed to find 3D sensor plugin parameters for octomap generation");
+    ROS_ERROR_NAMED(LOGNAME, "Failed to find 3D sensor plugin parameters for octomap generation");
 
   /* advertise a service for loading octomaps from disk */
   save_map_srv_ = nh_.advertiseService("save_map", &OccupancyMapMonitor::saveMapCallback, this);
@@ -207,7 +214,7 @@ void OccupancyMapMonitor::addUpdater(const OccupancyMapUpdaterPtr& updater)
       updater->setTransformCacheCallback(transform_cache_callback_);
   }
   else
-    ROS_ERROR("NULL updater was specified");
+    ROS_ERROR_NAMED(LOGNAME, "NULL updater was specified");
 }
 
 void OccupancyMapMonitor::publishDebugInformation(bool flag)
@@ -283,7 +290,7 @@ bool OccupancyMapMonitor::getShapeTransformCache(std::size_t index, const std::s
         std::map<ShapeHandle, ShapeHandle>::const_iterator jt = mesh_handles_[index].find(it.first);
         if (jt == mesh_handles_[index].end())
         {
-          ROS_ERROR_THROTTLE(1, "Incorrect mapping of mesh handles");
+          ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Incorrect mapping of mesh handles");
           return false;
         }
         else
@@ -301,7 +308,7 @@ bool OccupancyMapMonitor::getShapeTransformCache(std::size_t index, const std::s
 bool OccupancyMapMonitor::saveMapCallback(moveit_msgs::SaveMap::Request& request,
                                           moveit_msgs::SaveMap::Response& response)
 {
-  ROS_INFO("Writing map to %s", request.filename.c_str());
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Writing map to " << request.filename);
   tree_->lockRead();
   try
   {
@@ -318,7 +325,7 @@ bool OccupancyMapMonitor::saveMapCallback(moveit_msgs::SaveMap::Request& request
 bool OccupancyMapMonitor::loadMapCallback(moveit_msgs::LoadMap::Request& request,
                                           moveit_msgs::LoadMap::Response& response)
 {
-  ROS_INFO("Reading map from %s", request.filename.c_str());
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Reading map from " << request.filename);
 
   /* load the octree from disk */
   tree_->lockWrite();
@@ -328,7 +335,7 @@ bool OccupancyMapMonitor::loadMapCallback(moveit_msgs::LoadMap::Request& request
   }
   catch (...)
   {
-    ROS_ERROR("Failed to load map from file");
+    ROS_ERROR_NAMED(LOGNAME, "Failed to load map from file");
     response.success = false;
   }
   tree_->unlockWrite();
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
index 4453583fc1..b91b591d07 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
@@ -40,6 +40,8 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
 #include <octomap_msgs/conversions.h>
 
+static const std::string LOGNAME = "occupancy_map_server";
+
 static void publishOctomap(ros::Publisher* octree_binary_pub, occupancy_map_monitor::OccupancyMapMonitor* server)
 {
   octomap_msgs::Octomap map;
@@ -51,11 +53,11 @@ static void publishOctomap(ros::Publisher* octree_binary_pub, occupancy_map_moni
   try
   {
     if (!octomap_msgs::binaryMapToMsgData(*server->getOcTreePtr(), map.data))
-      ROS_ERROR_THROTTLE(1, "Could not generate OctoMap message");
+      ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Could not generate OctoMap message");
   }
   catch (...)
   {
-    ROS_ERROR_THROTTLE(1, "Exception thrown while generating OctoMap message");
+    ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Exception thrown while generating OctoMap message");
   }
   server->getOcTreePtr()->unlockRead();
 
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp
index bc7a78e095..0e44f7d587 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp
@@ -39,6 +39,8 @@
 
 namespace occupancy_map_monitor
 {
+static const std::string LOGNAME = "occupancy_map_monitor";
+
 OccupancyMapUpdater::OccupancyMapUpdater(const std::string& type) : type_(type)
 {
 }
@@ -75,7 +77,7 @@ bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame,
     return transform_provider_callback_(target_frame, target_time, transform_cache_);
   else
   {
-    ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
+    ROS_WARN_THROTTLE_NAMED(1, LOGNAME, "No callback provided for updating the transform cache for octomap updaters");
     return false;
   }
 }
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index 9d1840a118..c2da776a0c 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -48,6 +48,8 @@
 
 namespace occupancy_map_monitor
 {
+static const std::string LOGNAME = "depth_image_octomap_updater";
+
 DepthImageOctomapUpdater::DepthImageOctomapUpdater()
   : OccupancyMapUpdater("DepthImageUpdater")
   , nh_("~")
@@ -106,7 +108,7 @@ bool DepthImageOctomapUpdater::setParams(XmlRpc::XmlRpcValue& params)
   }
   catch (XmlRpc::XmlRpcException& ex)
   {
-    ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "XmlRpc Exception: " << ex.getMessage());
     return false;
   }
 
@@ -171,7 +173,7 @@ mesh_filter::MeshHandle DepthImageOctomapUpdater::excludeShape(const shapes::Sha
     }
   }
   else
-    ROS_ERROR("Mesh filter not yet initialized!");
+    ROS_ERROR_NAMED(LOGNAME, "Mesh filter not yet initialized!");
   return h;
 }
 
@@ -186,7 +188,7 @@ bool DepthImageOctomapUpdater::getShapeTransform(mesh_filter::MeshHandle h, Eige
   ShapeTransformCache::const_iterator it = transform_cache_.find(h);
   if (it == transform_cache_.end())
   {
-    ROS_ERROR("Internal error. Mesh filter handle %u not found", h);
+    ROS_ERROR_NAMED(LOGNAME, "Internal error. Mesh filter handle %u not found", h);
     return false;
   }
   transform = it->second;
@@ -211,8 +213,8 @@ static const bool HOST_IS_BIG_ENDIAN = host_is_big_endian();
 void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstPtr& depth_msg,
                                                   const sensor_msgs::CameraInfoConstPtr& info_msg)
 {
-  ROS_DEBUG("Received a new depth image message (frame = '%s', encoding='%s')", depth_msg->header.frame_id.c_str(),
-            depth_msg->encoding.c_str());
+  ROS_DEBUG_NAMED(LOGNAME, "Received a new depth image message (frame = '%s', encoding='%s')",
+                  depth_msg->header.frame_id.c_str(), depth_msg->encoding.c_str());
   ros::WallTime start = ros::WallTime::now();
 
   if (max_update_rate_ > 0)
@@ -289,11 +291,12 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
       {
         failed_tf_++;
         if (failed_tf_ > good_tf_)
-          ROS_WARN_THROTTLE(1, "More than half of the image messages discared due to TF being unavailable (%u%%). "
-                               "Transform error of sensor data: %s; quitting callback.",
-                            (100 * failed_tf_) / (good_tf_ + failed_tf_), err.c_str());
+          ROS_WARN_THROTTLE_NAMED(1, LOGNAME,
+                                  "More than half of the image messages discared due to TF being unavailable (%u%%). "
+                                  "Transform error of sensor data: %s; quitting callback.",
+                                  (100 * failed_tf_) / (good_tf_ + failed_tf_), err.c_str());
         else
-          ROS_DEBUG_THROTTLE(1, "Transform error of sensor data: %s; quitting callback", err.c_str());
+          ROS_DEBUG_THROTTLE_NAMED(1, LOGNAME, "Transform error of sensor data: %s; quitting callback", err.c_str());
         if (failed_tf_ > MAX_TF_COUNTER)
         {
           const unsigned int div = MAX_TF_COUNTER / 10;
@@ -309,12 +312,12 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
 
   if (!updateTransformCache(depth_msg->header.frame_id, depth_msg->header.stamp))
   {
-    ROS_ERROR_THROTTLE(1, "Transform cache was not updated. Self-filtering may fail.");
+    ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Transform cache was not updated. Self-filtering may fail.");
     return;
   }
 
   if (depth_msg->is_bigendian && !HOST_IS_BIG_ENDIAN)
-    ROS_ERROR_THROTTLE(1, "endian problem: received image data does not match host");
+    ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "endian problem: received image data does not match host");
 
   const int w = depth_msg->width;
   const int h = depth_msg->height;
@@ -331,7 +334,8 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   {
     if (depth_msg->encoding != sensor_msgs::image_encodings::TYPE_32FC1)
     {
-      ROS_ERROR_THROTTLE(1, "Unexpected encoding type: '%s'. Ignoring input.", depth_msg->encoding.c_str());
+      ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Unexpected encoding type: '%s'. Ignoring input.",
+                               depth_msg->encoding.c_str());
       return;
     }
     mesh_filter_->filter(&depth_msg->data[0], GL_FLOAT);
@@ -523,7 +527,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   catch (...)
   {
     tree_->unlockRead();
-    ROS_ERROR("Internal error while parsing depth data");
+    ROS_ERROR_NAMED(LOGNAME, "Internal error while parsing depth data");
     return;
   }
   tree_->unlockRead();
@@ -542,7 +546,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   }
   catch (...)
   {
-    ROS_ERROR("Internal error while updating octree");
+    ROS_ERROR_NAMED(LOGNAME, "Internal error while updating octree");
   }
   tree_->unlockWrite();
   tree_->triggerUpdateCallback();
@@ -550,6 +554,6 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   // at this point we still have not freed the space
   free_space_updater_->pushLazyUpdate(occupied_cells_ptr, model_cells_ptr, sensor_origin);
 
-  ROS_DEBUG("Processed depth image in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
+  ROS_DEBUG_NAMED(LOGNAME, "Processed depth image in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
 }
 }  // namespace occupancy_map_monitor
diff --git a/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp b/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
index 5b9cde2bc5..cc033993ae 100644
--- a/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
+++ b/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
@@ -39,13 +39,14 @@
 
 namespace occupancy_map_monitor
 {
+static const std::string LOGNAME = "lazy_free_space_updater";
+
 LazyFreeSpaceUpdater::LazyFreeSpaceUpdater(const OccMapTreePtr& tree, unsigned int max_batch_size)
   : tree_(tree)
   , running_(true)
   , max_batch_size_(max_batch_size)
-  , max_sensor_delta_(1e-3)
-  ,  // 1mm
-  process_occupied_cells_set_(nullptr)
+  , max_sensor_delta_(1e-3)  // 1mm
+  , process_occupied_cells_set_(nullptr)
   , process_model_cells_set_(nullptr)
   , update_thread_(boost::bind(&LazyFreeSpaceUpdater::lazyUpdateThread, this))
   , process_thread_(boost::bind(&LazyFreeSpaceUpdater::processThread, this))
@@ -70,8 +71,8 @@ LazyFreeSpaceUpdater::~LazyFreeSpaceUpdater()
 void LazyFreeSpaceUpdater::pushLazyUpdate(octomap::KeySet* occupied_cells, octomap::KeySet* model_cells,
                                           const octomap::point3d& sensor_origin)
 {
-  ROS_DEBUG("Pushing %lu occupied cells and %lu model cells for lazy updating...",
-            (long unsigned int)occupied_cells->size(), (long unsigned int)model_cells->size());
+  ROS_DEBUG_NAMED(LOGNAME, "Pushing %lu occupied cells and %lu model cells for lazy updating...",
+                  (long unsigned int)occupied_cells->size(), (long unsigned int)model_cells->size());
   boost::mutex::scoped_lock _(update_cell_sets_lock_);
   occupied_cells_sets_.push_back(occupied_cells);
   model_cells_sets_.push_back(model_cells);
@@ -95,7 +96,7 @@ void LazyFreeSpaceUpdater::pushBatchToProcess(OcTreeKeyCountMap* occupied_cells,
   }
   else
   {
-    ROS_WARN("Previous batch update did not complete. Ignoring set of cells to be freed.");
+    ROS_WARN_NAMED(LOGNAME, "Previous batch update did not complete. Ignoring set of cells to be freed.");
     delete occupied_cells;
     delete model_cells;
   }
@@ -121,9 +122,9 @@ void LazyFreeSpaceUpdater::processThread()
     if (!running_)
       break;
 
-    ROS_DEBUG("Begin processing batched update: marking free cells due to %lu occupied cells and %lu model cells",
-              (long unsigned int)process_occupied_cells_set_->size(),
-              (long unsigned int)process_model_cells_set_->size());
+    ROS_DEBUG_NAMED(
+        LOGNAME, "Begin processing batched update: marking free cells due to %lu occupied cells and %lu model cells",
+        (long unsigned int)process_occupied_cells_set_->size(), (long unsigned int)process_model_cells_set_->size());
 
     ros::WallTime start = ros::WallTime::now();
     tree_->lockRead();
@@ -162,7 +163,8 @@ void LazyFreeSpaceUpdater::processThread()
       free_cells1.erase(it);
       free_cells2.erase(it);
     }
-    ROS_DEBUG("Marking %lu cells as free...", (long unsigned int)(free_cells1.size() + free_cells2.size()));
+    ROS_DEBUG_NAMED(LOGNAME, "Marking %lu cells as free...",
+                    (long unsigned int)(free_cells1.size() + free_cells2.size()));
 
     tree_->lockWrite();
 
@@ -180,12 +182,12 @@ void LazyFreeSpaceUpdater::processThread()
     }
     catch (...)
     {
-      ROS_ERROR("Internal error while updating octree");
+      ROS_ERROR_NAMED(LOGNAME, "Internal error while updating octree");
     }
     tree_->unlockWrite();
     tree_->triggerUpdateCallback();
 
-    ROS_DEBUG("Marked free cells in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
+    ROS_DEBUG_NAMED(LOGNAME, "Marked free cells in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
 
     delete process_occupied_cells_set_;
     process_occupied_cells_set_ = nullptr;
@@ -229,7 +231,8 @@ void LazyFreeSpaceUpdater::lazyUpdateThread()
     {
       if ((sensor_origins_.front() - sensor_origin).norm() > max_sensor_delta_)
       {
-        ROS_DEBUG("Pushing %u sets of occupied/model cells to free cells update thread (origin changed)", batch_size);
+        ROS_DEBUG_NAMED(LOGNAME, "Pushing %u sets of occupied/model cells to free cells update thread (origin changed)",
+                        batch_size);
         pushBatchToProcess(occupied_cells_set, model_cells_set, sensor_origin);
         batch_size = 0;
         break;
@@ -250,7 +253,7 @@ void LazyFreeSpaceUpdater::lazyUpdateThread()
 
     if (batch_size >= max_batch_size_)
     {
-      ROS_DEBUG("Pushing %u sets of occupied/model cells to free cells update thread", batch_size);
+      ROS_DEBUG_NAMED(LOGNAME, "Pushing %u sets of occupied/model cells to free cells update thread", batch_size);
       pushBatchToProcess(occupied_cells_set, model_cells_set, sensor_origin);
       occupied_cells_set = nullptr;
       batch_size = 0;
diff --git a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
index 6013d0ffc5..1afaeee43c 100644
--- a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
+++ b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
@@ -39,6 +39,8 @@
 #include <ros/console.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
 
+static const std::string LOGNAME = "shape_mask";
+
 point_containment_filter::ShapeMask::ShapeMask(const TransformCallback& transform_callback)
   : transform_callback_(transform_callback), next_handle_(1), min_handle_(1)
 {
@@ -76,7 +78,7 @@ point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addSh
     ss.handle = next_handle_;
     std::pair<std::set<SeeShape, SortBodies>::iterator, bool> insert_op = bodies_.insert(ss);
     if (!insert_op.second)
-      ROS_ERROR("Internal error in management of bodies in ShapeMask. This is a serious error.");
+      ROS_ERROR_NAMED(LOGNAME, "Internal error in management of bodies in ShapeMask. This is a serious error.");
     used_handles_[next_handle_] = insert_op.first;
   }
   else
@@ -107,7 +109,7 @@ void point_containment_filter::ShapeMask::removeShape(ShapeHandle handle)
     min_handle_ = handle;
   }
   else
-    ROS_ERROR("Unable to remove shape handle %u", handle);
+    ROS_ERROR_NAMED(LOGNAME, "Unable to remove shape handle %u", handle);
 }
 
 void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::PointCloud2& data_in,
@@ -131,11 +133,11 @@ void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::Poi
       if (!transform_callback_(it->handle, tmp))
       {
         if (!it->body)
-          ROS_ERROR_STREAM_NAMED("shape_mask", "Missing transform for shape with handle " << it->handle
-                                                                                          << " without a body");
+          ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape with handle " << it->handle
+                                                                                     << " without a body");
         else
-          ROS_ERROR_STREAM_NAMED("shape_mask", "Missing transform for shape " << it->body->getType() << " with handle "
-                                                                              << it->handle);
+          ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape " << it->body->getType() << " with handle "
+                                                                         << it->handle);
       }
       else
       {
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 1fd300ed75..2c92ae43b9 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -47,6 +47,7 @@
 
 namespace occupancy_map_monitor
 {
+static const std::string LOGNAME = "occupancy_map_monitor";
 PointCloudOctomapUpdater::PointCloudOctomapUpdater()
   : OccupancyMapUpdater("PointCloudUpdater")
   , private_nh_("~")
@@ -84,7 +85,7 @@ bool PointCloudOctomapUpdater::setParams(XmlRpc::XmlRpcValue& params)
   }
   catch (XmlRpc::XmlRpcException& ex)
   {
-    ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "XmlRpc Exception: " << ex.getMessage());
     return false;
   }
 
@@ -113,13 +114,13 @@ void PointCloudOctomapUpdater::start()
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::PointCloud2>(*point_cloud_subscriber_, *tf_buffer_,
                                                                                monitor_->getMapFrame(), 5, root_nh_);
     point_cloud_filter_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
-    ROS_INFO("Listening to '%s' using message filter with target frame '%s'", point_cloud_topic_.c_str(),
-             point_cloud_filter_->getTargetFramesString().c_str());
+    ROS_INFO_NAMED(LOGNAME, "Listening to '%s' using message filter with target frame '%s'", point_cloud_topic_.c_str(),
+                   point_cloud_filter_->getTargetFramesString().c_str());
   }
   else
   {
     point_cloud_subscriber_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
-    ROS_INFO("Listening to '%s'", point_cloud_topic_.c_str());
+    ROS_INFO_NAMED(LOGNAME, "Listening to '%s'", point_cloud_topic_.c_str());
   }
 }
 
@@ -142,7 +143,7 @@ ShapeHandle PointCloudOctomapUpdater::excludeShape(const shapes::ShapeConstPtr&
   if (shape_mask_)
     h = shape_mask_->addShape(shape, scale_, padding_);
   else
-    ROS_ERROR("Shape filter not yet initialized!");
+    ROS_ERROR_NAMED(LOGNAME, "Shape filter not yet initialized!");
   return h;
 }
 
@@ -169,7 +170,7 @@ void PointCloudOctomapUpdater::updateMask(const sensor_msgs::PointCloud2& /*clou
 
 void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
 {
-  ROS_DEBUG("Received a new point cloud message");
+  ROS_DEBUG_NAMED(LOGNAME, "Received a new point cloud message");
   ros::WallTime start = ros::WallTime::now();
 
   if (max_update_rate_ > 0)
@@ -199,7 +200,7 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
       }
       catch (tf2::TransformException& ex)
       {
-        ROS_ERROR_STREAM("Transform error of sensor data: " << ex.what() << "; quitting callback");
+        ROS_ERROR_STREAM_NAMED(LOGNAME, "Transform error of sensor data: " << ex.what() << "; quitting callback");
         return;
       }
     }
@@ -214,7 +215,7 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
 
   if (!updateTransformCache(cloud_msg->header.frame_id, cloud_msg->header.stamp))
   {
-    ROS_ERROR_THROTTLE(1, "Transform cache was not updated. Self-filtering may fail.");
+    ROS_ERROR_THROTTLE_NAMED(1, LOGNAME, "Transform cache was not updated. Self-filtering may fail.");
     return;
   }
 
@@ -346,10 +347,10 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
   }
   catch (...)
   {
-    ROS_ERROR("Internal error while updating octree");
+    ROS_ERROR_NAMED(LOGNAME, "Internal error while updating octree");
   }
   tree_->unlockWrite();
-  ROS_DEBUG("Processed point cloud in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
+  ROS_DEBUG_NAMED(LOGNAME, "Processed point cloud in %lf ms", (ros::WallTime::now() - start).toSec() * 1000.0);
   tree_->triggerUpdateCallback();
 
   if (filtered_cloud)
diff --git a/moveit_ros/perception/semantic_world/src/semantic_world.cpp b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
index 5407d287b7..dec19c206b 100644
--- a/moveit_ros/perception/semantic_world/src/semantic_world.cpp
+++ b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
@@ -54,6 +54,8 @@ namespace moveit
 {
 namespace semantic_world
 {
+static const std::string LOGNAME = "semantic_world";
+
 SemanticWorld::SemanticWorld(const planning_scene::PlanningSceneConstPtr& planning_scene)
   : planning_scene_(planning_scene)
 {
@@ -66,7 +68,7 @@ SemanticWorld::SemanticWorld(const planning_scene::PlanningSceneConstPtr& planni
 visualization_msgs::MarkerArray
 SemanticWorld::getPlaceLocationsMarker(const std::vector<geometry_msgs::PoseStamped>& poses) const
 {
-  ROS_DEBUG("Visualizing: %d place poses", (int)poses.size());
+  ROS_DEBUG_NAMED(LOGNAME, "Visualizing: %d place poses", (int)poses.size());
   visualization_msgs::MarkerArray marker;
   for (std::size_t i = 0; i < poses.size(); ++i)
   {
@@ -224,7 +226,7 @@ SemanticWorld::generatePlacePoses(const std::string& table_name, const shapes::S
   }
 
   std::vector<geometry_msgs::PoseStamped> place_poses;
-  ROS_ERROR("Did not find table %s to place on", table_name.c_str());
+  ROS_ERROR_NAMED(LOGNAME, "Did not find table %s to place on", table_name.c_str());
   return place_poses;
 }
 
@@ -347,7 +349,7 @@ std::vector<geometry_msgs::PoseStamped> SemanticWorld::generatePlacePoses(const
   unsigned int num_x = fabs(x_max - x_min) / resolution + 1;
   unsigned int num_y = fabs(y_max - y_min) / resolution + 1;
 
-  ROS_DEBUG("Num points for possible place operations: %d %d", num_x, num_y);
+  ROS_DEBUG_NAMED(LOGNAME, "Num points for possible place operations: %d %d", num_x, num_y);
 
   std::vector<std::vector<cv::Point> > contours;
   std::vector<cv::Vec4i> hierarchy;
@@ -434,7 +436,7 @@ bool SemanticWorld::isInsideTableContour(const geometry_msgs::Pose& pose, const
   // Assuming Z axis points upwards for the table
   if (point.z() < -fabs(min_vertical_offset))
   {
-    ROS_ERROR("Object is not above table");
+    ROS_ERROR_NAMED(LOGNAME, "Object is not above table");
     return false;
   }
 
@@ -442,7 +444,7 @@ bool SemanticWorld::isInsideTableContour(const geometry_msgs::Pose& pose, const
   int point_y = (point.y() - y_min) * scale_factor;
   cv::Point2f point2f(point_x, point_y);
   double result = cv::pointPolygonTest(contours[0], point2f, true);
-  ROS_DEBUG("table distance: %f", result);
+  ROS_DEBUG_NAMED(LOGNAME, "table distance: %f", result);
 
   return (int)result >= (int)(min_distance_from_edge * scale_factor);
 }
@@ -453,7 +455,7 @@ std::string SemanticWorld::findObjectTable(const geometry_msgs::Pose& pose, doub
   std::map<std::string, object_recognition_msgs::Table>::const_iterator it;
   for (it = current_tables_in_collision_world_.begin(); it != current_tables_in_collision_world_.end(); ++it)
   {
-    ROS_DEBUG("Testing table: %s", it->first.c_str());
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, "Testing table: " << it->first);
     if (isInsideTableContour(pose, it->second, min_distance_from_edge, min_vertical_offset))
       return it->first;
   }
@@ -463,12 +465,12 @@ std::string SemanticWorld::findObjectTable(const geometry_msgs::Pose& pose, doub
 void SemanticWorld::tableCallback(const object_recognition_msgs::TableArrayPtr& msg)
 {
   table_array_ = *msg;
-  ROS_INFO("Table callback with %d tables", (int)table_array_.tables.size());
+  ROS_INFO_NAMED(LOGNAME, "Table callback with %d tables", (int)table_array_.tables.size());
   transformTableArray(table_array_);
   // Callback on an update
   if (table_callback_)
   {
-    ROS_INFO("Calling table callback");
+    ROS_INFO_NAMED(LOGNAME, "Calling table callback");
     table_callback_();
   }
 }
@@ -480,8 +482,8 @@ void SemanticWorld::transformTableArray(object_recognition_msgs::TableArray& tab
     std::string original_frame = table.header.frame_id;
     if (table.convex_hull.empty())
       continue;
-    ROS_INFO_STREAM("Original pose: " << table.pose.position.x << "," << table.pose.position.y << ","
-                                      << table.pose.position.z);
+    ROS_INFO_STREAM_NAMED(LOGNAME, "Original pose: " << table.pose.position.x << "," << table.pose.position.y << ","
+                                                     << table.pose.position.z);
     std::string error_text;
     const Eigen::Isometry3d& original_transform = planning_scene_->getTransforms().getTransform(original_frame);
     Eigen::Isometry3d original_pose;
@@ -489,9 +491,10 @@ void SemanticWorld::transformTableArray(object_recognition_msgs::TableArray& tab
     original_pose = original_transform * original_pose;
     table.pose = tf2::toMsg(original_pose);
     table.header.frame_id = planning_scene_->getTransforms().getTargetFrame();
-    ROS_INFO_STREAM("Successfully transformed table array from " << original_frame << "to " << table.header.frame_id);
-    ROS_INFO_STREAM("Transformed pose: " << table.pose.position.x << "," << table.pose.position.y << ","
-                                         << table.pose.position.z);
+    ROS_INFO_STREAM_NAMED(LOGNAME, "Successfully transformed table array from " << original_frame << "to "
+                                                                                << table.header.frame_id);
+    ROS_INFO_STREAM_NAMED(LOGNAME, "Transformed pose: " << table.pose.position.x << "," << table.pose.position.y << ","
+                                                        << table.pose.position.z);
   }
 }
 

From 5e218e73b2e9ddaf9bdb470c030bb008aba8e480 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 13 Feb 2020 11:41:32 +0100
Subject: [PATCH 190/612] Revert #1772

Even after reverting, I cannot reproduce the issue mentioned in #1772 anymore.
Reverting fixes https://github.com/ros-planning/moveit/pull/1894#issuecomment-585417830.
---
 .../src/motion_planning_display.cpp                            | 2 +-
 .../src/motion_planning_frame_planning.cpp                     | 3 ---
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 2d6285fd22..06d40e9fe8 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1143,7 +1143,7 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   query_robot_start_->load(*getRobotModel()->getURDF());
   query_robot_goal_->load(*getRobotModel()->getURDF());
 
-  // initialize previous state to current state
+  // initialize previous state, start state, and goal state to current state
   previous_state_ = std::make_shared<robot_state::RobotState>(getPlanningSceneRO()->getCurrentState());
   query_start_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "start", *previous_state_,
                                                                      planning_scene_monitor_->getTFClient()));
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 1e34a25338..55006806df 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -172,9 +172,6 @@ void MotionPlanningFrame::computePlanButtonClicked()
   ui_->result_label->setText("Planning...");
 
   configureForPlanning();
-  // move_group node uses an empty start state to refer to the most recent current state
-  if (ui_->start_state_combo_box->currentText() == "<current>")
-    move_group_->setStartStateToCurrentState();
   planning_display_->rememberPreviousStartState();
   bool success = (ui_->use_cartesian_path->isEnabled() && ui_->use_cartesian_path->checkState()) ?
                      computeCartesianPlan() :

From 49e09969c4dfc0be1c331315159ba62f7aeebf8a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 13 Feb 2020 21:10:00 +0100
Subject: [PATCH 191/612] Remove object from collision world only once (#1900)

---
 moveit_core/planning_scene/src/planning_scene.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index ed8a94dac9..ad8b363960 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1453,8 +1453,6 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
           // Extract the shapes from the world
           shapes = obj_in_world->shapes_;
           poses = obj_in_world->shape_poses_;
-          // Remove the object from the collision world
-          world_->removeObject(object.object.id);
 
           // Transform shape poses to the link frame
           const Eigen::Isometry3d& inv_transform = robot_state_->getGlobalLinkTransform(link_model).inverse();

From 15cb1a2dcc0ef61f87966d42c7f7520c9f1b6f89 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 14 Feb 2020 04:35:36 -0700
Subject: [PATCH 192/612] Add warnings to moveit_jog_arm low pass filter
 (#1872)

---
 .../include/moveit_jog_arm/low_pass_filter.h  | 17 +++++---
 .../moveit_jog_arm/src/low_pass_filter.cpp    | 41 +++++++++++++++----
 2 files changed, 45 insertions(+), 13 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
index 1c753cf11e..6d5d6ba2b0 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
@@ -38,6 +38,8 @@
 
 #pragma once
 
+#include <cstddef>
+
 namespace moveit_jog_arm
 {
 /**
@@ -49,16 +51,19 @@ namespace moveit_jog_arm
 class LowPassFilter
 {
 public:
+  // Larger filter_coeff-> more smoothing of jog commands, but more lag.
+  // Rough plot, with cutoff frequency on the y-axis:
+  // https://www.wolframalpha.com/input/?i=plot+arccot(c)
   explicit LowPassFilter(double low_pass_filter_coeff);
   double filter(double new_measurement);
   void reset(double data);
 
 private:
-  double previous_measurements_[2] = { 0., 0. };
-  double previous_filtered_measurement_ = 0.;
-  // Larger filter_coeff-> more smoothing of jog commands, but more lag.
-  // Rough plot, with cutoff frequency on the y-axis:
-  // https://www.wolframalpha.com/input/?i=plot+arccot(c)
-  double filter_coeff_ = 10.;
+  static constexpr std::size_t FILTER_LENGTH = 2;
+  double previous_measurements_[FILTER_LENGTH];
+  double previous_filtered_measurement_;
+  // Scale and feedback term are calculated from supplied filter coefficient
+  const double scale_term_;
+  const double feedback_term_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
index 536d75deeb..4c74829bbc 100644
--- a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
@@ -38,15 +38,42 @@
  */
 
 #include <moveit_jog_arm/low_pass_filter.h>
+#include <cmath>
 #include <string>
-
-static const std::string LOGNAME = "low_pass_filter";
+#include <ros/ros.h>
 
 namespace moveit_jog_arm
 {
+namespace
+{
+constexpr char LOGNAME[] = "low_pass_filter";
+constexpr double EPSILON = 1e-9;
+}
+
 LowPassFilter::LowPassFilter(double low_pass_filter_coeff)
+  : previous_measurements_{ 0., 0. }
+  , previous_filtered_measurement_(0.)
+  , scale_term_(1. / (1. + low_pass_filter_coeff))
+  , feedback_term_(1. - low_pass_filter_coeff)
 {
-  filter_coeff_ = low_pass_filter_coeff;
+  // guarantee this doesn't change because the logic below depends on this length implicity
+  static_assert(LowPassFilter::FILTER_LENGTH == 2, "moveit_jog_arm::LowPassFilter::FILTER_LENGTH should be 2");
+
+  ROS_ASSERT_MSG(!std::isinf(feedback_term_), "%s: outputs from filter will be inf because feedback term is inf",
+                 LOGNAME);
+  ROS_ASSERT_MSG(!std::isinf(scale_term_), "%s: outputs from filter will be inf because denominator of scale is 0",
+                 LOGNAME);
+  ROS_ASSERT_MSG(low_pass_filter_coeff >= 1., "%s: Filter coefficient < 1. makes the lowpass filter unstable", LOGNAME);
+
+  if (std::abs(feedback_term_) < EPSILON)
+  {
+    ROS_WARN_STREAM_NAMED(
+        LOGNAME, "Filter coefficient value of "
+                     << low_pass_filter_coeff
+                     << " resulted in feedback term of 0. "
+                        " This results in a window averaging Finite Impulse Response (FIR) filter with a gain of "
+                     << scale_term_ * LowPassFilter::FILTER_LENGTH);
+  }
 }
 
 void LowPassFilter::reset(double data)
@@ -63,12 +90,12 @@ double LowPassFilter::filter(double new_measurement)
   previous_measurements_[1] = previous_measurements_[0];
   previous_measurements_[0] = new_measurement;
 
-  double new_filtered_msrmt = (1. / (1. + filter_coeff_)) * (previous_measurements_[1] + previous_measurements_[0] -
-                                                             (-filter_coeff_ + 1.) * previous_filtered_measurement_);
+  double new_filtered_measurement = scale_term_ * (previous_measurements_[1] + previous_measurements_[0] -
+                                                   feedback_term_ * previous_filtered_measurement_);
 
   // Store the new filtered measurement
-  previous_filtered_measurement_ = new_filtered_msrmt;
+  previous_filtered_measurement_ = new_filtered_measurement;
 
-  return new_filtered_msrmt;
+  return new_filtered_measurement;
 }
 }  // namespace moveit_jog_arm

From 2de8471b8ffa8ae2be907c3d820b4144b87c2f4b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 15 Feb 2020 10:17:12 +0100
Subject: [PATCH 193/612] replace panda_moveit_config ->
 moveit_resources/panda_moveit_config

---
 moveit_planners/trajopt/test/trajectory_test.test      |  2 +-
 moveit_ros/benchmarks/examples/demo_panda.launch       |  6 +++---
 .../benchmarks/examples/demo_panda_all_planners.launch | 10 +++++-----
 .../examples/demo_panda_all_planners_obstacles.launch  | 10 +++++-----
 .../examples/demo_panda_predefined_poses.launch        | 10 +++++-----
 .../planning/launch/collision_checker_compare.launch   |  6 +++---
 .../planning_interface/test/moveit_cpp_test.test       |  8 ++++----
 .../launch/run_benchmark_trajopt.launch                |  8 ++++----
 8 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/moveit_planners/trajopt/test/trajectory_test.test b/moveit_planners/trajopt/test/trajectory_test.test
index 36314b49b5..347b97a1d9 100644
--- a/moveit_planners/trajopt/test/trajectory_test.test
+++ b/moveit_planners/trajopt/test/trajectory_test.test
@@ -3,7 +3,7 @@
 
   <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
 
-    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/trajopt_planning.yaml"/>
 
   </test>
 
diff --git a/moveit_ros/benchmarks/examples/demo_panda.launch b/moveit_ros/benchmarks/examples/demo_panda.launch
index 66742658e5..07ab802d6f 100644
--- a/moveit_ros/benchmarks/examples/demo_panda.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda.launch
@@ -3,17 +3,17 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo1.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark/ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
 
   <!-- Launch benchmark node -->
   <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
index 21b2ad58a8..adbbed130f 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_panda_all_planners.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
index 763d16e86a..1ae08adebf 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_obstacles.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
diff --git a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
index 657fad0a6f..91fb0448c5 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_panda_predefined_poses.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
diff --git a/moveit_ros/planning/launch/collision_checker_compare.launch b/moveit_ros/planning/launch/collision_checker_compare.launch
index 3be9255091..5208ade9cd 100644
--- a/moveit_ros/planning/launch/collision_checker_compare.launch
+++ b/moveit_ros/planning/launch/collision_checker_compare.launch
@@ -4,13 +4,13 @@
   <!-- send Panda urdf to parameter server -->
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
 
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch"/>
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch"/>
 
   <node name="compare_collision_checking_speed" pkg="moveit_ros_planning" type="moveit_compare_collision_checking_speed_fcl_bullet" respawn="false" output="screen">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
     <param name="visualization" value="$(arg visualization)" type="bool"/>
   </node>
 
-  <include if="$(arg visualization)" file="$(find panda_moveit_config)/launch/demo.launch"/>
+  <include if="$(arg visualization)" file="$(find moveit_resources)/panda_moveit_config/launch/demo.launch"/>
 
 </launch>
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.test b/moveit_ros/planning_interface/test/moveit_cpp_test.test
index 2e3d327b6a..b6e5f894ef 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp_test.test
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.test
@@ -3,18 +3,18 @@
     <rosparam ns="moveit_cpp_test" command="load" file="$(find moveit_ros_planning_interface)/test/moveit_cpp.yaml" />
 
     <!-- Planning Pipeline -->
-    <include ns="/moveit_cpp_test/ompl" file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml"/>
+    <include ns="/moveit_cpp_test/ompl" file="$(find moveit_resources)/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml"/>
 
     <!-- Trajectory execution  -->
-    <!--include ns="moveit_cpp_test" file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml">
+    <!--include ns="moveit_cpp_test" file="$(find moveit_resources)/panda_moveit_config/launch/trajectory_execution.launch.xml">
       <arg name="moveit_controller_manager" value="fake"/>
     </include-->
 
     <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
-    <include ns="moveit_cpp_test" file="$(find panda_moveit_config)/launch/fake_moveit_controller_manager.launch.xml" />
+    <include ns="moveit_cpp_test" file="$(find moveit_resources)/panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml" />
 
     <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-    <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
       <arg name="load_robot_description" value="true"/>
     </include>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
index 7185681292..d411006e39 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
@@ -4,19 +4,19 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find panda_moveit_config)/launch/warehouse.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
   </include>
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/trajopt_planning.yaml"/>
   </node>
 
 </launch>

From 362a9ef110b104616a16c609133884355d5f8004 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 15 Feb 2020 10:24:11 +0100
Subject: [PATCH 194/612] fix MSA template: use GENERATED_PACKAGE_NAME
 placeholder

---
 .../launch/trajopt_planning_pipeline.launch.xml                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
index cf5735429d..3bba189470 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
@@ -17,6 +17,6 @@
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
-  <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+  <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/trajopt_planning.yaml"/>
 
 </launch>

From a8a3353f1bf611e189826bd572ba1cfb279de489 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 15 Feb 2020 10:26:53 +0100
Subject: [PATCH 195/612] moveit.rosinstall: add panda_moveit_config

panda_moveit_config is a dependency of moveit_tutorials.
If not listed here as well, panda_moveit_config will be installed from debian
packages via rosdep, which in turn will pull in many MoveIt packages as well,
which is usually not desired.
---
 moveit.rosinstall | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit.rosinstall b/moveit.rosinstall
index cca53db4e4..fc82f3ab95 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -24,3 +24,7 @@
     local-name: moveit_tutorials
     uri: https://github.com/ros-planning/moveit_tutorials.git
     version: master
+- git:
+    local-name: panda_moveit_config
+    uri: https://github.com/ros-planning/panda_moveit_config.git
+    version: melodic-devel

From cfd1f499d7f24afe31bed034c249c17de34e52a1 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Sat, 15 Feb 2020 21:05:31 +0100
Subject: [PATCH 196/612] occupancy_map_monitor: add missing dependencies
 (#1901)

---
 moveit_ros/occupancy_map_monitor/CMakeLists.txt | 4 ++++
 moveit_ros/occupancy_map_monitor/package.xml    | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index 290a0525ed..686ef96e38 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -19,7 +19,9 @@ endif(APPLE)
 find_package(catkin REQUIRED COMPONENTS
   moveit_core
   moveit_msgs
+  geometric_shapes
   pluginlib
+  tf2_ros
 )
 
 find_package(Eigen3 REQUIRED)
@@ -33,6 +35,8 @@ catkin_package(
   CATKIN_DEPENDS
     moveit_core
     moveit_msgs
+    geometric_shapes
+    tf2_ros
   DEPENDS
     EIGEN3
     OCTOMAP
diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
index 28c302748d..8ff09a2966 100644
--- a/moveit_ros/occupancy_map_monitor/package.xml
+++ b/moveit_ros/occupancy_map_monitor/package.xml
@@ -23,6 +23,8 @@
   <depend>moveit_msgs</depend>
   <depend>octomap</depend>
   <depend version_gte="1.11.2">pluginlib</depend>
+  <depend>tf2_ros</depend>
+  <depend>geometric_shapes</depend>
 
   <build_depend>eigen</build_depend>
 

From 7193a4ea2eb97bbe0b9cb159bb1b7539e9baccd5 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Tue, 18 Feb 2020 17:48:39 +0100
Subject: [PATCH 197/612] Fix segfault with uninitialized JogArm thread (#1882)

---
 .../moveit_jog_arm/src/jog_cpp_interface.cpp   | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index bb6e15ad12..0ad2876c94 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -214,19 +214,13 @@ sensor_msgs::JointState JogCppApi::getJointState()
 
 bool JogCppApi::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  if (jog_calcs_->isInitialized())
-  {
-    shared_variables_mutex_.lock();
-    transform = shared_variables_.tf_moveit_to_cmd_frame;
-    shared_variables_mutex_.unlock();
-
-    // All zeros means the transform wasn't initialized, so return false
-    if (transform.matrix().isZero(0))
-      return false;
-  }
-  else
+  if (!jog_calcs_ || !jog_calcs_->isInitialized())
     return false;
 
-  return true;
+  const std::lock_guard<std::mutex> lock(shared_variables_mutex_);
+  transform = shared_variables_.tf_moveit_to_cmd_frame;
+
+  // All zeros means the transform wasn't initialized, so return false
+  return !transform.matrix().isZero(0);
 }
 }  // namespace moveit_jog_arm

From 26863598bdff131cf9dbae71f97a1b775753f47f Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 18 Feb 2020 17:23:49 -0700
Subject: [PATCH 198/612] [jog_arm] a ROS service to enable task redundancy
 (#1855)

---
 .../moveit_jog_arm/CMakeLists.txt             |  5 +++
 .../include/moveit_jog_arm/jog_arm_data.h     |  4 ++
 .../include/moveit_jog_arm/jog_calcs.h        |  9 ++++
 .../moveit_jog_arm/jog_interface_base.h       |  6 +++
 .../moveit_jog_arm/package.xml                |  1 +
 .../moveit_jog_arm/src/jog_calcs.cpp          | 32 ++++++++++++++-
 .../moveit_jog_arm/src/jog_interface_base.cpp | 18 +++++++-
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |  5 +++
 .../arm_setup/config/initial_position.yaml    |  1 +
 .../arm_setup/config/singular_position.yaml   |  1 +
 ...jog_arm_drift_dimensions_service_test.test | 39 ++++++++++++++++++
 .../test_drift_dimensions_service.py          | 41 +++++++++++++++++++
 .../test_halt_msg/test_jog_arm_halt_msg.py    |  6 ++-
 .../test_jog_arm_msg_reception.py             | 19 +++++----
 14 files changed, 175 insertions(+), 12 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
 create mode 100755 moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index f83181ee73..1e05203e71 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -14,6 +14,7 @@ endif()
 find_package(catkin REQUIRED COMPONENTS
   control_msgs
   geometry_msgs
+  moveit_msgs
   moveit_ros_planning_interface
   rosparam_shortcuts
   sensor_msgs
@@ -30,6 +31,7 @@ catkin_package(
   CATKIN_DEPENDS
     control_msgs
     geometry_msgs
+    moveit_msgs
     moveit_ros_planning_interface
     rosparam_shortcuts
     sensor_msgs
@@ -130,6 +132,9 @@ if(CATKIN_ENABLE_TESTING)
   # Python integration test that a halt message is published at a singularity
   add_rostest(test/launch/jog_arm_halt_msg_test.test)
 
+  # Python integration test of a service to enable drift in some dimensions
+  add_rostest(test/launch/jog_arm_drift_dimensions_service_test.test)
+
   # jog_cpp_interface
   add_rostest_gtest(jog_cpp_interface_test
     test/jog_cpp_interface_test.test
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index a37818d44c..24718c6413 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -79,6 +79,10 @@ struct JogArmShared
 
   // The transform from the MoveIt planning frame to robot_link_command_frame
   Eigen::Isometry3d tf_moveit_to_cmd_frame;
+
+  // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
+  std::atomic_bool drift_dimensions[6] = { ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false),
+                                           ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false) };
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index d6d7cf5e54..f25548e752 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -128,6 +128,15 @@ class JogCalcs
 
   void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const;
 
+  /**
+   * Remove the Jacobian row and the delta-x element of one Cartesian dimension, to take advantage of task redundancy
+   *
+   * @param matrix The Jacobian matrix.
+   * @param delta_x Vector of Cartesian delta commands, should be the same size as matrix.rows()
+   * @param row_to_remove Dimension that will be allowed to drift, e.g. row_to_remove = 2 allows z-translation drift.
+   */
+  void removeDimension(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x, unsigned int row_to_remove);
+
   const robot_state::JointModelGroup* joint_model_group_;
 
   robot_state::RobotStatePtr kinematic_state_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index 32cbc66893..6e486e737d 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -42,6 +42,7 @@
 #include "jog_calcs.h"
 #include "low_pass_filter.h"
 #include <moveit/robot_state/robot_state.h>
+#include <moveit_msgs/ChangeDriftDimensions.h>
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Float64MultiArray.h>
@@ -59,6 +60,11 @@ class JogInterfaceBase
 
   void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
 
+  // Service callback for changing drift dimensions,
+  // e.g. to allow the wrist joint to rotate
+  bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                             moveit_msgs::ChangeDriftDimensions::Response& res);
+
   // Jogging calculation thread
   bool startJogCalcThread();
   bool stopJogCalcThread();
diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index d57541434a..3673512fc4 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -24,6 +24,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
+  <depend>moveit_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>rosparam_shortcuts</depend>
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 4913864ceb..b4f71243c8 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -318,13 +318,27 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     cmd.twist.angular.z = angular_vector(2);
   }
 
-  const Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
+  Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
 
   // Convert from cartesian commands to joint commands
   jacobian_ = kinematic_state_->getJacobian(joint_model_group_);
+
+  // May allow some dimensions to drift, based on shared_variables.drift_dimensions
+  // i.e. take advantage of task redundancy.
+  // Remove the Jacobian rows corresponding to True in the vector shared_variables.drift_dimensions
+  // Work backwards through the 6-vector so indices don't get out of order
+  for (auto dimension = jacobian_.rows(); dimension >= 0; --dimension)
+  {
+    if (shared_variables.drift_dimensions[dimension] && jacobian_.rows() > 1)
+    {
+      removeDimension(jacobian_, delta_x, dimension);
+    }
+  }
+
   svd_ = Eigen::JacobiSVD<Eigen::MatrixXd>(jacobian_, Eigen::ComputeThinU | Eigen::ComputeThinV);
   matrix_s_ = svd_.singularValues().asDiagonal();
   pseudo_inverse_ = svd_.matrixV() * matrix_s_.inverse() * svd_.matrixU().transpose();
+
   delta_theta_ = pseudo_inverse_ * delta_x;
 
   // If close to a collision or a singularity, decelerate
@@ -734,4 +748,20 @@ bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::
 
   return true;
 }
+
+void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta_x, unsigned int row_to_remove)
+{
+  unsigned int num_rows = jacobian.rows() - 1;
+  unsigned int num_cols = jacobian.cols();
+
+  if (row_to_remove < num_rows)
+  {
+    jacobian.block(row_to_remove, 0, num_rows - row_to_remove, num_cols) =
+        jacobian.block(row_to_remove + 1, 0, num_rows - row_to_remove, num_cols);
+    delta_x.segment(row_to_remove, num_rows - row_to_remove) =
+        delta_x.segment(row_to_remove + 1, num_rows - row_to_remove);
+  }
+  jacobian.conservativeResize(num_rows, num_cols);
+  delta_x.conservativeResize(num_rows);
+}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 77c5f0f583..6cfc579973 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -195,9 +195,23 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
 // Listen to joint angles. Store them in a shared variable.
 void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
 {
-  shared_variables_mutex_.lock();
+  const std::lock_guard<std::mutex> lock(shared_variables_mutex_);
   shared_variables_.joints = *msg;
-  shared_variables_mutex_.unlock();
+}
+
+bool JogInterfaceBase::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                                             moveit_msgs::ChangeDriftDimensions::Response& res)
+{
+  // These are std::atomic's, they are threadsafe without a mutex lock
+  shared_variables_.drift_dimensions[0] = req.drift_x_translation;
+  shared_variables_.drift_dimensions[1] = req.drift_y_translation;
+  shared_variables_.drift_dimensions[2] = req.drift_z_translation;
+  shared_variables_.drift_dimensions[3] = req.drift_x_rotation;
+  shared_variables_.drift_dimensions[4] = req.drift_y_rotation;
+  shared_variables_.drift_dimensions[5] = req.drift_z_rotation;
+
+  res.success = true;
+  return true;
 }
 
 // A separate thread for the heavy jogging calculations.
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 9caaeaf802..72144692fe 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -90,6 +90,11 @@ JogROSInterface::JogROSInterface()
   ros::Subscriber joints_sub =
       nh.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));
 
+  // ROS Server for allowing drift in some dimensions
+  ros::ServiceServer drift_dimensions_server =
+      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
+                          &JogInterfaceBase::changeDriftDimensions, dynamic_cast<JogInterfaceBase*>(this));
+
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
   ros::Publisher outgoing_cmd_pub;
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
index a296398243..7a86cc0aa7 100644
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
@@ -1,3 +1,4 @@
+# This is a good initial position, not near joint limits or singularity
 zeros:
   panda_joint1: 0
   panda_joint2: -0.785
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
index 582482f8b2..5ce15e651a 100644
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
@@ -1,3 +1,4 @@
+# This position is at a singularity
 zeros:
   panda_joint1: 0
   panda_joint2: 0
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
new file mode 100644
index 0000000000..22b081b990
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="debug" value="false" />
+
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Note, we're using fake, simulated trajectory controllers.
+       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
+       test jog node output.
+  -->
+  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
+    <arg name="fake_execution" value="true"/>
+  </include>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+  </node>
+
+  <group ns="jog_server" if="$(arg debug)">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+  </group>
+
+  <group unless="$(arg debug)">
+    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
+      <param name="parameter_ns" type="string" value="jog_server"/>
+      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    </node>
+  </group>
+
+  <param name="test_module" value="$(find moveit_jog_arm)/test/test_drift_dimensions_service" />
+  <test test-name="jog_arm_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py b/moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py
new file mode 100755
index 0000000000..b711668710
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+import time
+
+import pytest
+import rospy
+
+from moveit_msgs.srv import ChangeDriftDimensions
+from geometry_msgs.msg import Transform
+from geometry_msgs.msg import TwistStamped
+from std_msgs.msg import Bool
+from trajectory_msgs.msg import JointTrajectory
+
+# Send a service call to allow drift in all but the y-dimension.
+# In other words, only the y-dimension will be controlled exactly.
+# Check that the service returns and the jog node continues to publish commands to the robot.
+
+JOG_ARM_SETTLE_TIME_S = 10
+ROS_SETTLE_TIME_S = 10
+
+CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
+
+COMMAND_OUT_TOPIC = 'jog_server/command'
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('pytest', anonymous=True)
+
+
+def test_drift_dimensions_service(node):
+    # Make the service call to allow drift in all dimensions except y-translation
+    drift_service = rospy.ServiceProxy('jog_server/change_drift_dimensions', ChangeDriftDimensions)
+    # the transform is an identity matrix, not used for now
+    drift_response = drift_service(True, False, True, True, True, True, Transform())
+    # Check for successful response
+    assert drift_response.success == True
+
+
+if __name__ == '__main__':
+   node = node()
+   test_drift_dimensions_service(node)
diff --git a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
index 741c18a0b4..882d12edfb 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
@@ -52,9 +52,11 @@ def test_jog_arm_halt_msg(node):
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
     TEST_DURATION = 1
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
     received = []
-    rospy.sleep(TEST_DURATION)
+    start_time = rospy.get_rostime()
+    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
+        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
+        time.sleep(0.1)
 
     # Check the received messages
     assert len(received) > 1
diff --git a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
index c80109ffa2..1aff26396b 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
@@ -73,10 +73,13 @@ def test_jog_arm_cartesian_command(node):
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
     TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from config file
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
     received = []
-    rospy.sleep(TEST_DURATION)
+
+    start_time = rospy.get_rostime()
+    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
+        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
+        time.sleep(0.1)
     # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
     # Allow a small +/- window due to rounding/timing errors
     assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 5
@@ -96,11 +99,13 @@ def test_jog_arm_joint_command(node):
 
     received = []
     TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from config file
-    JOINT_VELOCITY_LIMIT = 1
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
     velocities = [0.1]
-    joint_cmd.send_joint_velocity_cmd(velocities)
-    rospy.sleep(TEST_DURATION)
+
+    start_time = rospy.get_rostime()
+    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
+        joint_cmd.send_joint_velocity_cmd(velocities)
+        time.sleep(0.1)
     # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
     # Allow a small +/- window due to rounding/timing errors
     assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 20

From 193cbea741b781f1658e7360cef5eac861b2e545 Mon Sep 17 00:00:00 2001
From: Aris Synodinos <progtologist@users.noreply.github.com>
Date: Wed, 19 Feb 2020 02:22:35 +0100
Subject: [PATCH 199/612] Installs an empty plugin description xml file if
 bullet is not found (#1898)

---
 moveit_core/CMakeLists.txt                                   | 2 ++
 moveit_core/collision_detection_bullet/empty_description.xml | 2 ++
 2 files changed, 4 insertions(+)
 create mode 100644 moveit_core/collision_detection_bullet/empty_description.xml

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index f8b6bf2984..cd6c1ab095 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -224,4 +224,6 @@ add_subdirectory(dynamics_solver)
 
 if(BULLET_ENABLE)
   add_subdirectory(collision_detection_bullet)
+else()
+  install(FILES collision_detection_bullet/empty_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} RENAME collision_detector_bullet_description.xml)
 endif()
diff --git a/moveit_core/collision_detection_bullet/empty_description.xml b/moveit_core/collision_detection_bullet/empty_description.xml
new file mode 100644
index 0000000000..3ef0fa6791
--- /dev/null
+++ b/moveit_core/collision_detection_bullet/empty_description.xml
@@ -0,0 +1,2 @@
+<!-- This file is empty because Bullet 2.87 was not found at compile time -->
+<class_libraries/>

From 0abd09585d93b631637a121a286db74440b538c0 Mon Sep 17 00:00:00 2001
From: Bhavam Vidyarthi <Bhavam.vidyarthi@gmail.com>
Date: Wed, 19 Feb 2020 06:54:09 +0530
Subject: [PATCH 200/612] changes made to ModelBasedStateSpacePtr() calls
 (#1895)

---
 .../joint_space/joint_model_state_space_factory.cpp             | 2 +-
 .../work_space/pose_model_state_space_factory.cpp               | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
index 6943b91b91..222909cc49 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
@@ -52,5 +52,5 @@ int ompl_interface::JointModelStateSpaceFactory::canRepresentProblem(
 ompl_interface::ModelBasedStateSpacePtr
 ompl_interface::JointModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const
 {
-  return ModelBasedStateSpacePtr(new JointModelStateSpace(space_spec));
+  return std::make_shared<JointModelStateSpace>(space_spec);
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
index 80dd48b35d..93200757cd 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
@@ -86,5 +86,5 @@ int ompl_interface::PoseModelStateSpaceFactory::canRepresentProblem(
 ompl_interface::ModelBasedStateSpacePtr
 ompl_interface::PoseModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const
 {
-  return ModelBasedStateSpacePtr(new PoseModelStateSpace(space_spec));
+  return std::make_shared<PoseModelStateSpace>(space_spec);
 }

From 6eaa75d690614d6dbc53e9ad557bf3d8de2f8ad9 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 28 Feb 2020 05:59:13 -0700
Subject: [PATCH 201/612] JogArm C++ API fixes (#1911)

* Rename JogCppApi->JogCppInterface to match filename
* Use public inheritance of JogInterfaceBase
* Fix crash due to different Jacobian dimensions
* Clang format, update unit test
* Fix dim mismatch in decelerateForSingularity
* Revert 'static' for several variables
---
 .../include/moveit_jog_arm/jog_calcs.h        |  8 ++--
 .../moveit_jog_arm/jog_cpp_interface.h        |  8 ++--
 .../moveit_jog_arm/jog_interface_base.h       | 19 ++++++--
 .../cpp_interface_example.cpp                 |  2 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 43 +++++++++----------
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 18 ++++----
 .../test/jog_cpp_interface_test.cpp           |  2 +-
 7 files changed, 53 insertions(+), 47 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index f25548e752..0774a03c07 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -101,8 +101,9 @@ class JogCalcs
 
   // Possibly calculate a velocity scaling factor, due to proximity of
   // singularity and direction of motion
-  double decelerateForSingularity(const Eigen::VectorXd& commanded_velocity,
-                                  const Eigen::JacobiSVD<Eigen::MatrixXd>& svd);
+  double velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
+                                             const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
+                                             const Eigen::MatrixXd& jacobian, const Eigen::MatrixXd& pseudo_inverse);
 
   /**
    * Slow motion down if close to singularity or collision.
@@ -154,9 +155,6 @@ class JogCalcs
 
   JogArmParameters parameters_;
 
-  // For jacobian calculations
-  Eigen::MatrixXd jacobian_, pseudo_inverse_, matrix_s_;
-  Eigen::JacobiSVD<Eigen::MatrixXd> svd_;
   // Use ArrayXd type to enable more coefficient-wise operations
   Eigen::ArrayXd delta_theta_;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 0fb1568ce9..0541d96620 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -44,15 +44,15 @@
 namespace moveit_jog_arm
 {
 /**
-* Class JogCppApi - This class should be instantiated in a new thread
+* Class JogCppInterface - This class should be instantiated in a new thread
 * See cpp_interface_example.cpp
 */
-class JogCppApi : protected JogInterfaceBase
+class JogCppInterface : public JogInterfaceBase
 {
 public:
-  JogCppApi(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+  JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  ~JogCppApi();
+  ~JogCppInterface();
 
   void startMainLoop();
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index 6e486e737d..7afe1d7460 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -58,19 +58,30 @@ class JogInterfaceBase
 public:
   JogInterfaceBase();
 
+  /** \brief Update the joints of the robot */
   void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
 
-  // Service callback for changing drift dimensions,
-  // e.g. to allow the wrist joint to rotate
+  /**
+   * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely.
+   * This can help avoid singularities.
+   *
+   * @param request the service request
+   * @param response the service response
+   * @return true if the adjustment was made
+   */
   bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
-  // Jogging calculation thread
+  /** \brief Start the main calculation thread */
   bool startJogCalcThread();
+
+  /** \brief Stop the main calculation thread */
   bool stopJogCalcThread();
 
-  // Collision checking thread
+  /** \brief Start collision checking */
   bool startCollisionCheckThread();
+
+  /** \brief Stop collision checking */
   bool stopCollisionCheckThread();
 
 protected:
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 5ccd8cedb2..ae1b77c1be 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -66,7 +66,7 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
-  moveit_jog_arm::JogCppApi jog_interface(planning_scene_monitor);
+  moveit_jog_arm::JogCppInterface jog_interface(planning_scene_monitor);
   std::thread jogging_thread([&]() { jog_interface.startMainLoop(); });
 
   // Make a Cartesian velocity message
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index b4f71243c8..f324d6af78 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -321,28 +321,30 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
 
   // Convert from cartesian commands to joint commands
-  jacobian_ = kinematic_state_->getJacobian(joint_model_group_);
+  Eigen::MatrixXd jacobian = kinematic_state_->getJacobian(joint_model_group_);
 
   // May allow some dimensions to drift, based on shared_variables.drift_dimensions
   // i.e. take advantage of task redundancy.
   // Remove the Jacobian rows corresponding to True in the vector shared_variables.drift_dimensions
   // Work backwards through the 6-vector so indices don't get out of order
-  for (auto dimension = jacobian_.rows(); dimension >= 0; --dimension)
+  for (auto dimension = jacobian.rows(); dimension >= 0; --dimension)
   {
-    if (shared_variables.drift_dimensions[dimension] && jacobian_.rows() > 1)
+    if (shared_variables.drift_dimensions[dimension] && jacobian.rows() > 1)
     {
-      removeDimension(jacobian_, delta_x, dimension);
+      removeDimension(jacobian, delta_x, dimension);
     }
   }
 
-  svd_ = Eigen::JacobiSVD<Eigen::MatrixXd>(jacobian_, Eigen::ComputeThinU | Eigen::ComputeThinV);
-  matrix_s_ = svd_.singularValues().asDiagonal();
-  pseudo_inverse_ = svd_.matrixV() * matrix_s_.inverse() * svd_.matrixU().transpose();
+  Eigen::JacobiSVD<Eigen::MatrixXd> svd =
+      Eigen::JacobiSVD<Eigen::MatrixXd>(jacobian, Eigen::ComputeThinU | Eigen::ComputeThinV);
+  Eigen::MatrixXd matrix_s = svd.singularValues().asDiagonal();
+  Eigen::MatrixXd pseudo_inverse = svd.matrixV() * matrix_s.inverse() * svd.matrixU().transpose();
 
-  delta_theta_ = pseudo_inverse_ * delta_x;
+  delta_theta_ = pseudo_inverse * delta_x;
 
   // If close to a collision or a singularity, decelerate
-  if (!applyVelocityScaling(shared_variables, mutex, delta_theta_, decelerateForSingularity(delta_x, svd_)))
+  if (!applyVelocityScaling(shared_variables, mutex, delta_theta_,
+                            velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse)))
   {
     has_warning_ = true;
     suddenHalt(outgoing_command_);
@@ -473,16 +475,19 @@ bool JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::m
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
-double JogCalcs::decelerateForSingularity(const Eigen::VectorXd& commanded_velocity,
-                                          const Eigen::JacobiSVD<Eigen::MatrixXd>& svd)
+double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
+                                                     const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
+                                                     const Eigen::MatrixXd& jacobian,
+                                                     const Eigen::MatrixXd& pseudo_inverse)
 {
   double velocity_scale = 1;
+  std::size_t num_dimensions = jacobian.rows();
 
   // Find the direction away from nearest singularity.
   // The last column of U from the SVD of the Jacobian points directly toward or away from the singularity.
   // The sign can flip at any time, so we have to do some extra checking.
   // Look ahead to see if the Jacobian's condition will decrease.
-  Eigen::VectorXd vector_toward_singularity = svd.matrixU().col(5);
+  Eigen::VectorXd vector_toward_singularity = svd.matrixU().col(num_dimensions - 1);
 
   double ini_condition = svd.singularValues()(0) / svd.singularValues()(svd.singularValues().size() - 1);
 
@@ -490,29 +495,23 @@ double JogCalcs::decelerateForSingularity(const Eigen::VectorXd& commanded_veloc
   // "Resolving the Sign Ambiguity in the Singular Value Decomposition".
   // Look ahead to see if the Jacobian's condition will decrease in this
   // direction. Start with a scaled version of the singular vector
-  Eigen::VectorXd delta_x(6);
+  Eigen::VectorXd delta_x(num_dimensions);
   double scale = 100;
   delta_x = vector_toward_singularity / scale;
 
   // Calculate a small change in joints
   Eigen::VectorXd new_theta;
   kinematic_state_->copyJointGroupPositions(joint_model_group_, new_theta);
-  new_theta += pseudo_inverse_ * delta_x;
+  new_theta += pseudo_inverse * delta_x;
   kinematic_state_->setJointGroupPositions(joint_model_group_, new_theta);
 
-  jacobian_ = kinematic_state_->getJacobian(joint_model_group_);
-  Eigen::JacobiSVD<Eigen::MatrixXd> new_svd = Eigen::JacobiSVD<Eigen::MatrixXd>(jacobian_);
+  Eigen::JacobiSVD<Eigen::MatrixXd> new_svd(jacobian);
   double new_condition = new_svd.singularValues()(0) / new_svd.singularValues()(new_svd.singularValues().size() - 1);
   // If new_condition < ini_condition, the singular vector does point towards a
   // singularity. Otherwise, flip its direction.
   if (ini_condition >= new_condition)
   {
-    vector_toward_singularity[0] *= -1;
-    vector_toward_singularity[1] *= -1;
-    vector_toward_singularity[2] *= -1;
-    vector_toward_singularity[3] *= -1;
-    vector_toward_singularity[4] *= -1;
-    vector_toward_singularity[5] *= -1;
+    vector_toward_singularity *= -1;
   }
 
   // If this dot product is positive, we're moving toward singularity ==> decelerate
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 0ad2876c94..1b9475044b 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -39,13 +39,11 @@
 
 #include "moveit_jog_arm/jog_cpp_interface.h"
 
-// TODO(davetcoleman): rename JogCppApi to JogCppInterface to match file name
-
 static const std::string LOGNAME = "jog_cpp_interface";
 
 namespace moveit_jog_arm
 {
-JogCppApi::JogCppApi(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+JogCppInterface::JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
 {
   planning_scene_monitor_ = planning_scene_monitor;
 
@@ -54,12 +52,12 @@ JogCppApi::JogCppApi(const planning_scene_monitor::PlanningSceneMonitorPtr& plan
     exit(EXIT_FAILURE);
 }
 
-JogCppApi::~JogCppApi()
+JogCppInterface::~JogCppInterface()
 {
   stopMainLoop();
 }
 
-void JogCppApi::startMainLoop()
+void JogCppInterface::startMainLoop()
 {
   // Reset loop termination flag
   stop_requested_ = false;
@@ -150,12 +148,12 @@ void JogCppApi::startMainLoop()
   stopCollisionCheckThread();
 }
 
-void JogCppApi::stopMainLoop()
+void JogCppInterface::stopMainLoop()
 {
   stop_requested_ = true;
 }
 
-void JogCppApi::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
+void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
 {
   shared_variables_mutex_.lock();
 
@@ -183,7 +181,7 @@ void JogCppApi::provideTwistStampedCommand(const geometry_msgs::TwistStamped& ve
   shared_variables_mutex_.unlock();
 };
 
-void JogCppApi::provideJointCommand(const control_msgs::JointJog& joint_command)
+void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_command)
 {
   shared_variables_mutex_.lock();
   shared_variables_.joint_command_deltas = joint_command;
@@ -203,7 +201,7 @@ void JogCppApi::provideJointCommand(const control_msgs::JointJog& joint_command)
   shared_variables_mutex_.unlock();
 }
 
-sensor_msgs::JointState JogCppApi::getJointState()
+sensor_msgs::JointState JogCppInterface::getJointState()
 {
   shared_variables_mutex_.lock();
   sensor_msgs::JointState current_joints = shared_variables_.joints;
@@ -212,7 +210,7 @@ sensor_msgs::JointState JogCppApi::getJointState()
   return current_joints;
 }
 
-bool JogCppApi::getCommandFrameTransform(Eigen::Isometry3d& transform)
+bool JogCppInterface::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   if (!jog_calcs_ || !jog_calcs_->isInitialized())
     return false;
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index 5247c5091b..2b18f7e083 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -75,7 +75,7 @@ class TestJogCppInterface : public ::testing::Test
 
 TEST_F(TestJogCppInterface, InitTest)
 {
-  moveit_jog_arm::JogCppApi jog_cpp_interface(planning_scene_monitor_);
+  moveit_jog_arm::JogCppInterface jog_cpp_interface(planning_scene_monitor_);
   ros::Duration(1).sleep();  // Give the started thread some time to run
 }
 

From 99610351429f5d48f53e7ab850ad54ad0f4142d9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 28 Feb 2020 06:25:08 -0700
Subject: [PATCH 202/612] codecov yaml (#1917)

---
 codecov.yaml | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 codecov.yaml

diff --git a/codecov.yaml b/codecov.yaml
new file mode 100644
index 0000000000..9cf0fb0e1e
--- /dev/null
+++ b/codecov.yaml
@@ -0,0 +1,13 @@
+coverage:
+  status:
+    project:
+      default:
+        target: auto
+        # allow coverage to drop by this amount and still post success
+        threshold: 0.5%
+        base: auto
+        branches:
+          - master
+        if_not_found: success
+        if_ci_failed: error
+        only_pulls: false

From e8a4072727abe4c704d009f05baa764bcf106b33 Mon Sep 17 00:00:00 2001
From: Aris Synodinos <progtologist@users.noreply.github.com>
Date: Sat, 29 Feb 2020 01:29:54 +0100
Subject: [PATCH 203/612] Scoping the namespace of the template specialization
 to overcome gcc-5 bug 56480 (#1919)

---
 .../src/planning_context_manager.cpp              | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index fa2e88a308..89809dfcff 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -192,34 +192,35 @@ ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner(const ob::
   return nullptr;
 };
 // TODO: remove when ROS Melodic and older are no longer supported
+// namespace is scoped instead of global because of GCC bug 56480
 #if OMPL_VERSION_VALUE >= 1005000
+namespace ompl_interface
+{
 template <>
 inline ompl::base::Planner*
-ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRM>(const ob::PlannerData& data)
+MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRM>(const ob::PlannerData& data)
 {
   return new og::PRM(data);
 };
 template <>
 inline ompl::base::Planner*
-ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRMstar>(
-    const ob::PlannerData& data)
+MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::PRMstar>(const ob::PlannerData& data)
 {
   return new og::PRMstar(data);
 };
 template <>
 inline ompl::base::Planner*
-ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRM>(
-    const ob::PlannerData& data)
+MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRM>(const ob::PlannerData& data)
 {
   return new og::LazyPRM(data);
 };
 template <>
 inline ompl::base::Planner*
-ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMstar>(
-    const ob::PlannerData& data)
+MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMstar>(const ob::PlannerData& data)
 {
   return new og::LazyPRMstar(data);
 };
+}
 #endif
 
 ompl_interface::PlanningContextManager::PlanningContextManager(robot_model::RobotModelConstPtr robot_model,

From ba4b60e079fd14a61c50ef34c156eee6d63e58f7 Mon Sep 17 00:00:00 2001
From: Ayush Garg <ayushgargdroid@gmail.com>
Date: Tue, 3 Mar 2020 14:27:44 -0500
Subject: [PATCH 204/612] Replace namespaces robot_state and robot_model with
 moveit::core (#1924)

---
 .../allvalid/collision_env_allvalid.h         |  28 ++--
 .../collision_detection/collision_common.h    |   4 +-
 .../collision_detector_allocator.h            |   8 +-
 .../collision_detection/collision_env.h       |  38 ++---
 .../test_collision_common_panda.h             |   8 +-
 .../test_collision_common_pr2.h               |  24 +--
 .../src/allvalid/collision_env_allvalid.cpp   |  24 +--
 .../collision_detection/src/collision_env.cpp |  16 +-
 .../test/test_all_valid.cpp                   |   4 +-
 .../collision_env_bullet.h                    |  34 ++--
 .../src/collision_env_bullet.cpp              |  40 ++---
 ...t_bullet_continuous_collision_checking.cpp |  16 +-
 .../collision_common.h                        |  25 +--
 .../collision_env_fcl.h                       |  34 ++--
 .../src/collision_common.cpp                  |  32 ++--
 .../src/collision_env_fcl.cpp                 |  44 ++---
 .../test/test_fcl_env.cpp                     |  16 +-
 .../collision_common_distance_field.h         |   6 +-
 .../collision_env_distance_field.h            |  38 ++---
 .../collision_env_hybrid.h                    |  32 ++--
 .../src/collision_common_distance_field.cpp   |   4 +-
 .../src/collision_env_distance_field.cpp      |  32 ++--
 .../src/collision_env_hybrid.cpp              |  32 ++--
 .../test/test_collision_distance_field.cpp    |  24 +--
 .../constraint_samplers/constraint_sampler.h  |  22 +--
 .../constraint_sampler_tools.h                |   4 +-
 .../default_constraint_samplers.h             |  18 +--
 .../union_constraint_sampler.h                |   4 +-
 .../src/constraint_sampler_manager.cpp        |   8 +-
 .../src/constraint_sampler_tools.cpp          |  10 +-
 .../src/default_constraint_samplers.cpp       |  36 ++---
 .../src/union_constraint_sampler.cpp          |   4 +-
 .../test/test_constraint_samplers.cpp         |  56 +++----
 .../moveit/dynamics_solver/dynamics_solver.h  |  12 +-
 .../dynamics_solver/src/dynamics_solver.cpp   |   6 +-
 .../kinematic_constraint.h                    |  72 ++++-----
 .../moveit/kinematic_constraints/utils.h      |  10 +-
 .../src/kinematic_constraint.cpp              |  59 +++----
 .../kinematic_constraints/src/utils.cpp       |  10 +-
 .../test/test_constraints.cpp                 |  44 ++---
 .../kinematics_metrics/kinematics_metrics.h   |  26 +--
 .../src/kinematics_metrics.cpp                |  48 +++---
 .../planning_interface/planning_interface.h   |   2 +-
 .../src/planning_interface.cpp                |   2 +-
 .../src/planning_response.cpp                 |   4 +-
 .../moveit/planning_scene/planning_scene.h    | 152 +++++++++---------
 .../planning_scene/src/planning_scene.cpp     | 125 +++++++-------
 .../test/test_multi_threaded.cpp              |  16 +-
 .../test/test_planning_scene.cpp              |   2 +-
 moveit_core/robot_model/src/robot_model.cpp   |   6 +-
 .../src/cartesian_interpolator.cpp            |   4 +-
 moveit_core/robot_state/src/robot_state.cpp   |  22 +--
 .../test/robot_state_benchmark.cpp            |   4 +-
 .../robot_state/test/robot_state_test.cpp     |   2 +-
 moveit_core/robot_state/test/test_aabb.cpp    |  14 +-
 .../test/test_cartesian_interpolator.cpp      |  22 +--
 .../robot_trajectory/robot_trajectory.h       |  54 +++----
 .../robot_trajectory/src/robot_trajectory.cpp |  42 ++---
 .../test/test_robot_trajectory.cpp            |  20 +--
 .../src/iterative_spline_parameterization.cpp |  10 +-
 .../src/iterative_time_parameterization.cpp   |  32 ++--
 .../time_optimal_trajectory_generation.cpp    |  12 +-
 .../test/test_time_parameterization.cpp       |  10 +-
 .../kinematics_cache/kinematics_cache.h       |  12 +-
 .../kinematics_cache/src/kinematics_cache.cpp |   6 +-
 .../kinematics_constraint_aware.h             |  14 +-
 .../kinematics_request_response.h             |   6 +-
 .../src/kinematics_constraint_aware.cpp       |  18 +--
 .../include/moveit_jog_arm/jog_calcs.h        |   4 +-
 .../src/collision_check_thread.cpp            |   2 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          |   4 +-
 .../kdl_kinematics_plugin.h                   |   4 +-
 .../src/kdl_kinematics_plugin.cpp             |   6 +-
 .../lma_kinematics_plugin.h                   |   6 +-
 .../src/lma_kinematics_plugin.cpp             |   4 +-
 .../srv_kinematics_plugin.h                   |   4 +-
 .../src/srv_kinematics_plugin.cpp             |   2 +-
 moveit_kinematics/test/benchmark_ik.cpp       |   6 +-
 .../test/test_kinematics_plugin.cpp           |  24 +--
 .../chomp_interface/chomp_planning_context.h  |   3 +-
 .../src/chomp_planning_context.cpp            |   2 +-
 .../chomp_interface/src/chomp_plugin.cpp      |   2 +-
 .../src/chomp_planner.cpp                     |  12 +-
 .../src/chomp_trajectory.cpp                  |  10 +-
 .../detail/constrained_goal_sampler.h         |   8 +-
 .../detail/constrained_sampler.h              |   2 +-
 .../detail/constrained_valid_state_sampler.h  |   2 +-
 .../detail/projection_evaluators.h            |   2 +-
 .../detail/threadsafe_state_storage.h         |  10 +-
 .../model_based_planning_context.h            |  10 +-
 .../moveit/ompl_interface/ompl_interface.h    |   6 +-
 .../joint_model_state_space_factory.h         |   2 +-
 .../model_based_state_space.h                 |  28 ++--
 .../model_based_state_space_factory.h         |   2 +-
 .../work_space/pose_model_state_space.h       |   8 +-
 .../pose_model_state_space_factory.h          |   2 +-
 .../ompl_interface/planning_context_manager.h |   6 +-
 .../src/detail/constrained_goal_sampler.cpp   |  10 +-
 .../src/detail/constraints_library.cpp        |   8 +-
 .../src/detail/projection_evaluators.cpp      |   2 +-
 .../src/detail/state_validity_checker.cpp     |  12 +-
 .../src/detail/threadsafe_state_storage.cpp   |  12 +-
 .../src/model_based_planning_context.cpp      |   4 +-
 .../ompl_interface/src/ompl_interface.cpp     |   6 +-
 .../src/ompl_planner_manager.cpp              |  10 +-
 .../joint_model_state_space_factory.cpp       |   2 +-
 .../model_based_state_space.cpp               |  24 +--
 .../work_space/pose_model_state_space.cpp     |   6 +-
 .../pose_model_state_space_factory.cpp        |   8 +-
 .../src/planning_context_manager.cpp          |   4 +-
 .../ompl_interface/test/test_state_space.cpp  |   6 +-
 .../trajopt_planning_context.h                |   2 +-
 .../trajopt/src/problem_description.cpp       |  12 +-
 .../trajopt/src/trajopt_interface.cpp         |   8 +-
 .../trajopt/src/trajopt_planner_manager.cpp   |   2 +-
 .../trajopt/src/trajopt_planning_context.cpp  |   4 +-
 .../trajopt/test/trajectory_test.cpp          |  10 +-
 .../src/moveit_fake_controller_manager.cpp    |   2 +-
 .../benchmarks/src/benchmark_execution.cpp    |  12 +-
 .../moveit/pick_place/manipulation_plan.h     |  10 +-
 .../include/moveit/pick_place/pick_place.h    |   2 +-
 .../pick_place/reachable_valid_pose_filter.h  |   2 +-
 .../src/approach_and_translate_stage.cpp      |  38 ++---
 .../manipulation/pick_place/src/pick.cpp      |   6 +-
 .../pick_place/src/pick_place.cpp             |   6 +-
 .../manipulation/pick_place/src/place.cpp     |  25 +--
 .../pick_place/src/plan_stage.cpp             |   3 +-
 .../src/reachable_valid_pose_filter.cpp       |  10 +-
 .../cartesian_path_service_capability.cpp     |  24 +--
 .../kinematics_service_capability.cpp         |  24 +--
 .../kinematics_service_capability.h           |   8 +-
 .../move_action_capability.cpp                |   2 +-
 .../state_validation_service_capability.cpp   |   4 +-
 .../tf_publisher_capability.cpp               |   6 +-
 .../move_group/src/move_group_capability.cpp  |   4 +-
 .../src/depth_self_filter_nodelet.cpp         |   4 +-
 .../mesh_filter/src/transform_provider.cpp    |   2 +-
 .../kinematics_plugin_loader.h                |   4 +-
 .../src/kinematics_plugin_loader.cpp          |  14 +-
 ...re_collision_speed_checking_fcl_bullet.cpp |  16 +-
 .../src/evaluate_collision_checking_speed.cpp |   8 +-
 .../src/evaluate_state_operations_speed.cpp   |  10 +-
 ...inematics_speed_and_validity_evaluator.cpp |   4 +-
 .../planning_pipeline/planning_pipeline.h     |   8 +-
 .../src/planning_pipeline.cpp                 |   8 +-
 .../src/fix_start_state_bounds.cpp            |  26 +--
 .../src/fix_start_state_collision.cpp         |  10 +-
 .../src/fix_start_state_path_constraints.cpp  |   6 +-
 .../current_state_monitor.h                   |  16 +-
 .../planning_scene_monitor.h                  |  18 +--
 .../trajectory_monitor.h                      |   2 +-
 .../src/current_state_monitor.cpp             |  22 +--
 .../src/planning_scene_monitor.cpp            |  26 +--
 .../src/trajectory_monitor.cpp                |   2 +-
 .../robot_model_loader/robot_model_loader.h   |   4 +-
 .../src/robot_model_loader.cpp                |  21 +--
 .../trajectory_execution_manager.h            |   6 +-
 .../src/trajectory_execution_manager.cpp      |  28 ++--
 .../common_objects.h                          |  14 +-
 .../src/common_objects.cpp                    |  14 +-
 .../move_group_interface.h                    |  14 +-
 .../src/move_group_interface.cpp              |  68 ++++----
 .../src/wrap_python_move_group.cpp            |   8 +-
 .../include/moveit/moveit_cpp/moveit_cpp.h    |   8 +-
 .../moveit/moveit_cpp/planning_component.h    |   8 +-
 .../moveit_cpp/src/moveit_cpp.cpp             |   8 +-
 .../moveit_cpp/src/planning_component.cpp     |  14 +-
 .../src/planning_scene_interface.cpp          |   2 +-
 .../src/wrap_python_robot_interface.cpp       |  44 ++---
 .../test/moveit_cpp_test.cpp                  |   8 +-
 .../moveit/robot_interaction/interaction.h    |   6 +-
 .../robot_interaction/interaction_handler.h   |  12 +-
 .../robot_interaction/kinematic_options.h     |   4 +-
 .../robot_interaction/kinematic_options_map.h |   2 +-
 .../robot_interaction/locked_robot_state.h    |  12 +-
 .../robot_interaction/robot_interaction.h     |   8 +-
 .../src/interaction_handler.cpp               |  10 +-
 .../src/kinematic_options.cpp                 |   6 +-
 .../src/kinematic_options_map.cpp             |   2 +-
 .../src/locked_robot_state.cpp                |  16 +-
 .../src/robot_interaction.cpp                 |  36 ++---
 .../test/locked_robot_state_test.cpp          |  18 +--
 .../motion_planning_display.h                 |  18 +--
 .../motion_planning_frame.h                   |   4 +-
 .../src/motion_planning_display.cpp           |  51 +++---
 .../src/motion_planning_frame.cpp             |   8 +-
 .../motion_planning_frame_manipulation.cpp    |   4 +-
 .../src/motion_planning_frame_objects.cpp     |  25 +--
 .../src/motion_planning_frame_planning.cpp    |  46 +++---
 .../src/motion_planning_frame_states.cpp      |  12 +-
 .../planning_scene_display.h                  |   2 +-
 .../src/planning_scene_display.cpp            |  12 +-
 .../robot_state_display.h                     |   6 +-
 .../src/robot_state_display.cpp               |  10 +-
 .../planning_link_updater.h                   |   6 +-
 .../robot_state_visualization.h               |  10 +-
 .../trajectory_visualization.h                |   6 +-
 .../src/planning_link_updater.cpp             |   2 +-
 .../src/planning_scene_render.cpp             |   4 +-
 .../src/robot_state_visualization.cpp         |  12 +-
 .../src/trajectory_visualization.cpp          |   4 +-
 .../trajectory_display.h                      |   4 +-
 .../src/trajectory_display.cpp                |   2 +-
 .../warehouse/src/import_from_text.cpp        |   4 +-
 .../warehouse/src/initialize_demo_db.cpp      |   4 +-
 .../warehouse/warehouse/src/save_as_text.cpp  |   6 +-
 .../tools/moveit_config_data.h                |   6 +-
 .../src/tools/compute_default_collisions.cpp  |  18 +--
 .../src/tools/moveit_config_data.cpp          |  50 +++---
 .../src/widgets/end_effectors_widget.cpp      |   6 +-
 .../src/widgets/kinematic_chain_widget.cpp    |  10 +-
 .../src/widgets/kinematic_chain_widget.h      |   4 +-
 .../src/widgets/passive_joints_widget.cpp     |   4 +-
 .../src/widgets/planning_groups_widget.cpp    |  10 +-
 .../src/widgets/robot_poses_widget.cpp        |  15 +-
 .../src/widgets/robot_poses_widget.h          |   6 +-
 .../src/widgets/ros_controllers_widget.cpp    |  12 +-
 .../src/widgets/setup_assistant_widget.cpp    |   9 +-
 .../src/widgets/virtual_joints_widget.cpp     |   4 +-
 219 files changed, 1593 insertions(+), 1578 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
index 024a59496b..2f0e91c88f 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
@@ -46,31 +46,31 @@ namespace collision_detection
 class CollisionEnvAllValid : public CollisionEnv
 {
 public:
-  CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
-  CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
+  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
+  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
                        double scale = 1.0);
   CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world);
 
   void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                           const robot_state::RobotState& state) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                           const moveit::core::RobotState& state) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                            const AllowedCollisionMatrix& acm) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
-                           const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
-  virtual double distanceRobot(const robot_state::RobotState& state) const;
-  virtual double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+  virtual double distanceRobot(const moveit::core::RobotState& state) const;
+  virtual double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
   void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                     const robot_state::RobotState& state) const override;
+                     const moveit::core::RobotState& state) const override;
 
   void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                          const robot_state::RobotState& state) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+                          const moveit::core::RobotState& state) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                           const AllowedCollisionMatrix& acm) const override;
 
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const robot_state::RobotState& state) const override;
+                    const moveit::core::RobotState& state) const override;
 };
 }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 96f3343d0b..38a3fef260 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -256,7 +256,7 @@ struct DistanceRequest
   }
 
   /// Compute \e active_components_only_ based on \e req_
-  void enableGroup(const robot_model::RobotModelConstPtr& robot_model)
+  void enableGroup(const moveit::core::RobotModelConstPtr& robot_model)
   {
     if (robot_model->hasJointModelGroup(group_name))
       active_components_only = &robot_model->getJointModelGroup(group_name)->getUpdatedLinkModelsSet();
@@ -282,7 +282,7 @@ struct DistanceRequest
   std::string group_name;
 
   /// The set of active components to check
-  const std::set<const robot_model::LinkModel*>* active_components_only;
+  const std::set<const moveit::core::LinkModel*>* active_components_only;
 
   /// The allowed collision matrix used to filter checks
   const AllowedCollisionMatrix* acm;
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index cbfb39a161..89624d9e09 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -56,7 +56,7 @@ class CollisionDetectorAllocator
 
   /** create a new CollisionWorld for checking collisions with the supplied world. */
   virtual CollisionEnvPtr allocateEnv(const WorldPtr& world,
-                                      const robot_model::RobotModelConstPtr& robot_model) const = 0;
+                                      const moveit::core::RobotModelConstPtr& robot_model) const = 0;
 
   /** create a new CollisionWorld by copying an existing CollisionWorld of the same type.s
    * The world must be either the same world as used by \orig or a copy of that world which has not yet been modified.
@@ -64,7 +64,7 @@ class CollisionDetectorAllocator
   virtual CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const = 0;
 
   /** create a new CollisionEnv given a robot_model with a new empty world */
-  virtual CollisionEnvPtr allocateEnv(const robot_model::RobotModelConstPtr& robot_model) const = 0;
+  virtual CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const = 0;
 };
 
 /** \brief Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. */
@@ -77,7 +77,7 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
     return CollisionDetectorAllocatorType::NAME;
   }
 
-  CollisionEnvPtr allocateEnv(const WorldPtr& world, const robot_model::RobotModelConstPtr& robot_model) const override
+  CollisionEnvPtr allocateEnv(const WorldPtr& world, const moveit::core::RobotModelConstPtr& robot_model) const override
   {
     return CollisionEnvPtr(new CollisionEnvType(robot_model, world));
   }
@@ -87,7 +87,7 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
     return CollisionEnvPtr(new CollisionEnvType(dynamic_cast<const CollisionEnvType&>(*orig), world));
   }
 
-  CollisionEnvPtr allocateEnv(const robot_model::RobotModelConstPtr& robot_model) const override
+  CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const override
   {
     return CollisionEnvPtr(new CollisionEnvType(robot_model));
   }
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
index c634ca8597..7d42a73e3f 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
@@ -58,14 +58,14 @@ class CollisionEnv
    *  @param padding The padding to use for all objects/links on the robot
    *  @scale scale A common scaling to use for all objects/links on the robot
    */
-  CollisionEnv(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+  CollisionEnv(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
   /** @brief Constructor
    *  @param model A robot model to construct the collision robot from
    *  @param padding The padding to use for all objects/links on the robot
    *  @scale scale A common scaling to use for all objects/links on the robot
    */
-  CollisionEnv(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+  CollisionEnv(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
                double scale = 1.0);
 
   /** \brief Copy constructor */
@@ -82,7 +82,7 @@ class CollisionEnv
    *  @param res A CollisionResult object that encapsulates the collision result
    *  @param state The kinematic state for which checks are being made */
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state) const = 0;
+                                  const moveit::core::RobotState& state) const = 0;
 
   /** \brief Check for self collision. Allowed collisions specified by the allowed collision matrix are
    *   taken into account.
@@ -91,7 +91,7 @@ class CollisionEnv
    *  @param state The kinematic state for which checks are being made
    *  @param acm The allowed collision matrix. */
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
+                                  const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
   /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
    *  Any collision between any pair of links is checked for, NO collisions are ignored.
@@ -99,7 +99,7 @@ class CollisionEnv
    *  @param res A CollisionResult object that encapsulates the collision result
    *  @param state The kinematic state for which checks are being made         */
   virtual void checkCollision(const CollisionRequest& req, CollisionResult& res,
-                              const robot_state::RobotState& state) const;
+                              const moveit::core::RobotState& state) const;
 
   /** \brief Check whether the robot model is in collision with itself or the world at a particular state.
    *  Allowed collisions specified by the allowed collision matrix are taken into account.
@@ -107,7 +107,7 @@ class CollisionEnv
    *  @param res A CollisionResult object that encapsulates the collision result
    *  @param state The kinematic state for which checks are being made
    *  @param acm The allowed collision matrix. */
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                               const AllowedCollisionMatrix& acm) const;
 
   /** \brief Check whether the robot model is in collision with the world. Any collisions between a robot link
@@ -118,7 +118,7 @@ class CollisionEnv
    *  @param state The kinematic state for which checks are being made
    */
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state) const = 0;
+                                   const moveit::core::RobotState& state) const = 0;
 
   /** \brief Check whether the robot model is in collision with the world.
    *  Allowed collisions are ignored. Self collisions are not checked.
@@ -128,7 +128,7 @@ class CollisionEnv
    *  @param state The kinematic state for which checks are being made
    *  @param acm The allowed collision matrix.*/
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
+                                   const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
   /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
    * states).
@@ -140,7 +140,7 @@ class CollisionEnv
    *  @param state2 The kinematic state at the end of the segment for which checks are being made
    *  @param acm The allowed collision matrix.*/
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const = 0;
 
   /** \brief Check whether the robot model is in collision with the world in a continuous manner (between two robot
@@ -153,18 +153,18 @@ class CollisionEnv
    *  @param state2 The kinematic state at the end of the segment for which checks are being made
    *  @param acm The allowed collision matrix.*/
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1,
-                                   const robot_state::RobotState& state2) const = 0;
+                                   const moveit::core::RobotState& state1,
+                                   const moveit::core::RobotState& state2) const = 0;
 
   /** \brief The distance to self-collision given the robot is at state \e state.
       @param req A DistanceRequest object that encapsulates the distance request
       @param res A DistanceResult object that encapsulates the distance result
       @param state The state of this robot to consider */
   virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const robot_state::RobotState& state) const = 0;
+                            const moveit::core::RobotState& state) const = 0;
 
   /** \brief The distance to self-collision given the robot is at state \e state. */
-  inline double distanceSelf(const robot_state::RobotState& state) const
+  inline double distanceSelf(const moveit::core::RobotState& state) const
   {
     DistanceRequest req;
     DistanceResult res;
@@ -176,7 +176,7 @@ class CollisionEnv
 
   /** \brief The distance to self-collision given the robot is at state \e state, ignoring
       the distances between links that are allowed to always collide (as specified by \e acm) */
-  inline double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+  inline double distanceSelf(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const
   {
     DistanceRequest req;
     DistanceResult res;
@@ -193,13 +193,13 @@ class CollisionEnv
    *  @param robot The robot to check distance for
    *  @param state The state for the robot to check distances from */
   virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                             const robot_state::RobotState& state) const = 0;
+                             const moveit::core::RobotState& state) const = 0;
 
   /** \brief Compute the shortest distance between a robot and the world
    *  @param robot The robot to check distance for
    *  @param state The state for the robot to check distances from
    *  @param verbose Output debug information about distance checks */
-  inline double distanceRobot(const robot_state::RobotState& state, bool verbose = false) const
+  inline double distanceRobot(const moveit::core::RobotState& state, bool verbose = false) const
   {
     DistanceRequest req;
     DistanceResult res;
@@ -217,7 +217,7 @@ class CollisionEnv
    *  @param acm Using an allowed collision matrix has the effect of ignoring distances from links that are always
    * allowed to be in collision.
    *  @param verbose Output debug information about distance checks */
-  inline double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+  inline double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                               bool verbose = false) const
   {
     DistanceRequest req;
@@ -252,7 +252,7 @@ class CollisionEnv
   typedef World::ObjectConstPtr ObjectConstPtr;
 
   /** @brief The kinematic model corresponding to this collision model*/
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -312,7 +312,7 @@ class CollisionEnv
   virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
 
   /** @brief The kinematic model corresponding to this collision model*/
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   /** @brief The internally maintained map (from link names to padding)*/
   std::map<std::string, double> link_padding_;
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
index 42f356a4d8..86535974cb 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -51,7 +51,7 @@
 #include <fstream>
 
 /** \brief Brings the panda robot in user defined home position */
-inline void setToHome(robot_state::RobotState& panda_state)
+inline void setToHome(moveit::core::RobotState& panda_state)
 {
   panda_state.setToDefaultValues();
   double joint2 = -0.785;
@@ -90,7 +90,7 @@ class CollisionDetectorPandaTest : public testing::Test
 
     cenv_ = value_->allocateEnv(robot_model_);
 
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
     setToHome(*robot_state_);
   }
 
@@ -100,13 +100,13 @@ class CollisionDetectorPandaTest : public testing::Test
 
   bool robot_model_ok_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 };
 
 TYPED_TEST_CASE_P(CollisionDetectorPandaTest);
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
index d62c1e8872..8a3eb61e73 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
@@ -78,7 +78,7 @@ class CollisionDetectorTest : public ::testing::Test
 
   bool robot_model_ok_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   collision_detection::CollisionEnvPtr cenv_;
 
@@ -96,7 +96,7 @@ TYPED_TEST_P(CollisionDetectorTest, InitOK)
 
 TYPED_TEST_P(CollisionDetectorTest, DefaultNotInCollision)
 {
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -115,7 +115,7 @@ TYPED_TEST_P(CollisionDetectorTest, LinksInCollision)
   // req.contacts = true;
   // req.max_contacts = 100;
 
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -154,7 +154,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactReporting)
   req.contacts = true;
   req.max_contacts = 1;
 
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -208,7 +208,7 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   req.contacts = true;
   req.max_contacts = 1;
 
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -278,7 +278,7 @@ TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
 
   this->acm_.reset(new collision_detection::AllowedCollisionMatrix(this->robot_model_->getLinkModelNames(), true));
 
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -341,7 +341,7 @@ TYPED_TEST_P(CollisionDetectorTest, AttachedBodyTester)
 
 TYPED_TEST_P(CollisionDetectorTest, DiffSceneTester)
 {
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -403,7 +403,7 @@ TYPED_TEST_P(CollisionDetectorTest, ConvertObjectToAttached)
 
   this->cenv_->getWorld()->addToObject("kinect", shape, pos1);
 
-  robot_state::RobotState robot_state(this->robot_model_);
+  moveit::core::RobotState robot_state(this->robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -419,8 +419,8 @@ TYPED_TEST_P(CollisionDetectorTest, ConvertObjectToAttached)
   collision_detection::CollisionEnv::ObjectConstPtr object = this->cenv_->getWorld()->getObject("kinect");
   this->cenv_->getWorld()->removeObject("kinect");
 
-  robot_state::RobotState robot_state1(this->robot_model_);
-  robot_state::RobotState robot_state2(this->robot_model_);
+  moveit::core::RobotState robot_state1(this->robot_model_);
+  moveit::core::RobotState robot_state2(this->robot_model_);
   robot_state1.setToDefaultValues();
   robot_state2.setToDefaultValues();
   robot_state1.update();
@@ -475,7 +475,7 @@ TYPED_TEST_P(CollisionDetectorTest, TestCollisionMapAdditionSpeed)
 
 TYPED_TEST_P(CollisionDetectorTest, MoveMesh)
 {
-  robot_state::RobotState robot_state1(this->robot_model_);
+  moveit::core::RobotState robot_state1(this->robot_model_);
   robot_state1.setToDefaultValues();
   robot_state1.update();
 
@@ -499,7 +499,7 @@ TYPED_TEST_P(CollisionDetectorTest, MoveMesh)
 
 TYPED_TEST_P(CollisionDetectorTest, TestChangingShapeSize)
 {
-  robot_state::RobotState robot_state1(this->robot_model_);
+  moveit::core::RobotState robot_state1(this->robot_model_);
   robot_state1.setToDefaultValues();
   robot_state1.update();
 
diff --git a/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp b/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
index bf84110b23..9f6c842b5a 100644
--- a/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
+++ b/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
@@ -39,13 +39,13 @@
 
 const std::string collision_detection::CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");
 
-collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model,
+collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model,
                                                                 double padding, double scale)
   : CollisionEnv(robot_model, padding, scale)
 {
 }
 
-collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const robot_model::RobotModelConstPtr& robot_model,
+collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model,
                                                                 const WorldPtr& world, double padding, double scale)
   : CollisionEnv(robot_model, world, padding, scale)
 {
@@ -57,7 +57,7 @@ collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const CollisionE
 }
 
 void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                    const robot_state::RobotState& state) const
+                                                                    const moveit::core::RobotState& state) const
 {
   res.collision = false;
   if (req.verbose)
@@ -65,7 +65,7 @@ void collision_detection::CollisionEnvAllValid::checkRobotCollision(const Collis
 }
 
 void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                    const robot_state::RobotState& state,
+                                                                    const moveit::core::RobotState& state,
                                                                     const AllowedCollisionMatrix& acm) const
 {
   res.collision = false;
@@ -74,8 +74,8 @@ void collision_detection::CollisionEnvAllValid::checkRobotCollision(const Collis
 }
 
 void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                    const robot_state::RobotState& state1,
-                                                                    const robot_state::RobotState& state2) const
+                                                                    const moveit::core::RobotState& state1,
+                                                                    const moveit::core::RobotState& state2) const
 {
   res.collision = false;
   if (req.verbose)
@@ -83,8 +83,8 @@ void collision_detection::CollisionEnvAllValid::checkRobotCollision(const Collis
 }
 
 void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                    const robot_state::RobotState& state1,
-                                                                    const robot_state::RobotState& state2,
+                                                                    const moveit::core::RobotState& state1,
+                                                                    const moveit::core::RobotState& state2,
                                                                     const AllowedCollisionMatrix& acm) const
 {
   res.collision = false;
@@ -99,19 +99,19 @@ void collision_detection::CollisionEnvAllValid::distanceRobot(const collision_de
   res.collision = false;
 }
 
-double collision_detection::CollisionEnvAllValid::distanceRobot(const robot_state::RobotState& state) const
+double collision_detection::CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& state) const
 {
   return 0.0;
 }
 
-double collision_detection::CollisionEnvAllValid::distanceRobot(const robot_state::RobotState& state,
+double collision_detection::CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& state,
                                                                 const AllowedCollisionMatrix& acm) const
 {
   return 0.0;
 }
 
 void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                   const robot_state::RobotState& state) const
+                                                                   const moveit::core::RobotState& state) const
 {
   res.collision = false;
   if (req.verbose)
@@ -119,7 +119,7 @@ void collision_detection::CollisionEnvAllValid::checkSelfCollision(const Collisi
 }
 
 void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                                                   const robot_state::RobotState& state,
+                                                                   const moveit::core::RobotState& state,
                                                                    const AllowedCollisionMatrix& acm) const
 {
   res.collision = false;
diff --git a/moveit_core/collision_detection/src/collision_env.cpp b/moveit_core/collision_detection/src/collision_env.cpp
index 131b25676c..701ca6f354 100644
--- a/moveit_core/collision_detection/src/collision_env.cpp
+++ b/moveit_core/collision_detection/src/collision_env.cpp
@@ -69,7 +69,7 @@ static inline bool validatePadding(double padding)
 
 namespace collision_detection
 {
-CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+CollisionEnv::CollisionEnv(const moveit::core::RobotModelConstPtr& model, double padding, double scale)
   : robot_model_(model), world_(new World()), world_const_(world_)
 {
   if (!validateScale(scale))
@@ -77,7 +77,7 @@ CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, double
   if (!validatePadding(padding))
     padding = 0.0;
 
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   for (auto link : links)
   {
     link_padding_[link->getName()] = padding;
@@ -85,7 +85,7 @@ CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, double
   }
 }
 
-CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding,
+CollisionEnv::CollisionEnv(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding,
                            double scale)
   : robot_model_(model), world_(world), world_const_(world_)
 {
@@ -94,7 +94,7 @@ CollisionEnv::CollisionEnv(const robot_model::RobotModelConstPtr& model, const W
   if (!validatePadding(padding))
     padding = 0.0;
 
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   for (auto link : links)
   {
     link_padding_[link->getName()] = padding;
@@ -113,7 +113,7 @@ void CollisionEnv::setPadding(double padding)
   if (!validatePadding(padding))
     return;
   std::vector<std::string> u;
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   for (auto link : links)
   {
     if (getLinkPadding(link->getName()) != padding)
@@ -129,7 +129,7 @@ void CollisionEnv::setScale(double scale)
   if (!validateScale(scale))
     return;
   std::vector<std::string> u;
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   for (auto link : links)
   {
     if (getLinkScale(link->getName()) != scale)
@@ -289,7 +289,7 @@ void CollisionEnv::setWorld(const WorldPtr& world)
 }
 
 void CollisionEnv::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state) const
+                                  const moveit::core::RobotState& state) const
 {
   checkSelfCollision(req, res, state);
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
@@ -297,7 +297,7 @@ void CollisionEnv::checkCollision(const CollisionRequest& req, CollisionResult&
 }
 
 void CollisionEnv::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+                                  const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const
 {
   checkSelfCollision(req, res, state, acm);
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
diff --git a/moveit_core/collision_detection/test/test_all_valid.cpp b/moveit_core/collision_detection/test/test_all_valid.cpp
index 435f473980..94c0bc36d7 100644
--- a/moveit_core/collision_detection/test/test_all_valid.cpp
+++ b/moveit_core/collision_detection/test/test_all_valid.cpp
@@ -47,8 +47,8 @@ TEST(AllValid, Instantiate)
   urdf_model.reset(new urdf::ModelInterface());
   srdf::ModelConstSharedPtr srdf_model;
   srdf_model.reset(new srdf::Model());
-  robot_model::RobotModelConstPtr robot_model;
-  robot_model.reset(new robot_model::RobotModel(urdf_model, srdf_model));
+  moveit::core::RobotModelConstPtr robot_model;
+  robot_model.reset(new moveit::core::RobotModel(urdf_model, srdf_model));
   CollisionEnvAllValid env(robot_model);
 }
 
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
index 31a0a9e070..bfaee98429 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -48,9 +48,9 @@ class CollisionEnvBullet : public CollisionEnv
 public:
   CollisionEnvBullet() = delete;
 
-  CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+  CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
-  CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+  CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
                      double scale = 1.0);
 
   CollisionEnvBullet(const CollisionEnvBullet& other, const WorldPtr& world);
@@ -60,38 +60,38 @@ class CollisionEnvBullet : public CollisionEnv
   CollisionEnvBullet(CollisionEnvBullet&) = delete;
 
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state) const override;
+                                  const moveit::core::RobotState& state) const override;
 
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state,
+                                  const moveit::core::RobotState& state,
                                   const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state) const override;
+                                   const moveit::core::RobotState& state) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state,
+                                   const moveit::core::RobotState& state,
                                    const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1,
-                                   const robot_state::RobotState& state2) const override;
+                                   const moveit::core::RobotState& state1,
+                                   const moveit::core::RobotState& state2) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
   virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const robot_state::RobotState& state) const override;
+                            const moveit::core::RobotState& state) const override;
 
   virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                             const robot_state::RobotState& state) const override;
+                             const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
 
 protected:
   /** \brief Updates the poses of the objects in the manager according to given robot state */
-  void updateTransformsFromState(const robot_state::RobotState& state,
+  void updateTransformsFromState(const moveit::core::RobotState& state,
                                  const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const;
 
   /** \brief Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links
@@ -99,19 +99,19 @@ class CollisionEnvBullet : public CollisionEnv
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
   /** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
-  void addAttachedOjects(const robot_state::RobotState& state,
+  void addAttachedOjects(const moveit::core::RobotState& state,
                          std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
 
   /** \brief Bundles the different checkSelfCollision functions into a single function */
-  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                                const AllowedCollisionMatrix* acm) const;
+  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
   void checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
-                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                    const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                     const AllowedCollisionMatrix* acm) const;
 
   void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
+                                 const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
   /** \brief Construts a bullet collision object out of a robot link */
   void addLinkAsCollisionObject(const urdf::LinkSharedPtr& link);
diff --git a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
index f42bc09b6e..079943d03b 100644
--- a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
@@ -46,7 +46,7 @@ namespace collision_detection
 const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
 const double MAX_DISTANCE_MARGIN = 99;
 
-CollisionEnvBullet::CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+CollisionEnvBullet::CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, double padding, double scale)
   : CollisionEnv(model, padding, scale)
 {
   // request notifications about changes to new world
@@ -58,7 +58,7 @@ CollisionEnvBullet::CollisionEnvBullet(const robot_model::RobotModelConstPtr& mo
   }
 }
 
-CollisionEnvBullet::CollisionEnvBullet(const robot_model::RobotModelConstPtr& model, const WorldPtr& world,
+CollisionEnvBullet::CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world,
                                        double padding, double scale)
   : CollisionEnv(model, world, padding, scale)
 {
@@ -93,20 +93,20 @@ CollisionEnvBullet::~CollisionEnvBullet()
 }
 
 void CollisionEnvBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state) const
+                                            const moveit::core::RobotState& state) const
 {
   checkSelfCollisionHelper(req, res, state, nullptr);
 }
 
 void CollisionEnvBullet::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                            const robot_state::RobotState& state,
+                                            const moveit::core::RobotState& state,
                                             const AllowedCollisionMatrix& acm) const
 {
   checkSelfCollisionHelper(req, res, state, &acm);
 }
 
 void CollisionEnvBullet::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                  const robot_state::RobotState& state,
+                                                  const moveit::core::RobotState& state,
                                                   const AllowedCollisionMatrix* acm) const
 {
   std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
@@ -139,35 +139,35 @@ void CollisionEnvBullet::checkSelfCollisionHelper(const CollisionRequest& req, C
 }
 
 void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                             const robot_state::RobotState& state) const
+                                             const moveit::core::RobotState& state) const
 {
   checkRobotCollisionHelper(req, res, state, nullptr);
 }
 
 void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                             const robot_state::RobotState& state,
+                                             const moveit::core::RobotState& state,
                                              const AllowedCollisionMatrix& acm) const
 {
   checkRobotCollisionHelper(req, res, state, &acm);
 }
 
 void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                             const robot_state::RobotState& state1,
-                                             const robot_state::RobotState& state2) const
+                                             const moveit::core::RobotState& state1,
+                                             const moveit::core::RobotState& state2) const
 {
   checkRobotCollisionHelperCCD(req, res, state1, state2, nullptr);
 }
 
 void CollisionEnvBullet::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                             const robot_state::RobotState& state1,
-                                             const robot_state::RobotState& state2,
+                                             const moveit::core::RobotState& state1,
+                                             const moveit::core::RobotState& state2,
                                              const AllowedCollisionMatrix& acm) const
 {
   checkRobotCollisionHelperCCD(req, res, state1, state2, &acm);
 }
 
 void CollisionEnvBullet::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                   const robot_state::RobotState& state,
+                                                   const moveit::core::RobotState& state,
                                                    const AllowedCollisionMatrix* acm) const
 {
   if (req.distance)
@@ -195,8 +195,8 @@ void CollisionEnvBullet::checkRobotCollisionHelper(const CollisionRequest& req,
 }
 
 void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
-                                                      const robot_state::RobotState& state1,
-                                                      const robot_state::RobotState& state2,
+                                                      const moveit::core::RobotState& state1,
+                                                      const moveit::core::RobotState& state2,
                                                       const AllowedCollisionMatrix* acm) const
 {
   std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
@@ -225,13 +225,13 @@ void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& re
 }
 
 void CollisionEnvBullet::distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                                      const robot_state::RobotState& state) const
+                                      const moveit::core::RobotState& state) const
 {
   ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
 }
 
 void CollisionEnvBullet::distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                                       const robot_state::RobotState& state) const
+                                       const moveit::core::RobotState& state) const
 {
   ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
 }
@@ -313,13 +313,13 @@ void CollisionEnvBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Ac
 }
 
 void CollisionEnvBullet::addAttachedOjects(
-    const robot_state::RobotState& state,
+    const moveit::core::RobotState& state,
     std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
 {
-  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  std::vector<const moveit::core::AttachedBody*> attached_bodies;
   state.getAttachedBodies(attached_bodies);
 
-  for (const robot_state::AttachedBody*& body : attached_bodies)
+  for (const moveit::core::AttachedBody*& body : attached_bodies)
   {
     const EigenSTL::vector_Isometry3d& attached_body_transform = body->getGlobalCollisionBodyTransforms();
 
@@ -357,7 +357,7 @@ void CollisionEnvBullet::updatedPaddingOrScaling(const std::vector<std::string>&
 }
 
 void CollisionEnvBullet::updateTransformsFromState(
-    const robot_state::RobotState& state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const
+    const moveit::core::RobotState& state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const
 {
   // updating link positions with the current robot state
   for (const std::string& link : active_)
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
index 4dd5115d2b..3e9d99cef7 100644
--- a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -54,7 +54,7 @@
 namespace cb = collision_detection_bullet;
 
 /** \brief Brings the panda robot in user defined home position */
-inline void setToHome(robot_state::RobotState& panda_state)
+inline void setToHome(moveit::core::RobotState& panda_state)
 {
   panda_state.setToDefaultValues();
   double joint2 = -0.785;
@@ -88,7 +88,7 @@ class BulletCollisionDetectionTester : public testing::Test
 
     cenv_.reset(new collision_detection::CollisionEnvBullet(robot_model_));
 
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
 
     setToHome(*robot_state_);
   }
@@ -100,13 +100,13 @@ class BulletCollisionDetectionTester : public testing::Test
 protected:
   bool robot_model_ok_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 };
 
 void addCollisionObjects(cb::BulletCastBVHManager& checker)
@@ -231,8 +231,8 @@ TEST_F(BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
 
-  robot_state::RobotState state1(robot_model_);
-  robot_state::RobotState state2(robot_model_);
+  moveit::core::RobotState state1(robot_model_);
+  moveit::core::RobotState state2(robot_model_);
 
   setToHome(state1);
   double joint2 = 0.15;
@@ -274,8 +274,8 @@ TEST_F(BulletCollisionDetectionTester, ContinuousCollisionWorld)
   req.max_contacts = 10;
   collision_detection::CollisionResult res;
 
-  robot_state::RobotState state1(robot_model_);
-  robot_state::RobotState state2(robot_model_);
+  moveit::core::RobotState state1(robot_model_);
+  moveit::core::RobotState state2(robot_model_);
 
   setToHome(state1);
   state1.update();
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index c5b89cca28..66beae404d 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -62,13 +62,14 @@ MOVEIT_STRUCT_FORWARD(CollisionGeometryData);
 struct CollisionGeometryData
 {
   /** \brief Constructor for a robot link collision geometry object. */
-  CollisionGeometryData(const robot_model::LinkModel* link, int index) : type(BodyTypes::ROBOT_LINK), shape_index(index)
+  CollisionGeometryData(const moveit::core::LinkModel* link, int index)
+    : type(BodyTypes::ROBOT_LINK), shape_index(index)
   {
     ptr.link = link;
   }
 
   /** \brief Constructor for a new collision geometry object which is attached to the robot. */
-  CollisionGeometryData(const robot_state::AttachedBody* ab, int index)
+  CollisionGeometryData(const moveit::core::AttachedBody* ab, int index)
     : type(BodyTypes::ROBOT_ATTACHED), shape_index(index)
   {
     ptr.ab = ab;
@@ -128,8 +129,8 @@ struct CollisionGeometryData
   /** \brief Points to the type of body which contains the geometry. */
   union
   {
-    const robot_model::LinkModel* link;
-    const robot_state::AttachedBody* ab;
+    const moveit::core::LinkModel* link;
+    const moveit::core::AttachedBody* ab;
     const World::Object* obj;
     const void* raw;
   } ptr;
@@ -152,7 +153,7 @@ struct CollisionData
   }
 
   /** \brief Compute \e active_components_only_ based on the joint group specified in \e req_ */
-  void enableGroup(const robot_model::RobotModelConstPtr& robot_model);
+  void enableGroup(const moveit::core::RobotModelConstPtr& robot_model);
 
   /** \brief The collision request passed by the user */
   const CollisionRequest* req_;
@@ -161,7 +162,7 @@ struct CollisionData
    *  are considered for collision.
    *
    *  If the pointer is NULL, all collisions are considered. */
-  const std::set<const robot_model::LinkModel*>* active_components_only_;
+  const std::set<const moveit::core::LinkModel*>* active_components_only_;
 
   /** \brief The user-specified response location. */
   CollisionResult* res_;
@@ -203,14 +204,14 @@ struct FCLGeometry
   }
 
   /** \brief Constructor for a robot link. */
-  FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const robot_model::LinkModel* link, int shape_index)
+  FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const moveit::core::LinkModel* link, int shape_index)
     : collision_geometry_(collision_geometry), collision_geometry_data_(new CollisionGeometryData(link, shape_index))
   {
     collision_geometry_->setUserData(collision_geometry_data_.get());
   }
 
   /** \brief Constructor for an attached body. */
-  FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const robot_state::AttachedBody* ab, int shape_index)
+  FCLGeometry(fcl::CollisionGeometryd* collision_geometry, const moveit::core::AttachedBody* ab, int shape_index)
     : collision_geometry_(collision_geometry), collision_geometry_data_(new CollisionGeometryData(ab, shape_index))
   {
     collision_geometry_->setUserData(collision_geometry_data_.get());
@@ -285,11 +286,11 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
 bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data, double& min_dist);
 
 /** \brief Create new FCLGeometry object out of robot link model. */
-FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_model::LinkModel* link,
+FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const moveit::core::LinkModel* link,
                                             int shape_index);
 
 /** \brief Create new FCLGeometry object out of attached body. */
-FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_state::AttachedBody* ab,
+FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const moveit::core::AttachedBody* ab,
                                             int shape_index);
 
 /** \brief Create new FCLGeometry object out of a world object.
@@ -299,11 +300,11 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
 
 /** \brief Create new scaled and / or padded FCLGeometry object out of robot link model. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
-                                            const robot_model::LinkModel* link, int shape_index);
+                                            const moveit::core::LinkModel* link, int shape_index);
 
 /** \brief Create new scaled and / or padded FCLGeometry object out of an attached body. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
-                                            const robot_state::AttachedBody* ab, int shape_index);
+                                            const moveit::core::AttachedBody* ab, int shape_index);
 
 /** \brief Create new scaled and / or padded FCLGeometry object out of an world object. */
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index 8906f8155f..5c9674cf32 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -55,9 +55,9 @@ class CollisionEnvFCL : public CollisionEnv
 public:
   CollisionEnvFCL() = delete;
 
-  CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
+  CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
-  CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
+  CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
                   double scale = 1.0);
 
   CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& world);
@@ -65,32 +65,32 @@ class CollisionEnvFCL : public CollisionEnv
   ~CollisionEnvFCL() override;
 
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state) const override;
+                                  const moveit::core::RobotState& state) const override;
 
   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const robot_state::RobotState& state,
+                                  const moveit::core::RobotState& state,
                                   const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state) const override;
+                                   const moveit::core::RobotState& state) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state,
+                                   const moveit::core::RobotState& state,
                                    const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1,
-                                   const robot_state::RobotState& state2) const override;
+                                   const moveit::core::RobotState& state1,
+                                   const moveit::core::RobotState& state2) const override;
 
   virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const robot_state::RobotState& state) const override;
+                            const moveit::core::RobotState& state) const override;
 
   virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                             const robot_state::RobotState& state) const override;
+                             const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
 
@@ -105,12 +105,12 @@ class CollisionEnvFCL : public CollisionEnv
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
   /** \brief Bundles the different checkSelfCollision functions into a single function */
-  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
-                                const AllowedCollisionMatrix* acm) const;
+  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
+                                const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
   /** \brief Bundles the different checkRobotCollision functions into a single function */
   void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
+                                 const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
   /** \brief Construct an FCL collision object from MoveIt's World::Object. */
   void constructFCLObjectWorld(const World::Object* obj, FCLObject& fcl_obj) const;
@@ -128,11 +128,11 @@ class CollisionEnvFCL : public CollisionEnv
   *
   *   \param state The current robot state
   *   \param fcl_obj The newly filled object */
-  void constructFCLObjectRobot(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
+  void constructFCLObjectRobot(const moveit::core::RobotState& state, FCLObject& fcl_obj) const;
 
   /** \brief Prepares for the collision check through constructing an FCL collision object out of the current robot
   *   state and specifying a broadphase collision manager of FCL where the constructed object is registered to. */
-  void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
+  void allocSelfCollisionBroadPhase(const moveit::core::RobotState& state, FCLManager& manager) const;
 
   /** \brief Converts all shapes which make up an atttached body into a vector of FCLGeometryConstPtr.
   *
@@ -141,7 +141,7 @@ class CollisionEnvFCL : public CollisionEnv
   *   \param ab Pointer to the attached body
   *   \param geoms Output vector of geometries
   */
-  void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
+  void getAttachedBodyObjects(const moveit::core::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
 
   /** \brief Vector of shared pointers to the FCL geometry for the objects in fcl_objs_. */
   std::vector<FCLGeometryConstPtr> robot_geoms_;
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 0cf3446237..a569479207 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -67,11 +67,11 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
   // If active components are specified
   if (cdata->active_components_only_)
   {
-    const robot_model::LinkModel* l1 =
+    const moveit::core::LinkModel* l1 =
         cd1->type == BodyTypes::ROBOT_LINK ?
             cd1->ptr.link :
             (cd1->type == BodyTypes::ROBOT_ATTACHED ? cd1->ptr.ab->getAttachedLink() : nullptr);
-    const robot_model::LinkModel* l2 =
+    const moveit::core::LinkModel* l2 =
         cd2->type == BodyTypes::ROBOT_LINK ?
             cd2->ptr.link :
             (cd2->type == BodyTypes::ROBOT_ATTACHED ? cd2->ptr.ab->getAttachedLink() : nullptr);
@@ -414,11 +414,11 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
   // If active components are specified
   if (cdata->req->active_components_only)
   {
-    const robot_model::LinkModel* l1 =
+    const moveit::core::LinkModel* l1 =
         cd1->type == BodyTypes::ROBOT_LINK ?
             cd1->ptr.link :
             (cd1->type == BodyTypes::ROBOT_ATTACHED ? cd1->ptr.ab->getAttachedLink() : nullptr);
-    const robot_model::LinkModel* l2 =
+    const moveit::core::LinkModel* l2 =
         cd2->type == BodyTypes::ROBOT_LINK ?
             cd2->ptr.link :
             (cd2->type == BodyTypes::ROBOT_ATTACHED ? cd2->ptr.ab->getAttachedLink() : nullptr);
@@ -707,7 +707,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   // attached objects could have previously been World::Object; we try to move them
   // from their old cache to the new one, if possible. the code is not pretty, but should help
   // when we attach/detach objects that are in the world
-  if (IfSameType<T, robot_state::AttachedBody>::value == 1)
+  if (IfSameType<T, moveit::core::AttachedBody>::value == 1)
   {
     // get the cache that corresponds to objects; maybe this attached object used to be a world object
     FCLShapeCache& othercache = GetShapeCache<BV, World::Object>();
@@ -743,7 +743,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
       if (IfSameType<T, World::Object>::value == 1)
   {
     // get the cache that corresponds to objects; maybe this attached object used to be a world object
-    FCLShapeCache& othercache = GetShapeCache<BV, robot_state::AttachedBody>();
+    FCLShapeCache& othercache = GetShapeCache<BV, moveit::core::AttachedBody>();
 
     // attached bodies could be just moved from the environment.
     auto cache_it = othercache.map_.find(wptr);
@@ -852,16 +852,16 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   return FCLGeometryConstPtr();
 }
 
-FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_model::LinkModel* link,
+FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const moveit::core::LinkModel* link,
                                             int shape_index)
 {
-  return createCollisionGeometry<fcl::OBBRSSd, robot_model::LinkModel>(shape, link, shape_index);
+  return createCollisionGeometry<fcl::OBBRSSd, moveit::core::LinkModel>(shape, link, shape_index);
 }
 
-FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const robot_state::AttachedBody* ab,
+FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const moveit::core::AttachedBody* ab,
                                             int shape_index)
 {
-  return createCollisionGeometry<fcl::OBBRSSd, robot_state::AttachedBody>(shape, ab, shape_index);
+  return createCollisionGeometry<fcl::OBBRSSd, moveit::core::AttachedBody>(shape, ab, shape_index);
 }
 
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, const World::Object* obj)
@@ -887,15 +887,15 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
 }
 
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
-                                            const robot_model::LinkModel* link, int shape_index)
+                                            const moveit::core::LinkModel* link, int shape_index)
 {
-  return createCollisionGeometry<fcl::OBBRSSd, robot_model::LinkModel>(shape, scale, padding, link, shape_index);
+  return createCollisionGeometry<fcl::OBBRSSd, moveit::core::LinkModel>(shape, scale, padding, link, shape_index);
 }
 
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
-                                            const robot_state::AttachedBody* ab, int shape_index)
+                                            const moveit::core::AttachedBody* ab, int shape_index)
 {
-  return createCollisionGeometry<fcl::OBBRSSd, robot_state::AttachedBody>(shape, scale, padding, ab, shape_index);
+  return createCollisionGeometry<fcl::OBBRSSd, moveit::core::AttachedBody>(shape, scale, padding, ab, shape_index);
 }
 
 FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding,
@@ -910,13 +910,13 @@ void cleanCollisionGeometryCache()
   {
     cache1.bumpUseCount(true);
   }
-  FCLShapeCache& cache2 = GetShapeCache<fcl::OBBRSSd, robot_state::AttachedBody>();
+  FCLShapeCache& cache2 = GetShapeCache<fcl::OBBRSSd, moveit::core::AttachedBody>();
   {
     cache2.bumpUseCount(true);
   }
 }
 
-void CollisionData::enableGroup(const robot_model::RobotModelConstPtr& robot_model)
+void CollisionData::enableGroup(const moveit::core::RobotModelConstPtr& robot_model)
 {
   if (robot_model->hasJointModelGroup(req_->group_name))
     active_components_only_ = &robot_model->getJointModelGroup(req_->group_name)->getUpdatedLinkModelsSet();
diff --git a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
index 20ef171fbc..f44f4b7d56 100644
--- a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
@@ -48,10 +48,10 @@ namespace collision_detection
 {
 const std::string CollisionDetectorAllocatorFCL::NAME("FCL");
 
-CollisionEnvFCL::CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, double padding, double scale)
+CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, double padding, double scale)
   : CollisionEnv(model, padding, scale)
 {
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   std::size_t index;
   robot_geoms_.resize(robot_model_->getLinkGeometryCount());
   robot_fcl_objs_.resize(robot_model_->getLinkGeometryCount());
@@ -86,11 +86,11 @@ CollisionEnvFCL::CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, d
   observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
 }
 
-CollisionEnvFCL::CollisionEnvFCL(const robot_model::RobotModelConstPtr& model, const WorldPtr& world, double padding,
+CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding,
                                  double scale)
   : CollisionEnv(model, world, padding, scale)
 {
-  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
   std::size_t index;
   robot_geoms_.resize(robot_model_->getLinkGeometryCount());
   robot_fcl_objs_.resize(robot_model_->getLinkGeometryCount());
@@ -148,7 +148,7 @@ CollisionEnvFCL::CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& w
   observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
 }
 
-void CollisionEnvFCL::getAttachedBodyObjects(const robot_state::AttachedBody* ab,
+void CollisionEnvFCL::getAttachedBodyObjects(const moveit::core::AttachedBody* ab,
                                              std::vector<FCLGeometryConstPtr>& geoms) const
 {
   const std::vector<shapes::ShapeConstPtr>& shapes = ab->getShapes();
@@ -174,7 +174,7 @@ void CollisionEnvFCL::constructFCLObjectWorld(const World::Object* obj, FCLObjec
   }
 }
 
-void CollisionEnvFCL::constructFCLObjectRobot(const robot_state::RobotState& state, FCLObject& fcl_obj) const
+void CollisionEnvFCL::constructFCLObjectRobot(const moveit::core::RobotState& state, FCLObject& fcl_obj) const
 {
   fcl_obj.collision_objects_.reserve(robot_geoms_.size());
   fcl::Transform3d fcl_tf;
@@ -191,8 +191,8 @@ void CollisionEnvFCL::constructFCLObjectRobot(const robot_state::RobotState& sta
       fcl_obj.collision_objects_.push_back(FCLCollisionObjectPtr(coll_obj));
     }
 
-  // TODO: Implement a method for caching fcl::CollisionObject's for robot_state::AttachedBody's
-  std::vector<const robot_state::AttachedBody*> ab;
+  // TODO: Implement a method for caching fcl::CollisionObject's for moveit::core::AttachedBody's
+  std::vector<const moveit::core::AttachedBody*> ab;
   state.getAttachedBodies(ab);
   for (auto& body : ab)
   {
@@ -212,7 +212,7 @@ void CollisionEnvFCL::constructFCLObjectRobot(const robot_state::RobotState& sta
   }
 }
 
-void CollisionEnvFCL::allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const
+void CollisionEnvFCL::allocSelfCollisionBroadPhase(const moveit::core::RobotState& state, FCLManager& manager) const
 {
   auto m = new fcl::DynamicAABBTreeCollisionManagerd();
   // m->tree_init_level = 2;
@@ -223,19 +223,19 @@ void CollisionEnvFCL::allocSelfCollisionBroadPhase(const robot_state::RobotState
 }
 
 void CollisionEnvFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                         const robot_state::RobotState& state) const
+                                         const moveit::core::RobotState& state) const
 {
   checkSelfCollisionHelper(req, res, state, nullptr);
 }
 
 void CollisionEnvFCL::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                         const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+                                         const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const
 {
   checkSelfCollisionHelper(req, res, state, &acm);
 }
 
 void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state,
+                                               const moveit::core::RobotState& state,
                                                const AllowedCollisionMatrix* acm) const
 {
   FCLManager manager;
@@ -257,33 +257,35 @@ void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, Coll
 }
 
 void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state) const
+                                          const moveit::core::RobotState& state) const
 {
   checkRobotCollisionHelper(req, res, state, nullptr);
 }
 
 void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
+                                          const moveit::core::RobotState& state,
+                                          const AllowedCollisionMatrix& acm) const
 {
   checkRobotCollisionHelper(req, res, state, &acm);
 }
 
 void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state1,
-                                          const robot_state::RobotState& state2) const
+                                          const moveit::core::RobotState& state1,
+                                          const moveit::core::RobotState& state2) const
 {
   ROS_ERROR_NAMED("collision_detection.bullet", "Continuous collision not implemented");
 }
 
 void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                          const moveit::core::RobotState& state1,
+                                          const moveit::core::RobotState& state2,
                                           const AllowedCollisionMatrix& acm) const
 {
   ROS_ERROR_NAMED("collision_detection.fcl", "Not implemented");
 }
 
 void CollisionEnvFCL::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
-                                                const robot_state::RobotState& state,
+                                                const moveit::core::RobotState& state,
                                                 const AllowedCollisionMatrix* acm) const
 {
   FCLObject fcl_obj;
@@ -308,7 +310,7 @@ void CollisionEnvFCL::checkRobotCollisionHelper(const CollisionRequest& req, Col
 }
 
 void CollisionEnvFCL::distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                                   const robot_state::RobotState& state) const
+                                   const moveit::core::RobotState& state) const
 {
   FCLManager manager;
   allocSelfCollisionBroadPhase(state, manager);
@@ -318,7 +320,7 @@ void CollisionEnvFCL::distanceSelf(const DistanceRequest& req, DistanceResult& r
 }
 
 void CollisionEnvFCL::distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                                    const robot_state::RobotState& state) const
+                                    const moveit::core::RobotState& state) const
 {
   FCLObject fcl_obj;
   constructFCLObjectRobot(state, fcl_obj);
@@ -411,7 +413,7 @@ void CollisionEnvFCL::updatedPaddingOrScaling(const std::vector<std::string>& li
   std::size_t index;
   for (const auto& link : links)
   {
-    const robot_model::LinkModel* lmodel = robot_model_->getLinkModel(link);
+    const moveit::core::LinkModel* lmodel = robot_model_->getLinkModel(link);
     if (lmodel)
     {
       for (std::size_t j = 0; j < lmodel->getShapes().size(); ++j)
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
index 64f65b64c3..a2803e223d 100644
--- a/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
@@ -50,7 +50,7 @@
 #include <geometric_shapes/shape_operations.h>
 
 /** \brief Brings the panda robot in user defined home position */
-inline void setToHome(robot_state::RobotState& panda_state)
+inline void setToHome(moveit::core::RobotState& panda_state)
 {
   panda_state.setToDefaultValues();
   double joint2 = -0.785;
@@ -90,7 +90,7 @@ class CollisionDetectionEnvTest : public testing::Test
 
     c_env_.reset(new collision_detection::CollisionEnvFCL(robot_model_));
 
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
 
     setToHome(*robot_state_);
   }
@@ -102,13 +102,13 @@ class CollisionDetectionEnvTest : public testing::Test
 protected:
   bool robot_model_ok_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   collision_detection::CollisionEnvPtr c_env_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 };
 
 /** \brief Correct setup testing. */
@@ -230,8 +230,8 @@ TEST_F(CollisionDetectionEnvTest, DISABLED_ContinuousCollisionSelf)
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
 
-  robot_state::RobotState state1(robot_model_);
-  robot_state::RobotState state2(robot_model_);
+  moveit::core::RobotState state1(robot_model_);
+  moveit::core::RobotState state2(robot_model_);
 
   setToHome(state1);
   double joint2 = 0.15;
@@ -276,8 +276,8 @@ TEST_F(CollisionDetectionEnvTest, DISABLED_ContinuousCollisionWorld)
   req.max_contacts = 10;
   collision_detection::CollisionResult res;
 
-  robot_state::RobotState state1(robot_model_);
-  robot_state::RobotState state2(robot_model_);
+  moveit::core::RobotState state1(robot_model_);
+  moveit::core::RobotState state2(robot_model_);
 
   setToHome(state1);
   state1.update();
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
index cfb6fe750d..70cc449dfc 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
@@ -114,7 +114,7 @@ struct DistanceFieldCacheEntry
   /** for checking collisions between this group and other objects */
   std::string group_name_;
   /** RobotState that this cache entry represents */
-  robot_state::RobotStatePtr state_;
+  moveit::core::RobotStatePtr state_;
   /** list of indices into the state_values_ vector.  One index for each joint
    * variable which is NOT in the group or a child of the group.  In other
    * words, variables which should not change if only joints in the group move.
@@ -170,10 +170,10 @@ BodyDecompositionConstPtr getBodyDecompositionCacheEntry(const shapes::ShapeCons
 PosedBodyPointDecompositionVectorPtr getCollisionObjectPointDecomposition(const collision_detection::World::Object& obj,
                                                                           double resolution);
 
-PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const robot_state::AttachedBody* att,
+PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const moveit::core::AttachedBody* att,
                                                                          double resolution);
 
-PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const robot_state::AttachedBody* att,
+PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const moveit::core::AttachedBody* att,
                                                                        double resolution);
 
 void getBodySphereVisualizationMarkers(const GroupStateRepresentationPtr& gsr, const std::string& reference_frame,
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index 2a5e4a62b6..5d7725faf3 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -60,7 +60,7 @@ class CollisionEnvDistanceField : public CollisionEnv
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEnvDistanceField(const robot_model::RobotModelConstPtr& robot_model,
+  CollisionEnvDistanceField(const moveit::core::RobotModelConstPtr& robot_model,
                             const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                                 std::map<std::string, std::vector<CollisionSphere>>(),
                             double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
@@ -71,7 +71,7 @@ class CollisionEnvDistanceField : public CollisionEnv
                             double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
                             double scale = 1.0);
 
-  CollisionEnvDistanceField(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+  CollisionEnvDistanceField(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
                             const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                                 std::map<std::string, std::vector<CollisionSphere>>(),
                             double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y,
@@ -117,7 +117,7 @@ class CollisionEnvDistanceField : public CollisionEnv
   }
 
   void distanceSelf(const DistanceRequest& /* req */, DistanceResult& /* res */,
-                    const robot_state::RobotState& /* state */) const override
+                    const moveit::core::RobotState& /* state */) const override
   {
     ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
   }
@@ -145,46 +145,46 @@ class CollisionEnvDistanceField : public CollisionEnv
   ~CollisionEnvDistanceField() override;
 
   void checkCollision(const CollisionRequest& req, CollisionResult& res,
-                      const robot_state::RobotState& state) const override;
+                      const moveit::core::RobotState& state) const override;
 
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                               GroupStateRepresentationPtr& gsr) const;
 
-  void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                       const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                               const AllowedCollisionMatrix& acm, GroupStateRepresentationPtr& gsr) const;
 
   void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                           const robot_state::RobotState& state) const override;
+                           const moveit::core::RobotState& state) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+                                   const moveit::core::RobotState& state, GroupStateRepresentationPtr& gsr) const;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                            const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                   const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                    GroupStateRepresentationPtr& gsr) const;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state1,
-                                   const robot_state::RobotState& state2) const override;
+                                   const moveit::core::RobotState& state1,
+                                   const moveit::core::RobotState& state2) const override;
 
-  virtual double distanceRobot(const robot_state::RobotState& state, bool verbose = false) const
+  virtual double distanceRobot(const moveit::core::RobotState& state, bool verbose = false) const
   {
     (void)state;
     (void)verbose;
     return 0.0;
   }
 
-  virtual double distanceRobot(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+  virtual double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                bool verbose = false) const
   {
     (void)state;
@@ -194,7 +194,7 @@ class CollisionEnvDistanceField : public CollisionEnv
   }
 
   void distanceRobot(const DistanceRequest& /* req */, DistanceResult& /* res */,
-                     const robot_state::RobotState& /* state */) const override
+                     const moveit::core::RobotState& /* state */) const override
   {
     ROS_ERROR_NAMED("collision_distance_field", "Not implemented");
   }
@@ -211,10 +211,10 @@ class CollisionEnvDistanceField : public CollisionEnv
     return last_gsr_;
   }
 
-  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                              const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
 
-  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                         const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
 
 protected:
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
index 6acf5da2ae..eb98812a43 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
@@ -52,7 +52,7 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEnvHybrid(const robot_model::RobotModelConstPtr& robot_model,
+  CollisionEnvHybrid(const moveit::core::RobotModelConstPtr& robot_model,
                      const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                          std::map<std::string, std::vector<CollisionSphere>>(),
                      double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
@@ -62,7 +62,7 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
                      double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
                      double scale = 1.0);
 
-  CollisionEnvHybrid(const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+  CollisionEnvHybrid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
                      const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions =
                          std::map<std::string, std::vector<CollisionSphere>>(),
                      double size_x = DEFAULT_SIZE_X, double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
@@ -89,18 +89,18 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
 
   void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                        collision_detection::CollisionResult& res,
-                                       const robot_state::RobotState& state) const;
+                                       const moveit::core::RobotState& state) const;
 
   void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       collision_detection::CollisionResult& res, const moveit::core::RobotState& state,
                                        GroupStateRepresentationPtr& gsr) const;
 
   void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       collision_detection::CollisionResult& res, const moveit::core::RobotState& state,
                                        const collision_detection::AllowedCollisionMatrix& acm) const;
 
   void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
-                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
+                                       collision_detection::CollisionResult& res, const moveit::core::RobotState& state,
                                        const collision_detection::AllowedCollisionMatrix& acm,
                                        GroupStateRepresentationPtr& gsr) const;
   const CollisionEnvDistanceFieldConstPtr getCollisionRobotDistanceField() const
@@ -109,37 +109,37 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
   }
 
   void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state) const;
+                                   const moveit::core::RobotState& state) const;
 
   void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+                                   const moveit::core::RobotState& state, GroupStateRepresentationPtr& gsr) const;
 
   void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+                                   const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
 
   void checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                   const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                    GroupStateRepresentationPtr& gsr) const;
 
   void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                        const robot_state::RobotState& state) const;
+                                        const moveit::core::RobotState& state) const;
 
   void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                        const robot_state::RobotState& state, GroupStateRepresentationPtr& gsr) const;
+                                        const moveit::core::RobotState& state, GroupStateRepresentationPtr& gsr) const;
 
   void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
+                                        const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
 
   void checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                        const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                        const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                         GroupStateRepresentationPtr& gsr) const;
 
   void setWorld(const WorldPtr& world) override;
 
-  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void getCollisionGradients(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                              const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
 
-  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
+  void getAllCollisions(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                         const AllowedCollisionMatrix* acm, GroupStateRepresentationPtr& gsr) const;
 
   const CollisionEnvDistanceFieldConstPtr getCollisionWorldDistanceField() const
diff --git a/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
index 83e8dc4065..0baa38a20b 100644
--- a/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
+++ b/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
@@ -100,7 +100,7 @@ PosedBodyPointDecompositionVectorPtr getCollisionObjectPointDecomposition(const
   return ret;
 }
 
-PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const robot_state::AttachedBody* att,
+PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const moveit::core::AttachedBody* att,
                                                                          double resolution)
 {
   PosedBodySphereDecompositionVectorPtr ret(new PosedBodySphereDecompositionVector());
@@ -114,7 +114,7 @@ PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const r
   return ret;
 }
 
-PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const robot_state::AttachedBody* att,
+PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const moveit::core::AttachedBody* att,
                                                                        double resolution)
 {
   PosedBodyPointDecompositionVectorPtr ret(new PosedBodyPointDecompositionVector());
diff --git a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
index 6ddac01a3f..d65dd91342 100644
--- a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -53,7 +53,7 @@ const double EPSILON = 0.001f;
 const std::string collision_detection::CollisionDetectorAllocatorDistanceField::NAME("DISTANCE_FIELD");
 
 CollisionEnvDistanceField::CollisionEnvDistanceField(
-    const robot_model::RobotModelConstPtr& robot_model,
+    const moveit::core::RobotModelConstPtr& robot_model,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
@@ -71,7 +71,7 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
 }
 
 CollisionEnvDistanceField::CollisionEnvDistanceField(
-    const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+    const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
@@ -1388,14 +1388,14 @@ bool CollisionEnvDistanceField::compareCacheEntryToAllowedCollisionMatrix(
 // }
 
 void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state) const
+                                               const moveit::core::RobotState& state) const
 {
   GroupStateRepresentationPtr gsr;
   checkCollision(req, res, state, gsr);
 }
 
 void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state,
+                                               const moveit::core::RobotState& state,
                                                GroupStateRepresentationPtr& gsr) const
 {
   if (!gsr)
@@ -1420,7 +1420,7 @@ void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, Coll
 }
 
 void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state,
+                                               const moveit::core::RobotState& state,
                                                const AllowedCollisionMatrix& acm) const
 {
   GroupStateRepresentationPtr gsr;
@@ -1428,7 +1428,7 @@ void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, Coll
 }
 
 void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state, const AllowedCollisionMatrix& acm,
+                                               const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                                GroupStateRepresentationPtr& gsr) const
 {
   if (!gsr)
@@ -1453,14 +1453,14 @@ void CollisionEnvDistanceField::checkCollision(const CollisionRequest& req, Coll
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state) const
+                                                    const moveit::core::RobotState& state) const
 {
   GroupStateRepresentationPtr gsr;
   checkRobotCollision(req, res, state, gsr);
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state,
+                                                    const moveit::core::RobotState& state,
                                                     GroupStateRepresentationPtr& gsr) const
 {
   distance_field::DistanceFieldConstPtr env_distance_field = distance_field_cache_entry_world_->distance_field_;
@@ -1479,7 +1479,7 @@ void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req,
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state,
+                                                    const moveit::core::RobotState& state,
                                                     const AllowedCollisionMatrix& acm) const
 {
   GroupStateRepresentationPtr gsr;
@@ -1487,7 +1487,7 @@ void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req,
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state,
+                                                    const moveit::core::RobotState& state,
                                                     const AllowedCollisionMatrix& acm,
                                                     GroupStateRepresentationPtr& gsr) const
 {
@@ -1508,22 +1508,22 @@ void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req,
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state1,
-                                                    const robot_state::RobotState& state2,
+                                                    const moveit::core::RobotState& state1,
+                                                    const moveit::core::RobotState& state2,
                                                     const AllowedCollisionMatrix& acm) const
 {
   ROS_ERROR_NAMED("collision_detection.distance", "Continuous collision checking not implemented");
 }
 
 void CollisionEnvDistanceField::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                                    const robot_state::RobotState& state1,
-                                                    const robot_state::RobotState& state2) const
+                                                    const moveit::core::RobotState& state1,
+                                                    const moveit::core::RobotState& state2) const
 {
   ROS_ERROR_NAMED("collision_detection.distance", "Continuous collision checking not implemented");
 }
 
 void CollisionEnvDistanceField::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
-                                                      const robot_state::RobotState& state,
+                                                      const moveit::core::RobotState& state,
                                                       const AllowedCollisionMatrix* acm,
                                                       GroupStateRepresentationPtr& gsr) const
 {
@@ -1546,7 +1546,7 @@ void CollisionEnvDistanceField::getCollisionGradients(const CollisionRequest& re
 }
 
 void CollisionEnvDistanceField::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
-                                                 const robot_state::RobotState& state,
+                                                 const moveit::core::RobotState& state,
                                                  const AllowedCollisionMatrix* acm,
                                                  GroupStateRepresentationPtr& gsr) const
 {
diff --git a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
index 7a367c012f..256ad6a9a7 100644
--- a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
@@ -43,7 +43,7 @@ namespace collision_detection
 const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME("HYBRID");
 
 CollisionEnvHybrid::CollisionEnvHybrid(
-    const robot_model::RobotModelConstPtr& robot_model,
+    const moveit::core::RobotModelConstPtr& robot_model,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
@@ -55,7 +55,7 @@ CollisionEnvHybrid::CollisionEnvHybrid(
 }
 
 CollisionEnvHybrid::CollisionEnvHybrid(
-    const robot_model::RobotModelConstPtr& robot_model, const WorldPtr& world,
+    const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
@@ -74,14 +74,14 @@ CollisionEnvHybrid::CollisionEnvHybrid(const CollisionEnvHybrid& other, const Wo
 
 void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                          collision_detection::CollisionResult& res,
-                                                         const robot_state::RobotState& state) const
+                                                         const moveit::core::RobotState& state) const
 {
   cenv_distance_->checkSelfCollision(req, res, state);
 }
 
 void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                          collision_detection::CollisionResult& res,
-                                                         const robot_state::RobotState& state,
+                                                         const moveit::core::RobotState& state,
                                                          GroupStateRepresentationPtr& gsr) const
 {
   cenv_distance_->checkSelfCollision(req, res, state, gsr);
@@ -89,7 +89,7 @@ void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detecti
 
 void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                          collision_detection::CollisionResult& res,
-                                                         const robot_state::RobotState& state,
+                                                         const moveit::core::RobotState& state,
                                                          const collision_detection::AllowedCollisionMatrix& acm) const
 {
   cenv_distance_->checkSelfCollision(req, res, state, acm);
@@ -97,7 +97,7 @@ void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detecti
 
 void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                          collision_detection::CollisionResult& res,
-                                                         const robot_state::RobotState& state,
+                                                         const moveit::core::RobotState& state,
                                                          const collision_detection::AllowedCollisionMatrix& acm,
                                                          GroupStateRepresentationPtr& gsr) const
 {
@@ -105,27 +105,27 @@ void CollisionEnvHybrid::checkSelfCollisionDistanceField(const collision_detecti
 }
 
 void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                     const robot_state::RobotState& state) const
+                                                     const moveit::core::RobotState& state) const
 {
   cenv_distance_->checkCollision(req, res, state);
 }
 
 void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                     const robot_state::RobotState& state,
+                                                     const moveit::core::RobotState& state,
                                                      GroupStateRepresentationPtr& gsr) const
 {
   cenv_distance_->checkCollision(req, res, state, gsr);
 }
 
 void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                     const robot_state::RobotState& state,
+                                                     const moveit::core::RobotState& state,
                                                      const AllowedCollisionMatrix& acm) const
 {
   cenv_distance_->checkCollision(req, res, state, acm);
 }
 
 void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                     const robot_state::RobotState& state,
+                                                     const moveit::core::RobotState& state,
                                                      const AllowedCollisionMatrix& acm,
                                                      GroupStateRepresentationPtr& gsr) const
 {
@@ -133,27 +133,27 @@ void CollisionEnvHybrid::checkCollisionDistanceField(const CollisionRequest& req
 }
 
 void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                          const robot_state::RobotState& state) const
+                                                          const moveit::core::RobotState& state) const
 {
   cenv_distance_->checkRobotCollision(req, res, state);
 }
 
 void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                          const robot_state::RobotState& state,
+                                                          const moveit::core::RobotState& state,
                                                           GroupStateRepresentationPtr& gsr) const
 {
   cenv_distance_->checkRobotCollision(req, res, state, gsr);
 }
 
 void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                          const robot_state::RobotState& state,
+                                                          const moveit::core::RobotState& state,
                                                           const AllowedCollisionMatrix& acm) const
 {
   cenv_distance_->checkRobotCollision(req, res, state, acm);
 }
 
 void CollisionEnvHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
-                                                          const robot_state::RobotState& state,
+                                                          const moveit::core::RobotState& state,
                                                           const AllowedCollisionMatrix& acm,
                                                           GroupStateRepresentationPtr& gsr) const
 {
@@ -170,14 +170,14 @@ void CollisionEnvHybrid::setWorld(const WorldPtr& world)
 }
 
 void CollisionEnvHybrid::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
-                                               const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
+                                               const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm,
                                                GroupStateRepresentationPtr& gsr) const
 {
   cenv_distance_->getCollisionGradients(req, res, state, acm, gsr);
 }
 
 void CollisionEnvHybrid::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
-                                          const robot_state::RobotState& state, const AllowedCollisionMatrix* acm,
+                                          const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm,
                                           GroupStateRepresentationPtr& gsr) const
 {
   cenv_distance_->getAllCollisions(req, res, state, acm, gsr);
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
index c744150492..56b0bc553c 100644
--- a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
+++ b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -80,7 +80,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
     srdf_ok_ = srdf_model_->initFile(*urdf_model_,
                                      ros::package::getPath("moveit_resources") + "/pr2_description/srdf/robot.xml");
 
-    robot_model_.reset(new robot_model::RobotModel(urdf_model_, srdf_model_));
+    robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
 
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
@@ -99,10 +99,10 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
   urdf::ModelInterfaceSharedPtr urdf_model_;
   srdf::ModelSharedPtr srdf_model_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
-  robot_state::TransformsPtr ftf_;
-  robot_state::TransformsConstPtr ftf_const_;
+  moveit::core::TransformsPtr ftf_;
+  moveit::core::TransformsConstPtr ftf_const_;
 
   collision_detection::CollisionEnvPtr cenv_;
 
@@ -111,7 +111,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
 
 TEST_F(DistanceFieldCollisionDetectionTester, DefaultNotInCollision)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -126,7 +126,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, DefaultNotInCollision)
 
 TEST_F(DistanceFieldCollisionDetectionTester, ChangeTorsoPosition)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -154,7 +154,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, LinksInCollision)
   // req.max_contacts = 100;
   req.group_name = "whole_body";
 
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
@@ -186,7 +186,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactReporting)
   req.max_contacts = 1;
   req.group_name = "whole_body";
 
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   Eigen::Isometry3d offset = Eigen::Isometry3d::Identity();
@@ -235,7 +235,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, ContactPositions)
   req.max_contacts = 1;
   req.group_name = "whole_body";
 
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   Eigen::Isometry3d pos1 = Eigen::Isometry3d::Identity();
@@ -299,7 +299,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
 
   acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
 
@@ -326,7 +326,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
   poses.push_back(Eigen::Isometry3d::Identity());
   std::set<std::string> touch_links;
   trajectory_msgs::JointTrajectory empty_state;
-  robot_state::AttachedBody* attached_body = new robot_state::AttachedBody(
+  moveit::core::AttachedBody* attached_body = new moveit::core::AttachedBody(
       robot_state.getLinkModel("r_gripper_palm_link"), "box", shapes, poses, touch_links, empty_state);
 
   robot_state.attachBody(attached_body);
@@ -341,7 +341,7 @@ TEST_F(DistanceFieldCollisionDetectionTester, AttachedBodyTester)
   touch_links.insert("r_gripper_palm_link");
   shapes[0].reset(new shapes::Box(.1, .1, .1));
 
-  robot_state::AttachedBody* attached_body_1 = new robot_state::AttachedBody(
+  moveit::core::AttachedBody* attached_body_1 = new moveit::core::AttachedBody(
       robot_state.getLinkModel("r_gripper_palm_link"), "box", shapes, poses, touch_links, empty_state);
   robot_state.attachBody(attached_body_1);
 
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
index f86cc069fa..6b2074b390 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
@@ -104,7 +104,7 @@ class ConstraintSampler
    *
    * @return The joint model group
    */
-  const robot_model::JointModelGroup* getJointModelGroup() const
+  const moveit::core::JointModelGroup* getJointModelGroup() const
   {
     return jmg_;
   }
@@ -140,7 +140,7 @@ class ConstraintSampler
    * \brief Gets the callback used to determine state validity during sampling. The sampler will attempt
    *        to satisfy this constraint if possible, but there is no guarantee.
    */
-  const robot_state::GroupStateValidityCallbackFn& getGroupStateValidityCallback() const
+  const moveit::core::GroupStateValidityCallbackFn& getGroupStateValidityCallback() const
   {
     return group_state_validity_callback_;
   }
@@ -151,7 +151,7 @@ class ConstraintSampler
    *
    * @param callback The callback to set
    */
-  void setGroupStateValidityCallback(const robot_state::GroupStateValidityCallbackFn& callback)
+  void setGroupStateValidityCallback(const moveit::core::GroupStateValidityCallbackFn& callback)
   {
     group_state_validity_callback_ = callback;
   }
@@ -166,7 +166,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully taken, false otherwise
    */
-  bool sample(robot_state::RobotState& state)
+  bool sample(moveit::core::RobotState& state)
   {
     return sample(state, state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
   }
@@ -182,7 +182,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully taken, false otherwise
    */
-  bool sample(robot_state::RobotState& state, unsigned int max_attempts)
+  bool sample(moveit::core::RobotState& state, unsigned int max_attempts)
   {
     return sample(state, state, max_attempts);
   }
@@ -197,7 +197,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully taken, false otherwise
    */
-  bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state)
+  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state)
   {
     return sample(state, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
   }
@@ -212,7 +212,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully projected, false otherwise
    */
-  bool project(robot_state::RobotState& state)
+  bool project(moveit::core::RobotState& state)
   {
     return project(state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
   }
@@ -228,7 +228,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully taken, false otherwise
    */
-  virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+  virtual bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                       unsigned int max_attempts) = 0;
 
   /**
@@ -242,7 +242,7 @@ class ConstraintSampler
    *
    * @return True if a sample was successfully projected, false otherwise
    */
-  virtual bool project(robot_state::RobotState& state, unsigned int max_attempts) = 0;
+  virtual bool project(moveit::core::RobotState& state, unsigned int max_attempts) = 0;
 
   /**
    * \brief Returns whether or not the constraint sampler is valid or not.
@@ -287,11 +287,11 @@ class ConstraintSampler
   /// Holds the planning scene
   planning_scene::PlanningSceneConstPtr scene_;
   /// Holds the joint model group associated with this constraint
-  const robot_model::JointModelGroup* const jmg_;
+  const moveit::core::JointModelGroup* const jmg_;
   /// Holds the set of frames that must exist in the reference state to allow samples to be drawn
   std::vector<std::string> frame_depends_;
   /// Holds the callback for state validity
-  robot_state::GroupStateValidityCallbackFn group_state_validity_callback_;
+  moveit::core::GroupStateValidityCallbackFn group_state_validity_callback_;
   bool verbose_;  ///< True if verbosity is on
 };
 }
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
index f222aea111..1bc811c4e3 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
@@ -41,7 +41,7 @@
 
 namespace constraint_samplers
 {
-void visualizeDistribution(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state,
+void visualizeDistribution(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state,
                            const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
@@ -49,7 +49,7 @@ void visualizeDistribution(const moveit_msgs::Constraints& constr, const plannin
                            const std::string& group, const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
-double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state);
+double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state);
 
 double countSamplesPerSecond(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                              const std::string& group);
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
index 399e3cc7ef..ffc4b5ea8d 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
@@ -116,9 +116,9 @@ class JointConstraintSampler : public ConstraintSampler
    */
   bool configure(const std::vector<kinematic_constraints::JointConstraint>& jc);
 
-  bool sample(robot_state::RobotState& state, const robot_state::RobotState& ks, unsigned int max_attempts) override;
+  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& ks, unsigned int max_attempts) override;
 
-  bool project(robot_state::RobotState& state, unsigned int max_attempts) override;
+  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
 
   /**
    * \brief Gets the number of constrained joints - joints that have an
@@ -195,7 +195,7 @@ class JointConstraintSampler : public ConstraintSampler
   std::vector<JointInfo> bounds_; /**< \brief The bounds for any joint with bounds that are more restrictive than the
                                      joint limits */
 
-  std::vector<const robot_model::JointModel*> unbounded_; /**< \brief The joints that are not bounded except by joint
+  std::vector<const moveit::core::JointModel*> unbounded_; /**< \brief The joints that are not bounded except by joint
                                                              limits */
   std::vector<unsigned int> uindex_; /**< \brief The index of the unbounded joints in the joint state vector */
   std::vector<double> values_;       /**< \brief Values associated with this group to avoid continuously reallocating */
@@ -445,10 +445,10 @@ class IKConstraintSampler : public ConstraintSampler
    *
    * @return True if a valid sample pose was produced and valid IK found for that pose.  Otherwise false.
    */
-  bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
               unsigned int max_attempts) override;
 
-  bool project(robot_state::RobotState& state, unsigned int max_attempts) override;
+  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
   /**
    * \brief Returns a pose that falls within the constraint regions.
    *
@@ -471,7 +471,7 @@ class IKConstraintSampler : public ConstraintSampler
    *
    * @return True if a sample was successfully produced, otherwise false
    */
-  bool samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const robot_state::RobotState& ks,
+  bool samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const moveit::core::RobotState& ks,
                   unsigned int max_attempts);
 
   /**
@@ -508,10 +508,10 @@ class IKConstraintSampler : public ConstraintSampler
    */
   bool callIK(const geometry_msgs::Pose& ik_query,
               const kinematics::KinematicsBase::IKCallbackFn& adapted_ik_validity_callback, double timeout,
-              robot_state::RobotState& state, bool use_as_seed);
-  bool sampleHelper(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+              moveit::core::RobotState& state, bool use_as_seed);
+  bool sampleHelper(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                     unsigned int max_attempts, bool project);
-  bool validate(robot_state::RobotState& state) const;
+  bool validate(moveit::core::RobotState& state) const;
 
   random_numbers::RandomNumberGenerator random_number_generator_; /**< \brief Random generator used by the sampler */
   IKSamplingPose sampling_pose_;                                  /**< \brief Holder for the pose used for sampling */
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
index 7b00590491..52b696df30 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
@@ -148,10 +148,10 @@ class UnionConstraintSampler : public ConstraintSampler
    *
    * @return True if all invidual samplers return true
    */
-  bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
               unsigned int max_attempts) override;
 
-  bool project(robot_state::RobotState& state, unsigned int max_attempts) override;
+  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
 
   /**
    * \brief Get the name of the constraint sampler, for debugging purposes
diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
index 274c6be1da..5b82d70ecf 100644
--- a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
+++ b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
@@ -57,7 +57,7 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
                                                                     const std::string& group_name,
                                                                     const moveit_msgs::Constraints& constr)
 {
-  const robot_model::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group_name);
   if (!jmg)
     return constraint_samplers::ConstraintSamplerPtr();
   std::stringstream ss;
@@ -135,8 +135,8 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
     samplers.push_back(joint_sampler);
 
   // read the ik allocators, if any
-  const robot_model::JointModelGroup::KinematicsSolver& ik_alloc = jmg->getGroupKinematics().first;
-  const robot_model::JointModelGroup::KinematicsSolverMap& ik_subgroup_alloc = jmg->getGroupKinematics().second;
+  const moveit::core::JointModelGroup::KinematicsSolver& ik_alloc = jmg->getGroupKinematics().first;
+  const moveit::core::JointModelGroup::KinematicsSolverMap& ik_subgroup_alloc = jmg->getGroupKinematics().second;
 
   // if we have a means of computing complete states for the group using IK, then we try to see if any IK constraints
   // should be used
@@ -297,7 +297,7 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
     bool some_sampler_valid = false;
 
     std::set<std::size_t> used_p, used_o;
-    for (robot_model::JointModelGroup::KinematicsSolverMap::const_iterator it = ik_subgroup_alloc.begin();
+    for (moveit::core::JointModelGroup::KinematicsSolverMap::const_iterator it = ik_subgroup_alloc.begin();
          it != ik_subgroup_alloc.end(); ++it)
     {
       // construct a sub-set of constraints that operate on the sub-group for which we have an IK allocator
diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp
index 70cd7af200..5a3e059bc4 100644
--- a/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp
+++ b/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp
@@ -55,14 +55,14 @@ double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints
 }
 
 double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr& sampler,
-                                                  const robot_state::RobotState& reference_state)
+                                                  const moveit::core::RobotState& reference_state)
 {
   if (!sampler)
   {
     ROS_ERROR_NAMED("constraint_samplers", "No sampler specified for counting samples per second");
     return 0.0;
   }
-  robot_state::RobotState ks(reference_state);
+  moveit::core::RobotState ks(reference_state);
   unsigned long int valid = 0;
   unsigned long int total = 0;
   ros::WallTime end = ros::WallTime::now() + ros::WallDuration(1.0);
@@ -80,7 +80,7 @@ double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr& sa
 }
 
 void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr& sampler,
-                                                const robot_state::RobotState& reference_state,
+                                                const moveit::core::RobotState& reference_state,
                                                 const std::string& link_name, unsigned int sample_count,
                                                 visualization_msgs::MarkerArray& markers)
 {
@@ -89,10 +89,10 @@ void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr& samp
     ROS_ERROR_NAMED("constraint_samplers", "No sampler specified for visualizing distribution of samples");
     return;
   }
-  const robot_state::LinkModel* lm = reference_state.getLinkModel(link_name);
+  const moveit::core::LinkModel* lm = reference_state.getLinkModel(link_name);
   if (!lm)
     return;
-  robot_state::RobotState ks(reference_state);
+  moveit::core::RobotState ks(reference_state);
   std_msgs::ColorRGBA color;
   color.r = 1.0f;
   color.g = 0.0f;
diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
index 2de8cdbad7..c8dbb1f45e 100644
--- a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
+++ b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -74,13 +74,13 @@ bool JointConstraintSampler::configure(const std::vector<kinematic_constraints::
     if (!joint_constraint.enabled())
       continue;
 
-    const robot_model::JointModel* jm = joint_constraint.getJointModel();
+    const moveit::core::JointModel* jm = joint_constraint.getJointModel();
     if (!jmg_->hasJointModel(jm->getName()))
       continue;
 
     some_valid_constraint = true;
 
-    const robot_model::VariableBounds& joint_bounds = jm->getVariableBounds(joint_constraint.getJointVariableName());
+    const moveit::core::VariableBounds& joint_bounds = jm->getVariableBounds(joint_constraint.getJointVariableName());
     JointInfo ji;
     std::map<std::string, JointInfo>::iterator it = bound_data.find(joint_constraint.getJointVariableName());
     if (it != bound_data.end())
@@ -120,8 +120,8 @@ bool JointConstraintSampler::configure(const std::vector<kinematic_constraints::
     bounds_.push_back(it.second);
 
   // get a separate list of joints that are not bounded; we will sample these randomly
-  const std::vector<const robot_model::JointModel*>& joints = jmg_->getJointModels();
-  for (const robot_model::JointModel* joint : joints)
+  const std::vector<const moveit::core::JointModel*>& joints = jmg_->getJointModels();
+  for (const moveit::core::JointModel* joint : joints)
     if (bound_data.find(joint->getName()) == bound_data.end() && joint->getVariableCount() > 0 &&
         joint->getMimic() == nullptr)
     {
@@ -148,8 +148,8 @@ bool JointConstraintSampler::configure(const std::vector<kinematic_constraints::
   return true;
 }
 
-bool JointConstraintSampler::sample(robot_state::RobotState& state,
-                                    const robot_state::RobotState& /* reference_state */,
+bool JointConstraintSampler::sample(moveit::core::RobotState& state,
+                                    const moveit::core::RobotState& /* reference_state */,
                                     unsigned int /* max_attempts */)
 {
   if (!is_valid_)
@@ -178,7 +178,7 @@ bool JointConstraintSampler::sample(robot_state::RobotState& state,
   return true;
 }
 
-bool JointConstraintSampler::project(robot_state::RobotState& state, unsigned int max_attempts)
+bool JointConstraintSampler::project(moveit::core::RobotState& state, unsigned int max_attempts)
 {
   return sample(state, state, max_attempts);
 }
@@ -349,7 +349,7 @@ bool IKConstraintSampler::loadIKSolver()
 
   // check if we need to transform the request into the coordinate frame expected by IK
   ik_frame_ = kb_->getBaseFrame();
-  transform_ik_ = !robot_state::Transforms::sameFrame(ik_frame_, jmg_->getParentModel().getModelFrame());
+  transform_ik_ = !moveit::core::Transforms::sameFrame(ik_frame_, jmg_->getParentModel().getModelFrame());
   if (!ik_frame_.empty() && ik_frame_[0] == '/')
     ik_frame_.erase(ik_frame_.begin());
   if (transform_ik_)
@@ -385,7 +385,7 @@ bool IKConstraintSampler::loadIKSolver()
   if (!wrong_link && sampling_pose_.orientation_constraint_)
   {
     const moveit::core::LinkModel* lm = sampling_pose_.orientation_constraint_->getLinkModel();
-    if (!robot_state::Transforms::sameFrame(kb_->getTipFrame(), lm->getName()))
+    if (!moveit::core::Transforms::sameFrame(kb_->getTipFrame(), lm->getName()))
     {
       wrong_link = true;
       const moveit::core::LinkTransformMap& fixed_links = lm->getAssociatedFixedTransforms();
@@ -413,7 +413,7 @@ bool IKConstraintSampler::loadIKSolver()
   return true;
 }
 
-bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const robot_state::RobotState& ks,
+bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const moveit::core::RobotState& ks,
                                      unsigned int max_attempts)
 {
   if (ks.dirtyLinkTransforms())
@@ -459,7 +459,7 @@ bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& q
   else
   {
     // do FK for rand state
-    robot_state::RobotState temp_state(ks);
+    moveit::core::RobotState temp_state(ks);
     temp_state.setToRandomPositions(jmg_);
     pos = temp_state.getGlobalLinkTransform(sampling_pose_.orientation_constraint_->getLinkModel()).translation();
   }
@@ -509,8 +509,8 @@ bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& q
 
 namespace
 {
-void samplingIkCallbackFnAdapter(robot_state::RobotState* state, const robot_model::JointModelGroup* jmg,
-                                 const robot_state::GroupStateValidityCallbackFn& constraint,
+void samplingIkCallbackFnAdapter(moveit::core::RobotState* state, const moveit::core::JointModelGroup* jmg,
+                                 const moveit::core::GroupStateValidityCallbackFn& constraint,
                                  const geometry_msgs::Pose& /*unused*/, const std::vector<double>& ik_sol,
                                  moveit_msgs::MoveItErrorCodes& error_code)
 {
@@ -525,13 +525,13 @@ void samplingIkCallbackFnAdapter(robot_state::RobotState* state, const robot_mod
 }
 }  // namespace
 
-bool IKConstraintSampler::sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+bool IKConstraintSampler::sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                                  unsigned int max_attempts)
 {
   return sampleHelper(state, reference_state, max_attempts, false);
 }
 
-bool IKConstraintSampler::sampleHelper(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                                        unsigned int max_attempts, bool project)
 {
   if (!is_valid_)
@@ -592,12 +592,12 @@ bool IKConstraintSampler::sampleHelper(robot_state::RobotState& state, const rob
   return false;
 }
 
-bool IKConstraintSampler::project(robot_state::RobotState& state, unsigned int max_attempts)
+bool IKConstraintSampler::project(moveit::core::RobotState& state, unsigned int max_attempts)
 {
   return sampleHelper(state, state, max_attempts, true);
 }
 
-bool IKConstraintSampler::validate(robot_state::RobotState& state) const
+bool IKConstraintSampler::validate(moveit::core::RobotState& state) const
 {
   state.update();
   return (!sampling_pose_.orientation_constraint_ ||
@@ -608,7 +608,7 @@ bool IKConstraintSampler::validate(robot_state::RobotState& state) const
 
 bool IKConstraintSampler::callIK(const geometry_msgs::Pose& ik_query,
                                  const kinematics::KinematicsBase::IKCallbackFn& adapted_ik_validity_callback,
-                                 double timeout, robot_state::RobotState& state, bool use_as_seed)
+                                 double timeout, moveit::core::RobotState& state, bool use_as_seed)
 {
   const std::vector<unsigned int>& ik_joint_bijection = jmg_->getKinematicsSolverJointBijection();
   std::vector<double> seed(ik_joint_bijection.size(), 0.0);
diff --git a/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp b/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp
index 3eec66d7c6..ec0e753408 100644
--- a/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp
+++ b/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp
@@ -123,7 +123,7 @@ UnionConstraintSampler::UnionConstraintSampler(const planning_scene::PlanningSce
   }
 }
 
-bool UnionConstraintSampler::sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
+bool UnionConstraintSampler::sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                                     unsigned int max_attempts)
 {
   state = reference_state;
@@ -147,7 +147,7 @@ bool UnionConstraintSampler::sample(robot_state::RobotState& state, const robot_
   return true;
 }
 
-bool UnionConstraintSampler::project(robot_state::RobotState& state, unsigned int max_attempts)
+bool UnionConstraintSampler::project(moveit::core::RobotState& state, unsigned int max_attempts)
 {
   for (ConstraintSamplerPtr& sampler : samplers_)
   {
diff --git a/moveit_core/constraint_samplers/test/test_constraint_samplers.cpp b/moveit_core/constraint_samplers/test/test_constraint_samplers.cpp
index bd0d7b956f..cc579534a7 100644
--- a/moveit_core/constraint_samplers/test/test_constraint_samplers.cpp
+++ b/moveit_core/constraint_samplers/test/test_constraint_samplers.cpp
@@ -56,14 +56,14 @@
 class LoadPlanningModelsPr2 : public testing::Test
 {
 protected:
-  kinematics::KinematicsBasePtr getKinematicsSolverRightArm(const robot_model::JointModelGroup* jmg)
+  kinematics::KinematicsBasePtr getKinematicsSolverRightArm(const moveit::core::JointModelGroup* jmg)
   {
     {
       return pr2_kinematics_plugin_right_arm_;
     }
   }
 
-  kinematics::KinematicsBasePtr getKinematicsSolverLeftArm(const robot_model::JointModelGroup* jmg)
+  kinematics::KinematicsBasePtr getKinematicsSolverLeftArm(const moveit::core::JointModelGroup* jmg)
   {
     {
       return pr2_kinematics_plugin_left_arm_;
@@ -85,7 +85,7 @@ class LoadPlanningModelsPr2 : public testing::Test
     func_right_arm_ = boost::bind(&LoadPlanningModelsPr2::getKinematicsSolverRightArm, this, _1);
     func_left_arm_ = boost::bind(&LoadPlanningModelsPr2::getKinematicsSolverLeftArm, this, _1);
 
-    std::map<std::string, robot_model::SolverAllocatorFn> allocators;
+    std::map<std::string, moveit::core::SolverAllocatorFn> allocators;
     allocators["right_arm"] = func_right_arm_;
     allocators["left_arm"] = func_left_arm_;
     allocators["whole_body"] = func_right_arm_;
@@ -101,20 +101,20 @@ class LoadPlanningModelsPr2 : public testing::Test
   }
 
 protected:
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
   planning_scene::PlanningScenePtr ps_;
   pr2_arm_kinematics::PR2ArmKinematicsPluginPtr pr2_kinematics_plugin_right_arm_;
   pr2_arm_kinematics::PR2ArmKinematicsPluginPtr pr2_kinematics_plugin_left_arm_;
-  robot_model::SolverAllocatorFn func_right_arm_;
-  robot_model::SolverAllocatorFn func_left_arm_;
+  moveit::core::SolverAllocatorFn func_right_arm_;
+  moveit::core::SolverAllocatorFn func_left_arm_;
 };
 
 TEST_F(LoadPlanningModelsPr2, JointConstraintsSamplerSimple)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
 
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
 
   kinematic_constraints::JointConstraint jc1(robot_model_);
@@ -253,7 +253,7 @@ TEST_F(LoadPlanningModelsPr2, JointConstraintsSamplerSimple)
 
 TEST_F(LoadPlanningModelsPr2, IKConstraintsSamplerSimple)
 {
-  robot_state::Transforms& tf = ps_->getTransformsNonConst();
+  moveit::core::Transforms& tf = ps_->getTransformsNonConst();
 
   kinematic_constraints::PositionConstraint pc(robot_model_);
   moveit_msgs::PositionConstraint pcm;
@@ -316,14 +316,14 @@ TEST_F(LoadPlanningModelsPr2, IKConstraintsSamplerSimple)
 
 TEST_F(LoadPlanningModelsPr2, OrientationConstraintsSampler)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
-  robot_state::Transforms& tf = ps_->getTransformsNonConst();
+  moveit::core::Transforms& tf = ps_->getTransformsNonConst();
 
   kinematic_constraints::OrientationConstraint oc(robot_model_);
   moveit_msgs::OrientationConstraint ocm;
@@ -359,14 +359,14 @@ TEST_F(LoadPlanningModelsPr2, OrientationConstraintsSampler)
 
 TEST_F(LoadPlanningModelsPr2, IKConstraintsSamplerValid)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
-  robot_state::Transforms& tf = ps_->getTransformsNonConst();
+  moveit::core::Transforms& tf = ps_->getTransformsNonConst();
 
   kinematic_constraints::PositionConstraint pc(robot_model_);
   moveit_msgs::PositionConstraint pcm;
@@ -438,15 +438,15 @@ TEST_F(LoadPlanningModelsPr2, IKConstraintsSamplerValid)
 
 TEST_F(LoadPlanningModelsPr2, UnionConstraintSampler)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
 
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
-  robot_state::Transforms& tf = ps_->getTransformsNonConst();
+  moveit::core::Transforms& tf = ps_->getTransformsNonConst();
 
   kinematic_constraints::JointConstraint jc1(robot_model_);
 
@@ -606,10 +606,10 @@ TEST_F(LoadPlanningModelsPr2, UnionConstraintSampler)
 
 TEST_F(LoadPlanningModelsPr2, PoseConstraintSamplerManager)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
@@ -692,7 +692,7 @@ TEST_F(LoadPlanningModelsPr2, PoseConstraintSamplerManager)
 
 TEST_F(LoadPlanningModelsPr2, JointVersusPoseConstraintSamplerManager)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
 
@@ -861,10 +861,10 @@ TEST_F(LoadPlanningModelsPr2, JointVersusPoseConstraintSamplerManager)
 
 TEST_F(LoadPlanningModelsPr2, MixedJointAndIkSamplerManager)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
@@ -937,10 +937,10 @@ TEST_F(LoadPlanningModelsPr2, MixedJointAndIkSamplerManager)
 
 TEST_F(LoadPlanningModelsPr2, SubgroupJointConstraintsSamplerManager)
 {
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
@@ -1078,7 +1078,7 @@ TEST_F(LoadPlanningModelsPr2, SubgroupPoseConstraintsSampler)
   ocm.weight = 1.0;
   c.orientation_constraints.push_back(ocm);
 
-  robot_state::Transforms& tf = ps_->getTransformsNonConst();
+  moveit::core::Transforms& tf = ps_->getTransformsNonConst();
   constraint_samplers::ConstraintSamplerPtr s =
       constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(ps_, "arms", c);
   EXPECT_TRUE(static_cast<bool>(s));
@@ -1089,10 +1089,10 @@ TEST_F(LoadPlanningModelsPr2, SubgroupPoseConstraintsSampler)
   kinematic_constraints::KinematicConstraintSet kset(robot_model_);
   kset.add(c, tf);
 
-  robot_state::RobotState ks(robot_model_);
+  moveit::core::RobotState ks(robot_model_);
   ks.setToDefaultValues();
   ks.update();
-  robot_state::RobotState ks_const(robot_model_);
+  moveit::core::RobotState ks_const(robot_model_);
   ks_const.setToDefaultValues();
   ks_const.update();
 
diff --git a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
index 1f579d0c6f..c8402b4031 100644
--- a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
+++ b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
@@ -66,7 +66,7 @@ class DynamicsSolver
    * @param group_name The name of the group to compute stuff for
    * @return False if initialization failed
    */
-  DynamicsSolver(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
+  DynamicsSolver(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
                  const geometry_msgs::Vector3& gravity_vector);
 
   /**
@@ -124,12 +124,12 @@ class DynamicsSolver
    * @brief Get the kinematic model
    * @return kinematic model
    */
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
 
-  const robot_model::JointModelGroup* getGroup() const
+  const moveit::core::JointModelGroup* getGroup() const
   {
     return joint_model_group_;
   }
@@ -138,10 +138,10 @@ class DynamicsSolver
   std::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_;  // KDL chain inverse dynamics
   KDL::Chain kdl_chain_;                                     // KDL chain
 
-  robot_model::RobotModelConstPtr robot_model_;
-  const robot_model::JointModelGroup* joint_model_group_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  const moveit::core::JointModelGroup* joint_model_group_;
 
-  robot_state::RobotStatePtr state_;  // robot state
+  moveit::core::RobotStatePtr state_;  // robot state
 
   std::string base_name_, tip_name_;        // base name, tip name
   unsigned int num_joints_, num_segments_;  // number of joints in group, number of segments in group
diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
index 9a48b0ed2a..20cf844b39 100644
--- a/moveit_core/dynamics_solver/src/dynamics_solver.cpp
+++ b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -64,7 +64,7 @@ inline geometry_msgs::Vector3 transformVector(const Eigen::Isometry3d& transform
 }
 }  // namespace
 
-DynamicsSolver::DynamicsSolver(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
+DynamicsSolver::DynamicsSolver(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
                                const geometry_msgs::Vector3& gravity_vector)
 {
   robot_model_ = robot_model;
@@ -88,7 +88,7 @@ DynamicsSolver::DynamicsSolver(const robot_model::RobotModelConstPtr& robot_mode
     return;
   }
 
-  const robot_model::JointModel* joint = joint_model_group_->getJointRoots()[0];
+  const moveit::core::JointModel* joint = joint_model_group_->getJointRoots()[0];
   if (!joint->getParentLinkModel())
   {
     ROS_ERROR_NAMED("dynamics_solver", "Group '%s' does not have a parent link", group_name.c_str());
@@ -120,7 +120,7 @@ DynamicsSolver::DynamicsSolver(const robot_model::RobotModelConstPtr& robot_mode
   num_joints_ = kdl_chain_.getNrOfJoints();
   num_segments_ = kdl_chain_.getNrOfSegments();
 
-  state_.reset(new robot_state::RobotState(robot_model_));
+  state_.reset(new moveit::core::RobotState(robot_model_));
   state_->setToDefaultValues();
 
   const std::vector<std::string>& joint_model_names = joint_model_group_->getJointModelNames();
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 12804a01b1..cf28da8858 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -92,7 +92,7 @@ class KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  KinematicConstraint(const robot_model::RobotModelConstPtr& model);
+  KinematicConstraint(const moveit::core::RobotModelConstPtr& model);
   virtual ~KinematicConstraint();
 
   /** \brief Clear the stored constraint */
@@ -106,7 +106,7 @@ class KinematicConstraint
    *
    * @return
    */
-  virtual ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const = 0;
+  virtual ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const = 0;
 
   /** \brief This function returns true if this constraint is
       configured and able to decide whether states do meet the
@@ -166,14 +166,14 @@ class KinematicConstraint
    *
    * @return The kinematic model associated with this constraint
    */
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
 
 protected:
-  ConstraintType type_;                         /**< \brief The type of the constraint */
-  robot_model::RobotModelConstPtr robot_model_; /**< \brief The kinematic model associated with this constraint */
+  ConstraintType type_;                          /**< \brief The type of the constraint */
+  moveit::core::RobotModelConstPtr robot_model_; /**< \brief The kinematic model associated with this constraint */
   double constraint_weight_; /**< \brief The weight of a constraint is a multiplicative factor associated to the
                                 distance computed by the decide() function  */
 };
@@ -207,7 +207,7 @@ class JointConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  JointConstraint(const robot_model::RobotModelConstPtr& model)
+  JointConstraint(const moveit::core::RobotModelConstPtr& model)
     : KinematicConstraint(model), joint_model_(NULL), joint_variable_index_(-1)
   {
     type_ = JOINT_CONSTRAINT;
@@ -245,7 +245,7 @@ class JointConstraint : public KinematicConstraint
    */
   bool equal(const KinematicConstraint& other, double margin) const override;
 
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const override;
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const override;
   bool enabled() const override;
   void clear() override;
   void print(std::ostream& out = std::cout) const override;
@@ -255,7 +255,7 @@ class JointConstraint : public KinematicConstraint
    *
    * @return The relevant joint model if enabled, and otherwise NULL
    */
-  const robot_model::JointModel* getJointModel() const
+  const moveit::core::JointModel* getJointModel() const
   {
     return joint_model_;
   }
@@ -273,7 +273,7 @@ class JointConstraint : public KinematicConstraint
   }
 
   /**
-   *  \brief Gets the joint variable name, as known to the robot_model::RobotModel
+   *  \brief Gets the joint variable name, as known to the moveit::core::RobotModel
    *
    * This will include the local variable name if a variable of a multi-DOF joint is constrained.
    *
@@ -323,10 +323,10 @@ class JointConstraint : public KinematicConstraint
   }
 
 protected:
-  const robot_model::JointModel* joint_model_; /**< \brief The joint from the kinematic model for this constraint */
-  bool joint_is_continuous_;                   /**< \brief Whether or not the joint is continuous */
-  std::string local_variable_name_;            /**< \brief The local variable name for a multi DOF joint, if any */
-  std::string joint_variable_name_;            /**< \brief The joint variable name */
+  const moveit::core::JointModel* joint_model_; /**< \brief The joint from the kinematic model for this constraint */
+  bool joint_is_continuous_;                    /**< \brief Whether or not the joint is continuous */
+  std::string local_variable_name_;             /**< \brief The local variable name for a multi DOF joint, if any */
+  std::string joint_variable_name_;             /**< \brief The joint variable name */
   int joint_variable_index_; /**< \brief The index of the joint variable name in the full robot state */
   double joint_position_, joint_tolerance_above_, joint_tolerance_below_; /**< \brief Position and tolerance values*/
 };
@@ -355,7 +355,7 @@ class OrientationConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  OrientationConstraint(const robot_model::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
+  OrientationConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
   {
     type_ = ORIENTATION_CONSTRAINT;
   }
@@ -373,7 +373,7 @@ class OrientationConstraint : public KinematicConstraint
    *
    * @return True if constraint can be configured from oc
    */
-  bool configure(const moveit_msgs::OrientationConstraint& oc, const robot_state::Transforms& tf);
+  bool configure(const moveit_msgs::OrientationConstraint& oc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Check if two orientation constraints are the same.
@@ -394,7 +394,7 @@ class OrientationConstraint : public KinematicConstraint
   bool equal(const KinematicConstraint& other, double margin) const override;
 
   void clear() override;
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const override;
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const override;
   bool enabled() const override;
   void print(std::ostream& out = std::cout) const override;
 
@@ -404,7 +404,7 @@ class OrientationConstraint : public KinematicConstraint
    *
    * @return Returns the current link model
    */
-  const robot_model::LinkModel* getLinkModel() const
+  const moveit::core::LinkModel* getLinkModel() const
   {
     return link_model_;
   }
@@ -475,7 +475,7 @@ class OrientationConstraint : public KinematicConstraint
   }
 
 protected:
-  const robot_model::LinkModel* link_model_;    /**< \brief The target link model */
+  const moveit::core::LinkModel* link_model_;   /**< \brief The target link model */
   Eigen::Matrix3d desired_rotation_matrix_;     /**< \brief The desired rotation matrix in the tf frame */
   Eigen::Matrix3d desired_rotation_matrix_inv_; /**< \brief The inverse of the desired rotation matrix, precomputed for
                                                  * efficiency
@@ -512,7 +512,7 @@ class PositionConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  PositionConstraint(const robot_model::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
+  PositionConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
   {
     type_ = POSITION_CONSTRAINT;
   }
@@ -533,7 +533,7 @@ class PositionConstraint : public KinematicConstraint
    *
    * @return True if constraint can be configured from pc
    */
-  bool configure(const moveit_msgs::PositionConstraint& pc, const robot_state::Transforms& tf);
+  bool configure(const moveit_msgs::PositionConstraint& pc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Check if two constraints are the same.  For position
@@ -561,7 +561,7 @@ class PositionConstraint : public KinematicConstraint
   bool equal(const KinematicConstraint& other, double margin) const override;
 
   void clear() override;
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const override;
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const override;
   bool enabled() const override;
   void print(std::ostream& out = std::cout) const override;
 
@@ -571,7 +571,7 @@ class PositionConstraint : public KinematicConstraint
    *
    * @return The link model
    */
-  const robot_model::LinkModel* getLinkModel() const
+  const moveit::core::LinkModel* getLinkModel() const
   {
     return link_model_;
   }
@@ -644,7 +644,7 @@ class PositionConstraint : public KinematicConstraint
   EigenSTL::vector_Isometry3d constraint_region_pose_; /**< \brief The constraint region pose vector */
   bool mobile_frame_;                                  /**< \brief Whether or not a mobile frame is employed*/
   std::string constraint_frame_id_;                    /**< \brief The constraint frame id */
-  const robot_model::LinkModel* link_model_;           /**< \brief The link model constraint subject */
+  const moveit::core::LinkModel* link_model_;          /**< \brief The link model constraint subject */
 };
 
 MOVEIT_CLASS_FORWARD(VisibilityConstraint);
@@ -757,7 +757,7 @@ class VisibilityConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  VisibilityConstraint(const robot_model::RobotModelConstPtr& model);
+  VisibilityConstraint(const moveit::core::RobotModelConstPtr& model);
 
   /**
    * \brief Configure the constraint based on a
@@ -771,7 +771,7 @@ class VisibilityConstraint : public KinematicConstraint
    *
    * @return True if constraint can be configured from vc
    */
-  bool configure(const moveit_msgs::VisibilityConstraint& vc, const robot_state::Transforms& tf);
+  bool configure(const moveit_msgs::VisibilityConstraint& vc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Check if two constraints are the same.
@@ -800,7 +800,7 @@ class VisibilityConstraint : public KinematicConstraint
    *
    * @return The shape associated with the cone
    */
-  shapes::Mesh* getVisibilityCone(const robot_state::RobotState& state) const;
+  shapes::Mesh* getVisibilityCone(const moveit::core::RobotState& state) const;
 
   /**
    * \brief Adds markers associated with the visibility cone, sensor
@@ -813,10 +813,10 @@ class VisibilityConstraint : public KinematicConstraint
    * @param [in] state The state from which to produce the markers
    * @param [out] markers The marker array to which the markers will be added
    */
-  void getMarkers(const robot_state::RobotState& state, visualization_msgs::MarkerArray& markers) const;
+  void getMarkers(const moveit::core::RobotState& state, visualization_msgs::MarkerArray& markers) const;
 
   bool enabled() const override;
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const override;
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const override;
   void print(std::ostream& out = std::cout) const override;
 
 protected:
@@ -868,7 +868,7 @@ class KinematicConstraintSet
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  KinematicConstraintSet(const robot_model::RobotModelConstPtr& model) : robot_model_(model)
+  KinematicConstraintSet(const moveit::core::RobotModelConstPtr& model) : robot_model_(model)
   {
   }
 
@@ -890,7 +890,7 @@ class KinematicConstraintSet
    * KinematicConstraintSet can still be used even if the addition
    * returns false.
    */
-  bool add(const moveit_msgs::Constraints& c, const robot_state::Transforms& tf);
+  bool add(const moveit_msgs::Constraints& c, const moveit::core::Transforms& tf);
 
   /**
    * \brief Add a vector of joint constraints
@@ -908,7 +908,7 @@ class KinematicConstraintSet
    *
    * @return Will return true only if all constraints are valid, and false otherwise
    */
-  bool add(const std::vector<moveit_msgs::PositionConstraint>& pc, const robot_state::Transforms& tf);
+  bool add(const std::vector<moveit_msgs::PositionConstraint>& pc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Add a vector of orientation constraints
@@ -917,7 +917,7 @@ class KinematicConstraintSet
    *
    * @return Will return true only if all constraints are valid, and false otherwise
    */
-  bool add(const std::vector<moveit_msgs::OrientationConstraint>& oc, const robot_state::Transforms& tf);
+  bool add(const std::vector<moveit_msgs::OrientationConstraint>& oc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Add a vector of visibility constraints
@@ -926,7 +926,7 @@ class KinematicConstraintSet
    *
    * @return Will return true only if all constraints are valid, and false otherwise
    */
-  bool add(const std::vector<moveit_msgs::VisibilityConstraint>& vc, const robot_state::Transforms& tf);
+  bool add(const std::vector<moveit_msgs::VisibilityConstraint>& vc, const moveit::core::Transforms& tf);
 
   /**
    * \brief Determines whether all constraints are satisfied by state,
@@ -939,7 +939,7 @@ class KinematicConstraintSet
    * report satisfied only if all constraints are satisfied, and with
    * a distance that is the sum of all individual distances.
    */
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const;
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state, bool verbose = false) const;
 
   /**
    *
@@ -959,7 +959,7 @@ class KinematicConstraintSet
    * report satisfied only if all constraints are satisfied, and with
    * a distance that is the sum of all individual distances.
    */
-  ConstraintEvaluationResult decide(const robot_state::RobotState& state,
+  ConstraintEvaluationResult decide(const moveit::core::RobotState& state,
                                     std::vector<ConstraintEvaluationResult>& results, bool verbose = false) const;
 
   /**
@@ -1053,7 +1053,7 @@ class KinematicConstraintSet
   }
 
 protected:
-  robot_model::RobotModelConstPtr robot_model_; /**< \brief The kinematic model used for by the Set */
+  moveit::core::RobotModelConstPtr robot_model_; /**< \brief The kinematic model used for by the Set */
   std::vector<KinematicConstraintPtr>
       kinematic_constraints_; /**<  \brief Shared pointers to all the member constraints */
 
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index 54080fbacb..3396520631 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -83,8 +83,8 @@ std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
  *
  * @return A full constraint message containing all the joint constraints
  */
-moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
-                                                  const robot_model::JointModelGroup* jmg, double tolerance_below,
+moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
+                                                  const moveit::core::JointModelGroup* jmg, double tolerance_below,
                                                   double tolerance_above);
 
 /**
@@ -98,8 +98,8 @@ moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState&
  *
  * @return A full constraint message containing all the joint constraints
  */
-moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
-                                                  const robot_model::JointModelGroup* jmg,
+moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
+                                                  const moveit::core::JointModelGroup* jmg,
                                                   double tolerance = std::numeric_limits<double>::epsilon());
 
 /**
@@ -213,5 +213,5 @@ bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints&
  * @param [in] state The RobotState used to resolve frames.
  * @param [in] constraints The constraint to resolve.
  */
-bool resolveConstraintFrames(const robot_state::RobotState& state, moveit_msgs::Constraints& constraints);
+bool resolveConstraintFrames(const moveit::core::RobotState& state, moveit_msgs::Constraints& constraints);
 }
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 884a1dca51..9ed1c08125 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -57,7 +57,7 @@ static double normalizeAngle(double angle)
   return v;
 }
 
-KinematicConstraint::KinematicConstraint(const robot_model::RobotModelConstPtr& model)
+KinematicConstraint::KinematicConstraint(const moveit::core::RobotModelConstPtr& model)
   : type_(UNKNOWN_CONSTRAINT), robot_model_(model), constraint_weight_(std::numeric_limits<double>::epsilon())
 {
 }
@@ -140,13 +140,14 @@ bool JointConstraint::configure(const moveit_msgs::JointConstraint& jc)
 
     // check if we have to wrap angles when computing distances
     joint_is_continuous_ = false;
-    if (joint_model_->getType() == robot_model::JointModel::REVOLUTE)
+    if (joint_model_->getType() == moveit::core::JointModel::REVOLUTE)
     {
-      const robot_model::RevoluteJointModel* rjoint = static_cast<const robot_model::RevoluteJointModel*>(joint_model_);
+      const moveit::core::RevoluteJointModel* rjoint =
+          static_cast<const moveit::core::RevoluteJointModel*>(joint_model_);
       if (rjoint->isContinuous())
         joint_is_continuous_ = true;
     }
-    else if (joint_model_->getType() == robot_model::JointModel::PLANAR)
+    else if (joint_model_->getType() == moveit::core::JointModel::PLANAR)
     {
       if (local_variable_name_ == "theta")
         joint_is_continuous_ = true;
@@ -159,7 +160,7 @@ bool JointConstraint::configure(const moveit_msgs::JointConstraint& jc)
     else
     {
       joint_position_ = jc.position;
-      const robot_model::VariableBounds& bounds = joint_model_->getVariableBounds(joint_variable_name_);
+      const moveit::core::VariableBounds& bounds = joint_model_->getVariableBounds(joint_variable_name_);
 
       if (bounds.min_position_ > joint_position_ + joint_tolerance_above_)
       {
@@ -204,7 +205,7 @@ bool JointConstraint::equal(const KinematicConstraint& other, double margin) con
   return false;
 }
 
-ConstraintEvaluationResult JointConstraint::decide(const robot_state::RobotState& state, bool verbose) const
+ConstraintEvaluationResult JointConstraint::decide(const moveit::core::RobotState& state, bool verbose) const
 {
   if (!joint_model_)
     return ConstraintEvaluationResult(true, 0.0);
@@ -268,7 +269,7 @@ void JointConstraint::print(std::ostream& out) const
     out << "No constraint" << std::endl;
 }
 
-bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, const robot_state::Transforms& tf)
+bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, const moveit::core::Transforms& tf)
 {
   // clearing before we configure to get rid of any old data
   clear();
@@ -378,7 +379,7 @@ bool PositionConstraint::equal(const KinematicConstraint& other, double margin)
     return false;
   const PositionConstraint& o = static_cast<const PositionConstraint&>(other);
 
-  if (link_model_ == o.link_model_ && robot_state::Transforms::sameFrame(constraint_frame_id_, o.constraint_frame_id_))
+  if (link_model_ == o.link_model_ && moveit::core::Transforms::sameFrame(constraint_frame_id_, o.constraint_frame_id_))
   {
     if ((offset_ - o.offset_).norm() > margin)
       return false;
@@ -429,7 +430,7 @@ static inline ConstraintEvaluationResult finishPositionConstraintDecision(const
   return ConstraintEvaluationResult(result, weight * sqrt(dx * dx + dy * dy + dz * dz));
 }
 
-ConstraintEvaluationResult PositionConstraint::decide(const robot_state::RobotState& state, bool verbose) const
+ConstraintEvaluationResult PositionConstraint::decide(const moveit::core::RobotState& state, bool verbose) const
 {
   if (!link_model_ || constraint_region_.empty())
     return ConstraintEvaluationResult(true, 0.0);
@@ -489,7 +490,7 @@ bool PositionConstraint::enabled() const
   return link_model_ && !constraint_region_.empty();
 }
 
-bool OrientationConstraint::configure(const moveit_msgs::OrientationConstraint& oc, const robot_state::Transforms& tf)
+bool OrientationConstraint::configure(const moveit_msgs::OrientationConstraint& oc, const moveit::core::Transforms& tf)
 {
   // clearing out any old data
   clear();
@@ -562,7 +563,7 @@ bool OrientationConstraint::equal(const KinematicConstraint& other, double margi
   const OrientationConstraint& o = static_cast<const OrientationConstraint&>(other);
 
   if (o.link_model_ == link_model_ &&
-      robot_state::Transforms::sameFrame(desired_rotation_frame_id_, o.desired_rotation_frame_id_))
+      moveit::core::Transforms::sameFrame(desired_rotation_frame_id_, o.desired_rotation_frame_id_))
   {
     if (!desired_rotation_matrix_.isApprox(o.desired_rotation_matrix_))
       return false;
@@ -588,7 +589,7 @@ bool OrientationConstraint::enabled() const
   return link_model_;
 }
 
-ConstraintEvaluationResult OrientationConstraint::decide(const robot_state::RobotState& state, bool verbose) const
+ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::RobotState& state, bool verbose) const
 {
   if (!link_model_)
     return ConstraintEvaluationResult(true, 0.0);
@@ -642,7 +643,7 @@ void OrientationConstraint::print(std::ostream& out) const
     out << "No constraint" << std::endl;
 }
 
-VisibilityConstraint::VisibilityConstraint(const robot_model::RobotModelConstPtr& model)
+VisibilityConstraint::VisibilityConstraint(const moveit::core::RobotModelConstPtr& model)
   : KinematicConstraint(model), collision_env_(new collision_detection::CollisionEnvFCL(model))
 {
   type_ = VISIBILITY_CONSTRAINT;
@@ -664,7 +665,7 @@ void VisibilityConstraint::clear()
   max_range_angle_ = 0.0;
 }
 
-bool VisibilityConstraint::configure(const moveit_msgs::VisibilityConstraint& vc, const robot_state::Transforms& tf)
+bool VisibilityConstraint::configure(const moveit_msgs::VisibilityConstraint& vc, const moveit::core::Transforms& tf)
 {
   clear();
   target_radius_ = fabs(vc.target_radius);
@@ -746,8 +747,8 @@ bool VisibilityConstraint::equal(const KinematicConstraint& other, double margin
     return false;
   const VisibilityConstraint& o = static_cast<const VisibilityConstraint&>(other);
 
-  if (robot_state::Transforms::sameFrame(target_frame_id_, o.target_frame_id_) &&
-      robot_state::Transforms::sameFrame(sensor_frame_id_, o.sensor_frame_id_) && cone_sides_ == o.cone_sides_ &&
+  if (moveit::core::Transforms::sameFrame(target_frame_id_, o.target_frame_id_) &&
+      moveit::core::Transforms::sameFrame(sensor_frame_id_, o.sensor_frame_id_) && cone_sides_ == o.cone_sides_ &&
       sensor_view_direction_ == o.sensor_view_direction_)
   {
     if (fabs(max_view_angle_ - o.max_view_angle_) > margin || fabs(target_radius_ - o.target_radius_) > margin)
@@ -772,7 +773,7 @@ bool VisibilityConstraint::enabled() const
   return target_radius_ > std::numeric_limits<double>::epsilon();
 }
 
-shapes::Mesh* VisibilityConstraint::getVisibilityCone(const robot_state::RobotState& state) const
+shapes::Mesh* VisibilityConstraint::getVisibilityCone(const moveit::core::RobotState& state) const
 {
   // the current pose of the sensor
 
@@ -846,7 +847,7 @@ shapes::Mesh* VisibilityConstraint::getVisibilityCone(const robot_state::RobotSt
   return m;
 }
 
-void VisibilityConstraint::getMarkers(const robot_state::RobotState& state,
+void VisibilityConstraint::getMarkers(const moveit::core::RobotState& state,
                                       visualization_msgs::MarkerArray& markers) const
 {
   shapes::Mesh* m = getVisibilityCone(state);
@@ -918,7 +919,7 @@ void VisibilityConstraint::getMarkers(const robot_state::RobotState& state,
   markers.markers.push_back(mka);
 }
 
-ConstraintEvaluationResult VisibilityConstraint::decide(const robot_state::RobotState& state, bool verbose) const
+ConstraintEvaluationResult VisibilityConstraint::decide(const moveit::core::RobotState& state, bool verbose) const
 {
   if (target_radius_ <= std::numeric_limits<double>::epsilon())
     return ConstraintEvaluationResult(true, 0.0);
@@ -1015,16 +1016,16 @@ bool VisibilityConstraint::decideContact(const collision_detection::Contact& con
     return true;
   if (contact.body_type_1 == collision_detection::BodyTypes::ROBOT_LINK &&
       contact.body_type_2 == collision_detection::BodyTypes::WORLD_OBJECT &&
-      (robot_state::Transforms::sameFrame(contact.body_name_1, sensor_frame_id_) ||
-       robot_state::Transforms::sameFrame(contact.body_name_1, target_frame_id_)))
+      (moveit::core::Transforms::sameFrame(contact.body_name_1, sensor_frame_id_) ||
+       moveit::core::Transforms::sameFrame(contact.body_name_1, target_frame_id_)))
   {
     ROS_DEBUG_NAMED("kinematic_constraints", "Accepted collision with either sensor or target");
     return true;
   }
   if (contact.body_type_2 == collision_detection::BodyTypes::ROBOT_LINK &&
       contact.body_type_1 == collision_detection::BodyTypes::WORLD_OBJECT &&
-      (robot_state::Transforms::sameFrame(contact.body_name_2, sensor_frame_id_) ||
-       robot_state::Transforms::sameFrame(contact.body_name_2, target_frame_id_)))
+      (moveit::core::Transforms::sameFrame(contact.body_name_2, sensor_frame_id_) ||
+       moveit::core::Transforms::sameFrame(contact.body_name_2, target_frame_id_)))
   {
     ROS_DEBUG_NAMED("kinematic_constraints", "Accepted collision with either sensor or target");
     return true;
@@ -1070,7 +1071,7 @@ bool KinematicConstraintSet::add(const std::vector<moveit_msgs::JointConstraint>
 }
 
 bool KinematicConstraintSet::add(const std::vector<moveit_msgs::PositionConstraint>& pc,
-                                 const robot_state::Transforms& tf)
+                                 const moveit::core::Transforms& tf)
 {
   bool result = true;
   for (const moveit_msgs::PositionConstraint& position_constraint : pc)
@@ -1086,7 +1087,7 @@ bool KinematicConstraintSet::add(const std::vector<moveit_msgs::PositionConstrai
 }
 
 bool KinematicConstraintSet::add(const std::vector<moveit_msgs::OrientationConstraint>& oc,
-                                 const robot_state::Transforms& tf)
+                                 const moveit::core::Transforms& tf)
 {
   bool result = true;
   for (const moveit_msgs::OrientationConstraint& orientation_constraint : oc)
@@ -1102,7 +1103,7 @@ bool KinematicConstraintSet::add(const std::vector<moveit_msgs::OrientationConst
 }
 
 bool KinematicConstraintSet::add(const std::vector<moveit_msgs::VisibilityConstraint>& vc,
-                                 const robot_state::Transforms& tf)
+                                 const moveit::core::Transforms& tf)
 {
   bool result = true;
   for (const moveit_msgs::VisibilityConstraint& visibility_constraint : vc)
@@ -1117,7 +1118,7 @@ bool KinematicConstraintSet::add(const std::vector<moveit_msgs::VisibilityConstr
   return result;
 }
 
-bool KinematicConstraintSet::add(const moveit_msgs::Constraints& c, const robot_state::Transforms& tf)
+bool KinematicConstraintSet::add(const moveit_msgs::Constraints& c, const moveit::core::Transforms& tf)
 {
   bool j = add(c.joint_constraints);
   bool p = add(c.position_constraints, tf);
@@ -1126,7 +1127,7 @@ bool KinematicConstraintSet::add(const moveit_msgs::Constraints& c, const robot_
   return j && p && o && v;
 }
 
-ConstraintEvaluationResult KinematicConstraintSet::decide(const robot_state::RobotState& state, bool verbose) const
+ConstraintEvaluationResult KinematicConstraintSet::decide(const moveit::core::RobotState& state, bool verbose) const
 {
   ConstraintEvaluationResult res(true, 0.0);
   for (const KinematicConstraintPtr& kinematic_constraint : kinematic_constraints_)
@@ -1139,7 +1140,7 @@ ConstraintEvaluationResult KinematicConstraintSet::decide(const robot_state::Rob
   return res;
 }
 
-ConstraintEvaluationResult KinematicConstraintSet::decide(const robot_state::RobotState& state,
+ConstraintEvaluationResult KinematicConstraintSet::decide(const moveit::core::RobotState& state,
                                                           std::vector<ConstraintEvaluationResult>& results,
                                                           bool verbose) const
 {
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 59beecec6c..6125ae954c 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -126,14 +126,14 @@ std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr)
          constr.visibility_constraints.size() + constr.joint_constraints.size();
 }
 
-moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
-                                                  const robot_model::JointModelGroup* jmg, double tolerance)
+moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
+                                                  const moveit::core::JointModelGroup* jmg, double tolerance)
 {
   return constructGoalConstraints(state, jmg, tolerance, tolerance);
 }
 
-moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
-                                                  const robot_model::JointModelGroup* jmg, double tolerance_below,
+moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
+                                                  const moveit::core::JointModelGroup* jmg, double tolerance_below,
                                                   double tolerance_above)
 {
   moveit_msgs::Constraints goal;
@@ -529,7 +529,7 @@ bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints&
 }
 }  // namespace kinematic_constraints
 
-bool kinematic_constraints::resolveConstraintFrames(const robot_state::RobotState& state,
+bool kinematic_constraints::resolveConstraintFrames(const moveit::core::RobotState& state,
                                                     moveit_msgs::Constraints& constraints)
 {
   for (auto& c : constraints.position_constraints)
diff --git a/moveit_core/kinematic_constraints/test/test_constraints.cpp b/moveit_core/kinematic_constraints/test/test_constraints.cpp
index 4c6cd14eba..b16e9505ae 100644
--- a/moveit_core/kinematic_constraints/test/test_constraints.cpp
+++ b/moveit_core/kinematic_constraints/test/test_constraints.cpp
@@ -54,14 +54,14 @@ class LoadPlanningModelsPr2 : public testing::Test
   }
 
 protected:
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 };
 
 TEST_F(LoadPlanningModelsPr2, JointConstraintsSimple)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::JointConstraint jc(robot_model_);
   moveit_msgs::JointConstraint jcm;
@@ -174,10 +174,10 @@ TEST_F(LoadPlanningModelsPr2, JointConstraintsSimple)
 
 TEST_F(LoadPlanningModelsPr2, JointConstraintsCont)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::JointConstraint jc(robot_model_);
   moveit_msgs::JointConstraint jcm;
@@ -305,7 +305,7 @@ TEST_F(LoadPlanningModelsPr2, JointConstraintsCont)
 
 TEST_F(LoadPlanningModelsPr2, JointConstraintsMultiDOF)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   kinematic_constraints::JointConstraint jc(robot_model_);
@@ -356,10 +356,10 @@ TEST_F(LoadPlanningModelsPr2, JointConstraintsMultiDOF)
 
 TEST_F(LoadPlanningModelsPr2, PositionConstraintsFixed)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update(true);
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
   kinematic_constraints::PositionConstraint pc(robot_model_);
   moveit_msgs::PositionConstraint pcm;
 
@@ -432,9 +432,9 @@ TEST_F(LoadPlanningModelsPr2, PositionConstraintsFixed)
 
 TEST_F(LoadPlanningModelsPr2, PositionConstraintsMobile)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
   robot_state.update();
 
   kinematic_constraints::PositionConstraint pc(robot_model_);
@@ -509,9 +509,9 @@ TEST_F(LoadPlanningModelsPr2, PositionConstraintsMobile)
 
 TEST_F(LoadPlanningModelsPr2, PositionConstraintsEquality)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::PositionConstraint pc(robot_model_);
   kinematic_constraints::PositionConstraint pc2(robot_model_);
@@ -595,10 +595,10 @@ TEST_F(LoadPlanningModelsPr2, PositionConstraintsEquality)
 
 TEST_F(LoadPlanningModelsPr2, OrientationConstraintsSimple)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::OrientationConstraint oc(robot_model_);
 
@@ -656,10 +656,10 @@ TEST_F(LoadPlanningModelsPr2, OrientationConstraintsSimple)
 
 TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsSimple)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::VisibilityConstraint vc(robot_model_);
   moveit_msgs::VisibilityConstraint vcm;
@@ -707,10 +707,10 @@ TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsSimple)
 
 TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsPR2)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
   robot_state.update();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::VisibilityConstraint vc(robot_model_);
   moveit_msgs::VisibilityConstraint vcm;
@@ -781,9 +781,9 @@ TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsPR2)
 
 TEST_F(LoadPlanningModelsPr2, TestKinematicConstraintSet)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::KinematicConstraintSet kcs(robot_model_);
   EXPECT_TRUE(kcs.empty());
@@ -847,9 +847,9 @@ TEST_F(LoadPlanningModelsPr2, TestKinematicConstraintSet)
 
 TEST_F(LoadPlanningModelsPr2, TestKinematicConstraintSetEquality)
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
-  robot_state::Transforms tf(robot_model_->getModelFrame());
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
 
   kinematic_constraints::KinematicConstraintSet kcs(robot_model_);
   kinematic_constraints::KinematicConstraintSet kcs2(robot_model_);
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index da5c213e49..27e111fdf1 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -52,7 +52,7 @@ class KinematicsMetrics
 {
 public:
   /** \brief Construct a KinematicsMetricss from a RobotModel */
-  KinematicsMetrics(const robot_model::RobotModelConstPtr& robot_model)
+  KinematicsMetrics(const moveit::core::RobotModelConstPtr& robot_model)
     : robot_model_(robot_model), penalty_multiplier_(0.0)
   {
   }
@@ -64,7 +64,7 @@ class KinematicsMetrics
    * @param manipulability_index The computed manipulability = sqrt(det(JJ^T))
    * @return False if the group was not found
    */
-  bool getManipulabilityIndex(const robot_state::RobotState& state, const std::string& group_name,
+  bool getManipulabilityIndex(const moveit::core::RobotState& state, const std::string& group_name,
                               double& manipulability_index, bool translation = false) const;
 
   /**
@@ -74,8 +74,8 @@ class KinematicsMetrics
    * @param manipulability_index The computed manipulability = sqrt(det(JJ^T))
    * @return False if the group was not found
    */
-  bool getManipulabilityIndex(const robot_state::RobotState& state,
-                              const robot_model::JointModelGroup* joint_model_group, double& manipulability_index,
+  bool getManipulabilityIndex(const moveit::core::RobotState& state,
+                              const moveit::core::JointModelGroup* joint_model_group, double& manipulability_index,
                               bool translation = false) const;
 
   /**
@@ -86,7 +86,7 @@ class KinematicsMetrics
    * @param eigen_vectors The eigen vectors for the translation part of JJ^T
    * @return False if the group was not found
    */
-  bool getManipulabilityEllipsoid(const robot_state::RobotState& state, const std::string& group_name,
+  bool getManipulabilityEllipsoid(const moveit::core::RobotState& state, const std::string& group_name,
                                   Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
 
   /**
@@ -97,9 +97,9 @@ class KinematicsMetrics
    * @param eigen_vectors The eigen vectors for the translation part of JJ^T
    * @return False if the group was not found
    */
-  bool getManipulabilityEllipsoid(const robot_state::RobotState& state,
-                                  const robot_model::JointModelGroup* joint_model_group, Eigen::MatrixXcd& eigen_values,
-                                  Eigen::MatrixXcd& eigen_vectors) const;
+  bool getManipulabilityEllipsoid(const moveit::core::RobotState& state,
+                                  const moveit::core::JointModelGroup* joint_model_group,
+                                  Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
 
   /**
    * @brief Get the manipulability = sigma_min/sigma_max
@@ -110,7 +110,7 @@ class KinematicsMetrics
    * @param condition_number Condition number for JJ^T
    * @return False if the group was not found
    */
-  bool getManipulability(const robot_state::RobotState& state, const std::string& group_name, double& condition_number,
+  bool getManipulability(const moveit::core::RobotState& state, const std::string& group_name, double& condition_number,
                          bool translation = false) const;
 
   /**
@@ -122,7 +122,7 @@ class KinematicsMetrics
    * @param condition_number Condition number for JJ^T
    * @return False if the group was not found
    */
-  bool getManipulability(const robot_state::RobotState& state, const robot_model::JointModelGroup* joint_model_group,
+  bool getManipulability(const moveit::core::RobotState& state, const moveit::core::JointModelGroup* joint_model_group,
                          double& condition_number, bool translation = false) const;
 
   void setPenaltyMultiplier(double multiplier)
@@ -136,7 +136,7 @@ class KinematicsMetrics
   }
 
 protected:
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
 private:
   /**
@@ -151,8 +151,8 @@ class KinematicsMetrics
  * Ohio State University, 1986, for more details.
  * @return multiplier that is multiplied with every manipulability measure computed here
  */
-  double getJointLimitsPenalty(const robot_state::RobotState& state,
-                               const robot_model::JointModelGroup* joint_model_group) const;
+  double getJointLimitsPenalty(const moveit::core::RobotState& state,
+                               const moveit::core::JointModelGroup* joint_model_group) const;
 
   double penalty_multiplier_;
 };
diff --git a/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp b/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
index 6776a1e475..1ab07c8a2c 100644
--- a/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
+++ b/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
@@ -41,25 +41,25 @@
 
 namespace kinematics_metrics
 {
-double KinematicsMetrics::getJointLimitsPenalty(const robot_state::RobotState& state,
-                                                const robot_model::JointModelGroup* joint_model_group) const
+double KinematicsMetrics::getJointLimitsPenalty(const moveit::core::RobotState& state,
+                                                const moveit::core::JointModelGroup* joint_model_group) const
 {
   if (fabs(penalty_multiplier_) <= boost::math::tools::epsilon<double>())
     return 1.0;
   double joint_limits_multiplier(1.0);
-  const std::vector<const robot_model::JointModel*>& joint_model_vector = joint_model_group->getJointModels();
-  for (const robot_model::JointModel* joint_model : joint_model_vector)
+  const std::vector<const moveit::core::JointModel*>& joint_model_vector = joint_model_group->getJointModels();
+  for (const moveit::core::JointModel* joint_model : joint_model_vector)
   {
-    if (joint_model->getType() == robot_model::JointModel::REVOLUTE)
+    if (joint_model->getType() == moveit::core::JointModel::REVOLUTE)
     {
-      const robot_model::RevoluteJointModel* revolute_model =
-          static_cast<const robot_model::RevoluteJointModel*>(joint_model);
+      const moveit::core::RevoluteJointModel* revolute_model =
+          static_cast<const moveit::core::RevoluteJointModel*>(joint_model);
       if (revolute_model->isContinuous())
         continue;
     }
-    if (joint_model->getType() == robot_model::JointModel::PLANAR)
+    if (joint_model->getType() == moveit::core::JointModel::PLANAR)
     {
-      const robot_model::JointModel::Bounds& bounds = joint_model->getVariableBounds();
+      const moveit::core::JointModel::Bounds& bounds = joint_model->getVariableBounds();
       if (bounds[0].min_position_ == -std::numeric_limits<double>::max() ||
           bounds[0].max_position_ == std::numeric_limits<double>::max() ||
           bounds[1].min_position_ == -std::numeric_limits<double>::max() ||
@@ -68,13 +68,13 @@ double KinematicsMetrics::getJointLimitsPenalty(const robot_state::RobotState& s
           bounds[2].max_position_ == boost::math::constants::pi<double>())
         continue;
     }
-    if (joint_model->getType() == robot_model::JointModel::FLOATING)
+    if (joint_model->getType() == moveit::core::JointModel::FLOATING)
     {
       // Joint limits are not well-defined for floating joints
       continue;
     }
     const double* joint_values = state.getJointPositions(joint_model);
-    const robot_model::JointModel::Bounds& bounds = joint_model->getVariableBounds();
+    const moveit::core::JointModel::Bounds& bounds = joint_model->getVariableBounds();
     std::vector<double> lower_bounds, upper_bounds;
     for (const moveit::core::VariableBounds& bound : bounds)
     {
@@ -91,18 +91,18 @@ double KinematicsMetrics::getJointLimitsPenalty(const robot_state::RobotState& s
   return (1.0 - exp(-penalty_multiplier_ * joint_limits_multiplier));
 }
 
-bool KinematicsMetrics::getManipulabilityIndex(const robot_state::RobotState& state, const std::string& group_name,
+bool KinematicsMetrics::getManipulabilityIndex(const moveit::core::RobotState& state, const std::string& group_name,
                                                double& manipulability_index, bool translation) const
 {
-  const robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
   if (joint_model_group)
     return getManipulabilityIndex(state, joint_model_group, manipulability_index, translation);
   else
     return false;
 }
 
-bool KinematicsMetrics::getManipulabilityIndex(const robot_state::RobotState& state,
-                                               const robot_model::JointModelGroup* joint_model_group,
+bool KinematicsMetrics::getManipulabilityIndex(const moveit::core::RobotState& state,
+                                               const moveit::core::JointModelGroup* joint_model_group,
                                                double& manipulability_index, bool translation) const
 {
   // state.getJacobian() only works for chain groups.
@@ -162,19 +162,19 @@ bool KinematicsMetrics::getManipulabilityIndex(const robot_state::RobotState& st
   return true;
 }
 
-bool KinematicsMetrics::getManipulabilityEllipsoid(const robot_state::RobotState& state, const std::string& group_name,
+bool KinematicsMetrics::getManipulabilityEllipsoid(const moveit::core::RobotState& state, const std::string& group_name,
                                                    Eigen::MatrixXcd& eigen_values,
                                                    Eigen::MatrixXcd& eigen_vectors) const
 {
-  const robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
   if (joint_model_group)
     return getManipulabilityEllipsoid(state, joint_model_group, eigen_values, eigen_vectors);
   else
     return false;
 }
 
-bool KinematicsMetrics::getManipulabilityEllipsoid(const robot_state::RobotState& state,
-                                                   const robot_model::JointModelGroup* joint_model_group,
+bool KinematicsMetrics::getManipulabilityEllipsoid(const moveit::core::RobotState& state,
+                                                   const moveit::core::JointModelGroup* joint_model_group,
                                                    Eigen::MatrixXcd& eigen_values,
                                                    Eigen::MatrixXcd& eigen_vectors) const
 {
@@ -192,19 +192,19 @@ bool KinematicsMetrics::getManipulabilityEllipsoid(const robot_state::RobotState
   return true;
 }
 
-bool KinematicsMetrics::getManipulability(const robot_state::RobotState& state, const std::string& group_name,
+bool KinematicsMetrics::getManipulability(const moveit::core::RobotState& state, const std::string& group_name,
                                           double& manipulability, bool translation) const
 {
-  const robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
   if (joint_model_group)
     return getManipulability(state, joint_model_group, manipulability, translation);
   else
     return false;
 }
 
-bool KinematicsMetrics::getManipulability(const robot_state::RobotState& state,
-                                          const robot_model::JointModelGroup* joint_model_group, double& manipulability,
-                                          bool translation) const
+bool KinematicsMetrics::getManipulability(const moveit::core::RobotState& state,
+                                          const moveit::core::JointModelGroup* joint_model_group,
+                                          double& manipulability, bool translation) const
 {
   // state.getJacobian() only works for chain groups.
   if (!joint_model_group->isChain())
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
index 9cf2f206f4..4c583a922c 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -163,7 +163,7 @@ class PlannerManager
   /// It is assumed that motion plans will be computed for the robot described by \e model and that any exposed ROS
   /// functionality
   /// or required ROS parameters are namespaced by \e ns
-  virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns);
+  virtual bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& ns);
 
   /// Get \brief a short string that identifies the planning interface
   virtual std::string getDescription() const;
diff --git a/moveit_core/planning_interface/src/planning_interface.cpp b/moveit_core/planning_interface/src/planning_interface.cpp
index 6fedbb22a2..0f3b2ac243 100644
--- a/moveit_core/planning_interface/src/planning_interface.cpp
+++ b/moveit_core/planning_interface/src/planning_interface.cpp
@@ -91,7 +91,7 @@ void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
   request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
 }
 
-bool PlannerManager::initialize(const robot_model::RobotModelConstPtr& /*unused*/, const std::string& /*unused*/)
+bool PlannerManager::initialize(const moveit::core::RobotModelConstPtr& /*unused*/, const std::string& /*unused*/)
 {
   return true;
 }
diff --git a/moveit_core/planning_interface/src/planning_response.cpp b/moveit_core/planning_interface/src/planning_response.cpp
index fad5558909..7824cd75a3 100644
--- a/moveit_core/planning_interface/src/planning_response.cpp
+++ b/moveit_core/planning_interface/src/planning_response.cpp
@@ -43,7 +43,7 @@ void planning_interface::MotionPlanResponse::getMessage(moveit_msgs::MotionPlanR
   msg.planning_time = planning_time_;
   if (trajectory_ && !trajectory_->empty())
   {
-    robot_state::robotStateToRobotStateMsg(trajectory_->getFirstWayPoint(), msg.trajectory_start);
+    moveit::core::robotStateToRobotStateMsg(trajectory_->getFirstWayPoint(), msg.trajectory_start);
     trajectory_->getRobotTrajectoryMsg(msg.trajectory);
     msg.group_name = trajectory_->getGroupName();
   }
@@ -66,7 +66,7 @@ void planning_interface::MotionPlanDetailedResponse::getMessage(moveit_msgs::Mot
     if (first)
     {
       first = false;
-      robot_state::robotStateToRobotStateMsg(trajectory_[i]->getFirstWayPoint(), msg.trajectory_start);
+      moveit::core::robotStateToRobotStateMsg(trajectory_[i]->getFirstWayPoint(), msg.trajectory_start);
       msg.group_name = trajectory_[i]->getGroupName();
     }
     msg.trajectory.resize(msg.trajectory.size() + 1);
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index acc43ab92c..0c48ababfb 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -65,14 +65,15 @@ MOVEIT_CLASS_FORWARD(PlanningScene);
    respecting constraints and collision avoidance).
     The first argument is the state to check the feasibility for, the second one is whether the check should be verbose
    or not. */
-typedef boost::function<bool(const robot_state::RobotState&, bool)> StateFeasibilityFn;
+typedef boost::function<bool(const moveit::core::RobotState&, bool)> StateFeasibilityFn;
 
 /** \brief This is the function signature for additional feasibility checks to be imposed on motions segments between
    states (in addition to respecting constraints and collision avoidance).
     The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the
    first state and end at the second state. The third argument indicates
     whether the check should be verbose or not. */
-typedef boost::function<bool(const robot_state::RobotState&, const robot_state::RobotState&, bool)> MotionFeasibilityFn;
+typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)>
+    MotionFeasibilityFn;
 
 /** \brief A map from object names (e.g., attached bodies, collision objects) to their colors */
 typedef std::map<std::string, std_msgs::ColorRGBA> ObjectColorMap;
@@ -88,7 +89,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 public:
   /** \brief construct using an existing RobotModel */
   PlanningScene(
-      const robot_model::RobotModelConstPtr& robot_model,
+      const moveit::core::RobotModelConstPtr& robot_model,
       const collision_detection::WorldPtr& world = collision_detection::WorldPtr(new collision_detection::World()));
 
   /** \brief construct using a urdf and srdf.
@@ -137,23 +138,23 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   }
 
   /** \brief Get the kinematic model for which the planning scene is maintained */
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     // the kinematic model does not change
     return robot_model_;
   }
 
   /** \brief Get the state at which the robot is assumed to be. */
-  const robot_state::RobotState& getCurrentState() const
+  const moveit::core::RobotState& getCurrentState() const
   {
     // if we have an updated state, return it; otherwise, return the parent one
     return robot_state_ ? *robot_state_ : parent_->getCurrentState();
   }
   /** \brief Get the state at which the robot is assumed to be. */
-  robot_state::RobotState& getCurrentStateNonConst();
+  moveit::core::RobotState& getCurrentStateNonConst();
 
   /** \brief Get a copy of the current state with components overwritten by the state message \e update */
-  robot_state::RobotStatePtr getCurrentStateUpdated(const moveit_msgs::RobotState& update) const;
+  moveit::core::RobotStatePtr getCurrentStateUpdated(const moveit_msgs::RobotState& update) const;
 
   /**
    * \name Reasoning about frames
@@ -168,7 +169,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   }
 
   /** \brief Get the set of fixed transforms from known frames to the planning frame */
-  const robot_state::Transforms& getTransforms() const
+  const moveit::core::Transforms& getTransforms() const
   {
     if (scene_transforms_ || !parent_)
     {
@@ -181,10 +182,10 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Get the set of fixed transforms from known frames to the planning frame. This variant is non-const and also
    * updates the current state */
-  const robot_state::Transforms& getTransforms();
+  const moveit::core::Transforms& getTransforms();
 
   /** \brief Get the set of fixed transforms from known frames to the planning frame */
-  robot_state::Transforms& getTransformsNonConst();
+  moveit::core::Transforms& getTransformsNonConst();
 
   /** \brief Get the transform corresponding to the frame \e id. This will be known if \e id is a link name, an attached
      body id or a collision object.
@@ -204,17 +205,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be
      successful or not. This function also
       updates the link transforms of \e state. */
-  const Eigen::Isometry3d& getFrameTransform(robot_state::RobotState& state, const std::string& id) const
+  const Eigen::Isometry3d& getFrameTransform(moveit::core::RobotState& state, const std::string& id) const
   {
     state.updateLinkTransforms();
-    return getFrameTransform(static_cast<const robot_state::RobotState&>(state), id);
+    return getFrameTransform(static_cast<const moveit::core::RobotState&>(state), id);
   }
 
   /** \brief Get the transform corresponding to the frame \e id. This will be known if \e id is a link name, an attached
      body id or a collision object.
       Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be
      successful or not. */
-  const Eigen::Isometry3d& getFrameTransform(const robot_state::RobotState& state, const std::string& id) const;
+  const Eigen::Isometry3d& getFrameTransform(const moveit::core::RobotState& state, const std::string& id) const;
 
   /** \brief Check if a transform to the frame \e id is known. This will be known if \e id is a link name, an attached
    * body id or a collision object */
@@ -222,7 +223,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a transform to the frame \e id is known. This will be known if \e id is a link name, an attached
    * body id or a collision object */
-  bool knowsFrameTransform(const robot_state::RobotState& state, const std::string& id) const;
+  bool knowsFrameTransform(const moveit::core::RobotState& state, const std::string& id) const;
 
   /**@}*/
 
@@ -356,16 +357,16 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
      specified,
       collision checking is done for that group only. The link transforms for \e state are updated before the collision
      check. */
-  bool isStateColliding(robot_state::RobotState& state, const std::string& group = "", bool verbose = false) const
+  bool isStateColliding(moveit::core::RobotState& state, const std::string& group = "", bool verbose = false) const
   {
     state.updateCollisionBodyTransforms();
-    return isStateColliding(static_cast<const robot_state::RobotState&>(state), group, verbose);
+    return isStateColliding(static_cast<const moveit::core::RobotState&>(state), group, verbose);
   }
 
   /** \brief Check if a given state is in collision (with the environment or self collision)
       If a group name is specified, collision checking is done for that group only. It is expected that the link
       transforms of \e state are up to date. */
-  bool isStateColliding(const robot_state::RobotState& state, const std::string& group = "",
+  bool isStateColliding(const moveit::core::RobotState& state, const std::string& group = "",
                         bool verbose = false) const;
 
   /** \brief Check if a given state is in collision (with the environment or self collision)
@@ -386,33 +387,33 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief Check whether a specified state (\e robot_state) is in collision. This variant of the function takes
       a non-const \e robot_state and calls updateCollisionBodyTransforms() on it. */
   void checkCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                      robot_state::RobotState& robot_state) const
+                      moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkCollision(req, res, static_cast<const robot_state::RobotState&>(robot_state));
+    checkCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state));
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in collision. The collision transforms of \e
    * robot_state are
    * expected to be up to date. */
   void checkCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                      const robot_state::RobotState& robot_state) const;
+                      const moveit::core::RobotState& robot_state) const;
 
   /** \brief Check whether a specified state (\e robot_state) is in collision, with respect to a given
       allowed collision matrix (\e acm). This variant of the function takes
       a non-const \e robot_state and updates its link transforms if needed. */
   void checkCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                      robot_state::RobotState& robot_state,
+                      moveit::core::RobotState& robot_state,
                       const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkCollision(req, res, static_cast<const robot_state::RobotState&>(robot_state), acm);
+    checkCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in collision, with respect to a given
       allowed collision matrix (\e acm). */
   void checkCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                      const robot_state::RobotState& robot_state,
+                      const moveit::core::RobotState& robot_state,
                       const collision_detection::AllowedCollisionMatrix& acm) const;
 
   /** \brief Check whether the current state is in collision,
@@ -433,7 +434,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       but use a collision_detection::CollisionRobot instance that has no padding.  */
   void checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
                               collision_detection::CollisionResult& res,
-                              const robot_state::RobotState& robot_state) const
+                              const moveit::core::RobotState& robot_state) const
   {
     checkCollisionUnpadded(req, res, robot_state, getAllowedCollisionMatrix());
   }
@@ -442,10 +443,10 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       but use a collision_detection::CollisionRobot instance that has no padding.
       Update the link transforms of \e robot_state if needed. */
   void checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
-                              collision_detection::CollisionResult& res, robot_state::RobotState& robot_state) const
+                              collision_detection::CollisionResult& res, moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkCollisionUnpadded(req, res, static_cast<const robot_state::RobotState&>(robot_state),
+    checkCollisionUnpadded(req, res, static_cast<const moveit::core::RobotState&>(robot_state),
                            getAllowedCollisionMatrix());
   }
 
@@ -453,17 +454,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       allowed collision matrix (\e acm), but use a collision_detection::CollisionRobot instance that has no padding.
       This variant of the function takes a non-const \e robot_state and calls updates the link transforms if needed. */
   void checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
-                              collision_detection::CollisionResult& res, robot_state::RobotState& robot_state,
+                              collision_detection::CollisionResult& res, moveit::core::RobotState& robot_state,
                               const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkCollisionUnpadded(req, res, static_cast<const robot_state::RobotState&>(robot_state), acm);
+    checkCollisionUnpadded(req, res, static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in collision, with respect to a given
       allowed collision matrix (\e acm), but use a collision_detection::CollisionRobot instance that has no padding.  */
   void checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
-                              collision_detection::CollisionResult& res, const robot_state::RobotState& robot_state,
+                              collision_detection::CollisionResult& res, const moveit::core::RobotState& robot_state,
                               const collision_detection::AllowedCollisionMatrix& acm) const;
 
   /** \brief Check whether the current state is in self collision */
@@ -478,15 +479,16 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check whether a specified state (\e robot_state) is in self collision */
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          robot_state::RobotState& robot_state) const
+                          moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkSelfCollision(req, res, static_cast<const robot_state::RobotState&>(robot_state), getAllowedCollisionMatrix());
+    checkSelfCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state),
+                       getAllowedCollisionMatrix());
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in self collision */
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          const robot_state::RobotState& robot_state) const
+                          const moveit::core::RobotState& robot_state) const
   {
     // do self-collision checking with the unpadded version of the robot
     getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, getAllowedCollisionMatrix());
@@ -495,17 +497,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief Check whether a specified state (\e robot_state) is in self collision, with respect to a given
       allowed collision matrix (\e acm). The link transforms of \e robot_state are updated if needed. */
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          robot_state::RobotState& robot_state,
+                          moveit::core::RobotState& robot_state,
                           const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkSelfCollision(req, res, static_cast<const robot_state::RobotState&>(robot_state), acm);
+    checkSelfCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in self collision, with respect to a given
       allowed collision matrix (\e acm) */
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
-                          const robot_state::RobotState& robot_state,
+                          const moveit::core::RobotState& robot_state,
                           const collision_detection::AllowedCollisionMatrix& acm) const
   {
     // do self-collision checking with the unpadded version of the robot
@@ -523,30 +525,30 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Get the names of the links that are involved in collisions for the state \e robot_state.
       Update the link transforms for \e robot_state if needed. */
-  void getCollidingLinks(std::vector<std::string>& links, robot_state::RobotState& robot_state) const
+  void getCollidingLinks(std::vector<std::string>& links, moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    getCollidingLinks(links, static_cast<const robot_state::RobotState&>(robot_state), getAllowedCollisionMatrix());
+    getCollidingLinks(links, static_cast<const moveit::core::RobotState&>(robot_state), getAllowedCollisionMatrix());
   }
 
   /** \brief Get the names of the links that are involved in collisions for the state \e robot_state */
-  void getCollidingLinks(std::vector<std::string>& links, const robot_state::RobotState& robot_state) const
+  void getCollidingLinks(std::vector<std::string>& links, const moveit::core::RobotState& robot_state) const
   {
     getCollidingLinks(links, robot_state, getAllowedCollisionMatrix());
   }
 
   /** \brief  Get the names of the links that are involved in collisions for the state \e robot_state given the
       allowed collision matrix (\e acm) */
-  void getCollidingLinks(std::vector<std::string>& links, robot_state::RobotState& robot_state,
+  void getCollidingLinks(std::vector<std::string>& links, moveit::core::RobotState& robot_state,
                          const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    getCollidingLinks(links, static_cast<const robot_state::RobotState&>(robot_state), acm);
+    getCollidingLinks(links, static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief  Get the names of the links that are involved in collisions for the state \e robot_state given the
       allowed collision matrix (\e acm) */
-  void getCollidingLinks(std::vector<std::string>& links, const robot_state::RobotState& robot_state,
+  void getCollidingLinks(std::vector<std::string>& links, const moveit::core::RobotState& robot_state,
                          const collision_detection::AllowedCollisionMatrix& acm) const;
 
   /** \brief Get the names of the links that are involved in collisions for the current state.
@@ -561,7 +563,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Get the names of the links that are involved in collisions for the state \e robot_state */
   void getCollidingPairs(collision_detection::CollisionResult::ContactMap& contacts,
-                         const robot_state::RobotState& robot_state) const
+                         const moveit::core::RobotState& robot_state) const
   {
     getCollidingPairs(contacts, robot_state, getAllowedCollisionMatrix());
   }
@@ -569,26 +571,26 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief Get the names of the links that are involved in collisions for the state \e robot_state.
       Update the link transforms for \e robot_state if needed. */
   void getCollidingPairs(collision_detection::CollisionResult::ContactMap& contacts,
-                         robot_state::RobotState& robot_state) const
+                         moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    getCollidingPairs(contacts, static_cast<const robot_state::RobotState&>(robot_state), getAllowedCollisionMatrix());
+    getCollidingPairs(contacts, static_cast<const moveit::core::RobotState&>(robot_state), getAllowedCollisionMatrix());
   }
 
   /** \brief  Get the names of the links that are involved in collisions for the state \e robot_state given the
       allowed collision matrix (\e acm). Update the link transforms for \e robot_state if needed. */
   void getCollidingPairs(collision_detection::CollisionResult::ContactMap& contacts,
-                         robot_state::RobotState& robot_state,
+                         moveit::core::RobotState& robot_state,
                          const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    getCollidingPairs(contacts, static_cast<const robot_state::RobotState&>(robot_state), acm);
+    getCollidingPairs(contacts, static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief  Get the names of the links that are involved in collisions for the state \e robot_state given the
       allowed collision matrix (\e acm) */
   void getCollidingPairs(collision_detection::CollisionResult::ContactMap& contacts,
-                         const robot_state::RobotState& robot_state,
+                         const moveit::core::RobotState& robot_state,
                          const collision_detection::AllowedCollisionMatrix& acm) const;
 
   /**@}*/
@@ -601,31 +603,31 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision (ignoring
    * self-collisions)
    */
-  double distanceToCollision(robot_state::RobotState& robot_state) const
+  double distanceToCollision(moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    return distanceToCollision(static_cast<const robot_state::RobotState&>(robot_state));
+    return distanceToCollision(static_cast<const moveit::core::RobotState&>(robot_state));
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision (ignoring
    * self-collisions)
    */
-  double distanceToCollision(const robot_state::RobotState& robot_state) const
+  double distanceToCollision(const moveit::core::RobotState& robot_state) const
   {
     return getCollisionEnv()->distanceRobot(robot_state, getAllowedCollisionMatrix());
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision (ignoring
    * self-collisions), if the robot has no padding */
-  double distanceToCollisionUnpadded(robot_state::RobotState& robot_state) const
+  double distanceToCollisionUnpadded(moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    return distanceToCollisionUnpadded(static_cast<const robot_state::RobotState&>(robot_state));
+    return distanceToCollisionUnpadded(static_cast<const moveit::core::RobotState&>(robot_state));
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision (ignoring
    * self-collisions), if the robot has no padding */
-  double distanceToCollisionUnpadded(const robot_state::RobotState& robot_state) const
+  double distanceToCollisionUnpadded(const moveit::core::RobotState& robot_state) const
   {
     return getCollisionEnvUnpadded()->distanceRobot(robot_state, getAllowedCollisionMatrix());
   }
@@ -633,17 +635,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
    * self-collisions
    * and elements that are allowed to collide. */
-  double distanceToCollision(robot_state::RobotState& robot_state,
+  double distanceToCollision(moveit::core::RobotState& robot_state,
                              const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    return distanceToCollision(static_cast<const robot_state::RobotState&>(robot_state), acm);
+    return distanceToCollision(static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
    * self-collisions
    * and elements that are allowed to collide. */
-  double distanceToCollision(const robot_state::RobotState& robot_state,
+  double distanceToCollision(const moveit::core::RobotState& robot_state,
                              const collision_detection::AllowedCollisionMatrix& acm) const
   {
     return getCollisionEnv()->distanceRobot(robot_state, acm);
@@ -652,17 +654,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
    * self-collisions
    * and elements that are allowed to collide, if the robot has no padding. */
-  double distanceToCollisionUnpadded(robot_state::RobotState& robot_state,
+  double distanceToCollisionUnpadded(moveit::core::RobotState& robot_state,
                                      const collision_detection::AllowedCollisionMatrix& acm) const
   {
     robot_state.updateCollisionBodyTransforms();
-    return distanceToCollisionUnpadded(static_cast<const robot_state::RobotState&>(robot_state), acm);
+    return distanceToCollisionUnpadded(static_cast<const moveit::core::RobotState&>(robot_state), acm);
   }
 
   /** \brief The distance between the robot model at state \e robot_state to the nearest collision, ignoring
    * self-collisions
    * and elements that always allowed to collide, if the robot has no padding. */
-  double distanceToCollisionUnpadded(const robot_state::RobotState& robot_state,
+  double distanceToCollisionUnpadded(const moveit::core::RobotState& robot_state,
                                      const collision_detection::AllowedCollisionMatrix& acm) const
   {
     return getCollisionEnvUnpadded()->distanceRobot(robot_state, acm);
@@ -752,10 +754,10 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   void setCurrentState(const moveit_msgs::RobotState& state);
 
   /** \brief Set the current robot state */
-  void setCurrentState(const robot_state::RobotState& state);
+  void setCurrentState(const moveit::core::RobotState& state);
 
   /** \brief Set the callback to be triggered when changes are made to the current scene state */
-  void setAttachedBodyUpdateCallback(const robot_state::AttachedBodyCallback& callback);
+  void setAttachedBodyUpdateCallback(const moveit::core::AttachedBodyCallback& callback);
 
   /** \brief Set the callback to be triggered when changes are made to the current scene world */
   void setCollisionObjectUpdateCallback(const collision_detection::World::ObserverCallbackFn& callback);
@@ -823,14 +825,14 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a given state is feasible, in accordance to the feasibility predicate specified by
    * setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified. */
-  bool isStateFeasible(const robot_state::RobotState& state, bool verbose = false) const;
+  bool isStateFeasible(const moveit::core::RobotState& state, bool verbose = false) const;
 
   /** \brief Check if a given state satisfies a set of constraints */
   bool isStateConstrained(const moveit_msgs::RobotState& state, const moveit_msgs::Constraints& constr,
                           bool verbose = false) const;
 
   /** \brief Check if a given state satisfies a set of constraints */
-  bool isStateConstrained(const robot_state::RobotState& state, const moveit_msgs::Constraints& constr,
+  bool isStateConstrained(const moveit::core::RobotState& state, const moveit_msgs::Constraints& constr,
                           bool verbose = false) const;
 
   /** \brief Check if a given state satisfies a set of constraints */
@@ -838,14 +840,14 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
                           const kinematic_constraints::KinematicConstraintSet& constr, bool verbose = false) const;
 
   /** \brief Check if a given state satisfies a set of constraints */
-  bool isStateConstrained(const robot_state::RobotState& state,
+  bool isStateConstrained(const moveit::core::RobotState& state,
                           const kinematic_constraints::KinematicConstraintSet& constr, bool verbose = false) const;
 
   /** \brief Check if a given state is valid. This means checking for collisions and feasibility */
   bool isStateValid(const moveit_msgs::RobotState& state, const std::string& group = "", bool verbose = false) const;
 
   /** \brief Check if a given state is valid. This means checking for collisions and feasibility */
-  bool isStateValid(const robot_state::RobotState& state, const std::string& group = "", bool verbose = false) const;
+  bool isStateValid(const moveit::core::RobotState& state, const std::string& group = "", bool verbose = false) const;
 
   /** \brief Check if a given state is valid. This means checking for collisions, feasibility  and whether the user
    * specified validity conditions hold as well */
@@ -854,12 +856,12 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a given state is valid. This means checking for collisions, feasibility  and whether the user
    * specified validity conditions hold as well */
-  bool isStateValid(const robot_state::RobotState& state, const moveit_msgs::Constraints& constr,
+  bool isStateValid(const moveit::core::RobotState& state, const moveit_msgs::Constraints& constr,
                     const std::string& group = "", bool verbose = false) const;
 
   /** \brief Check if a given state is valid. This means checking for collisions, feasibility  and whether the user
    * specified validity conditions hold as well */
-  bool isStateValid(const robot_state::RobotState& state, const kinematic_constraints::KinematicConstraintSet& constr,
+  bool isStateValid(const moveit::core::RobotState& state, const kinematic_constraints::KinematicConstraintSet& constr,
                     const std::string& group = "", bool verbose = false) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) */
@@ -928,12 +930,12 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
                       double overlap_fraction = 0.9) const;
 
   /** \brief Get the top \e max_costs cost sources for a specified state. The resulting costs are stored in \e costs */
-  void getCostSources(const robot_state::RobotState& state, std::size_t max_costs,
+  void getCostSources(const moveit::core::RobotState& state, std::size_t max_costs,
                       std::set<collision_detection::CostSource>& costs) const;
 
   /** \brief Get the top \e max_costs cost sources for a specified state, but only for group \e group_name. The
    * resulting costs are stored in \e costs */
-  void getCostSources(const robot_state::RobotState& state, std::size_t max_costs, const std::string& group_name,
+  void getCostSources(const moveit::core::RobotState& state, std::size_t max_costs, const std::string& group_name,
                       std::set<collision_detection::CostSource>& costs) const;
 
   /** \brief Outputs debug information about the planning scene contents */
@@ -964,8 +966,8 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   void initialize();
 
   /* helper function to create a RobotModel from a urdf/srdf. */
-  static robot_model::RobotModelPtr createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model,
-                                                     const srdf::ModelConstSharedPtr& srdf_model);
+  static moveit::core::RobotModelPtr createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model,
+                                                      const srdf::ModelConstSharedPtr& srdf_model);
 
   /* Helper functions for processing collision objects */
   bool processCollisionObjectAdd(const moveit_msgs::CollisionObject& object);
@@ -1012,16 +1014,16 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   PlanningSceneConstPtr parent_;  // Null unless this is a diff scene
 
-  robot_model::RobotModelConstPtr robot_model_;  // Never null (may point to same model as parent)
+  moveit::core::RobotModelConstPtr robot_model_;  // Never null (may point to same model as parent)
 
-  robot_state::RobotStatePtr robot_state_;  // if NULL use parent's
+  moveit::core::RobotStatePtr robot_state_;  // if NULL use parent's
 
   // Called when changes are made to attached bodies
-  robot_state::AttachedBodyCallback current_state_attached_body_callback_;
+  moveit::core::AttachedBodyCallback current_state_attached_body_callback_;
 
   // This variable is not necessarily used by child planning scenes
   // This Transforms class is actually a SceneTransform class
-  robot_state::TransformsPtr scene_transforms_;  // if NULL use parent's
+  moveit::core::TransformsPtr scene_transforms_;  // if NULL use parent's
 
   collision_detection::WorldPtr world_;             // never NULL, never shared with parent/child
   collision_detection::WorldConstPtr world_const_;  // copy of world_
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index ad8b363960..5f6c75d38e 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -56,7 +56,7 @@ const std::string PlanningScene::DEFAULT_SCENE_NAME = "(noname)";
 
 const std::string LOGNAME = "planning_scene";
 
-class SceneTransforms : public robot_state::Transforms
+class SceneTransforms : public moveit::core::Transforms
 {
 public:
   SceneTransforms(const PlanningScene* scene) : Transforms(scene->getRobotModel()->getModelFrame()), scene_(scene)
@@ -110,7 +110,7 @@ bool PlanningScene::isEmpty(const moveit_msgs::PlanningSceneWorld& msg)
   return moveit::core::isEmpty(msg);
 }
 
-PlanningScene::PlanningScene(const robot_model::RobotModelConstPtr& robot_model,
+PlanningScene::PlanningScene(const moveit::core::RobotModelConstPtr& robot_model,
                              const collision_detection::WorldPtr& world)
   : robot_model_(robot_model), world_(world), world_const_(world)
 {
@@ -146,7 +146,7 @@ void PlanningScene::initialize()
 
   scene_transforms_.reset(new SceneTransforms(this));
 
-  robot_state_.reset(new robot_state::RobotState(robot_model_));
+  robot_state_.reset(new moveit::core::RobotState(robot_model_));
   robot_state_->setToDefaultValues();
   robot_state_->update();
 
@@ -164,12 +164,12 @@ void PlanningScene::initialize()
 }
 
 /* return NULL on failure */
-robot_model::RobotModelPtr PlanningScene::createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model,
-                                                           const srdf::ModelConstSharedPtr& srdf_model)
+moveit::core::RobotModelPtr PlanningScene::createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model,
+                                                            const srdf::ModelConstSharedPtr& srdf_model)
 {
-  robot_model::RobotModelPtr robot_model(new robot_model::RobotModel(urdf_model, srdf_model));
+  moveit::core::RobotModelPtr robot_model(new moveit::core::RobotModel(urdf_model, srdf_model));
   if (!robot_model || !robot_model->getRootJoint())
-    return robot_model::RobotModelPtr();
+    return moveit::core::RobotModelPtr();
 
   return robot_model;
 }
@@ -484,7 +484,7 @@ void PlanningScene::checkCollision(const collision_detection::CollisionRequest&
 
 void PlanningScene::checkCollision(const collision_detection::CollisionRequest& req,
                                    collision_detection::CollisionResult& res,
-                                   const robot_state::RobotState& robot_state) const
+                                   const moveit::core::RobotState& robot_state) const
 {
   // check collision with the world using the padded version
   getCollisionEnv()->checkRobotCollision(req, res, robot_state, getAllowedCollisionMatrix());
@@ -507,7 +507,7 @@ void PlanningScene::checkSelfCollision(const collision_detection::CollisionReque
 
 void PlanningScene::checkCollision(const collision_detection::CollisionRequest& req,
                                    collision_detection::CollisionResult& res,
-                                   const robot_state::RobotState& robot_state,
+                                   const moveit::core::RobotState& robot_state,
                                    const collision_detection::AllowedCollisionMatrix& acm) const
 {
   // check collision with the world using the padded version
@@ -529,7 +529,7 @@ void PlanningScene::checkCollisionUnpadded(const collision_detection::CollisionR
 
 void PlanningScene::checkCollisionUnpadded(const collision_detection::CollisionRequest& req,
                                            collision_detection::CollisionResult& res,
-                                           const robot_state::RobotState& robot_state,
+                                           const moveit::core::RobotState& robot_state,
                                            const collision_detection::AllowedCollisionMatrix& acm) const
 {
   // check collision with the world using the unpadded version
@@ -551,7 +551,7 @@ void PlanningScene::getCollidingPairs(collision_detection::CollisionResult::Cont
 }
 
 void PlanningScene::getCollidingPairs(collision_detection::CollisionResult::ContactMap& contacts,
-                                      const robot_state::RobotState& robot_state,
+                                      const moveit::core::RobotState& robot_state,
                                       const collision_detection::AllowedCollisionMatrix& acm) const
 {
   collision_detection::CollisionRequest req;
@@ -571,7 +571,7 @@ void PlanningScene::getCollidingLinks(std::vector<std::string>& links)
     getCollidingLinks(links, getCurrentState(), getAllowedCollisionMatrix());
 }
 
-void PlanningScene::getCollidingLinks(std::vector<std::string>& links, const robot_state::RobotState& robot_state,
+void PlanningScene::getCollidingLinks(std::vector<std::string>& links, const moveit::core::RobotState& robot_state,
                                       const collision_detection::AllowedCollisionMatrix& acm) const
 {
   collision_detection::CollisionResult::ContactMap contacts;
@@ -593,25 +593,25 @@ const collision_detection::CollisionEnvPtr& PlanningScene::getCollisionEnvNonCon
   return active_collision_->cenv_;
 }
 
-robot_state::RobotState& PlanningScene::getCurrentStateNonConst()
+moveit::core::RobotState& PlanningScene::getCurrentStateNonConst()
 {
   if (!robot_state_)
   {
-    robot_state_.reset(new robot_state::RobotState(parent_->getCurrentState()));
+    robot_state_.reset(new moveit::core::RobotState(parent_->getCurrentState()));
     robot_state_->setAttachedBodyUpdateCallback(current_state_attached_body_callback_);
   }
   robot_state_->update();
   return *robot_state_;
 }
 
-robot_state::RobotStatePtr PlanningScene::getCurrentStateUpdated(const moveit_msgs::RobotState& update) const
+moveit::core::RobotStatePtr PlanningScene::getCurrentStateUpdated(const moveit_msgs::RobotState& update) const
 {
-  robot_state::RobotStatePtr state(new robot_state::RobotState(getCurrentState()));
-  robot_state::robotStateMsgToRobotState(getTransforms(), update, *state);
+  moveit::core::RobotStatePtr state(new moveit::core::RobotState(getCurrentState()));
+  moveit::core::robotStateMsgToRobotState(getTransforms(), update, *state);
   return state;
 }
 
-void PlanningScene::setAttachedBodyUpdateCallback(const robot_state::AttachedBodyCallback& callback)
+void PlanningScene::setAttachedBodyUpdateCallback(const moveit::core::AttachedBodyCallback& callback)
 {
   current_state_attached_body_callback_ = callback;
   if (robot_state_)
@@ -634,14 +634,14 @@ collision_detection::AllowedCollisionMatrix& PlanningScene::getAllowedCollisionM
   return *acm_;
 }
 
-const robot_state::Transforms& PlanningScene::getTransforms()
+const moveit::core::Transforms& PlanningScene::getTransforms()
 {
   // Trigger an update of the robot transforms
   getCurrentStateNonConst().update();
   return static_cast<const PlanningScene*>(this)->getTransforms();
 }
 
-robot_state::Transforms& PlanningScene::getTransformsNonConst()
+moveit::core::Transforms& PlanningScene::getTransformsNonConst()
 {
   // Trigger an update of the robot transforms
   getCurrentStateNonConst().update();
@@ -667,7 +667,7 @@ void PlanningScene::getPlanningSceneDiffMsg(moveit_msgs::PlanningScene& scene_ms
     scene_msg.fixed_frame_transforms.clear();
 
   if (robot_state_)
-    robot_state::robotStateToRobotStateMsg(*robot_state_, scene_msg.robot_state);
+    moveit::core::robotStateToRobotStateMsg(*robot_state_, scene_msg.robot_state);
   else
   {
     scene_msg.robot_state = moveit_msgs::RobotState();
@@ -876,7 +876,7 @@ void PlanningScene::getPlanningSceneMsg(moveit_msgs::PlanningScene& scene_msg) c
   scene_msg.robot_model_name = getRobotModel()->getName();
   getTransforms().copyTransforms(scene_msg.fixed_frame_transforms);
 
-  robot_state::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state);
+  moveit::core::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state);
   getAllowedCollisionMatrix().getMessage(scene_msg.allowed_collision_matrix);
   getCollisionEnv()->getPadding(scene_msg.link_padding);
   getCollisionEnv()->getScale(scene_msg.link_scale);
@@ -905,7 +905,7 @@ void PlanningScene::getPlanningSceneMsg(moveit_msgs::PlanningScene& scene_msg,
 
   if (comp.components & moveit_msgs::PlanningSceneComponents::ROBOT_STATE_ATTACHED_OBJECTS)
   {
-    robot_state::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state, true);
+    moveit::core::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state, true);
     for (moveit_msgs::AttachedCollisionObject& attached_collision_object :
          scene_msg.robot_state.attached_collision_objects)
     {
@@ -917,7 +917,7 @@ void PlanningScene::getPlanningSceneMsg(moveit_msgs::PlanningScene& scene_msg,
   }
   else if (comp.components & moveit_msgs::PlanningSceneComponents::ROBOT_STATE)
   {
-    robot_state::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state, false);
+    moveit::core::robotStateToRobotStateMsg(getCurrentState(), scene_msg.robot_state, false);
   }
 
   if (comp.components & moveit_msgs::PlanningSceneComponents::ALLOWED_COLLISION_MATRIX)
@@ -1089,13 +1089,13 @@ void PlanningScene::setCurrentState(const moveit_msgs::RobotState& state)
   {
     if (!robot_state_)
     {
-      robot_state_.reset(new robot_state::RobotState(parent_->getCurrentState()));
+      robot_state_.reset(new moveit::core::RobotState(parent_->getCurrentState()));
       robot_state_->setAttachedBodyUpdateCallback(current_state_attached_body_callback_);
     }
-    robot_state::robotStateMsgToRobotState(getTransforms(), state_no_attached, *robot_state_);
+    moveit::core::robotStateMsgToRobotState(getTransforms(), state_no_attached, *robot_state_);
   }
   else
-    robot_state::robotStateMsgToRobotState(*scene_transforms_, state_no_attached, *robot_state_);
+    moveit::core::robotStateMsgToRobotState(*scene_transforms_, state_no_attached, *robot_state_);
 
   for (std::size_t i = 0; i < state.attached_collision_objects.size(); ++i)
   {
@@ -1110,7 +1110,7 @@ void PlanningScene::setCurrentState(const moveit_msgs::RobotState& state)
   }
 }
 
-void PlanningScene::setCurrentState(const robot_state::RobotState& state)
+void PlanningScene::setCurrentState(const moveit::core::RobotState& state)
 {
   getCurrentStateNonConst() = state;
 }
@@ -1129,7 +1129,7 @@ void PlanningScene::decoupleParent()
 
   if (!robot_state_)
   {
-    robot_state_.reset(new robot_state::RobotState(parent_->getCurrentState()));
+    robot_state_.reset(new moveit::core::RobotState(parent_->getCurrentState()));
     robot_state_->setAttachedBodyUpdateCallback(current_state_attached_body_callback_);
   }
 
@@ -1388,7 +1388,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
 
   if (!robot_state_)  // there must be a parent in this case
   {
-    robot_state_.reset(new robot_state::RobotState(parent_->getCurrentState()));
+    robot_state_.reset(new moveit::core::RobotState(parent_->getCurrentState()));
     robot_state_->setAttachedBodyUpdateCallback(current_state_attached_body_callback_);
   }
   robot_state_->update();
@@ -1430,7 +1430,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
       return false;
     }
 
-    const robot_model::LinkModel* link_model = getRobotModel()->getLinkModel(object.link_name);
+    const moveit::core::LinkModel* link_model = getRobotModel()->getLinkModel(object.link_name);
     if (link_model)
     {
       // items to build the attached object from (filled from existing world object or message)
@@ -1578,7 +1578,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
       }
       else  // APPEND: augment to existing attached object
       {
-        const robot_state::AttachedBody* ab = robot_state_->getAttachedBody(object.object.id);
+        const moveit::core::AttachedBody* ab = robot_state_->getAttachedBody(object.object.id);
         shapes.insert(shapes.end(), ab->getShapes().begin(), ab->getShapes().end());
         poses.insert(poses.end(), ab->getFixedTransforms().begin(), ab->getFixedTransforms().end());
         subframe_poses.insert(ab->getSubframeTransforms().begin(), ab->getSubframeTransforms().end());
@@ -1603,21 +1603,21 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
   else if (object.object.operation == moveit_msgs::CollisionObject::REMOVE)  // == DETACH
   {
     // STEP 1: Get info about the object from the RobotState
-    std::vector<const robot_state::AttachedBody*> attached_bodies;
+    std::vector<const moveit::core::AttachedBody*> attached_bodies;
     if (object.link_name.empty())
     {
       if (object.object.id.empty())
         robot_state_->getAttachedBodies(attached_bodies);
       else
       {
-        const robot_state::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
+        const moveit::core::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
         if (body)
           attached_bodies.push_back(body);
       }
     }
     else
     {
-      const robot_model::LinkModel* link_model = getRobotModel()->getLinkModel(object.link_name);
+      const moveit::core::LinkModel* link_model = getRobotModel()->getLinkModel(object.link_name);
       if (link_model)
       {
         // If no specific object id is given, then we remove all objects attached to the link_name.
@@ -1627,7 +1627,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         }
         else  // A specific object id will be removed.
         {
-          const robot_state::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
+          const moveit::core::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
           if (body)
             attached_bodies.push_back(body);
         }
@@ -1867,7 +1867,7 @@ const Eigen::Isometry3d& PlanningScene::getFrameTransform(const std::string& fra
     return getFrameTransform(getCurrentState(), frame_id);
 }
 
-const Eigen::Isometry3d& PlanningScene::getFrameTransform(const robot_state::RobotState& state,
+const Eigen::Isometry3d& PlanningScene::getFrameTransform(const moveit::core::RobotState& state,
                                                           const std::string& frame_id) const
 {
   if (!frame_id.empty() && frame_id[0] == '/')
@@ -1890,7 +1890,7 @@ bool PlanningScene::knowsFrameTransform(const std::string& frame_id) const
   return knowsFrameTransform(getCurrentState(), frame_id);
 }
 
-bool PlanningScene::knowsFrameTransform(const robot_state::RobotState& state, const std::string& frame_id) const
+bool PlanningScene::knowsFrameTransform(const moveit::core::RobotState& state, const std::string& frame_id) const
 {
   if (!frame_id.empty() && frame_id[0] == '/')
     return knowsFrameTransform(frame_id.substr(1));
@@ -2003,8 +2003,8 @@ void PlanningScene::removeObjectColor(const std::string& object_id)
 
 bool PlanningScene::isStateColliding(const moveit_msgs::RobotState& state, const std::string& group, bool verbose) const
 {
-  robot_state::RobotState s(getCurrentState());
-  robot_state::robotStateMsgToRobotState(getTransforms(), state, s);
+  moveit::core::RobotState s(getCurrentState());
+  moveit::core::robotStateMsgToRobotState(getTransforms(), state, s);
   return isStateColliding(s, group, verbose);
 }
 
@@ -2016,7 +2016,8 @@ bool PlanningScene::isStateColliding(const std::string& group, bool verbose)
     return isStateColliding(getCurrentState(), group, verbose);
 }
 
-bool PlanningScene::isStateColliding(const robot_state::RobotState& state, const std::string& group, bool verbose) const
+bool PlanningScene::isStateColliding(const moveit::core::RobotState& state, const std::string& group,
+                                     bool verbose) const
 {
   collision_detection::CollisionRequest req;
   req.verbose = verbose;
@@ -2030,14 +2031,14 @@ bool PlanningScene::isStateFeasible(const moveit_msgs::RobotState& state, bool v
 {
   if (state_feasibility_)
   {
-    robot_state::RobotState s(getCurrentState());
-    robot_state::robotStateMsgToRobotState(getTransforms(), state, s);
+    moveit::core::RobotState s(getCurrentState());
+    moveit::core::robotStateMsgToRobotState(getTransforms(), state, s);
     return state_feasibility_(s, verbose);
   }
   return true;
 }
 
-bool PlanningScene::isStateFeasible(const robot_state::RobotState& state, bool verbose) const
+bool PlanningScene::isStateFeasible(const moveit::core::RobotState& state, bool verbose) const
 {
   if (state_feasibility_)
     return state_feasibility_(state, verbose);
@@ -2047,12 +2048,12 @@ bool PlanningScene::isStateFeasible(const robot_state::RobotState& state, bool v
 bool PlanningScene::isStateConstrained(const moveit_msgs::RobotState& state, const moveit_msgs::Constraints& constr,
                                        bool verbose) const
 {
-  robot_state::RobotState s(getCurrentState());
-  robot_state::robotStateMsgToRobotState(getTransforms(), state, s);
+  moveit::core::RobotState s(getCurrentState());
+  moveit::core::robotStateMsgToRobotState(getTransforms(), state, s);
   return isStateConstrained(s, constr, verbose);
 }
 
-bool PlanningScene::isStateConstrained(const robot_state::RobotState& state, const moveit_msgs::Constraints& constr,
+bool PlanningScene::isStateConstrained(const moveit::core::RobotState& state, const moveit_msgs::Constraints& constr,
                                        bool verbose) const
 {
   kinematic_constraints::KinematicConstraintSetPtr ks(
@@ -2067,18 +2068,18 @@ bool PlanningScene::isStateConstrained(const robot_state::RobotState& state, con
 bool PlanningScene::isStateConstrained(const moveit_msgs::RobotState& state,
                                        const kinematic_constraints::KinematicConstraintSet& constr, bool verbose) const
 {
-  robot_state::RobotState s(getCurrentState());
-  robot_state::robotStateMsgToRobotState(getTransforms(), state, s);
+  moveit::core::RobotState s(getCurrentState());
+  moveit::core::robotStateMsgToRobotState(getTransforms(), state, s);
   return isStateConstrained(s, constr, verbose);
 }
 
-bool PlanningScene::isStateConstrained(const robot_state::RobotState& state,
+bool PlanningScene::isStateConstrained(const moveit::core::RobotState& state,
                                        const kinematic_constraints::KinematicConstraintSet& constr, bool verbose) const
 {
   return constr.decide(state, verbose).satisfied;
 }
 
-bool PlanningScene::isStateValid(const robot_state::RobotState& state, const std::string& group, bool verbose) const
+bool PlanningScene::isStateValid(const moveit::core::RobotState& state, const std::string& group, bool verbose) const
 {
   static const moveit_msgs::Constraints EMP_CONSTRAINTS;
   return isStateValid(state, EMP_CONSTRAINTS, group, verbose);
@@ -2093,12 +2094,12 @@ bool PlanningScene::isStateValid(const moveit_msgs::RobotState& state, const std
 bool PlanningScene::isStateValid(const moveit_msgs::RobotState& state, const moveit_msgs::Constraints& constr,
                                  const std::string& group, bool verbose) const
 {
-  robot_state::RobotState s(getCurrentState());
-  robot_state::robotStateMsgToRobotState(getTransforms(), state, s);
+  moveit::core::RobotState s(getCurrentState());
+  moveit::core::robotStateMsgToRobotState(getTransforms(), state, s);
   return isStateValid(s, constr, group, verbose);
 }
 
-bool PlanningScene::isStateValid(const robot_state::RobotState& state, const moveit_msgs::Constraints& constr,
+bool PlanningScene::isStateValid(const moveit::core::RobotState& state, const moveit_msgs::Constraints& constr,
                                  const std::string& group, bool verbose) const
 {
   if (isStateColliding(state, group, verbose))
@@ -2108,7 +2109,7 @@ bool PlanningScene::isStateValid(const robot_state::RobotState& state, const mov
   return isStateConstrained(state, constr, verbose);
 }
 
-bool PlanningScene::isStateValid(const robot_state::RobotState& state,
+bool PlanningScene::isStateValid(const moveit::core::RobotState& state,
                                  const kinematic_constraints::KinematicConstraintSet& constr, const std::string& group,
                                  bool verbose) const
 {
@@ -2154,8 +2155,8 @@ bool PlanningScene::isPathValid(const moveit_msgs::RobotState& start_state,
                                 bool verbose, std::vector<std::size_t>* invalid_index) const
 {
   robot_trajectory::RobotTrajectory t(getRobotModel(), group);
-  robot_state::RobotState start(getCurrentState());
-  robot_state::robotStateMsgToRobotState(getTransforms(), start_state, start);
+  moveit::core::RobotState start(getCurrentState());
+  moveit::core::robotStateMsgToRobotState(getTransforms(), start_state, start);
   t.setRobotTrajectoryMsg(start, trajectory);
   return isPathValid(t, path_constraints, goal_constraints, group, verbose, invalid_index);
 }
@@ -2173,7 +2174,7 @@ bool PlanningScene::isPathValid(const robot_trajectory::RobotTrajectory& traject
   std::size_t n_wp = trajectory.getWayPointCount();
   for (std::size_t i = 0; i < n_wp; ++i)
   {
-    const robot_state::RobotState& st = trajectory.getWayPoint(i);
+    const moveit::core::RobotState& st = trajectory.getWayPoint(i);
 
     bool this_state_valid = true;
     if (isStateColliding(st, group, verbose))
@@ -2282,13 +2283,13 @@ void PlanningScene::getCostSources(const robot_trajectory::RobotTrajectory& traj
   collision_detection::removeOverlapping(costs, overlap_fraction);
 }
 
-void PlanningScene::getCostSources(const robot_state::RobotState& state, std::size_t max_costs,
+void PlanningScene::getCostSources(const moveit::core::RobotState& state, std::size_t max_costs,
                                    std::set<collision_detection::CostSource>& costs) const
 {
   getCostSources(state, max_costs, std::string(), costs);
 }
 
-void PlanningScene::getCostSources(const robot_state::RobotState& state, std::size_t max_costs,
+void PlanningScene::getCostSources(const moveit::core::RobotState& state, std::size_t max_costs,
                                    const std::string& group_name,
                                    std::set<collision_detection::CostSource>& costs) const
 {
@@ -2304,7 +2305,7 @@ void PlanningScene::getCostSources(const robot_state::RobotState& state, std::si
 void PlanningScene::printKnownObjects(std::ostream& out) const
 {
   const std::vector<std::string>& objects = getWorld()->getObjectIds();
-  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  std::vector<const moveit::core::AttachedBody*> attached_bodies;
   getCurrentState().getAttachedBodies(attached_bodies);
 
   // Output
@@ -2317,7 +2318,7 @@ void PlanningScene::printKnownObjects(std::ostream& out) const
   }
 
   out << "  - Attached Bodies:\n";
-  for (const robot_state::AttachedBody* attached_body : attached_bodies)
+  for (const moveit::core::AttachedBody* attached_body : attached_bodies)
   {
     out << "\t- " << attached_body->getName() << "\n";
   }
diff --git a/moveit_core/planning_scene/test/test_multi_threaded.cpp b/moveit_core/planning_scene/test/test_multi_threaded.cpp
index eb9d1d1bb0..2cad1d799d 100644
--- a/moveit_core/planning_scene/test/test_multi_threaded.cpp
+++ b/moveit_core/planning_scene/test/test_multi_threaded.cpp
@@ -49,7 +49,7 @@ const int TRIALS = 1000;
 const int THREADS = 2;
 
 bool runCollisionDetection(unsigned int id, unsigned int trials, const planning_scene::PlanningScene* scene,
-                           const robot_state::RobotState* state)
+                           const moveit::core::RobotState* state)
 {
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
@@ -62,7 +62,7 @@ bool runCollisionDetection(unsigned int id, unsigned int trials, const planning_
 }
 
 void runCollisionDetectionAssert(unsigned int id, unsigned int trials, const planning_scene::PlanningScene* scene,
-                                 const robot_state::RobotState* state, bool expected_result)
+                                 const moveit::core::RobotState* state, bool expected_result)
 {
   ASSERT_EQ(expected_result, runCollisionDetection(id, trials, scene, state));
 }
@@ -75,7 +75,7 @@ class CollisionDetectorThreadedTest : public testing::Test
     robot_model_ = moveit::core::loadTestingRobotModel("panda");
     ASSERT_TRUE(static_cast<bool>(robot_model_));
 
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
     planning_scene_.reset(new planning_scene::PlanningScene(robot_model_));
   }
 
@@ -85,13 +85,13 @@ class CollisionDetectorThreadedTest : public testing::Test
 
   bool robot_model_ok_;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   collision_detection::CollisionEnvPtr cenv_;
 
   collision_detection::AllowedCollisionMatrixPtr acm_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 
   planning_scene::PlanningScenePtr planning_scene_;
 };
@@ -99,17 +99,17 @@ class CollisionDetectorThreadedTest : public testing::Test
 /** \brief Tests the FCL collision detector in multiple threads. */
 TEST_F(CollisionDetectorThreadedTest, FCLThreaded)
 {
-  std::vector<robot_state::RobotStatePtr> states;
+  std::vector<moveit::core::RobotStatePtr> states;
   std::vector<std::thread*> threads;
   std::vector<bool> collisions;
 
   for (unsigned int i = 0; i < THREADS; ++i)
   {
-    robot_state::RobotState* state = new robot_state::RobotState(planning_scene_->getRobotModel());
+    moveit::core::RobotState* state = new moveit::core::RobotState(planning_scene_->getRobotModel());
     collision_detection::CollisionRequest req;
     state->setToRandomPositions();
     state->update();
-    states.push_back(robot_state::RobotStatePtr(state));
+    states.push_back(moveit::core::RobotStatePtr(state));
     collisions.push_back(runCollisionDetection(0, 1, planning_scene_.get(), state));
   }
 
diff --git a/moveit_core/planning_scene/test/test_planning_scene.cpp b/moveit_core/planning_scene/test/test_planning_scene.cpp
index 9d93148edb..6a3b52875e 100644
--- a/moveit_core/planning_scene/test/test_planning_scene.cpp
+++ b/moveit_core/planning_scene/test/test_planning_scene.cpp
@@ -162,7 +162,7 @@ TEST(PlanningScene, isStateValid)
   loadRobotModels(urdf_model, srdf_model);
 
   planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
-  robot_state::RobotState current_state = ps->getCurrentState();
+  moveit::core::RobotState current_state = ps->getCurrentState();
   if (ps->isStateColliding(current_state, "left_arm"))
   {
     EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index 2abd64c912..ab17d7f32a 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -1149,10 +1149,10 @@ const LinkModel* RobotModel::getRigidlyConnectedParentLinkModel(const LinkModel*
 {
   if (!link)
     return link;
-  const robot_model::LinkModel* parent_link = link->getParentLinkModel();
-  const robot_model::JointModel* joint = link->getParentJointModel();
+  const moveit::core::LinkModel* parent_link = link->getParentLinkModel();
+  const moveit::core::JointModel* joint = link->getParentJointModel();
 
-  while (parent_link && joint->getType() == robot_model::JointModel::FIXED)
+  while (parent_link && joint->getType() == moveit::core::JointModel::FIXED)
   {
     link = parent_link;
     joint = link->getParentJointModel();
diff --git a/moveit_core/robot_state/src/cartesian_interpolator.cpp b/moveit_core/robot_state/src/cartesian_interpolator.cpp
index aff7d5bdf5..46d17753b5 100644
--- a/moveit_core/robot_state/src/cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/src/cartesian_interpolator.cpp
@@ -143,7 +143,7 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
     }
 
   traj.clear();
-  traj.push_back(RobotStatePtr(new robot_state::RobotState(*start_state)));
+  traj.push_back(RobotStatePtr(new moveit::core::RobotState(*start_state)));
 
   double last_valid_percentage = 0.0;
   for (std::size_t i = 1; i <= steps; ++i)
@@ -156,7 +156,7 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
     // Explicitly use a single IK attempt only: We want a smooth trajectory.
     // Random seeding (of additional attempts) would probably create IK jumps.
     if (start_state->setFromIK(group, pose, link->getName(), consistency_limits, 0.0, validCallback, options))
-      traj.push_back(RobotStatePtr(new robot_state::RobotState(*start_state)));
+      traj.push_back(RobotStatePtr(new moveit::core::RobotState(*start_state)));
     else
       break;
 
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 21fea88a78..5324d65d8a 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1200,8 +1200,8 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
     return false;
   }
 
-  const robot_model::JointModel* root_joint_model = group->getJointModels()[0];  // group->getJointRoots()[0];
-  const robot_model::LinkModel* root_link_model = root_joint_model->getParentLinkModel();
+  const moveit::core::JointModel* root_joint_model = group->getJointModels()[0];  // group->getJointRoots()[0];
+  const moveit::core::LinkModel* root_link_model = root_joint_model->getParentLinkModel();
   Eigen::Isometry3d reference_transform =
       root_link_model ? getGlobalLinkTransform(root_link_model).inverse() : Eigen::Isometry3d::Identity();
   int rows = use_quaternion_representation ? 7 : 6;
@@ -1239,21 +1239,21 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
         continue;
       }
       unsigned int joint_index = group->getVariableGroupIndex(pjm->getName());
-      if (pjm->getType() == robot_model::JointModel::REVOLUTE)
+      if (pjm->getType() == moveit::core::JointModel::REVOLUTE)
       {
         joint_transform = reference_transform * getGlobalLinkTransform(link);
-        joint_axis = joint_transform.rotation() * static_cast<const robot_model::RevoluteJointModel*>(pjm)->getAxis();
+        joint_axis = joint_transform.rotation() * static_cast<const moveit::core::RevoluteJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) =
             jacobian.block<3, 1>(0, joint_index) + joint_axis.cross(point_transform - joint_transform.translation());
         jacobian.block<3, 1>(3, joint_index) = jacobian.block<3, 1>(3, joint_index) + joint_axis;
       }
-      else if (pjm->getType() == robot_model::JointModel::PRISMATIC)
+      else if (pjm->getType() == moveit::core::JointModel::PRISMATIC)
       {
         joint_transform = reference_transform * getGlobalLinkTransform(link);
-        joint_axis = joint_transform.rotation() * static_cast<const robot_model::PrismaticJointModel*>(pjm)->getAxis();
+        joint_axis = joint_transform.rotation() * static_cast<const moveit::core::PrismaticJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) = jacobian.block<3, 1>(0, joint_index) + joint_axis;
       }
-      else if (pjm->getType() == robot_model::JointModel::PLANAR)
+      else if (pjm->getType() == moveit::core::JointModel::PLANAR)
       {
         joint_transform = reference_transform * getGlobalLinkTransform(link);
         joint_axis = joint_transform * Eigen::Vector3d(1.0, 0.0, 0.0);
@@ -1595,13 +1595,13 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is
         }
         if (pose_frame != solver_tip_frame)
         {
-          const robot_model::LinkModel* link_model = getLinkModel(pose_frame);
+          const moveit::core::LinkModel* link_model = getLinkModel(pose_frame);
           if (!link_model)
           {
             ROS_ERROR_STREAM_NAMED(LOGNAME, "Pose frame '" << pose_frame << "' does not exist.");
             return false;
           }
-          const robot_model::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
+          const moveit::core::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
           for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
             if (Transforms::sameFrame(fixed_link.first->getName(), solver_tip_frame))
             {
@@ -1806,10 +1806,10 @@ bool RobotState::setFromIKSubgroups(const JointModelGroup* jmg, const EigenSTL::
       }
       if (pose_frame != solver_tip_frame)
       {
-        const robot_model::LinkModel* link_model = getLinkModel(pose_frame);
+        const moveit::core::LinkModel* link_model = getLinkModel(pose_frame);
         if (!link_model)
           return false;
-        const robot_model::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
+        const moveit::core::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
         for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
           if (fixed_link.first->getName() == solver_tip_frame)
           {
diff --git a/moveit_core/robot_state/test/robot_state_benchmark.cpp b/moveit_core/robot_state/test/robot_state_benchmark.cpp
index 95ae2c1f62..871c0cc524 100644
--- a/moveit_core/robot_state/test/robot_state_benchmark.cpp
+++ b/moveit_core/robot_state/test/robot_state_benchmark.cpp
@@ -95,9 +95,9 @@ class Timing : public testing::Test
 
 TEST_F(Timing, stateUpdate)
 {
-  robot_model::RobotModelPtr model = moveit::core::loadTestingRobotModel("pr2_description");
+  moveit::core::RobotModelPtr model = moveit::core::loadTestingRobotModel("pr2_description");
   ASSERT_TRUE(bool(model));
-  robot_state::RobotState state(model);
+  moveit::core::RobotState state(model);
   ScopedTimer t("RobotState updates: ");
   for (unsigned i = 0; i < 1e5; ++i)
   {
diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
index 2a1fb259fc..358d0cb64c 100644
--- a/moveit_core/robot_state/test/robot_state_test.cpp
+++ b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -535,7 +535,7 @@ TEST_F(OneRobot, FK)
 TEST_F(OneRobot, testPrintCurrentPositionWithJointLimits)
 {
   moveit::core::RobotState state(robot_model_);
-  const robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup("base_from_base_to_e");
+  const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup("base_from_base_to_e");
   ASSERT_TRUE(joint_model_group);
 
   state.setToDefaultValues();
diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
index fa058a2c93..1c0cf06f6f 100644
--- a/moveit_core/robot_state/test/test_aabb.cpp
+++ b/moveit_core/robot_state/test/test_aabb.cpp
@@ -61,15 +61,15 @@ class TestAABB : public testing::Test
 protected:
   void SetUp() override{};
 
-  robot_state::RobotState loadModel(const std::string& robot_name)
+  moveit::core::RobotState loadModel(const std::string& robot_name)
   {
-    robot_model::RobotModelPtr model = moveit::core::loadTestingRobotModel(robot_name);
+    moveit::core::RobotModelPtr model = moveit::core::loadTestingRobotModel(robot_name);
     return loadModel(model);
   }
 
-  robot_state::RobotState loadModel(const robot_model::RobotModelPtr& model)
+  moveit::core::RobotState loadModel(const moveit::core::RobotModelPtr& model)
   {
-    robot_state::RobotState robot_state = robot_state::RobotState(model);
+    moveit::core::RobotState robot_state = moveit::core::RobotState(model);
     robot_state.setToDefaultValues();
     robot_state.update(true);
 
@@ -85,7 +85,7 @@ TEST_F(TestAABB, TestPR2)
 {
   // Contains a link with mesh geometry that is not centered
 
-  robot_state::RobotState pr2_state = this->loadModel("pr2");
+  moveit::core::RobotState pr2_state = this->loadModel("pr2");
 
   const Eigen::Vector3d& extents_base_footprint = pr2_state.getLinkModel("base_footprint")->getShapeExtentsAtOrigin();
   // values taken from moveit_resources/pr2_description/urdf/robot.xml
@@ -288,7 +288,7 @@ TEST_F(TestAABB, TestSimple)
   builder.addGroup({}, { "world_joint" }, "base");
 
   ASSERT_TRUE(builder.isValid());
-  robot_state::RobotState simple_state = loadModel(builder.build());
+  moveit::core::RobotState simple_state = loadModel(builder.build());
   std::vector<double> simple_aabb;
   simple_state.computeAABB(simple_aabb);
 
@@ -323,7 +323,7 @@ TEST_F(TestAABB, TestComplex)
   builder.addGroup({}, { "world_joint" }, "base");
 
   ASSERT_TRUE(builder.isValid());
-  robot_state::RobotState complex_state = this->loadModel(builder.build());
+  moveit::core::RobotState complex_state = this->loadModel(builder.build());
 
   EXPECT_NEAR(complex_state.getLinkModel("base_footprint")->getShapeExtentsAtOrigin()[0], 0.1, 1e-4);
   EXPECT_NEAR(complex_state.getLinkModel("base_footprint")->getShapeExtentsAtOrigin()[1], 1.0, 1e-4);
diff --git a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
index bba9b70656..5c84fce441 100644
--- a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
@@ -241,21 +241,21 @@ class OneRobot : public testing::Test
   moveit::core::RobotModelConstPtr robot_model_;
 };
 
-std::size_t generateTestTraj(std::vector<std::shared_ptr<robot_state::RobotState>>& traj,
+std::size_t generateTestTraj(std::vector<std::shared_ptr<moveit::core::RobotState>>& traj,
                              const moveit::core::RobotModelConstPtr& robot_model_,
                              const moveit::core::JointModelGroup* joint_model_group)
 {
   traj.clear();
 
-  std::shared_ptr<robot_state::RobotState> robot_state(new robot_state::RobotState(robot_model_));
+  std::shared_ptr<moveit::core::RobotState> robot_state(new moveit::core::RobotState(robot_model_));
   robot_state->setToDefaultValues();
   double ja, jc;
 
   // 3 waypoints with default joints
   for (std::size_t traj_ix = 0; traj_ix < 3; ++traj_ix)
   {
-    // robot_state.reset(new robot_state::RobotState(*robot_state));
-    traj.push_back(robot_state::RobotStatePtr(new robot_state::RobotState(*robot_state)));
+    // robot_state.reset(new moveit::core::RobotState(*robot_state));
+    traj.push_back(moveit::core::RobotStatePtr(new moveit::core::RobotState(*robot_state)));
   }
 
   ja = robot_state->getVariablePosition("panda_joint0");
@@ -266,20 +266,20 @@ std::size_t generateTestTraj(std::vector<std::shared_ptr<robot_state::RobotState
   robot_state->setVariablePosition("panda_joint0", ja);
   jc = jc - 0.01;
   robot_state->setVariablePosition("panda_joint1", jc);
-  traj.push_back(robot_state::RobotStatePtr(new robot_state::RobotState(*robot_state)));
+  traj.push_back(moveit::core::RobotStatePtr(new moveit::core::RobotState(*robot_state)));
 
   // 5th waypoint with a large jump of 1.01 in first revolute joint
   ja = ja + 1.01;
   robot_state->setVariablePosition("panda_joint0", ja);
-  traj.push_back(robot_state::RobotStatePtr(new robot_state::RobotState(*robot_state)));
+  traj.push_back(moveit::core::RobotStatePtr(new moveit::core::RobotState(*robot_state)));
 
   // 6th waypoint with a large jump of 1.01 in first prismatic joint
   jc = jc + 1.01;
   robot_state->setVariablePosition("panda_joint1", jc);
-  traj.push_back(robot_state::RobotStatePtr(new robot_state::RobotState(*robot_state)));
+  traj.push_back(moveit::core::RobotStatePtr(new moveit::core::RobotState(*robot_state)));
 
   // 7th waypoint with no jump
-  traj.push_back(robot_state::RobotStatePtr(new robot_state::RobotState(*robot_state)));
+  traj.push_back(moveit::core::RobotStatePtr(new moveit::core::RobotState(*robot_state)));
 
   return traj.size();
 }
@@ -287,7 +287,7 @@ std::size_t generateTestTraj(std::vector<std::shared_ptr<robot_state::RobotState
 TEST_F(OneRobot, testGenerateTrajectory)
 {
   const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup("arm");
-  std::vector<std::shared_ptr<robot_state::RobotState>> traj;
+  std::vector<std::shared_ptr<moveit::core::RobotState>> traj;
 
   // The full trajectory should be of length 7
   const std::size_t expected_full_traj_len = 7;
@@ -302,7 +302,7 @@ TEST_F(OneRobot, testGenerateTrajectory)
 TEST_F(OneRobot, checkAbsoluteJointSpaceJump)
 {
   const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup("arm");
-  std::vector<std::shared_ptr<robot_state::RobotState>> traj;
+  std::vector<std::shared_ptr<moveit::core::RobotState>> traj;
 
   // A revolute joint jumps 1.01 at the 5th waypoint and a prismatic joint jumps 1.01 at the 6th waypoint
   const std::size_t expected_revolute_jump_traj_len = 4;
@@ -353,7 +353,7 @@ TEST_F(OneRobot, checkAbsoluteJointSpaceJump)
 TEST_F(OneRobot, checkRelativeJointSpaceJump)
 {
   const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup("arm");
-  std::vector<std::shared_ptr<robot_state::RobotState>> traj;
+  std::vector<std::shared_ptr<moveit::core::RobotState>> traj;
 
   // The first large jump of 1.01 occurs at the 5th waypoint so the test should trim the trajectory to length 4
   const std::size_t expected_relative_jump_traj_len = 4;
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index ae8865e85b..80b4539211 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -51,9 +51,9 @@ MOVEIT_CLASS_FORWARD(RobotTrajectory);
 class RobotTrajectory
 {
 public:
-  RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const std::string& group);
+  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group);
 
-  RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const robot_model::JointModelGroup* group);
+  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const moveit::core::JointModelGroup* group);
 
   /** Assignment operator, performing a shallow copy, i.e. copying waypoints by pointer */
   RobotTrajectory& operator=(const RobotTrajectory&) = default;
@@ -64,12 +64,12 @@ class RobotTrajectory
    */
   RobotTrajectory(const RobotTrajectory& other, bool deepcopy = false);
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
 
-  const robot_model::JointModelGroup* getGroup() const
+  const moveit::core::JointModelGroup* getGroup() const
   {
     return group_;
   }
@@ -83,32 +83,32 @@ class RobotTrajectory
     return waypoints_.size();
   }
 
-  const robot_state::RobotState& getWayPoint(std::size_t index) const
+  const moveit::core::RobotState& getWayPoint(std::size_t index) const
   {
     return *waypoints_[index];
   }
 
-  const robot_state::RobotState& getLastWayPoint() const
+  const moveit::core::RobotState& getLastWayPoint() const
   {
     return *waypoints_.back();
   }
 
-  const robot_state::RobotState& getFirstWayPoint() const
+  const moveit::core::RobotState& getFirstWayPoint() const
   {
     return *waypoints_.front();
   }
 
-  robot_state::RobotStatePtr& getWayPointPtr(std::size_t index)
+  moveit::core::RobotStatePtr& getWayPointPtr(std::size_t index)
   {
     return waypoints_[index];
   }
 
-  robot_state::RobotStatePtr& getLastWayPointPtr()
+  moveit::core::RobotStatePtr& getLastWayPointPtr()
   {
     return waypoints_.back();
   }
 
-  robot_state::RobotStatePtr& getFirstWayPointPtr()
+  moveit::core::RobotStatePtr& getFirstWayPointPtr()
   {
     return waypoints_.front();
   }
@@ -151,9 +151,9 @@ class RobotTrajectory
    * \param state - current robot state
    * \param dt - duration from previous
    */
-  void addSuffixWayPoint(const robot_state::RobotState& state, double dt)
+  void addSuffixWayPoint(const moveit::core::RobotState& state, double dt)
   {
-    addSuffixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
+    addSuffixWayPoint(moveit::core::RobotStatePtr(new moveit::core::RobotState(state)), dt);
   }
 
   /**
@@ -161,31 +161,31 @@ class RobotTrajectory
    * \param state - current robot state
    * \param dt - duration from previous
    */
-  void addSuffixWayPoint(const robot_state::RobotStatePtr& state, double dt)
+  void addSuffixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
   {
     state->update();
     waypoints_.push_back(state);
     duration_from_previous_.push_back(dt);
   }
 
-  void addPrefixWayPoint(const robot_state::RobotState& state, double dt)
+  void addPrefixWayPoint(const moveit::core::RobotState& state, double dt)
   {
-    addPrefixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
+    addPrefixWayPoint(moveit::core::RobotStatePtr(new moveit::core::RobotState(state)), dt);
   }
 
-  void addPrefixWayPoint(const robot_state::RobotStatePtr& state, double dt)
+  void addPrefixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
   {
     state->update();
     waypoints_.push_front(state);
     duration_from_previous_.push_front(dt);
   }
 
-  void insertWayPoint(std::size_t index, const robot_state::RobotState& state, double dt)
+  void insertWayPoint(std::size_t index, const moveit::core::RobotState& state, double dt)
   {
-    insertWayPoint(index, robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
+    insertWayPoint(index, moveit::core::RobotStatePtr(new moveit::core::RobotState(state)), dt);
   }
 
-  void insertWayPoint(std::size_t index, const robot_state::RobotStatePtr& state, double dt)
+  void insertWayPoint(std::size_t index, const moveit::core::RobotStatePtr& state, double dt)
   {
     state->update();
     waypoints_.insert(waypoints_.begin() + index, state);
@@ -221,7 +221,7 @@ class RobotTrajectory
      point in the trajectory
       to be constructed internally is obtained by copying the reference state and overwriting the content from a
      trajectory point in \e trajectory. */
-  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
+  void setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                              const trajectory_msgs::JointTrajectory& trajectory);
 
   /** \brief Copy the content of the trajectory message into this class. The trajectory message itself is not required
@@ -230,7 +230,7 @@ class RobotTrajectory
      point in the trajectory
       to be constructed internally is obtained by copying the reference state and overwriting the content from a
      trajectory point in \e trajectory. */
-  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
+  void setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                              const moveit_msgs::RobotTrajectory& trajectory);
 
   /** \brief Copy the content of the trajectory message into this class. The trajectory message itself is not required
@@ -240,13 +240,13 @@ class RobotTrajectory
       using \e state. Each point in the trajectory  to be constructed internally is obtained by copying the reference
      state and overwriting the content
       from a trajectory point in \e trajectory. */
-  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state, const moveit_msgs::RobotState& state,
+  void setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state, const moveit_msgs::RobotState& state,
                              const moveit_msgs::RobotTrajectory& trajectory);
 
   void reverse();
 
   void unwind();
-  void unwind(const robot_state::RobotState& state);
+  void unwind(const moveit::core::RobotState& state);
 
   /** @brief Finds the waypoint indicies before and after a duration from start.
    *  @param The duration from start.
@@ -263,12 +263,12 @@ class RobotTrajectory
    *  @param The resulting robot state.
    *  @return True if state is valid, false otherwise (trajectory is empty).
    */
-  bool getStateAtDurationFromStart(const double request_duration, robot_state::RobotStatePtr& output_state) const;
+  bool getStateAtDurationFromStart(const double request_duration, moveit::core::RobotStatePtr& output_state) const;
 
 private:
-  robot_model::RobotModelConstPtr robot_model_;
-  const robot_model::JointModelGroup* group_;
-  std::deque<robot_state::RobotStatePtr> waypoints_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  const moveit::core::JointModelGroup* group_;
+  std::deque<moveit::core::RobotStatePtr> waypoints_;
   std::deque<double> duration_from_previous_;
 };
 }
diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index 70e837ca9d..475f973374 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -42,13 +42,13 @@
 
 namespace robot_trajectory
 {
-RobotTrajectory::RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const std::string& group)
+RobotTrajectory::RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group)
   : robot_model_(robot_model), group_(group.empty() ? nullptr : robot_model->getJointModelGroup(group))
 {
 }
 
-RobotTrajectory::RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model,
-                                 const robot_model::JointModelGroup* group)
+RobotTrajectory::RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model,
+                                 const moveit::core::JointModelGroup* group)
   : robot_model_(robot_model), group_(group)
 {
 }
@@ -118,7 +118,7 @@ void RobotTrajectory::append(const RobotTrajectory& source, double dt, size_t st
 void RobotTrajectory::reverse()
 {
   std::reverse(waypoints_.begin(), waypoints_.end());
-  for (robot_state::RobotStatePtr& waypoint : waypoints_)
+  for (moveit::core::RobotStatePtr& waypoint : waypoints_)
   {
     // reversing the trajectory implies inverting the velocity profile
     waypoint->invertVelocity();
@@ -136,7 +136,7 @@ void RobotTrajectory::unwind()
   if (waypoints_.empty())
     return;
 
-  const std::vector<const robot_model::JointModel*>& cont_joints =
+  const std::vector<const moveit::core::JointModel*>& cont_joints =
       group_ ? group_->getContinuousJointModels() : robot_model_->getContinuousJointModels();
 
   for (const moveit::core::JointModel* cont_joint : cont_joints)
@@ -166,12 +166,12 @@ void RobotTrajectory::unwind()
     waypoint->update();
 }
 
-void RobotTrajectory::unwind(const robot_state::RobotState& state)
+void RobotTrajectory::unwind(const moveit::core::RobotState& state)
 {
   if (waypoints_.empty())
     return;
 
-  const std::vector<const robot_model::JointModel*>& cont_joints =
+  const std::vector<const moveit::core::JointModel*>& cont_joints =
       group_ ? group_->getContinuousJointModels() : robot_model_->getContinuousJointModels();
 
   for (const moveit::core::JointModel* cont_joint : cont_joints)
@@ -223,11 +223,11 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajec
   trajectory = moveit_msgs::RobotTrajectory();
   if (waypoints_.empty())
     return;
-  const std::vector<const robot_model::JointModel*>& jnt =
+  const std::vector<const moveit::core::JointModel*>& jnt =
       group_ ? group_->getActiveJointModels() : robot_model_->getActiveJointModels();
 
-  std::vector<const robot_model::JointModel*> onedof;
-  std::vector<const robot_model::JointModel*> mdof;
+  std::vector<const moveit::core::JointModel*> onedof;
+  std::vector<const moveit::core::JointModel*> mdof;
   trajectory.joint_trajectory.joint_names.clear();
   trajectory.multi_dof_joint_trajectory.joint_names.clear();
 
@@ -306,7 +306,7 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajec
         geometry_msgs::TransformStamped ts = tf2::eigenToTransform(waypoints_[i]->getJointTransform(mdof[j]));
         trajectory.multi_dof_joint_trajectory.points[i].transforms[j] = ts.transform;
         // TODO: currently only checking for planar multi DOF joints / need to add check for floating
-        if (waypoints_[i]->hasVelocities() && (mdof[j]->getType() == robot_model::JointModel::JointType::PLANAR))
+        if (waypoints_[i]->hasVelocities() && (mdof[j]->getType() == moveit::core::JointModel::JointType::PLANAR))
         {
           const std::vector<std::string> names = mdof[j]->getVariableNames();
           const double* velocities = waypoints_[i]->getJointVelocities(mdof[j]);
@@ -343,11 +343,11 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajec
   }
 }
 
-void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
+void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                             const trajectory_msgs::JointTrajectory& trajectory)
 {
   // make a copy just in case the next clear() removes the memory for the reference passed in
-  const robot_state::RobotState& copy = reference_state;
+  const moveit::core::RobotState& copy = reference_state;
   clear();
   std::size_t state_count = trajectory.points.size();
   ros::Time last_time_stamp = trajectory.header.stamp;
@@ -356,7 +356,7 @@ void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& refer
   for (std::size_t i = 0; i < state_count; ++i)
   {
     this_time_stamp = trajectory.header.stamp + trajectory.points[i].time_from_start;
-    robot_state::RobotStatePtr st(new robot_state::RobotState(copy));
+    moveit::core::RobotStatePtr st(new moveit::core::RobotState(copy));
     st->setVariablePositions(trajectory.joint_names, trajectory.points[i].positions);
     if (!trajectory.points[i].velocities.empty())
       st->setVariableVelocities(trajectory.joint_names, trajectory.points[i].velocities);
@@ -369,11 +369,11 @@ void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& refer
   }
 }
 
-void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
+void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                             const moveit_msgs::RobotTrajectory& trajectory)
 {
   // make a copy just in case the next clear() removes the memory for the reference passed in
-  const robot_state::RobotState& copy = reference_state;
+  const moveit::core::RobotState& copy = reference_state;
   clear();
 
   std::size_t state_count =
@@ -385,7 +385,7 @@ void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& refer
 
   for (std::size_t i = 0; i < state_count; ++i)
   {
-    robot_state::RobotStatePtr st(new robot_state::RobotState(copy));
+    moveit::core::RobotStatePtr st(new moveit::core::RobotState(copy));
     if (trajectory.joint_trajectory.points.size() > i)
     {
       st->setVariablePositions(trajectory.joint_trajectory.joint_names,
@@ -417,12 +417,12 @@ void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& refer
   }
 }
 
-void RobotTrajectory::setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
+void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                             const moveit_msgs::RobotState& state,
                                             const moveit_msgs::RobotTrajectory& trajectory)
 {
-  robot_state::RobotState st(reference_state);
-  robot_state::robotStateMsgToRobotState(state, st);
+  moveit::core::RobotState st(reference_state);
+  moveit::core::robotStateMsgToRobotState(state, st);
   setRobotTrajectoryMsg(st, trajectory);
 }
 
@@ -476,7 +476,7 @@ double RobotTrajectory::getWaypointDurationFromStart(std::size_t index) const
 }
 
 bool RobotTrajectory::getStateAtDurationFromStart(const double request_duration,
-                                                  robot_state::RobotStatePtr& output_state) const
+                                                  moveit::core::RobotStatePtr& output_state) const
 {
   // If there are no waypoints we can't do anything
   if (getWayPointCount() == 0)
diff --git a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
index ba57080bbd..208b16e813 100644
--- a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
@@ -44,7 +44,7 @@ class RobotTrajectoryTestFixture : public testing::Test
 {
 protected:
   moveit::core::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
   const std::string robot_model_name_ = "panda";
   const std::string arm_jmg_name_ = "panda_arm";
 
@@ -52,7 +52,7 @@ class RobotTrajectoryTestFixture : public testing::Test
   void SetUp() override
   {
     robot_model_ = moveit::core::loadTestingRobotModel(robot_model_name_);
-    robot_state_ = std::make_shared<robot_state::RobotState>(robot_model_);
+    robot_state_ = std::make_shared<moveit::core::RobotState>(robot_model_);
     robot_state_->setToDefaultValues();
     robot_state_->update();
   }
@@ -99,7 +99,7 @@ class RobotTrajectoryTestFixture : public testing::Test
     // Get the first waypoint by POINTER, modify it, and check that the value WAS updated in trajectory
     ///////////////////////////
     // Get the first waypoint by shared pointer
-    robot_state::RobotStatePtr trajectory_first_waypoint = trajectory->getWayPointPtr(0);
+    moveit::core::RobotStatePtr trajectory_first_waypoint = trajectory->getWayPointPtr(0);
     // Get the first waypoint joint values
     std::vector<double> trajectory_first_state;
     trajectory_first_waypoint->copyJointGroupPositions(arm_jmg_name_, trajectory_first_state);
@@ -109,7 +109,7 @@ class RobotTrajectoryTestFixture : public testing::Test
     trajectory_first_waypoint->setJointGroupPositions(arm_jmg_name_, trajectory_first_state);
 
     // Check that the trajectory's first waypoint was updated
-    robot_state::RobotStatePtr trajectory_first_waypoint_after_update = trajectory->getWayPointPtr(0);
+    moveit::core::RobotStatePtr trajectory_first_waypoint_after_update = trajectory->getWayPointPtr(0);
     std::vector<double> trajectory_first_state_after_update;
     trajectory_first_waypoint_after_update->copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
     EXPECT_EQ(trajectory_first_state[0], trajectory_first_state_after_update[0]);
@@ -121,7 +121,7 @@ class RobotTrajectoryTestFixture : public testing::Test
     // Get the first waypoint by VALUE, modify it, and check that the value WAS NOT updated in trajectory
     ///////////////////////////
     // Get the first waypoint by shared pointer
-    robot_state::RobotState trajectory_first_waypoint = trajectory->getWayPoint(0);
+    moveit::core::RobotState trajectory_first_waypoint = trajectory->getWayPoint(0);
     // Get the first waypoint joint values
     std::vector<double> trajectory_first_state;
     trajectory_first_waypoint.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state);
@@ -131,7 +131,7 @@ class RobotTrajectoryTestFixture : public testing::Test
     trajectory_first_waypoint.setJointGroupPositions(arm_jmg_name_, trajectory_first_state);
 
     // Check that the trajectory's first waypoint was updated
-    robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+    moveit::core::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
     std::vector<double> trajectory_first_state_after_update;
     trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
     EXPECT_NE(trajectory_first_state[0], trajectory_first_state_after_update[0]);
@@ -164,12 +164,12 @@ TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryShallowCopy)
   modifyFirstWaypointPtrAndCheckTrajectory(trajectory);
 
   // Check that modifying the waypoint also modified the trajectory
-  robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+  moveit::core::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
   std::vector<double> trajectory_first_state_after_update;
   trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
 
   // Get the first waypoint in the modified trajectory_copy
-  robot_state::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
+  moveit::core::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
   std::vector<double> trajectory_copy_first_state_after_update;
   trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
                                                                       trajectory_copy_first_state_after_update);
@@ -190,12 +190,12 @@ TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryDeepCopy)
   modifyFirstWaypointPtrAndCheckTrajectory(trajectory);
 
   // Check that modifying the waypoint also modified the trajectory
-  robot_state::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
+  moveit::core::RobotState trajectory_first_waypoint_after_update = trajectory->getWayPoint(0);
   std::vector<double> trajectory_first_state_after_update;
   trajectory_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
 
   // Get the first waypoint in the modified trajectory_copy
-  robot_state::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
+  moveit::core::RobotState trajectory_copy_first_waypoint_after_update = trajectory_copy->getWayPoint(0);
   std::vector<double> trajectory_copy_first_state_after_update;
   trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
                                                                       trajectory_copy_first_state_after_update);
diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
index 1f7816b860..38938a01d2 100644
--- a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
@@ -87,14 +87,14 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
   if (trajectory.empty())
     return true;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   if (!group)
   {
     ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization", "It looks like the planner did not set "
                                                                                "the group the plan was computed for");
     return false;
   }
-  const robot_model::RobotModel& rmodel = group->getParentModel();
+  const moveit::core::RobotModel& rmodel = group->getParentModel();
   const std::vector<int>& idx = group->getVariableIndexList();
   const std::vector<std::string>& vars = group->getVariableNames();
   double velocity_scaling_factor = 1.0;
@@ -134,8 +134,8 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
     // (required to force acceleration to specified values at endpoints)
     if (trajectory.getWayPointCount() >= 2)
     {
-      robot_state::RobotState point = trajectory.getWayPoint(1);
-      robot_state::RobotStatePtr p0, p1;
+      moveit::core::RobotState point = trajectory.getWayPoint(1);
+      moveit::core::RobotStatePtr p0, p1;
 
       // 2nd point is 90% of p0, and 10% of p1
       p0 = trajectory.getWayPointPtr(0);
@@ -197,7 +197,7 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
     t2[j].accelerations_[num_points - 1] = t2[j].final_acceleration_;
 
     // Set bounds based on model, or default limits
-    const robot_model::VariableBounds& bounds = rmodel.getVariableBounds(vars[j]);
+    const moveit::core::VariableBounds& bounds = rmodel.getVariableBounds(vars[j]);
     t2[j].max_velocity_ = VLIMIT;
     t2[j].min_velocity_ = -VLIMIT;
     if (bounds.velocity_bounded_)
diff --git a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
index 1b86b56918..e739158fcb 100644
--- a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
@@ -102,10 +102,10 @@ void IterativeParabolicTimeParameterization::applyVelocityConstraints(robot_traj
                                                                       std::vector<double>& time_diff,
                                                                       const double max_velocity_scaling_factor) const
 {
-  const robot_model::JointModelGroup* group = rob_trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = rob_trajectory.getGroup();
   const std::vector<std::string>& vars = group->getVariableNames();
   const std::vector<int>& idx = group->getVariableIndexList();
-  const robot_model::RobotModel& rmodel = group->getParentModel();
+  const moveit::core::RobotModel& rmodel = group->getParentModel();
   const int num_points = rob_trajectory.getWayPointCount();
 
   double velocity_scaling_factor = 1.0;
@@ -123,13 +123,13 @@ void IterativeParabolicTimeParameterization::applyVelocityConstraints(robot_traj
 
   for (int i = 0; i < num_points - 1; ++i)
   {
-    const robot_state::RobotStatePtr& curr_waypoint = rob_trajectory.getWayPointPtr(i);
-    const robot_state::RobotStatePtr& next_waypoint = rob_trajectory.getWayPointPtr(i + 1);
+    const moveit::core::RobotStatePtr& curr_waypoint = rob_trajectory.getWayPointPtr(i);
+    const moveit::core::RobotStatePtr& next_waypoint = rob_trajectory.getWayPointPtr(i + 1);
 
     for (std::size_t j = 0; j < vars.size(); ++j)
     {
       double v_max = DEFAULT_VEL_MAX;
-      const robot_model::VariableBounds& b = rmodel.getVariableBounds(vars[j]);
+      const moveit::core::VariableBounds& b = rmodel.getVariableBounds(vars[j]);
       if (b.velocity_bounded_)
         v_max =
             std::min(fabs(b.max_velocity_ * velocity_scaling_factor), fabs(b.min_velocity_ * velocity_scaling_factor));
@@ -195,11 +195,11 @@ void updateTrajectory(robot_trajectory::RobotTrajectory& rob_trajectory, const s
 
   double time_sum = 0.0;
 
-  robot_state::RobotStatePtr prev_waypoint;
-  robot_state::RobotStatePtr curr_waypoint;
-  robot_state::RobotStatePtr next_waypoint;
+  moveit::core::RobotStatePtr prev_waypoint;
+  moveit::core::RobotStatePtr curr_waypoint;
+  moveit::core::RobotStatePtr next_waypoint;
 
-  const robot_model::JointModelGroup* group = rob_trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = rob_trajectory.getGroup();
   const std::vector<std::string>& vars = group->getVariableNames();
   const std::vector<int>& idx = group->getVariableIndexList();
 
@@ -301,14 +301,14 @@ void IterativeParabolicTimeParameterization::applyAccelerationConstraints(
     robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
     const double max_acceleration_scaling_factor) const
 {
-  robot_state::RobotStatePtr prev_waypoint;
-  robot_state::RobotStatePtr curr_waypoint;
-  robot_state::RobotStatePtr next_waypoint;
+  moveit::core::RobotStatePtr prev_waypoint;
+  moveit::core::RobotStatePtr curr_waypoint;
+  moveit::core::RobotStatePtr next_waypoint;
 
-  const robot_model::JointModelGroup* group = rob_trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = rob_trajectory.getGroup();
   const std::vector<std::string>& vars = group->getVariableNames();
   const std::vector<int>& idx = group->getVariableIndexList();
-  const robot_model::RobotModel& rmodel = group->getParentModel();
+  const moveit::core::RobotModel& rmodel = group->getParentModel();
 
   const int num_points = rob_trajectory.getWayPointCount();
   const unsigned int num_joints = group->getVariableCount();
@@ -363,7 +363,7 @@ void IterativeParabolicTimeParameterization::applyAccelerationConstraints(
 
           // Get acceleration limits
           double a_max = DEFAULT_ACCEL_MAX;
-          const robot_model::VariableBounds& b = rmodel.getVariableBounds(vars[j]);
+          const moveit::core::VariableBounds& b = rmodel.getVariableBounds(vars[j]);
           if (b.acceleration_bounded_)
             a_max = std::min(fabs(b.max_acceleration_ * acceleration_scaling_factor),
                              fabs(b.min_acceleration_ * acceleration_scaling_factor));
@@ -464,7 +464,7 @@ bool IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory:
   if (trajectory.empty())
     return true;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   if (!group)
   {
     ROS_ERROR_NAMED("trajectory_processing.iterative_time_parameterization", "It looks like the planner did not set "
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 26b1cd815a..d92e2a11db 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -880,7 +880,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   if (trajectory.empty())
     return true;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   if (!group)
   {
     ROS_ERROR_NAMED(LOGNAME, "It looks like the planner did not set the group the plan was computed for");
@@ -926,7 +926,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   // This is pretty much copied from IterativeParabolicTimeParameterization::applyVelocityConstraints
   const std::vector<std::string>& vars = group->getVariableNames();
   const std::vector<int>& idx = group->getVariableIndexList();
-  const robot_model::RobotModel& rmodel = group->getParentModel();
+  const moveit::core::RobotModel& rmodel = group->getParentModel();
   const unsigned num_joints = group->getVariableCount();
   const unsigned num_points = trajectory.getWayPointCount();
 
@@ -935,7 +935,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   Eigen::VectorXd max_acceleration(num_joints);
   for (size_t j = 0; j < num_joints; ++j)
   {
-    const robot_model::VariableBounds& bounds = rmodel.getVariableBounds(vars[j]);
+    const moveit::core::VariableBounds& bounds = rmodel.getVariableBounds(vars[j]);
 
     // Limits need to be non-zero, otherwise we never exit
     max_velocity[j] = 1.0;
@@ -959,7 +959,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   std::list<Eigen::VectorXd> points;
   for (size_t p = 0; p < num_points; ++p)
   {
-    robot_state::RobotStatePtr waypoint = trajectory.getWayPointPtr(p);
+    moveit::core::RobotStatePtr waypoint = trajectory.getWayPointPtr(p);
     Eigen::VectorXd new_point(num_joints);
     bool diverse_point = (p == 0);
 
@@ -978,7 +978,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   if (points.size() == 1)
   {
     ROS_WARN_NAMED(LOGNAME, "Trajectory is not being parameterized since it only contains a single distinct waypoint.");
-    robot_state::RobotState waypoint = robot_state::RobotState(trajectory.getWayPoint(0));
+    moveit::core::RobotState waypoint = moveit::core::RobotState(trajectory.getWayPoint(0));
     trajectory.clear();
     trajectory.addSuffixWayPoint(waypoint, 0.0);
     return true;
@@ -996,7 +996,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   size_t sample_count = std::ceil(parameterized.getDuration() / resample_dt_);
 
   // Resample and fill in trajectory
-  robot_state::RobotState waypoint = robot_state::RobotState(trajectory.getWayPoint(0));
+  moveit::core::RobotState waypoint = moveit::core::RobotState(trajectory.getWayPoint(0));
   trajectory.clear();
   double last_t = 0;
   for (size_t sample = 0; sample <= sample_count; ++sample)
diff --git a/moveit_core/trajectory_processing/test/test_time_parameterization.cpp b/moveit_core/trajectory_processing/test/test_time_parameterization.cpp
index a27a834141..d3cba00ecb 100644
--- a/moveit_core/trajectory_processing/test/test_time_parameterization.cpp
+++ b/moveit_core/trajectory_processing/test/test_time_parameterization.cpp
@@ -53,7 +53,7 @@ int initRepeatedPointTrajectory(robot_trajectory::RobotTrajectory& trajectory)
   const int num = 3;
   unsigned i;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   if (!group)
   {
     ROS_ERROR_NAMED("trajectory_processing", "Need to set the group");
@@ -83,7 +83,7 @@ int initStraightTrajectory(robot_trajectory::RobotTrajectory& trajectory, double
   const double max = 2.0;
   unsigned i;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   if (!group)
   {
     ROS_ERROR_NAMED("trajectory_processing", "Need to set the group");
@@ -109,7 +109,7 @@ int initStraightTrajectory(robot_trajectory::RobotTrajectory& trajectory, double
 
 void printTrajectory(robot_trajectory::RobotTrajectory& trajectory)
 {
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
   const std::vector<int>& idx = group->getVariableIndexList();
   unsigned int count = trajectory.getWayPointCount();
 
@@ -118,13 +118,13 @@ void printTrajectory(robot_trajectory::RobotTrajectory& trajectory)
   std::cout << "  Trajectory Points" << std::endl;
   for (unsigned i = 0; i < count; i++)
   {
-    robot_state::RobotStatePtr point = trajectory.getWayPointPtr(i);
+    moveit::core::RobotStatePtr point = trajectory.getWayPointPtr(i);
     printf("  waypoint %2d time %6.2f pos %6.2f vel %6.2f acc %6.2f ", i, trajectory.getWayPointDurationFromStart(i),
            point->getVariablePosition(idx[0]), point->getVariableVelocity(idx[0]),
            point->getVariableAcceleration(idx[0]));
     if (i > 0)
     {
-      robot_state::RobotStatePtr prev = trajectory.getWayPointPtr(i - 1);
+      moveit::core::RobotStatePtr prev = trajectory.getWayPointPtr(i - 1);
       printf("jrk %6.2f",
              (point->getVariableAcceleration(idx[0]) - prev->getVariableAcceleration(idx[0])) /
                  (trajectory.getWayPointDurationFromStart(i) - trajectory.getWayPointDurationFromStart(i - 1)));
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
index 233ad5f27c..5a5f72579d 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
@@ -102,7 +102,7 @@ class KinematicsCache
    *  @param opt Parameters needed for defining the cache workspace
    *  @return False if any error occured during initialization
    */
-  bool initialize(kinematics::KinematicsBaseConstPtr& solver, const robot_model::RobotModelConstPtr& kinematic_model,
+  bool initialize(kinematics::KinematicsBaseConstPtr& solver, const moveit::core::RobotModelConstPtr& kinematic_model,
                   const KinematicsCache::Options& opt);
 
   /** @brief Return the instance of the kinematics solver */
@@ -112,7 +112,7 @@ class KinematicsCache
   }
 
   /** @brief Return the instance of the kinematics model */
-  const robot_model::RobotModelConstPtr& getModelInstance() const
+  const moveit::core::RobotModelConstPtr& getModelInstance() const
   {
     return kinematic_model_;
   }
@@ -168,11 +168,11 @@ class KinematicsCache
 
   kinematics::KinematicsBaseConstPtr kinematics_solver_; /** An instance of the kinematics solver */
 
-  robot_model::RobotModelConstPtr kinematic_model_; /** An instance of the kinematic model */
-  robot_state::RobotStatePtr kinematic_state_;      /** An instance of the kinematic state */
+  moveit::core::RobotModelConstPtr kinematic_model_; /** An instance of the kinematic model */
+  moveit::core::RobotStatePtr kinematic_state_;      /** An instance of the kinematic state */
 
-  const robot_model::JointModelGroup* joint_model_group_;           /** Joint model group associated with this cache */
-  std::shared_ptr<robot_state::JointStateGroup> joint_state_group_; /** Joint state corresponding to cache */
+  const moveit::core::JointModelGroup* joint_model_group_;           /** Joint model group associated with this cache */
+  std::shared_ptr<moveit::core::JointStateGroup> joint_state_group_; /** Joint state corresponding to cache */
 
   //    mutable std::vector<double> solution_local_; /** Local pre-allocated storage */
 
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp b/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
index 127160ce31..a332d31b2b 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
@@ -46,15 +46,15 @@ KinematicsCache::KinematicsCache() : min_squared_distance_(1e6), max_squared_dis
 }
 
 bool KinematicsCache::initialize(kinematics::KinematicsBaseConstPtr& kinematics_solver,
-                                 const robot_model::RobotModelConstPtr& kinematic_model,
+                                 const moveit::core::RobotModelConstPtr& kinematic_model,
                                  const KinematicsCache::Options& opt)
 {
   options_ = opt;
   kinematics_solver_ = kinematics_solver;
   kinematic_model_ = kinematic_model;
   joint_model_group_ = kinematic_model_->getJointModelGroup(kinematics_solver_->getGroupName());
-  kinematic_state_.reset(new robot_state::RobotState(kinematic_model));
-  joint_state_group_.reset(new robot_state::JointStateGroup(kinematic_state_.get(), joint_model_group_));
+  kinematic_state_.reset(new moveit::core::RobotState(kinematic_model));
+  joint_state_group_.reset(new moveit::core::JointStateGroup(kinematic_state_.get(), joint_model_group_));
 
   setup(opt);
   return true;
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
index 4200f2761e..5117918b15 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
@@ -74,7 +74,7 @@ class KinematicsConstraintAware
    * @param group_name The name of the group to configure this solver for
    * @return False if any error occurs
    */
-  KinematicsConstraintAware(const robot_model::RobotModelConstPtr& kinematic_model, const std::string& group_name);
+  KinematicsConstraintAware(const moveit::core::RobotModelConstPtr& kinematic_model, const std::string& group_name);
 
   /** @brief Solve the planning problem
    * @param planning_scene A const reference to the planning scene
@@ -101,14 +101,14 @@ class KinematicsConstraintAware
     return group_name_;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return kinematic_model_;
   }
 
 private:
   EigenSTL::vector_Isometry3d transformPoses(const planning_scene::PlanningSceneConstPtr& planning_scene,
-                                             const robot_state::RobotState& kinematic_state,
+                                             const moveit::core::RobotState& kinematic_state,
                                              const std::vector<geometry_msgs::PoseStamped>& poses,
                                              const std::string& target_frame) const;
 
@@ -118,20 +118,20 @@ class KinematicsConstraintAware
                              kinematics_constraint_aware::KinematicsResponse& kinematics_response) const;
 
   geometry_msgs::Pose getTipFramePose(const planning_scene::PlanningSceneConstPtr& planning_scene,
-                                      const robot_state::RobotState& kinematic_state, const geometry_msgs::Pose& pose,
+                                      const moveit::core::RobotState& kinematic_state, const geometry_msgs::Pose& pose,
                                       const std::string& link_name, unsigned int sub_group_index) const;
 
   bool validityCallbackFn(const planning_scene::PlanningSceneConstPtr& planning_scene,
                           const kinematics_constraint_aware::KinematicsRequest& request,
                           kinematics_constraint_aware::KinematicsResponse& response,
-                          robot_state::JointStateGroup* joint_state_group,
+                          moveit::core::JointStateGroup* joint_state_group,
                           const std::vector<double>& joint_group_variable_values) const;
 
   std::vector<std::string> sub_groups_names_;
 
-  robot_model::RobotModelConstPtr kinematic_model_;
+  moveit::core::RobotModelConstPtr kinematic_model_;
 
-  const robot_model::JointModelGroup* joint_model_group_;
+  const moveit::core::JointModelGroup* joint_model_group_;
 
   std::string group_name_;
 
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
index b54fd335e3..87be80bcf5 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
@@ -68,7 +68,7 @@ class KinematicsRequest
 
   std::vector<std::string> ik_link_names_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 
   kinematic_constraints::KinematicConstraintSetPtr constraints_;
 
@@ -78,7 +78,7 @@ class KinematicsRequest
 
   bool check_for_collisions_;
 
-  robot_state::StateValidityCallbackFn constraint_callback_;
+  moveit::core::StateValidityCallbackFn constraint_callback_;
 };
 
 /**
@@ -93,7 +93,7 @@ class KinematicsResponse
 
   virtual ~KinematicsResponse(){};
 
-  robot_state::RobotStatePtr solution_;
+  moveit::core::RobotStatePtr solution_;
 
   std::vector<kinematic_constraints::ConstraintEvaluationResult> constraint_eval_results_;
 
diff --git a/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp b/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
index a1e45998b4..5e25a7def2 100644
--- a/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
+++ b/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
@@ -45,7 +45,7 @@
 
 namespace kinematics_constraint_aware
 {
-KinematicsConstraintAware::KinematicsConstraintAware(const robot_model::RobotModelConstPtr& kinematic_model,
+KinematicsConstraintAware::KinematicsConstraintAware(const moveit::core::RobotModelConstPtr& kinematic_model,
                                                      const std::string& group_name)
 {
   if (!kinematic_model->hasJointModelGroup(group_name))
@@ -118,7 +118,7 @@ bool KinematicsConstraintAware::getIK(const planning_scene::PlanningSceneConstPt
 
   if (!response.solution_)
   {
-    response.solution_.reset(new robot_state::RobotState(planning_scene->getCurrentState()));
+    response.solution_.reset(new moveit::core::RobotState(planning_scene->getCurrentState()));
   }
 
   ros::WallTime start_time = ros::WallTime::now();
@@ -129,7 +129,7 @@ bool KinematicsConstraintAware::getIK(const planning_scene::PlanningSceneConstPt
   }
 
   // Setup the seed and the values for all other joints in the robot
-  robot_state::RobotState kinematic_state = *request.robot_state_;
+  moveit::core::RobotState kinematic_state = *request.robot_state_;
   std::vector<std::string> ik_link_names = request.ik_link_names_;
 
   // Transform request to tip frame if necessary
@@ -161,7 +161,7 @@ bool KinematicsConstraintAware::getIK(const planning_scene::PlanningSceneConstPt
   EigenSTL::vector_Isometry3d goals =
       transformPoses(planning_scene, kinematic_state, request.pose_stamped_vector_, kinematic_model_->getModelFrame());
 
-  robot_state::StateValidityCallbackFn constraint_callback_fn =
+  moveit::core::StateValidityCallbackFn constraint_callback_fn =
       boost::bind(&KinematicsConstraintAware::validityCallbackFn, this, planning_scene, request, response, _1, _2);
 
   bool result = false;
@@ -198,7 +198,7 @@ bool KinematicsConstraintAware::getIK(const planning_scene::PlanningSceneConstPt
 bool KinematicsConstraintAware::validityCallbackFn(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                    const kinematics_constraint_aware::KinematicsRequest& request,
                                                    kinematics_constraint_aware::KinematicsResponse& response,
-                                                   robot_state::JointStateGroup* joint_state_group,
+                                                   moveit::core::JointStateGroup* joint_state_group,
                                                    const std::vector<double>& joint_group_variable_values) const
 {
   joint_state_group->setVariableValues(joint_group_variable_values);
@@ -321,7 +321,7 @@ bool KinematicsConstraintAware::convertServiceRequest(
   else
     kinematics_request.pose_stamped_vector_ = request.ik_request.pose_stamped_vector;
 
-  kinematics_request.robot_state_.reset(new robot_state::RobotState(planning_scene->getCurrentState()));
+  kinematics_request.robot_state_.reset(new moveit::core::RobotState(planning_scene->getCurrentState()));
   kinematics_request.robot_state_->setStateValues(request.ik_request.robot_state.joint_state);
   kinematics_request.constraints_.reset(
       new kinematic_constraints::KinematicConstraintSet(kinematic_model_, planning_scene->getTransforms()));
@@ -330,13 +330,13 @@ bool KinematicsConstraintAware::convertServiceRequest(
   kinematics_request.group_name_ = request.ik_request.group_name;
   kinematics_request.check_for_collisions_ = true;
 
-  kinematics_response.solution_.reset(new robot_state::RobotState(planning_scene->getCurrentState()));
+  kinematics_response.solution_.reset(new moveit::core::RobotState(planning_scene->getCurrentState()));
 
   return true;
 }
 
 EigenSTL::vector_Isometry3d KinematicsConstraintAware::transformPoses(
-    const planning_scene::PlanningSceneConstPtr& planning_scene, const robot_state::RobotState& kinematic_state,
+    const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit::core::RobotState& kinematic_state,
     const std::vector<geometry_msgs::PoseStamped>& poses, const std::string& target_frame) const
 {
   Eigen::Isometry3d eigen_pose, eigen_pose_2;
@@ -358,7 +358,7 @@ EigenSTL::vector_Isometry3d KinematicsConstraintAware::transformPoses(
 }
 
 geometry_msgs::Pose KinematicsConstraintAware::getTipFramePose(
-    const planning_scene::PlanningSceneConstPtr& planning_scene, const robot_state::RobotState& kinematic_state,
+    const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit::core::RobotState& kinematic_state,
     const geometry_msgs::Pose& pose, const std::string& link_name, unsigned int sub_group_index) const
 {
   geometry_msgs::Pose result;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 0774a03c07..5bbf55cfad 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -138,9 +138,9 @@ class JogCalcs
    */
   void removeDimension(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x, unsigned int row_to_remove);
 
-  const robot_state::JointModelGroup* joint_model_group_;
+  const moveit::core::JointModelGroup* joint_model_group_;
 
-  robot_state::RobotStatePtr kinematic_state_;
+  moveit::core::RobotStatePtr kinematic_state_;
 
   sensor_msgs::JointState joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 2b7f3f644f..80059cd559 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -68,7 +68,7 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
   collision_detection::CollisionResult collision_result;
 
   // Copy the planning scene's version of current state into new memory
-  robot_state::RobotState current_state(getLockedPlanningSceneRO()->getCurrentState());
+  moveit::core::RobotState current_state(getLockedPlanningSceneRO()->getCurrentState());
 
   double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
   ros::Rate collision_rate(parameters_.collision_check_rate);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index f324d6af78..4ec6da3c0c 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -56,8 +56,8 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
     ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
     default_sleep_rate_.sleep();
   }
-  const robot_model::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
-  kinematic_state_ = std::make_shared<robot_state::RobotState>(kinematic_model);
+  const moveit::core::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
+  kinematic_state_ = std::make_shared<moveit::core::RobotState>(kinematic_model);
   kinematic_state_->setToDefaultValues();
 
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 61865c482b..70146c5afa 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -160,8 +160,8 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
   unsigned int dimension_;                        ///< Dimension of the group
   moveit_msgs::KinematicSolverInfo solver_info_;  ///< Stores information for the inverse kinematics solver
 
-  const robot_model::JointModelGroup* joint_model_group_;
-  robot_state::RobotStatePtr state_;
+  const moveit::core::JointModelGroup* joint_model_group_;
+  moveit::core::RobotStatePtr state_;
   KDL::Chain kdl_chain_;
   std::unique_ptr<KDL::ChainFkSolverPos> fk_solver_;
   std::vector<JointMimic> mimic_joints_;
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index 9ba7d0e4aa..62d7a89337 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -214,7 +214,7 @@ bool KDLKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
   unsigned int joint_counter = 0;
   for (std::size_t i = 0; i < kdl_chain_.getNrOfSegments(); ++i)
   {
-    const robot_model::JointModel* jm = robot_model_->getJointModel(kdl_chain_.segments[i].getJoint().getName());
+    const moveit::core::JointModel* jm = robot_model_->getJointModel(kdl_chain_.segments[i].getJoint().getName());
 
     // first check whether it belongs to the set of active joints in the group
     if (jm->getMimic() == nullptr && jm->getVariableCount() > 0)
@@ -244,7 +244,7 @@ bool KDLKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
   {
     if (!mimic_joint.active)
     {
-      const robot_model::JointModel* joint_model =
+      const moveit::core::JointModel* joint_model =
           joint_model_group_->getJointModel(mimic_joint.joint_name)->getMimic();
       for (JointMimic& mimic_joint_recal : mimic_joints_)
       {
@@ -257,7 +257,7 @@ bool KDLKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
   }
 
   // Setup the joint state groups that we need
-  state_.reset(new robot_state::RobotState(robot_model_));
+  state_.reset(new moveit::core::RobotState(robot_model_));
 
   fk_solver_.reset(new KDL::ChainFkSolverPos_recursive(kdl_chain_));
 
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index d9c3ab754b..ba81d148ce 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -146,11 +146,11 @@ class LMAKinematicsPlugin : public kinematics::KinematicsBase
   unsigned int dimension_;                        ///< Dimension of the group
   moveit_msgs::KinematicSolverInfo solver_info_;  ///< Stores information for the inverse kinematics solver
 
-  const robot_model::JointModelGroup* joint_model_group_;
-  robot_state::RobotStatePtr state_;
+  const moveit::core::JointModelGroup* joint_model_group_;
+  moveit::core::RobotStatePtr state_;
   KDL::Chain kdl_chain_;
   std::unique_ptr<KDL::ChainFkSolverPos> fk_solver_;
-  std::vector<const robot_model::JointModel*> joints_;
+  std::vector<const moveit::core::JointModel*> joints_;
   std::vector<std::string> joint_names_;
 
   int max_solver_iterations_;
diff --git a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
index 0dc4f4496f..dd0fd88e9f 100644
--- a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
+++ b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
@@ -110,7 +110,7 @@ bool LMAKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
     return false;
   }
 
-  for (const robot_model::JointModel* jm : joint_model_group_->getJointModels())
+  for (const moveit::core::JointModel* jm : joint_model_group_->getJointModels())
   {
     if (jm->getType() == moveit::core::JointModel::REVOLUTE || jm->getType() == moveit::core::JointModel::PRISMATIC)
     {
@@ -133,7 +133,7 @@ bool LMAKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
     ROS_INFO_NAMED("lma", "Using position only ik");
 
   // Setup the joint state groups that we need
-  state_.reset(new robot_state::RobotState(robot_model_));
+  state_.reset(new moveit::core::RobotState(robot_model_));
 
   fk_solver_.reset(new KDL::ChainFkSolverPos_recursive(kdl_chain_));
 
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index 3f23c70150..2adad1d763 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -143,9 +143,9 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
 
   unsigned int dimension_; /** Dimension of the group */
 
-  const robot_model::JointModelGroup* joint_model_group_;
+  const moveit::core::JointModelGroup* joint_model_group_;
 
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotStatePtr robot_state_;
 
   int num_possible_redundant_joints_;
 
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index e876e79ca7..4c7695a471 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -109,7 +109,7 @@ bool SrvKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
   lookupParam("kinematics_solver_service_name", ik_service_name, std::string("solve_ik"));
 
   // Setup the joint state groups that we need
-  robot_state_.reset(new robot_state::RobotState(robot_model_));
+  robot_state_.reset(new moveit::core::RobotState(robot_model_));
   robot_state_->setToDefaultValues();
 
   // Create the ROS service client
diff --git a/moveit_kinematics/test/benchmark_ik.cpp b/moveit_kinematics/test/benchmark_ik.cpp
index 4e334dba6a..72d7b8c78d 100644
--- a/moveit_kinematics/test/benchmark_ik.cpp
+++ b/moveit_kinematics/test/benchmark_ik.cpp
@@ -77,14 +77,14 @@ int main(int argc, char* argv[])
   spinner.start();
 
   robot_model_loader::RobotModelLoader robot_model_loader;
-  const robot_model::RobotModelPtr& kinematic_model = robot_model_loader.getModel();
+  const moveit::core::RobotModelPtr& kinematic_model = robot_model_loader.getModel();
   planning_scene::PlanningScene planning_scene(kinematic_model);
-  robot_state::RobotState& kinematic_state = planning_scene.getCurrentStateNonConst();
+  moveit::core::RobotState& kinematic_state = planning_scene.getCurrentStateNonConst();
   collision_detection::CollisionRequest collision_request;
   collision_detection::CollisionResult collision_result;
   std::chrono::duration<double> ik_time(0);
   std::chrono::time_point<std::chrono::system_clock> start;
-  std::vector<robot_state::JointModelGroup*> groups;
+  std::vector<moveit::core::JointModelGroup*> groups;
   std::vector<std::string> end_effectors;
 
   if (group == "all")
diff --git a/moveit_kinematics/test/test_kinematics_plugin.cpp b/moveit_kinematics/test/test_kinematics_plugin.cpp
index 2554516f5a..7ca176cd0b 100644
--- a/moveit_kinematics/test/test_kinematics_plugin.cpp
+++ b/moveit_kinematics/test/test_kinematics_plugin.cpp
@@ -77,7 +77,7 @@ class SharedData
   friend class KinematicsTest;
   typedef pluginlib::ClassLoader<kinematics::KinematicsBase> KinematicsLoader;
 
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
   std::unique_ptr<KinematicsLoader> kinematics_loader_;
   std::string root_link_;
   std::string tip_link_;
@@ -104,7 +104,7 @@ class SharedData
     ROS_INFO_STREAM("Loading robot model from " << ros::this_node::getNamespace() << "/" << ROBOT_DESCRIPTION_PARAM);
     // load robot model
     rdf_loader::RDFLoader rdf_loader(ROBOT_DESCRIPTION_PARAM);
-    robot_model_ = std::make_shared<robot_model::RobotModel>(rdf_loader.getURDF(), rdf_loader.getSRDF());
+    robot_model_ = std::make_shared<moveit::core::RobotModel>(rdf_loader.getURDF(), rdf_loader.getSRDF());
     ASSERT_TRUE(bool(robot_model_)) << "Failed to load robot model";
 
     // init ClassLoader
@@ -280,8 +280,8 @@ class KinematicsTest : public ::testing::Test
   }
 
 public:
-  robot_model::RobotModelPtr robot_model_;
-  robot_model::JointModelGroup* jmg_;
+  moveit::core::RobotModelPtr robot_model_;
+  moveit::core::JointModelGroup* jmg_;
   kinematics::KinematicsBasePtr kinematics_solver_;
   random_numbers::RandomNumberGenerator rng_{ 42 };
   std::string root_link_;
@@ -307,7 +307,7 @@ TEST_F(KinematicsTest, getFK)
 {
   std::vector<double> joints(kinematics_solver_->getJointNames().size(), 0.0);
   const std::vector<std::string>& tip_frames = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   for (unsigned int i = 0; i < num_fk_tests_; ++i)
@@ -331,7 +331,7 @@ TEST_F(KinematicsTest, randomWalkIK)
 {
   std::vector<double> seed, goal, solution;
   const std::vector<std::string>& tip_frames = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   if (!seed_.empty())
@@ -466,7 +466,7 @@ TEST_F(KinematicsTest, unitIK)
 
   std::vector<double> seed, sol;
   const std::vector<std::string>& tip_frames = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   // initial joint pose from seed_ or defaults
@@ -539,7 +539,7 @@ TEST_F(KinematicsTest, searchIK)
   moveit_msgs::MoveItErrorCodes error_code;
   solution.resize(kinematics_solver_->getJointNames().size(), 0.0);
   const std::vector<std::string>& fk_names = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   unsigned int success = 0;
@@ -573,7 +573,7 @@ TEST_F(KinematicsTest, searchIKWithCallback)
   moveit_msgs::MoveItErrorCodes error_code;
   solution.resize(kinematics_solver_->getJointNames().size(), 0.0);
   const std::vector<std::string>& fk_names = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   unsigned int success = 0;
@@ -613,7 +613,7 @@ TEST_F(KinematicsTest, getIK)
   moveit_msgs::MoveItErrorCodes error_code;
   solution.resize(kinematics_solver_->getJointNames().size(), 0.0);
   const std::vector<std::string>& fk_names = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   for (unsigned int i = 0; i < num_ik_tests_; ++i)
@@ -642,7 +642,7 @@ TEST_F(KinematicsTest, getIKMultipleSolutions)
   kinematics::KinematicsResult result;
 
   const std::vector<std::string>& fk_names = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   unsigned int success = 0;
@@ -685,7 +685,7 @@ TEST_F(KinematicsTest, getNearestIKSolution)
   std::vector<double> seed, fk_values, solution;
   moveit_msgs::MoveItErrorCodes error_code;
   const std::vector<std::string>& fk_names = kinematics_solver_->getTipFrames();
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   for (unsigned int i = 0; i < num_nearest_ik_tests_; ++i)
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
index 2dee290b9b..893d69ff62 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
@@ -52,7 +52,8 @@ class CHOMPPlanningContext : public planning_interface::PlanningContext
   void clear() override;
   bool terminate() override;
 
-  CHOMPPlanningContext(const std::string& name, const std::string& group, const robot_model::RobotModelConstPtr& model);
+  CHOMPPlanningContext(const std::string& name, const std::string& group,
+                       const moveit::core::RobotModelConstPtr& model);
 
   ~CHOMPPlanningContext() override = default;
 
diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
index 35ddbc8a63..eec0b815d2 100644
--- a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
+++ b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
@@ -41,7 +41,7 @@
 namespace chomp_interface
 {
 CHOMPPlanningContext::CHOMPPlanningContext(const std::string& name, const std::string& group,
-                                           const robot_model::RobotModelConstPtr& model)
+                                           const moveit::core::RobotModelConstPtr& model)
   : planning_interface::PlanningContext(name, group), robot_model_(model)
 {
   chomp_interface_ = CHOMPInterfacePtr(new CHOMPInterface());
diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
index 6a8288b78e..e73789f733 100644
--- a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
+++ b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
@@ -50,7 +50,7 @@ class CHOMPPlannerManager : public planning_interface::PlannerManager
   {
   }
 
-  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& /*ns*/) override
+  bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& /*ns*/) override
   {
     for (const std::string& group : model->getJointModelGroupNames())
     {
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
index 1a46e85fb3..990c11e62b 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -56,8 +56,8 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
   }
 
   // get the specified start state
-  robot_state::RobotState start_state = planning_scene->getCurrentState();
-  robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
+  moveit::core::RobotState start_state = planning_scene->getCurrentState();
+  moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
   if (!start_state.satisfiesBounds())
   {
@@ -85,7 +85,7 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
   }
 
   const size_t goal_index = trajectory.getNumPoints() - 1;
-  robot_state::RobotState goal_state(start_state);
+  moveit::core::RobotState goal_state(start_state);
   for (const moveit_msgs::JointConstraint& joint_constraint : req.goal_constraints[0].joint_constraints)
     goal_state.setVariablePosition(joint_constraint.joint_name, joint_constraint.position);
   if (!goal_state.satisfiesBounds())
@@ -223,9 +223,9 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
   for (size_t i = 0; i < trajectory.getNumPoints(); i++)
   {
     const Eigen::MatrixXd::RowXpr source = trajectory.getTrajectoryPoint(i);
-    auto state = std::make_shared<robot_state::RobotState>(start_state);
+    auto state = std::make_shared<moveit::core::RobotState>(start_state);
     size_t joint_index = 0;
-    for (const robot_state::JointModel* jm : result->getGroup()->getActiveJointModels())
+    for (const moveit::core::JointModel* jm : result->getGroup()->getActiveJointModels())
     {
       assert(jm->getVariableCount() == 1);
       state->setVariablePosition(jm->getFirstVariableIndex(), source[joint_index++]);
@@ -254,7 +254,7 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
 
   // check that final state is within goal tolerances
   kinematic_constraints::JointConstraint jc(planning_scene->getRobotModel());
-  const robot_state::RobotState& last_state = result->getLastWayPoint();
+  const moveit::core::RobotState& last_state = result->getLastWayPoint();
   for (const moveit_msgs::JointConstraint& constraint : req.goal_constraints[0].joint_constraints)
   {
     if (!jc.configure(constraint) || !jc.decide(last_state).satisfied)
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
index e1f56aa0e7..bb2e0f012a 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
@@ -197,8 +197,8 @@ bool ChompTrajectory::fillInFromTrajectory(const robot_trajectory::RobotTrajecto
   const size_t max_output_index = getNumPoints() - 1;
   const size_t max_input_index = trajectory.getWayPointCount() - 1;
 
-  const robot_model::JointModelGroup* group = trajectory.getGroup();
-  robot_state::RobotState interpolated(trajectory.getRobotModel());
+  const moveit::core::JointModelGroup* group = trajectory.getGroup();
+  moveit::core::RobotState interpolated(trajectory.getRobotModel());
   for (size_t i = 0; i <= max_output_index; i++)
   {
     double fraction = static_cast<double>(i * max_input_index) / max_output_index;
@@ -211,14 +211,14 @@ bool ChompTrajectory::fillInFromTrajectory(const robot_trajectory::RobotTrajecto
   return true;
 }
 
-void ChompTrajectory::assignCHOMPTrajectoryPointFromRobotState(const robot_state::RobotState& source,
+void ChompTrajectory::assignCHOMPTrajectoryPointFromRobotState(const moveit::core::RobotState& source,
                                                                size_t chomp_trajectory_point_index,
-                                                               const robot_model::JointModelGroup* group)
+                                                               const moveit::core::JointModelGroup* group)
 {
   Eigen::MatrixXd::RowXpr target = getTrajectoryPoint(chomp_trajectory_point_index);
   assert(group->getActiveJointModels().size() == static_cast<size_t>(target.cols()));
   size_t joint_index = 0;
-  for (const robot_state::JointModel* jm : group->getActiveJointModels())
+  for (const moveit::core::JointModel* jm : group->getActiveJointModels())
   {
     assert(jm->getVariableCount() == 1);
     target[joint_index++] = source.getVariablePosition(jm->getFirstVariableIndex());
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index d054ab8e15..3eff4f9787 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -57,16 +57,16 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
 
 private:
   bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
-  bool stateValidityCallback(ompl::base::State* new_goal, robot_state::RobotState const* state,
-                             const robot_model::JointModelGroup*, const double*, bool verbose = false) const;
-  bool checkStateValidity(ompl::base::State* new_goal, const robot_state::RobotState& state,
+  bool stateValidityCallback(ompl::base::State* new_goal, moveit::core::RobotState const* state,
+                             const moveit::core::JointModelGroup*, const double*, bool verbose = false) const;
+  bool checkStateValidity(ompl::base::State* new_goal, const moveit::core::RobotState& state,
                           bool verbose = false) const;
 
   const ModelBasedPlanningContext* planning_context_;
   kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
   ompl::base::StateSamplerPtr default_sampler_;
-  robot_state::RobotState work_state_;
+  moveit::core::RobotState work_state_;
   unsigned int invalid_sampled_constraints_;
   bool warned_invalid_samples_;
   unsigned int verbose_display_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
index cb72a22811..b2195591bb 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
@@ -71,7 +71,7 @@ class ConstrainedSampler : public ompl::base::StateSampler
   const ModelBasedPlanningContext* planning_context_;
   ompl::base::StateSamplerPtr default_;
   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
-  robot_state::RobotState work_state_;
+  moveit::core::RobotState work_state_;
   unsigned int constrained_success_;
   unsigned int constrained_failure_;
   double inv_dim_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
index 61e9b0d15d..e0b76d6309 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
@@ -64,7 +64,7 @@ class ValidConstrainedSampler : public ompl::base::ValidStateSampler
   kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
   ompl::base::StateSamplerPtr default_sampler_;
-  robot_state::RobotState work_state_;
+  moveit::core::RobotState work_state_;
   double inv_dim_;
   ompl::RNG rng_;
 };
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
index 92784cfe37..0e40f3da4d 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
@@ -64,7 +64,7 @@ class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
 
 private:
   const ModelBasedPlanningContext* planning_context_;
-  const robot_model::LinkModel* link_;
+  const moveit::core::LinkModel* link_;
   TSStateStorage tss_;
 };
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
index a276ede06e..e896b23e3e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
@@ -45,15 +45,15 @@ namespace ompl_interface
 class TSStateStorage
 {
 public:
-  TSStateStorage(const robot_model::RobotModelPtr& robot_model);
-  TSStateStorage(const robot_state::RobotState& start_state);
+  TSStateStorage(const moveit::core::RobotModelPtr& robot_model);
+  TSStateStorage(const moveit::core::RobotState& start_state);
   ~TSStateStorage();
 
-  robot_state::RobotState* getStateStorage() const;
+  moveit::core::RobotState* getStateStorage() const;
 
 private:
-  robot_state::RobotState start_state_;
-  mutable std::map<std::thread::id, robot_state::RobotState*> thread_states_;
+  moveit::core::RobotState start_state_;
+  mutable std::map<std::thread::id, moveit::core::RobotState*> thread_states_;
   mutable std::mutex lock_;
 };
 }
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 65acf98d8f..0ed6002e8e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -102,17 +102,17 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
     spec_.config_ = config;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return spec_.state_space_->getRobotModel();
   }
 
-  const robot_model::JointModelGroup* getJointModelGroup() const
+  const moveit::core::JointModelGroup* getJointModelGroup() const
   {
     return spec_.state_space_->getJointModelGroup();
   }
 
-  const robot_state::RobotState& getCompleteInitialRobotState() const
+  const moveit::core::RobotState& getCompleteInitialRobotState() const
   {
     return complete_initial_robot_state_;
   }
@@ -234,7 +234,7 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
   void setPlanningVolume(const moveit_msgs::WorkspaceParameters& wparams);
 
-  void setCompleteInitialState(const robot_state::RobotState& complete_initial_robot_state);
+  void setCompleteInitialState(const moveit::core::RobotState& complete_initial_robot_state);
 
   bool setGoalConstraints(const std::vector<moveit_msgs::Constraints>& goal_constraints,
                           const moveit_msgs::Constraints& path_constraints, moveit_msgs::MoveItErrorCodes* error);
@@ -368,7 +368,7 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
   ModelBasedPlanningContextSpecification spec_;
 
-  robot_state::RobotState complete_initial_robot_state_;
+  moveit::core::RobotState complete_initial_robot_state_;
 
   /// the OMPL planning context; this contains the problem definition and the planner used
   og::SimpleSetupPtr ompl_simple_setup_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index e856b1af14..caf92fab42 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -56,13 +56,13 @@ class OMPLInterface
 public:
   /** \brief Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified
    * NodeHandle */
-  OMPLInterface(const robot_model::RobotModelConstPtr& robot_model, const ros::NodeHandle& nh = ros::NodeHandle("~"));
+  OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model, const ros::NodeHandle& nh = ros::NodeHandle("~"));
 
   /** \brief Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified
      NodeHandle. However,
       planner configurations are used as specified in \e pconfig instead of reading them from the ROS parameter server
      */
-  OMPLInterface(const robot_model::RobotModelConstPtr& robot_model,
+  OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
                 const planning_interface::PlannerConfigurationMap& pconfig,
                 const ros::NodeHandle& nh = ros::NodeHandle("~"));
 
@@ -150,7 +150,7 @@ class OMPLInterface
   ros::NodeHandle nh_;  /// The ROS node handle
 
   /** \brief The kinematic model for which motion plans are computed */
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
index 246f8a48e1..10cac453eb 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
@@ -46,7 +46,7 @@ class JointModelStateSpaceFactory : public ModelBasedStateSpaceFactory
   JointModelStateSpaceFactory();
 
   int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
-                          const robot_model::RobotModelConstPtr& robot_model) const override;
+                          const moveit::core::RobotModelConstPtr& robot_model) const override;
 
 protected:
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
index dbad573239..b4543f047e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -51,22 +51,22 @@ typedef std::function<double(const ompl::base::State* state1, const ompl::base::
 
 struct ModelBasedStateSpaceSpecification
 {
-  ModelBasedStateSpaceSpecification(const robot_model::RobotModelConstPtr& robot_model,
-                                    const robot_model::JointModelGroup* jmg)
+  ModelBasedStateSpaceSpecification(const moveit::core::RobotModelConstPtr& robot_model,
+                                    const moveit::core::JointModelGroup* jmg)
     : robot_model_(robot_model), joint_model_group_(jmg)
   {
   }
 
-  ModelBasedStateSpaceSpecification(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name)
+  ModelBasedStateSpaceSpecification(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name)
     : robot_model_(robot_model), joint_model_group_(robot_model_->getJointModelGroup(group_name))
   {
     if (!joint_model_group_)
       throw std::runtime_error("Group '" + group_name + "'  was not found");
   }
 
-  robot_model::RobotModelConstPtr robot_model_;
-  const robot_model::JointModelGroup* joint_model_group_;
-  robot_model::JointBoundsVector joint_bounds_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  const moveit::core::JointModelGroup* joint_model_group_;
+  moveit::core::JointBoundsVector joint_bounds_;
 };
 
 OMPL_CLASS_FORWARD(ModelBasedStateSpace);
@@ -202,12 +202,12 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
 
   virtual const std::string& getParameterizationType() const = 0;
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return spec_.robot_model_;
   }
 
-  const robot_model::JointModelGroup* getJointModelGroup() const
+  const moveit::core::JointModelGroup* getJointModelGroup() const
   {
     return spec_.joint_model_group_;
   }
@@ -228,18 +228,18 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
   /// Set the planning volume for the possible SE2 and/or SE3 components of the state space
   virtual void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ);
 
-  const robot_model::JointBoundsVector& getJointsBounds() const
+  const moveit::core::JointBoundsVector& getJointsBounds() const
   {
     return spec_.joint_bounds_;
   }
 
   /// Copy the data from an OMPL state to a set of joint states.
   // The joint states \b must be specified in the same order as the joint models in the constructor
-  virtual void copyToRobotState(robot_state::RobotState& rstate, const ompl::base::State* state) const;
+  virtual void copyToRobotState(moveit::core::RobotState& rstate, const ompl::base::State* state) const;
 
   /// Copy the data from a set of joint states to an OMPL state.
   //  The joint states \b must be specified in the same order as the joint models in the constructor
-  virtual void copyToOMPLState(ompl::base::State* state, const robot_state::RobotState& rstate) const;
+  virtual void copyToOMPLState(ompl::base::State* state, const moveit::core::RobotState& rstate) const;
 
   /**
    * \brief Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL
@@ -251,7 +251,7 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
    * cache this index)
    *        e.g. ompl_state_joint_index = joint_model_group_->getVariableGroupIndex("virtual_joint");
    */
-  virtual void copyJointToOMPLState(ompl::base::State* state, const robot_state::RobotState& robot_state,
+  virtual void copyJointToOMPLState(ompl::base::State* state, const moveit::core::RobotState& robot_state,
                                     const moveit::core::JointModel* joint_model, int ompl_state_joint_index) const;
 
   double getTagSnapToSegment() const;
@@ -259,8 +259,8 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
 
 protected:
   ModelBasedStateSpaceSpecification spec_;
-  std::vector<robot_model::JointModel::Bounds> joint_bounds_storage_;
-  std::vector<const robot_model::JointModel*> joint_model_vector_;
+  std::vector<moveit::core::JointModel::Bounds> joint_bounds_storage_;
+  std::vector<const moveit::core::JointModel*> joint_model_vector_;
   unsigned int variable_count_;
   size_t state_values_size_;
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
index 0bd363d9b2..2ed0f90eb4 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
@@ -67,7 +67,7 @@ class ModelBasedStateSpaceFactory
       request \e req for group \e group. The group \e group must always be specified and takes precedence over \e
      req.group_name, which may be different */
   virtual int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
-                                  const robot_model::RobotModelConstPtr& robot_model) const = 0;
+                                  const moveit::core::RobotModelConstPtr& robot_model) const = 0;
 
 protected:
   virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index b38d5f782b..5bb996aebd 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -107,7 +107,7 @@ class PoseModelStateSpace : public ModelBasedStateSpace
   bool computeStateK(ompl::base::State* state) const;
 
   void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ) override;
-  void copyToOMPLState(ompl::base::State* state, const robot_state::RobotState& rstate) const override;
+  void copyToOMPLState(ompl::base::State* state, const moveit::core::RobotState& rstate) const override;
   void sanityChecks() const override;
 
   const std::string& getParameterizationType() const override
@@ -118,8 +118,8 @@ class PoseModelStateSpace : public ModelBasedStateSpace
 private:
   struct PoseComponent
   {
-    PoseComponent(const robot_model::JointModelGroup* subgroup,
-                  const robot_model::JointModelGroup::KinematicsSolver& k);
+    PoseComponent(const moveit::core::JointModelGroup* subgroup,
+                  const moveit::core::JointModelGroup::KinematicsSolver& k);
 
     bool computeStateFK(StateType* full_state, unsigned int idx) const;
     bool computeStateIK(StateType* full_state, unsigned int idx) const;
@@ -129,7 +129,7 @@ class PoseModelStateSpace : public ModelBasedStateSpace
       return subgroup_->getName() < o.subgroup_->getName();
     }
 
-    const robot_model::JointModelGroup* subgroup_;
+    const moveit::core::JointModelGroup* subgroup_;
     kinematics::KinematicsBasePtr kinematics_solver_;
     std::vector<unsigned int> bijection_;
     ompl::base::StateSpacePtr state_space_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
index 11f45ad066..c5b1676ceb 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
@@ -46,7 +46,7 @@ class PoseModelStateSpaceFactory : public ModelBasedStateSpaceFactory
   PoseModelStateSpaceFactory();
 
   int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
-                          const robot_model::RobotModelConstPtr& robot_model) const override;
+                          const moveit::core::RobotModelConstPtr& robot_model) const override;
 
 protected:
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 8bff59c4dd..14e1eeb0ea 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -80,7 +80,7 @@ class MultiQueryPlannerAllocator
 class PlanningContextManager
 {
 public:
-  PlanningContextManager(robot_model::RobotModelConstPtr robot_model,
+  PlanningContextManager(moveit::core::RobotModelConstPtr robot_model,
                          constraint_samplers::ConstraintSamplerManagerPtr csm);
   ~PlanningContextManager();
 
@@ -165,7 +165,7 @@ class PlanningContextManager
     minimum_waypoint_count_ = mwc;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -219,7 +219,7 @@ class PlanningContextManager
                                                               const moveit_msgs::MotionPlanRequest& req) const;
 
   /** \brief The kinematic model for which motion plans are computed */
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
index 04a7fc83e3..ce417e99c2 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
@@ -63,7 +63,7 @@ ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler(const ModelBasedP
 }
 
 bool ompl_interface::ConstrainedGoalSampler::checkStateValidity(ob::State* new_goal,
-                                                                const robot_state::RobotState& state,
+                                                                const moveit::core::RobotState& state,
                                                                 bool verbose) const
 {
   planning_context_->getOMPLStateSpace()->copyToOMPLState(new_goal, state);
@@ -71,12 +71,12 @@ bool ompl_interface::ConstrainedGoalSampler::checkStateValidity(ob::State* new_g
 }
 
 bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback(ob::State* new_goal,
-                                                                   robot_state::RobotState const* state,
-                                                                   const robot_model::JointModelGroup* jmg,
+                                                                   moveit::core::RobotState const* state,
+                                                                   const moveit::core::JointModelGroup* jmg,
                                                                    const double* jpos, bool verbose) const
 {
   // we copy the state to not change the seed state
-  robot_state::RobotState solution_state(*state);
+  moveit::core::RobotState solution_state(*state);
   solution_state.setJointGroupPositions(jmg, jpos);
   solution_state.update();
   return checkStateValidity(new_goal, solution_state, verbose);
@@ -116,7 +116,7 @@ bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler(const
     if (constraint_sampler_)
     {
       // makes the constraint sampler also perform a validity callback
-      robot_state::GroupStateValidityCallbackFn gsvcf =
+      moveit::core::GroupStateValidityCallbackFn gsvcf =
           std::bind(&ompl_interface::ConstrainedGoalSampler::stateValidityCallback, this, new_goal,
                     std::placeholders::_1,  // pointer to state
                     std::placeholders::_2,  // const* joint model group
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 8e99b06dac..96c6f7c92a 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -230,7 +230,7 @@ ompl_interface::ConstraintApproximation::getStateSamplerAllocator(const moveit_m
 void ompl_interface::ConstraintApproximation::visualizeDistribution(const std::string &link_name, unsigned int count,
 visualization_msgs::MarkerArray &arr) const
 {
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToDefaultValues();
 
   ompl::RNG rng;
@@ -459,10 +459,10 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
 
   // construct a sampler for the sampling constraints
   kinematic_constraints::KinematicConstraintSet kset(pcontext->getRobotModel());
-  robot_state::Transforms no_transforms(pcontext->getRobotModel()->getModelFrame());
+  moveit::core::Transforms no_transforms(pcontext->getRobotModel()->getModelFrame());
   kset.add(constr_hard, no_transforms);
 
-  const robot_state::RobotState& default_state = pcontext->getCompleteInitialRobotState();
+  const moveit::core::RobotState& default_state = pcontext->getCompleteInitialRobotState();
 
   unsigned int attempts = 0;
 
@@ -473,7 +473,7 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
 
   // construct the constrained states
 
-  robot_state::RobotState robot_state(default_state);
+  moveit::core::RobotState robot_state(default_state);
   const constraint_samplers::ConstraintSamplerManagerPtr& csmng = pcontext->getConstraintSamplerManager();
   ConstrainedSampler* constrained_sampler = nullptr;
   if (csmng)
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/projection_evaluators.cpp b/moveit_planners/ompl/ompl_interface/src/detail/projection_evaluators.cpp
index 53fd8a6498..cb938df902 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/projection_evaluators.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/projection_evaluators.cpp
@@ -65,7 +65,7 @@ void ompl_interface::ProjectionEvaluatorLinkPose::defaultCellSizes()
 void ompl_interface::ProjectionEvaluatorLinkPose::project(const ompl::base::State* state,
                                                           OMPLProjection projection) const
 {
-  robot_state::RobotState* s = tss_.getStateStorage();
+  moveit::core::RobotState* s = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*s, state);
 
   const Eigen::Vector3d& o = s->getGlobalLinkTransform(link_).translation();
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
index 5deb25fce8..6205ce4dfd 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
@@ -86,7 +86,7 @@ double ompl_interface::StateValidityChecker::cost(const ompl::base::State* state
 {
   double cost = 0.0;
 
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   // Calculates cost from a summation of distance to obstacles times the size of the obstacle
@@ -101,7 +101,7 @@ double ompl_interface::StateValidityChecker::cost(const ompl::base::State* state
 
 double ompl_interface::StateValidityChecker::clearance(const ompl::base::State* state) const
 {
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   collision_detection::CollisionResult res;
@@ -120,7 +120,7 @@ bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base:
   }
 
   // convert ompl state to MoveIt robot state
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   // check path constraints
@@ -149,7 +149,7 @@ bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base:
     return false;
   }
 
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   // check path constraints
@@ -192,7 +192,7 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
     return false;
   }
 
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   // check path constraints
@@ -243,7 +243,7 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
     return false;
   }
 
-  robot_state::RobotState* robot_state = tss_.getStateStorage();
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
   planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
 
   // check path constraints
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/threadsafe_state_storage.cpp b/moveit_planners/ompl/ompl_interface/src/detail/threadsafe_state_storage.cpp
index d829852774..e0cfa8245e 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/threadsafe_state_storage.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/threadsafe_state_storage.cpp
@@ -36,13 +36,13 @@
 
 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
 
-ompl_interface::TSStateStorage::TSStateStorage(const robot_model::RobotModelPtr& robot_model)
+ompl_interface::TSStateStorage::TSStateStorage(const moveit::core::RobotModelPtr& robot_model)
   : start_state_(robot_model)
 {
   start_state_.setToDefaultValues();
 }
 
-ompl_interface::TSStateStorage::TSStateStorage(const robot_state::RobotState& start_state) : start_state_(start_state)
+ompl_interface::TSStateStorage::TSStateStorage(const moveit::core::RobotState& start_state) : start_state_(start_state)
 {
 }
 
@@ -52,15 +52,15 @@ ompl_interface::TSStateStorage::~TSStateStorage()
     delete thread_state.second;
 }
 
-robot_state::RobotState* ompl_interface::TSStateStorage::getStateStorage() const
+moveit::core::RobotState* ompl_interface::TSStateStorage::getStateStorage() const
 {
-  robot_state::RobotState* st = nullptr;
+  moveit::core::RobotState* st = nullptr;
   std::unique_lock<std::mutex> slock(lock_);  /// \todo use Thread Local Storage?
-  std::map<std::thread::id, robot_state::RobotState*>::const_iterator it =
+  std::map<std::thread::id, moveit::core::RobotState*>::const_iterator it =
       thread_states_.find(std::this_thread::get_id());
   if (it == thread_states_.end())
   {
-    st = new robot_state::RobotState(start_state_);
+    st = new moveit::core::RobotState(start_state_);
     thread_states_[std::this_thread::get_id()] = st;
   }
   else
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index bd64bfadcd..5cee993b16 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -420,7 +420,7 @@ void ompl_interface::ModelBasedPlanningContext::interpolateSolution()
 void ompl_interface::ModelBasedPlanningContext::convertPath(const ompl::geometric::PathGeometric& pg,
                                                             robot_trajectory::RobotTrajectory& traj) const
 {
-  robot_state::RobotState ks = complete_initial_robot_state_;
+  moveit::core::RobotState ks = complete_initial_robot_state_;
   for (std::size_t i = 0; i < pg.getStateCount(); ++i)
   {
     spec_.state_space_->copyToRobotState(ks, pg.getState(i));
@@ -528,7 +528,7 @@ ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContex
 }
 
 void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState(
-    const robot_state::RobotState& complete_initial_robot_state)
+    const moveit::core::RobotState& complete_initial_robot_state)
 {
   complete_initial_robot_state_ = complete_initial_robot_state;
   complete_initial_robot_state_.update();
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index dc4ffc5371..f01b70e8d7 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -42,7 +42,7 @@
 #include <moveit/utils/lexical_casts.h>
 #include <fstream>
 
-ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstPtr& robot_model,
+ompl_interface::OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
                                              const ros::NodeHandle& nh)
   : nh_(nh)
   , robot_model_(robot_model)
@@ -56,7 +56,7 @@ ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstP
   loadConstraintSamplers();
 }
 
-ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstPtr& robot_model,
+ompl_interface::OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
                                              const planning_interface::PlannerConfigurationMap& pconfig,
                                              const ros::NodeHandle& nh)
   : nh_(nh)
@@ -78,7 +78,7 @@ void ompl_interface::OMPLInterface::setPlannerConfigurations(const planning_inte
   planning_interface::PlannerConfigurationMap pconfig2 = pconfig;
 
   // construct default configurations for planning groups that don't have configs already passed in
-  for (const robot_model::JointModelGroup* group : robot_model_->getJointModelGroups())
+  for (const moveit::core::JointModelGroup* group : robot_model_->getJointModelGroups())
   {
     if (pconfig.find(group->getName()) == pconfig.end())
     {
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
index 2c8c67fe40..8d284feb38 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
@@ -102,7 +102,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
     ompl::msg::useOutputHandler(output_handler_.get());
   }
 
-  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns) override
+  bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& ns) override
   {
     if (!ns.empty())
       nh_ = ros::NodeHandle(ns);
@@ -177,7 +177,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
     ROS_INFO_STREAM("Displaying states for context " << pc->getName());
     const og::SimpleSetup &ss = pc->getOMPLSimpleSetup();
     ob::ValidStateSamplerPtr vss = ss.getSpaceInformation()->allocValidStateSampler();
-    robot_state::RobotState robot_state = pc->getPlanningScene()->getCurrentState();
+    moveit::core::RobotState robot_state = pc->getPlanningScene()->getCurrentState();
     ob::ScopedState<> rstate1(ss.getStateSpace());
     ob::ScopedState<> rstate2(ss.getStateSpace());
     ros::WallDuration wait(2);
@@ -191,7 +191,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
         pc->getOMPLStateSpace()->copyToRobotState(robot_state, rstate1.get());
         robot_state.getJointStateGroup(pc->getJointModelGroupName())->updateLinkTransforms();
         moveit_msgs::DisplayRobotState state_msg;
-        robot_state::robotStateToRobotStateMsg(robot_state, state_msg.state);
+        moveit::core::robotStateToRobotStateMsg(robot_state, state_msg.state);
         pub_valid_states_.publish(state_msg);
         n = (n + 1) % 2;
         if (n == 0)
@@ -208,7 +208,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
           msg.model_id = pc->getRobotModel()->getName();
           msg.trajectory.resize(1);
           traj.getRobotTrajectoryMsg(msg.trajectory[0]);
-          robot_state::robotStateToRobotStateMsg(traj.getFirstWayPoint(), msg.trajectory_start);
+          moveit::core::robotStateToRobotStateMsg(traj.getFirstWayPoint(), msg.trajectory_start);
           pub_valid_traj_.publish(msg);
         }
         rstate2 = rstate1;
@@ -224,7 +224,7 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
     {
       ompl::base::PlannerData pd(pc->getOMPLSimpleSetup()->getSpaceInformation());
       pc->getOMPLSimpleSetup()->getPlannerData(pd);
-      robot_state::RobotState robot_state = planning_scene->getCurrentState();
+      moveit::core::RobotState robot_state = planning_scene->getCurrentState();
       visualization_msgs::MarkerArray arr;
       std_msgs::ColorRGBA color;
       color.r = 1.0f;
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
index 222909cc49..2c5952640c 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
@@ -44,7 +44,7 @@ ompl_interface::JointModelStateSpaceFactory::JointModelStateSpaceFactory() : Mod
 
 int ompl_interface::JointModelStateSpaceFactory::canRepresentProblem(
     const std::string& /*group*/, const moveit_msgs::MotionPlanRequest& /*req*/,
-    const robot_model::RobotModelConstPtr& /*robot_model*/) const
+    const moveit::core::RobotModelConstPtr& /*robot_model*/) const
 {
   return 100;
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
index 847ffb9f12..5e359da1e4 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
@@ -140,7 +140,7 @@ void ompl_interface::ModelBasedStateSpace::deserialize(ompl::base::State* state,
 unsigned int ompl_interface::ModelBasedStateSpace::getDimension() const
 {
   unsigned int d = 0;
-  for (const robot_model::JointModel* i : joint_model_vector_)
+  for (const moveit::core::JointModel* i : joint_model_vector_)
     d += i->getStateSpaceDimension();
   return d;
 }
@@ -153,7 +153,7 @@ double ompl_interface::ModelBasedStateSpace::getMaximumExtent() const
 double ompl_interface::ModelBasedStateSpace::getMeasure() const
 {
   double m = 1.0;
-  for (const robot_model::JointModel::Bounds* bounds : spec_.joint_bounds_)
+  for (const moveit::core::JointModel::Bounds* bounds : spec_.joint_bounds_)
   {
     for (const moveit::core::VariableBounds& bound : *bounds)
     {
@@ -227,14 +227,14 @@ void ompl_interface::ModelBasedStateSpace::setPlanningVolume(double minX, double
                                                              double minZ, double maxZ)
 {
   for (std::size_t i = 0; i < joint_model_vector_.size(); ++i)
-    if (joint_model_vector_[i]->getType() == robot_model::JointModel::PLANAR)
+    if (joint_model_vector_[i]->getType() == moveit::core::JointModel::PLANAR)
     {
       joint_bounds_storage_[i][0].min_position_ = minX;
       joint_bounds_storage_[i][0].max_position_ = maxX;
       joint_bounds_storage_[i][1].min_position_ = minY;
       joint_bounds_storage_[i][1].max_position_ = maxY;
     }
-    else if (joint_model_vector_[i]->getType() == robot_model::JointModel::FLOATING)
+    else if (joint_model_vector_[i]->getType() == moveit::core::JointModel::FLOATING)
     {
       joint_bounds_storage_[i][0].min_position_ = minX;
       joint_bounds_storage_[i][0].max_position_ = maxX;
@@ -250,8 +250,8 @@ ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocDefaultSt
   class DefaultStateSampler : public ompl::base::StateSampler
   {
   public:
-    DefaultStateSampler(const ompl::base::StateSpace* space, const robot_model::JointModelGroup* group,
-                        const robot_model::JointBoundsVector* joint_bounds)
+    DefaultStateSampler(const ompl::base::StateSpace* space, const moveit::core::JointModelGroup* group,
+                        const moveit::core::JointBoundsVector* joint_bounds)
       : ompl::base::StateSampler(space), joint_model_group_(group), joint_bounds_(joint_bounds)
     {
     }
@@ -276,8 +276,8 @@ ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocDefaultSt
 
   protected:
     random_numbers::RandomNumberGenerator moveit_rng_;
-    const robot_model::JointModelGroup* joint_model_group_;
-    const robot_model::JointBoundsVector* joint_bounds_;
+    const moveit::core::JointModelGroup* joint_model_group_;
+    const moveit::core::JointBoundsVector* joint_bounds_;
   };
 
   return ompl::base::StateSamplerPtr(static_cast<ompl::base::StateSampler*>(
@@ -291,7 +291,7 @@ void ompl_interface::ModelBasedStateSpace::printSettings(std::ostream& out) cons
 
 void ompl_interface::ModelBasedStateSpace::printState(const ompl::base::State* state, std::ostream& out) const
 {
-  for (const robot_model::JointModel* j : joint_model_vector_)
+  for (const moveit::core::JointModel* j : joint_model_vector_)
   {
     out << j->getName() << " = ";
     const int idx = spec_.joint_model_group_->getVariableGroupIndex(j->getName());
@@ -315,7 +315,7 @@ void ompl_interface::ModelBasedStateSpace::printState(const ompl::base::State* s
   out << "Tag: " << state->as<StateType>()->tag << std::endl;
 }
 
-void ompl_interface::ModelBasedStateSpace::copyToRobotState(robot_state::RobotState& rstate,
+void ompl_interface::ModelBasedStateSpace::copyToRobotState(moveit::core::RobotState& rstate,
                                                             const ompl::base::State* state) const
 {
   rstate.setJointGroupPositions(spec_.joint_model_group_, state->as<StateType>()->values);
@@ -323,7 +323,7 @@ void ompl_interface::ModelBasedStateSpace::copyToRobotState(robot_state::RobotSt
 }
 
 void ompl_interface::ModelBasedStateSpace::copyToOMPLState(ompl::base::State* state,
-                                                           const robot_state::RobotState& rstate) const
+                                                           const moveit::core::RobotState& rstate) const
 {
   rstate.copyJointGroupPositions(spec_.joint_model_group_, state->as<StateType>()->values);
   // clear any cached info (such as validity known or not)
@@ -331,7 +331,7 @@ void ompl_interface::ModelBasedStateSpace::copyToOMPLState(ompl::base::State* st
 }
 
 void ompl_interface::ModelBasedStateSpace::copyJointToOMPLState(ompl::base::State* state,
-                                                                const robot_state::RobotState& robot_state,
+                                                                const moveit::core::RobotState& robot_state,
                                                                 const moveit::core::JointModel* joint_model,
                                                                 int ompl_state_joint_index) const
 {
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
index 7433f35ec0..97b27e0884 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
@@ -51,7 +51,7 @@ ompl_interface::PoseModelStateSpace::PoseModelStateSpace(const ModelBasedStateSp
     poses_.emplace_back(spec.joint_model_group_, spec.joint_model_group_->getGroupKinematics().first);
   else if (!spec.joint_model_group_->getGroupKinematics().second.empty())
   {
-    const robot_model::JointModelGroup::KinematicsSolverMap& m = spec.joint_model_group_->getGroupKinematics().second;
+    const moveit::core::JointModelGroup::KinematicsSolverMap& m = spec.joint_model_group_->getGroupKinematics().second;
     for (const auto& it : m)
       poses_.emplace_back(it.first, it.second);
   }
@@ -177,7 +177,7 @@ void ompl_interface::PoseModelStateSpace::setPlanningVolume(double minX, double
 }
 
 ompl_interface::PoseModelStateSpace::PoseComponent::PoseComponent(
-    const robot_model::JointModelGroup* subgroup, const robot_model::JointModelGroup::KinematicsSolver& k)
+    const moveit::core::JointModelGroup* subgroup, const moveit::core::JointModelGroup::KinematicsSolver& k)
   : subgroup_(subgroup), kinematics_solver_(k.allocator_(subgroup)), bijection_(k.bijection_)
 {
   state_space_.reset(new ompl::base::SE3StateSpace());
@@ -338,7 +338,7 @@ ompl::base::StateSamplerPtr ompl_interface::PoseModelStateSpace::allocDefaultSta
 }
 
 void ompl_interface::PoseModelStateSpace::copyToOMPLState(ompl::base::State* state,
-                                                          const robot_state::RobotState& rstate) const
+                                                          const moveit::core::RobotState& rstate) const
 {
   ModelBasedStateSpace::copyToOMPLState(state, rstate);
   state->as<StateType>()->setJointsComputed(true);
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
index 93200757cd..5d912db8f2 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp
@@ -44,13 +44,13 @@ ompl_interface::PoseModelStateSpaceFactory::PoseModelStateSpaceFactory() : Model
 
 int ompl_interface::PoseModelStateSpaceFactory::canRepresentProblem(
     const std::string& group, const moveit_msgs::MotionPlanRequest& req,
-    const robot_model::RobotModelConstPtr& robot_model) const
+    const moveit::core::RobotModelConstPtr& robot_model) const
 {
-  const robot_model::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
   if (jmg)
   {
-    const std::pair<robot_model::JointModelGroup::KinematicsSolver, robot_model::JointModelGroup::KinematicsSolverMap>&
-        slv = jmg->getGroupKinematics();
+    const std::pair<moveit::core::JointModelGroup::KinematicsSolver,
+                    moveit::core::JointModelGroup::KinematicsSolverMap>& slv = jmg->getGroupKinematics();
     bool ik = false;
     // check that we have a direct means to compute IK
     if (slv.first)
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 89809dfcff..6e868a5b5e 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -223,7 +223,7 @@ MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMst
 }
 #endif
 
-ompl_interface::PlanningContextManager::PlanningContextManager(robot_model::RobotModelConstPtr robot_model,
+ompl_interface::PlanningContextManager::PlanningContextManager(moveit::core::RobotModelConstPtr robot_model,
                                                                constraint_samplers::ConstraintSamplerManagerPtr csm)
   : robot_model_(std::move(robot_model))
   , constraint_sampler_manager_(std::move(csm))
@@ -497,7 +497,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
   {
     context->clear();
 
-    robot_state::RobotStatePtr start_state = planning_scene->getCurrentStateUpdated(req.start_state);
+    moveit::core::RobotStatePtr start_state = planning_scene->getCurrentStateUpdated(req.start_state);
 
     // Setup the context
     context->setPlanningScene(planning_scene);
diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
index b704a83abd..90bbcc1d38 100644
--- a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
@@ -76,7 +76,7 @@ class LoadPlanningModelsPr2 : public testing::Test
   }
 
 protected:
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
   urdf::ModelInterfaceSharedPtr urdf_model_;
   srdf::ModelSharedPtr srdf_model_;
   bool urdf_ok_;
@@ -146,13 +146,13 @@ TEST_F(LoadPlanningModelsPr2, StateSpaceCopy)
   }
   EXPECT_TRUE(passed);
 
-  robot_state::RobotState robot_state(robot_model_);
+  moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToRandomPositions();
   EXPECT_TRUE(robot_state.distance(robot_state) < 1e-12);
   ompl::base::State* state = ss.allocState();
   for (int i = 0; i < 10; ++i)
   {
-    robot_state::RobotState robot_state2(robot_state);
+    moveit::core::RobotState robot_state2(robot_state);
     EXPECT_TRUE(robot_state.distance(robot_state2) < 1e-12);
     ss.copyToOMPLState(state, robot_state);
     robot_state.setToRandomPositions(robot_state.getRobotModel()->getJointModelGroup(ss.getJointModelGroupName()));
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index 12676f57e7..c3d6390164 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -13,7 +13,7 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
 public:
   TrajOptPlanningContext(const std::string& name, const std::string& group,
-                         const robot_model::RobotModelConstPtr& model);
+                         const moveit::core::RobotModelConstPtr& model);
   ~TrajOptPlanningContext() override
   {
   }
diff --git a/moveit_planners/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/src/problem_description.cpp
index 7cd678282c..59c5de2198 100644
--- a/moveit_planners/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/src/problem_description.cpp
@@ -82,9 +82,9 @@ TrajOptProblem::TrajOptProblem(const ProblemInfo& problem_info)
   , planning_scene_(problem_info.planning_scene)
   , planning_group_(problem_info.planning_group_name)
 {
-  robot_model::RobotModelConstPtr robot_model = planning_scene_->getRobotModel();
-  robot_state::RobotState current_state = planning_scene_->getCurrentState();
-  const robot_state::JointModelGroup* joint_model_group = current_state.getJointModelGroup(planning_group_);
+  moveit::core::RobotModelConstPtr robot_model = planning_scene_->getRobotModel();
+  moveit::core::RobotState current_state = planning_scene_->getCurrentState();
+  const moveit::core::JointModelGroup* joint_model_group = current_state.getJointModelGroup(planning_group_);
 
   moveit::core::JointBoundsVector bounds = joint_model_group->getActiveJointModelsBounds();
   dof_ = joint_model_group->getActiveJointModelNames().size();  // or bounds.size();
@@ -181,10 +181,10 @@ TrajOptProblemPtr ConstructProblem(const ProblemInfo& pci)
   TrajOptProblemPtr prob(new TrajOptProblem(pci));
 
   // Generate initial trajectory and check its size
-  robot_model::RobotModelConstPtr robot_model = pci.planning_scene->getRobotModel();
-  robot_state::RobotState current_state = pci.planning_scene->getCurrentState();
+  moveit::core::RobotModelConstPtr robot_model = pci.planning_scene->getRobotModel();
+  moveit::core::RobotState current_state = pci.planning_scene->getCurrentState();
 
-  const robot_state::JointModelGroup* joint_model_group = current_state.getJointModelGroup(pci.planning_group_name);
+  const moveit::core::JointModelGroup* joint_model_group = current_state.getJointModelGroup(pci.planning_group_name);
   int n_dof = prob->GetNumDOF();
 
   std::vector<double> current_joint_values;
diff --git a/moveit_planners/trajopt/src/trajopt_interface.cpp b/moveit_planners/trajopt/src/trajopt_interface.cpp
index 4f76c1add2..7a5e95b71f 100644
--- a/moveit_planners/trajopt/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/src/trajopt_interface.cpp
@@ -83,13 +83,13 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Extract current state information");
   ros::WallTime start_time = ros::WallTime::now();
-  robot_model::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
+  moveit::core::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
   bool robot_model_ok = static_cast<bool>(robot_model);
   if (!robot_model_ok)
     ROS_ERROR_STREAM_NAMED(name_, "robot model is not loaded properly");
-  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
+  moveit::core::RobotStatePtr current_state(new moveit::core::RobotState(robot_model));
   *current_state = planning_scene->getCurrentState();
-  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(req.group_name);
+  const moveit::core::JointModelGroup* joint_model_group = current_state->getJointModelGroup(req.group_name);
   if (joint_model_group == nullptr)
     ROS_ERROR_STREAM_NAMED(name_, "joint model group is empty");
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
@@ -303,7 +303,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= check if final state is within goal tolerances");
   kinematic_constraints::JointConstraint joint_cnt(planning_scene->getRobotModel());
-  robot_state::RobotState last_state(*current_state);
+  moveit::core::RobotState last_state(*current_state);
   last_state.setJointGroupPositions(req.group_name, res.trajectory[0].joint_trajectory.points.back().positions);
 
   for (int jn = 0; jn < res.trajectory[0].joint_trajectory.points.back().positions.size(); ++jn)
diff --git a/moveit_planners/trajopt/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/src/trajopt_planner_manager.cpp
index 760c58f823..dda52869f5 100644
--- a/moveit_planners/trajopt/src/trajopt_planner_manager.cpp
+++ b/moveit_planners/trajopt/src/trajopt_planner_manager.cpp
@@ -53,7 +53,7 @@ class TrajOptPlannerManager : public planning_interface::PlannerManager
   {
   }
 
-  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns) override
+  bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& ns) override
   {
     ROS_INFO(" ======================================= initialize gets called");
 
diff --git a/moveit_planners/trajopt/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/src/trajopt_planning_context.cpp
index 34b1e4c307..28594f0465 100644
--- a/moveit_planners/trajopt/src/trajopt_planning_context.cpp
+++ b/moveit_planners/trajopt/src/trajopt_planning_context.cpp
@@ -13,7 +13,7 @@
 namespace trajopt_interface
 {
 TrajOptPlanningContext::TrajOptPlanningContext(const std::string& context_name, const std::string& group_name,
-                                               const robot_model::RobotModelConstPtr& model)
+                                               const moveit::core::RobotModelConstPtr& model)
   : planning_interface::PlanningContext(context_name, group_name), robot_model_(model)
 {
   ROS_INFO(" ======================================= TrajOptPlanningContext is constructed");
@@ -32,7 +32,7 @@ bool TrajOptPlanningContext::solve(planning_interface::MotionPlanDetailedRespons
         robot_trajectory::RobotTrajectoryPtr(new robot_trajectory::RobotTrajectory(robot_model_, getGroupName()));
 
     moveit::core::RobotState start_state(robot_model_);
-    robot_state::robotStateMsgToRobotState(res_msg.trajectory_start, start_state);
+    moveit::core::robotStateMsgToRobotState(res_msg.trajectory_start, start_state);
     res.trajectory_[0]->setRobotTrajectoryMsg(start_state, res_msg.trajectory[0]);
 
     res.description_.push_back("plan");
diff --git a/moveit_planners/trajopt/test/trajectory_test.cpp b/moveit_planners/trajopt/test/trajectory_test.cpp
index 3494ba2d9e..49dd079500 100644
--- a/moveit_planners/trajopt/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/test/trajectory_test.cpp
@@ -56,7 +56,7 @@ class TrajectoryTest : public ::testing::Test
   }
 
 protected:
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
   std::vector<std::string> group_joint_names_;
   const std::string PLANNING_GROUP = "panda_arm";
   const double GOAL_TOLERANCE = 0.1;
@@ -91,10 +91,10 @@ TEST_F(TrajectoryTest, goalTolerance)
   const std::string NODE_NAME = "trajectory_test";
 
   // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
-  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model_));
+  moveit::core::RobotStatePtr current_state(new moveit::core::RobotState(robot_model_));
   current_state->setToDefaultValues();
 
-  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
+  const moveit::core::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
   EXPECT_NE(joint_model_group, nullptr);
   const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
   EXPECT_EQ(joint_names.size(), 7);
@@ -108,7 +108,7 @@ TEST_F(TrajectoryTest, goalTolerance)
   // Set start state
   // ======================================================================================
   std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
-  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model_));
+  moveit::core::RobotStatePtr start_state(new moveit::core::RobotState(robot_model_));
   start_state->setJointGroupPositions(joint_model_group, start_joint_values);
   start_state->update();
 
@@ -119,7 +119,7 @@ TEST_F(TrajectoryTest, goalTolerance)
 
   // Set the goal state and joints tolerance
   // ========================================================================================
-  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model_));
+  moveit::core::RobotStatePtr goal_state(new moveit::core::RobotState(robot_model_));
   std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
   goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
   goal_state->update();
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index 64c28f82cc..0e6f5cae64 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -141,7 +141,7 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
     }
 
     robot_model_loader::RobotModelLoader robot_model_loader(ROBOT_DESCRIPTION);
-    const robot_model::RobotModelPtr& robot_model = robot_model_loader.getModel();
+    const moveit::core::RobotModelPtr& robot_model = robot_model_loader.getModel();
     moveit::core::RobotState robot_state(robot_model);
     typedef std::map<std::string, double> JointPoseMap;
     JointPoseMap joints;
diff --git a/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp b/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
index b9ca44eb74..1a412ae7b8 100644
--- a/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
+++ b/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
@@ -883,8 +883,8 @@ void moveit_benchmarks::BenchmarkExecution::collectMetrics(RunData& rundata,
 
 namespace
 {
-bool isIKSolutionCollisionFree(const planning_scene::PlanningScene* scene, robot_state::RobotState* state,
-                               const robot_model::JointModelGroup* group, const double* ik_solution, bool* reachable)
+bool isIKSolutionCollisionFree(const planning_scene::PlanningScene* scene, moveit::core::RobotState* state,
+                               const moveit::core::JointModelGroup* group, const double* ik_solution, bool* reachable)
 {
   state->setJointGroupPositions(group, ik_solution);
   state->update();
@@ -1270,8 +1270,8 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
     ik_pose.orientation.z = req.motion_plan_request.goal_constraints[0].orientation_constraints[0].orientation.z;
     ik_pose.orientation.w = req.motion_plan_request.goal_constraints[0].orientation_constraints[0].orientation.w;
 
-    robot_state::RobotState robot_state(planning_scene_->getCurrentState());
-    robot_state::robotStateMsgToRobotState(req.motion_plan_request.start_state, robot_state);
+    moveit::core::RobotState robot_state(planning_scene_->getCurrentState());
+    moveit::core::robotStateMsgToRobotState(req.motion_plan_request.start_state, robot_state);
 
     // Compute IK
     ROS_INFO_STREAM("Processing goal " << req.motion_plan_request.goal_constraints[0].name << " ...");
@@ -1358,8 +1358,8 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
       ik_pose.orientation.w =
           req.motion_plan_request.trajectory_constraints.constraints[tc].orientation_constraints[0].orientation.w;
 
-      robot_state::RobotState robot_state(planning_scene_->getCurrentState());
-      robot_state::robotStateMsgToRobotState(req.motion_plan_request.start_state, robot_state);
+      moveit::core::RobotState robot_state(planning_scene_->getCurrentState());
+      moveit::core::robotStateMsgToRobotState(req.motion_plan_request.start_state, robot_state);
 
       // Compute IK
       ROS_INFO_STREAM("Processing trajectory waypoint "
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
index a8415864cf..e4df2f2c01 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
@@ -63,9 +63,9 @@ struct ManipulationPlanSharedData
   {
   }
 
-  const robot_model::JointModelGroup* planning_group_;
-  const robot_model::JointModelGroup* end_effector_group_;
-  const robot_model::LinkModel* ik_link_;
+  const moveit::core::JointModelGroup* planning_group_;
+  const moveit::core::JointModelGroup* end_effector_group_;
+  const moveit::core::LinkModel* ik_link_;
 
   unsigned int max_goal_sampling_attempts_;
 
@@ -125,9 +125,9 @@ struct ManipulationPlan
   // Allows for the sampling of a kineamtic state for a particular group of a robot
   constraint_samplers::ConstraintSamplerPtr goal_sampler_;
 
-  std::vector<robot_state::RobotStatePtr> possible_goal_states_;
+  std::vector<moveit::core::RobotStatePtr> possible_goal_states_;
 
-  robot_state::RobotStatePtr approach_state_;
+  moveit::core::RobotStatePtr approach_state_;
 
   // The sequence of trajectories produced for execution
   std::vector<plan_execution::ExecutableTrajectory> trajectories_;
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
index 722dd3f79c..1448112f13 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
@@ -131,7 +131,7 @@ class PickPlace : private boost::noncopyable, public std::enable_shared_from_thi
     return planning_pipeline_;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return planning_pipeline_->getRobotModel();
   }
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
index 802c5dafe0..09125623fe 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
@@ -52,7 +52,7 @@ class ReachableAndValidPoseFilter : public ManipulationStage
   bool evaluate(const ManipulationPlanPtr& plan) const override;
 
 private:
-  bool isEndEffectorFree(const ManipulationPlanPtr& plan, robot_state::RobotState& token_state) const;
+  bool isEndEffectorFree(const ManipulationPlanPtr& plan, moveit::core::RobotState& token_state) const;
 
   planning_scene::PlanningSceneConstPtr planning_scene_;
   collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_;
diff --git a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
index df25737485..c05e817149 100644
--- a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
+++ b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
@@ -58,8 +58,8 @@ namespace
 {
 bool isStateCollisionFree(const planning_scene::PlanningScene* planning_scene,
                           const collision_detection::AllowedCollisionMatrix* collision_matrix, bool verbose,
-                          const trajectory_msgs::JointTrajectory* grasp_posture, robot_state::RobotState* state,
-                          const robot_state::JointModelGroup* group, const double* joint_group_variable_values)
+                          const trajectory_msgs::JointTrajectory* grasp_posture, moveit::core::RobotState* state,
+                          const moveit::core::JointModelGroup* group, const double* joint_group_variable_values)
 {
   state->setJointGroupPositions(group, joint_group_variable_values);
 
@@ -90,11 +90,11 @@ bool isStateCollisionFree(const planning_scene::PlanningScene* planning_scene,
   return planning_scene->isStateFeasible(*state);
 }
 
-bool samplePossibleGoalStates(const ManipulationPlanPtr& plan, const robot_state::RobotState& reference_state,
+bool samplePossibleGoalStates(const ManipulationPlanPtr& plan, const moveit::core::RobotState& reference_state,
                               double min_distance, unsigned int attempts)
 {
   // initialize with scene state
-  robot_state::RobotStatePtr token_state(new robot_state::RobotState(reference_state));
+  moveit::core::RobotStatePtr token_state(new moveit::core::RobotState(reference_state));
   for (unsigned int j = 0; j < attempts; ++j)
   {
     double min_d = std::numeric_limits<double>::infinity();
@@ -157,8 +157,8 @@ void addGripperTrajectory(const ManipulationPlanPtr& plan,
   // Check if a "closed" end effector configuration was specified
   if (!plan->retreat_posture_.joint_names.empty())
   {
-    robot_state::RobotStatePtr ee_closed_state(
-        new robot_state::RobotState(plan->trajectories_.back().trajectory_->getLastWayPoint()));
+    moveit::core::RobotStatePtr ee_closed_state(
+        new moveit::core::RobotState(plan->trajectories_.back().trajectory_->getLastWayPoint()));
 
     robot_trajectory::RobotTrajectoryPtr ee_closed_traj(new robot_trajectory::RobotTrajectory(
         ee_closed_state->getRobotModel(), plan->shared_data_->end_effector_group_->getName()));
@@ -195,7 +195,7 @@ void addGripperTrajectory(const ManipulationPlanPtr& plan,
 
 bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
 {
-  const robot_model::JointModelGroup* jmg = plan->shared_data_->planning_group_;
+  const moveit::core::JointModelGroup* jmg = plan->shared_data_->planning_group_;
   // compute what the maximum distance reported between any two states in the planning group could be, and keep 1% of
   // that;
   // this is the minimum distance between sampled goal states
@@ -208,10 +208,10 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
 
   // if translation vectors are specified in the frame of the ik link name, then we assume the frame is local;
   // otherwise, the frame is global
-  bool approach_direction_is_global_frame = !robot_state::Transforms::sameFrame(
+  bool approach_direction_is_global_frame = !moveit::core::Transforms::sameFrame(
       plan->approach_.direction.header.frame_id, plan->shared_data_->ik_link_->getName());
-  bool retreat_direction_is_global_frame = !robot_state::Transforms::sameFrame(plan->retreat_.direction.header.frame_id,
-                                                                               plan->shared_data_->ik_link_->getName());
+  bool retreat_direction_is_global_frame = !moveit::core::Transforms::sameFrame(
+      plan->retreat_.direction.header.frame_id, plan->shared_data_->ik_link_->getName());
 
   // transform the input vectors in accordance to frame specified in the header;
   if (approach_direction_is_global_frame)
@@ -222,7 +222,7 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
         planning_scene_->getFrameTransform(plan->retreat_.direction.header.frame_id).rotation() * retreat_direction;
 
   // state validity checking during the approach must ensure that the gripper posture is that for pre-grasping
-  robot_state::GroupStateValidityCallbackFn approach_valid_callback =
+  moveit::core::GroupStateValidityCallbackFn approach_valid_callback =
       boost::bind(&isStateCollisionFree, planning_scene_.get(), collision_matrix_.get(), verbose_,
                   &plan->approach_posture_, _1, _2, _3);
   plan->goal_sampler_->setVerbose(verbose_);
@@ -236,8 +236,8 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
       if (plan->shared_data_->minimize_object_distance_)
       {
         static const double MAX_CLOSE_UP_DIST = 1.0;
-        robot_state::RobotStatePtr close_up_state(new robot_state::RobotState(*plan->possible_goal_states_[i]));
-        std::vector<robot_state::RobotStatePtr> close_up_states;
+        moveit::core::RobotStatePtr close_up_state(new moveit::core::RobotState(*plan->possible_goal_states_[i]));
+        std::vector<moveit::core::RobotStatePtr> close_up_states;
         double d_close_up = moveit::core::CartesianInterpolator::computeCartesianPath(
             close_up_state.get(), plan->shared_data_->planning_group_, close_up_states, plan->shared_data_->ik_link_,
             approach_direction, approach_direction_is_global_frame, MAX_CLOSE_UP_DIST,
@@ -248,9 +248,9 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
       }
 
       // try to compute a straight line path that arrives at the goal using the specified approach direction
-      robot_state::RobotStatePtr first_approach_state(new robot_state::RobotState(*plan->possible_goal_states_[i]));
+      moveit::core::RobotStatePtr first_approach_state(new moveit::core::RobotState(*plan->possible_goal_states_[i]));
 
-      std::vector<robot_state::RobotStatePtr> approach_states;
+      std::vector<moveit::core::RobotStatePtr> approach_states;
       double d_approach = moveit::core::CartesianInterpolator::computeCartesianPath(
           first_approach_state.get(), plan->shared_data_->planning_group_, approach_states,
           plan->shared_data_->ik_link_, -approach_direction, approach_direction_is_global_frame,
@@ -273,14 +273,14 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
 
           // state validity checking during the retreat after the grasp must ensure the gripper posture is that of the
           // actual grasp
-          robot_state::GroupStateValidityCallbackFn retreat_valid_callback =
+          moveit::core::GroupStateValidityCallbackFn retreat_valid_callback =
               boost::bind(&isStateCollisionFree, planning_scene_after_approach.get(), collision_matrix_.get(), verbose_,
                           &plan->retreat_posture_, _1, _2, _3);
 
           // try to compute a straight line path that moves from the goal in a desired direction
-          robot_state::RobotStatePtr last_retreat_state(
-              new robot_state::RobotState(planning_scene_after_approach->getCurrentState()));
-          std::vector<robot_state::RobotStatePtr> retreat_states;
+          moveit::core::RobotStatePtr last_retreat_state(
+              new moveit::core::RobotState(planning_scene_after_approach->getCurrentState()));
+          std::vector<moveit::core::RobotStatePtr> retreat_states;
           double d_retreat = moveit::core::CartesianInterpolator::computeCartesianPath(
               last_retreat_state.get(), plan->shared_data_->planning_group_, retreat_states,
               plan->shared_data_->ik_link_, retreat_direction, retreat_direction_is_global_frame,
diff --git a/moveit_ros/manipulation/pick_place/src/pick.cpp b/moveit_ros/manipulation/pick_place/src/pick.cpp
index f2e868ae79..def95e4c2d 100644
--- a/moveit_ros/manipulation/pick_place/src/pick.cpp
+++ b/moveit_ros/manipulation/pick_place/src/pick.cpp
@@ -73,7 +73,7 @@ bool PickPlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
   std::string end_effector = goal.end_effector;
   if (end_effector.empty() && !planning_group.empty())
   {
-    const robot_model::JointModelGroup* jmg = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
+    const moveit::core::JointModelGroup* jmg = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
     if (!jmg)
     {
       error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
@@ -91,7 +91,7 @@ bool PickPlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
   }
   else if (!end_effector.empty() && planning_group.empty())
   {
-    const robot_model::JointModelGroup* jmg = planning_scene->getRobotModel()->getEndEffector(end_effector);
+    const moveit::core::JointModelGroup* jmg = planning_scene->getRobotModel()->getEndEffector(end_effector);
     if (!jmg)
     {
       error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
@@ -109,7 +109,7 @@ bool PickPlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
       ROS_INFO_STREAM_NAMED("manipulation", "Assuming the planning group for end effector '" << end_effector << "' is '"
                                                                                              << planning_group << "'");
   }
-  const robot_model::JointModelGroup* eef =
+  const moveit::core::JointModelGroup* eef =
       end_effector.empty() ? nullptr : planning_scene->getRobotModel()->getEndEffector(end_effector);
   if (!eef)
   {
diff --git a/moveit_ros/manipulation/pick_place/src/pick_place.cpp b/moveit_ros/manipulation/pick_place/src/pick_place.cpp
index 0c7ceb41d7..8571f24d47 100644
--- a/moveit_ros/manipulation/pick_place/src/pick_place.cpp
+++ b/moveit_ros/manipulation/pick_place/src/pick_place.cpp
@@ -125,7 +125,7 @@ void PickPlace::visualizePlan(const ManipulationPlanPtr& plan) const
       continue;
     if (first)
     {
-      robot_state::robotStateToRobotStateMsg(traj.trajectory_->getFirstWayPoint(), dtraj.trajectory_start);
+      moveit::core::robotStateToRobotStateMsg(traj.trajectory_->getFirstWayPoint(), dtraj.trajectory_start);
       first = false;
     }
     dtraj.trajectory.resize(dtraj.trajectory.size() + 1);
@@ -178,14 +178,14 @@ void PickPlace::visualizeGrasps(const std::vector<ManipulationPlanPtr>& plans) c
   if (plans.empty())
     return;
 
-  robot_state::RobotState state(getRobotModel());
+  moveit::core::RobotState state(getRobotModel());
   state.setToDefaultValues();
 
   static std::vector<std_msgs::ColorRGBA> colors(setupDefaultGraspColors());
   visualization_msgs::MarkerArray ma;
   for (const ManipulationPlanPtr& plan : plans)
   {
-    const robot_model::JointModelGroup* jmg = plan->shared_data_->end_effector_group_;
+    const moveit::core::JointModelGroup* jmg = plan->shared_data_->end_effector_group_;
     if (jmg)
     {
       unsigned int type = std::min(plan->processing_stage_, colors.size() - 1);
diff --git a/moveit_ros/manipulation/pick_place/src/place.cpp b/moveit_ros/manipulation/pick_place/src/place.cpp
index ae7e1f04cf..2bf053a06c 100644
--- a/moveit_ros/manipulation/pick_place/src/place.cpp
+++ b/moveit_ros/manipulation/pick_place/src/place.cpp
@@ -52,7 +52,7 @@ PlacePlan::PlacePlan(const PickPlaceConstPtr& pick_place) : PickPlacePlanBase(pi
 namespace
 {
 bool transformToEndEffectorGoal(const geometry_msgs::PoseStamped& goal_pose,
-                                const robot_state::AttachedBody* attached_body, geometry_msgs::PoseStamped& place_pose)
+                                const moveit::core::AttachedBody* attached_body, geometry_msgs::PoseStamped& place_pose)
 {
   const EigenSTL::vector_Isometry3d& fixed_transforms = attached_body->getFixedTransforms();
   if (fixed_transforms.empty())
@@ -72,8 +72,8 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
   double timeout = goal.allowed_planning_time;
   ros::WallTime endtime = ros::WallTime::now() + ros::WallDuration(timeout);
   std::string attached_object_name = goal.attached_object_name;
-  const robot_model::JointModelGroup* jmg = nullptr;
-  const robot_model::JointModelGroup* eef = nullptr;
+  const moveit::core::JointModelGroup* jmg = nullptr;
+  const moveit::core::JointModelGroup* eef = nullptr;
 
   // if the group specified is actually an end-effector, we use it as such
   if (planning_scene->getRobotModel()->hasEndEffector(goal.group_name))
@@ -113,8 +113,8 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
         // check to see if there is an end effector that has attached objects associaded, so we can complete the place
         for (const std::string& eef_name : eef_names)
         {
-          std::vector<const robot_state::AttachedBody*> attached_bodies;
-          const robot_model::JointModelGroup* eg = planning_scene->getRobotModel()->getEndEffector(eef_name);
+          std::vector<const moveit::core::AttachedBody*> attached_bodies;
+          const moveit::core::JointModelGroup* eg = planning_scene->getRobotModel()->getEndEffector(eef_name);
           if (eg)
           {
             // see if there are objects attached to links in the eef
@@ -122,11 +122,11 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
 
             // is is often possible that the objects are attached to the same link that the eef itself is attached,
             // so we check for attached bodies there as well
-            const robot_model::LinkModel* attached_link_model =
+            const moveit::core::LinkModel* attached_link_model =
                 planning_scene->getRobotModel()->getLinkModel(eg->getEndEffectorParentGroup().second);
             if (attached_link_model)
             {
-              std::vector<const robot_state::AttachedBody*> attached_bodies2;
+              std::vector<const moveit::core::AttachedBody*> attached_bodies2;
               planning_scene->getCurrentState().getAttachedBodies(attached_bodies2, attached_link_model);
               attached_bodies.insert(attached_bodies.end(), attached_bodies2.begin(), attached_bodies2.end());
             }
@@ -172,14 +172,15 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
   // if we know the attached object, but not the eef, we can try to identify that
   if (!attached_object_name.empty() && !eef)
   {
-    const robot_state::AttachedBody* attached_body =
+    const moveit::core::AttachedBody* attached_body =
         planning_scene->getCurrentState().getAttachedBody(attached_object_name);
     if (attached_body)
     {
       // get the robot model link this attached body is associated to
-      const robot_model::LinkModel* link = attached_body->getAttachedLink();
+      const moveit::core::LinkModel* link = attached_body->getAttachedLink();
       // check to see if there is a unique end effector containing the link
-      const std::vector<const robot_model::JointModelGroup*>& eefs = planning_scene->getRobotModel()->getEndEffectors();
+      const std::vector<const moveit::core::JointModelGroup*>& eefs =
+          planning_scene->getRobotModel()->getEndEffectors();
       for (const moveit::core::JointModelGroup* end_effector : eefs)
         if (end_effector->hasLinkModel(link->getName()))
         {
@@ -224,7 +225,7 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
   {
     // in the first try, look for objects attached to the eef, if the eef is known;
     // otherwise, look for attached bodies in the planning group itself
-    std::vector<const robot_state::AttachedBody*> attached_bodies;
+    std::vector<const moveit::core::AttachedBody*> attached_bodies;
     planning_scene->getCurrentState().getAttachedBodies(attached_bodies, loop_count == 0 ? eef : jmg);
 
     loop_count++;
@@ -240,7 +241,7 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
       attached_object_name = attached_bodies[0]->getName();
   }
 
-  const robot_state::AttachedBody* attached_body =
+  const moveit::core::AttachedBody* attached_body =
       planning_scene->getCurrentState().getAttachedBody(attached_object_name);
   if (!attached_body)
   {
diff --git a/moveit_ros/manipulation/pick_place/src/plan_stage.cpp b/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
index 1d81f2e779..3646c94a0f 100644
--- a/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
+++ b/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
@@ -77,7 +77,8 @@ bool PlanStage::evaluate(const ManipulationPlanPtr& plan) const
       // We have a valid motion plan, now apply pre-approach end effector posture (open gripper) if applicable
       if (!plan->approach_posture_.joint_names.empty())
       {
-        robot_state::RobotStatePtr pre_approach_state(new robot_state::RobotState(res.trajectory_->getLastWayPoint()));
+        moveit::core::RobotStatePtr pre_approach_state(
+            new moveit::core::RobotState(res.trajectory_->getLastWayPoint()));
         robot_trajectory::RobotTrajectoryPtr pre_approach_traj(new robot_trajectory::RobotTrajectory(
             pre_approach_state->getRobotModel(), plan->shared_data_->end_effector_group_->getName()));
         pre_approach_traj->setRobotTrajectoryMsg(*pre_approach_state, plan->approach_posture_);
diff --git a/moveit_ros/manipulation/pick_place/src/reachable_valid_pose_filter.cpp b/moveit_ros/manipulation/pick_place/src/reachable_valid_pose_filter.cpp
index 36221b884e..986c05602e 100644
--- a/moveit_ros/manipulation/pick_place/src/reachable_valid_pose_filter.cpp
+++ b/moveit_ros/manipulation/pick_place/src/reachable_valid_pose_filter.cpp
@@ -55,8 +55,8 @@ namespace
 {
 bool isStateCollisionFree(const planning_scene::PlanningScene* planning_scene,
                           const collision_detection::AllowedCollisionMatrix* collision_matrix, bool verbose,
-                          const pick_place::ManipulationPlan* manipulation_plan, robot_state::RobotState* state,
-                          const robot_model::JointModelGroup* group, const double* joint_group_variable_values)
+                          const pick_place::ManipulationPlan* manipulation_plan, moveit::core::RobotState* state,
+                          const moveit::core::JointModelGroup* group, const double* joint_group_variable_values)
 {
   collision_detection::CollisionRequest req;
   req.verbose = verbose;
@@ -90,7 +90,7 @@ bool isStateCollisionFree(const planning_scene::PlanningScene* planning_scene,
 }  // namespace
 
 bool pick_place::ReachableAndValidPoseFilter::isEndEffectorFree(const ManipulationPlanPtr& plan,
-                                                                robot_state::RobotState& token_state) const
+                                                                moveit::core::RobotState& token_state) const
 {
   tf2::fromMsg(plan->goal_pose_.pose, plan->transformed_goal_pose_);
   plan->transformed_goal_pose_ =
@@ -107,14 +107,14 @@ bool pick_place::ReachableAndValidPoseFilter::isEndEffectorFree(const Manipulati
 bool pick_place::ReachableAndValidPoseFilter::evaluate(const ManipulationPlanPtr& plan) const
 {
   // initialize with scene state
-  robot_state::RobotStatePtr token_state(new robot_state::RobotState(planning_scene_->getCurrentState()));
+  moveit::core::RobotStatePtr token_state(new moveit::core::RobotState(planning_scene_->getCurrentState()));
   if (isEndEffectorFree(plan, *token_state))
   {
     // update the goal pose message if anything has changed; this is because the name of the frame in the input goal
     // pose
     // can be that of objects in the collision world but most components are unaware of those transforms,
     // so we convert to a frame that is certainly known
-    if (!robot_state::Transforms::sameFrame(planning_scene_->getPlanningFrame(), plan->goal_pose_.header.frame_id))
+    if (!moveit::core::Transforms::sameFrame(planning_scene_->getPlanningFrame(), plan->goal_pose_.header.frame_id))
     {
       plan->goal_pose_.pose = tf2::toMsg(plan->transformed_goal_pose_);
       plan->goal_pose_.header.frame_id = planning_scene_->getPlanningFrame();
diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
index a2f467b1d9..321a5ad3dc 100644
--- a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
@@ -49,8 +49,8 @@
 namespace
 {
 bool isStateValid(const planning_scene::PlanningScene* planning_scene,
-                  const kinematic_constraints::KinematicConstraintSet* constraint_set, robot_state::RobotState* state,
-                  const robot_state::JointModelGroup* group, const double* ik_solution)
+                  const kinematic_constraints::KinematicConstraintSet* constraint_set, moveit::core::RobotState* state,
+                  const moveit::core::JointModelGroup* group, const double* ik_solution)
 {
   state->setJointGroupPositions(group, ik_solution);
   state->update();
@@ -80,10 +80,10 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
   ROS_INFO_NAMED(getName(), "Received request to compute Cartesian path");
   context_->planning_scene_monitor_->updateFrameTransforms();
 
-  robot_state::RobotState start_state =
+  moveit::core::RobotState start_state =
       planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_)->getCurrentState();
-  robot_state::robotStateMsgToRobotState(req.start_state, start_state);
-  if (const robot_model::JointModelGroup* jmg = start_state.getJointModelGroup(req.group_name))
+  moveit::core::robotStateMsgToRobotState(req.start_state, start_state);
+  if (const moveit::core::JointModelGroup* jmg = start_state.getJointModelGroup(req.group_name))
   {
     std::string link_name = req.link_name;
     if (link_name.empty() && !jmg->getLinkModelNames().empty())
@@ -93,8 +93,8 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
     EigenSTL::vector_Isometry3d waypoints(req.waypoints.size());
     const std::string& default_frame = context_->planning_scene_monitor_->getRobotModel()->getModelFrame();
     bool no_transform = req.header.frame_id.empty() ||
-                        robot_state::Transforms::sameFrame(req.header.frame_id, default_frame) ||
-                        robot_state::Transforms::sameFrame(req.header.frame_id, link_name);
+                        moveit::core::Transforms::sameFrame(req.header.frame_id, default_frame) ||
+                        moveit::core::Transforms::sameFrame(req.header.frame_id, link_name);
 
     for (std::size_t i = 0; i < req.waypoints.size(); ++i)
     {
@@ -128,7 +128,7 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
       {
         if (!waypoints.empty())
         {
-          robot_state::GroupStateValidityCallbackFn constraint_fn;
+          moveit::core::GroupStateValidityCallbackFn constraint_fn;
           std::unique_ptr<planning_scene_monitor::LockedPlanningSceneRO> ls;
           std::unique_ptr<kinematic_constraints::KinematicConstraintSet> kset;
           if (req.avoid_collisions || !moveit::core::isEmpty(req.path_constraints))
@@ -141,16 +141,16 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
                 req.avoid_collisions ? static_cast<const planning_scene::PlanningSceneConstPtr&>(*ls).get() : nullptr,
                 kset->empty() ? nullptr : kset.get(), _1, _2, _3);
           }
-          bool global_frame = !robot_state::Transforms::sameFrame(link_name, req.header.frame_id);
+          bool global_frame = !moveit::core::Transforms::sameFrame(link_name, req.header.frame_id);
           ROS_INFO_NAMED(getName(), "Attempting to follow %u waypoints for link '%s' using a step of %lf m "
                                     "and jump threshold %lf (in %s reference frame)",
                          (unsigned int)waypoints.size(), link_name.c_str(), req.max_step, req.jump_threshold,
                          global_frame ? "global" : "link");
-          std::vector<robot_state::RobotStatePtr> traj;
+          std::vector<moveit::core::RobotStatePtr> traj;
           res.fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
               &start_state, jmg, traj, start_state.getLinkModel(link_name), waypoints, global_frame,
               moveit::core::MaxEEFStep(req.max_step), moveit::core::JumpThreshold(req.jump_threshold), constraint_fn);
-          robot_state::robotStateToRobotStateMsg(start_state, res.start_state);
+          moveit::core::robotStateToRobotStateMsg(start_state, res.start_state);
 
           robot_trajectory::RobotTrajectory rt(context_->planning_scene_monitor_->getRobotModel(), req.group_name);
           for (const moveit::core::RobotStatePtr& traj_state : traj)
@@ -169,7 +169,7 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
             moveit_msgs::DisplayTrajectory disp;
             disp.model_id = context_->planning_scene_monitor_->getRobotModel()->getName();
             disp.trajectory.resize(1, res.solution);
-            robot_state::robotStateToRobotStateMsg(rt.getFirstWayPoint(), disp.trajectory_start);
+            moveit::core::robotStateToRobotStateMsg(rt.getFirstWayPoint(), disp.trajectory_start);
             display_path_.publish(disp);
           }
         }
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
index b1e86fa6b4..849ea5251a 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
@@ -58,7 +58,7 @@ namespace
 {
 bool isIKSolutionValid(const planning_scene::PlanningScene* planning_scene,
                        const kinematic_constraints::KinematicConstraintSet* constraint_set,
-                       robot_state::RobotState* state, const robot_model::JointModelGroup* jmg,
+                       moveit::core::RobotState* state, const moveit::core::JointModelGroup* jmg,
                        const double* ik_solution)
 {
   state->setJointGroupPositions(jmg, ik_solution);
@@ -69,13 +69,13 @@ bool isIKSolutionValid(const planning_scene::PlanningScene* planning_scene,
 }  // namespace
 
 void MoveGroupKinematicsService::computeIK(moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution,
-                                           moveit_msgs::MoveItErrorCodes& error_code, robot_state::RobotState& rs,
-                                           const robot_state::GroupStateValidityCallbackFn& constraint) const
+                                           moveit_msgs::MoveItErrorCodes& error_code, moveit::core::RobotState& rs,
+                                           const moveit::core::GroupStateValidityCallbackFn& constraint) const
 {
-  const robot_state::JointModelGroup* jmg = rs.getJointModelGroup(req.group_name);
+  const moveit::core::JointModelGroup* jmg = rs.getJointModelGroup(req.group_name);
   if (jmg)
   {
-    robot_state::robotStateMsgToRobotState(req.robot_state, rs);
+    moveit::core::robotStateMsgToRobotState(req.robot_state, rs);
     const std::string& default_frame = context_->planning_scene_monitor_->getRobotModel()->getModelFrame();
 
     if (req.pose_stamped_vector.empty() || req.pose_stamped_vector.size() == 1)
@@ -96,7 +96,7 @@ void MoveGroupKinematicsService::computeIK(moveit_msgs::PositionIKRequest& req,
 
         if (result_ik)
         {
-          robot_state::robotStateToRobotStateMsg(rs, solution, false);
+          moveit::core::robotStateToRobotStateMsg(rs, solution, false);
           error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
         }
         else
@@ -129,7 +129,7 @@ void MoveGroupKinematicsService::computeIK(moveit_msgs::PositionIKRequest& req,
         {
           if (rs.setFromIK(jmg, req_poses, req.ik_link_names, req.timeout.toSec(), constraint))
           {
-            robot_state::robotStateToRobotStateMsg(rs, solution, false);
+            moveit::core::robotStateToRobotStateMsg(rs, solution, false);
             error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
           }
           else
@@ -152,7 +152,7 @@ bool MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPositionIK::Re
   {
     planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
     kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
-    robot_state::RobotState rs = ls->getCurrentState();
+    moveit::core::RobotState rs = ls->getCurrentState();
     kset.add(req.ik_request.constraints, ls->getTransforms());
     computeIK(req.ik_request, res.solution, res.error_code, rs,
               boost::bind(&isIKSolutionValid, req.ik_request.avoid_collisions ?
@@ -163,7 +163,7 @@ bool MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPositionIK::Re
   else
   {
     // compute unconstrained IK, no lock to planning scene maintained
-    robot_state::RobotState rs =
+    moveit::core::RobotState rs =
         planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_)->getCurrentState();
     computeIK(req.ik_request, res.solution, res.error_code, rs);
   }
@@ -185,13 +185,13 @@ bool MoveGroupKinematicsService::computeFKService(moveit_msgs::GetPositionFK::Re
 
   const std::string& default_frame = context_->planning_scene_monitor_->getRobotModel()->getModelFrame();
   bool do_transform = !req.header.frame_id.empty() &&
-                      !robot_state::Transforms::sameFrame(req.header.frame_id, default_frame) &&
+                      !moveit::core::Transforms::sameFrame(req.header.frame_id, default_frame) &&
                       context_->planning_scene_monitor_->getTFClient();
   bool tf_problem = false;
 
-  robot_state::RobotState rs =
+  moveit::core::RobotState rs =
       planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_)->getCurrentState();
-  robot_state::robotStateMsgToRobotState(req.robot_state, rs);
+  moveit::core::robotStateMsgToRobotState(req.robot_state, rs);
   for (std::size_t i = 0; i < req.fk_link_names.size(); ++i)
     if (rs.getRobotModel()->hasLinkModel(req.fk_link_names[i]))
     {
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
index 30e300ef47..3195f04150 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
@@ -53,10 +53,10 @@ class MoveGroupKinematicsService : public MoveGroupCapability
   bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
   bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
 
-  void computeIK(
-      moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
-      robot_state::RobotState& rs,
-      const robot_state::GroupStateValidityCallbackFn& constraint = robot_state::GroupStateValidityCallbackFn()) const;
+  void computeIK(moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution,
+                 moveit_msgs::MoveItErrorCodes& error_code, moveit::core::RobotState& rs,
+                 const moveit::core::GroupStateValidityCallbackFn& constraint =
+                     moveit::core::GroupStateValidityCallbackFn()) const;
 
   ros::ServiceServer fk_service_;
   ros::ServiceServer ik_service_;
diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
index 26c619b7d8..22d8777d0a 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
@@ -106,7 +106,7 @@ void MoveGroupMoveAction::executeMoveCallbackPlanAndExecute(const moveit_msgs::M
   if (moveit::core::isEmpty(goal->planning_options.planning_scene_diff))
   {
     planning_scene_monitor::LockedPlanningSceneRO lscene(context_->planning_scene_monitor_);
-    const robot_state::RobotState& current_state = lscene->getCurrentState();
+    const moveit::core::RobotState& current_state = lscene->getCurrentState();
 
     // check to see if the desired constraints are already met
     for (std::size_t i = 0; i < goal->request.goal_constraints.size(); ++i)
diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
index c333f4a9a7..385d715847 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
@@ -56,8 +56,8 @@ bool MoveGroupStateValidationService::computeService(moveit_msgs::GetStateValidi
                                                      moveit_msgs::GetStateValidity::Response& res)
 {
   planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
-  robot_state::RobotState rs = ls->getCurrentState();
-  robot_state::robotStateMsgToRobotState(req.robot_state, rs);
+  moveit::core::RobotState rs = ls->getCurrentState();
+  moveit::core::robotStateMsgToRobotState(req.robot_state, rs);
 
   res.valid = true;
 
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index bb666dda04..b48eea2e81 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -98,10 +98,10 @@ void TfPublisher::publishPlanningSceneFrames()
         publishSubframes(broadcaster, subframes, object_frame, stamp);
       }
 
-      const robot_state::RobotState& rs = locked_planning_scene->getCurrentState();
-      std::vector<const robot_state::AttachedBody*> attached_collision_objects;
+      const moveit::core::RobotState& rs = locked_planning_scene->getCurrentState();
+      std::vector<const moveit::core::AttachedBody*> attached_collision_objects;
       rs.getAttachedBodies(attached_collision_objects);
-      for (const robot_state::AttachedBody* attached_body : attached_collision_objects)
+      for (const moveit::core::AttachedBody* attached_body : attached_collision_objects)
       {
         std::string object_frame = prefix_ + attached_body->getName();
         transform = tf2::eigenToTransform(attached_body->getFixedTransforms()[0]);
diff --git a/moveit_ros/move_group/src/move_group_capability.cpp b/moveit_ros/move_group/src/move_group_capability.cpp
index 2aa6a9cfce..48ee60e0b1 100644
--- a/moveit_ros/move_group/src/move_group_capability.cpp
+++ b/moveit_ros/move_group/src/move_group_capability.cpp
@@ -57,7 +57,7 @@ void move_group::MoveGroupCapability::convertToMsg(const std::vector<plan_execut
       {
         if (first && !trajectory[i].trajectory_->empty())
         {
-          robot_state::robotStateToRobotStateMsg(trajectory[i].trajectory_->getFirstWayPoint(), first_state_msg);
+          moveit::core::robotStateToRobotStateMsg(trajectory[i].trajectory_->getFirstWayPoint(), first_state_msg);
           first = false;
         }
         trajectory[i].trajectory_->getRobotTrajectoryMsg(trajectory_msg[i]);
@@ -72,7 +72,7 @@ void move_group::MoveGroupCapability::convertToMsg(const robot_trajectory::Robot
 {
   if (trajectory && !trajectory->empty())
   {
-    robot_state::robotStateToRobotStateMsg(trajectory->getFirstWayPoint(), first_state_msg);
+    moveit::core::robotStateToRobotStateMsg(trajectory->getFirstWayPoint(), first_state_msg);
     trajectory->getRobotTrajectoryMsg(trajectory_msg);
   }
 }
diff --git a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
index 511e2cca6d..c195c6ea03 100644
--- a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
+++ b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
@@ -176,8 +176,8 @@ void mesh_filter::DepthSelfFiltering::filter(const sensor_msgs::ImageConstPtr& d
 void mesh_filter::DepthSelfFiltering::addMeshes(MeshFilter<StereoCameraModel>& mesh_filter)
 {
   robot_model_loader::RobotModelLoader robotModelLoader("robot_description");
-  robot_model::RobotModelConstPtr robotModel = robotModelLoader.getModel();
-  const vector<robot_model::LinkModel*>& links = robotModel->getLinkModelsWithCollisionGeometry();
+  moveit::core::RobotModelConstPtr robotModel = robotModelLoader.getModel();
+  const vector<moveit::core::LinkModel*>& links = robotModel->getLinkModelsWithCollisionGeometry();
   for (size_t i = 0; i < links.size(); ++i)
   {
     shapes::ShapeConstPtr shape = links[i]->getShape();
diff --git a/moveit_ros/perception/mesh_filter/src/transform_provider.cpp b/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
index cc5e8bda85..527776a207 100644
--- a/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
+++ b/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
@@ -129,7 +129,7 @@ void TransformProvider::setUpdateInterval(unsigned long usecs)
 void TransformProvider::updateTransforms()
 {
   static tf2::Stamped<Isometry3d> input_transform, output_transform;
-  static robot_state::RobotStatePtr robot_state;
+  static moveit::core::RobotStatePtr robot_state;
   robot_state = psm_->getStateMonitor()->getCurrentState();
   try
   {
diff --git a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
index 07c6545208..809599bf79 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
+++ b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
@@ -79,11 +79,11 @@ class KinematicsPluginLoader
 
   /** \brief Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this
    * function reads the SRDF and calls the variant below. */
-  robot_model::SolverAllocatorFn getLoaderFunction();
+  moveit::core::SolverAllocatorFn getLoaderFunction();
 
   /** \brief Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this
    * function reads ROS parameters for the groups defined in the SRDF. */
-  robot_model::SolverAllocatorFn getLoaderFunction(const srdf::ModelSharedPtr& srdf_model);
+  moveit::core::SolverAllocatorFn getLoaderFunction(const srdf::ModelSharedPtr& srdf_model);
 
   /** \brief Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver */
   const std::vector<std::string>& getKnownGroups() const
diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
index 2f1e24d15b..286896c521 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
+++ b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -84,7 +84,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
    * \param jmg - joint model group pointer
    * \return tips - list of valid links in a planning group to plan for
    */
-  std::vector<std::string> chooseTipFrames(const robot_model::JointModelGroup* jmg)
+  std::vector<std::string> chooseTipFrames(const moveit::core::JointModelGroup* jmg)
   {
     std::vector<std::string> tips;
     std::map<std::string, std::vector<std::string> >::const_iterator ik_it =
@@ -124,7 +124,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
     return tips;
   }
 
-  kinematics::KinematicsBasePtr allocKinematicsSolver(const robot_model::JointModelGroup* jmg)
+  kinematics::KinematicsBasePtr allocKinematicsSolver(const moveit::core::JointModelGroup* jmg)
   {
     kinematics::KinematicsBasePtr result;
     if (!kinematics_loader_)
@@ -137,7 +137,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
       ROS_ERROR_NAMED(LOGNAME, "Specified group is NULL. Cannot allocate kinematics solver.");
       return result;
     }
-    const std::vector<const robot_model::LinkModel*>& links = jmg->getLinkModels();
+    const std::vector<const moveit::core::LinkModel*>& links = jmg->getLinkModels();
     if (links.empty())
     {
       ROS_ERROR_NAMED(LOGNAME, "No links specified for group '%s'. Cannot allocate kinematics solver.",
@@ -211,7 +211,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
   // cache solver between two consecutive calls
   // first call in RobotModelLoader::loadKinematicsSolvers() is just to check suitability for jmg
   // second call in JointModelGroup::setSolverAllocators() is to actually retrieve the instance for use
-  kinematics::KinematicsBasePtr allocKinematicsSolverWithCache(const robot_model::JointModelGroup* jmg)
+  kinematics::KinematicsBasePtr allocKinematicsSolverWithCache(const moveit::core::JointModelGroup* jmg)
   {
     boost::mutex::scoped_lock slock(cache_lock_);
     kinematics::KinematicsBasePtr& cached = instances_[jmg];
@@ -239,7 +239,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
   std::map<std::string, std::vector<std::string> > iksolver_to_tip_links_;  // a map between each ik solver and a vector
                                                                             // of custom-specified tip link(s)
   std::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_loader_;
-  std::map<const robot_model::JointModelGroup*, kinematics::KinematicsBasePtr> instances_;
+  std::map<const moveit::core::JointModelGroup*, kinematics::KinematicsBasePtr> instances_;
   boost::mutex lock_;
   boost::mutex cache_lock_;
 };
@@ -252,7 +252,7 @@ void KinematicsPluginLoader::status() const
     ROS_INFO_NAMED(LOGNAME, "Loader function was never required");
 }
 
-robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction()
+moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction()
 {
   moveit::tools::Profiler::ScopedStart prof_start;
   moveit::tools::Profiler::ScopedBlock prof_block("KinematicsPluginLoader::getLoaderFunction");
@@ -265,7 +265,7 @@ robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction()
   return getLoaderFunction(rml.getSRDF());
 }
 
-robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const srdf::ModelSharedPtr& srdf_model)
+moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const srdf::ModelSharedPtr& srdf_model)
 {
   moveit::tools::Profiler::ScopedStart prof_start;
   moveit::tools::Profiler::ScopedBlock prof_block("KinematicsPluginLoader::getLoaderFunction(SRDF)");
diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
index 36a75ca4bb..a913b5e976 100644
--- a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
@@ -92,7 +92,7 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const
       planning_scene->getRobotModel()->getLinkModelNames(), true) };
 
   // set the robot state to home position
-  robot_state::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
+  moveit::core::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
   collision_detection::CollisionRequest req;
   current_state.setToDefaultValues(current_state.getJointModelGroup("panda_arm"), "home");
   current_state.update();
@@ -170,7 +170,7 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const
 *   \param CollisionDetector The type of collision detector
 *   \param only_self Flag for only self collision check performed */
 void runCollisionDetection(unsigned int trials, const planning_scene::PlanningScenePtr& scene,
-                           const std::vector<robot_state::RobotState>& states, const CollisionDetector col_detector,
+                           const std::vector<moveit::core::RobotState>& states, const CollisionDetector col_detector,
                            bool only_self, bool distance = false)
 {
   collision_detection::AllowedCollisionMatrix acm{ collision_detection::AllowedCollisionMatrix(
@@ -247,9 +247,9 @@ void runCollisionDetection(unsigned int trials, const planning_scene::PlanningSc
  *  \param scene The planning scene
  *  \param robot_states Result vector */
 void findStates(const RobotStateSelector desired_states, unsigned int num_states,
-                const planning_scene::PlanningScenePtr& scene, std::vector<robot_state::RobotState>& robot_states)
+                const planning_scene::PlanningScenePtr& scene, std::vector<moveit::core::RobotState>& robot_states)
 {
-  robot_state::RobotState& current_state{ scene->getCurrentStateNonConst() };
+  moveit::core::RobotState& current_state{ scene->getCurrentStateNonConst() };
   collision_detection::CollisionRequest req;
 
   size_t i{ 0 };
@@ -290,7 +290,7 @@ void findStates(const RobotStateSelector desired_states, unsigned int num_states
 
 int main(int argc, char** argv)
 {
-  robot_model::RobotModelPtr robot_model;
+  moveit::core::RobotModelPtr robot_model;
   ros::init(argc, argv, "compare_collision_checking_speed");
   ros::NodeHandle node_handle;
 
@@ -322,11 +322,11 @@ int main(int argc, char** argv)
   {
     ros::Duration(0.5).sleep();
 
-    robot_state::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
+    moveit::core::RobotState& current_state{ planning_scene->getCurrentStateNonConst() };
     current_state.setToDefaultValues(current_state.getJointModelGroup("panda_arm"), "home");
     current_state.update();
 
-    std::vector<robot_state::RobotState> sampled_states;
+    std::vector<moveit::core::RobotState> sampled_states;
     sampled_states.push_back(current_state);
 
     ROS_INFO("Starting benchmark: Robot in empty world, only self collision check");
@@ -346,7 +346,7 @@ int main(int argc, char** argv)
     current_state.setJointPositions("panda_joint2", &joint_2);
     current_state.update();
 
-    std::vector<robot_state::RobotState> sampled_states_2;
+    std::vector<moveit::core::RobotState> sampled_states_2;
     sampled_states_2.push_back(current_state);
 
     ROS_INFO("Starting benchmark: Robot in cluttered world, in collision with world");
diff --git a/moveit_ros/planning/planning_components_tools/src/evaluate_collision_checking_speed.cpp b/moveit_ros/planning/planning_components_tools/src/evaluate_collision_checking_speed.cpp
index c990a30e68..b8530d349e 100644
--- a/moveit_ros/planning/planning_components_tools/src/evaluate_collision_checking_speed.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/evaluate_collision_checking_speed.cpp
@@ -41,7 +41,7 @@
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
 void runCollisionDetection(unsigned int id, unsigned int trials, const planning_scene::PlanningScene* scene,
-                           const robot_state::RobotState* state)
+                           const moveit::core::RobotState* state)
 {
   ROS_INFO("Starting thread %u", id);
   collision_detection::CollisionRequest req;
@@ -95,12 +95,12 @@ int main(int argc, char** argv)
     else
       ros::Duration(0.5).sleep();
 
-    std::vector<robot_state::RobotStatePtr> states;
+    std::vector<moveit::core::RobotStatePtr> states;
     ROS_INFO("Sampling %u valid states...", nthreads);
     for (unsigned int i = 0; i < nthreads; ++i)
     {
       // sample a valid state
-      robot_state::RobotState* state = new robot_state::RobotState(psm.getPlanningScene()->getRobotModel());
+      moveit::core::RobotState* state = new moveit::core::RobotState(psm.getPlanningScene()->getRobotModel());
       collision_detection::CollisionRequest req;
       do
       {
@@ -111,7 +111,7 @@ int main(int argc, char** argv)
         if (!res.collision)
           break;
       } while (true);
-      states.push_back(robot_state::RobotStatePtr(state));
+      states.push_back(moveit::core::RobotStatePtr(state));
     }
 
     std::vector<boost::thread*> threads;
diff --git a/moveit_ros/planning/planning_components_tools/src/evaluate_state_operations_speed.cpp b/moveit_ros/planning/planning_components_tools/src/evaluate_state_operations_speed.cpp
index d4ab597dcc..d38519c3c7 100644
--- a/moveit_ros/planning/planning_components_tools/src/evaluate_state_operations_speed.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/evaluate_state_operations_speed.cpp
@@ -51,11 +51,11 @@ int main(int argc, char** argv)
   robot_model_loader::RobotModelLoader rml(ROBOT_DESCRIPTION);
   ros::Duration(0.5).sleep();
 
-  robot_model::RobotModelConstPtr robot_model = rml.getModel();
+  moveit::core::RobotModelConstPtr robot_model = rml.getModel();
   if (robot_model)
   {
     static const int N = 10000;
-    robot_state::RobotState state(robot_model);
+    moveit::core::RobotState state(robot_model);
 
     printf("Evaluating model '%s' using %d trials for each test\n", robot_model->getName().c_str(), N);
 
@@ -80,12 +80,12 @@ int main(int argc, char** argv)
       moveit::tools::Profiler::End("FK Random");
     }
 
-    std::vector<robot_state::RobotState*> copies(N, (robot_state::RobotState*)nullptr);
+    std::vector<moveit::core::RobotState*> copies(N, (moveit::core::RobotState*)nullptr);
     printf("Evaluating Copy State ...\n");
     for (int i = 0; i < N; ++i)
     {
       moveit::tools::Profiler::Begin("Copy State");
-      copies[i] = new robot_state::RobotState(state);
+      copies[i] = new moveit::core::RobotState(state);
       moveit::tools::Profiler::End("Copy State");
     }
 
@@ -101,7 +101,7 @@ int main(int argc, char** argv)
     for (const std::string& group : groups)
     {
       printf("\n");
-      const robot_model::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
+      const moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
 
       printf("%s: Evaluating FK Random ...\n", group.c_str());
       std::string pname = group + ":FK Random";
diff --git a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
index 117136f163..d0267a2850 100644
--- a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
@@ -56,14 +56,14 @@ int main(int argc, char** argv)
     std::string group = argv[1];
     ROS_INFO_STREAM("Evaluating IK for " << group);
 
-    const robot_model::JointModelGroup* jmg = rml.getModel()->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = rml.getModel()->getJointModelGroup(group);
     if (jmg)
     {
       const kinematics::KinematicsBaseConstPtr& solver = jmg->getSolverInstance();
       if (solver)
       {
         const std::string& tip = solver->getTipFrame();
-        robot_state::RobotState state(rml.getModel());
+        moveit::core::RobotState state(rml.getModel());
         state.setToDefaultValues();
 
         ROS_INFO_STREAM("Tip Frame:  " << solver->getTipFrame());
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
index 313f770999..27b14c78dc 100644
--- a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -75,7 +75,7 @@ class PlanningPipeline
       \param adapter_plugins_param_name The name of the ROS parameter under which the names of the request adapter
      plugins are specified (plugin names separated by space; order matters)
   */
-  PlanningPipeline(const robot_model::RobotModelConstPtr& model, const ros::NodeHandle& nh = ros::NodeHandle("~"),
+  PlanningPipeline(const moveit::core::RobotModelConstPtr& model, const ros::NodeHandle& nh = ros::NodeHandle("~"),
                    const std::string& planning_plugin_param_name = "planning_plugin",
                    const std::string& adapter_plugins_param_name = "request_adapters");
 
@@ -85,7 +85,7 @@ class PlanningPipeline
       \param planning_plugin_name The name of the planning plugin to load
       \param adapter_plugins_names The names of the planning request adapter plugins to load
   */
-  PlanningPipeline(const robot_model::RobotModelConstPtr& model, const ros::NodeHandle& nh,
+  PlanningPipeline(const moveit::core::RobotModelConstPtr& model, const ros::NodeHandle& nh,
                    const std::string& planning_plugin_name, const std::vector<std::string>& adapter_plugin_names);
 
   /** \brief Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC.
@@ -160,7 +160,7 @@ class PlanningPipeline
   }
 
   /** \brief Get the robot model that this pipeline is using */
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -187,7 +187,7 @@ class PlanningPipeline
   std::unique_ptr<planning_request_adapter::PlanningRequestAdapterChain> adapter_chain_;
   std::vector<std::string> adapter_plugin_names_;
 
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   /// Flag indicating whether the reported plans should be checked once again, by the planning pipeline itself
   bool check_solution_paths_;
diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
index 6bee28fe7e..3188880f46 100644
--- a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
+++ b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -48,7 +48,7 @@ const std::string planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC = "dis
 const std::string planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request";
 const std::string planning_pipeline::PlanningPipeline::MOTION_CONTACTS_TOPIC = "display_contacts";
 
-planning_pipeline::PlanningPipeline::PlanningPipeline(const robot_model::RobotModelConstPtr& model,
+planning_pipeline::PlanningPipeline::PlanningPipeline(const moveit::core::RobotModelConstPtr& model,
                                                       const ros::NodeHandle& nh,
                                                       const std::string& planner_plugin_param_name,
                                                       const std::string& adapter_plugins_param_name)
@@ -70,7 +70,7 @@ planning_pipeline::PlanningPipeline::PlanningPipeline(const robot_model::RobotMo
   configure();
 }
 
-planning_pipeline::PlanningPipeline::PlanningPipeline(const robot_model::RobotModelConstPtr& model,
+planning_pipeline::PlanningPipeline::PlanningPipeline(const moveit::core::RobotModelConstPtr& model,
                                                       const ros::NodeHandle& nh, const std::string& planner_plugin_name,
                                                       const std::vector<std::string>& adapter_plugin_names)
   : nh_(nh), planner_plugin_name_(planner_plugin_name), adapter_plugin_names_(adapter_plugin_names), robot_model_(model)
@@ -298,7 +298,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
             for (std::size_t it : index)
             {
               // check validity with verbose on
-              const robot_state::RobotState& robot_state = res.trajectory_->getWayPoint(it);
+              const moveit::core::RobotState& robot_state = res.trajectory_->getWayPoint(it);
               planning_scene->isStateValid(robot_state, req.path_constraints, req.group_name, true);
 
               // compute the contacts if any
@@ -338,7 +338,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
     disp.model_id = robot_model_->getName();
     disp.trajectory.resize(1);
     res.trajectory_->getRobotTrajectoryMsg(disp.trajectory[0]);
-    robot_state::robotStateToRobotStateMsg(res.trajectory_->getFirstWayPoint(), disp.trajectory_start);
+    moveit::core::robotStateToRobotStateMsg(res.trajectory_->getFirstWayPoint(), disp.trajectory_start);
     display_path_publisher_.publish(disp);
   }
 
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
index ea3f09f0ad..d3e4fb1617 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
@@ -84,10 +84,10 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
     ROS_DEBUG("Running '%s'", getDescription().c_str());
 
     // get the specified start state
-    robot_state::RobotState start_state = planning_scene->getCurrentState();
-    robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
+    moveit::core::RobotState start_state = planning_scene->getCurrentState();
+    moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
-    const std::vector<const robot_model::JointModel*>& jmodels =
+    const std::vector<const moveit::core::JointModel*>& jmodels =
         planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ?
             planning_scene->getRobotModel()->getJointModelGroup(req.group_name)->getJointModels() :
             planning_scene->getRobotModel()->getJointModels();
@@ -101,9 +101,9 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
       // how many times the joint was wrapped. Because of this, we remember the offsets for continuous
       // joints, and we un-do them when the plan comes from the planner
 
-      if (jm->getType() == robot_model::JointModel::REVOLUTE)
+      if (jm->getType() == moveit::core::JointModel::REVOLUTE)
       {
-        if (static_cast<const robot_model::RevoluteJointModel*>(jm)->isContinuous())
+        if (static_cast<const moveit::core::RevoluteJointModel*>(jm)->isContinuous())
         {
           double initial = start_state.getJointPositions(jm)[0];
           start_state.enforceBounds(jm);
@@ -114,11 +114,11 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
       }
       else
           // Normalize yaw; no offset needs to be remembered
-          if (jm->getType() == robot_model::JointModel::PLANAR)
+          if (jm->getType() == moveit::core::JointModel::PLANAR)
       {
         const double* p = start_state.getJointPositions(jm);
         double copy[3] = { p[0], p[1], p[2] };
-        if (static_cast<const robot_model::PlanarJointModel*>(jm)->normalizeRotation(copy))
+        if (static_cast<const moveit::core::PlanarJointModel*>(jm)->normalizeRotation(copy))
         {
           start_state.setJointPositions(jm, copy);
           change_req = true;
@@ -126,11 +126,11 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
       }
       else
           // Normalize quaternions
-          if (jm->getType() == robot_model::JointModel::FLOATING)
+          if (jm->getType() == moveit::core::JointModel::FLOATING)
       {
         const double* p = start_state.getJointPositions(jm);
         double copy[7] = { p[0], p[1], p[2], p[3], p[4], p[5], p[6] };
-        if (static_cast<const robot_model::FloatingJointModel*>(jm)->normalizeRotation(copy))
+        if (static_cast<const moveit::core::FloatingJointModel*>(jm)->normalizeRotation(copy))
         {
           start_state.setJointPositions(jm, copy);
           change_req = true;
@@ -139,7 +139,7 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
     }
 
     // pointer to a prefix state we could possibly add, if we detect we have to make changes
-    robot_state::RobotStatePtr prefix_state;
+    moveit::core::RobotStatePtr prefix_state;
     for (const moveit::core::JointModel* jmodel : jmodels)
     {
       if (!start_state.satisfiesBounds(jmodel))
@@ -147,7 +147,7 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
         if (start_state.satisfiesBounds(jmodel, bounds_dist_))
         {
           if (!prefix_state)
-            prefix_state.reset(new robot_state::RobotState(start_state));
+            prefix_state.reset(new moveit::core::RobotState(start_state));
           start_state.enforceBounds(jmodel);
           change_req = true;
           ROS_INFO("Starting state is just outside bounds (joint '%s'). Assuming within bounds.",
@@ -161,7 +161,7 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
           const double* p = start_state.getJointPositions(jmodel);
           for (std::size_t k = 0; k < jmodel->getVariableCount(); ++k)
             joint_values << p[k] << " ";
-          const robot_model::JointModel::Bounds& b = jmodel->getVariableBounds();
+          const moveit::core::JointModel::Bounds& b = jmodel->getVariableBounds();
           for (const moveit::core::VariableBounds& variable_bounds : b)
           {
             joint_bounds_low << variable_bounds.min_position_ << " ";
@@ -181,7 +181,7 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
     if (change_req)
     {
       planning_interface::MotionPlanRequest req2 = req;
-      robot_state::robotStateToRobotStateMsg(start_state, req2.start_state, false);
+      moveit::core::robotStateToRobotStateMsg(start_state, req2.start_state, false);
       solved = planner(planning_scene, req2, res);
     }
     else
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
index 02768c02e8..8a3c72431e 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
@@ -99,8 +99,8 @@ class FixStartStateCollision : public planning_request_adapter::PlanningRequestA
     ROS_DEBUG("Running '%s'", getDescription().c_str());
 
     // get the specified start state
-    robot_state::RobotState start_state = planning_scene->getCurrentState();
-    robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
+    moveit::core::RobotState start_state = planning_scene->getCurrentState();
+    moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
     collision_detection::CollisionRequest creq;
     creq.group_name = req.group_name;
@@ -119,10 +119,10 @@ class FixStartStateCollision : public planning_request_adapter::PlanningRequestA
       else
         ROS_INFO_STREAM("Start state appears to be in collision with respect to group " << creq.group_name);
 
-      robot_state::RobotStatePtr prefix_state(new robot_state::RobotState(start_state));
+      moveit::core::RobotStatePtr prefix_state(new moveit::core::RobotState(start_state));
       random_numbers::RandomNumberGenerator& rng = prefix_state->getRandomNumberGenerator();
 
-      const std::vector<const robot_model::JointModel*>& jmodels =
+      const std::vector<const moveit::core::JointModel*>& jmodels =
           planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ?
               planning_scene->getRobotModel()->getJointModelGroup(req.group_name)->getJointModels() :
               planning_scene->getRobotModel()->getJointModels();
@@ -151,7 +151,7 @@ class FixStartStateCollision : public planning_request_adapter::PlanningRequestA
       if (found)
       {
         planning_interface::MotionPlanRequest req2 = req;
-        robot_state::robotStateToRobotStateMsg(start_state, req2.start_state);
+        moveit::core::robotStateToRobotStateMsg(start_state, req2.start_state);
         bool solved = planner(planning_scene, req2, res);
         if (solved && !res.trajectory_->empty())
         {
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
index 80a6f058ce..c7cdd212bf 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp
@@ -66,8 +66,8 @@ class FixStartStatePathConstraints : public planning_request_adapter::PlanningRe
     ROS_DEBUG("Running '%s'", getDescription().c_str());
 
     // get the specified start state
-    robot_state::RobotState start_state = planning_scene->getCurrentState();
-    robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
+    moveit::core::RobotState start_state = planning_scene->getCurrentState();
+    moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
     // if the start state is otherwise valid but does not meet path constraints
     if (planning_scene->isStateValid(start_state, req.group_name) &&
@@ -95,7 +95,7 @@ class FixStartStatePathConstraints : public planning_request_adapter::PlanningRe
         ROS_INFO("Planned to path constraints. Resuming original planning request.");
 
         // extract the last state of the computed motion plan and set it as the new start state
-        robot_state::robotStateToRobotStateMsg(res2.trajectory_->getLastWayPoint(), req3.start_state);
+        moveit::core::robotStateToRobotStateMsg(res2.trajectory_->getLastWayPoint(), req3.start_state);
         bool solved2 = planner(planning_scene, req3, res);
         res.planning_time_ += res2.planning_time_;
 
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index 806db00daf..ab63281a5e 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -60,7 +60,7 @@ class CurrentStateMonitor
    * @param robot_model The current kinematic model to build on
    * @param tf_buffer A pointer to the tf2_ros Buffer to use
    */
-  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+  CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                       const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
   /** @brief Constructor.
@@ -68,7 +68,7 @@ class CurrentStateMonitor
    *  @param tf_buffer A pointer to the tf2_ros Buffer to use
    *  @param nh A ros::NodeHandle to pass node specific options
    */
-  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+  CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                       const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const ros::NodeHandle& nh);
 
   ~CurrentStateMonitor();
@@ -86,7 +86,7 @@ class CurrentStateMonitor
   bool isActive() const;
 
   /** @brief Get the RobotModel for which we are monitoring state */
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -120,17 +120,17 @@ class CurrentStateMonitor
 
   /** @brief Get the current state
    *  @return Returns the current state */
-  robot_state::RobotStatePtr getCurrentState() const;
+  moveit::core::RobotStatePtr getCurrentState() const;
 
   /** @brief Set the state \e upd to the current state maintained by this class. */
-  void setToCurrentState(robot_state::RobotState& upd) const;
+  void setToCurrentState(moveit::core::RobotState& upd) const;
 
   /** @brief Get the time stamp for the current state */
   ros::Time getCurrentStateTime() const;
 
   /** @brief Get the current state and its time stamp
    *  @return Returns a pair of the current state and its time stamp */
-  std::pair<robot_state::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;
+  std::pair<moveit::core::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;
 
   /** @brief Get the current state values as a map from joint names to joint state values
    *  @return Returns the map from joint names to joint state values*/
@@ -193,8 +193,8 @@ class CurrentStateMonitor
 
   ros::NodeHandle nh_;
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-  robot_model::RobotModelConstPtr robot_model_;
-  robot_state::RobotState robot_state_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  moveit::core::RobotState robot_state_;
   std::map<const moveit::core::JointModel*, ros::Time> joint_time_;
   bool state_monitor_started_;
   bool copy_dynamics_;  // Copy velocity and effort from joint_state
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index d79b575eb9..ca9fe70b3a 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -170,7 +170,7 @@ class PlanningSceneMonitor : private boost::noncopyable
     return rm_loader_;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -437,7 +437,7 @@ class PlanningSceneMonitor : private boost::noncopyable
   void attachObjectCallback(const moveit_msgs::AttachedCollisionObjectConstPtr& obj);
 
   /** @brief Callback for a change for an attached object of the current state of the planning scene */
-  void currentStateAttachedBodyUpdateCallback(robot_state::AttachedBody* attached_body, bool just_attached);
+  void currentStateAttachedBodyUpdateCallback(moveit::core::AttachedBody* attached_body, bool just_attached);
 
   /** @brief Callback for a change in the world maintained by the planning scene */
   void currentWorldObjectUpdateCallback(const collision_detection::World::ObjectConstPtr& object,
@@ -453,8 +453,8 @@ class PlanningSceneMonitor : private boost::noncopyable
 
   void excludeAttachedBodiesFromOctree();
   void includeAttachedBodiesInOctree();
-  void excludeAttachedBodyFromOctree(const robot_state::AttachedBody* attached_body);
-  void includeAttachedBodyInOctree(const robot_state::AttachedBody* attached_body);
+  void excludeAttachedBodyFromOctree(const moveit::core::AttachedBody* attached_body);
+  void includeAttachedBodyInOctree(const moveit::core::AttachedBody* attached_body);
 
   bool getShapeTransformCache(const std::string& target_frame, const ros::Time& target_time,
                               occupancy_map_monitor::ShapeTransformCache& cache) const;
@@ -516,10 +516,10 @@ class PlanningSceneMonitor : private boost::noncopyable
   // include a current state monitor
   CurrentStateMonitorPtr current_state_monitor_;
 
-  typedef std::map<const robot_model::LinkModel*,
+  typedef std::map<const moveit::core::LinkModel*,
                    std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >
       LinkShapeHandles;
-  typedef std::map<const robot_state::AttachedBody*,
+  typedef std::map<const moveit::core::AttachedBody*,
                    std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >
       AttachedBodyShapeHandles;
   typedef std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*> > >
@@ -580,7 +580,7 @@ class PlanningSceneMonitor : private boost::noncopyable
   ros::WallTime last_robot_state_update_wall_time_;
 
   robot_model_loader::RobotModelLoaderPtr rm_loader_;
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   collision_detection::CollisionPluginLoader collision_loader_;
 
@@ -596,7 +596,7 @@ class PlanningSceneMonitor : private boost::noncopyable
  * "operator->" functions.  Therefore you will often see code like this:
  * @code
  *   planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
- *   robot_model::RobotModelConstPtr model = ls->getRobotModel();
+ *   moveit::core::RobotModelConstPtr model = ls->getRobotModel();
  * @endcode
 
  * The function "getRobotModel()" is a member of PlanningScene and not
@@ -688,7 +688,7 @@ class LockedPlanningSceneRO
  * "operator->" functions.  Therefore you will often see code like this:
  * @code
  *   planning_scene_monitor::LockedPlanningSceneRW ls(planning_scene_monitor);
- *   robot_model::RobotModelConstPtr model = ls->getRobotModel();
+ *   moveit::core::RobotModelConstPtr model = ls->getRobotModel();
  * @endcode
 
  * The function "getRobotModel()" is a member of PlanningScene and not
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index f7638161a7..aff77b560e 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -44,7 +44,7 @@
 
 namespace planning_scene_monitor
 {
-typedef boost::function<void(const robot_state::RobotStateConstPtr& state, const ros::Time& stamp)>
+typedef boost::function<void(const moveit::core::RobotStateConstPtr& state, const ros::Time& stamp)>
     TrajectoryStateAddedCallback;
 
 MOVEIT_CLASS_FORWARD(TrajectoryMonitor);
diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
index 41d5cbc2bc..d9262aedbb 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
@@ -41,13 +41,13 @@
 
 #include <limits>
 
-planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                                                                  const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
   : CurrentStateMonitor(robot_model, tf_buffer, ros::NodeHandle())
 {
 }
 
-planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                                                                  const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
                                                                  const ros::NodeHandle& nh)
   : nh_(nh)
@@ -66,11 +66,11 @@ planning_scene_monitor::CurrentStateMonitor::~CurrentStateMonitor()
   stopStateMonitor();
 }
 
-robot_state::RobotStatePtr planning_scene_monitor::CurrentStateMonitor::getCurrentState() const
+moveit::core::RobotStatePtr planning_scene_monitor::CurrentStateMonitor::getCurrentState() const
 {
   boost::mutex::scoped_lock slock(state_update_lock_);
-  robot_state::RobotState* result = new robot_state::RobotState(robot_state_);
-  return robot_state::RobotStatePtr(result);
+  moveit::core::RobotState* result = new moveit::core::RobotState(robot_state_);
+  return moveit::core::RobotStatePtr(result);
 }
 
 ros::Time planning_scene_monitor::CurrentStateMonitor::getCurrentStateTime() const
@@ -79,12 +79,12 @@ ros::Time planning_scene_monitor::CurrentStateMonitor::getCurrentStateTime() con
   return current_state_time_;
 }
 
-std::pair<robot_state::RobotStatePtr, ros::Time>
+std::pair<moveit::core::RobotStatePtr, ros::Time>
 planning_scene_monitor::CurrentStateMonitor::getCurrentStateAndTime() const
 {
   boost::mutex::scoped_lock slock(state_update_lock_);
-  robot_state::RobotState* result = new robot_state::RobotState(robot_state_);
-  return std::make_pair(robot_state::RobotStatePtr(result), current_state_time_);
+  moveit::core::RobotState* result = new moveit::core::RobotState(robot_state_);
+  return std::make_pair(moveit::core::RobotStatePtr(result), current_state_time_);
 }
 
 std::map<std::string, double> planning_scene_monitor::CurrentStateMonitor::getCurrentStateValues() const
@@ -98,7 +98,7 @@ std::map<std::string, double> planning_scene_monitor::CurrentStateMonitor::getCu
   return m;
 }
 
-void planning_scene_monitor::CurrentStateMonitor::setToCurrentState(robot_state::RobotState& upd) const
+void planning_scene_monitor::CurrentStateMonitor::setToCurrentState(moveit::core::RobotState& upd) const
 {
   boost::mutex::scoped_lock slock(state_update_lock_);
   const double* pos = robot_state_.getVariablePositions();
@@ -369,7 +369,7 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
           if (static_cast<const moveit::core::RevoluteJointModel*>(jm)->isContinuous())
             continue;
 
-        const robot_model::VariableBounds& b =
+        const moveit::core::VariableBounds& b =
             jm->getVariableBounds()[0];  // only one variable in the joint, so we get its bounds
 
         // if the read variable is 'almost' within bounds (up to error_ difference), then consider it to be within
@@ -448,7 +448,7 @@ void planning_scene_monitor::CurrentStateMonitor::tfCallback()
       joint_time_[joint] = latest_common_time;
 
       std::vector<double> new_values(joint->getStateSpaceDimension());
-      const robot_model::LinkModel* link = joint->getChildLinkModel();
+      const moveit::core::LinkModel* link = joint->getChildLinkModel();
       if (link->jointOriginTransformIsIdentity())
         joint->computeVariablePositions(tf2::transformToEigen(transf), new_values.data());
       else
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index 2381e06035..cc0ebeb38f 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -162,7 +162,7 @@ PlanningSceneMonitor::~PlanningSceneMonitor()
   if (scene_)
   {
     scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
-    scene_->setAttachedBodyUpdateCallback(robot_state::AttachedBodyCallback());
+    scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
   }
   stopPublishingPlanningScene();
   stopStateMonitor();
@@ -266,7 +266,7 @@ void PlanningSceneMonitor::monitorDiffs(bool flag)
       boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
       if (scene_)
       {
-        scene_->setAttachedBodyUpdateCallback(robot_state::AttachedBodyCallback());
+        scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
         scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
         scene_->decoupleParent();
         parent_scene_ = scene_;
@@ -376,7 +376,7 @@ void PlanningSceneMonitor::scenePublishingThread()
                                                                                                  // update while we are
                                                                                                  // potentially changing
                                                                                                  // attached bodies
-          scene_->setAttachedBodyUpdateCallback(robot_state::AttachedBodyCallback());
+          scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
           scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
           scene_->pushDiffs(parent_scene_);
           scene_->clearDiffs();
@@ -568,7 +568,7 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::PlanningSc
     if (!scene.is_diff && parent_scene_)
     {
       // the scene is now decoupled from the parent, since we just reset it
-      scene_->setAttachedBodyUpdateCallback(robot_state::AttachedBodyCallback());
+      scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
       scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
       parent_scene_ = scene_;
       scene_ = parent_scene_->diff();
@@ -673,7 +673,7 @@ void PlanningSceneMonitor::excludeRobotLinksFromOctree()
   boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
 
   includeRobotLinksInOctree();
-  const std::vector<const robot_model::LinkModel*>& links = getRobotModel()->getLinkModelsWithCollisionGeometry();
+  const std::vector<const moveit::core::LinkModel*>& links = getRobotModel()->getLinkModelsWithCollisionGeometry();
   ros::WallTime start = ros::WallTime::now();
   bool warned = false;
   for (const moveit::core::LinkModel* link : links)
@@ -708,7 +708,7 @@ void PlanningSceneMonitor::includeRobotLinksInOctree()
 
   boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
 
-  for (std::pair<const robot_model::LinkModel* const,
+  for (std::pair<const moveit::core::LinkModel* const,
                  std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>& link_shape_handle :
        link_shape_handles_)
     for (std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>& it : link_shape_handle.second)
@@ -724,7 +724,7 @@ void PlanningSceneMonitor::includeAttachedBodiesInOctree()
   boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
 
   // clear information about any attached body, without refering to the AttachedBody* ptr (could be invalid)
-  for (std::pair<const robot_state::AttachedBody* const,
+  for (std::pair<const moveit::core::AttachedBody* const,
                  std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>& attached_body_shape_handle :
        attached_body_shape_handles_)
     for (std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>& it : attached_body_shape_handle.second)
@@ -738,7 +738,7 @@ void PlanningSceneMonitor::excludeAttachedBodiesFromOctree()
 
   includeAttachedBodiesInOctree();
   // add attached objects again
-  std::vector<const robot_state::AttachedBody*> ab;
+  std::vector<const moveit::core::AttachedBody*> ab;
   scene_->getCurrentState().getAttachedBodies(ab);
   for (const moveit::core::AttachedBody* body : ab)
     excludeAttachedBodyFromOctree(body);
@@ -770,7 +770,7 @@ void PlanningSceneMonitor::excludeWorldObjectsFromOctree()
     excludeWorldObjectFromOctree(it.second);
 }
 
-void PlanningSceneMonitor::excludeAttachedBodyFromOctree(const robot_state::AttachedBody* attached_body)
+void PlanningSceneMonitor::excludeAttachedBodyFromOctree(const moveit::core::AttachedBody* attached_body)
 {
   if (!octomap_monitor_)
     return;
@@ -792,7 +792,7 @@ void PlanningSceneMonitor::excludeAttachedBodyFromOctree(const robot_state::Atta
     ROS_DEBUG_NAMED(LOGNAME, "Excluding attached body '%s' from monitored octomap", attached_body->getName().c_str());
 }
 
-void PlanningSceneMonitor::includeAttachedBodyInOctree(const robot_state::AttachedBody* attached_body)
+void PlanningSceneMonitor::includeAttachedBodyInOctree(const moveit::core::AttachedBody* attached_body)
 {
   if (!octomap_monitor_)
     return;
@@ -849,7 +849,7 @@ void PlanningSceneMonitor::includeWorldObjectInOctree(const collision_detection:
   }
 }
 
-void PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback(robot_state::AttachedBody* attached_body,
+void PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback(moveit::core::AttachedBody* attached_body,
                                                                   bool just_attached)
 {
   if (!octomap_monitor_)
@@ -997,7 +997,7 @@ bool PlanningSceneMonitor::getShapeTransformCache(const std::string& target_fram
   {
     boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
 
-    for (const std::pair<const robot_model::LinkModel* const,
+    for (const std::pair<const moveit::core::LinkModel* const,
                          std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>& link_shape_handle :
          link_shape_handles_)
     {
@@ -1009,7 +1009,7 @@ bool PlanningSceneMonitor::getShapeTransformCache(const std::string& target_fram
         cache[link_shape_handle.second[j].first] =
             ttr * link_shape_handle.first->getCollisionOriginTransforms()[link_shape_handle.second[j].second];
     }
-    for (const std::pair<const robot_state::AttachedBody* const,
+    for (const std::pair<const moveit::core::AttachedBody* const,
                          std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>&
              attached_body_shape_handle : attached_body_shape_handles_)
     {
diff --git a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
index 3631760f0c..157020c9c4 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
@@ -113,7 +113,7 @@ void planning_scene_monitor::TrajectoryMonitor::recordStates()
   while (record_states_thread_)
   {
     rate.sleep();
-    std::pair<robot_state::RobotStatePtr, ros::Time> state = current_state_monitor_->getCurrentStateAndTime();
+    std::pair<moveit::core::RobotStatePtr, ros::Time> state = current_state_monitor_->getCurrentStateAndTime();
     if (trajectory_.empty())
     {
       trajectory_.addSuffixWayPoint(state.first, 0.0);
diff --git a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
index c39d9f1056..5307ae2b3e 100644
--- a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
+++ b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
@@ -84,7 +84,7 @@ class RobotModelLoader
   ~RobotModelLoader();
 
   /** @brief Get the constructed planning_models::RobotModel */
-  const robot_model::RobotModelPtr& getModel() const
+  const moveit::core::RobotModelPtr& getModel() const
   {
     return model_;
   }
@@ -128,7 +128,7 @@ class RobotModelLoader
 private:
   void configure(const Options& opt);
 
-  robot_model::RobotModelPtr model_;
+  moveit::core::RobotModelPtr model_;
   rdf_loader::RDFLoaderPtr rdf_loader_;
   kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
 };
diff --git a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
index 1ba8e75359..d5bc34ca5d 100644
--- a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
+++ b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
@@ -67,15 +67,15 @@ RobotModelLoader::~RobotModelLoader()
 
 namespace
 {
-bool canSpecifyPosition(const robot_model::JointModel* jmodel, const unsigned int index)
+bool canSpecifyPosition(const moveit::core::JointModel* jmodel, const unsigned int index)
 {
   bool ok = false;
-  if (jmodel->getType() == robot_model::JointModel::PLANAR && index == 2)
+  if (jmodel->getType() == moveit::core::JointModel::PLANAR && index == 2)
     ROS_ERROR("Cannot specify position limits for orientation of planar joint '%s'", jmodel->getName().c_str());
-  else if (jmodel->getType() == robot_model::JointModel::FLOATING && index > 2)
+  else if (jmodel->getType() == moveit::core::JointModel::FLOATING && index > 2)
     ROS_ERROR("Cannot specify position limits for orientation of floating joint '%s'", jmodel->getName().c_str());
-  else if (jmodel->getType() == robot_model::JointModel::REVOLUTE &&
-           static_cast<const robot_model::RevoluteJointModel*>(jmodel)->isContinuous())
+  else if (jmodel->getType() == moveit::core::JointModel::REVOLUTE &&
+           static_cast<const moveit::core::RevoluteJointModel*>(jmodel)->isContinuous())
     ROS_ERROR("Cannot specify position limits for continuous joint '%s'", jmodel->getName().c_str());
   else
     ok = true;
@@ -97,7 +97,7 @@ void RobotModelLoader::configure(const Options& opt)
   {
     const srdf::ModelSharedPtr& srdf =
         rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
-    model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
+    model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
   }
 
   if (model_ && !rdf_loader_->getRobotDescription().empty())
@@ -177,7 +177,8 @@ void RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::Kin
     else
       kinematics_loader_.reset(
           new kinematics_plugin_loader::KinematicsPluginLoader(rdf_loader_->getRobotDescription()));
-    robot_model::SolverAllocatorFn kinematics_allocator = kinematics_loader_->getLoaderFunction(rdf_loader_->getSRDF());
+    moveit::core::SolverAllocatorFn kinematics_allocator =
+        kinematics_loader_->getLoaderFunction(rdf_loader_->getSRDF());
     const std::vector<std::string>& groups = kinematics_loader_->getKnownGroups();
     std::stringstream ss;
     std::copy(groups.begin(), groups.end(), std::ostream_iterator<std::string>(ss, " "));
@@ -185,14 +186,14 @@ void RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::Kin
     if (groups.empty() && !model_->getJointModelGroups().empty())
       ROS_WARN("No kinematics plugins defined. Fill and load kinematics.yaml!");
 
-    std::map<std::string, robot_model::SolverAllocatorFn> imap;
+    std::map<std::string, moveit::core::SolverAllocatorFn> imap;
     for (const std::string& group : groups)
     {
       // Check if a group in kinematics.yaml exists in the srdf
       if (!model_->hasJointModelGroup(group))
         continue;
 
-      const robot_model::JointModelGroup* jmg = model_->getJointModelGroup(group);
+      const moveit::core::JointModelGroup* jmg = model_->getJointModelGroup(group);
 
       kinematics::KinematicsBasePtr solver = kinematics_allocator(jmg);
       if (solver)
@@ -221,7 +222,7 @@ void RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::Kin
     {
       if (!model_->hasJointModelGroup(it.first))
         continue;
-      robot_model::JointModelGroup* jmg = model_->getJointModelGroup(it.first);
+      moveit::core::JointModelGroup* jmg = model_->getJointModelGroup(it.first);
       jmg->setDefaultIKTimeout(it.second);
     }
   }
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 44091052bd..7a143dabf2 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -81,11 +81,11 @@ class TrajectoryExecutionManager
   };
 
   /// Load the controller manager plugin, start listening for events on a topic.
-  TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
+  TrajectoryExecutionManager(const moveit::core::RobotModelConstPtr& robot_model,
                              const planning_scene_monitor::CurrentStateMonitorPtr& csm);
 
   /// Load the controller manager plugin, start listening for events on a topic.
-  TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
+  TrajectoryExecutionManager(const moveit::core::RobotModelConstPtr& robot_model,
                              const planning_scene_monitor::CurrentStateMonitorPtr& csm, bool manage_controllers);
 
   /// Destructor. Cancels all running trajectories (if any)
@@ -303,7 +303,7 @@ class TrajectoryExecutionManager
   // Name of this class for logging
   const std::string name_ = "trajectory_execution_manager";
 
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
   planning_scene_monitor::CurrentStateMonitorPtr csm_;
   ros::NodeHandle node_handle_;
   ros::NodeHandle root_node_handle_;
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index 71d180cefe..bf83b39e7e 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -78,7 +78,7 @@ class TrajectoryExecutionManager::DynamicReconfigureImpl
   dynamic_reconfigure::Server<TrajectoryExecutionDynamicReconfigureConfig> dynamic_reconfigure_server_;
 };
 
-TrajectoryExecutionManager::TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
+TrajectoryExecutionManager::TrajectoryExecutionManager(const moveit::core::RobotModelConstPtr& robot_model,
                                                        const planning_scene_monitor::CurrentStateMonitorPtr& csm)
   : robot_model_(robot_model), csm_(csm), node_handle_("~")
 {
@@ -88,7 +88,7 @@ TrajectoryExecutionManager::TrajectoryExecutionManager(const robot_model::RobotM
   initialize();
 }
 
-TrajectoryExecutionManager::TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
+TrajectoryExecutionManager::TrajectoryExecutionManager(const moveit::core::RobotModelConstPtr& robot_model,
                                                        const planning_scene_monitor::CurrentStateMonitorPtr& csm,
                                                        bool manage_controllers)
   : robot_model_(robot_model), csm_(csm), node_handle_("~"), manage_controllers_(manage_controllers)
@@ -806,10 +806,10 @@ bool TrajectoryExecutionManager::distributeTrajectory(const moveit_msgs::RobotTr
   std::set<std::string> actuated_joints_single;
   for (const std::string& joint_name : trajectory.joint_trajectory.joint_names)
   {
-    const robot_model::JointModel* jm = robot_model_->getJointModel(joint_name);
+    const moveit::core::JointModel* jm = robot_model_->getJointModel(joint_name);
     if (jm)
     {
-      if (jm->isPassive() || jm->getMimic() != nullptr || jm->getType() == robot_model::JointModel::FIXED)
+      if (jm->isPassive() || jm->getMimic() != nullptr || jm->getType() == moveit::core::JointModel::FIXED)
         continue;
       actuated_joints_single.insert(jm->getName());
     }
@@ -936,7 +936,7 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
 
   ROS_DEBUG_NAMED(name_, "Validating trajectory with allowed_start_tolerance %g", allowed_start_tolerance_);
 
-  robot_state::RobotStatePtr current_state;
+  moveit::core::RobotStatePtr current_state;
   if (!csm_->waitForCurrentState(ros::Time::now()) || !(current_state = csm_->getCurrentState()))
   {
     ROS_WARN_NAMED(name_, "Failed to validate trajectory: couldn't receive full current joint state within 1s");
@@ -959,7 +959,7 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
 
       for (std::size_t i = 0, end = joint_names.size(); i < end; ++i)
       {
-        const robot_model::JointModel* jm = current_state->getJointModel(joint_names[i]);
+        const moveit::core::JointModel* jm = current_state->getJointModel(joint_names[i]);
         if (!jm)
         {
           ROS_ERROR_STREAM_NAMED(name_, "Unknown joint in trajectory: " << joint_names[i]);
@@ -995,7 +995,7 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
 
       for (std::size_t i = 0, end = joint_names.size(); i < end; ++i)
       {
-        const robot_model::JointModel* jm = current_state->getJointModel(joint_names[i]);
+        const moveit::core::JointModel* jm = current_state->getJointModel(joint_names[i]);
         if (!jm)
         {
           ROS_ERROR_STREAM_NAMED(name_, "Unknown joint in trajectory: " << joint_names[i]);
@@ -1036,8 +1036,8 @@ bool TrajectoryExecutionManager::configure(TrajectoryExecutionContext& context,
   std::set<std::string> actuated_joints;
 
   auto is_actuated = [this](const std::string& joint_name) -> bool {
-    const robot_model::JointModel* jm = robot_model_->getJointModel(joint_name);
-    return (jm && !jm->isPassive() && !jm->getMimic() && jm->getType() != robot_model::JointModel::FIXED);
+    const moveit::core::JointModel* jm = robot_model_->getJointModel(joint_name);
+    return (jm && !jm->isPassive() && !jm->getMimic() && jm->getType() != moveit::core::JointModel::FIXED);
   };
   for (const std::string& joint_name : trajectory.multi_dof_joint_trajectory.joint_names)
     if (is_actuated(joint_name))
@@ -1538,7 +1538,7 @@ bool TrajectoryExecutionManager::waitForRobotToStop(const TrajectoryExecutionCon
   ros::WallTime start = ros::WallTime::now();
   double time_remaining = wait_time;
 
-  robot_state::RobotStatePtr prev_state, cur_state;
+  moveit::core::RobotStatePtr prev_state, cur_state;
   prev_state = csm_->getCurrentState();
   prev_state->enforceBounds();
 
@@ -1563,7 +1563,7 @@ bool TrajectoryExecutionManager::waitForRobotToStop(const TrajectoryExecutionCon
 
       for (std::size_t i = 0; i < n && !moved; ++i)
       {
-        const robot_model::JointModel* jm = cur_state->getJointModel(joint_names[i]);
+        const moveit::core::JointModel* jm = cur_state->getJointModel(joint_names[i]);
         if (!jm)
           continue;  // joint vanished from robot state (shouldn't happen), but we don't care
 
@@ -1611,7 +1611,7 @@ moveit_controller_manager::ExecutionStatus TrajectoryExecutionManager::getLastEx
 
 bool TrajectoryExecutionManager::ensureActiveControllersForGroup(const std::string& group)
 {
-  const robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group);
   if (joint_model_group)
     return ensureActiveControllersForJoints(joint_model_group->getJointModelNames());
   else
@@ -1628,10 +1628,10 @@ bool TrajectoryExecutionManager::ensureActiveControllersForJoints(const std::vec
   std::set<std::string> jset;
   for (const std::string& joint : joints)
   {
-    const robot_model::JointModel* jm = robot_model_->getJointModel(joint);
+    const moveit::core::JointModel* jm = robot_model_->getJointModel(joint);
     if (jm)
     {
-      if (jm->isPassive() || jm->getMimic() != nullptr || jm->getType() == robot_model::JointModel::FIXED)
+      if (jm->isPassive() || jm->getMimic() != nullptr || jm->getType() == moveit::core::JointModel::FIXED)
         continue;
       jset.insert(joint);
     }
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
index 10248a0f96..e6e62f60ca 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
@@ -44,10 +44,10 @@ namespace planning_interface
 {
 std::shared_ptr<tf2_ros::Buffer> getSharedTF();
 
-robot_model::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description);
+moveit::core::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description);
 
 /**
-  @brief getSharedStateMonitor is a simpler version of getSharedStateMonitor(const robot_model::RobotModelConstPtr
+  @brief getSharedStateMonitor is a simpler version of getSharedStateMonitor(const moveit::core::RobotModelConstPtr
   &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
     ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle
 
@@ -55,8 +55,8 @@ robot_model::RobotModelConstPtr getSharedRobotModel(const std::string& robot_des
   @param tf_buffer
   @return
  */
-planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
-                                                                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
+planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(
+    const moveit::core::RobotModelConstPtr& robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
 /**
   @brief getSharedStateMonitor
@@ -66,9 +66,9 @@ planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot
   @param nh A ros::NodeHandle to pass node specific configurations, such as callbacks queues.
   @return
  */
-planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
-                                                                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
-                                                                     const ros::NodeHandle& nh);
+planning_scene_monitor::CurrentStateMonitorPtr
+getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
+                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const ros::NodeHandle& nh);
 
 }  // namespace planning interface
 }  // namespace moveit
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp b/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp
index 2c44c9c0d4..684bd1851f 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp
@@ -58,7 +58,7 @@ struct SharedStorage
 
   boost::mutex lock_;
   std::weak_ptr<tf2_ros::Buffer> tf_buffer_;
-  std::map<std::string, robot_model::RobotModelWeakPtr> models_;
+  std::map<std::string, moveit::core::RobotModelWeakPtr> models_;
   std::map<std::string, CurrentStateMonitorWeakPtr> state_monitors_;
 };
 
@@ -113,31 +113,31 @@ std::shared_ptr<tf2_ros::Buffer> getSharedTF()
   return buffer;
 }
 
-robot_model::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description)
+moveit::core::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description)
 {
   SharedStorage& s = getSharedStorage();
   boost::mutex::scoped_lock slock(s.lock_);
-  auto it = s.models_.insert(std::make_pair(robot_description, robot_model::RobotModelWeakPtr())).first;
-  robot_model::RobotModelPtr model = it->second.lock();
+  auto it = s.models_.insert(std::make_pair(robot_description, moveit::core::RobotModelWeakPtr())).first;
+  moveit::core::RobotModelPtr model = it->second.lock();
   if (!model)
   {
     RobotModelLoader::Options opt(robot_description);
     opt.load_kinematics_solvers_ = true;
     RobotModelLoaderPtr loader(new RobotModelLoader(opt));
     // create an aliasing shared_ptr
-    model = robot_model::RobotModelPtr(loader, loader->getModel().get());
+    model = moveit::core::RobotModelPtr(loader, loader->getModel().get());
     it->second = model;
   }
   return model;
 }
 
-CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+CurrentStateMonitorPtr getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                                              const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
 {
   return getSharedStateMonitor(robot_model, tf_buffer, ros::NodeHandle());
 }
 
-CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& robot_model,
+CurrentStateMonitorPtr getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                                              const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
                                              const ros::NodeHandle& nh)
 {
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index e7d2b3bdcc..e792c49487 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -118,7 +118,7 @@ class MoveGroupInterface
     std::string robot_description_;
 
     /// Optionally, an instance of the RobotModel to use can be also specified
-    robot_model::RobotModelConstPtr robot_model_;
+    moveit::core::RobotModelConstPtr robot_model_;
 
     ros::NodeHandle node_handle_;
   };
@@ -187,7 +187,7 @@ class MoveGroupInterface
   const std::vector<std::string>& getNamedTargets() const;
 
   /** \brief Get the RobotModel object. */
-  robot_model::RobotModelConstPtr getRobotModel() const;
+  moveit::core::RobotModelConstPtr getRobotModel() const;
 
   /** \brief Get the ROS node handle of this instance operates on */
   const ros::NodeHandle& getNodeHandle() const;
@@ -303,7 +303,7 @@ class MoveGroupInterface
 
   /** \brief If a different start state should be considered instead of the current state of the robot, this function
    * sets that state */
-  void setStartState(const robot_state::RobotState& start_state);
+  void setStartState(const moveit::core::RobotState& start_state);
 
   /** \brief Set the starting state for planning to be that reported by the robot's joint state publication */
   void setStartStateToCurrentState();
@@ -386,7 +386,7 @@ class MoveGroupInterface
 
       If these values are out of bounds then false is returned BUT THE VALUES
       ARE STILL SET AS THE GOAL. */
-  bool setJointValueTarget(const robot_state::RobotState& robot_state);
+  bool setJointValueTarget(const moveit::core::RobotState& robot_state);
 
   /** \brief Set the JointValueTarget and use it for future planning requests.
 
@@ -516,7 +516,7 @@ class MoveGroupInterface
   void getJointValueTarget(std::vector<double>& group_variable_values) const;
 
   /// Get the currently set joint state goal, replaced by private getTargetRobotState()
-  [[deprecated]] const robot_state::RobotState& getJointValueTarget() const;
+  [[deprecated]] const moveit::core::RobotState& getJointValueTarget() const;
 
   /**@}*/
 
@@ -906,7 +906,7 @@ class MoveGroupInterface
   std::vector<double> getCurrentJointValues() const;
 
   /** \brief Get the current state of the robot within the duration specified by wait. */
-  robot_state::RobotStatePtr getCurrentState(double wait = 1) const;
+  moveit::core::RobotStatePtr getCurrentState(double wait = 1) const;
 
   /** \brief Get the pose for the end-effector \e end_effector_link.
       If \e end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is
@@ -994,7 +994,7 @@ class MoveGroupInterface
 
 protected:
   /** return the full RobotState of the joint-space target, only for internal use */
-  const robot_state::RobotState& getTargetRobotState() const;
+  const moveit::core::RobotState& getTargetRobotState() const;
 
 private:
   std::map<std::string, std::vector<double> > remembered_joint_values_;
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 6069606410..35a9d39352 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -113,7 +113,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     joint_model_group_ = getRobotModel()->getJointModelGroup(opt.group_name_);
 
-    joint_state_target_.reset(new robot_state::RobotState(getRobotModel()));
+    joint_state_target_.reset(new moveit::core::RobotState(getRobotModel()));
     joint_state_target_->setToDefaultValues();
     active_target_ = JOINT;
     can_look_ = false;
@@ -248,12 +248,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     return opt_;
   }
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
 
-  const robot_model::JointModelGroup* getJointModelGroup() const
+  const moveit::core::JointModelGroup* getJointModelGroup() const
   {
     return joint_model_group_;
   }
@@ -345,19 +345,19 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     max_acceleration_scaling_factor_ = max_acceleration_scaling_factor;
   }
 
-  robot_state::RobotState& getTargetRobotState()
+  moveit::core::RobotState& getTargetRobotState()
   {
     return *joint_state_target_;
   }
 
-  const robot_state::RobotState& getTargetRobotState() const
+  const moveit::core::RobotState& getTargetRobotState() const
   {
     return *joint_state_target_;
   }
 
-  void setStartState(const robot_state::RobotState& start_state)
+  void setStartState(const moveit::core::RobotState& start_state)
   {
-    considered_start_state_.reset(new robot_state::RobotState(start_state));
+    considered_start_state_.reset(new moveit::core::RobotState(start_state));
   }
 
   void setStartStateToCurrentState()
@@ -365,13 +365,13 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     considered_start_state_.reset();
   }
 
-  robot_state::RobotStatePtr getStartState()
+  moveit::core::RobotStatePtr getStartState()
   {
     if (considered_start_state_)
       return considered_start_state_;
     else
     {
-      robot_state::RobotStatePtr s;
+      moveit::core::RobotStatePtr s;
       getCurrentState(s);
       return s;
     }
@@ -560,7 +560,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     return true;
   }
 
-  bool getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds = 1.0)
+  bool getCurrentState(moveit::core::RobotStatePtr& current_state, double wait_seconds = 1.0)
   {
     if (!current_state_monitor_)
     {
@@ -842,7 +842,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     moveit_msgs::GetCartesianPath::Response res;
 
     if (considered_start_state_)
-      robot_state::robotStateToRobotStateMsg(*considered_start_state_, req.start_state);
+      moveit::core::robotStateToRobotStateMsg(*considered_start_state_, req.start_state);
     else
       req.start_state.is_diff = true;
 
@@ -1009,7 +1009,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     request.workspace_parameters = workspace_parameters_;
 
     if (considered_start_state_)
-      robot_state::robotStateToRobotStateMsg(*considered_start_state_, request.start_state);
+      moveit::core::robotStateToRobotStateMsg(*considered_start_state_, request.start_state);
     else
       request.start_state.is_diff = true;
 
@@ -1226,7 +1226,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   Options opt_;
   ros::NodeHandle node_handle_;
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
   planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor_;
   std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> > move_action_client_;
   std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::ExecuteTrajectoryAction> > execute_action_client_;
@@ -1234,7 +1234,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::PlaceAction> > place_action_client_;
 
   // general planning params
-  robot_state::RobotStatePtr considered_start_state_;
+  moveit::core::RobotStatePtr considered_start_state_;
   moveit_msgs::WorkspaceParameters workspace_parameters_;
   double allowed_planning_time_;
   std::string planner_id_;
@@ -1249,8 +1249,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   double replan_delay_;
 
   // joint state goal
-  robot_state::RobotStatePtr joint_state_target_;
-  const robot_model::JointModelGroup* joint_model_group_;
+  moveit::core::RobotStatePtr joint_state_target_;
+  const moveit::core::JointModelGroup* joint_model_group_;
 
   // pose goal;
   // for each link we have a set of possible goal locations;
@@ -1340,7 +1340,7 @@ const std::vector<std::string>& MoveGroupInterface::getNamedTargets() const
   return impl_->getJointModelGroup()->getDefaultStateNames();
 }
 
-robot_model::RobotModelConstPtr MoveGroupInterface::getRobotModel() const
+moveit::core::RobotModelConstPtr MoveGroupInterface::getRobotModel() const
 {
   return impl_->getRobotModel();
 }
@@ -1501,13 +1501,13 @@ void MoveGroupInterface::stop()
 
 void MoveGroupInterface::setStartState(const moveit_msgs::RobotState& start_state)
 {
-  robot_state::RobotStatePtr rs;
+  moveit::core::RobotStatePtr rs;
   impl_->getCurrentState(rs);
-  robot_state::robotStateMsgToRobotState(start_state, *rs);
+  moveit::core::robotStateMsgToRobotState(start_state, *rs);
   setStartState(*rs);
 }
 
-void MoveGroupInterface::setStartState(const robot_state::RobotState& start_state)
+void MoveGroupInterface::setStartState(const moveit::core::RobotState& start_state)
 {
   impl_->setStartState(start_state);
 }
@@ -1623,7 +1623,7 @@ bool MoveGroupInterface::setJointValueTarget(const std::vector<std::string>& var
   return impl_->getTargetRobotState().satisfiesBounds(impl_->getGoalJointTolerance());
 }
 
-bool MoveGroupInterface::setJointValueTarget(const robot_state::RobotState& rstate)
+bool MoveGroupInterface::setJointValueTarget(const moveit::core::RobotState& rstate)
 {
   impl_->setTargetType(JOINT);
   impl_->getTargetRobotState() = rstate;
@@ -1639,7 +1639,7 @@ bool MoveGroupInterface::setJointValueTarget(const std::string& joint_name, doub
 bool MoveGroupInterface::setJointValueTarget(const std::string& joint_name, const std::vector<double>& values)
 {
   impl_->setTargetType(JOINT);
-  const robot_model::JointModel* jm = impl_->getJointModelGroup()->getJointModel(joint_name);
+  const moveit::core::JointModel* jm = impl_->getJointModelGroup()->getJointModel(joint_name);
   if (jm && jm->getVariableCount() == values.size())
   {
     impl_->getTargetRobotState().setJointPositions(jm, values);
@@ -1691,12 +1691,12 @@ bool MoveGroupInterface::setApproximateJointValueTarget(const Eigen::Isometry3d&
   return setApproximateJointValueTarget(msg, end_effector_link);
 }
 
-const robot_state::RobotState& MoveGroupInterface::getJointValueTarget() const
+const moveit::core::RobotState& MoveGroupInterface::getJointValueTarget() const
 {
   return impl_->getTargetRobotState();
 }
 
-const robot_state::RobotState& MoveGroupInterface::getTargetRobotState() const
+const moveit::core::RobotState& MoveGroupInterface::getTargetRobotState() const
 {
   return impl_->getTargetRobotState();
 }
@@ -1722,7 +1722,7 @@ bool MoveGroupInterface::setEndEffectorLink(const std::string& link_name)
 
 bool MoveGroupInterface::setEndEffector(const std::string& eef_name)
 {
-  const robot_model::JointModelGroup* jmg = impl_->getRobotModel()->getEndEffector(eef_name);
+  const moveit::core::JointModelGroup* jmg = impl_->getRobotModel()->getEndEffector(eef_name);
   if (jmg)
     return setEndEffectorLink(jmg->getEndEffectorParentGroup().second);
   return false;
@@ -1965,7 +1965,7 @@ bool MoveGroupInterface::startStateMonitor(double wait)
 
 std::vector<double> MoveGroupInterface::getCurrentJointValues() const
 {
-  robot_state::RobotStatePtr current_state;
+  moveit::core::RobotStatePtr current_state;
   std::vector<double> values;
   if (impl_->getCurrentState(current_state))
     current_state->copyJointGroupPositions(getName(), values);
@@ -1988,11 +1988,11 @@ geometry_msgs::PoseStamped MoveGroupInterface::getRandomPose(const std::string&
     ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
   else
   {
-    robot_state::RobotStatePtr current_state;
+    moveit::core::RobotStatePtr current_state;
     if (impl_->getCurrentState(current_state))
     {
       current_state->setToRandomPositions(impl_->getJointModelGroup());
-      const robot_model::LinkModel* lm = current_state->getLinkModel(eef);
+      const moveit::core::LinkModel* lm = current_state->getLinkModel(eef);
       if (lm)
         pose = current_state->getGlobalLinkTransform(lm);
     }
@@ -2013,10 +2013,10 @@ geometry_msgs::PoseStamped MoveGroupInterface::getCurrentPose(const std::string&
     ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
   else
   {
-    robot_state::RobotStatePtr current_state;
+    moveit::core::RobotStatePtr current_state;
     if (impl_->getCurrentState(current_state))
     {
-      const robot_model::LinkModel* lm = current_state->getLinkModel(eef);
+      const moveit::core::LinkModel* lm = current_state->getLinkModel(eef);
       if (lm)
         pose = current_state->getGlobalLinkTransform(lm);
     }
@@ -2036,10 +2036,10 @@ std::vector<double> MoveGroupInterface::getCurrentRPY(const std::string& end_eff
     ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
   else
   {
-    robot_state::RobotStatePtr current_state;
+    moveit::core::RobotStatePtr current_state;
     if (impl_->getCurrentState(current_state))
     {
-      const robot_model::LinkModel* lm = current_state->getLinkModel(eef);
+      const moveit::core::LinkModel* lm = current_state->getLinkModel(eef);
       if (lm)
       {
         result.resize(3);
@@ -2070,9 +2070,9 @@ unsigned int MoveGroupInterface::getVariableCount() const
   return impl_->getJointModelGroup()->getVariableCount();
 }
 
-robot_state::RobotStatePtr MoveGroupInterface::getCurrentState(double wait) const
+moveit::core::RobotStatePtr MoveGroupInterface::getCurrentState(double wait) const
 {
-  robot_state::RobotStatePtr current_state;
+  moveit::core::RobotStatePtr current_state;
   impl_->getCurrentState(current_state, wait);
   return current_state;
 }
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index f12bd4be97..94639c6f9c 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -130,7 +130,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
   py_bindings_tools::ByteString getJointValueTarget()
   {
     moveit_msgs::RobotState msg;
-    const robot_state::RobotState state = moveit::planning_interface::MoveGroupInterface::getTargetRobotState();
+    const moveit::core::RobotState state = moveit::planning_interface::MoveGroupInterface::getTargetRobotState();
     moveit::core::robotStateToRobotStateMsg(state, msg);
     return py_bindings_tools::serializeMsg(msg);
   }
@@ -306,10 +306,10 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
   bp::dict getCurrentStateBoundedPython()
   {
-    robot_state::RobotStatePtr current = getCurrentState();
+    moveit::core::RobotStatePtr current = getCurrentState();
     current->enforceBounds();
     moveit_msgs::RobotState rsmv;
-    robot_state::robotStateToRobotStateMsg(*current, rsmv);
+    moveit::core::robotStateToRobotStateMsg(*current, rsmv);
     bp::dict output;
     for (size_t x = 0; x < rsmv.joint_state.name.size(); ++x)
       output[rsmv.joint_state.name[x]] = rsmv.joint_state.position[x];
@@ -549,7 +549,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     if (ref.size() != 3)
       throw std::invalid_argument("reference point needs to have 3 elements, got " + std::to_string(ref.size()));
 
-    robot_state::RobotState state(getRobotModel());
+    moveit::core::RobotState state(getRobotModel());
     state.setToDefaultValues();
     auto group = state.getJointModelGroup(getName());
     state.setJointGroupPositions(group, v);
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index affeceb1a7..72eb43cb2a 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -127,18 +127,18 @@ class MoveItCpp
   ~MoveItCpp();
 
   /** \brief Get the RobotModel object. */
-  robot_model::RobotModelConstPtr getRobotModel() const;
+  moveit::core::RobotModelConstPtr getRobotModel() const;
 
   /** \brief Get the ROS node handle of this instance operates on */
   const ros::NodeHandle& getNodeHandle() const;
 
   /** \brief Get the current state queried from the current state monitor
       \param wait_seconds the time in seconds for the state monitor to wait for a robot state. */
-  bool getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds);
+  bool getCurrentState(moveit::core::RobotStatePtr& current_state, double wait_seconds);
 
   /** \brief Get the current state queried from the current state monitor
       \param wait_seconds the time in seconds for the state monitor to wait for a robot state. */
-  robot_state::RobotStatePtr getCurrentState(double wait_seconds = 0.0);
+  moveit::core::RobotStatePtr getCurrentState(double wait_seconds = 0.0);
 
   /** \brief Get all loaded planning pipeline instances mapped to their reference names */
   const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& getPlanningPipelines() const;
@@ -169,7 +169,7 @@ class MoveItCpp
 private:
   //  Core properties and instances
   ros::NodeHandle node_handle_;
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
   // Planning
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index 51032ee3ec..cc650fbae4 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -151,10 +151,10 @@ class PlanningComponent
   void unsetWorkspace();
 
   /** \brief Get the considered start state if defined, otherwise get the current state */
-  robot_state::RobotStatePtr getStartState();
+  moveit::core::RobotStatePtr getStartState();
 
   /** \brief Set the robot state that should be considered as start state for planning */
-  bool setStartState(const robot_state::RobotState& start_state);
+  bool setStartState(const moveit::core::RobotState& start_state);
   /** \brief Set the named robot state that should be considered as start state for planning */
   bool setStartState(const std::string& named_state);
 
@@ -164,7 +164,7 @@ class PlanningComponent
   /** \brief Set the goal constraints used for planning */
   bool setGoal(const std::vector<moveit_msgs::Constraints>& goal_constraints);
   /** \brief Set the goal constraints generated from a target state */
-  bool setGoal(const robot_state::RobotState& goal_state);
+  bool setGoal(const moveit::core::RobotState& goal_state);
   /** \brief Set the goal constraints generated from target pose and robot link */
   bool setGoal(const geometry_msgs::PoseStamped& goal_pose, const std::string& link_name);
   /** \brief Set the goal constraints generated from a named target state */
@@ -195,7 +195,7 @@ class PlanningComponent
   // Planning
   std::set<std::string> planning_pipeline_names_;
   // The start state used in the planning motion request
-  robot_state::RobotStatePtr considered_start_state_;
+  moveit::core::RobotStatePtr considered_start_state_;
   std::vector<moveit_msgs::Constraints> current_goal_constraints_;
   PlanRequestParameters plan_request_parameters_;
   moveit_msgs::WorkspaceParameters workspace_parameters_;
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index a53c5d5f80..941aab5613 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -203,7 +203,7 @@ bool MoveItCpp::loadPlanningPipelines(const PlanningPipelineOptions& options)
   return true;
 }
 
-robot_model::RobotModelConstPtr MoveItCpp::getRobotModel() const
+moveit::core::RobotModelConstPtr MoveItCpp::getRobotModel() const
 {
   return robot_model_;
 }
@@ -213,7 +213,7 @@ const ros::NodeHandle& MoveItCpp::getNodeHandle() const
   return node_handle_;
 }
 
-bool MoveItCpp::getCurrentState(robot_state::RobotStatePtr& current_state, double wait_seconds)
+bool MoveItCpp::getCurrentState(moveit::core::RobotStatePtr& current_state, double wait_seconds)
 {
   if (wait_seconds > 0.0 &&
       !planning_scene_monitor_->getStateMonitor()->waitForCurrentState(ros::Time::now(), wait_seconds))
@@ -228,9 +228,9 @@ bool MoveItCpp::getCurrentState(robot_state::RobotStatePtr& current_state, doubl
   return true;
 }
 
-robot_state::RobotStatePtr MoveItCpp::getCurrentState(double wait)
+moveit::core::RobotStatePtr MoveItCpp::getCurrentState(double wait)
 {
-  robot_state::RobotStatePtr current_state;
+  moveit::core::RobotStatePtr current_state;
   getCurrentState(current_state, wait);
   return current_state;
 }
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index ea57f7a833..68a60dc2b9 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -219,19 +219,19 @@ PlanningComponent::PlanSolution PlanningComponent::plan()
   return plan(default_parameters);
 }
 
-bool PlanningComponent::setStartState(const robot_state::RobotState& start_state)
+bool PlanningComponent::setStartState(const moveit::core::RobotState& start_state)
 {
-  considered_start_state_.reset(new robot_state::RobotState(start_state));
+  considered_start_state_.reset(new moveit::core::RobotState(start_state));
   return true;
 }
 
-robot_state::RobotStatePtr PlanningComponent::getStartState()
+moveit::core::RobotStatePtr PlanningComponent::getStartState()
 {
   if (considered_start_state_)
     return considered_start_state_;
   else
   {
-    robot_state::RobotStatePtr s;
+    moveit::core::RobotStatePtr s;
     moveit_cpp_->getCurrentState(s, 1.0);
     return s;
   }
@@ -245,7 +245,7 @@ bool PlanningComponent::setStartState(const std::string& start_state_name)
     ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", start_state_name.c_str());
     return false;
   }
-  robot_state::RobotState start_state(moveit_cpp_->getRobotModel());
+  moveit::core::RobotState start_state(moveit_cpp_->getRobotModel());
   start_state.setToDefaultValues(joint_model_group_, start_state_name);
   return setStartState(start_state);
 }
@@ -287,7 +287,7 @@ bool PlanningComponent::setGoal(const std::vector<moveit_msgs::Constraints>& goa
   return true;
 }
 
-bool PlanningComponent::setGoal(const robot_state::RobotState& goal_state)
+bool PlanningComponent::setGoal(const moveit::core::RobotState& goal_state)
 {
   current_goal_constraints_ = { kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group_) };
   return true;
@@ -307,7 +307,7 @@ bool PlanningComponent::setGoal(const std::string& goal_state_name)
     ROS_ERROR_NAMED(LOGNAME, "No predefined joint state found for target name '%s'", goal_state_name.c_str());
     return false;
   }
-  robot_state::RobotState goal_state(moveit_cpp_->getRobotModel());
+  moveit::core::RobotState goal_state(moveit_cpp_->getRobotModel());
   goal_state.setToDefaultValues(joint_model_group_, goal_state_name);
   return setGoal(goal_state);
 }
diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index aaec69288f..704372d6ec 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -267,7 +267,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
   ros::ServiceClient planning_scene_service_;
   ros::ServiceClient apply_planning_scene_service_;
   ros::Publisher planning_scene_diff_publisher_;
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 };
 
 PlanningSceneInterface::PlanningSceneInterface(const std::string& ns)
diff --git a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
index be238104f4..f21e58127c 100644
--- a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
+++ b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
@@ -77,7 +77,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   bp::list getGroupJointNames(const std::string& group) const
   {
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (jmg)
       return py_bindings_tools::listFromString(jmg->getJointModelNames());
     else
@@ -86,7 +86,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   bp::list getGroupJointTips(const std::string& group) const
   {
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (jmg)
     {
       std::vector<std::string> tips;
@@ -104,7 +104,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   bp::list getGroupLinkNames(const std::string& group) const
   {
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (jmg)
       return py_bindings_tools::listFromString(jmg->getLinkModelNames());
     else
@@ -119,7 +119,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   bp::list getJointLimits(const std::string& name) const
   {
     bp::list result;
-    const robot_model::JointModel* jm = robot_model_->getJointModel(name);
+    const moveit::core::JointModel* jm = robot_model_->getJointModel(name);
     if (jm)
     {
       const std::vector<moveit_msgs::JointLimits>& lim = jm->getVariableBoundsMsg();
@@ -144,8 +144,8 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     bp::list l;
     if (!ensureCurrentState())
       return l;
-    robot_state::RobotStatePtr state = current_state_monitor_->getCurrentState();
-    const robot_model::LinkModel* lm = state->getLinkModel(name);
+    moveit::core::RobotStatePtr state = current_state_monitor_->getCurrentState();
+    const moveit::core::LinkModel* lm = state->getLinkModel(name);
     if (lm)
     {
       const Eigen::Isometry3d& t = state->getGlobalLinkTransform(lm);
@@ -166,7 +166,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   bp::list getDefaultStateNames(const std::string& group)
   {
     bp::list l;
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (jmg)
     {
       for (auto& known_state : jmg->getDefaultStateNames())
@@ -182,8 +182,8 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     bp::list l;
     if (!ensureCurrentState())
       return l;
-    robot_state::RobotStatePtr state = current_state_monitor_->getCurrentState();
-    const robot_model::JointModel* jm = state->getJointModel(name);
+    moveit::core::RobotStatePtr state = current_state_monitor_->getCurrentState();
+    const moveit::core::JointModel* jm = state->getJointModel(name);
     if (jm)
     {
       const double* pos = state->getJointPositions(jm);
@@ -197,7 +197,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   bp::dict getJointValues(const std::string& group, const std::string& named_state)
   {
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (!jmg)
       return boost::python::dict();
     std::map<std::string, double> values;
@@ -227,9 +227,9 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   {
     if (!ensureCurrentState())
       return py_bindings_tools::ByteString("");
-    robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
+    moveit::core::RobotStatePtr s = current_state_monitor_->getCurrentState();
     moveit_msgs::RobotState msg;
-    robot_state::robotStateToRobotStateMsg(*s, msg);
+    moveit::core::robotStateToRobotStateMsg(*s, msg);
     return py_bindings_tools::serializeMsg(msg);
   }
 
@@ -237,7 +237,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   {
     // name of the group that is parent to this end-effector group;
     // Second: the link this in the parent group that this group attaches to
-    const robot_state::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (!jmg)
       return boost::python::make_tuple("", "");
     std::pair<std::string, std::string> parent_group = jmg->getEndEffectorParentGroup();
@@ -246,14 +246,14 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   py_bindings_tools::ByteString getRobotMarkersPythonDictList(bp::dict& values, bp::list& links)
   {
-    robot_state::RobotStatePtr state;
+    moveit::core::RobotStatePtr state;
     if (ensureCurrentState())
     {
       state = current_state_monitor_->getCurrentState();
     }
     else
     {
-      state.reset(new robot_state::RobotState(robot_model_));
+      state.reset(new moveit::core::RobotState(robot_model_));
     }
 
     bp::list k = values.keys();
@@ -282,7 +282,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   py_bindings_tools::ByteString getRobotMarkersFromMsg(const py_bindings_tools::ByteString& state_str)
   {
     moveit_msgs::RobotState state_msg;
-    robot_state::RobotState state(robot_model_);
+    moveit::core::RobotState state(robot_model_);
     py_bindings_tools::deserializeMsg(state_str, state_msg);
     moveit::core::robotStateMsgToRobotState(state_msg, state);
 
@@ -296,7 +296,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   {
     if (!ensureCurrentState())
       return py_bindings_tools::ByteString();
-    robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
+    moveit::core::RobotStatePtr s = current_state_monitor_->getCurrentState();
     visualization_msgs::MarkerArray msg;
     s->getRobotMarkers(msg, s->getRobotModel()->getLinkModelNames());
 
@@ -307,7 +307,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   {
     if (!ensureCurrentState())
       return py_bindings_tools::ByteString("");
-    robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
+    moveit::core::RobotStatePtr s = current_state_monitor_->getCurrentState();
     visualization_msgs::MarkerArray msg;
     s->getRobotMarkers(msg, py_bindings_tools::stringFromList(links));
 
@@ -318,8 +318,8 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   {
     if (!ensureCurrentState())
       return py_bindings_tools::ByteString("");
-    robot_state::RobotStatePtr s = current_state_monitor_->getCurrentState();
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    moveit::core::RobotStatePtr s = current_state_monitor_->getCurrentState();
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     visualization_msgs::MarkerArray msg;
     if (jmg)
     {
@@ -331,7 +331,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
 
   py_bindings_tools::ByteString getRobotMarkersGroupPythonDict(const std::string& group, bp::dict& values)
   {
-    const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+    const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
     if (!jmg)
       return py_bindings_tools::ByteString("");
     bp::list links = py_bindings_tools::listFromString(jmg->getLinkModelNames());
@@ -363,7 +363,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
   }
 
 private:
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
   planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor_;
   ros::NodeHandle nh_;
 };
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.cpp b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
index 675d7c761b..d1430075e0 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.cpp
@@ -84,7 +84,7 @@ class MoveItCppTest : public ::testing::Test
   ros::NodeHandle nh_;
   MoveItCppPtr moveit_cpp_ptr;
   PlanningComponentPtr planning_component_ptr;
-  robot_model::RobotModelConstPtr robot_model_ptr;
+  moveit::core::RobotModelConstPtr robot_model_ptr;
   const moveit::core::JointModelGroup* jmg_ptr;
   const std::string PLANNING_GROUP = "panda_arm";
   geometry_msgs::PoseStamped target_pose1;
@@ -97,7 +97,7 @@ TEST_F(MoveItCppTest, GetCurrentStateTest)
 {
   ros::Duration(1.0).sleep();  // Otherwise joint_states will result in an invalid robot state
   auto robot_model = moveit_cpp_ptr->getRobotModel();
-  auto robot_state = std::make_shared<robot_state::RobotState>(robot_model);
+  auto robot_state = std::make_shared<moveit::core::RobotState>(robot_model);
   EXPECT_TRUE(moveit_cpp_ptr->getCurrentState(robot_state, 0.0));
   // Make sure the Panda robot is in "ready" state which is loaded from fake_controller.yaml
   std::vector<double> joints_vals;
@@ -135,7 +135,7 @@ TEST_F(MoveItCppTest, TestSetGoalFromPoseStamped)
   ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
 }
 
-// Test setting the plan start state using robot_state::RobotState
+// Test setting the plan start state using moveit::core::RobotState
 TEST_F(MoveItCppTest, TestSetStartStateFromRobotState)
 {
   auto start_state = *(moveit_cpp_ptr->getCurrentState());
@@ -147,7 +147,7 @@ TEST_F(MoveItCppTest, TestSetStartStateFromRobotState)
   ASSERT_TRUE(static_cast<bool>(planning_component_ptr->plan()));
 }
 
-// Test settting the goal of the plan using a robot_state::RobotState
+// Test settting the goal of the plan using a moveit::core::RobotState
 TEST_F(MoveItCppTest, TestSetGoalFromRobotState)
 {
   auto target_state = *(moveit_cpp_ptr->getCurrentState());
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
index b0027cf0f2..3dc50a10ea 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
@@ -84,7 +84,7 @@ enum InteractionStyle
 ///          that will be used to control the interaction.
 ///  @returns true if the function succeeds, false if the function was not able
 ///          to fill in \e marker.
-typedef boost::function<bool(const robot_state::RobotState& state, visualization_msgs::InteractiveMarker& marker)>
+typedef boost::function<bool(const moveit::core::RobotState& state, visualization_msgs::InteractiveMarker& marker)>
     InteractiveMarkerConstructorFn;
 
 /// Type of function for processing marker feedback.
@@ -98,7 +98,7 @@ typedef boost::function<bool(const robot_state::RobotState& state, visualization
 /// @returns false if the state was not successfully updated or the new state
 ///           is somehow invalid or erronious (e.g. in collision).  true if
 ///           everything worked well.
-typedef boost::function<bool(robot_state::RobotState& state,
+typedef boost::function<bool(moveit::core::RobotState& state,
                              const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)>
     ProcessFeedbackFn;
 
@@ -111,7 +111,7 @@ typedef boost::function<bool(robot_state::RobotState& state,
 ///              marker, given the new state of the robot.
 /// @returns true if the pose was modified, false if no update is needed (i.e.
 ///              if the pose did not change).
-typedef boost::function<bool(const robot_state::RobotState&, geometry_msgs::Pose&)> InteractiveMarkerUpdateFn;
+typedef boost::function<bool(const moveit::core::RobotState&, geometry_msgs::Pose&)> InteractiveMarkerUpdateFn;
 
 /// Representation of a generic interaction.
 /// Displays one interactive marker.
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index 3ea644e86a..e6a07c1d83 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -77,7 +77,7 @@ class InteractionHandler : public LockedRobotState
 public:
   // Use this constructor if you have an initial RobotState already.
   InteractionHandler(const RobotInteractionPtr& robot_interaction, const std::string& name,
-                     const robot_state::RobotState& initial_robot_state,
+                     const moveit::core::RobotState& initial_robot_state,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
   // Use this constructor to start with a default state.
@@ -85,10 +85,10 @@ class InteractionHandler : public LockedRobotState
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
   // DEPRECATED.
-  InteractionHandler(const std::string& name, const robot_state::RobotState& initial_robot_state,
+  InteractionHandler(const std::string& name, const moveit::core::RobotState& initial_robot_state,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
   // DEPRECATED.
-  InteractionHandler(const std::string& name, const robot_model::RobotModelConstPtr& model,
+  InteractionHandler(const std::string& name, const moveit::core::RobotModelConstPtr& model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
   ~InteractionHandler() override
@@ -230,18 +230,18 @@ class InteractionHandler : public LockedRobotState
 
   // Update RobotState using a generic interaction feedback message.
   // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
-  void updateStateGeneric(robot_state::RobotState* state, const GenericInteraction* g,
+  void updateStateGeneric(moveit::core::RobotState* state, const GenericInteraction* g,
                           const visualization_msgs::InteractiveMarkerFeedbackConstPtr* feedback,
                           StateChangeCallbackFn* callback);
 
   // Update RobotState for a new pose of an eef.
   // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
-  void updateStateEndEffector(robot_state::RobotState* state, const EndEffectorInteraction* eef,
+  void updateStateEndEffector(moveit::core::RobotState* state, const EndEffectorInteraction* eef,
                               const geometry_msgs::Pose* pose, StateChangeCallbackFn* callback);
 
   // Update RobotState for a new joint position.
   // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
-  void updateStateJoint(robot_state::RobotState* state, const JointInteraction* vj, const geometry_msgs::Pose* pose,
+  void updateStateJoint(moveit::core::RobotState* state, const JointInteraction* vj, const geometry_msgs::Pose* pose,
                         StateChangeCallbackFn* callback);
 
   // Set the error state for \e name.
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
index 8a0248a60a..0ba6699d47 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
@@ -70,7 +70,7 @@ struct KinematicOptions
   /// @param tip link that will be posed
   /// @param pose desired pose of tip link
   /// @param result true if IK succeeded.
-  bool setStateFromIK(robot_state::RobotState& state, const std::string& group, const std::string& tip,
+  bool setStateFromIK(moveit::core::RobotState& state, const std::string& group, const std::string& tip,
                       const geometry_msgs::Pose& pose) const;
 
   /// Copy a subset of source to this.
@@ -82,7 +82,7 @@ struct KinematicOptions
   double timeout_seconds_;
 
   /// This is called to determine if the state is valid
-  robot_state::GroupStateValidityCallbackFn state_validity_callback_;
+  moveit::core::GroupStateValidityCallbackFn state_validity_callback_;
 
   /// other options
   kinematics::KinematicsQueryOptions options_;
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
index f9c6a986b9..f0e6d807e1 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
@@ -63,7 +63,7 @@ class KinematicOptionsMap
   /// @param tip link that will be posed
   /// @param pose desired pose of tip link
   /// @param result true if IK succeeded.
-  bool setStateFromIK(robot_state::RobotState& state, const std::string& key, const std::string& group,
+  bool setStateFromIK(moveit::core::RobotState& state, const std::string& key, const std::string& group,
                       const std::string& tip, const geometry_msgs::Pose& pose) const;
 
   /// Get the options to use for a particular key.
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
index fd6b3f3616..488b49057e 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
@@ -60,8 +60,8 @@ MOVEIT_CLASS_FORWARD(LockedRobotState);
 class LockedRobotState
 {
 public:
-  LockedRobotState(const robot_state::RobotState& state);
-  LockedRobotState(const robot_model::RobotModelPtr& model);
+  LockedRobotState(const moveit::core::RobotState& state);
+  LockedRobotState(const moveit::core::RobotModelPtr& model);
 
   virtual ~LockedRobotState();
 
@@ -72,13 +72,13 @@ class LockedRobotState
   // it.
   //
   // The transforms in the returned state will always be up to date.
-  robot_state::RobotStateConstPtr getState() const;
+  moveit::core::RobotStateConstPtr getState() const;
 
   /// Set the state to the new value.
-  void setState(const robot_state::RobotState& state);
+  void setState(const moveit::core::RobotState& state);
 
   // This is a function that can modify the maintained state.
-  typedef boost::function<void(robot_state::RobotState*)> ModifyStateFunction;
+  typedef boost::function<void(moveit::core::RobotState*)> ModifyStateFunction;
 
   // Modify the state.
   //
@@ -105,6 +105,6 @@ class LockedRobotState
   // The state maintained by this class.
   // When a modify function is being called this is NULL.
   // PROTECTED BY state_lock_
-  robot_state::RobotStatePtr state_;
+  moveit::core::RobotStatePtr state_;
 };
 }
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index 494386af0f..3fc649d93e 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -76,7 +76,7 @@ class RobotInteraction
   /// The topic name on which the internal Interactive Marker Server operates
   static const std::string INTERACTIVE_MARKER_TOPIC;
 
-  RobotInteraction(const robot_model::RobotModelConstPtr& robot_model, const std::string& ns = "");
+  RobotInteraction(const moveit::core::RobotModelConstPtr& robot_model, const std::string& ns = "");
   virtual ~RobotInteraction();
 
   const std::string& getServerTopic(void) const
@@ -140,7 +140,7 @@ class RobotInteraction
   // is needed to actually remove the markers from the display.
   void clearInteractiveMarkers();
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -180,7 +180,7 @@ class RobotInteraction
   // return the diameter of the sphere that certainly can enclose the AABB of the links in this group
   double computeGroupMarkerSize(const std::string& group);
   void computeMarkerPose(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
-                         const robot_state::RobotState& robot_state, geometry_msgs::Pose& pose,
+                         const moveit::core::RobotState& robot_state, geometry_msgs::Pose& pose,
                          geometry_msgs::Pose& control_to_eef_tf) const;
 
   void addEndEffectorMarkers(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
@@ -199,7 +199,7 @@ class RobotInteraction
   boost::condition_variable new_feedback_condition_;
   std::map<std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr> feedback_map_;
 
-  robot_model::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelConstPtr robot_model_;
 
   std::vector<EndEffectorInteraction> active_eef_;
   std::vector<JointInteraction> active_vj_;
diff --git a/moveit_ros/robot_interaction/src/interaction_handler.cpp b/moveit_ros/robot_interaction/src/interaction_handler.cpp
index 3c8492fda8..1b76f7a196 100644
--- a/moveit_ros/robot_interaction/src/interaction_handler.cpp
+++ b/moveit_ros/robot_interaction/src/interaction_handler.cpp
@@ -56,7 +56,7 @@
 namespace robot_interaction
 {
 InteractionHandler::InteractionHandler(const RobotInteractionPtr& robot_interaction, const std::string& name,
-                                       const robot_state::RobotState& initial_robot_state,
+                                       const moveit::core::RobotState& initial_robot_state,
                                        const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
   : LockedRobotState(initial_robot_state)
   , name_(fixName(name))
@@ -279,7 +279,7 @@ void InteractionHandler::handleJoint(const JointInteraction& vj,
 }
 
 // MUST hold state_lock_ when calling this!
-void InteractionHandler::updateStateGeneric(robot_state::RobotState* state, const GenericInteraction* g,
+void InteractionHandler::updateStateGeneric(moveit::core::RobotState* state, const GenericInteraction* g,
                                             const visualization_msgs::InteractiveMarkerFeedbackConstPtr* feedback,
                                             StateChangeCallbackFn* callback)
 {
@@ -290,7 +290,7 @@ void InteractionHandler::updateStateGeneric(robot_state::RobotState* state, cons
 }
 
 // MUST hold state_lock_ when calling this!
-void InteractionHandler::updateStateEndEffector(robot_state::RobotState* state, const EndEffectorInteraction* eef,
+void InteractionHandler::updateStateEndEffector(moveit::core::RobotState* state, const EndEffectorInteraction* eef,
                                                 const geometry_msgs::Pose* pose, StateChangeCallbackFn* callback)
 {
   // This is called with state_lock_ held, so no additional locking needed to
@@ -304,13 +304,13 @@ void InteractionHandler::updateStateEndEffector(robot_state::RobotState* state,
 }
 
 // MUST hold state_lock_ when calling this!
-void InteractionHandler::updateStateJoint(robot_state::RobotState* state, const JointInteraction* vj,
+void InteractionHandler::updateStateJoint(moveit::core::RobotState* state, const JointInteraction* vj,
                                           const geometry_msgs::Pose* feedback_pose, StateChangeCallbackFn* callback)
 {
   Eigen::Isometry3d pose;
   tf2::fromMsg(*feedback_pose, pose);
 
-  if (!vj->parent_frame.empty() && !robot_state::Transforms::sameFrame(vj->parent_frame, planning_frame_))
+  if (!vj->parent_frame.empty() && !moveit::core::Transforms::sameFrame(vj->parent_frame, planning_frame_))
     pose = state->getGlobalLinkTransform(vj->parent_frame).inverse() * pose;
 
   state->setJointPositions(vj->joint_name, pose);
diff --git a/moveit_ros/robot_interaction/src/kinematic_options.cpp b/moveit_ros/robot_interaction/src/kinematic_options.cpp
index d55440e60f..67a39eeefc 100644
--- a/moveit_ros/robot_interaction/src/kinematic_options.cpp
+++ b/moveit_ros/robot_interaction/src/kinematic_options.cpp
@@ -44,10 +44,10 @@ robot_interaction::KinematicOptions::KinematicOptions() : timeout_seconds_(0.0)
 
 // This is intended to be called as a ModifyStateFunction to modify the state
 // maintained by a LockedRobotState in place.
-bool robot_interaction::KinematicOptions::setStateFromIK(robot_state::RobotState& state, const std::string& group,
+bool robot_interaction::KinematicOptions::setStateFromIK(moveit::core::RobotState& state, const std::string& group,
                                                          const std::string& tip, const geometry_msgs::Pose& pose) const
 {
-  const robot_model::JointModelGroup* jmg = state.getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = state.getJointModelGroup(group);
   if (!jmg)
   {
     ROS_ERROR("No getJointModelGroup('%s') found", group.c_str());
@@ -72,7 +72,7 @@ void robot_interaction::KinematicOptions::setOptions(const KinematicOptions& sou
 // robot_interaction::KinematicOptions except options_
 #define O_FIELDS(F)                                                                                                    \
   F(double, timeout_seconds_, TIMEOUT)                                                                                 \
-  F(robot_state::GroupStateValidityCallbackFn, state_validity_callback_, STATE_VALIDITY_CALLBACK)
+  F(moveit::core::GroupStateValidityCallbackFn, state_validity_callback_, STATE_VALIDITY_CALLBACK)
 
 // This needs to represent all the fields in
 // kinematics::KinematicsQueryOptions
diff --git a/moveit_ros/robot_interaction/src/kinematic_options_map.cpp b/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
index 4487e92a45..c3460c0d8a 100644
--- a/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
+++ b/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
@@ -131,7 +131,7 @@ void robot_interaction::KinematicOptionsMap::merge(const KinematicOptionsMap& ot
 
 // This is intended to be called as a ModifyStateFunction to modify the state
 // maintained by a LockedRobotState in place.
-bool robot_interaction::KinematicOptionsMap::setStateFromIK(robot_state::RobotState& state, const std::string& key,
+bool robot_interaction::KinematicOptionsMap::setStateFromIK(moveit::core::RobotState& state, const std::string& key,
                                                             const std::string& group, const std::string& tip,
                                                             const geometry_msgs::Pose& pose) const
 {
diff --git a/moveit_ros/robot_interaction/src/locked_robot_state.cpp b/moveit_ros/robot_interaction/src/locked_robot_state.cpp
index 4ea148e6aa..2576df198f 100644
--- a/moveit_ros/robot_interaction/src/locked_robot_state.cpp
+++ b/moveit_ros/robot_interaction/src/locked_robot_state.cpp
@@ -38,14 +38,14 @@
 
 #include <moveit/robot_interaction/locked_robot_state.h>
 
-robot_interaction::LockedRobotState::LockedRobotState(const robot_state::RobotState& state)
-  : state_(new robot_state::RobotState(state))
+robot_interaction::LockedRobotState::LockedRobotState(const moveit::core::RobotState& state)
+  : state_(new moveit::core::RobotState(state))
 {
   state_->update();
 }
 
-robot_interaction::LockedRobotState::LockedRobotState(const robot_model::RobotModelPtr& model)
-  : state_(new robot_state::RobotState(model))
+robot_interaction::LockedRobotState::LockedRobotState(const moveit::core::RobotModelPtr& model)
+  : state_(new moveit::core::RobotState(model))
 {
   state_->setToDefaultValues();
   state_->update();
@@ -53,13 +53,13 @@ robot_interaction::LockedRobotState::LockedRobotState(const robot_model::RobotMo
 
 robot_interaction::LockedRobotState::~LockedRobotState() = default;
 
-robot_state::RobotStateConstPtr robot_interaction::LockedRobotState::getState() const
+moveit::core::RobotStateConstPtr robot_interaction::LockedRobotState::getState() const
 {
   boost::mutex::scoped_lock lock(state_lock_);
   return state_;
 }
 
-void robot_interaction::LockedRobotState::setState(const robot_state::RobotState& state)
+void robot_interaction::LockedRobotState::setState(const moveit::core::RobotState& state)
 {
   {
     boost::mutex::scoped_lock lock(state_lock_);
@@ -69,7 +69,7 @@ void robot_interaction::LockedRobotState::setState(const robot_state::RobotState
     if (state_.unique())
       *state_ = state;
     else
-      state_.reset(new robot_state::RobotState(state));
+      state_.reset(new moveit::core::RobotState(state));
 
     state_->update();
   }
@@ -84,7 +84,7 @@ void robot_interaction::LockedRobotState::modifyState(const ModifyStateFunction&
     // If someone else has a reference to the state, then make a copy.
     // The old state is orphaned (does not change, but is now out of date).
     if (!state_.unique())
-      state_.reset(new robot_state::RobotState(*state_));
+      state_.reset(new moveit::core::RobotState(*state_));
 
     modify(state_.get());
     state_->update();
diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index 698b4ddd3b..9483f9c4cb 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -62,7 +62,7 @@ static const float END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 };
 
 const std::string RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic";
 
-RobotInteraction::RobotInteraction(const robot_model::RobotModelConstPtr& robot_model, const std::string& ns)
+RobotInteraction::RobotInteraction(const moveit::core::RobotModelConstPtr& robot_model, const std::string& ns)
   : robot_model_(robot_model), kinematic_options_map_(new KinematicOptionsMap)
 {
   topic_ = ns.empty() ? INTERACTIVE_MARKER_TOPIC : ns + "/" + INTERACTIVE_MARKER_TOPIC;
@@ -115,7 +115,7 @@ void RobotInteraction::addActiveComponent(const InteractiveMarkerConstructorFn&
 static const double DEFAULT_SCALE = 0.25;
 double RobotInteraction::computeLinkMarkerSize(const std::string& link)
 {
-  const robot_model::LinkModel* lm = robot_model_->getLinkModel(link);
+  const moveit::core::LinkModel* lm = robot_model_->getLinkModel(link);
   double size = 0;
 
   while (lm)
@@ -131,7 +131,7 @@ double RobotInteraction::computeLinkMarkerSize(const std::string& link)
 
     // process kinematic chain upwards (but only following fixed joints)
     // to find a link with some non-empty shape (to ignore virtual links)
-    if (lm->getParentJointModel()->getType() == robot_model::JointModel::FIXED)
+    if (lm->getParentJointModel()->getType() == moveit::core::JointModel::FIXED)
       lm = lm->getParentLinkModel();
     else
       lm = nullptr;
@@ -147,7 +147,7 @@ double RobotInteraction::computeGroupMarkerSize(const std::string& group)
 {
   if (group.empty())
     return DEFAULT_SCALE;
-  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
   if (!jmg)
     return 0.0;
 
@@ -159,7 +159,7 @@ double RobotInteraction::computeGroupMarkerSize(const std::string& group)
   double size = 0;
   for (const std::string& link : links)
   {
-    const robot_model::LinkModel* lm = robot_model_->getLinkModel(link);
+    const moveit::core::LinkModel* lm = robot_model_->getLinkModel(link);
     if (!lm)
       continue;
     Eigen::Vector3d ext = lm->getShapeExtentsAtOrigin();
@@ -191,7 +191,7 @@ void RobotInteraction::decideActiveJoints(const std::string& group)
   ROS_DEBUG_NAMED("robot_interaction", "Deciding active joints for group '%s'", group.c_str());
 
   const srdf::ModelConstSharedPtr& srdf = robot_model_->getSRDF();
-  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
 
   if (!jmg || !srdf)
     return;
@@ -199,7 +199,7 @@ void RobotInteraction::decideActiveJoints(const std::string& group)
   std::set<std::string> used;
   if (jmg->hasJointModel(robot_model_->getRootJointName()))
   {
-    robot_state::RobotState default_state(robot_model_);
+    moveit::core::RobotState default_state(robot_model_);
     default_state.setToDefaultValues();
     std::vector<double> aabb;
     default_state.computeAABB(aabb);
@@ -228,11 +228,11 @@ void RobotInteraction::decideActiveJoints(const std::string& group)
       }
   }
 
-  const std::vector<const robot_model::JointModel*>& joints = jmg->getJointModels();
-  for (const robot_model::JointModel* joint : joints)
+  const std::vector<const moveit::core::JointModel*>& joints = jmg->getJointModels();
+  for (const moveit::core::JointModel* joint : joints)
   {
-    if ((joint->getType() == robot_model::JointModel::PLANAR ||
-         joint->getType() == robot_model::JointModel::FLOATING) &&
+    if ((joint->getType() == moveit::core::JointModel::PLANAR ||
+         joint->getType() == moveit::core::JointModel::FLOATING) &&
         used.find(joint->getName()) == used.end())
     {
       JointInteraction v;
@@ -240,7 +240,7 @@ void RobotInteraction::decideActiveJoints(const std::string& group)
       if (joint->getParentLinkModel())
         v.parent_frame = joint->getParentLinkModel()->getName();
       v.joint_name = joint->getName();
-      if (joint->getType() == robot_model::JointModel::PLANAR)
+      if (joint->getType() == moveit::core::JointModel::PLANAR)
         v.dof = 3;
       else
         v.dof = 6;
@@ -267,7 +267,7 @@ void RobotInteraction::decideActiveEndEffectors(const std::string& group, Intera
   ROS_DEBUG_NAMED("robot_interaction", "Deciding active end-effectors for group '%s'", group.c_str());
 
   const srdf::ModelConstSharedPtr& srdf = robot_model_->getSRDF();
-  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group);
 
   if (!jmg || !srdf)
   {
@@ -276,7 +276,7 @@ void RobotInteraction::decideActiveEndEffectors(const std::string& group, Intera
   }
 
   const std::vector<srdf::Model::EndEffector>& eefs = srdf->getEndEffectors();
-  const std::pair<robot_model::JointModelGroup::KinematicsSolver, robot_model::JointModelGroup::KinematicsSolverMap>&
+  const std::pair<moveit::core::JointModelGroup::KinematicsSolver, moveit::core::JointModelGroup::KinematicsSolverMap>&
       smap = jmg->getGroupKinematics();
 
   // if we have an IK solver for the selected group, we check if there are any end effectors attached to this group
@@ -400,7 +400,7 @@ void RobotInteraction::addEndEffectorMarkers(const InteractionHandlerPtr& handle
   marker_color.b = color[2];
   marker_color.a = color[3];
 
-  robot_state::RobotStateConstPtr rstate = handler->getState();
+  moveit::core::RobotStateConstPtr rstate = handler->getState();
   const std::vector<std::string>& link_names = rstate->getJointModelGroup(eef.eef_group)->getLinkModelNames();
   visualization_msgs::MarkerArray marker_array;
   rstate->getRobotMarkers(marker_array, link_names, marker_color, eef.eef_group, ros::Duration());
@@ -450,7 +450,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
   std::vector<visualization_msgs::InteractiveMarker> ims;
   {
     boost::unique_lock<boost::mutex> ulock(marker_access_lock_);
-    robot_state::RobotStateConstPtr s = handler->getState();
+    moveit::core::RobotStateConstPtr s = handler->getState();
 
     for (std::size_t i = 0; i < active_generic_.size(); ++i)
     {
@@ -584,7 +584,7 @@ void RobotInteraction::toggleMoveInteractiveMarkerTopic(bool enable)
 }
 
 void RobotInteraction::computeMarkerPose(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
-                                         const robot_state::RobotState& robot_state, geometry_msgs::Pose& pose,
+                                         const moveit::core::RobotState& robot_state, geometry_msgs::Pose& pose,
                                          geometry_msgs::Pose& control_to_eef_tf) const
 {
   // Need to allow for control pose offsets
@@ -619,7 +619,7 @@ void RobotInteraction::updateInteractiveMarkers(const InteractionHandlerPtr& han
   {
     boost::unique_lock<boost::mutex> ulock(marker_access_lock_);
 
-    robot_state::RobotStateConstPtr s = handler->getState();
+    moveit::core::RobotStateConstPtr s = handler->getState();
     root_link = s->getRobotModel()->getModelFrame();
 
     for (const EndEffectorInteraction& eef : active_eef_)
diff --git a/moveit_ros/robot_interaction/test/locked_robot_state_test.cpp b/moveit_ros/robot_interaction/test/locked_robot_state_test.cpp
index fd31cd1f7b..dc820d047f 100644
--- a/moveit_ros/robot_interaction/test/locked_robot_state_test.cpp
+++ b/moveit_ros/robot_interaction/test/locked_robot_state_test.cpp
@@ -256,7 +256,7 @@ TEST(LockedRobotState, URDF_sanity)
 class Super1 : public robot_interaction::LockedRobotState
 {
 public:
-  Super1(const robot_model::RobotModelPtr& model) : LockedRobotState(model), cnt_(0)
+  Super1(const moveit::core::RobotModelPtr& model) : LockedRobotState(model), cnt_(0)
   {
   }
 
@@ -268,7 +268,7 @@ class Super1 : public robot_interaction::LockedRobotState
   int cnt_;
 };
 
-static void modify1(robot_state::RobotState* state)
+static void modify1(moveit::core::RobotState* state)
 {
   state->setVariablePosition(JOINT_A, 0.00006);
 }
@@ -281,7 +281,7 @@ TEST(LockedRobotState, robotStateChanged)
 
   EXPECT_EQ(ls1.cnt_, 0);
 
-  robot_state::RobotState cp1(*ls1.getState());
+  moveit::core::RobotState cp1(*ls1.getState());
   cp1.setVariablePosition(JOINT_A, 0.00001);
   cp1.setVariablePosition(JOINT_C, 0.00002);
   cp1.setVariablePosition(JOINT_F, 0.00003);
@@ -319,7 +319,7 @@ class MyInfo
 
 private:
   // helper function for modifyThreadFunc
-  void modifyFunc(robot_state::RobotState* state, double val);
+  void modifyFunc(moveit::core::RobotState* state, double val);
 
   // Checks state for validity and self-consistancy.
   void checkState(robot_interaction::LockedRobotState& locked_state);
@@ -335,9 +335,9 @@ class MyInfo
 // Check the state.  It should always be valid.
 void MyInfo::checkState(robot_interaction::LockedRobotState& locked_state)
 {
-  robot_state::RobotStateConstPtr s = locked_state.getState();
+  moveit::core::RobotStateConstPtr s = locked_state.getState();
 
-  robot_state::RobotState cp1(*s);
+  moveit::core::RobotState cp1(*s);
 
   // take some time
   cnt_lock_.lock();
@@ -350,7 +350,7 @@ void MyInfo::checkState(robot_interaction::LockedRobotState& locked_state)
   // check mim_f == joint_f
   EXPECT_EQ(s->getVariablePositions()[MIM_F], s->getVariablePositions()[JOINT_F] * 1.5 + 0.1);
 
-  robot_state::RobotState cp2(*s);
+  moveit::core::RobotState cp2(*s);
 
   EXPECT_NE(cp1.getVariablePositions(), cp2.getVariablePositions());
   EXPECT_NE(cp1.getVariablePositions(), s->getVariablePositions());
@@ -394,7 +394,7 @@ void MyInfo::setThreadFunc(robot_interaction::LockedRobotState* locked_state, in
     for (int loops = 0; loops < 100; ++loops)
     {
       val += 0.0001;
-      robot_state::RobotState cp1(*locked_state->getState());
+      moveit::core::RobotState cp1(*locked_state->getState());
 
       cp1.setVariablePosition(JOINT_A, val + 0.00001);
       cp1.setVariablePosition(JOINT_C, val + 0.00002);
@@ -415,7 +415,7 @@ void MyInfo::setThreadFunc(robot_interaction::LockedRobotState* locked_state, in
 }
 
 // modify the state in place.  Used by MyInfo::modifyThreadFunc()
-void MyInfo::modifyFunc(robot_state::RobotState* state, double val)
+void MyInfo::modifyFunc(moveit::core::RobotState* state, double val)
 {
   state->setVariablePosition(JOINT_A, val + 0.00001);
   state->setVariablePosition(JOINT_C, val + 0.00002);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 1df45780c5..9561868774 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -96,17 +96,17 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
 
   void setName(const QString& name) override;
 
-  robot_state::RobotStateConstPtr getQueryStartState() const
+  moveit::core::RobotStateConstPtr getQueryStartState() const
   {
     return query_start_state_->getState();
   }
 
-  robot_state::RobotStateConstPtr getQueryGoalState() const
+  moveit::core::RobotStateConstPtr getQueryGoalState() const
   {
     return query_goal_state_->getState();
   }
 
-  const robot_state::RobotState& getPreviousState() const
+  const moveit::core::RobotState& getPreviousState() const
   {
     return *previous_state_;
   }
@@ -131,8 +131,8 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
     trajectory_visual_->dropTrajectory();
   }
 
-  void setQueryStartState(const robot_state::RobotState& start);
-  void setQueryGoalState(const robot_state::RobotState& goal);
+  void setQueryStartState(const moveit::core::RobotState& start);
+  void setQueryGoalState(const moveit::core::RobotState& goal);
 
   void updateQueryStartState();
   void updateQueryGoalState();
@@ -216,14 +216,14 @@ private Q_SLOTS:
   void scheduleDrawQueryStartState(robot_interaction::InteractionHandler* handler, bool error_state_changed);
   void scheduleDrawQueryGoalState(robot_interaction::InteractionHandler* handler, bool error_state_changed);
 
-  bool isIKSolutionCollisionFree(robot_state::RobotState* state, const robot_state::JointModelGroup* group,
+  bool isIKSolutionCollisionFree(moveit::core::RobotState* state, const moveit::core::JointModelGroup* group,
                                  const double* ik_solution) const;
 
   void computeMetrics(bool start, const std::string& group, double payload);
   void computeMetricsInternal(std::map<std::string, double>& metrics,
                               const robot_interaction::EndEffectorInteraction& eef,
-                              const robot_state::RobotState& state, double payload);
-  void updateStateExceptModified(robot_state::RobotState& dest, const robot_state::RobotState& src);
+                              const moveit::core::RobotState& state, double payload);
+  void updateStateExceptModified(moveit::core::RobotState& dest, const moveit::core::RobotState& src);
   void updateBackgroundJobProgressBar();
   void backgroundJobUpdate(moveit::tools::BackgroundProcessing::JobEvent event, const std::string& jobname);
 
@@ -264,7 +264,7 @@ private Q_SLOTS:
   std::map<std::string, LinkDisplayStatus> status_links_start_;
   std::map<std::string, LinkDisplayStatus> status_links_goal_;
   /// remember previous start state (updated before starting execution)
-  robot_state::RobotStatePtr previous_state_;
+  moveit::core::RobotStatePtr previous_state_;
 
   /// Hold the names of the groups for which the query states have been updated (and should not be altered when new info
   /// is received from the planning scene)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 94d4c5c171..e228fcec58 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -235,7 +235,7 @@ private Q_SLOTS:
   void populateConstraintsList(const std::vector<std::string>& constr);
   void configureForPlanning();
   void configureWorkspace();
-  void updateQueryStateHelper(robot_state::RobotState& state, const std::string& v);
+  void updateQueryStateHelper(moveit::core::RobotState& state, const std::string& v);
   void fillStateSelectionOptions();
   void fillPlanningGroupOptions();
   void startStateTextChangedExec(const std::string& start_state);
@@ -266,7 +266,7 @@ private Q_SLOTS:
   void checkPlanningSceneTreeEnabledButtons();
 
   // States tab
-  void saveRobotStateButtonClicked(const robot_state::RobotState& state);
+  void saveRobotStateButtonClicked(const moveit::core::RobotState& state);
   void populateRobotStatesList();
 
   // Pick and place
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 06d40e9fe8..2ce01bcd6f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -488,7 +488,7 @@ void MotionPlanningDisplay::computeMetrics(bool start, const std::string& group,
     return;
   boost::mutex::scoped_lock slock(update_metrics_lock_);
 
-  robot_state::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
+  moveit::core::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
   for (const robot_interaction::EndEffectorInteraction& ee : eef)
     if (ee.parent_group == group)
       computeMetricsInternal(computed_metrics_[std::make_pair(start, group)], ee, *state, payload);
@@ -496,7 +496,7 @@ void MotionPlanningDisplay::computeMetrics(bool start, const std::string& group,
 
 void MotionPlanningDisplay::computeMetricsInternal(std::map<std::string, double>& metrics,
                                                    const robot_interaction::EndEffectorInteraction& ee,
-                                                   const robot_state::RobotState& state, double payload)
+                                                   const moveit::core::RobotState& state, double payload)
 {
   metrics.clear();
   dynamics_solver::DynamicsSolverPtr ds;
@@ -564,7 +564,7 @@ void MotionPlanningDisplay::displayMetrics(bool start)
   if (eef.empty())
     return;
 
-  robot_state::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
+  moveit::core::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
 
   for (const robot_interaction::EndEffectorInteraction& ee : eef)
   {
@@ -591,8 +591,8 @@ void MotionPlanningDisplay::displayMetrics(bool start)
       }
     }
 
-    const robot_state::LinkModel* lm = nullptr;
-    const robot_model::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(ee.parent_group);
+    const moveit::core::LinkModel* lm = nullptr;
+    const moveit::core::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(ee.parent_group);
     if (jmg)
       if (!jmg->getLinkModelNames().empty())
         lm = state->getLinkModel(jmg->getLinkModelNames().back());
@@ -620,7 +620,7 @@ void MotionPlanningDisplay::drawQueryStartState()
   {
     if (isEnabled())
     {
-      robot_state::RobotStateConstPtr state = getQueryStartState();
+      moveit::core::RobotStateConstPtr state = getQueryStartState();
 
       // update link poses
       query_robot_start_->update(state);
@@ -645,11 +645,11 @@ void MotionPlanningDisplay::drawQueryStartState()
       }
       if (!getCurrentPlanningGroup().empty())
       {
-        const robot_model::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
+        const moveit::core::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
         if (jmg)
         {
           std::vector<std::string> outside_bounds;
-          const std::vector<const robot_model::JointModel*>& jmodels = jmg->getActiveJointModels();
+          const std::vector<const moveit::core::JointModel*>& jmodels = jmg->getActiveJointModels();
           for (const moveit::core::JointModel* jmodel : jmodels)
             if (!state->satisfiesBounds(jmodel, jmodel->getMaximumExtent() * 1e-2))
             {
@@ -741,7 +741,7 @@ void MotionPlanningDisplay::drawQueryGoalState()
   {
     if (isEnabled())
     {
-      robot_state::RobotStateConstPtr state = getQueryGoalState();
+      moveit::core::RobotStateConstPtr state = getQueryGoalState();
 
       // update link poses
       query_robot_goal_->update(state);
@@ -767,10 +767,10 @@ void MotionPlanningDisplay::drawQueryGoalState()
 
       if (!getCurrentPlanningGroup().empty())
       {
-        const robot_model::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
+        const moveit::core::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
         if (jmg)
         {
-          const std::vector<const robot_state::JointModel*>& jmodels = jmg->getActiveJointModels();
+          const std::vector<const moveit::core::JointModel*>& jmodels = jmg->getActiveJointModels();
           std::vector<std::string> outside_bounds;
           for (const moveit::core::JointModel* jmodel : jmodels)
             if (!state->satisfiesBounds(jmodel, jmodel->getMaximumExtent() * 1e-2))
@@ -944,13 +944,13 @@ void MotionPlanningDisplay::rememberPreviousStartState()
   *previous_state_ = *query_start_state_->getState();
 }
 
-void MotionPlanningDisplay::setQueryStartState(const robot_state::RobotState& start)
+void MotionPlanningDisplay::setQueryStartState(const moveit::core::RobotState& start)
 {
   query_start_state_->setState(start);
   updateQueryStartState();
 }
 
-void MotionPlanningDisplay::setQueryGoalState(const robot_state::RobotState& goal)
+void MotionPlanningDisplay::setQueryGoalState(const moveit::core::RobotState& goal)
 {
   query_goal_state_->setState(goal);
   updateQueryGoalState();
@@ -968,8 +968,8 @@ void MotionPlanningDisplay::useApproximateIK(bool flag)
   }
 }
 
-bool MotionPlanningDisplay::isIKSolutionCollisionFree(robot_state::RobotState* state,
-                                                      const robot_model::JointModelGroup* group,
+bool MotionPlanningDisplay::isIKSolutionCollisionFree(moveit::core::RobotState* state,
+                                                      const moveit::core::JointModelGroup* group,
                                                       const double* ik_solution) const
 {
   if (frame_->ui_->collision_aware_ik->isChecked() && planning_scene_monitor_)
@@ -1061,13 +1061,13 @@ std::string MotionPlanningDisplay::getCurrentPlanningGroup() const
 
 void MotionPlanningDisplay::setQueryStateHelper(bool use_start_state, const std::string& state_name)
 {
-  robot_state::RobotState state = use_start_state ? *getQueryStartState() : *getQueryGoalState();
+  moveit::core::RobotState state = use_start_state ? *getQueryStartState() : *getQueryGoalState();
 
   std::string v = "<" + state_name + ">";
 
   if (v == "<random>")
   {
-    if (const robot_state::JointModelGroup* jmg = state.getJointModelGroup(getCurrentPlanningGroup()))
+    if (const moveit::core::JointModelGroup* jmg = state.getJointModelGroup(getCurrentPlanningGroup()))
       state.setToRandomPositions(jmg);
   }
   else if (v == "<current>")
@@ -1087,7 +1087,7 @@ void MotionPlanningDisplay::setQueryStateHelper(bool use_start_state, const std:
   else
   {
     // maybe it is a named state
-    if (const robot_model::JointModelGroup* jmg = state.getJointModelGroup(getCurrentPlanningGroup()))
+    if (const moveit::core::JointModelGroup* jmg = state.getJointModelGroup(getCurrentPlanningGroup()))
       state.setToDefaultValues(jmg, state_name);
   }
 
@@ -1144,7 +1144,7 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   query_robot_goal_->load(*getRobotModel()->getURDF());
 
   // initialize previous state, start state, and goal state to current state
-  previous_state_ = std::make_shared<robot_state::RobotState>(getPlanningSceneRO()->getCurrentState());
+  previous_state_ = std::make_shared<moveit::core::RobotState>(getPlanningSceneRO()->getCurrentState());
   query_start_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "start", *previous_state_,
                                                                      planning_scene_monitor_->getTFClient()));
   query_goal_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "goal", *previous_state_,
@@ -1188,12 +1188,13 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedPlanningGroup, this));
 }
 
-void MotionPlanningDisplay::updateStateExceptModified(robot_state::RobotState& dest, const robot_state::RobotState& src)
+void MotionPlanningDisplay::updateStateExceptModified(moveit::core::RobotState& dest,
+                                                      const moveit::core::RobotState& src)
 {
-  robot_state::RobotState src_copy = src;
+  moveit::core::RobotState src_copy = src;
   for (const std::string& modified_group : modified_groups_)
   {
-    const robot_model::JointModelGroup* jmg = dest.getJointModelGroup(modified_group);
+    const moveit::core::JointModelGroup* jmg = dest.getJointModelGroup(modified_group);
     if (jmg)
     {
       std::vector<double> values_to_keep;
@@ -1210,19 +1211,19 @@ void MotionPlanningDisplay::onSceneMonitorReceivedUpdate(
     planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 {
   PlanningSceneDisplay::onSceneMonitorReceivedUpdate(update_type);
-  robot_state::RobotState current_state = getPlanningSceneRO()->getCurrentState();
+  moveit::core::RobotState current_state = getPlanningSceneRO()->getCurrentState();
   std::string group = planning_group_property_->getStdString();
 
   if (query_start_state_ && query_start_state_property_->getBool() && !group.empty())
   {
-    robot_state::RobotState start = *getQueryStartState();
+    moveit::core::RobotState start = *getQueryStartState();
     updateStateExceptModified(start, current_state);
     setQueryStartState(start);
   }
 
   if (query_goal_state_ && query_goal_state_property_->getBool() && !group.empty())
   {
-    robot_state::RobotState goal = *getQueryGoalState();
+    moveit::core::RobotState goal = *getQueryGoalState();
     updateStateExceptModified(goal, current_state);
     setQueryGoalState(goal);
   }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 18e9ad7922..c81aee0e15 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -261,7 +261,7 @@ void MotionPlanningFrame::fillPlanningGroupOptions()
   const QSignalBlocker planning_group_blocker(ui_->planning_group_combo_box);
   ui_->planning_group_combo_box->clear();
 
-  const robot_model::RobotModelConstPtr& kmodel = planning_display_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& kmodel = planning_display_->getRobotModel();
   for (const std::string& group_name : kmodel->getJointModelGroupNames())
     ui_->planning_group_combo_box->addItem(QString::fromStdString(group_name));
 }
@@ -276,11 +276,11 @@ void MotionPlanningFrame::fillStateSelectionOptions()
   if (!planning_display_->getPlanningSceneMonitor())
     return;
 
-  const robot_model::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
   std::string group = planning_display_->getCurrentPlanningGroup();
   if (group.empty())
     return;
-  const robot_model::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
+  const moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
   if (jmg)
   {
     ui_->start_state_combo_box->addItem(QString("<random valid>"));
@@ -321,7 +321,7 @@ void MotionPlanningFrame::changePlanningGroupHelper()
   planning_display_->addMainLoopJob(
       boost::bind(&MotionPlanningFrame::populateConstraintsList, this, std::vector<std::string>()));
 
-  const robot_model::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
   std::string group = planning_display_->getCurrentPlanningGroup();
   planning_display_->addMainLoopJob(
       boost::bind(&MotionPlanningParamWidget::setGroupName, ui_->planner_param_treeview, group));
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
index 4159cc4ff0..bf4b79055b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
@@ -301,14 +301,14 @@ void MotionPlanningFrame::placeObjectButtonClicked()
   ui_->pick_button->setEnabled(false);
   ui_->place_button->setEnabled(false);
 
-  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  std::vector<const moveit::core::AttachedBody*> attached_bodies;
   const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
   if (!ps)
   {
     ROS_ERROR("No planning scene");
     return;
   }
-  const robot_model::JointModelGroup* jmg = ps->getCurrentState().getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* jmg = ps->getCurrentState().getJointModelGroup(group_name);
   if (jmg)
     ps->getCurrentState().getAttachedBodies(attached_bodies, jmg);
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 7f865d531b..e22be44612 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -179,7 +179,7 @@ static QString decideStatusText(const collision_detection::CollisionEnv::ObjectC
   return status_text;
 }
 
-static QString decideStatusText(const robot_state::AttachedBody* attached_body)
+static QString decideStatusText(const moveit::core::AttachedBody* attached_body)
 {
   QString status_text = "'" + QString::fromStdString(attached_body->getName()) + "' is attached to '" +
                         QString::fromStdString(attached_body->getAttachedLinkName()) + "'";
@@ -280,7 +280,7 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
       // if it is an attached object
       scene_marker_.reset();
       const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
-      const robot_state::AttachedBody* attached_body =
+      const moveit::core::AttachedBody* attached_body =
           ps->getCurrentState().getAttachedBody(sel[0]->text().toStdString());
       if (attached_body)
         ui_->object_status->setText(decideStatusText(attached_body));
@@ -641,12 +641,13 @@ void MotionPlanningFrame::computeLoadQueryButtonClicked()
 
         if (got_q)
         {
-          robot_state::RobotStatePtr start_state(new robot_state::RobotState(*planning_display_->getQueryStartState()));
-          robot_state::robotStateMsgToRobotState(planning_display_->getPlanningSceneRO()->getTransforms(),
-                                                 mp->start_state, *start_state);
+          moveit::core::RobotStatePtr start_state(
+              new moveit::core::RobotState(*planning_display_->getQueryStartState()));
+          moveit::core::robotStateMsgToRobotState(planning_display_->getPlanningSceneRO()->getTransforms(),
+                                                  mp->start_state, *start_state);
           planning_display_->setQueryStartState(*start_state);
 
-          robot_state::RobotStatePtr goal_state(new robot_state::RobotState(*planning_display_->getQueryGoalState()));
+          moveit::core::RobotStatePtr goal_state(new moveit::core::RobotState(*planning_display_->getQueryGoalState()));
           for (const moveit_msgs::Constraints& goal_constraint : mp->goal_constraints)
             if (!goal_constraint.joint_constraints.empty())
             {
@@ -775,12 +776,12 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
   {
     // rename attached body
     planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-    robot_state::RobotState& cs = ps->getCurrentStateNonConst();
-    const robot_state::AttachedBody* ab = cs.getAttachedBody(known_collision_objects_[item->type()].first);
+    moveit::core::RobotState& cs = ps->getCurrentStateNonConst();
+    const moveit::core::AttachedBody* ab = cs.getAttachedBody(known_collision_objects_[item->type()].first);
     if (ab)
     {
       known_collision_objects_[item->type()].first = item_text;
-      robot_state::AttachedBody* new_ab = new robot_state::AttachedBody(
+      moveit::core::AttachedBody* new_ab = new moveit::core::AttachedBody(
           ab->getAttachedLink(), known_collision_objects_[item->type()].first, ab->getShapes(),
           ab->getFixedTransforms(), ab->getTouchLinks(), ab->getDetachPosture(), ab->getSubframeTransforms());
       cs.clearAttachedBody(ab->getName());
@@ -818,7 +819,7 @@ void MotionPlanningFrame::attachDetachCollisionObject(QListWidgetItem* item)
   else  // we need to detach an attached object
   {
     const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
-    const robot_state::AttachedBody* attached_body = ps->getCurrentState().getAttachedBody(data.first);
+    const moveit::core::AttachedBody* attached_body = ps->getCurrentState().getAttachedBody(data.first);
     if (attached_body)
     {
       aco.link_name = attached_body->getAttachedLinkName();
@@ -876,8 +877,8 @@ void MotionPlanningFrame::populateCollisionObjectsList()
         known_collision_objects_.push_back(std::make_pair(collision_object_names[i], false));
       }
 
-      const robot_state::RobotState& cs = ps->getCurrentState();
-      std::vector<const robot_state::AttachedBody*> attached_bodies;
+      const moveit::core::RobotState& cs = ps->getCurrentState();
+      std::vector<const moveit::core::AttachedBody*> attached_bodies;
       cs.getAttachedBodies(attached_bodies);
       for (std::size_t i = 0; i < attached_bodies.size(); ++i)
       {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 55006806df..9b2efcff0b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -114,10 +114,10 @@ bool MotionPlanningFrame::computeCartesianPlan()
 {
   ros::WallTime start = ros::WallTime::now();
   // get goal pose
-  robot_state::RobotState goal = *planning_display_->getQueryGoalState();
+  moveit::core::RobotState goal = *planning_display_->getQueryGoalState();
   std::vector<geometry_msgs::Pose> waypoints;
   const std::string& link_name = move_group_->getEndEffectorLink();
-  const robot_model::LinkModel* link = move_group_->getRobotModel()->getLinkModel(link_name);
+  const moveit::core::LinkModel* link = move_group_->getRobotModel()->getLinkModel(link_name);
   if (!link)
   {
     ROS_ERROR_STREAM("Failed to determine unique end-effector link: " << link_name);
@@ -261,7 +261,7 @@ void MotionPlanningFrame::startStateTextChanged(const QString& start_state)
 
 void MotionPlanningFrame::startStateTextChangedExec(const std::string& start_state)
 {
-  robot_state::RobotState start = *planning_display_->getQueryStartState();
+  moveit::core::RobotState start = *planning_display_->getQueryStartState();
   updateQueryStateHelper(start, start_state);
   planning_display_->setQueryStartState(start);
 }
@@ -275,7 +275,7 @@ void MotionPlanningFrame::goalStateTextChanged(const QString& goal_state)
 
 void MotionPlanningFrame::goalStateTextChangedExec(const std::string& goal_state)
 {
-  robot_state::RobotState goal = *planning_display_->getQueryGoalState();
+  moveit::core::RobotState goal = *planning_display_->getQueryGoalState();
   updateQueryStateHelper(goal, goal_state);
   planning_display_->setQueryGoalState(goal);
 }
@@ -285,12 +285,12 @@ void MotionPlanningFrame::planningGroupTextChanged(const QString& planning_group
   planning_display_->changePlanningGroup(planning_group.toStdString());
 }
 
-void MotionPlanningFrame::updateQueryStateHelper(robot_state::RobotState& state, const std::string& v)
+void MotionPlanningFrame::updateQueryStateHelper(moveit::core::RobotState& state, const std::string& v)
 {
   if (v == "<random>")
   {
     configureWorkspace();
-    if (const robot_model::JointModelGroup* jmg =
+    if (const moveit::core::JointModelGroup* jmg =
             state.getJointModelGroup(planning_display_->getCurrentPlanningGroup()))
       state.setToRandomPositions(jmg);
     return;
@@ -300,7 +300,7 @@ void MotionPlanningFrame::updateQueryStateHelper(robot_state::RobotState& state,
   {
     configureWorkspace();
 
-    if (const robot_model::JointModelGroup* jmg =
+    if (const moveit::core::JointModelGroup* jmg =
             state.getJointModelGroup(planning_display_->getCurrentPlanningGroup()))
     {
       // Loop until a collision free state is found
@@ -358,7 +358,7 @@ void MotionPlanningFrame::updateQueryStateHelper(robot_state::RobotState& state,
   }
 
   // maybe it is a named state
-  if (const robot_model::JointModelGroup* jmg = state.getJointModelGroup(planning_display_->getCurrentPlanningGroup()))
+  if (const moveit::core::JointModelGroup* jmg = state.getJointModelGroup(planning_display_->getCurrentPlanningGroup()))
     state.setToDefaultValues(jmg, v);
 }
 
@@ -426,15 +426,15 @@ void MotionPlanningFrame::constructPlanningRequest(moveit_msgs::MotionPlanReques
   mreq.allowed_planning_time = ui_->planning_time->value();
   mreq.max_velocity_scaling_factor = ui_->velocity_scaling_factor->value();
   mreq.max_acceleration_scaling_factor = ui_->acceleration_scaling_factor->value();
-  robot_state::robotStateToRobotStateMsg(*planning_display_->getQueryStartState(), mreq.start_state);
+  moveit::core::robotStateToRobotStateMsg(*planning_display_->getQueryStartState(), mreq.start_state);
   mreq.workspace_parameters.min_corner.x = ui_->wcenter_x->value() - ui_->wsize_x->value() / 2.0;
   mreq.workspace_parameters.min_corner.y = ui_->wcenter_y->value() - ui_->wsize_y->value() / 2.0;
   mreq.workspace_parameters.min_corner.z = ui_->wcenter_z->value() - ui_->wsize_z->value() / 2.0;
   mreq.workspace_parameters.max_corner.x = ui_->wcenter_x->value() + ui_->wsize_x->value() / 2.0;
   mreq.workspace_parameters.max_corner.y = ui_->wcenter_y->value() + ui_->wsize_y->value() / 2.0;
   mreq.workspace_parameters.max_corner.z = ui_->wcenter_z->value() + ui_->wsize_z->value() / 2.0;
-  robot_state::RobotStateConstPtr s = planning_display_->getQueryGoalState();
-  const robot_state::JointModelGroup* jmg = s->getJointModelGroup(mreq.group_name);
+  moveit::core::RobotStateConstPtr s = planning_display_->getQueryGoalState();
+  const moveit::core::JointModelGroup* jmg = s->getJointModelGroup(mreq.group_name);
   if (jmg)
   {
     mreq.goal_constraints.resize(1);
@@ -444,10 +444,10 @@ void MotionPlanningFrame::constructPlanningRequest(moveit_msgs::MotionPlanReques
 
 void MotionPlanningFrame::configureWorkspace()
 {
-  robot_model::VariableBounds bx, by, bz;
+  moveit::core::VariableBounds bx, by, bz;
   bx.position_bounded_ = by.position_bounded_ = bz.position_bounded_ = true;
 
-  robot_model::JointModel::Bounds b(3);
+  moveit::core::JointModel::Bounds b(3);
   bx.min_position_ = ui_->wcenter_x->value() - ui_->wsize_x->value() / 2.0;
   bx.max_position_ = ui_->wcenter_x->value() + ui_->wsize_x->value() / 2.0;
   by.min_position_ = ui_->wcenter_y->value() - ui_->wsize_y->value() / 2.0;
@@ -462,15 +462,15 @@ void MotionPlanningFrame::configureWorkspace()
   // get non-const access to the robot_model and update planar & floating joints as indicated by the workspace settings
   if (psm && psm->getRobotModelLoader() && psm->getRobotModelLoader()->getModel())
   {
-    const robot_model::RobotModelPtr& robot_model = psm->getRobotModelLoader()->getModel();
-    const std::vector<robot_model::JointModel*>& jm = robot_model->getJointModels();
+    const moveit::core::RobotModelPtr& robot_model = psm->getRobotModelLoader()->getModel();
+    const std::vector<moveit::core::JointModel*>& jm = robot_model->getJointModels();
     for (moveit::core::JointModel* joint : jm)
-      if (joint->getType() == robot_model::JointModel::PLANAR)
+      if (joint->getType() == moveit::core::JointModel::PLANAR)
       {
         joint->setVariableBounds(joint->getName() + "/" + joint->getLocalVariableNames()[0], bx);
         joint->setVariableBounds(joint->getName() + "/" + joint->getLocalVariableNames()[1], by);
       }
-      else if (joint->getType() == robot_model::JointModel::FLOATING)
+      else if (joint->getType() == moveit::core::JointModel::FLOATING)
       {
         joint->setVariableBounds(joint->getName() + "/" + joint->getLocalVariableNames()[0], bx);
         joint->setVariableBounds(joint->getName() + "/" + joint->getLocalVariableNames()[1], by);
@@ -515,7 +515,7 @@ void MotionPlanningFrame::remoteUpdateStartStateCallback(const std_msgs::EmptyCo
     const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
     if (ps)
     {
-      robot_state::RobotState state = ps->getCurrentState();
+      moveit::core::RobotState state = ps->getCurrentState();
       planning_display_->setQueryStartState(state);
     }
   }
@@ -529,7 +529,7 @@ void MotionPlanningFrame::remoteUpdateGoalStateCallback(const std_msgs::EmptyCon
     const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
     if (ps)
     {
-      robot_state::RobotState state = ps->getCurrentState();
+      moveit::core::RobotState state = ps->getCurrentState();
       planning_display_->setQueryGoalState(state);
     }
   }
@@ -546,8 +546,8 @@ void MotionPlanningFrame::remoteUpdateCustomStartStateCallback(const moveit_msgs
     const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
     if (ps)
     {
-      robot_state::RobotStatePtr state(new robot_state::RobotState(ps->getCurrentState()));
-      robot_state::robotStateMsgToRobotState(ps->getTransforms(), msg_no_attached, *state);
+      moveit::core::RobotStatePtr state(new moveit::core::RobotState(ps->getCurrentState()));
+      moveit::core::robotStateMsgToRobotState(ps->getTransforms(), msg_no_attached, *state);
       planning_display_->setQueryStartState(*state);
     }
   }
@@ -564,8 +564,8 @@ void MotionPlanningFrame::remoteUpdateCustomGoalStateCallback(const moveit_msgs:
     const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
     if (ps)
     {
-      robot_state::RobotStatePtr state(new robot_state::RobotState(ps->getCurrentState()));
-      robot_state::robotStateMsgToRobotState(ps->getTransforms(), msg_no_attached, *state);
+      moveit::core::RobotStatePtr state(new moveit::core::RobotState(ps->getCurrentState()));
+      moveit::core::robotStateMsgToRobotState(ps->getTransforms(), msg_no_attached, *state);
       planning_display_->setQueryGoalState(*state);
     }
   }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
index 3e3982bb47..584f2329f1 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
@@ -119,7 +119,7 @@ void MotionPlanningFrame::loadStoredStates(const std::string& pattern)
   populateRobotStatesList();
 }
 
-void MotionPlanningFrame::saveRobotStateButtonClicked(const robot_state::RobotState& state)
+void MotionPlanningFrame::saveRobotStateButtonClicked(const moveit::core::RobotState& state)
 {
   bool ok = false;
 
@@ -144,7 +144,7 @@ void MotionPlanningFrame::saveRobotStateButtonClicked(const robot_state::RobotSt
       {
         // Store the current start state
         moveit_msgs::RobotState msg;
-        robot_state::robotStateToRobotStateMsg(state, msg);
+        moveit::core::robotStateToRobotStateMsg(state, msg);
         robot_states_.insert(RobotStatePair(name, msg));
 
         // Save to the database if connected
@@ -188,8 +188,8 @@ void MotionPlanningFrame::setAsStartStateButtonClicked()
 
   if (item)
   {
-    robot_state::RobotState robot_state(*planning_display_->getQueryStartState());
-    robot_state::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
+    moveit::core::RobotState robot_state(*planning_display_->getQueryStartState());
+    moveit::core::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
     planning_display_->setQueryStartState(robot_state);
   }
 }
@@ -200,8 +200,8 @@ void MotionPlanningFrame::setAsGoalStateButtonClicked()
 
   if (item)
   {
-    robot_state::RobotState robot_state(*planning_display_->getQueryGoalState());
-    robot_state::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
+    moveit::core::RobotState robot_state(*planning_display_->getQueryGoalState());
+    moveit::core::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
     planning_display_->setQueryGoalState(robot_state);
   }
 }
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 06e30bef58..3b24a461c0 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -102,7 +102,7 @@ class PlanningSceneDisplay : public rviz::Display
   void clearJobs();
 
   const std::string getMoveGroupNS() const;
-  const robot_model::RobotModelConstPtr& getRobotModel() const;
+  const moveit::core::RobotModelConstPtr& getRobotModel() const;
 
   /// wait for robot state more recent than t
   bool waitForCurrentRobotState(const ros::Time& t = ros::Time::now());
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 33af096a85..d0305bedac 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -268,13 +268,13 @@ const std::string PlanningSceneDisplay::getMoveGroupNS() const
   return move_group_ns_property_->getStdString();
 }
 
-const robot_model::RobotModelConstPtr& PlanningSceneDisplay::getRobotModel() const
+const moveit::core::RobotModelConstPtr& PlanningSceneDisplay::getRobotModel() const
 {
   if (planning_scene_monitor_)
     return planning_scene_monitor_->getRobotModel();
   else
   {
-    static robot_model::RobotModelConstPtr empty;
+    static moveit::core::RobotModelConstPtr empty;
     return empty;
   }
 }
@@ -416,7 +416,7 @@ void PlanningSceneDisplay::setGroupColor(rviz::Robot* robot, const std::string&
 {
   if (getRobotModel())
   {
-    const robot_model::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(group_name);
+    const moveit::core::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(group_name);
     if (jmg)
     {
       const std::vector<std::string>& links = jmg->getLinkModelNamesWithCollisionGeometry();
@@ -440,7 +440,7 @@ void PlanningSceneDisplay::unsetGroupColor(rviz::Robot* robot, const std::string
 {
   if (getRobotModel())
   {
-    const robot_model::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(group_name);
+    const moveit::core::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(group_name);
     if (jmg)
     {
       const std::vector<std::string>& links = jmg->getLinkModelNamesWithCollisionGeometry();
@@ -542,9 +542,9 @@ void PlanningSceneDisplay::onRobotModelLoaded()
   if (planning_scene_robot_)
   {
     planning_scene_robot_->load(*getRobotModel()->getURDF());
-    robot_state::RobotState* rs = new robot_state::RobotState(ps->getCurrentState());
+    moveit::core::RobotState* rs = new moveit::core::RobotState(ps->getCurrentState());
     rs->update();
-    planning_scene_robot_->update(robot_state::RobotStateConstPtr(rs));
+    planning_scene_robot_->update(moveit::core::RobotStateConstPtr(rs));
   }
 
   bool old_state = scene_name_property_->blockSignals(true);
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index e4d0465d6d..632692dde0 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -75,7 +75,7 @@ class RobotStateDisplay : public rviz::Display
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
-  const robot_model::RobotModelConstPtr& getRobotModel() const
+  const moveit::core::RobotModelConstPtr& getRobotModel() const
   {
     return robot_model_;
   }
@@ -130,8 +130,8 @@ private Q_SLOTS:
 
   RobotStateVisualizationPtr robot_;
   rdf_loader::RDFLoaderPtr rdf_loader_;
-  robot_model::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  moveit::core::RobotStatePtr robot_state_;
   std::map<std::string, std_msgs::ColorRGBA> highlights_;
   bool update_state_;
   bool load_robot_model_;  // for delayed robot initialization
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 24d739ec9c..20dd6f1f93 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -306,12 +306,12 @@ void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::DisplayRobotSta
   if (!robot_model_)
     return;
   if (!robot_state_)
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
-  // possibly use TF to construct a robot_state::Transforms object to pass in to the conversion function?
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
+  // possibly use TF to construct a moveit::core::Transforms object to pass in to the conversion function?
   try
   {
     if (!moveit::core::isEmpty(state_msg->state))
-      robot_state::robotStateMsgToRobotState(state_msg->state, *robot_state_);
+      moveit::core::robotStateMsgToRobotState(state_msg->state, *robot_state_);
     setRobotHighlights(state_msg->highlight_links);
   }
   catch (const moveit::Exception& e)
@@ -381,9 +381,9 @@ void RobotStateDisplay::loadRobotModel()
   {
     const srdf::ModelSharedPtr& srdf =
         rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
-    robot_model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
+    robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
     robot_->load(*robot_model_->getURDF());
-    robot_state_.reset(new robot_state::RobotState(robot_model_));
+    robot_state_.reset(new moveit::core::RobotState(robot_model_));
     robot_state_->setToDefaultValues();
     bool old_state = root_link_name_property_->blockSignals(true);
     root_link_name_property_->setStdString(getRobotModel()->getRootLinkName());
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
index b1d1358a28..3f16dffc55 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
@@ -45,11 +45,11 @@ DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
-/** \brief Update the links of an rviz::Robot using a robot_state::RobotState */
+/** \brief Update the links of an rviz::Robot using a moveit::core::RobotState */
 class PlanningLinkUpdater : public rviz::LinkUpdater
 {
 public:
-  PlanningLinkUpdater(const robot_state::RobotStateConstPtr& state) : kinematic_state_(state)
+  PlanningLinkUpdater(const moveit::core::RobotStateConstPtr& state) : kinematic_state_(state)
   {
   }
 
@@ -58,6 +58,6 @@ class PlanningLinkUpdater : public rviz::LinkUpdater
                          Ogre::Quaternion& collision_orientation) const override;
 
 private:
-  robot_state::RobotStateConstPtr kinematic_state_;
+  moveit::core::RobotStateConstPtr kinematic_state_;
 };
 }
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 52b81c9f07..58b258df24 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -50,7 +50,7 @@ namespace moveit_rviz_plugin
 MOVEIT_CLASS_FORWARD(RenderShapes);
 MOVEIT_CLASS_FORWARD(RobotStateVisualization);
 
-/** \brief Update the links of an rviz::Robot using a robot_state::RobotState */
+/** \brief Update the links of an rviz::Robot using a moveit::core::RobotState */
 class RobotStateVisualization
 {
 public:
@@ -65,10 +65,10 @@ class RobotStateVisualization
   void load(const urdf::ModelInterface& descr, bool visual = true, bool collision = true);
   void clear();
 
-  void update(const robot_state::RobotStateConstPtr& kinematic_state);
-  void update(const robot_state::RobotStateConstPtr& kinematic_state,
+  void update(const moveit::core::RobotStateConstPtr& kinematic_state);
+  void update(const moveit::core::RobotStateConstPtr& kinematic_state,
               const std_msgs::ColorRGBA& default_attached_object_color);
-  void update(const robot_state::RobotStateConstPtr& kinematic_state,
+  void update(const moveit::core::RobotStateConstPtr& kinematic_state,
               const std_msgs::ColorRGBA& default_attached_object_color,
               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
@@ -101,7 +101,7 @@ class RobotStateVisualization
   void setAlpha(float alpha);
 
 private:
-  void updateHelper(const robot_state::RobotStateConstPtr& kinematic_state,
+  void updateHelper(const moveit::core::RobotStateConstPtr& kinematic_state,
                     const std_msgs::ColorRGBA& default_attached_object_color,
                     const std::map<std::string, std_msgs::ColorRGBA>* color_map);
   rviz::Robot robot_;
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 025fbc0c82..0b6979701d 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -89,7 +89,7 @@ class TrajectoryVisualization : public QObject
   virtual void reset();
 
   void onInitialize(Ogre::SceneNode* scene_node, rviz::DisplayContext* context, const ros::NodeHandle& update_nh);
-  void onRobotModelLoaded(const robot_model::RobotModelConstPtr& robot_model);
+  void onRobotModelLoaded(const moveit::core::RobotModelConstPtr& robot_model);
   void onEnable();
   void onDisable();
   void setName(const QString& name);
@@ -143,8 +143,8 @@ private Q_SLOTS:
   float current_state_time_;
   boost::mutex update_trajectory_message_;
 
-  robot_model::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  moveit::core::RobotStatePtr robot_state_;
 
   // Pointers from parent display taht we save
   rviz::Display* display_;  // the parent display that this class populates
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
index 89baece404..0ad0668b06 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
@@ -44,7 +44,7 @@ bool moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms(const std::strin
                                                                 Ogre::Vector3& collision_position,
                                                                 Ogre::Quaternion& collision_orientation) const
 {
-  const robot_model::LinkModel* link_model = kinematic_state_->getLinkModel(link_name);
+  const moveit::core::LinkModel* link_model = kinematic_state_->getLinkModel(link_name);
 
   if (!link_model)
   {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index fdfe93fc59..05210fe078 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -74,7 +74,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
 
   if (scene_robot_)
   {
-    robot_state::RobotState* rs = new robot_state::RobotState(scene->getCurrentState());
+    moveit::core::RobotState* rs = new moveit::core::RobotState(scene->getCurrentState());
     rs->update();
 
     std_msgs::ColorRGBA color;
@@ -84,7 +84,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
     color.a = 1.0f;
     planning_scene::ObjectColorMap color_map;
     scene->getKnownObjectColors(color_map);
-    scene_robot_->update(robot_state::RobotStateConstPtr(rs), color, color_map);
+    scene_robot_->update(moveit::core::RobotStateConstPtr(rs), color, color_map);
   }
 
   const std::vector<std::string>& ids = scene->getWorld()->getObjectIds();
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index 6460d1f083..f68ed950e3 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -86,34 +86,34 @@ void RobotStateVisualization::updateAttachedObjectColors(const std_msgs::ColorRG
                                     robot_.getAlpha());
 }
 
-void RobotStateVisualization::update(const robot_state::RobotStateConstPtr& kinematic_state)
+void RobotStateVisualization::update(const moveit::core::RobotStateConstPtr& kinematic_state)
 {
   updateHelper(kinematic_state, default_attached_object_color_, nullptr);
 }
 
-void RobotStateVisualization::update(const robot_state::RobotStateConstPtr& kinematic_state,
+void RobotStateVisualization::update(const moveit::core::RobotStateConstPtr& kinematic_state,
                                      const std_msgs::ColorRGBA& default_attached_object_color)
 {
   updateHelper(kinematic_state, default_attached_object_color, nullptr);
 }
 
-void RobotStateVisualization::update(const robot_state::RobotStateConstPtr& kinematic_state,
+void RobotStateVisualization::update(const moveit::core::RobotStateConstPtr& kinematic_state,
                                      const std_msgs::ColorRGBA& default_attached_object_color,
                                      const std::map<std::string, std_msgs::ColorRGBA>& color_map)
 {
   updateHelper(kinematic_state, default_attached_object_color, &color_map);
 }
 
-void RobotStateVisualization::updateHelper(const robot_state::RobotStateConstPtr& kinematic_state,
+void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPtr& kinematic_state,
                                            const std_msgs::ColorRGBA& default_attached_object_color,
                                            const std::map<std::string, std_msgs::ColorRGBA>* color_map)
 {
   robot_.update(PlanningLinkUpdater(kinematic_state));
   render_shapes_->clear();
 
-  std::vector<const robot_state::AttachedBody*> attached_bodies;
+  std::vector<const moveit::core::AttachedBody*> attached_bodies;
   kinematic_state->getAttachedBodies(attached_bodies);
-  for (const robot_state::AttachedBody* attached_body : attached_bodies)
+  for (const moveit::core::AttachedBody* attached_body : attached_bodies)
   {
     std_msgs::ColorRGBA color = default_attached_object_color;
     float alpha = robot_.getAlpha();
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 3d5b4c2acc..04d946e4a6 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -164,7 +164,7 @@ void TrajectoryVisualization::setName(const QString& name)
     trajectory_slider_dock_panel_->setWindowTitle(name + " - Slider");
 }
 
-void TrajectoryVisualization::onRobotModelLoaded(const robot_model::RobotModelConstPtr& robot_model)
+void TrajectoryVisualization::onRobotModelLoaded(const moveit::core::RobotModelConstPtr& robot_model)
 {
   robot_model_ = robot_model;
 
@@ -176,7 +176,7 @@ void TrajectoryVisualization::onRobotModelLoaded(const robot_model::RobotModelCo
   }
 
   // Load robot state
-  robot_state_.reset(new robot_state::RobotState(robot_model_));
+  robot_state_.reset(new moveit::core::RobotState(robot_model_));
   robot_state_->setToDefaultValues();
 
   // Load rviz robot
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
index d4c0ab28a8..e0cbf22da6 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
@@ -86,8 +86,8 @@ private Q_SLOTS:
 
   // Load robot model
   rdf_loader::RDFLoaderPtr rdf_loader_;
-  robot_model::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
+  moveit::core::RobotModelConstPtr robot_model_;
+  moveit::core::RobotStatePtr robot_state_;
   bool load_robot_model_;  // for delayed robot initialization
 
   // Properties
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index 971c31f87e..2128e624e6 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -76,7 +76,7 @@ void TrajectoryDisplay::loadRobotModel()
 
   const srdf::ModelSharedPtr& srdf =
       rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
-  robot_model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
+  robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
 
   // Send to child class
   trajectory_visual_->onRobotModelLoaded(robot_model_);
diff --git a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp b/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
index d1e6229831..944d5e90f4 100755
--- a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
+++ b/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
@@ -83,10 +83,10 @@ void parseStart(std::istream& in, planning_scene_monitor::PlanningSceneMonitor*
       }
       if (!v.empty())
       {
-        robot_state::RobotState st = psm->getPlanningScene()->getCurrentState();
+        moveit::core::RobotState st = psm->getPlanningScene()->getCurrentState();
         st.setVariablePositions(v);
         moveit_msgs::RobotState msg;
-        robot_state::robotStateToRobotStateMsg(st, msg);
+        moveit::core::robotStateToRobotStateMsg(st, msg);
         ROS_INFO("Parsed start state '%s'", name.c_str());
         rs->addRobotState(msg, name);
       }
diff --git a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
index 595cae59c1..e357870b33 100644
--- a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
+++ b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
@@ -101,14 +101,14 @@ int main(int argc, char** argv)
   ROS_INFO("Added default scene: '%s'", psmsg.name.c_str());
 
   moveit_msgs::RobotState rsmsg;
-  robot_state::robotStateToRobotStateMsg(psm.getPlanningScene()->getCurrentState(), rsmsg);
+  moveit::core::robotStateToRobotStateMsg(psm.getPlanningScene()->getCurrentState(), rsmsg);
   rs.addRobotState(rsmsg, "default");
   ROS_INFO("Added default state");
 
   const std::vector<std::string>& gnames = psm.getRobotModel()->getJointModelGroupNames();
   for (const std::string& gname : gnames)
   {
-    const robot_model::JointModelGroup* jmg = psm.getRobotModel()->getJointModelGroup(gname);
+    const moveit::core::JointModelGroup* jmg = psm.getRobotModel()->getJointModelGroup(gname);
     if (!jmg->isChain())
       continue;
     const std::vector<std::string>& lnames = jmg->getLinkModelNames();
diff --git a/moveit_ros/warehouse/warehouse/src/save_as_text.cpp b/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
index 7926c60edc..1154fbd7f8 100644
--- a/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
+++ b/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
@@ -123,7 +123,7 @@ int main(int argc, char** argv)
       fout.close();
 
       std::vector<std::string> robot_state_names;
-      robot_model::RobotModelConstPtr km = psm.getRobotModel();
+      moveit::core::RobotModelConstPtr km = psm.getRobotModel();
       // Get start states for scene
       std::stringstream rsregex;
       rsregex << ".*" << scene_name << ".*";
@@ -150,8 +150,8 @@ int main(int argc, char** argv)
             qfout << robot_state_name << std::endl;
             moveit_warehouse::RobotStateWithMetadata robot_state;
             rss.getRobotState(robot_state, robot_state_name);
-            robot_state::RobotState ks(km);
-            robot_state::robotStateMsgToRobotState(*robot_state, ks, false);
+            moveit::core::RobotState ks(km);
+            moveit::core::robotStateMsgToRobotState(*robot_state, ks, false);
             ks.printStateInfo(qfout);
             qfout << "." << std::endl;
           }
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index 0e42bac586..c027abde9e 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -280,7 +280,7 @@ class MoveItConfigData
   void setRobotModel(const moveit::core::RobotModelPtr& robot_model);
 
   /// Provide a shared kinematic model loader
-  robot_model::RobotModelConstPtr getRobotModel();
+  moveit::core::RobotModelConstPtr getRobotModel();
 
   /// Update the Kinematic Model with latest SRDF modifications
   void updateRobotModel();
@@ -499,7 +499,7 @@ class MoveItConfigData
    */
   struct joint_model_compare
   {
-    bool operator()(const robot_model::JointModel* jm1, const robot_model::JointModel* jm2) const
+    bool operator()(const moveit::core::JointModel* jm1, const moveit::core::JointModel* jm2) const
     {
       return jm1->getName() < jm2->getName();
     }
@@ -514,7 +514,7 @@ class MoveItConfigData
   std::vector<std::map<std::string, GenericParameter> > sensors_plugin_config_parameter_list_;
 
   /// Shared kinematic model
-  robot_model::RobotModelPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 
   /// ROS Controllers config data
   std::vector<ROSControlConfig> ros_controllers_config_;
diff --git a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
index 05dc0d8808..5d534420a2 100644
--- a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
+++ b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
@@ -84,7 +84,7 @@ struct ThreadComputation
 };
 
 // LinkGraph defines a Link's model and a set of unique links it connects
-typedef std::map<const robot_model::LinkModel*, std::set<const robot_model::LinkModel*> > LinkGraph;
+typedef std::map<const moveit::core::LinkModel*, std::set<const moveit::core::LinkModel*> > LinkGraph;
 
 // ******************************************************************************************
 // Static Prototypes
@@ -106,14 +106,14 @@ static bool setLinkPair(const std::string& linkA, const std::string& linkB, cons
  * \param link The root link to begin a breadth first search on
  * \param link_graph A representation of all bi-direcitonal joint connections between links in robot_description
  */
-static void computeConnectionGraph(const robot_model::LinkModel* link, LinkGraph& link_graph);
+static void computeConnectionGraph(const moveit::core::LinkModel* link, LinkGraph& link_graph);
 
 /**
  * \brief Recursively build the adj list of link connections
  * \param link The root link to begin a breadth first search on
  * \param link_graph A representation of all bi-direcitonal joint connections between links in robot_description
  */
-static void computeConnectionGraphRec(const robot_model::LinkModel* link, LinkGraph& link_graph);
+static void computeConnectionGraphRec(const moveit::core::LinkModel* link, LinkGraph& link_graph);
 
 /**
  * \brief Disable collision checking for adjacent links, or adjacent with no geometry links between them
@@ -339,7 +339,7 @@ void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& l
 // ******************************************************************************************
 // Build the robot links connection graph and then check for links with no geomotry
 // ******************************************************************************************
-void computeConnectionGraph(const robot_model::LinkModel* start_link, LinkGraph& link_graph)
+void computeConnectionGraph(const moveit::core::LinkModel* start_link, LinkGraph& link_graph)
 {
   link_graph.clear();  // make sure the edges structure is clear
 
@@ -358,7 +358,7 @@ void computeConnectionGraph(const robot_model::LinkModel* start_link, LinkGraph&
       if (edge_it->first->getShapes().empty())  // link in adjList "link_graph" does not have shape, remove!
       {
         // Temporary list for connected links
-        std::vector<const robot_model::LinkModel*> temp_list;
+        std::vector<const moveit::core::LinkModel*> temp_list;
 
         // Copy link's parent and child links to temp_list
         for (const moveit::core::LinkModel* adj_it : edge_it->second)
@@ -390,14 +390,14 @@ void computeConnectionGraph(const robot_model::LinkModel* start_link, LinkGraph&
 // ******************************************************************************************
 // Recursively build the adj list of link connections
 // ******************************************************************************************
-void computeConnectionGraphRec(const robot_model::LinkModel* start_link, LinkGraph& link_graph)
+void computeConnectionGraphRec(const moveit::core::LinkModel* start_link, LinkGraph& link_graph)
 {
   if (start_link)  // check that the link is a valid pointer
   {
     // Loop through every link attached to start_link
     for (std::size_t i = 0; i < start_link->getChildJointModels().size(); ++i)
     {
-      const robot_model::LinkModel* next = start_link->getChildJointModels()[i]->getChildLinkModel();
+      const moveit::core::LinkModel* next = start_link->getChildJointModels()[i]->getChildLinkModel();
 
       // Bi-directional connection
       link_graph[next].insert(start_link);
@@ -422,7 +422,7 @@ unsigned int disableAdjacentLinks(planning_scene::PlanningScene& scene, LinkGrap
   for (LinkGraph::const_iterator link_graph_it = link_graph.begin(); link_graph_it != link_graph.end(); ++link_graph_it)
   {
     // disable all connected links to current link by looping through them
-    for (std::set<const robot_model::LinkModel*>::const_iterator adj_it = link_graph_it->second.begin();
+    for (std::set<const moveit::core::LinkModel*>::const_iterator adj_it = link_graph_it->second.begin();
          adj_it != link_graph_it->second.end(); ++adj_it)
     {
       // ROS_INFO("Disabled %s to %s", link_graph_it->first->getName().c_str(), (*adj_it)->getName().c_str() );
@@ -613,7 +613,7 @@ void disableNeverInCollisionThread(ThreadComputation tc)
   const unsigned int progress_interval = tc.num_trials_ / 20;  // show progress update every 5%
 
   // Create a new kinematic state for this thread to work on
-  robot_state::RobotState robot_state(tc.scene_.getRobotModel());
+  moveit::core::RobotState robot_state(tc.scene_.getRobotModel());
 
   // Do a large number of tests
   for (unsigned int i = 0; i < tc.num_trials_; ++i)
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index d925af3807..00b9d7d1ee 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -82,7 +82,7 @@ MoveItConfigData::~MoveItConfigData() = default;
 // ******************************************************************************************
 // Load a robot model
 // ******************************************************************************************
-void MoveItConfigData::setRobotModel(const robot_model::RobotModelPtr& robot_model)
+void MoveItConfigData::setRobotModel(const moveit::core::RobotModelPtr& robot_model)
 {
   robot_model_ = robot_model;
 }
@@ -90,12 +90,12 @@ void MoveItConfigData::setRobotModel(const robot_model::RobotModelPtr& robot_mod
 // ******************************************************************************************
 // Provide a kinematic model. Load a new one if necessary
 // ******************************************************************************************
-robot_model::RobotModelConstPtr MoveItConfigData::getRobotModel()
+moveit::core::RobotModelConstPtr MoveItConfigData::getRobotModel()
 {
   if (!robot_model_)
   {
     // Initialize with a URDF Model Interface and a SRDF Model
-    robot_model_.reset(new robot_model::RobotModel(urdf_model_, srdf_->srdf_model_));
+    robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_->srdf_model_));
   }
 
   return robot_model_;
@@ -112,7 +112,7 @@ void MoveItConfigData::updateRobotModel()
   srdf_->updateSRDFModel(*urdf_model_);
 
   // Create new kin model
-  robot_model_.reset(new robot_model::RobotModel(urdf_model_, srdf_->srdf_model_));
+  robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_->srdf_model_));
 
   // Reset the planning scene
   planning_scene_.reset();
@@ -511,18 +511,18 @@ bool MoveItConfigData::outputFakeControllersYAML(const std::string& file_path)
   for (srdf::Model::Group& group : srdf_->groups_)
   {
     // Get list of associated joints
-    const robot_model::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
+    const moveit::core::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
     emitter << YAML::BeginMap;
-    const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
+    const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
     emitter << YAML::Key << "name";
     emitter << YAML::Value << "fake_" + group.name_ + "_controller";
     emitter << YAML::Key << "joints";
     emitter << YAML::Value << YAML::BeginSeq;
 
     // Iterate through the joints
-    for (const robot_model::JointModel* joint : joint_models)
+    for (const moveit::core::JointModel* joint : joint_models)
     {
-      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == robot_model::JointModel::FIXED)
+      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == moveit::core::JointModel::FIXED)
         continue;
       emitter << joint->getName();
     }
@@ -841,12 +841,12 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
   for (srdf::Model::Group& group : srdf_->groups_)
   {
     // Get list of associated joints
-    const robot_model::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
-    const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
+    const moveit::core::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
+    const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
     // Iterate through the joints and push into group_joints vector.
-    for (const robot_model::JointModel* joint : joint_models)
+    for (const moveit::core::JointModel* joint : joint_models)
     {
-      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == robot_model::JointModel::FIXED)
+      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == moveit::core::JointModel::FIXED)
         continue;
       else
         group_joints.push_back(joint->getName());
@@ -891,7 +891,7 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
     emitter << YAML::Key << "hardware_interface" << YAML::Value << YAML::BeginMap;
     {
       // Get list of all joints for the robot
-      const std::vector<const robot_model::JointModel*>& joint_models = getRobotModel()->getJointModels();
+      const std::vector<const moveit::core::JointModel*>& joint_models = getRobotModel()->getJointModels();
 
       emitter << YAML::Key << "joints";
       {
@@ -899,11 +899,11 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
         {
           emitter << YAML::Value << YAML::BeginSeq;
           // Iterate through the joints
-          for (std::vector<const robot_model::JointModel*>::const_iterator joint_it = joint_models.begin();
+          for (std::vector<const moveit::core::JointModel*>::const_iterator joint_it = joint_models.begin();
                joint_it < joint_models.end(); ++joint_it)
           {
             if ((*joint_it)->isPassive() || (*joint_it)->getMimic() != nullptr ||
-                (*joint_it)->getType() == robot_model::JointModel::FIXED)
+                (*joint_it)->getType() == moveit::core::JointModel::FIXED)
               continue;
             else
               emitter << (*joint_it)->getName();
@@ -1058,15 +1058,15 @@ bool MoveItConfigData::outputJointLimitsYAML(const std::string& file_path)
   emitter << YAML::Value << YAML::BeginMap;
 
   // Union all the joints in groups. Uses a custom comparator to allow the joints to be sorted by name
-  std::set<const robot_model::JointModel*, joint_model_compare> joints;
+  std::set<const moveit::core::JointModel*, joint_model_compare> joints;
 
   // Loop through groups
   for (srdf::Model::Group& group : srdf_->groups_)
   {
     // Get list of associated joints
-    const robot_model::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
+    const moveit::core::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group.name_);
 
-    const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getJointModels();
+    const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getJointModels();
 
     // Iterate through the joints
     for (const moveit::core::JointModel* joint_model : joint_models)
@@ -1083,7 +1083,7 @@ bool MoveItConfigData::outputJointLimitsYAML(const std::string& file_path)
     emitter << YAML::Key << joint->getName();
     emitter << YAML::Value << YAML::BeginMap;
 
-    const robot_model::VariableBounds& b = joint->getVariableBounds()[0];
+    const moveit::core::VariableBounds& b = joint->getVariableBounds()[0];
 
     // Output property
     emitter << YAML::Key << "has_velocity_limits";
@@ -1193,14 +1193,14 @@ std::string MoveItConfigData::decideProjectionJoints(const std::string& planning
   std::string joint_pair = "";
 
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = getRobotModel();
 
   // Error check
   if (!model->hasJointModelGroup(planning_group))
     return joint_pair;
 
   // Get the joint model group
-  const robot_model::JointModelGroup* group = model->getJointModelGroup(planning_group);
+  const moveit::core::JointModelGroup* group = model->getJointModelGroup(planning_group);
 
   // get vector of joint names
   const std::vector<std::string>& joints = group->getJointModelNames();
@@ -1459,13 +1459,13 @@ bool MoveItConfigData::addDefaultControllers()
   {
     ROSControlConfig group_controller;
     // Get list of associated joints
-    const robot_model::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group_it.name_);
-    const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
+    const moveit::core::JointModelGroup* joint_model_group = getRobotModel()->getJointModelGroup(group_it.name_);
+    const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
 
     // Iterate through the joints
-    for (const robot_model::JointModel* joint : joint_models)
+    for (const moveit::core::JointModel* joint : joint_models)
     {
-      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == robot_model::JointModel::FIXED)
+      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == moveit::core::JointModel::FIXED)
         continue;
       group_controller.joints_.push_back(joint->getName());
     }
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index 1e31472d13..1ea9a6774c 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -381,10 +381,10 @@ void EndEffectorsWidget::loadParentComboBox()
   parent_name_field_->clear();
 
   // Get all links in robot model
-  std::vector<const robot_model::LinkModel*> link_models = config_data_->getRobotModel()->getLinkModels();
+  std::vector<const moveit::core::LinkModel*> link_models = config_data_->getRobotModel()->getLinkModels();
 
   // Add all links to combo box
-  for (std::vector<const robot_model::LinkModel*>::const_iterator link_it = link_models.begin();
+  for (std::vector<const moveit::core::LinkModel*>::const_iterator link_it = link_models.begin();
        link_it < link_models.end(); ++link_it)
   {
     parent_name_field_->addItem((*link_it)->getName().c_str());
@@ -515,7 +515,7 @@ void EndEffectorsWidget::doneEditing()
     return;
   }
 
-  const robot_model::JointModelGroup* jmg =
+  const moveit::core::JointModelGroup* jmg =
       config_data_->getRobotModel()->getJointModelGroup(group_name_field_->currentText().toStdString());
   /*
   if (jmg->hasLinkModel(parent_name_field_->currentText().toStdString()))
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
index 926cbb18f4..a53189872a 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
@@ -146,10 +146,10 @@ void KinematicChainWidget::setAvailable()
     return;
 
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Get the root joint
-  const robot_model::JointModel* root_joint = model->getRootJoint();
+  const moveit::core::JointModel* root_joint = model->getRootJoint();
 
   addLinktoTreeRecursive(root_joint->getChildLinkModel(), nullptr);
 
@@ -160,8 +160,8 @@ void KinematicChainWidget::setAvailable()
 // ******************************************************************************************
 //
 // ******************************************************************************************
-void KinematicChainWidget::addLinktoTreeRecursive(const robot_model::LinkModel* link,
-                                                  const robot_model::LinkModel* parent)
+void KinematicChainWidget::addLinktoTreeRecursive(const moveit::core::LinkModel* link,
+                                                  const moveit::core::LinkModel* parent)
 {
   // Create new tree item
   QTreeWidgetItem* new_item = new QTreeWidgetItem(link_tree_);
@@ -191,7 +191,7 @@ void KinematicChainWidget::addLinktoTreeRecursive(const robot_model::LinkModel*
 // ******************************************************************************************
 //
 // ******************************************************************************************
-bool KinematicChainWidget::addLinkChildRecursive(QTreeWidgetItem* parent, const robot_model::LinkModel* link,
+bool KinematicChainWidget::addLinkChildRecursive(QTreeWidgetItem* parent, const moveit::core::LinkModel* link,
                                                  const std::string& parent_name)
 {
   if (parent->text(0).toStdString() == parent_name)
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
index 4c5764cdfd..e7a3589803 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
@@ -68,9 +68,9 @@ class KinematicChainWidget : public QWidget
   /// Set the link field with previous value
   void setSelected(const std::string& base_link, const std::string& tip_link);
 
-  void addLinktoTreeRecursive(const robot_model::LinkModel* link, const robot_model::LinkModel* parent);
+  void addLinktoTreeRecursive(const moveit::core::LinkModel* link, const moveit::core::LinkModel* parent);
 
-  bool addLinkChildRecursive(QTreeWidgetItem* parent, const robot_model::LinkModel* link,
+  bool addLinkChildRecursive(QTreeWidgetItem* parent, const moveit::core::LinkModel* link,
                              const std::string& parent_name);
 
   // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
index f7aa81693d..9048f45f10 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
@@ -84,7 +84,7 @@ void PassiveJointsWidget::focusGiven()
   joints_widget_->clearContents();
 
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Get the names of the all joints
   const std::vector<std::string>& joints = model->getJointModelNames();
@@ -133,7 +133,7 @@ void PassiveJointsWidget::previewSelectedJoints(std::vector<std::string> joints)
 
   for (const std::string& joint : joints)
   {
-    const robot_model::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
+    const moveit::core::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
 
     // Check that a joint model was found
     if (!joint_model)
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 195bf6395b..2fc01a69be 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -318,7 +318,7 @@ void PlanningGroupsWidget::loadGroupsTreeRecursive(srdf::Model::Group& group_it,
   group->addChild(joints);
 
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Loop through all aval. joints
   for (std::vector<std::string>::const_iterator joint_it = group_it.joints_.begin(); joint_it != group_it.joints_.end();
@@ -329,7 +329,7 @@ void PlanningGroupsWidget::loadGroupsTreeRecursive(srdf::Model::Group& group_it,
     std::string joint_name;
 
     // Get the type of joint this is
-    const robot_model::JointModel* jm = model->getJointModel(*joint_it);
+    const moveit::core::JointModel* jm = model->getJointModel(*joint_it);
     if (jm)  // check if joint model was found
     {
       joint_name = *joint_it + " - " + jm->getTypeName();
@@ -520,7 +520,7 @@ void PlanningGroupsWidget::editSelected()
 void PlanningGroupsWidget::loadJointsScreen(srdf::Model::Group* this_group)
 {
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Get the names of the all joints
   const std::vector<std::string>& joints = model->getJointModelNames();
@@ -552,7 +552,7 @@ void PlanningGroupsWidget::loadJointsScreen(srdf::Model::Group* this_group)
 void PlanningGroupsWidget::loadLinksScreen(srdf::Model::Group* this_group)
 {
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Get the names of the all links
   const std::vector<std::string>& links = model->getLinkModelNames();
@@ -1428,7 +1428,7 @@ void PlanningGroupsWidget::previewSelectedJoints(std::vector<std::string> joints
 
   for (const std::string& joint : joints)
   {
-    const robot_model::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
+    const moveit::core::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
 
     // Check that a joint model was found
     if (!joint_model)
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index c83e5e9a45..2bb46d6051 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -357,10 +357,10 @@ void RobotPosesWidget::showPose(srdf::Model::GroupState* pose)
 void RobotPosesWidget::showDefaultPose()
 {
   // Get list of all joints for the robot
-  std::vector<const robot_model::JointModel*> joint_models = config_data_->getRobotModel()->getJointModels();
+  std::vector<const moveit::core::JointModel*> joint_models = config_data_->getRobotModel()->getJointModels();
 
   // Iterate through the joints
-  for (std::vector<const robot_model::JointModel*>::const_iterator joint_it = joint_models.begin();
+  for (std::vector<const moveit::core::JointModel*>::const_iterator joint_it = joint_models.begin();
        joint_it < joint_models.end(); ++joint_it)
   {
     // Check that this joint only represents 1 variable.
@@ -508,12 +508,13 @@ void RobotPosesWidget::loadJointSliders(const QString& selected)
   joint_list_widget_->setMinimumSize(50, 50);  // w, h
 
   // Get list of associated joints
-  const robot_model::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* joint_model_group =
+      config_data_->getRobotModel()->getJointModelGroup(group_name);
   joint_models_ = joint_model_group->getJointModels();
 
   // Iterate through the joints
   int num_joints = 0;
-  for (const robot_model::JointModel* joint_model : joint_models_)
+  for (const moveit::core::JointModel* joint_model : joint_models_)
   {
     if (joint_model->getVariableCount() != 1 ||  // only consider 1-variable joints
         joint_model->isPassive() ||              // ignore passive
@@ -676,7 +677,7 @@ void RobotPosesWidget::doneEditing()
   searched_data->joint_values_.clear();
 
   // Iterate through the current group's joints and add to SRDF
-  for (std::vector<const robot_model::JointModel*>::const_iterator joint_it = joint_models_.begin();
+  for (std::vector<const moveit::core::JointModel*>::const_iterator joint_it = joint_models_.begin();
        joint_it < joint_models_.end(); ++joint_it)
   {
     // Check that this joint only represents 1 variable.
@@ -808,7 +809,7 @@ void RobotPosesWidget::publishJoints()
 
   // Create a planning scene message
   moveit_msgs::DisplayRobotState msg;
-  robot_state::robotStateToRobotStateMsg(config_data_->getPlanningScene()->getCurrentState(), msg.state);
+  moveit::core::robotStateToRobotStateMsg(config_data_->getPlanningScene()->getCurrentState(), msg.state);
 
   // Publish!
   pub_robot_state_.publish(msg);
@@ -840,7 +841,7 @@ void RobotPosesWidget::publishJoints()
 // ******************************************************************************************
 // Simple widget for adjusting joints of a robot
 // ******************************************************************************************
-SliderWidget::SliderWidget(QWidget* parent, const robot_model::JointModel* joint_model, double init_value)
+SliderWidget::SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value)
   : QWidget(parent), joint_model_(joint_model)
 {
   // Create layouts
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index bdf6aa3e2f..a73a035378 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -156,7 +156,7 @@ private Q_SLOTS:
   std::map<std::string, double> joint_state_map_;
 
   /// The joints currently in the selected planning group
-  std::vector<const robot_model::JointModel*> joint_models_;
+  std::vector<const moveit::core::JointModel*> joint_models_;
 
   /// Remember the publisher for quick publishing later
   ros::Publisher pub_robot_state_;
@@ -237,7 +237,7 @@ class SliderWidget : public QWidget
    * @param parent - parent QWidget
    * @param joint_model_ - a ptr reference to the joint this widget represents
    */
-  SliderWidget(QWidget* parent, const robot_model::JointModel* joint_model, double init_value);
+  SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value);
 
   /**
    * Deconstructor
@@ -279,7 +279,7 @@ private Q_SLOTS:
   // ******************************************************************************************
 
   // Ptr to the joint's data
-  const robot_model::JointModel* joint_model_;
+  const moveit::core::JointModel* joint_model_;
 
   // Max & min position
   double max_position_;
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index 9922043012..aa13f54ab4 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -283,7 +283,7 @@ void ROSControllersWidget::focusGiven()
 void ROSControllersWidget::loadJointsScreen(moveit_setup_assistant::ROSControlConfig* this_controller)
 {
   // Retrieve pointer to the shared kinematic model
-  const robot_model::RobotModelConstPtr& model = config_data_->getRobotModel();
+  const moveit::core::RobotModelConstPtr& model = config_data_->getRobotModel();
 
   // Get the names of the all joints
   const std::vector<std::string>& joints = model->getJointModelNames();
@@ -473,7 +473,7 @@ void ROSControllersWidget::previewSelectedJoints(std::vector<std::string> joints
 
   for (const std::string& joint : joints)
   {
-    const robot_model::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
+    const moveit::core::JointModel* joint_model = config_data_->getRobotModel()->getJointModel(joint);
 
     // Check that a joint model was found
     if (!joint_model)
@@ -608,14 +608,14 @@ void ROSControllersWidget::saveJointsGroupsScreen()
   for (int i = 0; i < joint_groups_widget_->selected_data_table_->rowCount(); ++i)
   {
     // Get list of associated joints
-    const robot_model::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(
+    const moveit::core::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(
         joint_groups_widget_->selected_data_table_->item(i, 0)->text().toStdString());
-    const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
+    const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
 
     // Iterate through the joints
-    for (const robot_model::JointModel* joint : joint_models)
+    for (const moveit::core::JointModel* joint : joint_models)
     {
-      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == robot_model::JointModel::FIXED)
+      if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == moveit::core::JointModel::FIXED)
         continue;
       searched_controller->joints_.push_back(joint->getName());
     }
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index fee2c0455b..8059a09ff8 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -420,7 +420,7 @@ void SetupAssistantWidget::loadRviz()
 // ******************************************************************************************
 void SetupAssistantWidget::highlightLink(const std::string& link_name, const QColor& color)
 {
-  const robot_model::LinkModel* lm = config_data_->getRobotModel()->getLinkModel(link_name);
+  const moveit::core::LinkModel* lm = config_data_->getRobotModel()->getLinkModel(link_name);
   if (!lm->getShapes().empty())  // skip links with no geometry
     robot_state_display_->setLinkColor(link_name, color);
 }
@@ -434,12 +434,13 @@ void SetupAssistantWidget::highlightGroup(const std::string& group_name)
   if (!config_data_->getRobotModel()->hasJointModelGroup(group_name))
     return;
 
-  const robot_model::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(group_name);
+  const moveit::core::JointModelGroup* joint_model_group =
+      config_data_->getRobotModel()->getJointModelGroup(group_name);
   if (joint_model_group)
   {
-    const std::vector<const robot_model::LinkModel*>& link_models = joint_model_group->getLinkModels();
+    const std::vector<const moveit::core::LinkModel*>& link_models = joint_model_group->getLinkModels();
     // Iterate through the links
-    for (std::vector<const robot_model::LinkModel*>::const_iterator link_it = link_models.begin();
+    for (std::vector<const moveit::core::LinkModel*>::const_iterator link_it = link_models.begin();
          link_it < link_models.end(); ++link_it)
       highlightLink((*link_it)->getName(), QColor(255, 0, 0));
   }
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index 1080649b48..a988648038 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -359,10 +359,10 @@ void VirtualJointsWidget::loadChildLinksComboBox()
   child_link_field_->clear();
 
   // Get all links in robot model
-  std::vector<const robot_model::LinkModel*> link_models = config_data_->getRobotModel()->getLinkModels();
+  std::vector<const moveit::core::LinkModel*> link_models = config_data_->getRobotModel()->getLinkModels();
 
   // Add all links to combo box
-  for (std::vector<const robot_model::LinkModel*>::const_iterator link_it = link_models.begin();
+  for (std::vector<const moveit::core::LinkModel*>::const_iterator link_it = link_models.begin();
        link_it < link_models.end(); ++link_it)
   {
     child_link_field_->addItem((*link_it)->getName().c_str());

From ece0b7b44da2cfcf178e557557bc9d2693d17d5f Mon Sep 17 00:00:00 2001
From: Ayush Garg <ayushgargdroid@gmail.com>
Date: Wed, 4 Mar 2020 01:54:15 -0500
Subject: [PATCH 205/612] Improve documentation for setJointPositions() (#1921)

---
 .../robot_state/include/moveit/robot_state/robot_state.h      | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index ecd5a6c3d0..00004d0247 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -487,7 +487,9 @@ class RobotState
 
   /** @} */
 
-  /** \name Getting and setting joint positions, velocities, accelerations and effort
+  /** \name Getting and setting joint positions, velocities, accelerations and effort for a single joint
+   *  The joint might be multi-DOF, i.e. require more than one variable to set.
+   *  See setVariablePositions(), setVariableVelocities(), setVariableEffort() to handle multiple joints.
    *  @{
    */
   void setJointPositions(const std::string& joint_name, const double* position)

From cc60d023cc1b835b2b3456598e2420c046dd33ef Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 5 Mar 2020 20:46:17 +0100
Subject: [PATCH 206/612] MSA: robot poses should be display on selection, not
 on click (#1930)

Moving through the list with cursor keys does not work without this patch.
---
 moveit_setup_assistant/src/widgets/robot_poses_widget.cpp | 4 ++--
 moveit_setup_assistant/src/widgets/robot_poses_widget.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 2bb46d6051..1e779c5f9e 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -122,7 +122,7 @@ QWidget* RobotPosesWidget::createContentsWidget()
   data_table_->setSortingEnabled(true);
   data_table_->setSelectionBehavior(QAbstractItemView::SelectRows);
   connect(data_table_, SIGNAL(cellDoubleClicked(int, int)), this, SLOT(editDoubleClicked(int, int)));
-  connect(data_table_, SIGNAL(cellClicked(int, int)), this, SLOT(previewClicked(int, int)));
+  connect(data_table_, SIGNAL(currentCellChanged(int, int, int, int)), this, SLOT(previewClicked(int, int, int, int)));
   layout->addWidget(data_table_);
 
   // Set header labels
@@ -317,7 +317,7 @@ void RobotPosesWidget::editDoubleClicked(int /*row*/, int /*column*/)
 // ******************************************************************************************
 // Preview whatever element is selected
 // ******************************************************************************************
-void RobotPosesWidget::previewClicked(int row, int /*column*/)
+void RobotPosesWidget::previewClicked(int row, int /*column*/, int /*previous_row*/, int /*previous_column*/)
 {
   const std::string& name = data_table_->item(row, 0)->text().toStdString();
   const std::string& group = data_table_->item(row, 1)->text().toStdString();
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index a73a035378..d1dee54b10 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -110,7 +110,7 @@ private Q_SLOTS:
   void editDoubleClicked(int row, int column);
 
   /// Preview whatever element is selected
-  void previewClicked(int row, int column);
+  void previewClicked(int row, int column, int previous_row, int previous_column);
 
   /// Delete currently editing ite
   void deleteSelected();

From 223e3a1d35cc10f1412a7d6d9b622ab164253ded Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 6 Mar 2020 00:11:14 -0700
Subject: [PATCH 207/612] MSA: Restore display of current directory (#1932)

This reverts #1618.
---
 moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 8059a09ff8..61fd9145c9 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -48,7 +48,6 @@
 #include <QCloseEvent>
 #include <QMessageBox>
 #include <QString>
-#include <QDir>
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 // Rviz
 DIAGNOSTIC_PUSH
@@ -118,7 +117,7 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   }
   else
   {
-    start_screen_widget_->stack_path_->setPath(QDir::currentPath());
+    start_screen_widget_->stack_path_->setPath(QString(getenv("PWD")));
   }
 
   // Add Navigation Buttons (but do not load widgets yet except start screen)

From fd213f43f0451ee54e128fb421f53dbef480fc75 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Fri, 6 Mar 2020 16:14:13 +0900
Subject: [PATCH 208/612] MSA: Add initial poses to fake_controllers.yaml
 (#1892)

---
 .../src/tools/moveit_config_data.cpp          | 42 +++++++++++++++++++
 .../src/widgets/robot_poses_widget.cpp        |  3 +-
 2 files changed, 44 insertions(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 00b9d7d1ee..8675a67ac4 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -529,7 +529,49 @@ bool MoveItConfigData::outputFakeControllersYAML(const std::string& file_path)
     emitter << YAML::EndSeq;
     emitter << YAML::EndMap;
   }
+
   emitter << YAML::EndSeq;
+
+  // Add an initial pose for each group
+  emitter << YAML::Key << "initial" << YAML::Comment("Define initial robot poses.");
+
+  bool poses_found = false;
+  std::string default_group_name;
+  for (const srdf::Model::Group& group : srdf_->groups_)
+  {
+    if (default_group_name.empty())
+      default_group_name = group.name_;
+    for (const srdf::Model::GroupState& group_state : srdf_->group_states_)
+    {
+      if (group.name_ == group_state.group_)
+      {
+        if (!poses_found)
+        {
+          poses_found = true;
+          emitter << YAML::Value << YAML::BeginSeq;
+        }
+        emitter << YAML::BeginMap;
+        emitter << YAML::Key << "group";
+        emitter << YAML::Value << group.name_;
+        emitter << YAML::Key << "pose";
+        emitter << YAML::Value << group_state.name_;
+        emitter << YAML::EndMap;
+        break;
+      }
+    }
+  }
+  if (poses_found)
+    emitter << YAML::EndSeq;
+  else
+  {
+    // Add commented lines to show how the feature can be used
+    if (default_group_name.empty())
+      default_group_name = "group";
+    emitter << YAML::Newline;
+    emitter << YAML::Comment(" - group: " + default_group_name) << YAML::Newline;
+    emitter << YAML::Comment("   pose: home") << YAML::Newline;
+  }
+
   emitter << YAML::EndMap;
 
   std::ofstream output_stream(file_path.c_str(), std::ios_base::trunc);
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 1e779c5f9e..4f70d8904c 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -64,7 +64,8 @@ RobotPosesWidget::RobotPosesWidget(QWidget* parent, const MoveItConfigDataPtr& c
 
   HeaderWidget* header = new HeaderWidget(
       "Define Robot Poses", "Create poses for the robot. Poses are defined as sets of joint values for "
-                            "particular planning groups. This is useful for things like <i>home position</i>.",
+                            "particular planning groups. This is useful for things like <i>home position</i>."
+                            "The first pose for each robot will be its initial pose in simulation.",
       this);
   layout->addWidget(header);
 

From f03d66f9c254a13b540ff7487cfaab2ab10c6e8c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 6 Mar 2020 15:25:12 +0100
Subject: [PATCH 209/612] MSA: use matching group/state name for default
 controller state (#1936)

The old logic just picked the first group, but this not necessarily matched the picked group state.
---
 .../tools/moveit_config_data.h                |  7 +------
 .../src/tools/moveit_config_data.cpp          | 21 ++++++-------------
 2 files changed, 7 insertions(+), 21 deletions(-)

diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index c027abde9e..c9bbedb26c 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -481,15 +481,10 @@ class MoveItConfigData
    */
   std::vector<std::map<std::string, GenericParameter> > getSensorPluginConfig();
 
-  /**
-   * \brief Helper function to get the default start state group for moveit_sim_hw_interface
-   */
-  std::string getDefaultStartStateGroup();
-
   /**
    * \brief Helper function to get the default start pose for moveit_sim_hw_interface
    */
-  std::string getDefaultStartPose();
+  srdf::Model::GroupState getDefaultStartPose();
 
   /**
    * \brief Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 8675a67ac4..5fa78dc73a 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -846,24 +846,15 @@ void MoveItConfigData::outputFollowJointTrajectoryYAML(YAML::Emitter& emitter,
   }
 }
 
-// ******************************************************************************************
-// Helper function to get the default start state group for moveit_sim_hw_interface
-// ******************************************************************************************
-std::string MoveItConfigData::getDefaultStartStateGroup()
-{
-  if (!srdf_->srdf_model_->getGroups().empty())
-    return srdf_->srdf_model_->getGroups()[0].name_;
-  return "todo_no_group_selected";
-}
-
 // ******************************************************************************************
 // Helper function to get the default start pose for moveit_sim_hw_interface
 // ******************************************************************************************
-std::string MoveItConfigData::getDefaultStartPose()
+srdf::Model::GroupState MoveItConfigData::getDefaultStartPose()
 {
   if (!srdf_->group_states_.empty())
-    return srdf_->group_states_[0].name_;
-  return "todo_no_pose_selected";
+    return srdf_->group_states_[0];
+  else
+    return srdf::Model::GroupState{.name_ = "todo_state_name", .group_ = "todo_group_name", .joint_values_ = {} };
 }
 
 // ******************************************************************************************
@@ -908,11 +899,11 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
     {
       // Use the first planning group if initial joint_model_group was not set, else write a default value
       emitter << YAML::Key << "joint_model_group";
-      emitter << YAML::Value << getDefaultStartStateGroup();
+      emitter << YAML::Value << getDefaultStartPose().group_;
 
       // Use the first robot pose if initial joint_model_group_pose was not set, else write a default value
       emitter << YAML::Key << "joint_model_group_pose";
-      emitter << YAML::Value << getDefaultStartPose();
+      emitter << YAML::Value << getDefaultStartPose().name_;
 
       emitter << YAML::EndMap;
     }

From 2169a32b45b340a507921bd9143314a684e96b5f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 6 Mar 2020 15:27:58 +0100
Subject: [PATCH 210/612] List missing joints in group states (#1935)

---
 moveit_core/robot_model/src/robot_model.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index ab17d7f32a..fc477150cc 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -355,7 +355,18 @@ void RobotModel::buildGroupStates(const srdf::Model& srdf_model)
                           group_state.name_.c_str(), jt->first.c_str(), jmg->getName().c_str());
       }
       if (!remaining_joints.empty())
-        ROS_WARN_NAMED(LOGNAME, "Group state '%s' doesn't specify all group joints.", group_state.name_.c_str());
+      {
+        std::stringstream missing;
+        missing << (*remaining_joints.begin())->getName();
+        for (auto j = ++remaining_joints.begin(); j != remaining_joints.end(); j++)
+        {
+          missing << ", " << (*j)->getName();
+        }
+        ROS_WARN_STREAM_NAMED(LOGNAME, "Group state '" << group_state.name_
+                                                       << "' doesn't specify all group joints in group '"
+                                                       << group_state.group_ << "'. " << missing.str() << " "
+                                                       << (remaining_joints.size() > 1 ? "are" : "is") << " missing.");
+      }
       if (!state.empty())
         jmg->addDefaultState(group_state.name_, state);
     }

From 643bc5716397b0ce22735b334049b21df2c9a73f Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Sat, 7 Mar 2020 19:15:58 +0900
Subject: [PATCH 211/612] Wait for get_planning_scene in background (#1934)

---
 .../planning_scene_rviz_plugin/src/planning_scene_display.cpp  | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index d0305bedac..4833af109c 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -370,7 +370,8 @@ void PlanningSceneDisplay::changedPlanningSceneTopic()
     std::string service_name = planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE;
     if (!getMoveGroupNS().empty())
       service_name = ros::names::append(getMoveGroupNS(), service_name);
-    planning_scene_monitor_->requestPlanningSceneState(service_name);
+    auto bg_func = [=]() { planning_scene_monitor_->requestPlanningSceneState(service_name); };
+    addBackgroundJob(bg_func, "planning_scene_monitor_->requestPlanningSceneState");
   }
 }
 

From 6d99f7b80da0a567bcaddc3cd8583312d336988e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 8 Mar 2020 19:31:00 +0100
Subject: [PATCH 212/612] onRobotModelLoaded() always runs in main GUI thread

---
 .../motion_planning_rviz_plugin/src/motion_planning_display.cpp | 2 +-
 .../planning_scene_rviz_plugin/src/planning_scene_display.cpp   | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 2ce01bcd6f..ada868845a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1185,7 +1185,7 @@ void MotionPlanningDisplay::onRobotModelLoaded()
 
   if (frame_)
     frame_->fillPlanningGroupOptions();
-  addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedPlanningGroup, this));
+  changedPlanningGroup();
 }
 
 void MotionPlanningDisplay::updateStateExceptModified(moveit::core::RobotState& dest,
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 4833af109c..ef5832503c 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -533,6 +533,7 @@ void PlanningSceneDisplay::loadRobotModel()
   model_is_loading_ = false;
 }
 
+// This should always run in the main GUI thread!
 void PlanningSceneDisplay::onRobotModelLoaded()
 {
   changedPlanningSceneTopic();

From 7753624650e53ff5e2f82cb4b722d85232e8bab3 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 8 Mar 2020 19:57:17 +0100
Subject: [PATCH 213/612] Provide feedback on success of
 requestPlanningSceneState()

on success: update current start/goal states if necessary
on failure: issue warning in display status
---
 .../motion_planning_display.h                       |  1 +
 .../motion_planning_frame.h                         |  1 +
 .../src/motion_planning_display.cpp                 |  4 ++++
 .../src/motion_planning_frame_planning.cpp          | 12 ++++++++++++
 .../planning_scene_display.h                        |  2 ++
 .../src/planning_scene_display.cpp                  | 13 +++++++++++--
 6 files changed, 31 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 9561868774..ef8f3accd2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -196,6 +196,7 @@ private Q_SLOTS:
   };
 
   void onRobotModelLoaded() override;
+  void onNewPlanningSceneState() override;
   void onSceneMonitorReceivedUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type) override;
   void updateInternal(float wall_dt, float ros_dt) override;
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index e228fcec58..a3ebe489b2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -166,6 +166,7 @@ private Q_SLOTS:
   void allowLookingToggled(bool checked);
   void allowExternalProgramCommunication(bool enable);
   void pathConstraintsIndexChanged(int index);
+  void onNewPlanningSceneState();
   void startStateTextChanged(const QString& start_state);
   void goalStateTextChanged(const QString& goal_state);
   void planningGroupTextChanged(const QString& planning_group);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index ada868845a..84eae7c372 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1187,6 +1187,10 @@ void MotionPlanningDisplay::onRobotModelLoaded()
     frame_->fillPlanningGroupOptions();
   changedPlanningGroup();
 }
+void MotionPlanningDisplay::onNewPlanningSceneState()
+{
+  frame_->onNewPlanningSceneState();
+}
 
 void MotionPlanningDisplay::updateStateExceptModified(moveit::core::RobotState& dest,
                                                       const moveit::core::RobotState& src)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 9b2efcff0b..8f8ab01772 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -251,6 +251,18 @@ void MotionPlanningFrame::onFinishedExecution(bool success)
     goalStateTextChanged(ui_->goal_state_combo_box->currentText());
 }
 
+void MotionPlanningFrame::onNewPlanningSceneState()
+{
+  moveit::core::RobotState current(planning_display_->getPlanningSceneRO()->getCurrentState());
+  if (ui_->start_state_combo_box->currentText() == "<current>")
+  {
+    planning_display_->setQueryStartState(current);
+    planning_display_->rememberPreviousStartState();
+  }
+  if (ui_->goal_state_combo_box->currentText() == "<current>")
+    planning_display_->setQueryGoalState(current);
+}
+
 void MotionPlanningFrame::startStateTextChanged(const QString& start_state)
 {
   // use background job: fetching the current state might take up to a second
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 3b24a461c0..d6ecd6848b 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -149,6 +149,8 @@ protected Q_SLOTS:
 
   /// This is an event called by loadRobotModel() in the MainLoop; do not call directly
   virtual void onRobotModelLoaded();
+  /// This is called upon successful retrieval of the (initial) planning scene state
+  virtual void onNewPlanningSceneState();
 
   /**
    * \brief Set the scene node's position, given the target frame and the planning frame
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index ef5832503c..7701558a58 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -370,8 +370,13 @@ void PlanningSceneDisplay::changedPlanningSceneTopic()
     std::string service_name = planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE;
     if (!getMoveGroupNS().empty())
       service_name = ros::names::append(getMoveGroupNS(), service_name);
-    auto bg_func = [=]() { planning_scene_monitor_->requestPlanningSceneState(service_name); };
-    addBackgroundJob(bg_func, "planning_scene_monitor_->requestPlanningSceneState");
+    auto bg_func = [=]() {
+      if (planning_scene_monitor_->requestPlanningSceneState(service_name))
+        addMainLoopJob(boost::bind(&PlanningSceneDisplay::onNewPlanningSceneState, this));
+      else
+        setStatus(rviz::StatusProperty::Warn, "PlanningScene", "Requesting initial scene failed");
+    };
+    addBackgroundJob(bg_func, "requestPlanningSceneState");
   }
 }
 
@@ -554,6 +559,10 @@ void PlanningSceneDisplay::onRobotModelLoaded()
   scene_name_property_->blockSignals(old_state);
 }
 
+void PlanningSceneDisplay::onNewPlanningSceneState()
+{
+}
+
 void PlanningSceneDisplay::sceneMonitorReceivedUpdate(
     planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 {

From 17a472848ec252b33425a03182884131e33c6234 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sun, 8 Mar 2020 20:27:22 +0100
Subject: [PATCH 214/612] Fix segfault in RobotStateVisualization: remove
 processEvents() (#1941)

---
 .../rviz_plugin_render_tools/src/robot_state_visualization.cpp   | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index f68ed950e3..99528fb88b 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -66,7 +66,6 @@ void RobotStateVisualization::load(const urdf::ModelInterface& descr, bool visua
   robot_.setVisualVisible(visual_visible_);
   robot_.setCollisionVisible(collision_visible_);
   robot_.setVisible(visible_);
-  QApplication::processEvents();
 }
 
 void RobotStateVisualization::clear()

From ab3b5a858be329706be8763a6c65d8a1c38e992c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 9 Mar 2020 09:02:10 +0100
Subject: [PATCH 215/612] Fix issue in unpadded collision checking (#1899)

* Add (failing) PlanningScene test: added objects in diff scene are not respected in unpadded collision checking
* Unconditionally allocate unpadded collision environments to fix the issue
---
 .../planning_scene/src/planning_scene.cpp     | 25 ++++--------
 .../test/test_planning_scene.cpp              | 39 +++++++++++++++++--
 2 files changed, 42 insertions(+), 22 deletions(-)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 5f6c75d38e..fa65396f97 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -204,10 +204,8 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare
     detector->cenv_ = detector->alloc_->allocateEnv(parent_detector->cenv_, world_);
     detector->cenv_const_ = detector->cenv_;
 
-    // leave these empty and use parent collision_env_ unless/until a non-const one
-    // is requested (e.g. to modify link padding or scale)
-    detector->cenv_unpadded_.reset();
-    detector->cenv_unpadded_const_.reset();
+    detector->cenv_unpadded_ = detector->alloc_->allocateEnv(parent_detector->cenv_unpadded_, world_);
+    detector->cenv_unpadded_const_ = detector->cenv_unpadded_;
   }
   setActiveCollisionDetector(parent_->getActiveCollisionDetectorName());
 }
@@ -286,12 +284,8 @@ void PlanningScene::addCollisionDetector(const collision_detection::CollisionDet
     detector->copyPadding(*active_collision_);
   }
 
-  // If we don't have a parent, allocate unpadded versions, otherwise use the parent's cenv_unpadded_.
-  if (!detector->parent_)
-  {
-    detector->cenv_unpadded_ = detector->alloc_->allocateEnv(world_, getRobotModel());
-    detector->cenv_unpadded_const_ = detector->cenv_unpadded_;
-  }
+  detector->cenv_unpadded_ = detector->alloc_->allocateEnv(world_, getRobotModel());
+  detector->cenv_unpadded_const_ = detector->cenv_unpadded_;
 }
 
 void PlanningScene::setActiveCollisionDetector(const collision_detection::CollisionDetectorAllocatorPtr& allocator,
@@ -393,11 +387,11 @@ void PlanningScene::clearDiffs()
 
     if (it.second->parent_)
     {
-      it.second->cenv_unpadded_.reset();
-      it.second->cenv_unpadded_const_.reset();
-
       it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
       it.second->cenv_const_ = it.second->cenv_;
+
+      it.second->cenv_unpadded_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_unpadded_, world_);
+      it.second->cenv_unpadded_const_ = it.second->cenv_unpadded_;
     }
     else
     {
@@ -1138,11 +1132,6 @@ void PlanningScene::decoupleParent()
 
   for (std::pair<const std::string, CollisionDetectorPtr>& it : collision_)
   {
-    if (!it.second->cenv_unpadded_)
-    {
-      it.second->cenv_unpadded_ = it.second->alloc_->allocateEnv(it.second->parent_->getCollisionEnvUnpadded(), world_);
-      it.second->cenv_unpadded_const_ = it.second->cenv_unpadded_;
-    }
     it.second->parent_.reset();
   }
   world_diff_.reset();
diff --git a/moveit_core/planning_scene/test/test_planning_scene.cpp b/moveit_core/planning_scene/test/test_planning_scene.cpp
index 6a3b52875e..37cddc3296 100644
--- a/moveit_core/planning_scene/test/test_planning_scene.cpp
+++ b/moveit_core/planning_scene/test/test_planning_scene.cpp
@@ -100,32 +100,57 @@ TEST(PlanningScene, LoadRestoreDiff)
   planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
 
   collision_detection::World& world = *ps->getWorldNonConst();
+
+  /* add one object to ps's world */
   Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
   world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);
 
+  /* ps can be written to and set from message */
   moveit_msgs::PlanningScene ps_msg;
   ps_msg.robot_state.is_diff = true;
   EXPECT_TRUE(moveit::core::isEmpty(ps_msg));
   ps->getPlanningSceneMsg(ps_msg);
   ps->setPlanningSceneMsg(ps_msg);
-  EXPECT_FALSE(moveit::core::isEmpty(ps_msg));
+  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);
+  EXPECT_EQ(ps_msg.world.collision_objects[0].id, "sphere");
   EXPECT_TRUE(world.hasObject("sphere"));
 
+  /* test diff scene on top of ps */
   planning_scene::PlanningScenePtr next = ps->diff();
+  /* world is inherited from ps */
   EXPECT_TRUE(next->getWorld()->hasObject("sphere"));
-  next->getWorldNonConst()->addToObject("sphere2", shapes::ShapeConstPtr(new shapes::Sphere(0.5)), id);
+
+  /* object in overlay is only added in overlay */
+  next->getWorldNonConst()->addToObject("sphere_in_next_only", shapes::ShapeConstPtr(new shapes::Sphere(0.5)), id);
   EXPECT_EQ(next->getWorld()->size(), 2u);
   EXPECT_EQ(ps->getWorld()->size(), 1u);
+
+  /* the worlds used for collision detection contain one and two objects, respectively */
+  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 1u);
+  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 1u);
+
+  EXPECT_EQ(next->getCollisionEnv()->getWorld()->size(), 2u);
+  EXPECT_EQ(next->getCollisionEnvUnpadded()->getWorld()->size(), 2u);
+
+  /* maintained diff contains only overlay object */
   next->getPlanningSceneDiffMsg(ps_msg);
   EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);
+
+  /* copy ps to next and apply diff */
   next->decoupleParent();
   moveit_msgs::PlanningScene ps_msg2;
+
+  /* diff is empty now */
   next->getPlanningSceneDiffMsg(ps_msg2);
   EXPECT_EQ(ps_msg2.world.collision_objects.size(), 0u);
+
+  /* next's world contains both objects */
   next->getPlanningSceneMsg(ps_msg);
   EXPECT_EQ(ps_msg.world.collision_objects.size(), 2u);
   ps->setPlanningSceneMsg(ps_msg);
   EXPECT_EQ(ps->getWorld()->size(), 2u);
+  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 2u);
+  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 2u);
 }
 
 TEST(PlanningScene, MakeAttachedDiff)
@@ -136,21 +161,27 @@ TEST(PlanningScene, MakeAttachedDiff)
 
   planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
 
+  /* add a single object to ps's world */
   collision_detection::World& world = *ps->getWorldNonConst();
   Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
   world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);
 
+  /* attach object in diff */
   planning_scene::PlanningScenePtr attached_object_diff_scene = ps->diff();
 
   moveit_msgs::AttachedCollisionObject att_obj;
   att_obj.link_name = "r_wrist_roll_link";
   att_obj.object.operation = moveit_msgs::CollisionObject::ADD;
   att_obj.object.id = "sphere";
+  attached_object_diff_scene->processAttachedCollisionObjectMsg(att_obj);
+
+  /* object is not in world anymore */
+  EXPECT_EQ(attached_object_diff_scene->getWorld()->size(), 0u);
+  /* it became part of the robot state though */
+  EXPECT_TRUE(attached_object_diff_scene->getCurrentState().hasAttachedBody("sphere"));
 
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
-
-  attached_object_diff_scene->processAttachedCollisionObjectMsg(att_obj);
   attached_object_diff_scene->checkCollision(req, res);
   ps->checkCollision(req, res);
 }

From 5ae179fc5aae15b0bc92bf5298d080202e91090a Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Mon, 9 Mar 2020 17:27:12 +0900
Subject: [PATCH 216/612] Add default velocity/acceleration scaling factors
 (#1890)

* Add default velocity/acceleration scaling factors

* allow for scaling factors of 0.0 to specify defaults

* Add documentation and migration notes
---
 MIGRATION.md                                  |  5 +++
 .../src/moveit_commander/move_group.py        |  6 ++--
 .../move_group_interface.h                    | 12 +++----
 .../src/move_group_interface.cpp              | 36 +++++++++++++++----
 .../src/motion_planning_frame.cpp             |  7 ++++
 .../src/tools/moveit_config_data.cpp          | 27 +++++++++-----
 6 files changed, 71 insertions(+), 22 deletions(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index 2c2da8af98..846f4b28f1 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -3,6 +3,11 @@
 API changes in MoveIt releases
 
 ## ROS Noetic (upcoming changes in master)
+- Planned trajectories are *slow* by default.
+  The default values of the `velocity_scaling_factor` and `acceleration_scaling_factor` can now be customized and default to 0.1 instead of 1.0.
+  The values can be changed by setting the parameters `default_acceleration_scaling_factor` and `default_velocity_scaling_factor` in the `joint_limits.yaml` of your robot's `moveit_config` package.
+  Consider setting them to values between 0.2 and 0.6, to allow for significant speedup/slowdown of your application.
+  Additionally, you can always change the factors per request with the corresponding methods in the [move_group_interface](http://docs.ros.org/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html#a3e2bd2edccca8aa49a6bec9d039d5bf3), the [MoveGroupCommander](http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html#a7706effa66a0847496de477cf219a562) or in the Rviz interface. ([1890](https://github.com/ros-planning/moveit/pull/1890))
 - Extended the return value of `MoveitCommander.MoveGroup.plan()` from `trajectory` to a tuple of `(success, trajectory, planning_time, error_code)` to better match the C++ MoveGroupInterface ([790](https://github.com/ros-planning/moveit/pull/790/))
 - `moveit_rviz.launch`, generated by MSA, provides an argument `rviz_config` to configure the rviz config to be used. The old boolean config argument was dropped. ([1397](https://github.com/ros-planning/moveit/pull/1397))
 - Moved the example package `moveit_controller_manager_example` into [moveit_tutorials](https://github.com/ros-planning/moveit_tutorials)
diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index 0799e77c50..8290e880ea 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -468,14 +468,16 @@ def set_workspace(self, ws):
                     raise MoveItCommanderException("Expected 0, 4 or 6 values in list specifying workspace")
 
     def set_max_velocity_scaling_factor(self, value):
-        """ Set a scaling factor for optionally reducing the maximum joint velocity. Allowed values are in (0,1]. """
+        """ Set a scaling factor to reduce the maximum joint velocities. Allowed values are in (0,1].
+            The default value is set in the joint_limits.yaml of the moveit_config package. """
         if value > 0 and value <= 1:
             self._g.set_max_velocity_scaling_factor(value)
         else:
             raise MoveItCommanderException("Expected value in the range from 0 to 1 for scaling factor")
 
     def set_max_acceleration_scaling_factor(self, value):
-        """ Set a scaling factor for optionally reducing the maximum joint acceleration. Allowed values are in (0,1]. """
+        """ Set a scaling factor to reduce the maximum joint accelerations. Allowed values are in (0,1].
+            The default value is set in the joint_limits.yaml of the moveit_config package. """
         if value > 0 and value <= 1:
             self._g.set_max_acceleration_scaling_factor(value)
         else:
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index e792c49487..0bacff0bc6 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -246,16 +246,16 @@ class MoveGroupInterface
 
   /** \brief Set a scaling factor for optionally reducing the maximum joint velocity.
       Allowed values are in (0,1]. The maximum joint velocity specified
-      in the robot model is multiplied by the factor. If outside valid range
-      (importantly, this includes it being set to 0.0), the factor is set to a
-      default value of 1.0 internally (i.e. maximum joint velocity) */
+      in the robot model is multiplied by the factor. If the value is 0, it is set to
+      the default value, which is defined in joint_limits.yaml of the moveit_config.
+      If the value is greater than 1, it is set to 1.0. */
   void setMaxVelocityScalingFactor(double max_velocity_scaling_factor);
 
   /** \brief Set a scaling factor for optionally reducing the maximum joint acceleration.
       Allowed values are in (0,1]. The maximum joint acceleration specified
-      in the robot model is multiplied by the factor. If outside valid range
-      (importantly, this includes it being set to 0.0), the factor is set to a
-      default value of 1.0 internally (i.e. maximum joint acceleration) */
+      in the robot model is multiplied by the factor. If the value is 0, it is set to
+      the default value, which is defined in joint_limits.yaml of the moveit_config.
+      If the value is greater than 1, it is set to 1.0. */
   void setMaxAccelerationScalingFactor(double max_acceleration_scaling_factor);
 
   /** \brief Get the number of seconds set by setPlanningTime() */
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 35a9d39352..9f7d75fac7 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -124,8 +124,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     goal_orientation_tolerance_ = 1e-3;  // ~0.1 deg
     allowed_planning_time_ = 5.0;
     num_planning_attempts_ = 1;
-    max_velocity_scaling_factor_ = 1.0;
-    max_acceleration_scaling_factor_ = 1.0;
+    node_handle_.param<double>("robot_description_planning/joint_limits/default_velocity_scaling_factor",
+                               max_velocity_scaling_factor_, 0.1);
+    node_handle_.param<double>("robot_description_planning/joint_limits/default_acceleration_scaling_factor",
+                               max_acceleration_scaling_factor_, 0.1);
     initializing_constraints_ = false;
 
     if (joint_model_group_->isChain())
@@ -335,14 +337,36 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     num_planning_attempts_ = num_planning_attempts;
   }
 
-  void setMaxVelocityScalingFactor(double max_velocity_scaling_factor)
+  void setMaxVelocityScalingFactor(double value)
   {
-    max_velocity_scaling_factor_ = max_velocity_scaling_factor;
+    setMaxScalingFactor(max_velocity_scaling_factor_, value, "velocity_scaling_factor", 0.1);
   }
 
-  void setMaxAccelerationScalingFactor(double max_acceleration_scaling_factor)
+  void setMaxAccelerationScalingFactor(double value)
   {
-    max_acceleration_scaling_factor_ = max_acceleration_scaling_factor;
+    setMaxScalingFactor(max_acceleration_scaling_factor_, value, "acceleration_scaling_factor", 0.1);
+  }
+
+  void setMaxScalingFactor(double& variable, const double target_value, const char* factor_name, double fallback_value)
+  {
+    if (target_value > 1.0)
+    {
+      ROS_WARN_NAMED("move_group_interface", "Limiting max_%s (%.2f) to 1.0.", factor_name, target_value);
+      variable = 1.0;
+    }
+    else if (target_value <= 0.0)
+    {
+      node_handle_.param<double>(std::string("robot_description_planning/default_") + factor_name, variable,
+                                 fallback_value);
+      if (target_value < 0.0)
+      {
+        ROS_WARN_NAMED("move_group_interface", "max_%s < 0.0! Setting to default: %.2f.", factor_name, variable);
+      }
+    }
+    else
+    {
+      variable = target_value;
+    }
   }
 
   moveit::core::RobotState& getTargetRobotState()
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index c81aee0e15..1d466c186a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -73,6 +73,13 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   connect(planning_display_, SIGNAL(queryStartStateChanged()), joints_tab_, SLOT(queryStartStateChanged()));
   connect(planning_display_, SIGNAL(queryGoalStateChanged()), joints_tab_, SLOT(queryGoalStateChanged()));
 
+  // Set initial velocity and acceleration scaling factors from ROS parameters
+  double factor;
+  nh_.param<double>("robot_description_planning/default_velocity_scaling_factor", factor, 0.1);
+  ui_->velocity_scaling_factor->setValue(factor);
+  nh_.param<double>("robot_description_planning/default_acceleration_scaling_factor", factor, 0.1);
+  ui_->acceleration_scaling_factor->setValue(factor);
+
   // connect bottons to actions; each action usually registers the function pointer for the actual computation,
   // to keep the GUI more responsive (using the background job processing)
   connect(ui_->plan_button, SIGNAL(clicked()), this, SLOT(planButtonClicked()));
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 5fa78dc73a..c791a31d8c 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -1085,8 +1085,27 @@ bool MoveItConfigData::output3DSensorPluginYAML(const std::string& file_path)
 bool MoveItConfigData::outputJointLimitsYAML(const std::string& file_path)
 {
   YAML::Emitter emitter;
+  emitter << YAML::Comment("joint_limits.yaml allows the dynamics properties specified in the URDF "
+                           "to be overwritten or augmented as needed");
+  emitter << YAML::Newline;
+
   emitter << YAML::BeginMap;
 
+  emitter << YAML::Comment("For beginners, we downscale velocity and acceleration limits.") << YAML::Newline;
+  emitter << YAML::Comment("You can always specify higher scaling factors (<= 1.0) in your motion requests.");
+  emitter << YAML::Comment("Increase the values below to 1.0 to always move at maximum speed.");
+  emitter << YAML::Key << "default_velocity_scaling_factor";
+  emitter << YAML::Value << "0.1";
+
+  emitter << YAML::Key << "default_acceleration_scaling_factor";
+  emitter << YAML::Value << "0.1";
+
+  emitter << YAML::Newline << YAML::Newline;
+  emitter << YAML::Comment("Specific joint properties can be changed with the keys "
+                           "[max_position, min_position, max_velocity, max_acceleration]")
+          << YAML::Newline;
+  emitter << YAML::Comment("Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]");
+
   emitter << YAML::Key << "joint_limits";
   emitter << YAML::Value << YAML::BeginMap;
 
@@ -1151,14 +1170,6 @@ bool MoveItConfigData::outputJointLimitsYAML(const std::string& file_path)
     ROS_ERROR_STREAM("Unable to open file for writing " << file_path);
     return false;
   }
-  // Add documentation into joint_limits.yaml
-  output_stream << "# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or "
-                   "augmented as needed"
-                << std::endl;
-  output_stream << "# Specific joint properties can be changed with the keys [max_position, min_position, "
-                   "max_velocity, max_acceleration]"
-                << std::endl;
-  output_stream << "# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]" << std::endl;
   output_stream << emitter.c_str();
   output_stream.close();
 

From 29a6425b1a0965d65735a4b81c7fe4267c64d75e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 4 Mar 2020 15:04:20 +0100
Subject: [PATCH 217/612] Allow to filter for joint when creating a
 RobotTrajectory message (#1927)

---
 .../moveit/robot_trajectory/robot_trajectory.h    |  3 ++-
 .../robot_trajectory/src/robot_trajectory.cpp     | 15 ++++++++++++---
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 80b4539211..69ff8e0eca 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -213,7 +213,8 @@ class RobotTrajectory
 
   double getAverageSegmentDuration() const;
 
-  void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory) const;
+  void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory,
+                             const std::vector<std::string>& joint_filter = std::vector<std::string>()) const;
 
   /** \brief Copy the content of the trajectory message into this class. The trajectory message itself is not required
      to contain the values
diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index 475f973374..4fa428de01 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -218,12 +218,13 @@ void RobotTrajectory::clear()
   duration_from_previous_.clear();
 }
 
-void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory) const
+void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory,
+                                            const std::vector<std::string>& joint_filter) const
 {
   trajectory = moveit_msgs::RobotTrajectory();
   if (waypoints_.empty())
     return;
-  const std::vector<const moveit::core::JointModel*>& jnt =
+  const std::vector<const moveit::core::JointModel*>& jnts =
       group_ ? group_->getActiveJointModels() : robot_model_->getActiveJointModels();
 
   std::vector<const moveit::core::JointModel*> onedof;
@@ -231,7 +232,13 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajec
   trajectory.joint_trajectory.joint_names.clear();
   trajectory.multi_dof_joint_trajectory.joint_names.clear();
 
-  for (const moveit::core::JointModel* active_joint : jnt)
+  for (const moveit::core::JointModel* active_joint : jnts)
+  {
+    // only consider joints listed in joint_filter
+    if (!joint_filter.empty() &&
+        std::find(joint_filter.begin(), joint_filter.end(), active_joint->getName()) == joint_filter.end())
+      continue;
+
     if (active_joint->getVariableCount() == 1)
     {
       trajectory.joint_trajectory.joint_names.push_back(active_joint->getName());
@@ -242,6 +249,8 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajec
       trajectory.multi_dof_joint_trajectory.joint_names.push_back(active_joint->getName());
       mdof.push_back(active_joint);
     }
+  }
+
   if (!onedof.empty())
   {
     trajectory.joint_trajectory.header.frame_id = robot_model_->getModelFrame();

From 5327e419719a033a8b6b8d04c4d501e6937ce262 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 9 Mar 2020 08:32:52 -0600
Subject: [PATCH 218/612] [jog_arm] SRDF velocity and acceleration limit
 enforcement (#1863)

* Loosen timing-based test tolerances

* Rename and comment joint_state variables better

* Add a placeholder test for vel/accel limits

* Remove useless update of kinematic_state_

* Fix suddenHalt()

* Improve Python integration tests
---
 .../moveit_jog_arm/CMakeLists.txt             |   3 +
 .../include/moveit_jog_arm/jog_calcs.h        |  16 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 162 ++++++++++++------
 .../test/arm_setup/config/jog_settings.yaml   |   2 +-
 .../test/launch/common_test_setup.launch      |  34 ++++
 ...jog_arm_drift_dimensions_service_test.test |  32 +---
 .../test/launch/jog_arm_halt_msg_test.test    |  32 +---
 .../launch/jog_arm_msg_reception_test.test    |  32 +---
 .../launch/jog_arm_vel_accel_limits_test.test |  15 ++
 .../test_halt_msg/test_jog_arm_halt_msg.py    |   8 +-
 .../test_jog_arm_msg_reception.py             |  25 ++-
 .../test_vel_accel_limits.py                  |  80 +++++++++
 12 files changed, 287 insertions(+), 154 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
 create mode 100644 moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
 create mode 100755 moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 1e05203e71..fc0c787bde 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -135,6 +135,9 @@ if(CATKIN_ENABLE_TESTING)
   # Python integration test of a service to enable drift in some dimensions
   add_rostest(test/launch/jog_arm_drift_dimensions_service_test.test)
 
+  # Python integration test of velocity and acceleration limits
+  add_rostest(test/launch/jog_arm_vel_accel_limits_test.test)
+
   # jog_cpp_interface
   add_rostest_gtest(jog_cpp_interface_test
     test/jog_cpp_interface_test.test
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 5bbf55cfad..027eeeed6b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -75,8 +75,6 @@ class JogCalcs
   // Flag that robot state is up to date, end effector transform is known
   std::atomic<bool> is_initialized_;
 
-  sensor_msgs::JointState incoming_joints_;
-
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex);
 
   bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
@@ -93,11 +91,15 @@ class JogCalcs
   // Suddenly halt for a joint limit or other critical issue.
   // Is handled differently for position vs. velocity control.
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
+  void suddenHalt(Eigen::ArrayXd& delta_theta);
 
   void publishWarning(bool active) const;
 
-  // Scale the delta theta to match joint velocity limits
-  bool enforceSRDFJointBounds(trajectory_msgs::JointTrajectory& new_joint_traj);
+  // Scale the delta theta to match joint velocity/acceleration limits
+  void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
+
+  // Avoid overshooting joint limits
+  bool enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj);
 
   // Possibly calculate a velocity scaling factor, due to proximity of
   // singularity and direction of motion
@@ -142,7 +144,10 @@ class JogCalcs
 
   moveit::core::RobotStatePtr kinematic_state_;
 
-  sensor_msgs::JointState joint_state_, original_joint_state_;
+  // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
+  // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
+  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
+  sensor_msgs::JointState incoming_joint_state_, internal_joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
   trajectory_msgs::JointTrajectory outgoing_command_;
 
@@ -157,6 +162,7 @@ class JogCalcs
 
   // Use ArrayXd type to enable more coefficient-wise operations
   Eigen::ArrayXd delta_theta_;
+  Eigen::ArrayXd prev_joint_velocity_;
 
   Eigen::Isometry3d tf_moveit_to_cmd_frame_;
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 4ec6da3c0c..ca8de0b921 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -61,6 +61,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
   kinematic_state_->setToDefaultValues();
 
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
+  prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getVariableCount());
 }
 
 void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
@@ -75,15 +76,15 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Received first joint msg.");
 
-  joint_state_.name = joint_model_group_->getVariableNames();
-  num_joints_ = joint_state_.name.size();
-  joint_state_.position.resize(num_joints_);
-  joint_state_.velocity.resize(num_joints_);
-  joint_state_.effort.resize(num_joints_);
+  internal_joint_state_.name = joint_model_group_->getVariableNames();
+  num_joints_ = internal_joint_state_.name.size();
+  internal_joint_state_.position.resize(num_joints_);
+  internal_joint_state_.velocity.resize(num_joints_);
+  internal_joint_state_.effort.resize(num_joints_);
   // A map for the indices of incoming joint commands
-  for (std::size_t i = 0; i < joint_state_.name.size(); ++i)
+  for (std::size_t i = 0; i < internal_joint_state_.name.size(); ++i)
   {
-    joint_state_name_map_[joint_state_.name[i]] = i;
+    joint_state_name_map_[internal_joint_state_.name[i]] = i;
   }
 
   // Low-pass filters for the joint positions & velocities
@@ -99,7 +100,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       return;
 
     mutex.lock();
-    incoming_joints_ = shared_variables.joints;
+    incoming_joint_state_ = shared_variables.joints;
     mutex.unlock();
     default_sleep_rate_.sleep();
   }
@@ -119,16 +120,16 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
 
     // Ensure the low-pass filter matches reality
     for (std::size_t i = 0; i < num_joints_; ++i)
-      position_filters_[i].reset(joint_state_.position[i]);
+      position_filters_[i].reset(internal_joint_state_.position[i]);
 
     //  Check for a new command
     mutex.lock();
     cartesian_deltas = shared_variables.command_deltas;
     joint_deltas = shared_variables.joint_command_deltas;
-    incoming_joints_ = shared_variables.joints;
+    incoming_joint_state_ = shared_variables.joints;
     mutex.unlock();
 
-    kinematic_state_->setVariableValues(joint_state_);
+    kinematic_state_->setVariableValues(internal_joint_state_);
 
     // Always update the end-effector transform in case the getCommandFrameTransform() method is being used
     // Get the transform from MoveIt planning frame to jogging command frame
@@ -158,11 +159,11 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     {
       default_sleep_rate_.sleep();
     }
-    kinematic_state_->setVariableValues(joint_state_);
 
     // Get the transform from MoveIt planning frame to jogging command frame
     // We solve (planning_frame -> base -> robot_link_command_frame)
     // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
+    kinematic_state_->setVariableValues(incoming_joint_state_);
     tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                               kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
     mutex.lock();
@@ -174,7 +175,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     if (halt_outgoing_jog_cmds_)
     {
       for (std::size_t i = 0; i < num_joints_; ++i)
-        position_filters_[i].reset(joint_state_.position[i]);
+        position_filters_[i].reset(internal_joint_state_.position[i]);
     }
     // Do jogging calculations only if the robot should move, for efficiency
     else
@@ -206,7 +207,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       }
       else
       {
-        outgoing_command_ = composeJointTrajMessage(joint_state_);
+        outgoing_command_ = composeJointTrajMessage(internal_joint_state_);
       }
 
       // Halt if the command is stale or inputs are all zero, or commands were zero
@@ -342,14 +343,21 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   delta_theta_ = pseudo_inverse * delta_x;
 
+  enforceSRDFAccelVelLimits(delta_theta_);
+
+  if (!addJointIncrements(internal_joint_state_, delta_theta_))
+    return false;
+
   // If close to a collision or a singularity, decelerate
   if (!applyVelocityScaling(shared_variables, mutex, delta_theta_,
                             velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse)))
   {
     has_warning_ = true;
-    suddenHalt(outgoing_command_);
+    suddenHalt(delta_theta_);
   }
 
+  prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
+
   return convertDeltasToOutgoingCmd();
 }
 
@@ -358,7 +366,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
   {
-    if (std::isnan(velocity) || (fabs(velocity) > 1))
+    if (std::isnan(velocity))
     {
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "nan in incoming command. Skipping this datapoint.");
       return false;
@@ -368,24 +376,28 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
   // Apply user-defined scaling
   delta_theta_ = scaleJointCommand(cmd);
 
-  kinematic_state_->setVariableValues(joint_state_);
+  enforceSRDFAccelVelLimits(delta_theta_);
+
+  kinematic_state_->setVariableValues(internal_joint_state_);
+
+  prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
   return convertDeltasToOutgoingCmd();
 }
 
 bool JogCalcs::convertDeltasToOutgoingCmd()
 {
-  if (!addJointIncrements(joint_state_, delta_theta_))
+  if (!addJointIncrements(internal_joint_state_, delta_theta_))
     return false;
 
-  lowPassFilterPositions(joint_state_);
+  lowPassFilterPositions(internal_joint_state_);
 
   // Calculate joint velocities here so that positions are filtered and SRDF bounds still get checked
-  calculateJointVelocities(joint_state_, delta_theta_);
+  calculateJointVelocities(internal_joint_state_, delta_theta_);
 
-  outgoing_command_ = composeJointTrajMessage(joint_state_);
+  outgoing_command_ = composeJointTrajMessage(internal_joint_state_);
 
-  if (!enforceSRDFJointBounds(outgoing_command_))
+  if (!enforceSRDFPositionLimits(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
     has_warning_ = true;
@@ -539,40 +551,77 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
   return velocity_scale;
 }
 
-bool JogCalcs::enforceSRDFJointBounds(trajectory_msgs::JointTrajectory& new_joint_traj)
+void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
 {
-  bool halting = false;
-
-  if (new_joint_traj.points.empty())
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "Empty trajectory passed into checkIfJointsWithinURDFBounds().");
-    return true;  // technically an empty trajectory is still within bounds
-  }
+  Eigen::ArrayXd velocity = delta_theta / parameters_.publish_period;
 
+  std::size_t joint_delta_index = 0;
   for (auto joint : joint_model_group_->getJointModels())
   {
-    if (!kinematic_state_->satisfiesVelocityBounds(joint))
+    // Some joints do not have bounds defined
+    if (kinematic_state_->getJointModel(joint->getName())->hasVariable(joint->getName()))
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, ros::this_node::getName() << " " << joint->getName() << " "
-                                                                           << " close to a "
-                                                                              " velocity limit. Enforcing limit.");
-      kinematic_state_->enforceVelocityBounds(joint);
-      for (std::size_t c = 0; c < new_joint_traj.joint_names.size(); ++c)
+      auto bounds = kinematic_state_->getJointModel(joint->getName())->getVariableBounds(joint->getName());
+
+      // Apply acceleration bounds
+      // accel = (vel - vel_prev) / delta_t = ((delta_theta / delta_t) - vel_prev) / delta_t
+      // --> delta_theta = (accel * delta_t _ + vel_prev) * delta_t
+      Eigen::ArrayXd acceleration = (velocity - prev_joint_velocity_) / parameters_.publish_period;
+      if ((bounds.min_acceleration_ != 0) && (acceleration(joint_delta_index) < bounds.min_acceleration_))
+      {
+        double relative_change =
+            ((bounds.min_acceleration_ * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
+             parameters_.publish_period) /
+            delta_theta(joint_delta_index);
+        // Avoid nan
+        if (fabs(relative_change) < 1)
+          delta_theta = relative_change * delta_theta;
+      }
+      else if ((bounds.max_acceleration_ != 0) && (acceleration(joint_delta_index) > bounds.max_acceleration_))
+      {
+        double relative_change =
+            ((bounds.max_acceleration_ * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
+             parameters_.publish_period) /
+            delta_theta(joint_delta_index);
+        // Avoid nan
+        if (fabs(relative_change) < 1)
+          delta_theta = relative_change * delta_theta;
+      }
+
+      velocity = delta_theta / parameters_.publish_period;
+      // Apply velocity bounds
+      // delta_theta = joint_velocity * delta_t
+      if ((bounds.min_velocity_ != 0) && (velocity(joint_delta_index) < bounds.min_velocity_))
       {
-        if (new_joint_traj.joint_names[c] == joint->getName())
+        double relative_change = (bounds.min_velocity_ * parameters_.publish_period) / delta_theta(joint_delta_index);
+        // Avoid nan
+        if (fabs(relative_change) < 1)
         {
-          // TODO(andyz): This is caused by publishing in position mode -- which does not initialize the velocity
-          // members.
-          // TODO(andyz): Also need to adjust the joint positions that would be published.
-          if (new_joint_traj.points[0].velocities.size() > c + 1)
-          {
-            new_joint_traj.points[0].velocities[c] = *(kinematic_state_->getJointVelocities(joint));
-            break;
-          }
+          delta_theta = relative_change * delta_theta;
+          velocity = relative_change * velocity;
         }
       }
+      else if ((bounds.max_velocity_ != 0) && (velocity(joint_delta_index) > bounds.max_velocity_))
+      {
+        double relative_change = (bounds.max_velocity_ * parameters_.publish_period) / delta_theta(joint_delta_index);
+        // Avoid nan
+        if (fabs(relative_change) < 1)
+        {
+          delta_theta = relative_change * delta_theta;
+          velocity = relative_change * velocity;
+        }
+      }
+      ++joint_delta_index;
     }
+  }
+}
+
+bool JogCalcs::enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj)
+{
+  bool halting = false;
 
+  for (auto joint : joint_model_group_->getJointModels())
+  {
     // Halt if we're past a joint margin and joint velocity is moving even farther past
     double joint_angle = 0;
     for (std::size_t c = 0; c < original_joint_state_.name.size(); ++c)
@@ -613,6 +662,13 @@ void JogCalcs::publishWarning(bool active) const
   warning_pub_.publish(status);
 }
 
+// Suddenly halt for a joint limit or other critical issue.
+// Is handled differently for position vs. velocity control.
+void JogCalcs::suddenHalt(Eigen::ArrayXd& delta_theta)
+{
+  delta_theta = Eigen::ArrayXd::Zero(delta_theta.rows());
+}
+
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
 void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
@@ -633,32 +689,32 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 bool JogCalcs::updateJoints(std::mutex& mutex, const JogArmShared& shared_variables)
 {
   mutex.lock();
-  incoming_joints_ = shared_variables.joints;
+  incoming_joint_state_ = shared_variables.joints;
   mutex.unlock();
 
   // Check that the msg contains enough joints
-  if (incoming_joints_.name.size() < num_joints_)
+  if (incoming_joint_state_.name.size() < num_joints_)
     return false;
 
   // Store joints in a member variable
-  for (std::size_t m = 0; m < incoming_joints_.name.size(); ++m)
+  for (std::size_t m = 0; m < incoming_joint_state_.name.size(); ++m)
   {
     std::size_t c;
     try
     {
-      c = joint_state_name_map_.at(incoming_joints_.name[m]);
+      c = joint_state_name_map_.at(incoming_joint_state_.name[m]);
     }
     catch (const std::out_of_range& e)
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joints_.name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
       continue;
     }
 
-    joint_state_.position[c] = incoming_joints_.position[m];
+    internal_joint_state_.position[c] = incoming_joint_state_.position[m];
   }
 
   // Cache the original joints in case they need to be reset
-  original_joint_state_ = joint_state_;
+  original_joint_state_ = internal_joint_state_;
 
   return true;
 }
@@ -712,7 +768,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     }
     catch (const std::out_of_range& e)
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joints_.name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
index 6907b090f7..c6ecb8998b 100644
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
@@ -25,7 +25,7 @@ command_out_type: trajectory_msgs/JointTrajectory
 
 # What to publish? Can save some bandwidth as most robots only require positions or velocities
 publish_joint_positions: true
-publish_joint_velocities: true
+publish_joint_velocities: false
 publish_joint_accelerations: false
 
 ## MoveIt properties
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch b/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
new file mode 100644
index 0000000000..d734a2746e
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="debug" value="false" />
+
+
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Note, we're using fake, simulated trajectory controllers.
+       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
+       test jog node output.
+  -->
+  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
+    <arg name="fake_execution" value="true"/>
+  </include>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <group ns="jog_server" if="$(arg debug)">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+  </group>
+
+  <group unless="$(arg debug)">
+    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
+      <param name="parameter_ns" type="string" value="jog_server"/>
+      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    </node>
+  </group>
+
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
index 22b081b990..7bc276f34b 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
@@ -2,38 +2,14 @@
 <launch>
   <arg name="debug" value="false" />
 
-  <!-- Load URDF, SRDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- Note, we're using fake, simulated trajectory controllers.
-       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
-       test jog node output.
-  -->
-  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
-    <arg name="fake_execution" value="true"/>
-  </include>
-
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0"/>
-  </node>
+  <!-- Common setup for most of the integration tests -->
+  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
 
+  <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
   </node>
 
-  <group ns="jog_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-  </group>
-
-  <group unless="$(arg debug)">
-    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
-      <param name="parameter_ns" type="string" value="jog_server"/>
-      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-    </node>
-  </group>
-
   <param name="test_module" value="$(find moveit_jog_arm)/test/test_drift_dimensions_service" />
   <test test-name="jog_arm_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
index 5f25dfdd33..0243368fcd 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
@@ -2,38 +2,16 @@
 <launch>
   <arg name="debug" value="false" />
 
-  <!-- Load URDF, SRDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- Note, we're using fake, simulated trajectory controllers.
-       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
-       test jog node output.
-  -->
-  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
-    <arg name="fake_execution" value="true"/>
-  </include>
-
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0"/>
-  </node>
+  <!-- Common setup for most of the integration tests -->
+  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
 
+  <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/singular_position.yaml" />
   </node>
 
-  <group ns="jog_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-  </group>
-
-  <group unless="$(arg debug)">
-    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
-      <param name="parameter_ns" type="string" value="jog_server"/>
-      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-    </node>
-  </group>
-
+<!--
   <param name="test_module" value="$(find moveit_jog_arm)/test/test_halt_msg" />
   <test test-name="jog_arm_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
+-->
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
index 343bd87c49..b35c6393f1 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
@@ -2,38 +2,14 @@
 <launch>
   <arg name="debug" value="false" />
 
-  <!-- Load URDF, SRDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- Note, we're using fake, simulated trajectory controllers.
-       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
-       test jog node output.
-  -->
-  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
-    <arg name="fake_execution" value="true"/>
-  </include>
-
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0"/>
-  </node>
+  <!-- Common setup for most of the integration tests -->
+  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
 
+  <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
   </node>
 
-  <group ns="jog_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-  </group>
-
-  <group unless="$(arg debug)">
-    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
-      <param name="parameter_ns" type="string" value="jog_server"/>
-      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
-    </node>
-  </group>
-
   <param name="test_module" value="$(find moveit_jog_arm)/test/test_msg_reception" />
   <test test-name="jog_arm_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
new file mode 100644
index 0000000000..42fc118672
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="debug" value="false" />
+
+  <!-- Common setup for most of the integration tests -->
+  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
+
+  <!-- Initial joint positions -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+  </node>
+
+  <param name="test_module" value="$(find moveit_jog_arm)/test/test_vel_accel_limits" />
+  <test test-name="jog_arm_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
+</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
index 882d12edfb..11e75997f7 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
@@ -42,6 +42,7 @@ def send_cmd(self, linear, angular):
 
 
 def test_jog_arm_halt_msg(node):
+    received = []
     sub = rospy.Subscriber(
         HALT_TOPIC, Bool, lambda msg: received.append(msg)
     )
@@ -52,15 +53,16 @@ def test_jog_arm_halt_msg(node):
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
     TEST_DURATION = 1
-    received = []
     start_time = rospy.get_rostime()
+    received = []
     while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
-        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
+        cartesian_cmd.send_cmd([1, 1, 1], [0, 0, 1])
         time.sleep(0.1)
 
     # Check the received messages
+    # A non-zero value signifies a warning
     assert len(received) > 1
-    assert received[-1].data == True
+    assert received[-1].data != 0
 
 
 if __name__ == '__main__':
diff --git a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
index 1aff26396b..7ec28b8298 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
@@ -53,12 +53,12 @@ def send_cmd(self, linear, angular):
 
 
 def test_jog_arm_cartesian_command(node):
+    received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
     cartesian_cmd = CartesianJogCmd()
     time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
 
     # Repeated zero-commands should produce no output, other than a few halt messages
     # A subscriber in a different thread fills 'received'
@@ -74,35 +74,41 @@ def test_jog_arm_cartesian_command(node):
     # A subscriber in a different thread fills `received`
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
-    received = []
+
+    # Send a command to start the jogger
+    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
 
     start_time = rospy.get_rostime()
+    received = []
     while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
         cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
         time.sleep(0.1)
     # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
     # Allow a small +/- window due to rounding/timing errors
-    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 5
-    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 5
+    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 20
+    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 20
 
 
 def test_jog_arm_joint_command(node):
     # Test sending a joint command
 
+    received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
 
     joint_cmd = JointJogCmd()
     time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
 
-    received = []
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
     velocities = [0.1]
 
+    # Send a command to start the jogger
+    joint_cmd.send_joint_velocity_cmd(velocities)
+
     start_time = rospy.get_rostime()
+    received = []
     while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
         joint_cmd.send_joint_velocity_cmd(velocities)
         time.sleep(0.1)
@@ -113,6 +119,7 @@ def test_jog_arm_joint_command(node):
 
 
 if __name__ == '__main__':
-   node = node()
-   test_jog_arm_cartesian_command(node)
-   test_jog_arm_joint_command(node)
+    node = node()
+    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
+    test_jog_arm_cartesian_command(node)
+    test_jog_arm_joint_command(node)
diff --git a/moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py b/moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py
new file mode 100755
index 0000000000..b6ca05dd45
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+import time
+
+import pytest
+import rospy
+
+from control_msgs.msg import JointJog
+from trajectory_msgs.msg import JointTrajectory
+
+# Test that commands that are too fast are caught and flagged
+# This can be run as part of a pytest, or like a normal ROS executable:
+# rosrun moveit_jog_arm test_vel_accel_limits.py
+
+JOG_ARM_SETTLE_TIME_S = 10
+ROS_SETTLE_TIME_S = 10
+
+JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
+
+COMMAND_OUT_TOPIC = 'jog_server/command'
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('pytest', anonymous=True)
+
+
+class JointJogCmd(object):
+    def __init__(self):
+        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=1)
+
+    def send_joint_velocity_cmd(self, joint_pos):
+        jj = JointJog()
+        jj.header.stamp = rospy.Time.now()
+        jj.joint_names = ['joint_{}'.format(i) for i in range(len(joint_pos))]
+        jj.velocities = list(map(float, joint_pos))
+        self._pub.publish(jj)
+
+
+def test_vel_limit(node):
+    # Test sending a joint command
+
+    received = []
+    sub = rospy.Subscriber(
+        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
+    )
+
+    joint_cmd = JointJogCmd()
+    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
+
+    TEST_DURATION = 1
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
+
+    # Panda arm limit, from joint_limits.yaml
+    VELOCITY_LIMIT = rospy.get_param("/robot_description_planning/joint_limits/panda_joint1/max_velocity")
+    # Send a velocity command that exceeds the limit
+    velocities = [10 * VELOCITY_LIMIT]
+
+    # Send a command to start the jogger
+    joint_cmd.send_joint_velocity_cmd(velocities)
+
+    start_time = rospy.get_rostime()
+    received = []
+    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
+        joint_cmd.send_joint_velocity_cmd(velocities)
+        time.sleep(0.1)
+
+    # Period of outgoing commands from the jogger, from yaml
+    JOGGER_COMMAND_PERIOD = rospy.get_param("/jog_server/publish_period")
+
+    # Should be no velocities greater than the limit
+    assert len(received) > 2
+    for msg_idx in range(1, len(received)):
+        velocity = \
+            (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / JOGGER_COMMAND_PERIOD
+        assert abs(velocity) <= VELOCITY_LIMIT
+
+if __name__ == '__main__':
+    node = node()
+    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
+    test_vel_limit(node)

From caf5ef191c72b2d4fc0f11f21c36fb20b3d271c3 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Wed, 11 Mar 2020 12:24:56 +0100
Subject: [PATCH 219/612] Release Python GIL for C++ calls (#1947)

---
 .../src/wrap_python_move_group.cpp            |  12 ++
 .../moveit/py_bindings_tools/gil_releaser.h   | 111 ++++++++++++++++++
 .../src/wrap_python_robot_interface.cpp       |   3 +
 3 files changed, 126 insertions(+)
 create mode 100644 moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h

diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 94639c6f9c..7b2e293c77 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -38,6 +38,7 @@
 #include <moveit/py_bindings_tools/roscpp_initializer.h>
 #include <moveit/py_bindings_tools/py_conversions.h>
 #include <moveit/py_bindings_tools/serialize_msg.h>
+#include <moveit/py_bindings_tools/gil_releaser.h>
 #include <moveit/robot_state/conversions.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 #include <moveit/trajectory_processing/iterative_time_parameterization.h>
@@ -57,6 +58,8 @@
 
 namespace bp = boost::python;
 
+using moveit::py_bindings_tools::GILReleaser;
+
 namespace moveit
 {
 namespace planning_interface
@@ -396,6 +399,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
   bool movePython()
   {
+    GILReleaser gr;
     return move() == MoveItErrorCode::SUCCESS;
   }
 
@@ -413,6 +417,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
   {
     MoveGroupInterface::Plan plan;
     py_bindings_tools::deserializeMsg(plan_str, plan.trajectory_);
+    GILReleaser gr;
     return execute(plan) == MoveItErrorCode::SUCCESS;
   }
 
@@ -425,8 +430,10 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
   bp::tuple planPython()
   {
+    GILReleaser gr;
     MoveGroupInterface::Plan plan;
     moveit_msgs::MoveItErrorCodes res = MoveGroupInterface::plan(plan);
+    gr.reacquire();
     return bp::make_tuple(py_bindings_tools::serializeMsg(res), py_bindings_tools::serializeMsg(plan.trajectory_),
                           plan.planning_time_);
   }
@@ -453,8 +460,10 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     std::vector<geometry_msgs::Pose> poses;
     convertListToArrayOfPoses(waypoints, poses);
     moveit_msgs::RobotTrajectory trajectory;
+    GILReleaser gr;
     double fraction =
         computeCartesianPath(poses, eef_step, jump_threshold, trajectory, path_constraints, avoid_collisions);
+    gr.reacquire();
     return bp::make_tuple(py_bindings_tools::serializeMsg(trajectory), fraction);
   }
 
@@ -501,6 +510,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
       // Convert trajectory message to object
       moveit_msgs::RobotTrajectory traj_msg;
       py_bindings_tools::deserializeMsg(traj_str, traj_msg);
+      GILReleaser gr;
       robot_trajectory::RobotTrajectory traj_obj(getRobotModel(), getName());
       traj_obj.setRobotTrajectoryMsg(ref_state_obj, traj_msg);
 
@@ -523,11 +533,13 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
       else
       {
         ROS_ERROR_STREAM_NAMED("move_group_py", "Unknown time parameterization algorithm: " << algorithm);
+        gr.reacquire();
         return py_bindings_tools::serializeMsg(moveit_msgs::RobotTrajectory());
       }
 
       // Convert the retimed trajectory back into a message
       traj_obj.getRobotTrajectoryMsg(traj_msg);
+      gr.reacquire();
       return py_bindings_tools::serializeMsg(traj_msg);
     }
     else
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
new file mode 100644
index 0000000000..697a0a446e
--- /dev/null
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
@@ -0,0 +1,111 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, RWTH Aachen University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of RWTH Aachen University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Bjarne von Horn */
+
+#pragma once
+
+#include <utility>
+#include <Python.h>
+
+namespace moveit
+{
+namespace py_bindings_tools
+{
+/** \brief RAII Helper to release the Global Interpreter Lock (GIL)
+ *
+ * Use this helper class to release the GIL before doing long computations
+ * or blocking calls. Note that without the GIL Python-related functions <b>must not</b> be called.
+ * So, before releasing the GIL all \c boost::python variables have to be converted to e.g. \c std::vector<std::string>.
+ * Before converting the result back to e.g. a moveit::py_bindings_tools::ByteString instance, the GIL has to be
+ * reacquired.
+ */
+class GILReleaser
+{
+  PyThreadState* m_thread_state;
+
+public:
+  /** \brief Release the GIL on construction  */
+  GILReleaser() noexcept
+  {
+    m_thread_state = nullptr;
+    release();
+  }
+  /** \brief Reacquire the GIL on destruction  */
+  ~GILReleaser() noexcept
+  {
+    reacquire();
+  }
+
+  GILReleaser(const GILReleaser&) = delete;
+  GILReleaser(GILReleaser&& other) noexcept
+  {
+    m_thread_state = other.m_thread_state;
+    other.m_thread_state = nullptr;
+  }
+
+  GILReleaser& operator=(const GILReleaser&) = delete;
+  GILReleaser& operator=(GILReleaser&& other) noexcept
+  {
+    GILReleaser copy(std::move(other));
+    this->swap(copy);
+    return *this;
+  }
+
+  void swap(GILReleaser& other) noexcept
+  {
+    std::swap(other.m_thread_state, m_thread_state);
+  }
+
+  /** \brief Reacquire the GIL, noop if already acquired */
+  void reacquire() noexcept
+  {
+    if (m_thread_state)
+    {
+      PyEval_RestoreThread(m_thread_state);
+      m_thread_state = nullptr;
+    }
+  }
+  /** \brief Release the GIL (again), noop if already released */
+  void release() noexcept
+  {
+    if (!m_thread_state)
+    {
+      m_thread_state = PyEval_SaveThread();
+    }
+  }
+};
+
+}  // namespace py_bindings_tools
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
index f21e58127c..893a8c9bb7 100644
--- a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
+++ b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
@@ -39,6 +39,7 @@
 #include <moveit/py_bindings_tools/roscpp_initializer.h>
 #include <moveit/py_bindings_tools/py_conversions.h>
 #include <moveit/py_bindings_tools/serialize_msg.h>
+#include <moveit/py_bindings_tools/gil_releaser.h>
 #include <moveit_msgs/RobotState.h>
 #include <visualization_msgs/MarkerArray.h>
 
@@ -49,6 +50,7 @@
 /** @cond IGNORE */
 
 namespace bp = boost::python;
+using moveit::py_bindings_tools::GILReleaser;
 
 namespace moveit
 {
@@ -216,6 +218,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     // if needed, start the monitor and wait up to 1 second for a full robot state
     if (!current_state_monitor_->isActive())
     {
+      GILReleaser gr;
       current_state_monitor_->startStateMonitor();
       if (!current_state_monitor_->waitForCompleteState(wait))
         ROS_WARN("Joint values for monitored state are requested but the full state is not known");

From ad0529f7805101f212ff645c43f51b4b7661f60a Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 12 Mar 2020 10:36:15 +0100
Subject: [PATCH 220/612] Add a pathway to avoid PSI blocking for services

It is still impossible to create a PSI if no move_group is running,
but this allows users to detect the failure to create an instance.

Might be useful for people who want to run the same node with and without a `move_group` node.
---
 .../planning_scene_interface.h                |  7 ++++++-
 .../src/planning_scene_interface.cpp          | 20 ++++++++++++++-----
 2 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
index 9dc25385e0..004ecade7f 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
+++ b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
@@ -52,7 +52,12 @@ MOVEIT_CLASS_FORWARD(PlanningSceneInterface);
 class PlanningSceneInterface
 {
 public:
-  explicit PlanningSceneInterface(const std::string& ns = "");
+  /**
+    \param ns. Namespace in which all MoveIt related topics and services are discovered
+    \param wait. Wait for services if they are not announced in ROS.
+    If this is false, the constructor throws std::runtime_error instead.
+  */
+  explicit PlanningSceneInterface(const std::string& ns = "", bool wait = true);
   ~PlanningSceneInterface();
 
   /**
diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index 704372d6ec..3a86a62f22 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -50,7 +50,7 @@ static const std::string LOGNAME = "planning_scene_interface";
 class PlanningSceneInterface::PlanningSceneInterfaceImpl
 {
 public:
-  explicit PlanningSceneInterfaceImpl(const std::string& ns = "")
+  explicit PlanningSceneInterfaceImpl(const std::string& ns = "", bool wait = true)
   {
     node_handle_ = ros::NodeHandle(ns);
     planning_scene_diff_publisher_ = node_handle_.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
@@ -59,8 +59,18 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     apply_planning_scene_service_ =
         node_handle_.serviceClient<moveit_msgs::ApplyPlanningScene>(move_group::APPLY_PLANNING_SCENE_SERVICE_NAME);
 
-    waitForService(planning_scene_service_);
-    waitForService(apply_planning_scene_service_);
+    if (wait)
+    {
+      waitForService(planning_scene_service_);
+      waitForService(apply_planning_scene_service_);
+    }
+    else
+    {
+      if (!planning_scene_service_.exists() || !apply_planning_scene_service_.exists())
+      {
+        throw std::runtime_error("ROS services not available");
+      }
+    }
   }
 
   std::vector<std::string> getKnownObjectNames(bool with_type)
@@ -270,9 +280,9 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
   moveit::core::RobotModelConstPtr robot_model_;
 };
 
-PlanningSceneInterface::PlanningSceneInterface(const std::string& ns)
+PlanningSceneInterface::PlanningSceneInterface(const std::string& ns, bool wait)
 {
-  impl_ = new PlanningSceneInterfaceImpl(ns);
+  impl_ = new PlanningSceneInterfaceImpl(ns, wait);
 }
 
 PlanningSceneInterface::~PlanningSceneInterface()

From acaebbf5a9f5172e280b3cf54404ecaab13df6a4 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 12 Mar 2020 10:39:23 +0100
Subject: [PATCH 221/612] remove PSI from rviz display

The display maintains a PSM listening to move_group's PSM.
Using an additional PSI (connecting to the move_group via services) is bad design
and the use of it - to poll via ros-services - is even worse.

Implemented the same functionality through the local PSM.

Note that the second argument of updateDetectedObjectsList was never used.
---
 .../motion_planning_frame.h                   |  4 +-
 .../src/motion_planning_frame.cpp             |  8 ----
 .../motion_planning_frame_manipulation.cpp    | 42 +++++++++++++------
 3 files changed, 31 insertions(+), 23 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index a3ebe489b2..ac707bf294 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -43,7 +43,6 @@
 #ifndef Q_MOC_RUN
 #include <moveit/macros/class_forward.h>
 #include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_interaction/robot_interaction.h>
 #include <moveit/robot_interaction/interaction_handler.h>
@@ -129,7 +128,6 @@ class MotionPlanningFrame : public QWidget
   MotionPlanningFrameJointsWidget* joints_tab_;
 
   moveit::planning_interface::MoveGroupInterfacePtr move_group_;
-  moveit::planning_interface::PlanningSceneInterfacePtr planning_scene_interface_;
   moveit::semantic_world::SemanticWorldPtr semantic_world_;
 
   moveit::planning_interface::MoveGroupInterface::PlanPtr current_plan_;
@@ -272,7 +270,7 @@ private Q_SLOTS:
 
   // Pick and place
   void processDetectedObjects();
-  void updateDetectedObjectsList(const std::vector<std::string>& object_ids, const std::vector<std::string>& objects);
+  void updateDetectedObjectsList(const std::vector<std::string>& object_ids);
   void publishTables();
   void updateSupportSurfacesList();
   ros::Publisher object_recognition_trigger_publisher_;
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 1d466c186a..ddaac366c3 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -181,14 +181,6 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
       object_recognition_client_.reset();
     }
   }
-  try
-  {
-    planning_scene_interface_.reset(new moveit::planning_interface::PlanningSceneInterface());
-  }
-  catch (std::exception& ex)
-  {
-    ROS_ERROR("%s", ex.what());
-  }
 
   try
   {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
index bf4b79055b..c130bde929 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
@@ -41,6 +41,8 @@
 #include <moveit/robot_state/conversions.h>
 #include <object_recognition_msgs/ObjectRecognitionGoal.h>
 
+#include <tf2_eigen/tf2_eigen.h>
+
 #include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
@@ -68,7 +70,7 @@ void MotionPlanningFrame::processDetectedObjects()
 {
   pick_object_name_.clear();
 
-  std::vector<std::string> objects, object_ids;
+  std::vector<std::string> object_ids;
   double min_x = ui_->roi_center_x->value() - ui_->roi_size_x->value() / 2.0;
   double min_y = ui_->roi_center_y->value() - ui_->roi_size_y->value() / 2.0;
   double min_z = ui_->roi_center_z->value() - ui_->roi_size_z->value() / 2.0;
@@ -80,13 +82,31 @@ void MotionPlanningFrame::processDetectedObjects()
   ros::Time start_time = ros::Time::now();
   while (object_ids.empty() && ros::Time::now() - start_time <= ros::Duration(3.0))
   {
-    object_ids =
-        planning_scene_interface_->getKnownObjectNamesInROI(min_x, min_y, min_z, max_x, max_y, max_z, true, objects);
+    // collect all objects in region of interest
+    {
+      const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
+      const collision_detection::WorldConstPtr& world = ps->getWorld();
+      object_ids.clear();
+      for (const auto& object : *world)
+      {
+        if (!object.second->shape_poses_.empty())
+        {
+          const auto& position = object.second->shape_poses_[0].translation();
+          if (position.x() >= min_x && position.x() <= max_x && position.y() >= min_y && position.y() <= max_y &&
+              position.z() >= min_z && position.z() <= max_z)
+          {
+            object_ids.push_back(object.first);
+          }
+        }
+      }
+      if (!object_ids.empty())
+        break;
+    }
     ros::Duration(0.5).sleep();
   }
 
   ROS_DEBUG("Found %d objects", (int)object_ids.size());
-  updateDetectedObjectsList(object_ids, objects);
+  updateDetectedObjectsList(object_ids);
 }
 
 void MotionPlanningFrame::selectedDetectedObjectChanged()
@@ -153,8 +173,7 @@ void MotionPlanningFrame::listenDetectedObjects(const object_recognition_msgs::R
   planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::processDetectedObjects, this));
 }
 
-void MotionPlanningFrame::updateDetectedObjectsList(const std::vector<std::string>& object_ids,
-                                                    const std::vector<std::string>& /*objects*/)
+void MotionPlanningFrame::updateDetectedObjectsList(const std::vector<std::string>& object_ids)
 {
   ui_->detected_objects_list->setUpdatesEnabled(false);
   bool old_state = ui_->detected_objects_list->blockSignals(true);
@@ -265,13 +284,12 @@ void MotionPlanningFrame::pickObjectButtonClicked()
   {
     if (semantic_world_)
     {
-      std::vector<std::string> object_names;
-      object_names.push_back(pick_object_name_[group_name]);
-      std::map<std::string, geometry_msgs::Pose> object_poses = planning_scene_interface_->getObjectPoses(object_names);
-      if (object_poses.find(pick_object_name_[group_name]) != object_poses.end())
+      const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
+      if (ps->getWorld()->hasObject(pick_object_name_[group_name]))
       {
-        ROS_DEBUG("Finding current table for object: %s", pick_object_name_[group_name].c_str());
-        support_surface_name_ = semantic_world_->findObjectTable(object_poses[pick_object_name_[group_name]]);
+        geometry_msgs::Pose object_pose(tf2::toMsg(ps->getWorld()->getTransform(pick_object_name_[group_name])));
+        ROS_DEBUG_STREAM("Finding current table for object: " << pick_object_name_[group_name]);
+        support_surface_name_ = semantic_world_->findObjectTable(object_pose);
       }
       else
         support_surface_name_.clear();

From 703b837549214b3d12525c931bb7568b1a85060e Mon Sep 17 00:00:00 2001
From: edetleon <44973981+edetleon@users.noreply.github.com>
Date: Fri, 13 Mar 2020 10:33:14 +0100
Subject: [PATCH 222/612]  Implementation of parameter TranslationXY2D IKFast
 (#1949)

I needed to use the parameter TranslationXY2D in IKFast, so I added 2 lines of code. Related issue : #1931

* limit new implementation to IKP_TranslationXY2D

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
---
 .../templates/ikfast61_moveit_plugin_template.cpp            | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index 775d9dc104..c2745fe788 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -602,9 +602,12 @@ size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector<d
       ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet.");
       return 0;
 
+    case IKP_TranslationXY2D:
+      ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : nullptr, solutions);
+      return solutions.GetNumSolutions();
+
     case IKP_Rotation3D:
     case IKP_Lookat3D:
-    case IKP_TranslationXY2D:
     case IKP_TranslationXYOrientation3D:
       ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet.");
       return 0;

From 8b2a08145d74250a1d4dea4c3d9b50ecc5020282 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 13 Mar 2020 13:05:05 +0300
Subject: [PATCH 223/612] Fix versioning (#1948)

---
 moveit_experimental/moveit_jog_arm/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index 3673512fc4..931be71bac 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_jog_arm</name>
-  <version>0.0.3</version>
+  <version>1.0.1</version>
 
   <description>Provides real-time manipulator Cartesian jogging.</description>
 

From 97e3e9bfac616251062fbb60599390120afb42f2 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Fri, 13 Mar 2020 20:11:53 +0900
Subject: [PATCH 224/612] Do not override empty URDF link collision geometry
 (#1952)

* Do not override empty collision geometry

* minor improvements

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
---
 MIGRATION.md                                |  3 ++-
 moveit_core/robot_model/src/robot_model.cpp | 27 +++++++++++++--------
 2 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index 846f4b28f1..99b8e20aa8 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -3,6 +3,7 @@
 API changes in MoveIt releases
 
 ## ROS Noetic (upcoming changes in master)
+- RobotModel no longer overrides empty URDF collision geometry by matching the visual geometry of the link.
 - Planned trajectories are *slow* by default.
   The default values of the `velocity_scaling_factor` and `acceleration_scaling_factor` can now be customized and default to 0.1 instead of 1.0.
   The values can be changed by setting the parameters `default_acceleration_scaling_factor` and `default_velocity_scaling_factor` in the `joint_limits.yaml` of your robot's `moveit_config` package.
@@ -12,7 +13,7 @@ API changes in MoveIt releases
 - `moveit_rviz.launch`, generated by MSA, provides an argument `rviz_config` to configure the rviz config to be used. The old boolean config argument was dropped. ([1397](https://github.com/ros-planning/moveit/pull/1397))
 - Moved the example package `moveit_controller_manager_example` into [moveit_tutorials](https://github.com/ros-planning/moveit_tutorials)
 - Requests to `get_planning_scene` service without explicitly setting "components" now return full scene
-- `moveit_ros_plannning` no longer depends on `moveit_ros_perception`
+- `moveit_ros_planning` no longer depends on `moveit_ros_perception`
 - `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`. Note that calling `checkRobotCollision` of the `CollisionEnv` does not take a `CollisionRobot` as an argument anymore as it is implicitly contained in the `CollisionEnv`.
 - `RobotTrajectory` provides a copy constructor that allows a shallow (default) and deep copy of waypoints
 
diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index fc477150cc..5f06e8d626 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -990,6 +990,7 @@ LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
   EigenSTL::vector_Isometry3d poses;
 
   for (const urdf::CollisionSharedPtr& col : col_array)
+  {
     if (col && col->geometry)
     {
       shapes::ShapeConstPtr s = constructShape(col->geometry.get());
@@ -999,21 +1000,27 @@ LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
         poses.push_back(urdfPose2Isometry3d(col->origin));
       }
     }
+  }
+
+  // Should we warn that old (melodic) behaviour has changed, not copying visual to collision geometries anymore?
+  bool warn_about_missing_collision = false;
   if (shapes.empty())
   {
-    const std::vector<urdf::VisualSharedPtr>& vis_array = urdf_link->visual_array.empty() ?
-                                                              std::vector<urdf::VisualSharedPtr>(1, urdf_link->visual) :
+    const auto& vis_array = urdf_link->visual_array.empty() ? std::vector<urdf::VisualSharedPtr>{ urdf_link->visual } :
                                                               urdf_link->visual_array;
     for (const urdf::VisualSharedPtr& vis : vis_array)
+    {
       if (vis && vis->geometry)
-      {
-        shapes::ShapeConstPtr s = constructShape(vis->geometry.get());
-        if (s)
-        {
-          shapes.push_back(s);
-          poses.push_back(urdfPose2Isometry3d(vis->origin));
-        }
-      }
+        warn_about_missing_collision = true;
+    }
+  }
+  if (warn_about_missing_collision)
+  {
+    ROS_WARN_STREAM_NAMED(LOGNAME + ".empty_collision_geometry",
+                          "Link " << urdf_link->name
+                                  << " has visual geometry but no collision geometry. "
+                                     "Collision geometry will be left empty. "
+                                     "Fix your URDF file by explicitly specifying collision geometry.");
   }
 
   new_link_model->setGeometry(shapes, poses);

From e34a07d8970b7f39cdc374d8f3a88c77328a4956 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 13 Mar 2020 09:54:17 -0600
Subject: [PATCH 225/612] jog_arm: use wait_for_service() to fix flaky tests
 (#1946)

---
 .../moveit_jog_arm/CMakeLists.txt             | 12 +--
 .../arm_setup/launch/panda_move_group.launch  | 74 -------------------
 .../config/initial_position.yaml              |  0
 .../{arm_setup => }/config/jog_settings.yaml  |  0
 .../config/singular_position.yaml             |  0
 .../test/jog_cpp_interface_test.test          |  2 +-
 .../test/launch/common_test_setup.launch      | 12 +--
 ...jog_arm_drift_dimensions_service_test.test |  4 +-
 .../test/launch/jog_arm_halt_msg_test.test    |  6 +-
 .../launch/jog_arm_msg_reception_test.test    |  4 +-
 .../launch/jog_arm_vel_accel_limits_test.test |  4 +-
 .../test/python_tests/__init__.py             |  0
 .../test_drift_dimensions_service.py          | 20 +++--
 .../halt_msg}/test_jog_arm_halt_msg.py        | 15 ++--
 .../test_jog_arm_msg_reception.py             | 20 +++--
 .../moveit_jog_arm/test/python_tests/util.py  | 10 +++
 .../test_vel_accel_limits.py                  | 16 ++--
 17 files changed, 73 insertions(+), 126 deletions(-)
 delete mode 100644 moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch
 rename moveit_experimental/moveit_jog_arm/test/{arm_setup => }/config/initial_position.yaml (100%)
 rename moveit_experimental/moveit_jog_arm/test/{arm_setup => }/config/jog_settings.yaml (100%)
 rename moveit_experimental/moveit_jog_arm/test/{arm_setup => }/config/singular_position.yaml (100%)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/python_tests/__init__.py
 rename moveit_experimental/moveit_jog_arm/test/{test_drift_dimensions_service => python_tests/drift_dimensions_service}/test_drift_dimensions_service.py (65%)
 rename moveit_experimental/moveit_jog_arm/test/{test_halt_msg => python_tests/halt_msg}/test_jog_arm_halt_msg.py (85%)
 rename moveit_experimental/moveit_jog_arm/test/{test_msg_reception => python_tests/msg_reception}/test_jog_arm_msg_reception.py (90%)
 create mode 100644 moveit_experimental/moveit_jog_arm/test/python_tests/util.py
 rename moveit_experimental/moveit_jog_arm/test/{test_vel_accel_limits => python_tests/vel_accel_limits}/test_vel_accel_limits.py (84%)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index fc0c787bde..d8e01a7ec2 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -126,17 +126,11 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(ros_pytest REQUIRED)
 
-  # Python integration test of basic message reception/publication
-  add_rostest(test/launch/jog_arm_msg_reception_test.test)
-
-  # Python integration test that a halt message is published at a singularity
+  # Python integration tests
   add_rostest(test/launch/jog_arm_halt_msg_test.test)
-
-  # Python integration test of a service to enable drift in some dimensions
-  add_rostest(test/launch/jog_arm_drift_dimensions_service_test.test)
-
-  # Python integration test of velocity and acceleration limits
+  add_rostest(test/launch/jog_arm_msg_reception_test.test)
   add_rostest(test/launch/jog_arm_vel_accel_limits_test.test)
+  add_rostest(test/launch/jog_arm_drift_dimensions_service_test.test)
 
   # jog_cpp_interface
   add_rostest_gtest(jog_cpp_interface_test
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch b/moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch
deleted file mode 100644
index d7bc6b9055..0000000000
--- a/moveit_experimental/moveit_jog_arm/test/arm_setup/launch/panda_move_group.launch
+++ /dev/null
@@ -1,74 +0,0 @@
-<launch>
-
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" />
-
-  <arg name="planner" default="ompl" />
-
-  <!-- GDB Debug Option -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix"
-     value="gdb -x $(find moveit_resources)/panda_moveit_config/launch/gdb_settings.gdb --ex run --args" />
-
-  <!-- Verbose Mode Option -->
-  <arg name="info" default="$(arg debug)" />
-  <arg unless="$(arg info)" name="command_args" value="" />
-  <arg     if="$(arg info)" name="command_args" value="--debug" />
-
-  <!-- move_group settings -->
-  <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="fake_execution" default="false"/>
-  <arg name="max_safe_path_cost" default="1"/>
-  <arg name="jiggle_fraction" default="0.05" />
-  <arg name="publish_monitored_planning_scene" default="true"/>
-
-  <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="$(arg planner)" />
-  </include>
-
-  <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find moveit_resources)/panda_moveit_config/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="panda" unless="$(arg fake_execution)"/>
-    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
-  </include>
-
-  <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find moveit_resources)/panda_moveit_config/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_sensor_manager" value="panda" />
-  </include>
-
-  <!-- Start the actual move_group node/action server -->
-  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
-    <!-- Set the display variable, in case OpenGL code is used internally -->
-    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
-
-    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
-    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
-    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-    <!-- load these non-default MoveGroup capabilities -->
-    <!--
-    <param name="capabilities" value="
-                  a_package/AwsomeMotionPlanningCapability
-                  another_package/GraspPlanningPipeline
-                  " />
-    -->
-
-    <!-- inhibit these default MoveGroup capabilities -->
-    <!--
-    <param name="disable_capabilities" value="
-                  move_group/MoveGroupKinematicsService
-                  move_group/ClearOctomapService
-                  " />
-    -->
-
-    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
-    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
-  </node>
-
-</launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml b/moveit_experimental/moveit_jog_arm/test/config/initial_position.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/arm_setup/config/initial_position.yaml
rename to moveit_experimental/moveit_jog_arm/test/config/initial_position.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/arm_setup/config/jog_settings.yaml
rename to moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml b/moveit_experimental/moveit_jog_arm/test/config/singular_position.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/arm_setup/config/singular_position.yaml
rename to moveit_experimental/moveit_jog_arm/test/config/singular_position.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
index e0fc2aaa85..428d8482e1 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
@@ -7,6 +7,6 @@
 
   <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="10" args="">
     <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
   </test>
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch b/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
index d734a2746e..f406c10bdb 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
+++ b/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
@@ -8,26 +8,18 @@
     <arg name="load_robot_description" value="true"/>
   </include>
 
-  <!-- Note, we're using fake, simulated trajectory controllers.
-       These aren't suitable for actually jogging a robot in RViz, but they are good enough to
-       test jog node output.
-  -->
-  <include file="$(find moveit_jog_arm)/test/arm_setup/launch/panda_move_group.launch">
-    <arg name="fake_execution" value="true"/>
-  </include>
-
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
   <group ns="jog_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
     <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
       <param name="parameter_ns" type="string" value="jog_server"/>
-      <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/jog_settings.yaml"/>
+      <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
     </node>
   </group>
 
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
index 7bc276f34b..33669dc061 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
@@ -7,9 +7,9 @@
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/test_drift_dimensions_service" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/drift_dimensions_service" />
   <test test-name="jog_arm_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
index 0243368fcd..0ff461bb8c 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
@@ -7,11 +7,9 @@
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/singular_position.yaml" />
+	  <rosparam command="load" file="$(find moveit_jog_arm)/test/config/singular_position.yaml" />
   </node>
 
-<!--
-  <param name="test_module" value="$(find moveit_jog_arm)/test/test_halt_msg" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/halt_msg" />
   <test test-name="jog_arm_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
--->
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
index b35c6393f1..4761fb2ffb 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
@@ -7,9 +7,9 @@
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/test_msg_reception" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/msg_reception" />
   <test test-name="jog_arm_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
index 42fc118672..6a35a19e08 100644
--- a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
@@ -7,9 +7,9 @@
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/arm_setup/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/test_vel_accel_limits" />
+  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/vel_accel_limits" />
   <test test-name="jog_arm_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/__init__.py b/moveit_experimental/moveit_jog_arm/test/python_tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py b/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
similarity index 65%
rename from moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py
rename to moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
index b711668710..d28b5c5a6d 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_drift_dimensions_service/test_drift_dimensions_service.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
@@ -10,17 +10,21 @@
 from std_msgs.msg import Bool
 from trajectory_msgs.msg import JointTrajectory
 
+# Import common Python test utilities
+from os import sys, path
+sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
+import util
+
 # Send a service call to allow drift in all but the y-dimension.
 # In other words, only the y-dimension will be controlled exactly.
 # Check that the service returns and the jog node continues to publish commands to the robot.
 
-JOG_ARM_SETTLE_TIME_S = 10
-ROS_SETTLE_TIME_S = 10
-
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
 COMMAND_OUT_TOPIC = 'jog_server/command'
 
+SERVICE_NAME = 'jog_server/change_drift_dimensions'
+
 
 @pytest.fixture
 def node():
@@ -28,9 +32,13 @@ def node():
 
 
 def test_drift_dimensions_service(node):
-    # Make the service call to allow drift in all dimensions except y-translation
-    drift_service = rospy.ServiceProxy('jog_server/change_drift_dimensions', ChangeDriftDimensions)
-    # the transform is an identity matrix, not used for now
+    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+
+    # Service to change drift dimensions
+    drift_service = rospy.ServiceProxy(SERVICE_NAME, ChangeDriftDimensions)
+
+    # Service call to allow drift in all dimensions except y-translation
+    # The transform is an identity matrix, not used for now
     drift_response = drift_service(True, False, True, True, True, True, Transform())
     # Check for successful response
     assert drift_response.success == True
diff --git a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
similarity index 85%
rename from moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
rename to moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index 11e75997f7..05f2910700 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -8,19 +8,24 @@
 from control_msgs.msg import JointJog
 from std_msgs.msg import Bool
 
+# Import common Python test utilities
+from os import sys, path
+sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
+import util
+
 # The robot starts at a singular position (see config file).
 # Listen for a halt message from the jogger.
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_jog_arm test_jog_arm_integration.py
 
-JOG_ARM_SETTLE_TIME_S = 10
-ROS_SETTLE_TIME_S = 10
-
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
 # jog_arm should publish 'true' here if it halts
 HALT_TOPIC = 'jog_server/halted'
 
+# Check if jogger is initialized with this service
+SERVICE_NAME = 'jog_server/change_drift_dimensions'
+
 
 @pytest.fixture
 def node():
@@ -42,13 +47,13 @@ def send_cmd(self, linear, angular):
 
 
 def test_jog_arm_halt_msg(node):
+    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+
     received = []
     sub = rospy.Subscriber(
         HALT_TOPIC, Bool, lambda msg: received.append(msg)
     )
     cartesian_cmd = CartesianJogCmd()
-    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
 
     # This nonzero command should produce jogging output
     # A subscriber in a different thread fills `received`
diff --git a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
similarity index 90%
rename from moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
rename to moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 7ec28b8298..9147559d43 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -8,18 +8,23 @@
 from control_msgs.msg import JointJog
 from trajectory_msgs.msg import JointTrajectory
 
+# Import common Python test utilities
+from os import sys, path
+sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
+import util
+
 # Test that the jogger publishes controller commands when it receives Cartesian or joint commands.
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_jog_arm test_jog_arm_integration.py
 
-JOG_ARM_SETTLE_TIME_S = 10
-ROS_SETTLE_TIME_S = 10
-
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
 COMMAND_OUT_TOPIC = 'jog_server/command'
 
+# Check if jogger is initialized with this service
+SERVICE_NAME = 'jog_server/change_drift_dimensions'
+
 
 @pytest.fixture
 def node():
@@ -53,12 +58,15 @@ def send_cmd(self, linear, angular):
 
 
 def test_jog_arm_cartesian_command(node):
+    # Test sending a cartesian velocity command
+
+    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
     cartesian_cmd = CartesianJogCmd()
-    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
 
     # Repeated zero-commands should produce no output, other than a few halt messages
     # A subscriber in a different thread fills 'received'
@@ -92,13 +100,13 @@ def test_jog_arm_cartesian_command(node):
 def test_jog_arm_joint_command(node):
     # Test sending a joint command
 
+    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
-
     joint_cmd = JointJogCmd()
-    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
 
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/util.py b/moveit_experimental/moveit_jog_arm/test/python_tests/util.py
new file mode 100644
index 0000000000..0ee323b8c7
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/util.py
@@ -0,0 +1,10 @@
+import rospy
+
+def wait_for_jogger_initialization(service_name):
+    try:
+      rospy.wait_for_service(service_name, timeout=15)
+    except rospy.ROSException as exc:
+      rospy.logerr("The jogger service " + service_name + " is not available: " + str(exc))
+      return False
+
+    return True
diff --git a/moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
similarity index 84%
rename from moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py
rename to moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index b6ca05dd45..2baf6a594a 100755
--- a/moveit_experimental/moveit_jog_arm/test/test_vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -7,17 +7,22 @@
 from control_msgs.msg import JointJog
 from trajectory_msgs.msg import JointTrajectory
 
+# Import common Python test utilities
+from os import sys, path
+sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
+import util
+
 # Test that commands that are too fast are caught and flagged
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_jog_arm test_vel_accel_limits.py
 
-JOG_ARM_SETTLE_TIME_S = 10
-ROS_SETTLE_TIME_S = 10
-
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 
 COMMAND_OUT_TOPIC = 'jog_server/command'
 
+# Check if jogger is initialized with this service
+SERVICE_NAME = 'jog_server/change_drift_dimensions'
+
 
 @pytest.fixture
 def node():
@@ -39,13 +44,14 @@ def send_joint_velocity_cmd(self, joint_pos):
 def test_vel_limit(node):
     # Test sending a joint command
 
+    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
 
     joint_cmd = JointJogCmd()
-    time.sleep(ROS_SETTLE_TIME_S)  # wait for pub/subs to settle
 
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
@@ -76,5 +82,5 @@ def test_vel_limit(node):
 
 if __name__ == '__main__':
     node = node()
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
     test_vel_limit(node)
+    # TODO(andyz): add an acceleration limit test (the Panda joint_limits.yaml doesn't define acceleration limits)

From b171a0194ab1b50ba8ad1fa046afebeab8471e46 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sun, 15 Mar 2020 18:15:05 +0100
Subject: [PATCH 226/612] KDL IK: constrain wiggled joints to limits (#1953)

---
 .../kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp   | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index 62d7a89337..a0bafdd4af 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -428,8 +428,8 @@ int KDLKinematicsPlugin::CartToJnt(KDL::ChainIkSolverVelMimicSVD& ik_solver, con
   KDL::Frame f;
   KDL::Twist delta_twist;
   KDL::JntArray delta_q(q_out.rows()), q_backup(q_out.rows());
-  Eigen::ArrayXd extra_joint_weights;
-  extra_joint_weights.setOnes(joint_weights.rows());
+  Eigen::ArrayXd extra_joint_weights(joint_weights.rows());
+  extra_joint_weights.setOnes();
 
   q_out = q_init;
   ROS_DEBUG_STREAM_NAMED("kdl", "Input: " << q_init);
@@ -478,12 +478,14 @@ int KDLKinematicsPlugin::CartToJnt(KDL::ChainIkSolverVelMimicSVD& ik_solver, con
                     delta_q_norm);
     if (delta_q_norm < epsilon_)  // stuck in singularity
     {
-      if (step_size < 0.005)  // cannot reach target
+      if (step_size < epsilon_)  // cannot reach target
         break;
       // wiggle joints
       last_delta_twist_norm = DBL_MAX;
       delta_q.data.setRandom();
       delta_q.data *= std::min(0.1, delta_twist_norm);
+      clipToJointLimits(q_out, delta_q, extra_joint_weights);
+      extra_joint_weights.setOnes();
     }
 
     KDL::Add(q_out, delta_q, q_out);

From a26ffa96967b4bd1638eed44882c9a959ee9b7ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 16 Mar 2020 14:34:25 +0100
Subject: [PATCH 227/612] mgi: add execution methods for
 moveit_msgs::RobotTrajectory (#1955)

This eliminates the common question how to execute a planned Cartesian trajectory
and provides a useful API either way.
---
 .../move_group_interface.h                     | 10 ++++++++--
 .../src/move_group_interface.cpp               | 18 ++++++++++++++----
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 0bacff0bc6..0d5a49c90e 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -726,12 +726,18 @@ class MoveGroupInterface
       target. No execution is performed. The resulting plan is stored in \e plan*/
   MoveItErrorCode plan(Plan& plan);
 
-  /** \brief Given a \e plan, execute it without waiting for completion. Return true on success. */
+  /** \brief Given a \e plan, execute it without waiting for completion. */
   MoveItErrorCode asyncExecute(const Plan& plan);
 
-  /** \brief Given a \e plan, execute it while waiting for completion. Return true on success. */
+  /** \brief Given a \e robot trajectory, execute it without waiting for completion. */
+  MoveItErrorCode asyncExecute(const moveit_msgs::RobotTrajectory& trajectory);
+
+  /** \brief Given a \e plan, execute it while waiting for completion. */
   MoveItErrorCode execute(const Plan& plan);
 
+  /** \brief Given a \e robot trajectory, execute it while waiting for completion. */
+  MoveItErrorCode execute(const moveit_msgs::RobotTrajectory& trajectory);
+
   /** \brief Compute a Cartesian path that follows specified waypoints with a step size of at most \e eef_step meters
       between end effector configurations of consecutive points in the result \e trajectory. The reference frame for the
       waypoints is that specified by setPoseReferenceFrame(). No more than \e jump_threshold
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 9f7d75fac7..8c66ab78bb 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -825,7 +825,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
   }
 
-  MoveItErrorCode execute(const Plan& plan, bool wait)
+  MoveItErrorCode execute(const moveit_msgs::RobotTrajectory& trajectory, bool wait)
   {
     if (!execute_action_client_->isServerConnected())
     {
@@ -833,7 +833,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
 
     moveit_msgs::ExecuteTrajectoryGoal goal;
-    goal.trajectory = plan.trajectory_;
+    goal.trajectory = trajectory;
 
     execute_action_client_->sendGoal(goal);
     if (!wait)
@@ -1438,12 +1438,22 @@ MoveItErrorCode MoveGroupInterface::move()
 
 MoveItErrorCode MoveGroupInterface::asyncExecute(const Plan& plan)
 {
-  return impl_->execute(plan, false);
+  return impl_->execute(plan.trajectory_, false);
+}
+
+MoveItErrorCode MoveGroupInterface::asyncExecute(const moveit_msgs::RobotTrajectory& trajectory)
+{
+  return impl_->execute(trajectory, false);
 }
 
 MoveItErrorCode MoveGroupInterface::execute(const Plan& plan)
 {
-  return impl_->execute(plan, true);
+  return impl_->execute(plan.trajectory_, true);
+}
+
+MoveItErrorCode MoveGroupInterface::execute(const moveit_msgs::RobotTrajectory& trajectory)
+{
+  return impl_->execute(trajectory, true);
 }
 
 MoveItErrorCode MoveGroupInterface::plan(Plan& plan)

From 6d3b899042295579f04d5215d16e00cc4d7d7799 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 16 Mar 2020 18:38:46 -0600
Subject: [PATCH 228/612] [jog_arm] Publish more detailed warnings (#1915)

---
 .../config/ur_simulated_config.yaml           |   2 +-
 .../moveit_jog_arm/collision_check_thread.h   |   2 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |  22 +++-
 .../include/moveit_jog_arm/jog_calcs.h        |  63 +++++++----
 .../moveit_jog_arm/jog_cpp_interface.h        |  23 +++-
 .../moveit_jog_arm/jog_interface_base.h       |   1 -
 .../include/moveit_jog_arm/status_codes.h     |  61 ++++++++++
 .../src/collision_check_thread.cpp            |  10 +-
 .../cpp_interface_example.cpp                 |  10 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 107 +++++++++++-------
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  |  24 ++--
 .../moveit_jog_arm/src/jog_interface_base.cpp |  20 +++-
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |  12 +-
 .../test/config/jog_settings.yaml             |   2 +-
 .../halt_msg/test_jog_arm_halt_msg.py         |  17 +--
 15 files changed, 262 insertions(+), 114 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h

diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 396d8a2741..05a964a0c3 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -47,7 +47,7 @@ joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving
 cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
 joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
-warning_topic: jog_server/halted # Publish boolean warnings to this topic
+status_topic: jog_server/status # Publish status to this topic
 command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index cd6d98f9c2..f5da13f822 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -60,7 +60,7 @@ class CollisionCheckThread
   // Get thread-safe read-only lock of planning scene
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
 
-  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables, std::mutex& mutex);
+  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables);
 
   void stopMainLoop();
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 24718c6413..31d8e6a374 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -38,18 +38,27 @@
 
 #pragma once
 
-#include <control_msgs/JointJog.h>
+// System
+#include <mutex>
+#include <thread>
+
+// Eigen
 #include <Eigen/Geometry>
+
+// ROS
+#include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
-#include <mutex>
 #include <sensor_msgs/JointState.h>
-#include <thread>
 #include <trajectory_msgs/JointTrajectory.h>
 
+// moveit_jog_arm
+#include "status_codes.h"
+
 namespace moveit_jog_arm
 {
 // Variables to share between threads, and their mutexes
-struct JogArmShared
+// Inherit from a mutex so the struct can be locked/unlocked easily
+struct JogArmShared : public std::mutex
 {
   geometry_msgs::TwistStamped command_deltas;
 
@@ -83,6 +92,9 @@ struct JogArmShared
   // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
   std::atomic_bool drift_dimensions[6] = { ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false),
                                            ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false) };
+
+  // Status of the jogger. 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
+  std::atomic<StatusCode> status;
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
@@ -94,7 +106,7 @@ struct JogArmParameters
   std::string robot_link_command_frame;
   std::string command_out_topic;
   std::string planning_frame;
-  std::string warning_topic;
+  std::string status_topic;
   std::string joint_command_in_topic;
   std::string command_in_type;
   std::string command_out_type;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 027eeeed6b..f4465b3463 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -38,12 +38,18 @@
 
 #pragma once
 
+// System
 #include <atomic>
-#include "jog_arm_data.h"
-#include "low_pass_filter.h"
+
+// ROS
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
-#include <std_msgs/Bool.h>
+#include <std_msgs/Int8.h>
+
+// moveit_jog_arm
+#include "jog_arm_data.h"
+#include "low_pass_filter.h"
+#include "status_codes.h"
 
 namespace moveit_jog_arm
 {
@@ -52,7 +58,7 @@ class JogCalcs
 public:
   JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
 
-  void startMainLoop(JogArmShared& shared_variables, std::mutex& mutex);
+  void startMainLoop(JogArmShared& shared_variables);
 
   void stopMainLoop();
 
@@ -75,34 +81,48 @@ class JogCalcs
   // Flag that robot state is up to date, end effector transform is known
   std::atomic<bool> is_initialized_;
 
-  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex);
+  /** \brief Do jogging calculations for Cartesian twist commands. */
+  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables);
 
+  /** \brief Do jogging calculations for direct commands to a joint. */
   bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
 
-  // Parse the incoming joint msg for the joints of our MoveGroup
-  bool updateJoints(std::mutex& mutex, const JogArmShared& shared_variables);
+  /** \brief Update the stashed status so it can be retrieved asynchronously */
+  void updateCachedStatus(JogArmShared& shared_variables);
 
+  /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
+  bool updateJoints(JogArmShared& shared_variables);
+
+  /** \brief If incoming velocity commands are from a unitless joystick, scale them to physical units.
+   * Also, multiply by timestep to calculate a position change.
+   */
   Eigen::VectorXd scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const;
 
+  /** \brief If incoming velocity commands are from a unitless joystick, scale them to physical units.
+   * Also, multiply by timestep to calculate a position change.
+   */
   Eigen::VectorXd scaleJointCommand(const control_msgs::JointJog& command) const;
 
   bool addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const;
 
-  // Suddenly halt for a joint limit or other critical issue.
-  // Is handled differently for position vs. velocity control.
+  /** \brief Suddenly halt for a joint limit or other critical issue.
+   * Is handled differently for position vs. velocity control.
+   */
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
   void suddenHalt(Eigen::ArrayXd& delta_theta);
 
-  void publishWarning(bool active) const;
+  /** \brief Publish the status of the jogger to a ROS topic */
+  void publishStatus() const;
 
-  // Scale the delta theta to match joint velocity/acceleration limits
+  /** \brief  Scale the delta theta to match joint velocity/acceleration limits */
   void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
 
-  // Avoid overshooting joint limits
+  /** \brief Avoid overshooting joint limits */
   bool enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj);
 
-  // Possibly calculate a velocity scaling factor, due to proximity of
-  // singularity and direction of motion
+  /** \brief Possibly calculate a velocity scaling factor, due to proximity of
+   * singularity and direction of motion
+   */
   double velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
                                              const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
                                              const Eigen::MatrixXd& jacobian, const Eigen::MatrixXd& pseudo_inverse);
@@ -110,18 +130,19 @@ class JogCalcs
   /**
    * Slow motion down if close to singularity or collision.
    * @param shared_variables data shared between threads, tells how close we are to collision
-   * @param mutex locks shared data
    * @param delta_theta motion command, used in calculating new_joint_tray
    * @param singularity_scale tells how close we are to a singularity
    * @return false if very close to collision or singularity
    */
-  bool applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex, Eigen::ArrayXd& delta_theta,
-                            double singularity_scale);
+  bool applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta, double singularity_scale);
 
+  /** \brief Compose the outgoing JointTrajectory message */
   trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
 
+  /** \brief Smooth position commands with a lowpass filter */
   void lowPassFilterPositions(sensor_msgs::JointState& joint_state);
 
+  /** \brief Convert an incremental position command to joint velocity message */
   void calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta);
 
   /** \brief Convert joint deltas to an outgoing JointTrajectory command.
@@ -129,6 +150,9 @@ class JogCalcs
     */
   bool convertDeltasToOutgoingCmd();
 
+  /** \brief Gazebo simulations have very strict message timestamp requirements.
+   * Satisfy Gazebo by stuffing multiple messages into one.
+   */
   void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const;
 
   /**
@@ -153,10 +177,9 @@ class JogCalcs
 
   std::vector<LowPassFilter> position_filters_;
 
-  ros::Publisher warning_pub_;
+  ros::Publisher status_pub_;
 
-  // Flag that a warning should be published
-  bool has_warning_ = false;
+  StatusCode status_ = NO_WARNING;
 
   JogArmParameters parameters_;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 0541d96620..533c311d08 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -40,6 +40,7 @@
 
 #include <atomic>
 #include "jog_interface_base.h"
+#include <std_msgs/Int8.h>
 
 namespace moveit_jog_arm
 {
@@ -58,15 +59,20 @@ class JogCppInterface : public JogInterfaceBase
 
   void stopMainLoop();
 
-  // Provide a Cartesian velocity command to the jogger.
-  // The units are determined by settings in the yaml file.
+  /** \brief Provide a Cartesian velocity command to the jogger.
+   * The units are determined by settings in the yaml file.
+   */
   void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);
 
-  // Send joint position(s) commands
+  /** \brief Send joint position(s) commands */
   void provideJointCommand(const control_msgs::JointJog& joint_command);
 
-  // Returns the most recent JointState that the jogger has received.
-  // May eliminate the need to create your own joint_state subscriber.
+  /**
+   * Returns the most recent JointState that the jogger has received.
+   * May eliminate the need to create your own joint_state subscriber.
+   *
+   * @return the most recent joints known to the jogger
+   */
   sensor_msgs::JointState getJointState();
 
   /**
@@ -78,6 +84,13 @@ class JogCppInterface : public JogInterfaceBase
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
+  /**
+   * Get the status of the jogger.
+   *
+   * @return 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
+   */
+  StatusCode getJoggerStatus();
+
 private:
   ros::NodeHandle nh_;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index 7afe1d7460..741c1babbe 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -95,7 +95,6 @@ class JogInterfaceBase
 
   // Share data between threads
   JogArmShared shared_variables_;
-  std::mutex shared_variables_mutex_;
 
   // Jog calcs
   std::unique_ptr<JogCalcs> jog_calcs_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
new file mode 100644
index 0000000000..37cc4228df
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
@@ -0,0 +1,61 @@
+/*******************************************************************************
+ *      Title     : status_codes.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 2/25/2019
+ *      Author    : Andy Zelenak
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#pragma once
+
+#include <string>
+#include <unordered_map>
+
+namespace moveit_jog_arm
+{
+enum StatusCode : int8_t
+{
+  NO_WARNING = 0,
+  DECELERATE_FOR_SINGULARITY = 1,
+  HALT_FOR_SINGULARITY = 2,
+  COLLISION = 3,
+  JOINT_BOUND = 4
+};
+
+const std::unordered_map<uint, std::string>
+    JOG_ARM_STATUS_CODE_MAP({ { NO_WARNING, "No warnings" },
+                              { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
+                              { HALT_FOR_SINGULARITY, "Very close to a singularity, halting" },
+                              { COLLISION, "Close to a collision, halting." },
+                              { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
+}  // end namespace trackjoint
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 80059cd559..18cc0ed3b3 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -56,7 +56,7 @@ planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPla
   return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
 }
 
-void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
+void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
 {
   // Reset loop termination flag
   stop_requested_ = false;
@@ -78,9 +78,9 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
   /////////////////////////////////////////////////
   while (ros::ok() && !stop_requested_)
   {
-    mutex.lock();
+    shared_variables.lock();
     sensor_msgs::JointState jts = shared_variables.joints;
-    mutex.unlock();
+    shared_variables.unlock();
 
     for (std::size_t i = 0; i < jts.position.size(); ++i)
       current_state.setJointPositions(jts.name[i], &jts.position[i]);
@@ -108,9 +108,9 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables, std::mu
           exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
     }
 
-    mutex.lock();
+    shared_variables.lock();
     shared_variables.collision_velocity_scale = velocity_scale;
-    mutex.unlock();
+    shared_variables.unlock();
 
     collision_rate.sleep();
   }
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index ae1b77c1be..987bf449cb 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -36,7 +36,8 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-#include <moveit_jog_arm/jog_cpp_interface.h>
+#include "moveit_jog_arm/jog_cpp_interface.h"
+#include "moveit_jog_arm/status_codes.h"
 
 static const std::string LOGNAME = "cpp_interface_example";
 
@@ -109,7 +110,12 @@ int main(int argc, char** argv)
 
   // Retrieve the current joint state from the jogger
   sensor_msgs::JointState current_joint_state = jog_interface.getJointState();
-  ROS_INFO_STREAM(current_joint_state);
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Current joint state:");
+  ROS_INFO_STREAM_NAMED(LOGNAME, current_joint_state);
+
+  // Retrieve the current status of the jogger
+  moveit_jog_arm::StatusCode status = jog_interface.getJoggerStatus();
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status:\n" << status);
 
   jog_interface.stopMainLoop();
   jogging_thread.join();
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ca8de0b921..081727d655 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -47,8 +47,8 @@ namespace moveit_jog_arm
 JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
   : parameters_(parameters), default_sleep_rate_(1000)
 {
-  // Publish collision status
-  warning_pub_ = nh_.advertise<std_msgs::Bool>(parameters_.warning_topic, 1);
+  // Publish jogger status
+  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
 
   // MoveIt Setup
   while (ros::ok() && !model_loader_ptr)
@@ -64,7 +64,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getVariableCount());
 }
 
-void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
+void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 {
   // Reset flags
   stop_jog_loop_requested_ = false;
@@ -94,14 +94,14 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
   }
 
   // Initialize the position filters to initial robot joints
-  while (!updateJoints(mutex, shared_variables) && ros::ok())
+  while (!updateJoints(shared_variables) && ros::ok())
   {
     if (stop_jog_loop_requested_)
       return;
 
-    mutex.lock();
+    shared_variables.lock();
     incoming_joint_state_ = shared_variables.joints;
-    mutex.unlock();
+    shared_variables.unlock();
     default_sleep_rate_.sleep();
   }
 
@@ -123,11 +123,11 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       position_filters_[i].reset(internal_joint_state_.position[i]);
 
     //  Check for a new command
-    mutex.lock();
+    shared_variables.lock();
     cartesian_deltas = shared_variables.command_deltas;
     joint_deltas = shared_variables.joint_command_deltas;
     incoming_joint_state_ = shared_variables.joints;
-    mutex.unlock();
+    shared_variables.unlock();
 
     kinematic_state_->setVariableValues(internal_joint_state_);
 
@@ -138,9 +138,9 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                               kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
-    mutex.lock();
+    shared_variables.lock();
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
-    mutex.unlock();
+    shared_variables.unlock();
   }
 
   // Track the number of cycles during which motion has not occurred.
@@ -155,7 +155,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     // Always update the joints and end-effector transform for 2 reasons:
     // 1) in case the getCommandFrameTransform() method is being used
     // 2) so the low-pass filters are up to date and don't cause a jump
-    while (!updateJoints(mutex, shared_variables) && ros::ok())
+    while (!updateJoints(shared_variables) && ros::ok())
     {
       default_sleep_rate_.sleep();
     }
@@ -166,9 +166,9 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     kinematic_state_->setVariableValues(incoming_joint_state_);
     tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                               kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
-    mutex.lock();
+    shared_variables.lock();
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
-    mutex.unlock();
+    shared_variables.unlock();
 
     // If paused, just keep the low-pass filters up to date with current joints so a jump doesn't occur when
     // restarting
@@ -181,26 +181,26 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
     else
     {
       // Flag that incoming commands are all zero. May be used to skip calculations/publication
-      mutex.lock();
+      shared_variables.lock();
       bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
       bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
-      mutex.unlock();
+      shared_variables.unlock();
 
       // Prioritize cartesian jogging above joint jogging
       if (!zero_cartesian_cmd_flag)
       {
-        mutex.lock();
+        shared_variables.lock();
         cartesian_deltas = shared_variables.command_deltas;
-        mutex.unlock();
+        shared_variables.unlock();
 
-        if (!cartesianJogCalcs(cartesian_deltas, shared_variables, mutex))
+        if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
           continue;
       }
       else if (!zero_joint_cmd_flag)
       {
-        mutex.lock();
+        shared_variables.lock();
         joint_deltas = shared_variables.joint_command_deltas;
-        mutex.unlock();
+        shared_variables.unlock();
 
         if (!jointJogCalcs(joint_deltas, shared_variables))
           continue;
@@ -211,9 +211,9 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       }
 
       // Halt if the command is stale or inputs are all zero, or commands were zero
-      mutex.lock();
+      shared_variables.lock();
       bool stale_command = shared_variables.command_is_stale;
-      mutex.unlock();
+      shared_variables.unlock();
 
       if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
       {
@@ -225,7 +225,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
       bool valid_nonzero_command = !zero_cartesian_cmd_flag || !zero_joint_cmd_flag;
 
       // Send the newest target joints
-      mutex.lock();
+      shared_variables.lock();
       // If everything normal, share the new traj to be published
       if (valid_nonzero_command)
       {
@@ -245,7 +245,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables, std::mutex& mutex)
         shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
       }
-      mutex.unlock();
+      shared_variables.unlock();
 
       // Store last zero-velocity message flag to prevent superfluous warnings.
       // Cartesian and joint commands must both be zero.
@@ -279,7 +279,7 @@ bool JogCalcs::isInitialized()
 }
 
 // Perform the jogging calculations
-bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables, std::mutex& mutex)
+bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables)
 {
   // Check for nan's in the incoming command
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
@@ -349,19 +349,22 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     return false;
 
   // If close to a collision or a singularity, decelerate
-  if (!applyVelocityScaling(shared_variables, mutex, delta_theta_,
+  if (!applyVelocityScaling(shared_variables, delta_theta_,
                             velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse)))
   {
-    has_warning_ = true;
     suddenHalt(delta_theta_);
   }
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
+  publishStatus();
+  // Cache the status so it can be retrieved asynchronously
+  updateCachedStatus(shared_variables);
+
   return convertDeltasToOutgoingCmd();
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*shared_variables*/)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
@@ -382,9 +385,19 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& /*
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
+  publishStatus();
+  // Cache the status so it can be retrieved asynchronously
+  updateCachedStatus(shared_variables);
+
   return convertDeltasToOutgoingCmd();
 }
 
+void JogCalcs::updateCachedStatus(JogArmShared& shared_variables)
+{
+  shared_variables.status = status_;
+  status_ = NO_WARNING;
+}
+
 bool JogCalcs::convertDeltasToOutgoingCmd()
 {
   if (!addJointIncrements(internal_joint_state_, delta_theta_))
@@ -400,12 +413,9 @@ bool JogCalcs::convertDeltasToOutgoingCmd()
   if (!enforceSRDFPositionLimits(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
-    has_warning_ = true;
+    status_ = JOINT_BOUND;
   }
 
-  publishWarning(has_warning_);
-  has_warning_ = false;
-
   // done with calculations
   if (parameters_.use_gazebo)
   {
@@ -473,12 +483,18 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
 
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
-bool JogCalcs::applyVelocityScaling(const JogArmShared& shared_variables, std::mutex& mutex,
-                                    Eigen::ArrayXd& delta_theta, double singularity_scale)
+bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta,
+                                    double singularity_scale)
 {
-  mutex.lock();
+  shared_variables.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
-  mutex.unlock();
+  shared_variables.unlock();
+
+  if (collision_scale < 1)
+  {
+    status_ = COLLISION;
+    ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+  }
 
   delta_theta = collision_scale * singularity_scale * delta_theta;
 
@@ -538,13 +554,16 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
       velocity_scale = 1. -
                        (ini_condition - parameters_.lower_singularity_threshold) /
                            (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
+      status_ = DECELERATE_FOR_SINGULARITY;
+      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
 
     // Very close to singularity, so halt.
     else if (ini_condition > parameters_.hard_stop_singularity_threshold)
     {
       velocity_scale = 0;
-      ROS_WARN_THROTTLE_NAMED(2, LOGNAME, "Close to a singularity. Halting.");
+      status_ = HALT_FOR_SINGULARITY;
+      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
   }
 
@@ -655,11 +674,11 @@ bool JogCalcs::enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_j
   return !halting;
 }
 
-void JogCalcs::publishWarning(bool active) const
+void JogCalcs::publishStatus() const
 {
-  std_msgs::Bool status;
-  status.data = static_cast<std_msgs::Bool::_data_type>(active);
-  warning_pub_.publish(status);
+  std_msgs::Int8 status_msg;
+  status_msg.data = status_;
+  status_pub_.publish(status_msg);
 }
 
 // Suddenly halt for a joint limit or other critical issue.
@@ -686,11 +705,11 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 }
 
 // Parse the incoming joint msg for the joints of our MoveGroup
-bool JogCalcs::updateJoints(std::mutex& mutex, const JogArmShared& shared_variables)
+bool JogCalcs::updateJoints(JogArmShared& shared_variables)
 {
-  mutex.lock();
+  shared_variables.lock();
   incoming_joint_state_ = shared_variables.joints;
-  mutex.unlock();
+  shared_variables.unlock();
 
   // Check that the msg contains enough joints
   if (incoming_joint_state_.name.size() < num_joints_)
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 1b9475044b..0414d2a9ef 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -95,7 +95,7 @@ void JogCppInterface::startMainLoop()
   {
     ros::spinOnce();
 
-    shared_variables_mutex_.lock();
+    shared_variables_.lock();
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
     // Check if incoming commands are stale
@@ -139,7 +139,7 @@ void JogCppInterface::startMainLoop()
       ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
 
-    shared_variables_mutex_.unlock();
+    shared_variables_.unlock();
 
     main_rate.sleep();
   }
@@ -155,7 +155,7 @@ void JogCppInterface::stopMainLoop()
 
 void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
 {
-  shared_variables_mutex_.lock();
+  shared_variables_.lock();
 
   shared_variables_.command_deltas.twist = velocity_command.twist;
   shared_variables_.command_deltas.header = velocity_command.header;
@@ -178,12 +178,12 @@ void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamp
   {
     shared_variables_.latest_nonzero_cmd_stamp = velocity_command.header.stamp;
   }
-  shared_variables_mutex_.unlock();
+  shared_variables_.unlock();
 };
 
 void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_command)
 {
-  shared_variables_mutex_.lock();
+  shared_variables_.lock();
   shared_variables_.joint_command_deltas = joint_command;
 
   // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
@@ -198,14 +198,14 @@ void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_co
   {
     shared_variables_.latest_nonzero_cmd_stamp = joint_command.header.stamp;
   }
-  shared_variables_mutex_.unlock();
+  shared_variables_.unlock();
 }
 
 sensor_msgs::JointState JogCppInterface::getJointState()
 {
-  shared_variables_mutex_.lock();
+  shared_variables_.lock();
   sensor_msgs::JointState current_joints = shared_variables_.joints;
-  shared_variables_mutex_.unlock();
+  shared_variables_.unlock();
 
   return current_joints;
 }
@@ -215,10 +215,16 @@ bool JogCppInterface::getCommandFrameTransform(Eigen::Isometry3d& transform)
   if (!jog_calcs_ || !jog_calcs_->isInitialized())
     return false;
 
-  const std::lock_guard<std::mutex> lock(shared_variables_mutex_);
+  shared_variables_.lock();
   transform = shared_variables_.tf_moveit_to_cmd_frame;
+  shared_variables_.unlock();
 
   // All zeros means the transform wasn't initialized, so return false
   return !transform.matrix().isZero(0);
 }
+
+StatusCode JogCppInterface::getJoggerStatus()
+{
+  return shared_variables_.status;
+}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 6cfc579973..1c550b5998 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -94,7 +94,6 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/warning_topic", ros_parameters_.warning_topic);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
@@ -105,6 +104,16 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
                                     ros_parameters_.publish_joint_accelerations);
 
+  // This parameter name was changed recently.
+  // Try retrieving from the correct name. If it fails, then try the deprecated name.
+  // TODO(andyz): remove this deprecation warning in ROS Noetic
+  if (!rosparam_shortcuts::get("", n, parameter_ns + "/status_topic", ros_parameters_.status_topic))
+  {
+    ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
+                            "the jogging yaml file.");
+    error += !rosparam_shortcuts::get("", n, parameter_ns + "/warning_topic", ros_parameters_.status_topic);
+  }
+
   rosparam_shortcuts::shutdownIfError(parameter_ns, error);
 
   // Input checking
@@ -195,8 +204,9 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
 // Listen to joint angles. Store them in a shared variable.
 void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
 {
-  const std::lock_guard<std::mutex> lock(shared_variables_mutex_);
+  shared_variables_.lock();
   shared_variables_.joints = *msg;
+  shared_variables_.unlock();
 }
 
 bool JogInterfaceBase::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
@@ -220,8 +230,7 @@ bool JogInterfaceBase::startJogCalcThread()
   if (!jog_calcs_)
     jog_calcs_.reset(new JogCalcs(ros_parameters_, planning_scene_monitor_->getRobotModelLoader()));
 
-  jog_calc_thread_.reset(
-      new std::thread([&]() { jog_calcs_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
+  jog_calc_thread_.reset(new std::thread([&]() { jog_calcs_->startMainLoop(shared_variables_); }));
 
   return true;
 }
@@ -248,8 +257,7 @@ bool JogInterfaceBase::startCollisionCheckThread()
   if (!collision_checker_)
     collision_checker_.reset(new CollisionCheckThread(ros_parameters_, planning_scene_monitor_));
 
-  collision_check_thread_.reset(
-      new std::thread([&]() { collision_checker_->startMainLoop(shared_variables_, shared_variables_mutex_); }));
+  collision_check_thread_.reset(new std::thread([&]() { collision_checker_->startMainLoop(shared_variables_); }));
 
   return true;
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 72144692fe..00d7fa2760 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -117,7 +117,7 @@ JogROSInterface::JogROSInterface()
   {
     ros::spinOnce();
 
-    shared_variables_mutex_.lock();
+    shared_variables_.lock();
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
     // Check for stale cmds
@@ -162,7 +162,7 @@ JogROSInterface::JogROSInterface()
       ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
 
-    shared_variables_mutex_.unlock();
+    shared_variables_.unlock();
 
     main_rate.sleep();
   }
@@ -174,7 +174,7 @@ JogROSInterface::JogROSInterface()
 // Listen to cartesian delta commands. Store them in a shared variable.
 void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
-  shared_variables_mutex_.lock();
+  shared_variables_.lock();
 
   // Copy everything but the frame name. The frame name is set by yaml file at startup.
   // (so it isn't copied over and over)
@@ -199,13 +199,13 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }
-  shared_variables_mutex_.unlock();
+  shared_variables_.unlock();
 }
 
 // Listen to joint delta commands. Store them in a shared variable.
 void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
 {
-  shared_variables_mutex_.lock();
+  shared_variables_.lock();
   shared_variables_.joint_command_deltas = *msg;
 
   // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
@@ -220,6 +220,6 @@ void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }
-  shared_variables_mutex_.unlock();
+  shared_variables_.unlock();
 }
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
index c6ecb8998b..76b8cd892c 100644
--- a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
@@ -47,7 +47,7 @@ joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving
 cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
 joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
-warning_topic: jog_server/halted # Publish boolean warnings to this topic
+status_topic: jog_server/status # Publish status to this topic
 command_out_topic: jog_server/command # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index 05f2910700..bb083877b5 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -6,7 +6,7 @@
 from geometry_msgs.msg import TwistStamped
 
 from control_msgs.msg import JointJog
-from std_msgs.msg import Bool
+from std_msgs.msg import Int8
 
 # Import common Python test utilities
 from os import sys, path
@@ -14,14 +14,15 @@
 import util
 
 # The robot starts at a singular position (see config file).
-# Listen for a halt message from the jogger.
+# The jogger should halt and publish a warning.
+# Listen for a warning message from the jogger.
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_jog_arm test_jog_arm_integration.py
+# rosrun moveit_jog_arm test_jog_arm_halt_msg.py
 
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
-# jog_arm should publish 'true' here if it halts
-HALT_TOPIC = 'jog_server/halted'
+# jog_arm should publish a nonzero warning code here
+HALT_TOPIC = 'jog_server/status'
 
 # Check if jogger is initialized with this service
 SERVICE_NAME = 'jog_server/change_drift_dimensions'
@@ -51,7 +52,7 @@ def test_jog_arm_halt_msg(node):
 
     received = []
     sub = rospy.Subscriber(
-        HALT_TOPIC, Bool, lambda msg: received.append(msg)
+        HALT_TOPIC, Int8, lambda msg: received.append(msg)
     )
     cartesian_cmd = CartesianJogCmd()
 
@@ -66,8 +67,8 @@ def test_jog_arm_halt_msg(node):
 
     # Check the received messages
     # A non-zero value signifies a warning
-    assert len(received) > 1
-    assert received[-1].data != 0
+    assert len(received) > 3
+    assert (received[-1].data != 0) or (received[-2].data != 0) or (received[-3].data != 0)
 
 
 if __name__ == '__main__':

From eb839d370e9b2bd6a46c98c75acc71041824c0f9 Mon Sep 17 00:00:00 2001
From: Ryodo Tanaka <groadpg@gmail.com>
Date: Fri, 20 Mar 2020 18:12:53 +0900
Subject: [PATCH 229/612] Fix service call to utilize original name space
 (#1959)

---
 .../src/moveit_commander/planning_scene_interface.py            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_commander/src/moveit_commander/planning_scene_interface.py b/moveit_commander/src/moveit_commander/planning_scene_interface.py
index 43c6769cd2..cbc3c72021 100644
--- a/moveit_commander/src/moveit_commander/planning_scene_interface.py
+++ b/moveit_commander/src/moveit_commander/planning_scene_interface.py
@@ -64,7 +64,7 @@ def __init__(self, ns='', synchronous=False, service_timeout=5.0):
         self._pub_aco = rospy.Publisher(ns + '/attached_collision_object', AttachedCollisionObject, queue_size=100)
         self.__synchronous = synchronous
         if self.__synchronous:
-            self._apply_planning_scene_diff = rospy.ServiceProxy('apply_planning_scene', ApplyPlanningScene)
+            self._apply_planning_scene_diff = rospy.ServiceProxy(ns + '/apply_planning_scene', ApplyPlanningScene)
             self._apply_planning_scene_diff.wait_for_service(service_timeout)
 
     def __submit(self, collision_object, attach=False):

From 918a4e9df5fa72ba593fb550bc6a0eb1b8620358 Mon Sep 17 00:00:00 2001
From: Jonas Wittmann <jonas.wittmann@tum.de>
Date: Sat, 21 Mar 2020 14:25:53 +0100
Subject: [PATCH 230/612] Fix Condition for adding current DistanceResultData
 to DistanceMap

---
 moveit_core/collision_detection_fcl/src/collision_common.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index a569479207..b90d7f0c53 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -610,7 +610,7 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
         }
         else if (cdata->req->type == DistanceRequestType::SINGLE)
         {
-          if (it->second[0].distance < dist_result.distance)
+          if (dist_result.distance < it->second[0].distance)
             it->second[0] = dist_result;
         }
         else if (cdata->req->type == DistanceRequestType::LIMITED)

From d99295730b748b1f03fef3d9d91094d6c4e5959e Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Sun, 22 Mar 2020 07:03:51 +0100
Subject: [PATCH 231/612] collision detection: add test for SINGLE distance
 request

This logic is/was broken in collision_detection_fcl.
bullet does not even implement it, so factorize DistanceRequest
distance tests in their own suite
---
 .../test_collision_common_panda.h             | 48 +++++++++++++++++++
 .../test_fcl_collision_detection_panda.cpp    |  3 ++
 2 files changed, 51 insertions(+)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
index 86535974cb..4a42c65924 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -258,5 +258,53 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DistanceWorld)
   EXPECT_NEAR(res.distance, 0.029, 0.01);
 }
 
+template <class CollisionAllocatorType>
+class DistanceCheckPandaTest : public CollisionDetectorPandaTest<CollisionAllocatorType>
+{
+};
+
+TYPED_TEST_CASE_P(DistanceCheckPandaTest);
+
+TYPED_TEST_P(DistanceCheckPandaTest, DistanceSingle)
+{
+  std::set<const moveit::core::LinkModel*> active_components{ this->robot_model_->getLinkModel("panda_hand") };
+  collision_detection::DistanceRequest req;
+  req.type = collision_detection::DistanceRequestTypes::SINGLE;
+  req.active_components_only = &active_components;
+  req.enable_signed_distance = true;
+
+  random_numbers::RandomNumberGenerator rng(0x47110815);
+  double min_distance = std::numeric_limits<double>::max();
+  for (int i = 0; i < 10; ++i)
+  {
+    collision_detection::DistanceResult res;
+
+    shapes::ShapeConstPtr shape(new shapes::Cylinder(rng.uniform01(), rng.uniform01()));
+    Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
+    pose.translation() =
+        Eigen::Vector3d(rng.uniformReal(0.1, 2.0), rng.uniformReal(0.1, 2.0), rng.uniformReal(1.2, 1.7));
+    double quat[4];
+    rng.quaternion(quat);
+    pose.linear() = Eigen::Quaterniond(quat[0], quat[1], quat[2], quat[3]).toRotationMatrix();
+
+    this->cenv_->getWorld()->addToObject("collection", shape, pose);
+    this->cenv_->getWorld()->removeObject("object");
+    this->cenv_->getWorld()->addToObject("object", shape, pose);
+
+    this->cenv_->distanceRobot(req, res, *this->robot_state_);
+    auto& distances1 = res.distances[std::pair<std::string, std::string>("collection", "panda_hand")];
+    auto& distances2 = res.distances[std::pair<std::string, std::string>("object", "panda_hand")];
+    ASSERT_EQ(distances1.size(), 1u) << "no distance reported for collection/panda_hand";
+    ASSERT_EQ(distances2.size(), 1u) << "no distance reported for object/panda_hand";
+
+    double collection_distance = distances1[0].distance;
+    min_distance = std::min(min_distance, distances2[0].distance);
+    ASSERT_NEAR(collection_distance, min_distance, 1e-5)
+        << "distance to collection is greater than distance to minimum of individual objects after " << i << " rounds";
+  }
+}
+
 REGISTER_TYPED_TEST_CASE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
                            RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld);
+
+REGISTER_TYPED_TEST_CASE_P(DistanceCheckPandaTest, DistanceSingle);
diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
index b83b267171..1561841df9 100644
--- a/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
+++ b/moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp
@@ -40,6 +40,9 @@
 INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest,
                               collision_detection::CollisionDetectorAllocatorFCL);
 
+INSTANTIATE_TYPED_TEST_CASE_P(FCLDistanceCheckPanda, DistanceCheckPandaTest,
+                              collision_detection::CollisionDetectorAllocatorFCL);
+
 int main(int argc, char* argv[])
 {
   testing::InitGoogleTest(&argc, argv);

From 0407e868ba5311ac3d9351105f0ded11660aa493 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Tue, 24 Mar 2020 17:16:31 +0100
Subject: [PATCH 232/612] export  moveit_py_bindings_tools library (#1970)

Co-authored-by: Bjar Ne
---
 moveit_ros/planning_interface/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 57942ccdf8..522839f505 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -63,6 +63,7 @@ catkin_package(
     moveit_planning_scene_interface
     moveit_move_group_interface
     moveit_cpp
+    moveit_py_bindings_tools
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
   CATKIN_DEPENDS

From 8bfbc214e1fe6f51563cf1b2f8a67804950876e7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 25 Mar 2020 18:03:48 +0100
Subject: [PATCH 233/612] MP display: change internal shortcut Ctrl+R to Ctrl+I
 (#1967)

Ctrl+R is used by RViz to rename displays.
Overlaying the sequence semi-breaks the behavior
and the rename button gets selected, but not pressed.

This is an internal shortcut used in case the interactive markers
of the display fail to update correctly. This is seldomly (never?)
used, so remapping does not hurt anyone.

To the best of my knowledge Ctrl+I is not used in standard RViz.
---
 .../motion_planning_rviz_plugin/src/motion_planning_display.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 84eae7c372..4e8ab72d7c 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -258,7 +258,7 @@ void MotionPlanningDisplay::onInitialize()
   if (context_ && context_->getWindowManager() && context_->getWindowManager()->getParentWindow())
   {
     QShortcut* im_reset_shortcut =
-        new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_R), context_->getWindowManager()->getParentWindow());
+        new QShortcut(QKeySequence("Ctrl+I"), context_->getWindowManager()->getParentWindow());
     connect(im_reset_shortcut, SIGNAL(activated()), this, SLOT(resetInteractiveMarkers()));
   }
 }

From 8946d266b5e72488688931f7db7268ce31226cfd Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Thu, 26 Mar 2020 16:41:32 -0500
Subject: [PATCH 234/612] [jog_arm] Add a binary collision check (#1978)

---
 .../config/ur_simulated_config.yaml           |  3 +-
 .../include/moveit_jog_arm/jog_calcs.h        |  3 +-
 .../include/moveit_jog_arm/status_codes.h     | 10 +++---
 .../src/collision_check_thread.cpp            | 32 ++++++++++++++-----
 .../moveit_jog_arm/src/jog_calcs.cpp          | 20 +++++++-----
 .../test/config/jog_settings.yaml             |  1 -
 6 files changed, 44 insertions(+), 25 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 05a964a0c3..f978ea5817 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -52,6 +52,5 @@ command_out_topic: joint_group_position_controller/command # Publish outgoing co
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
-collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+collision_check_rate: 10 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
-hard_stop_collision_proximity_threshold: 0.0005 # Stop when a collision is this far [m]
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index f4465b3463..916a8aa9ff 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -132,9 +132,8 @@ class JogCalcs
    * @param shared_variables data shared between threads, tells how close we are to collision
    * @param delta_theta motion command, used in calculating new_joint_tray
    * @param singularity_scale tells how close we are to a singularity
-   * @return false if very close to collision or singularity
    */
-  bool applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta, double singularity_scale);
+  void applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta, double singularity_scale);
 
   /** \brief Compose the outgoing JointTrajectory message */
   trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
index 37cc4228df..1c6d264696 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
@@ -48,14 +48,16 @@ enum StatusCode : int8_t
   NO_WARNING = 0,
   DECELERATE_FOR_SINGULARITY = 1,
   HALT_FOR_SINGULARITY = 2,
-  COLLISION = 3,
-  JOINT_BOUND = 4
+  DECELERATE_FOR_COLLISION = 3,
+  HALT_FOR_COLLISION = 4,
+  JOINT_BOUND = 5
 };
 
 const std::unordered_map<uint, std::string>
     JOG_ARM_STATUS_CODE_MAP({ { NO_WARNING, "No warnings" },
                               { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
-                              { HALT_FOR_SINGULARITY, "Very close to a singularity, halting" },
-                              { COLLISION, "Close to a collision, halting." },
+                              { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
+                              { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
+                              { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
                               { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
 }  // end namespace trackjoint
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 18cc0ed3b3..67783e0b79 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -40,6 +40,7 @@
 #include <moveit_jog_arm/collision_check_thread.h>
 
 static const std::string LOGNAME = "collision_check_thread";
+static const double MIN_RECOMMENDED_COLLISION_RATE = 10;
 
 namespace moveit_jog_arm
 {
@@ -49,6 +50,8 @@ CollisionCheckThread::CollisionCheckThread(
     const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : parameters_(parameters), planning_scene_monitor_(planning_scene_monitor)
 {
+  if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
+    ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
 }
 
 planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
@@ -64,7 +67,6 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   // Init collision request
   collision_detection::CollisionRequest collision_request;
   collision_request.group_name = parameters_.move_group_name;
-  collision_request.distance = true;
   collision_detection::CollisionResult collision_result;
 
   // Copy the planning scene's version of current state into new memory
@@ -73,6 +75,13 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
   ros::Rate collision_rate(parameters_.collision_check_rate);
 
+  double collision_distance = 0;
+
+  // Scale robot velocity according to collision proximity and user-defined thresholds.
+  // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
+  // Proximity decreasing --> decelerate
+  double velocity_scale = 1;
+
   /////////////////////////////////////////////////
   // Spin while checking collisions
   /////////////////////////////////////////////////
@@ -87,25 +96,32 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
 
     collision_result.clear();
     current_state.updateCollisionBodyTransforms();
-    // Do thread-safe collsion collision checking
+    // Do a thread-safe distance-based collision detection
+    collision_request.distance = true;
+    getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
+    collision_distance = collision_result.distance;
+
+    // Do a binary collision detection (helps with strange edge cases like being in collision initially)
+    collision_request.distance = false;
     getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
 
-    // Scale robot velocity according to collision proximity and user-defined thresholds.
-    // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
-    // Proximity decreasing --> decelerate
-    double velocity_scale = 1;
+    // If we're definitely in collision, stop immediately
+    if (collision_result.collision)
+    {
+      velocity_scale = 0;
+    }
 
     // If we are far from a collision, velocity_scale should be 1.
     // If we are very close to a collision, velocity_scale should be ~zero.
     // When collision_proximity_threshold is breached, start decelerating exponentially.
-    if (collision_result.distance < parameters_.collision_proximity_threshold)
+    else if (collision_distance < parameters_.collision_proximity_threshold)
     {
       // velocity_scale = e ^ k * (collision_distance - threshold)
       // k = - ln(0.001) / collision_proximity_threshold
       // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
       // velocity_scale should equal 0.001 when collision_distance is at zero.
       velocity_scale =
-          exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
+          exp(velocity_scale_coefficient * (collision_distance - parameters_.collision_proximity_threshold));
     }
 
     shared_variables.lock();
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 081727d655..ba562e8458 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -349,9 +349,11 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     return false;
 
   // If close to a collision or a singularity, decelerate
-  if (!applyVelocityScaling(shared_variables, delta_theta_,
-                            velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse)))
+  applyVelocityScaling(shared_variables, delta_theta_,
+                       velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));
+  if (status_ == HALT_FOR_COLLISION)
   {
+    ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Halting for collision!");
     suddenHalt(delta_theta_);
   }
 
@@ -400,6 +402,7 @@ void JogCalcs::updateCachedStatus(JogArmShared& shared_variables)
 
 bool JogCalcs::convertDeltasToOutgoingCmd()
 {
+  internal_joint_state_ = original_joint_state_;
   if (!addJointIncrements(internal_joint_state_, delta_theta_))
     return false;
 
@@ -483,23 +486,24 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
 
 // Apply velocity scaling for proximity of collisions and singularities.
 // Scale for collisions is read from a shared variable.
-bool JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta,
+void JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta,
                                     double singularity_scale)
 {
   shared_variables.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
   shared_variables.unlock();
 
-  if (collision_scale < 1)
+  if (collision_scale > 0 && collision_scale < 1)
   {
-    status_ = COLLISION;
+    status_ = DECELERATE_FOR_COLLISION;
     ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
   }
+  else if (collision_scale == 0)
+  {
+    status_ = HALT_FOR_COLLISION;
+  }
 
   delta_theta = collision_scale * singularity_scale * delta_theta;
-
-  // Heuristic: flag that we are stuck if velocity scaling is < X%
-  return collision_scale * singularity_scale >= 0.1;
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
diff --git a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
index 76b8cd892c..036126f453 100644
--- a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
@@ -54,4 +54,3 @@ command_out_topic: jog_server/command # Publish outgoing commands here
 check_collisions: true # Check collisions?
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
-hard_stop_collision_proximity_threshold: 0.0005 # Stop when a collision is this far [m]

From a672455de72a2829797dd192a9f33acaedd1a594 Mon Sep 17 00:00:00 2001
From: Jonathan Binney <jon.binney@gmail.com>
Date: Fri, 27 Mar 2020 00:59:19 -0700
Subject: [PATCH 235/612] Remove @jonbinney as a codeowner (#1981)

---
 .github/CODEOWNERS | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index b8bf3f5483..f67b645235 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -55,7 +55,7 @@
 /moveit_core/planning_request_adapter/                      @rhaschke
 /moveit_core/planning_scene/                                @rhaschke
 /moveit_core/profiler/                                      @tylerjw
-/moveit_core/robot_model/                                   @jonbinney
+/moveit_core/robot_model/                                   @tylerjw
 /moveit_core/robot_state/                                   @rhaschke @mlautman
 /moveit_core/robot_trajectory/                              @mlautman
 /moveit_core/sensor_manager/                                @mlautman
@@ -79,7 +79,7 @@
 /moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
 /moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
 /moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @jonbinney @RoboticsYY
+/moveit_ros/visualization/	                            @rhaschke @tylerjw @RoboticsYY
 
 /moveit_ros/planning/collision_plugin_loader/               @j-petit
 /moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks

From 6601d299d5c728c65fd6909c0459f70cc2c61f11 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Fri, 27 Mar 2020 12:39:41 +0100
Subject: [PATCH 236/612] remove unused angles.h includes (#1985)

---
 .../constraint_samplers/test/pr2_arm_kinematics_plugin.h        | 2 --
 .../src/time_optimal_trajectory_generation.cpp                  | 1 -
 .../core/sbpl_interface/include/sbpl_interface/sbpl_params.h    | 1 -
 3 files changed, 4 deletions(-)

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index a3cca94e0c..da5be7edc3 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -42,8 +42,6 @@
 #include <kdl/tree.hpp>
 #include <kdl_parser/kdl_parser.hpp>
 
-#include <angles/angles.h>
-
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/GetPositionFK.h>
 #include <moveit_msgs/GetPositionIK.h>
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index d92e2a11db..4bba94268c 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -39,7 +39,6 @@
 #include <limits>
 #include <Eigen/Geometry>
 #include <algorithm>
-#include <angles/angles.h>
 #include <cmath>
 #include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 #include <ros/console.h>
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
index 56c5a53f51..4c9ac11009 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
@@ -39,7 +39,6 @@
 #include <vector>
 #include <iterator>
 #include <ros/ros.h>
-#include <angles/angles.h>
 #include <sstream>
 #include <boost/algorithm/string.hpp>
 

From 490622f024bc11170e53cd88cdd13e0cb2e7f1f0 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Fri, 27 Mar 2020 14:22:58 +0100
Subject: [PATCH 237/612] Fix errors: catkin_lint 1.6.7 (#1987)

---
 moveit_kinematics/CMakeLists.txt                     |  3 ++-
 moveit_planners/ompl/CMakeLists.txt                  |  2 ++
 .../moveit_fake_controller_manager/CMakeLists.txt    |  1 +
 .../moveit_ros_control_interface/CMakeLists.txt      |  3 ++-
 .../moveit_simple_controller_manager/CMakeLists.txt  | 12 +++++++++---
 moveit_ros/manipulation/CMakeLists.txt               |  3 +++
 moveit_ros/move_group/CMakeLists.txt                 |  3 +++
 moveit_ros/perception/CMakeLists.txt                 |  1 +
 moveit_ros/planning/CMakeLists.txt                   |  5 ++++-
 moveit_ros/planning_interface/CMakeLists.txt         |  5 +++--
 moveit_ros/robot_interaction/CMakeLists.txt          |  3 ++-
 moveit_ros/visualization/CMakeLists.txt              |  1 +
 moveit_ros/warehouse/CMakeLists.txt                  |  4 +++-
 moveit_setup_assistant/CMakeLists.txt                |  1 +
 14 files changed, 37 insertions(+), 10 deletions(-)

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index b422c10827..67f843f1ce 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -32,8 +32,9 @@ catkin_package(
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
   CATKIN_DEPENDS
-    pluginlib
     moveit_core
+    pluginlib
+    roscpp
   DEPENDS
     EIGEN3
 )
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 9edbe70b8d..20577b7fac 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -31,7 +31,9 @@ catkin_package(
   INCLUDE_DIRS
     ompl_interface/include
   CATKIN_DEPENDS
+    dynamic_reconfigure
     moveit_core
+    roscpp
   DEPENDS
     OMPL
 )
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index 7102c1ec77..95636d536f 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -25,6 +25,7 @@ catkin_package(
   CATKIN_DEPENDS
     moveit_core
     moveit_ros_planning
+    roscpp
 )
 
 add_library(${PROJECT_NAME}
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index 5b310439ed..90a00ea567 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -22,8 +22,9 @@ catkin_package(
     ${PROJECT_NAME}_plugin
     ${PROJECT_NAME}_trajectory_plugin
   CATKIN_DEPENDS
-    moveit_core
+    actionlib
     controller_manager_msgs
+    moveit_core
     trajectory_msgs
   DEPENDS Boost
 )
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index db6dec30d5..caaa598307 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -22,9 +22,15 @@ find_package(catkin COMPONENTS
 include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 catkin_package(
-  LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS moveit_core actionlib control_msgs
+  LIBRARIES
+    ${PROJECT_NAME}
+  INCLUDE_DIRS
+    include
+  CATKIN_DEPENDS
+    actionlib
+    control_msgs
+    moveit_core
+    roscpp
 )
 
 add_library(${PROJECT_NAME}
diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
index efab60effe..1288e6caba 100644
--- a/moveit_ros/manipulation/CMakeLists.txt
+++ b/moveit_ros/manipulation/CMakeLists.txt
@@ -33,9 +33,12 @@ catkin_package(
   LIBRARIES
     moveit_pick_place_planner
   CATKIN_DEPENDS
+    actionlib
+    dynamic_reconfigure
     moveit_core
     moveit_msgs
     moveit_ros_planning
+    roscpp
   DEPENDS
     EIGEN3
 )
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 5775f3b07b..d74c89ea65 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -28,8 +28,11 @@ catkin_package(
   INCLUDE_DIRS
     include
   CATKIN_DEPENDS
+    actionlib
     moveit_core
     moveit_ros_planning
+    roscpp
+    std_srvs
     tf2_geometry_msgs
 )
 
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index fe26aadc4b..0456a0299f 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -67,6 +67,7 @@ catkin_package(
     moveit_msgs
     moveit_ros_occupancy_map_monitor
     object_recognition_msgs
+    roscpp
     sensor_msgs
     tf2_geometry_msgs
   DEPENDS
diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index c61c9cb6f6..6383fe717c 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -63,10 +63,13 @@ catkin_package(
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
   CATKIN_DEPENDS
-    pluginlib
+    actionlib
+    dynamic_reconfigure
     moveit_core
     moveit_ros_occupancy_map_monitor
     moveit_msgs
+    pluginlib
+    roscpp
     tf2_msgs
     tf2_geometry_msgs
   DEPENDS
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 522839f505..8fed49b108 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -68,12 +68,13 @@ catkin_package(
     ${THIS_PACKAGE_INCLUDE_DIRS}
   CATKIN_DEPENDS
     actionlib
+    geometry_msgs
+    moveit_msgs
     moveit_ros_planning
     moveit_ros_warehouse
     moveit_ros_manipulation
     moveit_ros_move_group
-    geometry_msgs
-    moveit_msgs
+    roscpp
     tf2_geometry_msgs
   DEPENDS
     EIGEN3
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index 1c05eee701..0380aef8db 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -28,8 +28,9 @@ catkin_package(
   INCLUDE_DIRS
     include
   CATKIN_DEPENDS
-    moveit_ros_planning
     interactive_markers
+    moveit_ros_planning
+    roscpp
     tf2_geometry_msgs
 )
 
diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 572ef94865..16b505344c 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -80,6 +80,7 @@ catkin_package(
     moveit_ros_planning_interface
     moveit_ros_robot_interaction
     object_recognition_msgs
+    roscpp
   DEPENDS
     EIGEN3
 )
diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
index 7441199a93..ec829566b3 100644
--- a/moveit_ros/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/CMakeLists.txt
@@ -27,7 +27,9 @@ catkin_package(
     warehouse/include
   CATKIN_DEPENDS
     moveit_ros_planning
-    warehouse_ros)
+    warehouse_ros
+    roscpp
+)
 
 include_directories(warehouse/include)
 include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index 5fe318ad31..6f9b85ef44 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -56,6 +56,7 @@ catkin_package(
   CATKIN_DEPENDS
     moveit_ros_planning
     moveit_ros_visualization
+    roscpp
 )
 
 # Header files that need Qt Moc pre-processing for use with Qt signals, etc:

From 13bf03e93800d35d31f6f9951857e2cdc98c8b69 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Fri, 27 Mar 2020 17:04:06 +0100
Subject: [PATCH 238/612] Remove duplicate collision check in JogArm (#1986)

---
 .../src/collision_check_thread.cpp            | 20 +++++++------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 67783e0b79..ae4709ee70 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -67,6 +67,7 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   // Init collision request
   collision_detection::CollisionRequest collision_request;
   collision_request.group_name = parameters_.move_group_name;
+  collision_request.distance = true;  // enable distance-based collision checking
   collision_detection::CollisionResult collision_result;
 
   // Copy the planning scene's version of current state into new memory
@@ -75,8 +76,6 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
   ros::Rate collision_rate(parameters_.collision_check_rate);
 
-  double collision_distance = 0;
-
   // Scale robot velocity according to collision proximity and user-defined thresholds.
   // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
   // Proximity decreasing --> decelerate
@@ -96,13 +95,8 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
 
     collision_result.clear();
     current_state.updateCollisionBodyTransforms();
-    // Do a thread-safe distance-based collision detection
-    collision_request.distance = true;
-    getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
-    collision_distance = collision_result.distance;
 
-    // Do a binary collision detection (helps with strange edge cases like being in collision initially)
-    collision_request.distance = false;
+    // Do a thread-safe distance-based collision detection
     getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
 
     // If we're definitely in collision, stop immediately
@@ -114,14 +108,14 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
     // If we are far from a collision, velocity_scale should be 1.
     // If we are very close to a collision, velocity_scale should be ~zero.
     // When collision_proximity_threshold is breached, start decelerating exponentially.
-    else if (collision_distance < parameters_.collision_proximity_threshold)
+    else if (collision_result.distance < parameters_.collision_proximity_threshold)
     {
-      // velocity_scale = e ^ k * (collision_distance - threshold)
+      // velocity_scale = e ^ k * (collision_result.distance - threshold)
       // k = - ln(0.001) / collision_proximity_threshold
-      // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
-      // velocity_scale should equal 0.001 when collision_distance is at zero.
+      // velocity_scale should equal one when collision_result.distance is at collision_proximity_threshold.
+      // velocity_scale should equal 0.001 when collision_result.distance is at zero.
       velocity_scale =
-          exp(velocity_scale_coefficient * (collision_distance - parameters_.collision_proximity_threshold));
+          exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
     }
 
     shared_variables.lock();

From 768908596f58d9435191849a0b485456456ebd7a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sun, 29 Mar 2020 11:32:50 +0200
Subject: [PATCH 239/612] Note changes in rviz planning panel requiring saving
 (#1991)

Forward configChanged() signal from planning panel to PropertyTreeWidget.
---
 .../motion_planning_frame.h                   |  1 +
 .../src/motion_planning_display.cpp           | 24 +++++++++---------
 .../src/motion_planning_frame.cpp             | 25 +++++++++++++++++++
 3 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index ac707bf294..26ac2b6a3a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -143,6 +143,7 @@ class MotionPlanningFrame : public QWidget
 
 Q_SIGNALS:
   void planningFinished();
+  void configChanged();
 
 private Q_SLOTS:
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 4e8ab72d7c..28f7b3fbe4 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -230,6 +230,7 @@ void MotionPlanningDisplay::onInitialize()
 
   rviz::WindowManagerInterface* window_context = context_->getWindowManager();
   frame_ = new MotionPlanningFrame(this, context_, window_context ? window_context->getParentWindow() : nullptr);
+  connect(frame_, SIGNAL(configChanged()), this->getModel(), SIGNAL(configChanged()));
   resetStatusTextColor();
   addStatusText("Initialized.");
 
@@ -1325,27 +1326,26 @@ void MotionPlanningDisplay::load(const rviz::Config& config)
     int attempts;
     if (config.mapGetInt("MoveIt_Planning_Attempts", &attempts))
       frame_->ui_->planning_attempts->setValue(attempts);
+    if (config.mapGetFloat("Velocity_Scaling_Factor", &d))
+      frame_->ui_->velocity_scaling_factor->setValue(d);
+    if (config.mapGetFloat("Acceleration_Scaling_Factor", &d))
+      frame_->ui_->acceleration_scaling_factor->setValue(d);
     if (config.mapGetFloat("MoveIt_Goal_Tolerance", &d))
       frame_->ui_->goal_tolerance->setValue(d);
+
     bool b;
+    if (config.mapGetBool("MoveIt_Allow_Replanning", &b))
+      frame_->ui_->allow_replanning->setChecked(b);
+    if (config.mapGetBool("MoveIt_Allow_Sensor_Positioning", &b))
+      frame_->ui_->allow_looking->setChecked(b);
+    if (config.mapGetBool("MoveIt_Allow_External_Program", &b))
+      frame_->ui_->allow_external_program->setChecked(b);
     if (config.mapGetBool("MoveIt_Use_Cartesian_Path", &b))
       frame_->ui_->use_cartesian_path->setChecked(b);
     if (config.mapGetBool("MoveIt_Use_Constraint_Aware_IK", &b))
       frame_->ui_->collision_aware_ik->setChecked(b);
     if (config.mapGetBool("MoveIt_Allow_Approximate_IK", &b))
       frame_->ui_->approximate_ik->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_External_Program", &b))
-      frame_->ui_->allow_external_program->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_Replanning", &b))
-      frame_->ui_->allow_replanning->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_Sensor_Positioning", &b))
-      frame_->ui_->allow_looking->setChecked(b);
-
-    float v;
-    if (config.mapGetFloat("Velocity_Scaling_Factor", &v))
-      frame_->ui_->velocity_scaling_factor->setValue(v);
-    if (config.mapGetFloat("Acceleration_Scaling_Factor", &v))
-      frame_->ui_->acceleration_scaling_factor->setValue(v);
 
     rviz::Config workspace = config.mapGetChild("MoveIt_Workspace");
     rviz::Config ws_center = workspace.mapGetChild("Center");
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index ddaac366c3..0857a85bf1 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -149,6 +149,31 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
 
   connect(ui_->tabWidget, SIGNAL(currentChanged(int)), this, SLOT(tabChanged(int)));
 
+  /* Notice changes to be safed in config file */
+  connect(ui_->database_host, SIGNAL(textChanged(QString)), this, SIGNAL(configChanged()));
+  connect(ui_->database_port, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
+  connect(ui_->goal_tolerance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+  connect(ui_->planning_time, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->planning_attempts, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->velocity_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->acceleration_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+  connect(ui_->allow_replanning, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->allow_looking, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->allow_external_program, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->use_cartesian_path, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->collision_aware_ik, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->approximate_ik, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+
+  connect(ui_->wcenter_x, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wcenter_y, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wcenter_z, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_x, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_y, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_z, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
   QShortcut* copy_object_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_C), ui_->collision_objects_list);
   connect(copy_object_shortcut, SIGNAL(activated()), this, SLOT(copySelectedCollisionObject()));
 

From 379acf91aa3630f320db77ba85b1ca294310b0bc Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sun, 29 Mar 2020 12:29:28 -0600
Subject: [PATCH 240/612] Integration test to defend subframe tutorial (#1757)

* integration test to defend subframe tutorial
* make AttachedBody track global transforms (additional to local ones)
---
 moveit_core/CMakeLists.txt                    |   1 +
 .../kinematic_constraints/src/utils.cpp       |  35 ++--
 moveit_core/package.xml                       |   1 +
 .../moveit/robot_state/attached_body.h        |  49 +++--
 moveit_core/robot_state/src/attached_body.cpp |  33 +++
 moveit_core/robot_state/src/robot_state.cpp   |   2 +-
 moveit_ros/planning_interface/package.xml     |   1 +
 .../planning_interface/test/CMakeLists.txt    |   5 +
 .../test/subframes_test.cpp                   | 198 ++++++++++++++++++
 .../test/subframes_test.test                  |  29 +++
 10 files changed, 312 insertions(+), 42 deletions(-)
 create mode 100644 moveit_ros/planning_interface/test/subframes_test.cpp
 create mode 100644 moveit_ros/planning_interface/test/subframes_test.test

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index cd6c1ab095..e645a0d179 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -60,6 +60,7 @@ COMPONENTS
   tf2_eigen
   tf2_geometry_msgs
   eigen_stl_containers
+  eigen_conversions
   geometric_shapes
   geometry_msgs
   kdl_parser
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 6125ae954c..9b8813a1f7 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -39,6 +39,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <moveit/utils/xmlrpc_casts.h>
 #include <moveit/utils/message_checks.h>
+#include <eigen_conversions/eigen_msg.h>
 
 using namespace moveit::core;
 
@@ -540,21 +541,19 @@ bool kinematic_constraints::resolveConstraintFrames(const moveit::core::RobotSta
     if (!frame_found)
       return false;
 
-    // If the frame of the constraint is not part of the robot link model (but is an
-    // attached body or subframe instead), the constraint needs to be expressed in
-    // the frame of a robot link.
+    // If the frame of the constraint is not part of the robot link model (but an attached body or subframe),
+    // the constraint needs to be expressed in the frame of a robot link.
     if (c.link_name != robot_link->getName())
     {
-      Eigen::Vector3d pos_in_link_frame,
-          pos_in_original_frame(c.target_point_offset.x, c.target_point_offset.y, c.target_point_offset.z);
+      Eigen::Isometry3d robot_link_to_link_name = state.getGlobalLinkTransform(robot_link).inverse() * transform;
+      Eigen::Vector3d offset_link_name(c.target_point_offset.x, c.target_point_offset.y, c.target_point_offset.z);
+      Eigen::Vector3d offset_robot_link = robot_link_to_link_name * offset_link_name;
 
-      pos_in_link_frame = transform * pos_in_original_frame;
       c.link_name = robot_link->getName();
-      c.target_point_offset.x = pos_in_link_frame[0];
-      c.target_point_offset.y = pos_in_link_frame[1];
-      c.target_point_offset.z = pos_in_link_frame[2];
+      tf::vectorEigenToMsg(offset_robot_link, c.target_point_offset);
     }
   }
+
   for (auto& c : constraints.orientation_constraints)
   {
     bool frame_found;
@@ -563,20 +562,16 @@ bool kinematic_constraints::resolveConstraintFrames(const moveit::core::RobotSta
     if (!frame_found)
       return false;
 
-    // If the frame of the constraint is not part of the robot link model (but is an
-    // attached body or subframe instead), the constraint needs to be expressed in
-    // the frame of a robot link.
+    // If the frame of the constraint is not part of the robot link model (but an attached body or subframe),
+    // the constraint needs to be expressed in the frame of a robot link.
     if (c.link_name != robot_link->getName())
     {
-      Eigen::Quaterniond q_body_to_link(transform.inverse().rotation());
-      Eigen::Quaterniond q_target(c.orientation.w, c.orientation.x, c.orientation.y, c.orientation.z);
-      Eigen::Quaterniond q_in_link = q_body_to_link * q_target;
-
       c.link_name = robot_link->getName();
-      c.orientation.x = q_in_link.x();
-      c.orientation.y = q_in_link.y();
-      c.orientation.z = q_in_link.z();
-      c.orientation.w = q_in_link.w();
+      Eigen::Quaterniond link_name_to_robot_link(transform.linear().inverse() *
+                                                 state.getGlobalLinkTransform(robot_link).linear());
+      Eigen::Quaterniond quat_target;
+      tf::quaternionMsgToEigen(c.orientation, quat_target);
+      tf::quaternionEigenToMsg(quat_target * link_name_to_robot_link, c.orientation);
     }
   }
   return true;
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 2e540b1fc3..a8256a6e29 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -24,6 +24,7 @@
   <depend>eigen</depend>
   <depend>bullet</depend>
   <depend>eigen_stl_containers</depend>
+  <depend>eigen_conversions</depend>
   <depend>libfcl-dev</depend>
   <depend version_gte="0.5.2">geometric_shapes</depend>
   <depend>geometry_msgs</depend>
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index bf5a4f5ec6..7086d00120 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -50,16 +50,16 @@ namespace core
 class AttachedBody;
 typedef boost::function<void(AttachedBody* body, bool attached)> AttachedBodyCallback;
 
-/** @brief Object defining bodies that can be attached to robot
- *  links. This is useful when handling objects picked up by
- *  the robot. */
+/** @brief Object defining bodies that can be attached to robot links.
+ *
+ * This is useful when handling objects picked up by the robot. */
 class AttachedBody
 {
 public:
-  /** \brief Construct an attached body for a specified \e link. The name of this body is \e id and it consists of \e
-     shapes that
-      attach to the link by the transforms \e attach_trans. The set of links that are allowed to be touched by this
-     object is specified by \e touch_links. */
+  /** \brief Construct an attached body for a specified \e link.
+   *
+   * The name of this body is \e id and it consists of \e shapes that attach to the link by the transforms
+   * \e attach_trans. The set of links that are allowed to be touched by this object is specified by \e touch_links. */
   AttachedBody(const LinkModel* link, const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
                const EigenSTL::vector_Isometry3d& attach_trans, const std::set<std::string>& touch_links,
                const trajectory_msgs::JointTrajectory& attach_posture,
@@ -105,30 +105,41 @@ class AttachedBody
     return detach_posture_;
   }
 
-  /** \brief Get the fixed transforms (the transforms to the shapes associated with this body) */
+  /** \brief Get the fixed transforms (the transforms to the shapes of this body, relative to the link) */
   const EigenSTL::vector_Isometry3d& getFixedTransforms() const
   {
     return attach_trans_;
   }
 
-  /** \brief Get subframes of this object. */
+  /** \brief Get subframes of this object (relative to the link) */
   const moveit::core::FixedTransformsMap& getSubframeTransforms() const
   {
     return subframe_poses_;
   }
 
-  /** \brief Set all subframes of this object. */
+  /** \brief Set all subframes of this object.
+   *
+   * Use these to define points of interest on the object to plan with
+   * (e.g. screwdriver/tip, kettle/spout, mug/base).
+   */
   void setSubframeTransforms(const moveit::core::FixedTransformsMap& subframe_poses)
   {
     subframe_poses_ = subframe_poses;
   }
 
-  /** \brief Get the fixed transform to a named subframe on this body.
+  /** \brief Get the fixed transform to a named subframe on this body (relative to the robot link)
+   *
    * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
    * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false). */
   const Eigen::Isometry3d& getSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
 
+  /** \brief Get the fixed transform to a named subframe on this body.
+   * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
+   * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false). */
+  const Eigen::Isometry3d& getGlobalSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
+
   /** \brief Check whether a subframe of given @frame_name is present in this object.
+   *
    * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
    * name is "screwdriver"). */
   bool hasSubframeTransform(const std::string& frame_name) const;
@@ -145,12 +156,8 @@ class AttachedBody
   /** \brief Set the scale for the shapes of this attached object */
   void setScale(double scale);
 
-  /** \brief Recompute global_collision_body_transform given the transform of the parent link*/
-  void computeTransform(const Eigen::Isometry3d& parent_link_global_transform)
-  {
-    for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
-      global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
-  }
+  /** \brief Recompute global_collision_body_transform given the transform of the parent link */
+  void computeTransform(const Eigen::Isometry3d& parent_link_global_transform);
 
 private:
   /** \brief The link that owns this attached body */
@@ -175,11 +182,11 @@ class AttachedBody
   /** \brief The global transforms for these attached bodies (computed by forward kinematics) */
   EigenSTL::vector_Isometry3d global_collision_body_transforms_;
 
-  /** \brief Transforms to subframes on the object. Transforms are relative to the link.
-   *  Use these to define points of interest on the object to plan with
-   *  (e.g. screwdriver/tip, kettle/spout, mug/base).
-   * */
+  /** \brief Transforms to subframes on the object. Transforms are relative to the link. */
   moveit::core::FixedTransformsMap subframe_poses_;
+
+  /** \brief Transforms to subframes on the object, relative to the model frame. */
+  moveit::core::FixedTransformsMap global_subframe_poses_;
 };
 }
 }
diff --git a/moveit_core/robot_state/src/attached_body.cpp b/moveit_core/robot_state/src/attached_body.cpp
index b54e1fa1cf..51a403a7a2 100644
--- a/moveit_core/robot_state/src/attached_body.cpp
+++ b/moveit_core/robot_state/src/attached_body.cpp
@@ -54,6 +54,7 @@ AttachedBody::AttachedBody(const LinkModel* parent_link_model, const std::string
   , touch_links_(touch_links)
   , detach_posture_(detach_posture)
   , subframe_poses_(subframe_poses)
+  , global_subframe_poses_(subframe_poses)
 {
   global_collision_body_transforms_.resize(attach_trans.size());
   for (Eigen::Isometry3d& global_collision_body_transform : global_collision_body_transforms_)
@@ -79,6 +80,19 @@ void AttachedBody::setScale(double scale)
   }
 }
 
+void AttachedBody::computeTransform(const Eigen::Isometry3d& parent_link_global_transform)
+{
+  // update collision body transforms
+  for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
+    global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
+
+  // update subframe transforms
+  for (auto global = global_subframe_poses_.begin(), end = global_subframe_poses_.end(),
+            local = subframe_poses_.begin();
+       global != end; ++global, ++local)
+    global->second = parent_link_global_transform * local->second;
+}
+
 void AttachedBody::setPadding(double padding)
 {
   for (shapes::ShapeConstPtr& shape : shapes_)
@@ -114,11 +128,30 @@ const Eigen::Isometry3d& AttachedBody::getSubframeTransform(const std::string& f
   return IDENTITY_TRANSFORM;
 }
 
+const Eigen::Isometry3d& AttachedBody::getGlobalSubframeTransform(const std::string& frame_name, bool* found) const
+{
+  if (boost::starts_with(frame_name, id_) && frame_name[id_.length()] == '/')
+  {
+    auto it = global_subframe_poses_.find(frame_name.substr(id_.length() + 1));
+    if (it != global_subframe_poses_.end())
+    {
+      if (found)
+        *found = true;
+      return it->second;
+    }
+  }
+  static const Eigen::Isometry3d IDENTITY_TRANSFORM = Eigen::Isometry3d::Identity();
+  if (found)
+    *found = false;
+  return IDENTITY_TRANSFORM;
+}
+
 bool AttachedBody::hasSubframeTransform(const std::string& frame_name) const
 {
   bool found;
   getSubframeTransform(frame_name, &found);
   return found;
 }
+
 }  // namespace core
 }  // namespace moveit
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 5324d65d8a..0e454a3e90 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1052,7 +1052,7 @@ const Eigen::Isometry3d& RobotState::getFrameInfo(const std::string& frame_id, c
   // Check if an AttachedBody has a subframe with name frame_id
   for (const std::pair<std::string, AttachedBody*>& body : attached_body_map_)
   {
-    const auto& transform = body.second->getSubframeTransform(frame_id, &frame_found);
+    const auto& transform = body.second->getGlobalSubframeTransform(frame_id, &frame_found);
     if (frame_found)
     {
       robot_link = body.second->getAttachedLink();
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 5c57d296b1..e6cf739497 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -38,5 +38,6 @@
   <build_depend>eigen</build_depend>
 
   <test_depend>moveit_resources</test_depend>
+  <test_depend>eigen_conversions</test_depend>
   <test_depend>rostest</test_depend>
 </package>
diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index eff482cec1..3bb83daaa3 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -1,6 +1,7 @@
 if (CATKIN_ENABLE_TESTING)
   find_package(moveit_resources REQUIRED)
   find_package(rostest REQUIRED)
+  find_package(eigen_conversions REQUIRED)
 
   add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
@@ -8,6 +9,10 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
   target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
 
+  add_rostest_gtest(subframes_test subframes_test.test subframes_test.cpp)
+  target_link_libraries(subframes_test moveit_move_group_interface
+	                     ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
+
   add_rostest(python_move_group.test)
   add_rostest(python_move_group_ns.test)
   add_rostest(robot_state_update.test)
diff --git a/moveit_ros/planning_interface/test/subframes_test.cpp b/moveit_ros/planning_interface/test/subframes_test.cpp
new file mode 100644
index 0000000000..757fce094b
--- /dev/null
+++ b/moveit_ros/planning_interface/test/subframes_test.cpp
@@ -0,0 +1,198 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2019, Felix von Drigalski, Jacob Aas, Tyler Weaver
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of OMRON SINIC X or PickNik Robotics nor the
+*     names of its contributors may be used to endorse or promote
+*     products derived from this software without specific prior
+*     written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver */
+
+/* This integration test is based on the tutorial for using subframes
+ * https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html
+ */
+
+// C++
+#include <vector>
+#include <map>
+
+// ROS
+#include <ros/ros.h>
+
+// The Testing Framework and Utils
+#include <gtest/gtest.h>
+
+// MoveIt
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+
+// TF2
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <eigen_conversions/eigen_msg.h>
+
+constexpr double EPSILON = 1e-2;
+constexpr double Z_OFFSET = 0.01;
+
+// Function copied from tutorial
+// a small helper function to create our planning requests and move the robot.
+bool moveToCartPose(const geometry_msgs::PoseStamped& pose, moveit::planning_interface::MoveGroupInterface& group,
+                    const std::string& end_effector_link)
+{
+  group.clearPoseTargets();
+  group.setEndEffectorLink(end_effector_link);
+  group.setStartStateToCurrentState();
+  group.setPoseTarget(pose);
+
+  moveit::planning_interface::MoveGroupInterface::Plan myplan;
+  if (group.plan(myplan) && group.execute(myplan))
+    return true;
+
+  ROS_WARN("Failed to perform motion.");
+  return false;
+}
+
+// Function copied from tutorial
+// This helper function creates two objects and publishes them to the PlanningScene: a box and a cylinder.
+// The box spawns in front of the gripper, the cylinder at the tip of the gripper, as if it had been grasped.
+void spawnCollisionObjects(moveit::planning_interface::PlanningSceneInterface& planning_scene_interface)
+{
+  const std::string log_name = "spawn_collision_objects";
+  double z_offset_box = .25;  // The z-axis points away from the gripper
+  double z_offset_cylinder = .1;
+
+  // First, we start defining the CollisionObject as usual.
+  moveit_msgs::CollisionObject box;
+  box.id = "box";
+  box.header.frame_id = "panda_hand";
+  box.primitives.resize(1);
+  box.primitive_poses.resize(1);
+  box.primitives[0].type = box.primitives[0].BOX;
+  box.primitives[0].dimensions.resize(3);
+  box.primitives[0].dimensions[0] = 0.05;
+  box.primitives[0].dimensions[1] = 0.1;
+  box.primitives[0].dimensions[2] = 0.02;
+  box.primitive_poses[0].position.z = z_offset_box;
+
+  // Then, we define the subframes of the CollisionObject.
+  box.subframe_names.resize(1);
+  box.subframe_poses.resize(1);
+  box.subframe_names[0] = "bottom";
+  box.subframe_poses[0].position.y = -.05;
+  box.subframe_poses[0].position.z = 0.0 + z_offset_box;
+  tf2::Quaternion orientation;
+  orientation.setRPY(90.0 / 180.0 * M_PI, 0, 0);
+  box.subframe_poses[0].orientation = tf2::toMsg(orientation);
+
+  // Next, define the cylinder
+  moveit_msgs::CollisionObject cylinder;
+  cylinder.id = "cylinder";
+  cylinder.header.frame_id = "panda_hand";
+  cylinder.primitives.resize(1);
+  cylinder.primitive_poses.resize(1);
+  cylinder.primitives[0].type = box.primitives[0].CYLINDER;
+  cylinder.primitives[0].dimensions.resize(2);
+  cylinder.primitives[0].dimensions[0] = 0.06;   // height (along x)
+  cylinder.primitives[0].dimensions[1] = 0.005;  // radius
+  cylinder.primitive_poses[0].position.x = 0.0;
+  cylinder.primitive_poses[0].position.y = 0.0;
+  cylinder.primitive_poses[0].position.z = 0.0 + z_offset_cylinder;
+  orientation.setRPY(0, 90.0 / 180.0 * M_PI, 0);
+  cylinder.primitive_poses[0].orientation = tf2::toMsg(orientation);
+
+  cylinder.subframe_poses.resize(1);
+  cylinder.subframe_names.resize(1);
+  cylinder.subframe_names[0] = "tip";
+  cylinder.subframe_poses[0].position.x = 0.03;
+  cylinder.subframe_poses[0].position.y = 0.0;
+  cylinder.subframe_poses[0].position.z = 0.0 + z_offset_cylinder;
+  orientation.setRPY(0, 90.0 / 180.0 * M_PI, 0);
+  cylinder.subframe_poses[0].orientation = tf2::toMsg(orientation);
+
+  // Lastly, the objects are published to the PlanningScene. In this tutorial, we publish a box and a cylinder.
+  box.operation = moveit_msgs::CollisionObject::ADD;
+  cylinder.operation = moveit_msgs::CollisionObject::ADD;
+  planning_scene_interface.applyCollisionObjects({ box, cylinder });
+}
+
+TEST(TestPlanUsingSubframes, SubframesTests)
+{
+  const std::string log_name = "test_plan_using_subframes";
+  ros::NodeHandle nh(log_name);
+
+  auto planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+  moveit::planning_interface::MoveGroupInterface group("panda_arm");
+  group.setPlanningTime(10.0);
+
+  spawnCollisionObjects(planning_scene_interface);
+  moveit_msgs::AttachedCollisionObject att_coll_object;
+  att_coll_object.object.id = "cylinder";
+  att_coll_object.link_name = "panda_hand";
+  att_coll_object.object.operation = att_coll_object.object.ADD;
+  planning_scene_interface.applyAttachedCollisionObject(att_coll_object);
+
+  tf2::Quaternion target_orientation;
+  target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
+  geometry_msgs::PoseStamped target_pose_stamped;
+  target_pose_stamped.pose.orientation = tf2::toMsg(target_orientation);
+  target_pose_stamped.pose.position.z = Z_OFFSET;
+
+  ROS_INFO_STREAM_NAMED(log_name, "Moving to bottom of box with cylinder tip");
+  target_pose_stamped.header.frame_id = "box/bottom";
+  ASSERT_TRUE(moveToCartPose(target_pose_stamped, group, "cylinder/tip"));
+  planning_scene_monitor->requestPlanningSceneState();
+  {
+    planning_scene_monitor::LockedPlanningSceneRO planning_scene(planning_scene_monitor);
+
+    // get the tip and box subframe locations in world
+    Eigen::Isometry3d eef = planning_scene->getFrameTransform("cylinder/tip");
+    Eigen::Isometry3d box_subframe = planning_scene->getFrameTransform(target_pose_stamped.header.frame_id);
+    Eigen::Isometry3d target_pose;
+    tf::poseMsgToEigen(target_pose_stamped.pose, target_pose);
+
+    // expect that they are identical
+    std::stringstream ss;
+    ss << "target frame: \n" << (box_subframe * target_pose).matrix() << "\ncylinder frame: \n" << eef.matrix();
+    EXPECT_TRUE(eef.isApprox(box_subframe * target_pose, EPSILON)) << ss.str();
+  }
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "moveit_test_plan_using_subframes");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  return result;
+}
diff --git a/moveit_ros/planning_interface/test/subframes_test.test b/moveit_ros/planning_interface/test/subframes_test.test
new file mode 100644
index 0000000000..64d3bef441
--- /dev/null
+++ b/moveit_ros/planning_interface/test/subframes_test.test
@@ -0,0 +1,29 @@
+<launch>
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Run the main MoveIt executable with fake trajectory execution -->
+  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+  </include>
+
+  <!-- Subframes test -->
+  <test pkg="moveit_ros_planning_interface" type="subframes_test" test-name="subframes_test"
+        time-limit="30" args=""/>
+</launch>

From 5298b9ff4d05b5f96cf2831aafa003fb9bea265f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 30 Mar 2020 16:53:44 +0200
Subject: [PATCH 241/612] Modernize Travis config (#1999)

... to satisfy the new Travis config validator
---
 .travis.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 6ed584a5ff..c834e8d629 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,5 +1,5 @@
 # This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
-sudo: required
+os: linux
 dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
 services:
   - docker
@@ -21,13 +21,13 @@ env:
     - TEST_BLACKLIST="moveit_ros_perception"
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
-  matrix:
+  jobs:
     - TEST="clang-format catkin_lint"
     - TEST=code-coverage
     - ROS_DISTRO=melodic
     - ROS_DISTRO=kinetic
 
-matrix: # Add a separate config to the matrix, using clang as compiler
+jobs: # Add a separate config to the matrix, using clang as compiler
   include:
     # add a config to the matrix using clang as compiler and also test ikfast plugin creation
     - compiler: clang

From fa6b72dade7ce181c41e7edaad04d2189dfc514e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 31 Mar 2020 11:35:39 +0200
Subject: [PATCH 242/612] temporarily skip ros-shadow-fixed (#2000)

---
 .travis.yml | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index c834e8d629..c0e97e7143 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -21,20 +21,19 @@ env:
     - TEST_BLACKLIST="moveit_ros_perception"
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
-  jobs:
-    - TEST="clang-format catkin_lint"
-    - TEST=code-coverage
-    - ROS_DISTRO=melodic
-    - ROS_DISTRO=kinetic
 
-jobs: # Add a separate config to the matrix, using clang as compiler
+jobs:
   include:
-    # add a config to the matrix using clang as compiler and also test ikfast plugin creation
+    - env: TEST="clang-format catkin_lint"
+    - env: TEST=code-coverage
+    - env: ROS_DISTRO=melodic
+    - env: ROS_DISTRO=kinetic
     - compiler: clang
-      env: ROS_REPO=ros-shadow-fixed
-           TEST=clang-tidy-fix
+      # test_ikfast_plugins takes ~10 minutes: include here to keep the main jobs shorter
+      env: TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
+#           ROS_REPO=ros-shadow-fixed
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

From a6c9852a9bb35633c7e695cd200ffd2b52bc75ad Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 31 Mar 2020 11:34:59 +0200
Subject: [PATCH 243/612] Travis: send emails to author/committer

---
 .travis.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index c0e97e7143..2fb7ce897f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,9 +8,8 @@ cache: ccache
 compiler: gcc
 
 notifications:
-  email:
-    recipients:
-      - 130s@2000.jukuin.keio.ac.jp
+  email: true
+
 env:
   global:
     - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min

From dc71f6de61fb57e2843e3f979e5592b330cb8028 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Tue, 31 Mar 2020 21:13:03 +0900
Subject: [PATCH 244/612] Fix TfPublisher subframe publishing

---
 .../src/default_capabilities/tf_publisher_capability.cpp        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index b48eea2e81..c60b9ff1f6 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -95,7 +95,7 @@ void TfPublisher::publishPlanningSceneFrames()
         broadcaster.sendTransform(transform);
 
         const moveit::core::FixedTransformsMap& subframes = obj.second->subframe_poses_;
-        publishSubframes(broadcaster, subframes, object_frame, stamp);
+        publishSubframes(broadcaster, subframes, planning_frame, stamp);
       }
 
       const moveit::core::RobotState& rs = locked_planning_scene->getCurrentState();

From 60c78f29ee673b1bdadc12944f55cfb4aaa767ca Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Tue, 31 Mar 2020 21:58:40 +0900
Subject: [PATCH 245/612] fixup! Fix TfPublisher subframe publishing

---
 .../src/default_capabilities/tf_publisher_capability.cpp  | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index c60b9ff1f6..5c0de5d28c 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -57,13 +57,13 @@ TfPublisher::~TfPublisher()
 namespace
 {
 void publishSubframes(tf2_ros::TransformBroadcaster& broadcaster, const moveit::core::FixedTransformsMap& subframes,
-                      const std::string& parent_frame, const ros::Time& stamp)
+                      const std::string& parent_object, const std::string& parent_frame, const ros::Time& stamp)
 {
   geometry_msgs::TransformStamped transform;
   for (auto& subframe : subframes)
   {
     transform = tf2::eigenToTransform(subframe.second);
-    transform.child_frame_id = parent_frame + "/" + subframe.first;
+    transform.child_frame_id = parent_object + "/" + subframe.first;
     transform.header.stamp = stamp;
     transform.header.frame_id = parent_frame;
     broadcaster.sendTransform(transform);
@@ -95,7 +95,7 @@ void TfPublisher::publishPlanningSceneFrames()
         broadcaster.sendTransform(transform);
 
         const moveit::core::FixedTransformsMap& subframes = obj.second->subframe_poses_;
-        publishSubframes(broadcaster, subframes, planning_frame, stamp);
+        publishSubframes(broadcaster, subframes, object_frame, planning_frame, stamp);
       }
 
       const moveit::core::RobotState& rs = locked_planning_scene->getCurrentState();
@@ -111,7 +111,7 @@ void TfPublisher::publishPlanningSceneFrames()
         broadcaster.sendTransform(transform);
 
         const moveit::core::FixedTransformsMap& subframes = attached_body->getSubframeTransforms();
-        publishSubframes(broadcaster, subframes, object_frame, stamp);
+        publishSubframes(broadcaster, subframes, object_frame, object_frame, stamp);
       }
     }
 

From ef16990f7bd11082fa3ff0bda5a8c91632dee531 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 26 Mar 2020 22:01:45 +0100
Subject: [PATCH 246/612] Wait for initial jog commands in main loop

---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 61 +++++++------------
 1 file changed, 21 insertions(+), 40 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ba562e8458..04b293993a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -107,49 +107,20 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 
   is_initialized_ = true;
 
-  // Wait for the first jogging cmd.
-  // Store it in a class member for further calcs, then free up the shared variable again.
-  geometry_msgs::TwistStamped cartesian_deltas;
-  control_msgs::JointJog joint_deltas;
-  while (ros::ok() && (cartesian_deltas.header.stamp == ros::Time(0.)) && (joint_deltas.header.stamp == ros::Time(0.)))
-  {
-    if (stop_jog_loop_requested_)
-      return;
-
-    default_sleep_rate_.sleep();
-
-    // Ensure the low-pass filter matches reality
-    for (std::size_t i = 0; i < num_joints_; ++i)
-      position_filters_[i].reset(internal_joint_state_.position[i]);
-
-    //  Check for a new command
-    shared_variables.lock();
-    cartesian_deltas = shared_variables.command_deltas;
-    joint_deltas = shared_variables.joint_command_deltas;
-    incoming_joint_state_ = shared_variables.joints;
-    shared_variables.unlock();
-
-    kinematic_state_->setVariableValues(internal_joint_state_);
-
-    // Always update the end-effector transform in case the getCommandFrameTransform() method is being used
-    // Get the transform from MoveIt planning frame to jogging command frame
-    // We solve (planning_frame -> base -> robot_link_command_frame)
-    // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
-    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                              kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
-
-    shared_variables.lock();
-    shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
-    shared_variables.unlock();
-  }
-
   // Track the number of cycles during which motion has not occurred.
   // Will avoid re-publishing zero velocities endlessly.
   int zero_velocity_count = 0;
 
   ros::Rate loop_rate(1. / parameters_.publish_period);
 
-  // Now do jogging calcs
+  // Flag for staying inactive while there are no incoming commands
+  bool wait_for_jog_commands = true;
+
+  // Incoming command messages
+  geometry_msgs::TwistStamped cartesian_deltas;
+  control_msgs::JointJog joint_deltas;
+
+  // Do jogging calcs
   while (ros::ok() && !stop_jog_loop_requested_)
   {
     // Always update the joints and end-effector transform for 2 reasons:
@@ -170,9 +141,19 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     shared_variables.unlock();
 
-    // If paused, just keep the low-pass filters up to date with current joints so a jump doesn't occur when
-    // restarting
-    if (halt_outgoing_jog_cmds_)
+    //  Check for an initial jog command
+    if (wait_for_jog_commands)
+    {
+      shared_variables.lock();
+      // Check if there are any commands with valid timestamp
+      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.)
+        && shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
+      shared_variables.unlock();
+    }
+
+    // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
+    // joints so a jump doesn't occur when restarting
+    if (wait_for_jog_commands || halt_outgoing_jog_cmds_)
     {
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(internal_joint_state_.position[i]);

From d168cd9eac22e02a5892a746de656a99a9b18db6 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 26 Mar 2020 22:03:23 +0100
Subject: [PATCH 247/612] Remove redundant joint state increments

---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 04b293993a..a400933103 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -326,9 +326,6 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   enforceSRDFAccelVelLimits(delta_theta_);
 
-  if (!addJointIncrements(internal_joint_state_, delta_theta_))
-    return false;
-
   // If close to a collision or a singularity, decelerate
   applyVelocityScaling(shared_variables, delta_theta_,
                        velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));

From 2e4c08d52ecde2d861381ccaee7268e6a3c5f1ff Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 26 Mar 2020 22:16:14 +0100
Subject: [PATCH 248/612] Verify valid joints by filtering for active joint
 models only

---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 89 ++++++++++---------
 1 file changed, 49 insertions(+), 40 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index a400933103..bce531df2e 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -61,7 +61,7 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
   kinematic_state_->setToDefaultValues();
 
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
-  prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getVariableCount());
+  prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 }
 
 void JogCalcs::startMainLoop(JogArmShared& shared_variables)
@@ -76,7 +76,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Received first joint msg.");
 
-  internal_joint_state_.name = joint_model_group_->getVariableNames();
+  internal_joint_state_.name = joint_model_group_->getActiveJointModelNames();
   num_joints_ = internal_joint_state_.name.size();
   internal_joint_state_.position.resize(num_joints_);
   internal_joint_state_.velocity.resize(num_joints_);
@@ -146,8 +146,8 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
     {
       shared_variables.lock();
       // Check if there are any commands with valid timestamp
-      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.)
-        && shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
+      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.) &&
+                              shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
       shared_variables.unlock();
     }
 
@@ -555,61 +555,70 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
 void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
 {
   Eigen::ArrayXd velocity = delta_theta / parameters_.publish_period;
+  const Eigen::ArrayXd acceleration = (velocity - prev_joint_velocity_) / parameters_.publish_period;
 
   std::size_t joint_delta_index = 0;
-  for (auto joint : joint_model_group_->getJointModels())
+  for (auto joint : joint_model_group_->getActiveJointModels())
   {
     // Some joints do not have bounds defined
-    if (kinematic_state_->getJointModel(joint->getName())->hasVariable(joint->getName()))
+    const auto bounds = joint->getVariableBounds(joint->getName());
+    if (bounds.acceleration_bounded_)
     {
-      auto bounds = kinematic_state_->getJointModel(joint->getName())->getVariableBounds(joint->getName());
+      bool clip_acceleration = false;
+      double acceleration_limit = 0.0;
+      if (acceleration(joint_delta_index) < bounds.min_acceleration_)
+      {
+        clip_acceleration = true;
+        acceleration_limit = bounds.min_acceleration_;
+      }
+      else if (acceleration(joint_delta_index) > bounds.max_acceleration_)
+      {
+        clip_acceleration = true;
+        acceleration_limit = bounds.max_acceleration_;
+      }
 
       // Apply acceleration bounds
-      // accel = (vel - vel_prev) / delta_t = ((delta_theta / delta_t) - vel_prev) / delta_t
-      // --> delta_theta = (accel * delta_t _ + vel_prev) * delta_t
-      Eigen::ArrayXd acceleration = (velocity - prev_joint_velocity_) / parameters_.publish_period;
-      if ((bounds.min_acceleration_ != 0) && (acceleration(joint_delta_index) < bounds.min_acceleration_))
+      if (clip_acceleration)
       {
-        double relative_change =
-            ((bounds.min_acceleration_ * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
+        // accel = (vel - vel_prev) / delta_t = ((delta_theta / delta_t) - vel_prev) / delta_t
+        // --> delta_theta = (accel * delta_t _ + vel_prev) * delta_t
+        const double relative_change =
+            ((acceleration_limit * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
              parameters_.publish_period) /
             delta_theta(joint_delta_index);
         // Avoid nan
         if (fabs(relative_change) < 1)
-          delta_theta = relative_change * delta_theta;
+          delta_theta(joint_delta_index) = relative_change * delta_theta(joint_delta_index);
       }
-      else if ((bounds.max_acceleration_ != 0) && (acceleration(joint_delta_index) > bounds.max_acceleration_))
+    }
+
+    if (bounds.velocity_bounded_)
+    {
+      velocity(joint_delta_index) = delta_theta(joint_delta_index) / parameters_.publish_period;
+
+      bool clip_velocity = false;
+      double velocity_limit = 0.0;
+      if (velocity(joint_delta_index) < bounds.min_velocity_)
       {
-        double relative_change =
-            ((bounds.max_acceleration_ * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
-             parameters_.publish_period) /
-            delta_theta(joint_delta_index);
-        // Avoid nan
-        if (fabs(relative_change) < 1)
-          delta_theta = relative_change * delta_theta;
+        clip_velocity = true;
+        velocity_limit = bounds.min_velocity_;
       }
-
-      velocity = delta_theta / parameters_.publish_period;
-      // Apply velocity bounds
-      // delta_theta = joint_velocity * delta_t
-      if ((bounds.min_velocity_ != 0) && (velocity(joint_delta_index) < bounds.min_velocity_))
+      else if (velocity(joint_delta_index) > bounds.max_velocity_)
       {
-        double relative_change = (bounds.min_velocity_ * parameters_.publish_period) / delta_theta(joint_delta_index);
-        // Avoid nan
-        if (fabs(relative_change) < 1)
-        {
-          delta_theta = relative_change * delta_theta;
-          velocity = relative_change * velocity;
-        }
+        clip_velocity = true;
+        velocity_limit = bounds.max_velocity_;
       }
-      else if ((bounds.max_velocity_ != 0) && (velocity(joint_delta_index) > bounds.max_velocity_))
+
+      // Apply velocity bounds
+      if (clip_velocity)
       {
-        double relative_change = (bounds.max_velocity_ * parameters_.publish_period) / delta_theta(joint_delta_index);
+        // delta_theta = joint_velocity * delta_t
+        const double relative_change = (velocity_limit * parameters_.publish_period) / delta_theta(joint_delta_index);
         // Avoid nan
         if (fabs(relative_change) < 1)
         {
-          delta_theta = relative_change * delta_theta;
-          velocity = relative_change * velocity;
+          delta_theta(joint_delta_index) = relative_change * delta_theta(joint_delta_index);
+          velocity(joint_delta_index) = relative_change * velocity(joint_delta_index);
         }
       }
       ++joint_delta_index;
@@ -621,7 +630,7 @@ bool JogCalcs::enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_j
 {
   bool halting = false;
 
-  for (auto joint : joint_model_group_->getJointModels())
+  for (auto joint : joint_model_group_->getActiveJointModels())
   {
     // Halt if we're past a joint margin and joint velocity is moving even farther past
     double joint_angle = 0;
@@ -707,7 +716,7 @@ bool JogCalcs::updateJoints(JogArmShared& shared_variables)
     }
     catch (const std::out_of_range& e)
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
       continue;
     }
 

From 85be9f8f2709136b4bff59d315daa660e90dcc27 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 26 Mar 2020 22:35:28 +0100
Subject: [PATCH 249/612] Add pause/unpause flags for jog thread

---
 .../include/moveit_jog_arm/jog_calcs.h        |  8 +-
 .../moveit_jog_arm/jog_cpp_interface.h        |  7 ++
 .../moveit_jog_arm/src/jog_calcs.cpp          | 13 ++-
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 96 +++++++++++--------
 4 files changed, 80 insertions(+), 44 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 916a8aa9ff..da328d0a36 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -62,7 +62,11 @@ class JogCalcs
 
   void stopMainLoop();
 
-  void haltOutgoingJogCmds();
+  /** \brief Stop publishing jog commands while keeping the main loop spinning and filters up to date */
+  void pauseOutgoingJogCmds();
+
+  /** \brief Continue publishing jog commands */
+  void unpauseOutgoingJogCmds();
 
   /** \brief Check if the robot state is being updated and the end effector transform is known
    *  @return true if initialized properly
@@ -76,7 +80,7 @@ class JogCalcs
   std::atomic<bool> stop_jog_loop_requested_;
 
   // Flag that outgoing commands to the robot should not be published
-  std::atomic<bool> halt_outgoing_jog_cmds_;
+  std::atomic<bool> pause_outgoing_jog_cmds_;
 
   // Flag that robot state is up to date, end effector transform is known
   std::atomic<bool> is_initialized_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index 533c311d08..edaec28a14 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -59,6 +59,12 @@ class JogCppInterface : public JogInterfaceBase
 
   void stopMainLoop();
 
+  /** \brief Pause processing jog commands while keeping the main loop alive */
+  void pause();
+
+  /** \brief Continue processing jog commands */
+  void unpause();
+
   /** \brief Provide a Cartesian velocity command to the jogger.
    * The units are determined by settings in the yaml file.
    */
@@ -95,5 +101,6 @@ class JogCppInterface : public JogInterfaceBase
   ros::NodeHandle nh_;
 
   std::atomic<bool> stop_requested_;
+  std::atomic<bool> paused_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index bce531df2e..24829c8169 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -68,7 +68,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 {
   // Reset flags
   stop_jog_loop_requested_ = false;
-  halt_outgoing_jog_cmds_ = false;
+  pause_outgoing_jog_cmds_ = false;
   is_initialized_ = false;
 
   // Wait for initial messages
@@ -153,7 +153,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 
     // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
     // joints so a jump doesn't occur when restarting
-    if (wait_for_jog_commands || halt_outgoing_jog_cmds_)
+    if (wait_for_jog_commands || pause_outgoing_jog_cmds_)
     {
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(internal_joint_state_.position[i]);
@@ -249,9 +249,14 @@ void JogCalcs::stopMainLoop()
   stop_jog_loop_requested_ = true;
 }
 
-void JogCalcs::haltOutgoingJogCmds()
+void JogCalcs::pauseOutgoingJogCmds()
 {
-  halt_outgoing_jog_cmds_ = true;
+  pause_outgoing_jog_cmds_ = true;
+}
+
+void JogCalcs::unpauseOutgoingJogCmds()
+{
+  pause_outgoing_jog_cmds_ = false;
 }
 
 bool JogCalcs::isInitialized()
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 0414d2a9ef..2a5214f752 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -61,6 +61,7 @@ void JogCppInterface::startMainLoop()
 {
   // Reset loop termination flag
   stop_requested_ = false;
+  paused_ = false;
 
   // Crunch the numbers in this thread
   startJogCalcThread();
@@ -95,51 +96,54 @@ void JogCppInterface::startMainLoop()
   {
     ros::spinOnce();
 
-    shared_variables_.lock();
-    trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
-
-    // Check if incoming commands are stale
-    if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
-        ros::Duration(ros_parameters_.incoming_command_timeout))
-    {
-      shared_variables_.command_is_stale = false;
-    }
-    else
+    if (!paused_)
     {
-      shared_variables_.command_is_stale = true;
-    }
+      shared_variables_.lock();
+      trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
-    // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-    if (shared_variables_.ok_to_publish)
-    {
-      // Put the outgoing msg in the right format
-      // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-      if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+      // Check if incoming commands are stale
+      if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
+          ros::Duration(ros_parameters_.incoming_command_timeout))
       {
-        outgoing_command.header.stamp = ros::Time::now();
-        outgoing_cmd_pub.publish(outgoing_command);
+        shared_variables_.command_is_stale = false;
       }
-      else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+      else
       {
-        std_msgs::Float64MultiArray joints;
-        if (ros_parameters_.publish_joint_positions)
-          joints.data = outgoing_command.points[0].positions;
-        else if (ros_parameters_.publish_joint_velocities)
-          joints.data = outgoing_command.points[0].velocities;
-        outgoing_cmd_pub.publish(joints);
+        shared_variables_.command_is_stale = true;
+      }
+
+      // Publish the most recent trajectory, unless the jogging calculation thread tells not to
+      if (shared_variables_.ok_to_publish)
+      {
+        // Put the outgoing msg in the right format
+        // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+        if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+        {
+          outgoing_command.header.stamp = ros::Time::now();
+          outgoing_cmd_pub.publish(outgoing_command);
+        }
+        else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+        {
+          std_msgs::Float64MultiArray joints;
+          if (ros_parameters_.publish_joint_positions)
+            joints.data = outgoing_command.points[0].positions;
+          else if (ros_parameters_.publish_joint_velocities)
+            joints.data = outgoing_command.points[0].velocities;
+          outgoing_cmd_pub.publish(joints);
+        }
+      }
+      else if (shared_variables_.command_is_stale)
+      {
+        ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                    "Try a larger 'incoming_command_timeout' parameter?");
+      }
+      else
+      {
+        ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
       }
-    }
-    else if (shared_variables_.command_is_stale)
-    {
-      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                  "Try a larger 'incoming_command_timeout' parameter?");
-    }
-    else
-    {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
-    }
 
-    shared_variables_.unlock();
+      shared_variables_.unlock();
+    }
 
     main_rate.sleep();
   }
@@ -153,6 +157,22 @@ void JogCppInterface::stopMainLoop()
   stop_requested_ = true;
 }
 
+void JogCppInterface::pause()
+{
+  if (jog_calcs_)
+    jog_calcs_->pauseOutgoingJogCmds();
+
+  paused_ = true;
+}
+
+void JogCppInterface::unpause()
+{
+  if (jog_calcs_)
+    jog_calcs_->unpauseOutgoingJogCmds();
+
+  paused_ = false;
+}
+
 void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
 {
   shared_variables_.lock();

From 597dd5064726f3d75ab9e36d2d04353b135818af Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Wed, 1 Apr 2020 21:53:10 +0900
Subject: [PATCH 250/612] fixup! Fix TfPublisher subframe publishing

---
 .../src/default_capabilities/tf_publisher_capability.cpp        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index 5c0de5d28c..f91b71c81f 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -111,7 +111,7 @@ void TfPublisher::publishPlanningSceneFrames()
         broadcaster.sendTransform(transform);
 
         const moveit::core::FixedTransformsMap& subframes = attached_body->getSubframeTransforms();
-        publishSubframes(broadcaster, subframes, object_frame, object_frame, stamp);
+        publishSubframes(broadcaster, subframes, object_frame, attached_body->getAttachedLinkName(), stamp);
       }
     }
 

From 2627d7eedd8394c10619a55f7f86647b838e2e58 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Tue, 31 Mar 2020 23:08:27 +0200
Subject: [PATCH 251/612] Pause/stop JogArm threads using shared atomic bool
 variables

---
 .../moveit_jog_arm/collision_check_thread.h   |  5 --
 .../include/moveit_jog_arm/jog_arm_data.h     |  6 ++
 .../include/moveit_jog_arm/jog_calcs.h        | 14 ----
 .../moveit_jog_arm/jog_cpp_interface.h        | 10 +--
 .../src/collision_check_thread.cpp            | 79 +++++++++----------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 23 +-----
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 25 ++----
 .../moveit_jog_arm/src/jog_interface_base.cpp |  6 --
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |  2 +
 9 files changed, 57 insertions(+), 113 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index f5da13f822..24f2c52b31 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -62,12 +62,7 @@ class CollisionCheckThread
 
   void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables);
 
-  void stopMainLoop();
-
 private:
-  // Loop termination flag
-  std::atomic<bool> stop_requested_;
-
   const moveit_jog_arm::JogArmParameters parameters_;
 
   // Pointer to the collision environment
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 31d8e6a374..62f1604aa2 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -95,6 +95,12 @@ struct JogArmShared : public std::mutex
 
   // Status of the jogger. 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
   std::atomic<StatusCode> status;
+
+  // Pause/unpause jog threads - threads are not paused by default
+  std::atomic<bool> paused{ false };
+
+  // Stop jog loop threads - threads are not stopped by default
+  std::atomic<bool> stop_requested{ false };
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index da328d0a36..049f7af452 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -60,14 +60,6 @@ class JogCalcs
 
   void startMainLoop(JogArmShared& shared_variables);
 
-  void stopMainLoop();
-
-  /** \brief Stop publishing jog commands while keeping the main loop spinning and filters up to date */
-  void pauseOutgoingJogCmds();
-
-  /** \brief Continue publishing jog commands */
-  void unpauseOutgoingJogCmds();
-
   /** \brief Check if the robot state is being updated and the end effector transform is known
    *  @return true if initialized properly
    */
@@ -76,12 +68,6 @@ class JogCalcs
 protected:
   ros::NodeHandle nh_;
 
-  // Loop termination flag
-  std::atomic<bool> stop_jog_loop_requested_;
-
-  // Flag that outgoing commands to the robot should not be published
-  std::atomic<bool> pause_outgoing_jog_cmds_;
-
   // Flag that robot state is up to date, end effector transform is known
   std::atomic<bool> is_initialized_;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
index edaec28a14..a6d35e077a 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
@@ -59,11 +59,8 @@ class JogCppInterface : public JogInterfaceBase
 
   void stopMainLoop();
 
-  /** \brief Pause processing jog commands while keeping the main loop alive */
-  void pause();
-
-  /** \brief Continue processing jog commands */
-  void unpause();
+  /** \brief Pause or unpause processing jog commands while keeping the main loop alive */
+  void setPaused(bool paused);
 
   /** \brief Provide a Cartesian velocity command to the jogger.
    * The units are determined by settings in the yaml file.
@@ -99,8 +96,5 @@ class JogCppInterface : public JogInterfaceBase
 
 private:
   ros::NodeHandle nh_;
-
-  std::atomic<bool> stop_requested_;
-  std::atomic<bool> paused_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index ae4709ee70..0657f13229 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -61,9 +61,6 @@ planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPla
 
 void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
 {
-  // Reset loop termination flag
-  stop_requested_ = false;
-
   // Init collision request
   collision_detection::CollisionRequest collision_request;
   collision_request.group_name = parameters_.move_group_name;
@@ -84,50 +81,48 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   /////////////////////////////////////////////////
   // Spin while checking collisions
   /////////////////////////////////////////////////
-  while (ros::ok() && !stop_requested_)
+  while (ros::ok() && !shared_variables.stop_requested)
   {
-    shared_variables.lock();
-    sensor_msgs::JointState jts = shared_variables.joints;
-    shared_variables.unlock();
-
-    for (std::size_t i = 0; i < jts.position.size(); ++i)
-      current_state.setJointPositions(jts.name[i], &jts.position[i]);
-
-    collision_result.clear();
-    current_state.updateCollisionBodyTransforms();
-
-    // Do a thread-safe distance-based collision detection
-    getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
-
-    // If we're definitely in collision, stop immediately
-    if (collision_result.collision)
-    {
-      velocity_scale = 0;
-    }
-
-    // If we are far from a collision, velocity_scale should be 1.
-    // If we are very close to a collision, velocity_scale should be ~zero.
-    // When collision_proximity_threshold is breached, start decelerating exponentially.
-    else if (collision_result.distance < parameters_.collision_proximity_threshold)
+    if (!shared_variables.paused)
     {
-      // velocity_scale = e ^ k * (collision_result.distance - threshold)
-      // k = - ln(0.001) / collision_proximity_threshold
-      // velocity_scale should equal one when collision_result.distance is at collision_proximity_threshold.
-      // velocity_scale should equal 0.001 when collision_result.distance is at zero.
-      velocity_scale =
-          exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
+      shared_variables.lock();
+      sensor_msgs::JointState jts = shared_variables.joints;
+      shared_variables.unlock();
+
+      for (std::size_t i = 0; i < jts.position.size(); ++i)
+        current_state.setJointPositions(jts.name[i], &jts.position[i]);
+
+      collision_result.clear();
+      current_state.updateCollisionBodyTransforms();
+
+      // Do a thread-safe distance-based collision detection
+      getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
+
+      // If we're definitely in collision, stop immediately
+      if (collision_result.collision)
+      {
+        velocity_scale = 0;
+      }
+
+      // If we are far from a collision, velocity_scale should be 1.
+      // If we are very close to a collision, velocity_scale should be ~zero.
+      // When collision_proximity_threshold is breached, start decelerating exponentially.
+      else if (collision_result.distance < parameters_.collision_proximity_threshold)
+      {
+        // velocity_scale = e ^ k * (collision_result.distance - threshold)
+        // k = - ln(0.001) / collision_proximity_threshold
+        // velocity_scale should equal one when collision_result.distance is at collision_proximity_threshold.
+        // velocity_scale should equal 0.001 when collision_result.distance is at zero.
+        velocity_scale =
+            exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
+      }
+
+      shared_variables.lock();
+      shared_variables.collision_velocity_scale = velocity_scale;
+      shared_variables.unlock();
     }
 
-    shared_variables.lock();
-    shared_variables.collision_velocity_scale = velocity_scale;
-    shared_variables.unlock();
-
     collision_rate.sleep();
   }
 }
-
-void CollisionCheckThread::stopMainLoop()
-{
-  stop_requested_ = true;
-}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 24829c8169..2e29282d9b 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -67,8 +67,6 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
 void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 {
   // Reset flags
-  stop_jog_loop_requested_ = false;
-  pause_outgoing_jog_cmds_ = false;
   is_initialized_ = false;
 
   // Wait for initial messages
@@ -96,7 +94,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   // Initialize the position filters to initial robot joints
   while (!updateJoints(shared_variables) && ros::ok())
   {
-    if (stop_jog_loop_requested_)
+    if (shared_variables.stop_requested)
       return;
 
     shared_variables.lock();
@@ -121,7 +119,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   control_msgs::JointJog joint_deltas;
 
   // Do jogging calcs
-  while (ros::ok() && !stop_jog_loop_requested_)
+  while (ros::ok() && !shared_variables.stop_requested)
   {
     // Always update the joints and end-effector transform for 2 reasons:
     // 1) in case the getCommandFrameTransform() method is being used
@@ -153,7 +151,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 
     // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
     // joints so a jump doesn't occur when restarting
-    if (wait_for_jog_commands || pause_outgoing_jog_cmds_)
+    if (wait_for_jog_commands || shared_variables.paused)
     {
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(internal_joint_state_.position[i]);
@@ -244,21 +242,6 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   }
 }
 
-void JogCalcs::stopMainLoop()
-{
-  stop_jog_loop_requested_ = true;
-}
-
-void JogCalcs::pauseOutgoingJogCmds()
-{
-  pause_outgoing_jog_cmds_ = true;
-}
-
-void JogCalcs::unpauseOutgoingJogCmds()
-{
-  pause_outgoing_jog_cmds_ = false;
-}
-
 bool JogCalcs::isInitialized()
 {
   return is_initialized_;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 2a5214f752..bfa0ea9832 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -60,8 +60,8 @@ JogCppInterface::~JogCppInterface()
 void JogCppInterface::startMainLoop()
 {
   // Reset loop termination flag
-  stop_requested_ = false;
-  paused_ = false;
+  shared_variables_.stop_requested = false;
+  shared_variables_.paused = false;
 
   // Crunch the numbers in this thread
   startJogCalcThread();
@@ -92,11 +92,11 @@ void JogCppInterface::startMainLoop()
 
   ros::Rate main_rate(1. / ros_parameters_.publish_period);
 
-  while (ros::ok() && !stop_requested_)
+  while (ros::ok() && !shared_variables_.stop_requested)
   {
     ros::spinOnce();
 
-    if (!paused_)
+    if (!shared_variables_.paused)
     {
       shared_variables_.lock();
       trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
@@ -154,23 +154,12 @@ void JogCppInterface::startMainLoop()
 
 void JogCppInterface::stopMainLoop()
 {
-  stop_requested_ = true;
+  shared_variables_.stop_requested = true;
 }
 
-void JogCppInterface::pause()
+void JogCppInterface::setPaused(bool paused)
 {
-  if (jog_calcs_)
-    jog_calcs_->pauseOutgoingJogCmds();
-
-  paused_ = true;
-}
-
-void JogCppInterface::unpause()
-{
-  if (jog_calcs_)
-    jog_calcs_->unpauseOutgoingJogCmds();
-
-  paused_ = false;
+  shared_variables_.paused = paused;
 }
 
 void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 1c550b5998..d07b10981a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -237,9 +237,6 @@ bool JogInterfaceBase::startJogCalcThread()
 
 bool JogInterfaceBase::stopJogCalcThread()
 {
-  if (jog_calcs_)
-    jog_calcs_->stopMainLoop();
-
   if (jog_calc_thread_)
   {
     if (jog_calc_thread_->joinable())
@@ -264,9 +261,6 @@ bool JogInterfaceBase::startCollisionCheckThread()
 
 bool JogInterfaceBase::stopCollisionCheckThread()
 {
-  if (collision_checker_)
-    collision_checker_->stopMainLoop();
-
   if (collision_check_thread_)
   {
     if (collision_check_thread_->joinable())
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 00d7fa2760..e2a228212e 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -167,6 +167,8 @@ JogROSInterface::JogROSInterface()
     main_rate.sleep();
   }
 
+  // Stop JogArm threads
+  shared_variables_.stop_requested = true;
   stopJogCalcThread();
   stopCollisionCheckThread();
 }

From d4ade526eb96c3a2a1c6394a7bc65282aa5762d3 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 6 Apr 2020 10:50:12 +0200
Subject: [PATCH 252/612] Fix some clang tidy issues (#2004)

Use default move constructor + assignment operators for MoveItCpp.
---
 moveit_core/collision_detection/src/world.cpp |  8 ++++----
 .../test/pr2_arm_kinematics_plugin.cpp        |  5 +----
 .../planning_scene/src/planning_scene.cpp     | 13 ++++++------
 moveit_core/robot_state/src/conversions.cpp   |  2 +-
 moveit_core/robot_state/src/robot_state.cpp   |  4 ++--
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 11 ++--------
 .../moveit_jog_arm/src/jog_ros_interface.cpp  | 12 ++---------
 .../cached_ik_kinematics_plugin.h             |  2 +-
 .../src/ik_cache.cpp                          |  2 +-
 .../src/moveit_fake_controller_manager.cpp    |  6 +++---
 .../benchmarks/src/BenchmarkExecutor.cpp      | 14 +++++++------
 .../query_planners_service_capability.cpp     |  6 +++---
 .../mesh_filter/src/mesh_filter_base.cpp      |  2 +-
 .../src/planning_pipeline.cpp                 |  2 +-
 .../include/moveit/moveit_cpp/moveit_cpp.h    |  4 ++--
 .../moveit/moveit_cpp/planning_component.h    |  4 ++--
 .../moveit_cpp/src/moveit_cpp.cpp             | 19 ------------------
 .../moveit_cpp/src/planning_component.cpp     | 12 -----------
 .../src/tools/moveit_config_data.cpp          | 20 +++++++++----------
 .../widgets/configuration_files_widget.cpp    | 13 ++++++------
 .../src/widgets/default_collisions_widget.cpp | 10 ++++------
 .../src/widgets/end_effectors_widget.cpp      | 11 +++++-----
 .../src/widgets/passive_joints_widget.cpp     |  2 +-
 .../src/widgets/passive_joints_widget.h       |  2 +-
 .../src/widgets/planning_groups_widget.cpp    | 15 +++++++-------
 .../src/widgets/planning_groups_widget.h      |  6 +++---
 .../src/widgets/robot_poses_widget.cpp        |  7 +++----
 .../src/widgets/ros_controllers_widget.cpp    | 12 +++++------
 .../src/widgets/ros_controllers_widget.h      |  4 ++--
 .../src/widgets/virtual_joints_widget.cpp     | 18 ++++++++---------
 30 files changed, 94 insertions(+), 154 deletions(-)

diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
index f2a404ec8f..8d270b7396 100644
--- a/moveit_core/collision_detection/src/world.cpp
+++ b/moveit_core/collision_detection/src/world.cpp
@@ -146,7 +146,7 @@ bool World::knowsTransform(const std::string& name) const
     return it->second->shape_poses_.size() == 1;
   else  // Then objects' subframes
   {
-    for (const std::pair<std::string, ObjectPtr>& object : objects_)
+    for (const std::pair<const std::string, ObjectPtr>& object : objects_)
     {
       // if "object name/" matches start of object_id, we found the matching object
       if (boost::starts_with(name, object.first) && name[object.first.length()] == '/')
@@ -174,7 +174,7 @@ const Eigen::Isometry3d& World::getTransform(const std::string& name, bool& fram
     return it->second->shape_poses_[0];
   else  // Search within subframes
   {
-    for (const std::pair<std::string, ObjectPtr>& object : objects_)
+    for (const std::pair<const std::string, ObjectPtr>& object : objects_)
     {
       // if "object name/" matches start of object_id, we found the matching object
       if (boost::starts_with(name, object.first) && name[object.first.length()] == '/')
@@ -312,8 +312,8 @@ void World::notifyAll(Action action)
 
 void World::notify(const ObjectConstPtr& obj, Action action)
 {
-  for (std::vector<Observer*>::const_iterator obs = observers_.begin(); obs != observers_.end(); ++obs)
-    (*obs)->callback_(obj, action);
+  for (Observer* observer : observers_)
+    observer->callback_(obj, action);
 }
 
 void World::notifyObserverAllObjects(const ObserverHandle observer_handle, Action action) const
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
index 6d55bbc2b8..097e8b5951 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -92,10 +92,7 @@ PR2ArmIKSolver::PR2ArmIKSolver(const urdf::ModelInterface& robot_model, const st
   search_discretization_angle_ = search_discretization_angle;
   free_angle_ = free_angle;
   root_frame_name_ = root_frame_name;
-  if (!pr2_arm_ik_.init(robot_model, root_frame_name, tip_frame_name))
-    active_ = false;
-  else
-    active_ = true;
+  active_ = pr2_arm_ik_.init(robot_model, root_frame_name, tip_frame_name);
 }
 
 void PR2ArmIKSolver::updateInternalDataStructures()
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index fa65396f97..28f70f32b4 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -423,13 +423,12 @@ void PlanningScene::pushDiffs(const PlanningScenePtr& scene)
     // push colors and types for attached objects
     std::vector<const moveit::core::AttachedBody*> attached_objs;
     robot_state_->getAttachedBodies(attached_objs);
-    for (std::vector<const moveit::core::AttachedBody*>::const_iterator it = attached_objs.begin();
-         it != attached_objs.end(); ++it)
+    for (const moveit::core::AttachedBody* attached_obj : attached_objs)
     {
-      if (hasObjectType((*it)->getName()))
-        scene->setObjectType((*it)->getName(), getObjectType((*it)->getName()));
-      if (hasObjectColor((*it)->getName()))
-        scene->setObjectColor((*it)->getName(), getObjectColor((*it)->getName()));
+      if (hasObjectType(attached_obj->getName()))
+        scene->setObjectType(attached_obj->getName(), getObjectType(attached_obj->getName()));
+      if (hasObjectColor(attached_obj->getName()))
+        scene->setObjectColor(attached_obj->getName(), getObjectColor(attached_obj->getName()));
     }
   }
 
@@ -780,7 +779,7 @@ bool PlanningScene::getCollisionObjectMsg(moveit_msgs::CollisionObject& collisio
     if (hasObjectType(collision_obj.id))
       collision_obj.type = getObjectType(collision_obj.id);
   }
-  for (auto frame_pair : obj->subframe_poses_)
+  for (const auto& frame_pair : obj->subframe_poses_)
   {
     collision_obj.subframe_names.push_back(frame_pair.first);
     geometry_msgs::Pose p;
diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
index 9632e2d857..6bdcea49c3 100644
--- a/moveit_core/robot_state/src/conversions.cpp
+++ b/moveit_core/robot_state/src/conversions.cpp
@@ -218,7 +218,7 @@ static void _attachedBodyToMsg(const AttachedBody& attached_body, moveit_msgs::A
   }
   aco.object.subframe_names.clear();
   aco.object.subframe_poses.clear();
-  for (auto frame_pair : attached_body.getSubframeTransforms())
+  for (const auto& frame_pair : attached_body.getSubframeTransforms())
   {
     aco.object.subframe_names.push_back(frame_pair.first);
     geometry_msgs::Pose pose;
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 0e454a3e90..11e2440759 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1050,7 +1050,7 @@ const Eigen::Isometry3d& RobotState::getFrameInfo(const std::string& frame_id, c
   }
 
   // Check if an AttachedBody has a subframe with name frame_id
-  for (const std::pair<std::string, AttachedBody*>& body : attached_body_map_)
+  for (const std::pair<const std::string, AttachedBody*>& body : attached_body_map_)
   {
     const auto& transform = body.second->getGlobalSubframeTransform(frame_id, &frame_found);
     if (frame_found)
@@ -1079,7 +1079,7 @@ bool RobotState::knowsFrameTransform(const std::string& frame_id) const
     return !it->second->getGlobalCollisionBodyTransforms().empty();
 
   // Check if an AttachedBody has a subframe with name frame_id
-  for (const std::pair<std::string, AttachedBody*>& body : attached_body_map_)
+  for (const std::pair<const std::string, AttachedBody*>& body : attached_body_map_)
   {
     if (body.second->hasSubframeTransform(frame_id))
       return true;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index bfa0ea9832..525232c2bf 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -102,15 +102,8 @@ void JogCppInterface::startMainLoop()
       trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
       // Check if incoming commands are stale
-      if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
-          ros::Duration(ros_parameters_.incoming_command_timeout))
-      {
-        shared_variables_.command_is_stale = false;
-      }
-      else
-      {
-        shared_variables_.command_is_stale = true;
-      }
+      shared_variables_.command_is_stale = (ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) >=
+                                           ros::Duration(ros_parameters_.incoming_command_timeout);
 
       // Publish the most recent trajectory, unless the jogging calculation thread tells not to
       if (shared_variables_.ok_to_publish)
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index e2a228212e..9ead820ca2 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -121,16 +121,8 @@ JogROSInterface::JogROSInterface()
     trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
 
     // Check for stale cmds
-    if ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) <
-        ros::Duration(ros_parameters_.incoming_command_timeout))
-    {
-      // Mark that incoming commands are not stale
-      shared_variables_.command_is_stale = false;
-    }
-    else
-    {
-      shared_variables_.command_is_stale = true;
-    }
+    shared_variables_.command_is_stale = ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) >=
+                                          ros::Duration(ros_parameters_.incoming_command_timeout));
 
     // Publish the most recent trajectory, unless the jogging calculation thread tells not to
     if (shared_variables_.ok_to_publish)
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 69d5a766a8..86687f3164 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -98,7 +98,7 @@ class IKCache
   const IKEntry& getBestApproximateIKSolution(const std::vector<Pose>& poses) const;
   /** initialize cache, read from disk if found */
   void initializeCache(const std::string& robot_id, const std::string& group_name, const std::string& cache_name,
-                       const unsigned int num_joints, Options opts = Options());
+                       const unsigned int num_joints, const Options& opts = Options());
   /**
     insert (pose,config) as an entry if it's different enough from the
     most similar cache entry
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp b/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
index 41c994bbf0..ff9c922934 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
@@ -61,7 +61,7 @@ IKCache::~IKCache()
 }
 
 void IKCache::initializeCache(const std::string& robot_id, const std::string& group_name, const std::string& cache_name,
-                              const unsigned int num_joints, Options opts)
+                              const unsigned int num_joints, const Options& opts)
 {
   // read ROS parameters
   max_cache_size_ = opts.max_cache_size;
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index 0e6f5cae64..d63a47d38f 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -195,10 +195,10 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
     }
 
     // fill the joint state
-    for (JointPoseMap::const_iterator it = joints.begin(), end = joints.end(); it != end; ++it)
+    for (const auto& name_pos_pair : joints)
     {
-      js.name.push_back(it->first);
-      js.position.push_back(it->second);
+      js.name.push_back(name_pos_pair.first);
+      js.position.push_back(name_pos_pair.second);
     }
     return js;
   }
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 51d8cd07e5..3dd68f7b59 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -118,7 +118,7 @@ void BenchmarkExecutor::initialize(const std::vector<std::string>& planning_pipe
   else
   {
     ROS_INFO("Available planning pipelines:");
-    for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& entry : planning_pipelines_)
+    for (const std::pair<const std::string, planning_pipeline::PlanningPipelinePtr>& entry : planning_pipelines_)
       ROS_INFO_STREAM("Pipeline: " << entry.first << ", Planner: " << entry.second->getPlannerPluginName());
   }
 }
@@ -245,7 +245,7 @@ bool BenchmarkExecutor::queriesAndPlannersCompatible(
     const std::vector<BenchmarkRequest>& requests, const std::map<std::string, std::vector<std::string>>& /*planners*/)
 {
   // Make sure that the planner interfaces can service the desired queries
-  for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
+  for (const std::pair<const std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
   {
     for (const BenchmarkRequest& request : requests)
     {
@@ -499,10 +499,11 @@ bool BenchmarkExecutor::plannerConfigurationsExist(
     const std::map<std::string, std::vector<std::string>>& pipeline_configurations, const std::string& group_name)
 {
   // Make sure planner plugins exist
-  for (const std::pair<std::string, std::vector<std::string>>& pipeline_config_entry : pipeline_configurations)
+  for (const std::pair<const std::string, std::vector<std::string>>& pipeline_config_entry : pipeline_configurations)
   {
     bool pipeline_exists = false;
-    for (const std::pair<std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
+    for (const std::pair<const std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry :
+         planning_pipelines_)
     {
       pipeline_exists = pipeline_entry.first == pipeline_config_entry.first;
       if (pipeline_exists)
@@ -517,7 +518,7 @@ bool BenchmarkExecutor::plannerConfigurationsExist(
   }
 
   // Make sure planners exist within those pipelines
-  for (const std::pair<std::string, std::vector<std::string>>& entry : pipeline_configurations)
+  for (const std::pair<const std::string, std::vector<std::string>>& entry : pipeline_configurations)
   {
     planning_interface::PlannerManagerPtr pm = planning_pipelines_[entry.first]->getPlannerManager();
     const planning_interface::PlannerConfigurationMap& config_map = pm->getPlannerConfigurations();
@@ -531,7 +532,8 @@ bool BenchmarkExecutor::plannerConfigurationsExist(
     for (std::size_t i = 0; i < entry.second.size(); ++i)
     {
       bool planner_exists = false;
-      for (const std::pair<std::string, planning_interface::PlannerConfigurationSettings>& config_entry : config_map)
+      for (const std::pair<const std::string, planning_interface::PlannerConfigurationSettings>& config_entry :
+           config_map)
       {
         std::string planner_name = group_name + "[" + entry.second[i] + "]";
         planner_exists = (config_entry.second.group == group_name && config_entry.second.name == planner_name);
diff --git a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
index 806b65d395..c2c92caf51 100644
--- a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
@@ -93,10 +93,10 @@ bool MoveGroupQueryPlannersService::getParams(moveit_msgs::GetPlannerParams::Req
         config.insert(it->second.config.begin(), it->second.config.end());
     }
 
-    for (std::map<std::string, std::string>::const_iterator it = config.begin(), end = config.end(); it != end; ++it)
+    for (const auto& key_value_pair : config)
     {
-      res.params.keys.push_back(it->first);
-      res.params.values.push_back(it->second);
+      res.params.keys.push_back(key_value_pair.first);
+      res.params.values.push_back(key_value_pair.second);
     }
   }
   return true;
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
index b8808d13c7..67a241c77c 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
@@ -324,7 +324,7 @@ void mesh_filter::MeshFilterBase::doFilter(const void* sensor_data, const int en
   glUniform3f(padding_coefficients_id, padding_coefficients[0], padding_coefficients[1], padding_coefficients[2]);
 
   Eigen::Isometry3d transform;
-  for (const std::pair<MeshHandle, GLMeshPtr>& mesh : meshes_)
+  for (const std::pair<const MeshHandle, GLMeshPtr>& mesh : meshes_)
     if (transform_callback_(mesh.first, transform))
       mesh.second->render(transform);
 
diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
index 3188880f46..8f78cbf8b9 100644
--- a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
+++ b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -349,7 +349,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
     bool stacked_constraints = false;
     if (req.path_constraints.position_constraints.size() > 1 || req.path_constraints.orientation_constraints.size() > 1)
       stacked_constraints = true;
-    for (auto constraint : req.goal_constraints)
+    for (const auto& constraint : req.goal_constraints)
     {
       if (constraint.position_constraints.size() > 1 || constraint.orientation_constraints.size() > 1)
         stacked_constraints = true;
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index 72eb43cb2a..2f6e09caad 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -120,8 +120,8 @@ class MoveItCpp
   MoveItCpp(const MoveItCpp&) = delete;
   MoveItCpp& operator=(const MoveItCpp&) = delete;
 
-  MoveItCpp(MoveItCpp&& other);
-  MoveItCpp& operator=(MoveItCpp&& other);
+  MoveItCpp(MoveItCpp&& other) = default;
+  MoveItCpp& operator=(MoveItCpp&& other) = default;
 
   /** \brief Destructor */
   ~MoveItCpp();
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index cc650fbae4..c8bc15c6f3 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -126,8 +126,8 @@ class PlanningComponent
   PlanningComponent(const PlanningComponent&) = delete;
   PlanningComponent& operator=(const PlanningComponent&) = delete;
 
-  PlanningComponent(PlanningComponent&& other);
-  PlanningComponent& operator=(PlanningComponent&& other);
+  PlanningComponent(PlanningComponent&& other) = default;
+  PlanningComponent& operator=(PlanningComponent&& other) = delete;
 
   /** \brief Destructor */
   ~PlanningComponent();
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 941aab5613..7f9b6700dc 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -97,31 +97,12 @@ MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& /*unused*/,
   ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp running");
 }
 
-MoveItCpp::MoveItCpp(MoveItCpp&& other)
-{
-  other.clearContents();
-}
-
 MoveItCpp::~MoveItCpp()
 {
   ROS_INFO_NAMED(LOGNAME, "Deleting MoveItCpp");
   clearContents();
 }
 
-MoveItCpp& MoveItCpp::operator=(MoveItCpp&& other)
-{
-  if (this != &other)
-  {
-    this->node_handle_ = other.node_handle_;
-    this->tf_buffer_ = other.tf_buffer_;
-    this->robot_model_ = other.robot_model_;
-    this->planning_scene_monitor_ = other.planning_scene_monitor_;
-    other.clearContents();
-  }
-
-  return *this;
-}
-
 bool MoveItCpp::loadPlanningSceneMonitor(const PlanningSceneMonitorOptions& options)
 {
   planning_scene_monitor_.reset(
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index 68a60dc2b9..47f3ff56b3 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -94,18 +94,6 @@ PlanningComponent::~PlanningComponent()
   clearContents();
 }
 
-PlanningComponent& PlanningComponent::operator=(PlanningComponent&& other)
-{
-  if (this != &other)
-  {
-    this->considered_start_state_ = other.considered_start_state_;
-    this->workspace_parameters_ = other.workspace_parameters_;
-    this->last_plan_solution_ = other.last_plan_solution_;
-    other.clearContents();
-  }
-  return *this;
-}
-
 const std::vector<std::string> PlanningComponent::getNamedTargetStates()
 {
   if (joint_model_group_)
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index c791a31d8c..48678940ef 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -143,10 +143,9 @@ void MoveItConfigData::loadAllowedCollisionMatrix()
   allowed_collision_matrix_.clear();
 
   // Update the allowed collision matrix, in case there has been a change
-  for (std::vector<srdf::Model::DisabledCollision>::const_iterator pair_it = srdf_->disabled_collisions_.begin();
-       pair_it != srdf_->disabled_collisions_.end(); ++pair_it)
+  for (const auto& disabled_collision : srdf_->disabled_collisions_)
   {
-    allowed_collision_matrix_.setEntry(pair_it->link1_, pair_it->link2_, true);
+    allowed_collision_matrix_.setEntry(disabled_collision.link1_, disabled_collision.link2_, true);
   }
 }
 
@@ -971,23 +970,22 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
     // Writes Follow Joint Trajectory ROS controllers to ros_controller.yaml
     outputFollowJointTrajectoryYAML(emitter, ros_controllers_config_output);
 
-    for (std::vector<ROSControlConfig>::const_iterator controller_it = ros_controllers_config_output.begin();
-         controller_it != ros_controllers_config_output.end(); ++controller_it)
+    for (const auto& controller : ros_controllers_config_output)
     {
-      emitter << YAML::Key << controller_it->name_;
+      emitter << YAML::Key << controller.name_;
       emitter << YAML::Value << YAML::BeginMap;
       emitter << YAML::Key << "type";
-      emitter << YAML::Value << controller_it->type_;
+      emitter << YAML::Value << controller.type_;
 
       // Write joints
       emitter << YAML::Key << "joints";
       {
-        if (controller_it->joints_.size() != 1)
+        if (controller.joints_.size() != 1)
         {
           emitter << YAML::Value << YAML::BeginSeq;
 
           // Iterate through the joints
-          for (const std::string& joint : controller_it->joints_)
+          for (const std::string& joint : controller.joints_)
           {
             emitter << joint;
           }
@@ -996,7 +994,7 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
         else
         {
           emitter << YAML::Value << YAML::BeginMap;
-          emitter << controller_it->joints_[0];
+          emitter << controller.joints_[0];
           emitter << YAML::EndMap;
         }
       }
@@ -1005,7 +1003,7 @@ bool MoveItConfigData::outputROSControllersYAML(const std::string& file_path)
       emitter << YAML::Value << YAML::BeginMap;
       {
         // Iterate through the joints
-        for (const std::string& joint : controller_it->joints_)
+        for (const std::string& joint : controller.joints_)
         {
           emitter << YAML::Key << joint << YAML::Value << YAML::BeginMap;
           emitter << YAML::Key << "p";
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 5356e9801b..f0e6b7e9d9 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -1022,24 +1022,23 @@ const std::string ConfigurationFilesWidget::getPackageName(std::string package_p
 bool ConfigurationFilesWidget::noGroupsEmpty()
 {
   // Loop through all groups
-  for (std::vector<srdf::Model::Group>::const_iterator group_it = config_data_->srdf_->groups_.begin();
-       group_it != config_data_->srdf_->groups_.end(); ++group_it)
+  for (const auto& group : config_data_->srdf_->groups_)
   {
     // Whenever 1 of the 4 component types are found, stop checking this group
-    if (!group_it->joints_.empty())
+    if (!group.joints_.empty())
       continue;
-    if (!group_it->links_.empty())
+    if (!group.links_.empty())
       continue;
-    if (!group_it->chains_.empty())
+    if (!group.chains_.empty())
       continue;
-    if (!group_it->subgroups_.empty())
+    if (!group.subgroups_.empty())
       continue;
 
     // This group has no contents, bad
     QMessageBox::warning(
         this, "Empty Group",
         QString("The planning group '")
-            .append(group_it->name_.c_str())
+            .append(group.name_.c_str())
             .append("' is empty and has no subcomponents associated with it (joints/links/chains/subgroups). You must "
                     "edit or remove this planning group before this configuration package can be saved."));
     return false;
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
index 33240ed4d6..c744036597 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
@@ -709,18 +709,16 @@ void DefaultCollisionsWidget::linkPairsFromSRDF()
   std::pair<std::string, std::string> link_pair;
 
   // Loop through all disabled collisions in SRDF and update the comprehensive list that has already been created
-  for (std::vector<srdf::Model::DisabledCollision>::const_iterator collision_it =
-           config_data_->srdf_->disabled_collisions_.begin();
-       collision_it != config_data_->srdf_->disabled_collisions_.end(); ++collision_it)
+  for (const auto& disabled_collision : config_data_->srdf_->disabled_collisions_)
   {
     // Set the link names
-    link_pair.first = collision_it->link1_;
-    link_pair.second = collision_it->link2_;
+    link_pair.first = disabled_collision.link1_;
+    link_pair.second = disabled_collision.link2_;
     if (link_pair.first >= link_pair.second)
       std::swap(link_pair.first, link_pair.second);
 
     // Set the link meta data
-    link_pair_data.reason = moveit_setup_assistant::disabledReasonFromString(collision_it->reason_);
+    link_pair_data.reason = moveit_setup_assistant::disabledReasonFromString(disabled_collision.reason_);
     link_pair_data.disable_check = true;  // disable checking the collision btw the 2 links
 
     // Insert into map
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index 1ea9a6774c..602469a32c 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -608,17 +608,16 @@ void EndEffectorsWidget::loadDataTable()
 
   // Loop through every end effector
   int row = 0;
-  for (std::vector<srdf::Model::EndEffector>::const_iterator data_it = config_data_->srdf_->end_effectors_.begin();
-       data_it != config_data_->srdf_->end_effectors_.end(); ++data_it)
+  for (const auto& eef : config_data_->srdf_->end_effectors_)
   {
     // Create row elements
-    QTableWidgetItem* data_name = new QTableWidgetItem(data_it->name_.c_str());
+    QTableWidgetItem* data_name = new QTableWidgetItem(eef.name_.c_str());
     data_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* group_name = new QTableWidgetItem(data_it->component_group_.c_str());
+    QTableWidgetItem* group_name = new QTableWidgetItem(eef.component_group_.c_str());
     group_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* parent_name = new QTableWidgetItem(data_it->parent_link_.c_str());
+    QTableWidgetItem* parent_name = new QTableWidgetItem(eef.parent_link_.c_str());
     group_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* parent_group_name = new QTableWidgetItem(data_it->parent_group_.c_str());
+    QTableWidgetItem* parent_group_name = new QTableWidgetItem(eef.parent_group_.c_str());
     parent_group_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
 
     // Add to table
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
index 9048f45f10..f586963da9 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
@@ -126,7 +126,7 @@ void PassiveJointsWidget::selectionUpdated()
 // ******************************************************************************************
 // Called from Double List widget to highlight joints
 // ******************************************************************************************
-void PassiveJointsWidget::previewSelectedJoints(std::vector<std::string> joints)
+void PassiveJointsWidget::previewSelectedJoints(const std::vector<std::string>& joints)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.h b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
index 344b133d3a..3e6b94f439 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
@@ -86,7 +86,7 @@ private Q_SLOTS:
   void selectionUpdated();
 
   /// Called from Double List widget to highlight joints
-  void previewSelectedJoints(std::vector<std::string> joints);
+  void previewSelectedJoints(const std::vector<std::string>& joints);
 
 private:
   // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 2fc01a69be..4379543ac9 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -1103,13 +1103,12 @@ bool PlanningGroupsWidget::saveGroupScreen()
   }
 
   // Check that the group name is unique
-  for (std::vector<srdf::Model::Group>::const_iterator group_it = config_data_->srdf_->groups_.begin();
-       group_it != config_data_->srdf_->groups_.end(); ++group_it)
+  for (const auto& group : config_data_->srdf_->groups_)
   {
-    if (group_it->name_.compare(group_name) == 0)  // the names are the same
+    if (group.name_.compare(group_name) == 0)  // the names are the same
     {
       // is this our existing group? check if group pointers are same
-      if (&(*group_it) != searched_group)
+      if (&group != searched_group)
       {
         QMessageBox::warning(this, "Error Saving", "A group already exists with that name!");
         return false;
@@ -1401,12 +1400,12 @@ void PlanningGroupsWidget::changeScreen(int index)
 // ******************************************************************************************
 // Called from Double List widget to highlight a link
 // ******************************************************************************************
-void PlanningGroupsWidget::previewSelectedLink(std::vector<std::string> links)
+void PlanningGroupsWidget::previewSelectedLink(const std::vector<std::string>& links)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
 
-  for (std::string& link : links)
+  for (const std::string& link : links)
   {
     if (link.empty())
     {
@@ -1421,7 +1420,7 @@ void PlanningGroupsWidget::previewSelectedLink(std::vector<std::string> links)
 // ******************************************************************************************
 // Called from Double List widget to highlight joints
 // ******************************************************************************************
-void PlanningGroupsWidget::previewSelectedJoints(std::vector<std::string> joints)
+void PlanningGroupsWidget::previewSelectedJoints(const std::vector<std::string>& joints)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
@@ -1452,7 +1451,7 @@ void PlanningGroupsWidget::previewSelectedJoints(std::vector<std::string> joints
 // ******************************************************************************************
 // Called from Double List widget to highlight a subgroup
 // ******************************************************************************************
-void PlanningGroupsWidget::previewSelectedSubgroup(std::vector<std::string> groups)
+void PlanningGroupsWidget::previewSelectedSubgroup(const std::vector<std::string>& groups)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.h b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
index 0d40c6cc9e..4c394c23ef 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.h
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
@@ -128,14 +128,14 @@ private Q_SLOTS:
   void alterTree(const QString& link);
 
   /// Called from Double List widget to highlight a link
-  void previewSelectedLink(std::vector<std::string> links);
+  void previewSelectedLink(const std::vector<std::string>& links);
 
   /// Called from Double List widget to highlight a joint
   // void previewClickedJoint( std::string name );
-  void previewSelectedJoints(std::vector<std::string> joints);
+  void previewSelectedJoints(const std::vector<std::string>& joints);
 
   /// Called from Double List widget to highlight a subgroup
-  void previewSelectedSubgroup(std::vector<std::string> groups);
+  void previewSelectedSubgroup(const std::vector<std::string>& groups);
 
 private:
   // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 4f70d8904c..e68b132194 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -739,13 +739,12 @@ void RobotPosesWidget::loadDataTable()
 
   // Loop through every pose
   int row = 0;
-  for (std::vector<srdf::Model::GroupState>::const_iterator data_it = config_data_->srdf_->group_states_.begin();
-       data_it != config_data_->srdf_->group_states_.end(); ++data_it)
+  for (const auto& group_state : config_data_->srdf_->group_states_)
   {
     // Create row elements
-    QTableWidgetItem* data_name = new QTableWidgetItem(data_it->name_.c_str());
+    QTableWidgetItem* data_name = new QTableWidgetItem(group_state.name_.c_str());
     data_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* group_name = new QTableWidgetItem(data_it->group_.c_str());
+    QTableWidgetItem* group_name = new QTableWidgetItem(group_state.group_.c_str());
     group_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
 
     // Add to table
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index aa13f54ab4..ff61771a14 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -466,7 +466,7 @@ void ROSControllersWidget::cancelEditing()
 // ******************************************************************************************
 // Called from Double List widget to highlight joints
 // ******************************************************************************************
-void ROSControllersWidget::previewSelectedJoints(std::vector<std::string> joints)
+void ROSControllersWidget::previewSelectedJoints(const std::vector<std::string>& joints)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
@@ -497,7 +497,7 @@ void ROSControllersWidget::previewSelectedJoints(std::vector<std::string> joints
 // ******************************************************************************************
 // Called from Double List widget to highlight a group
 // ******************************************************************************************
-void ROSControllersWidget::previewSelectedGroup(std::vector<std::string> groups)
+void ROSControllersWidget::previewSelectedGroup(const std::vector<std::string>& groups)
 {
   // Unhighlight all links
   Q_EMIT unhighlightAll();
@@ -671,14 +671,12 @@ bool ROSControllersWidget::saveControllerScreen()
   }
 
   // Check that the controller name is unique
-  for (std::vector<moveit_setup_assistant::ROSControlConfig>::const_iterator controller_it =
-           config_data_->getROSControllers().begin();
-       controller_it != config_data_->getROSControllers().end(); ++controller_it)
+  for (const auto& controller : config_data_->getROSControllers())
   {
-    if (controller_it->name_.compare(controller_name) == 0)  // the names are the same
+    if (controller.name_.compare(controller_name) == 0)  // the names are the same
     {
       // is this our existing controller? check if controller pointers are same
-      if (&(*controller_it) != searched_controller)
+      if (&controller != searched_controller)
       {
         QMessageBox::warning(this, "Error Saving", "A controller already exists with that name!");
         return false;
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
index c1c05e609b..c78e291ceb 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
@@ -107,10 +107,10 @@ private Q_SLOTS:
   void editSelected();
 
   /// Called from Double List widget to highlight a joint
-  void previewSelectedJoints(std::vector<std::string> joints);
+  void previewSelectedJoints(const std::vector<std::string>& joints);
 
   /// Called from Double List widget to highlight a group
-  void previewSelectedGroup(std::vector<std::string> groups);
+  void previewSelectedGroup(const std::vector<std::string>& groups);
 
   /// Called when an item is seleceted from the controllers tree
   void previewSelected(QTreeWidgetItem* selected_item, int column);
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index a988648038..7203ee29fd 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -472,13 +472,12 @@ void VirtualJointsWidget::doneEditing()
   }
 
   // Check that the vjoint name is unique
-  for (std::vector<srdf::Model::VirtualJoint>::const_iterator data_it = config_data_->srdf_->virtual_joints_.begin();
-       data_it != config_data_->srdf_->virtual_joints_.end(); ++data_it)
+  for (const auto& virtual_joint : config_data_->srdf_->virtual_joints_)
   {
-    if (data_it->name_.compare(vjoint_name) == 0)  // the names are the same
+    if (virtual_joint.name_.compare(vjoint_name) == 0)  // the names are the same
     {
       // is this our existing vjoint? check if vjoint pointers are same
-      if (&(*data_it) != searched_data)
+      if (&virtual_joint != searched_data)
       {
         QMessageBox::warning(this, "Error Saving", "A virtual joint already exists with that name!");
         return;
@@ -574,17 +573,16 @@ void VirtualJointsWidget::loadDataTable()
 
   // Loop through every virtual joint
   int row = 0;
-  for (std::vector<srdf::Model::VirtualJoint>::const_iterator data_it = config_data_->srdf_->virtual_joints_.begin();
-       data_it != config_data_->srdf_->virtual_joints_.end(); ++data_it)
+  for (const auto& virtual_joint : config_data_->srdf_->virtual_joints_)
   {
     // Create row elements
-    QTableWidgetItem* data_name = new QTableWidgetItem(data_it->name_.c_str());
+    QTableWidgetItem* data_name = new QTableWidgetItem(virtual_joint.name_.c_str());
     data_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* child_link_name = new QTableWidgetItem(data_it->child_link_.c_str());
+    QTableWidgetItem* child_link_name = new QTableWidgetItem(virtual_joint.child_link_.c_str());
     child_link_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* parent_frame_name = new QTableWidgetItem(data_it->parent_frame_.c_str());
+    QTableWidgetItem* parent_frame_name = new QTableWidgetItem(virtual_joint.parent_frame_.c_str());
     parent_frame_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
-    QTableWidgetItem* type_name = new QTableWidgetItem(data_it->type_.c_str());
+    QTableWidgetItem* type_name = new QTableWidgetItem(virtual_joint.type_.c_str());
     type_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
 
     // Add to table

From 488055efd50d6c49f057719d80d34754861f234d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 6 Apr 2020 10:52:06 +0200
Subject: [PATCH 253/612] Travis: re-enable ros-shadow-fixed (#2003)

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 2fb7ce897f..f7cccd3d92 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -32,7 +32,7 @@ jobs:
       env: TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
-#           ROS_REPO=ros-shadow-fixed
+           ROS_REPO=ros-shadow-fixed
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

From d989220fb9256c9dbebe11d962ad4cd38ba8d0c9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 6 Apr 2020 14:42:30 +0200
Subject: [PATCH 254/612] run shadow-fixed for main branches (#2012)

---
 .travis.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index f7cccd3d92..61cf02f9f9 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -32,7 +32,8 @@ jobs:
       env: TEST=clang-tidy-fix
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
-           ROS_REPO=ros-shadow-fixed
+    - if: branch =~ /^(.*-devel|master)$/
+      env: ROS_REPO=ros-shadow-fixed
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

From 18715e1c21e36f7df6dfae9ac14fe8577381e016 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 8 Apr 2020 10:22:03 -0500
Subject: [PATCH 255/612] [jog_arm] Fix valid command flags (#2013)

* Rename the 'zero command flag' variables for readability
* Reset flags when incoming commands timeout
* Remove debug line, clang format
---
 .../include/moveit_jog_arm/jog_arm_data.h     |  8 +++----
 .../moveit_jog_arm/src/jog_calcs.cpp          | 23 +++++++++++--------
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 20 ++++++++--------
 .../moveit_jog_arm/src/jog_ros_interface.cpp  | 20 ++++++++--------
 4 files changed, 38 insertions(+), 33 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 62f1604aa2..25b3fef816 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -68,11 +68,11 @@ struct JogArmShared : public std::mutex
 
   double collision_velocity_scale = 1;
 
-  // Indicates that an incoming Cartesian command is all zero velocities
-  bool zero_cartesian_cmd_flag = true;
+  // Flag a valid incoming Cartesian command having nonzero velocities
+  bool have_nonzero_cartesian_cmd = false;
 
-  // Indicates that an incoming joint angle command is all zero velocities
-  bool zero_joint_cmd_flag = true;
+  // Flag a valid incoming joint angle command having nonzero velocities
+  bool have_nonzero_joint_cmd = false;
 
   // Indicates that we have not received a new command in some time
   bool command_is_stale = false;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 2e29282d9b..61ca19dc40 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -161,12 +161,12 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
     {
       // Flag that incoming commands are all zero. May be used to skip calculations/publication
       shared_variables.lock();
-      bool zero_cartesian_cmd_flag = shared_variables.zero_cartesian_cmd_flag;
-      bool zero_joint_cmd_flag = shared_variables.zero_joint_cmd_flag;
+      bool have_nonzero_cartesian_cmd = shared_variables.have_nonzero_cartesian_cmd;
+      bool have_nonzero_joint_cmd = shared_variables.have_nonzero_joint_cmd;
       shared_variables.unlock();
 
       // Prioritize cartesian jogging above joint jogging
-      if (!zero_cartesian_cmd_flag)
+      if (have_nonzero_cartesian_cmd)
       {
         shared_variables.lock();
         cartesian_deltas = shared_variables.command_deltas;
@@ -175,7 +175,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
         if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
           continue;
       }
-      else if (!zero_joint_cmd_flag)
+      else if (have_nonzero_joint_cmd)
       {
         shared_variables.lock();
         joint_deltas = shared_variables.joint_command_deltas;
@@ -194,14 +194,19 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
       bool stale_command = shared_variables.command_is_stale;
       shared_variables.unlock();
 
-      if (stale_command || (zero_cartesian_cmd_flag && zero_joint_cmd_flag))
+      if (stale_command || (!have_nonzero_cartesian_cmd && !have_nonzero_joint_cmd))
       {
         suddenHalt(outgoing_command_);
-        zero_cartesian_cmd_flag = true;
-        zero_joint_cmd_flag = true;
+        have_nonzero_cartesian_cmd = false;
+        have_nonzero_joint_cmd = false;
+        // Reset the valid command flag so jogging stops until a new command arrives
+        shared_variables.lock();
+        shared_variables.have_nonzero_cartesian_cmd = false;
+        shared_variables.have_nonzero_joint_cmd = false;
+        shared_variables.unlock();
       }
 
-      bool valid_nonzero_command = !zero_cartesian_cmd_flag || !zero_joint_cmd_flag;
+      bool valid_nonzero_command = have_nonzero_cartesian_cmd || have_nonzero_joint_cmd;
 
       // Send the newest target joints
       shared_variables.lock();
@@ -228,7 +233,7 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
 
       // Store last zero-velocity message flag to prevent superfluous warnings.
       // Cartesian and joint commands must both be zero.
-      if (zero_cartesian_cmd_flag && zero_joint_cmd_flag)
+      if (!have_nonzero_cartesian_cmd && !have_nonzero_joint_cmd)
       {
         // Avoid overflow
         if (zero_velocity_count < std::numeric_limits<int>::max())
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
index 525232c2bf..47e23f5eb0 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
@@ -169,14 +169,14 @@ void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamp
   }
 
   // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
-  shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
-                                              shared_variables_.command_deltas.twist.linear.y == 0.0 &&
-                                              shared_variables_.command_deltas.twist.linear.z == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.x == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.y == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.z == 0.0;
-
-  if (!shared_variables_.zero_cartesian_cmd_flag)
+  shared_variables_.have_nonzero_cartesian_cmd = shared_variables_.command_deltas.twist.linear.x != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.linear.y != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.linear.z != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.x != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.y != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.z != 0.0;
+
+  if (shared_variables_.have_nonzero_cartesian_cmd)
   {
     shared_variables_.latest_nonzero_cmd_stamp = velocity_command.header.stamp;
   }
@@ -194,9 +194,9 @@ void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_co
   {
     all_zeros &= (delta == 0.0);
   };
-  shared_variables_.zero_joint_cmd_flag = all_zeros;
+  shared_variables_.have_nonzero_joint_cmd = !all_zeros;
 
-  if (!shared_variables_.zero_joint_cmd_flag)
+  if (shared_variables_.have_nonzero_joint_cmd)
   {
     shared_variables_.latest_nonzero_cmd_stamp = joint_command.header.stamp;
   }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index 9ead820ca2..d5ab9921ba 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -182,14 +182,14 @@ void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConst
   }
 
   // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
-  shared_variables_.zero_cartesian_cmd_flag = shared_variables_.command_deltas.twist.linear.x == 0.0 &&
-                                              shared_variables_.command_deltas.twist.linear.y == 0.0 &&
-                                              shared_variables_.command_deltas.twist.linear.z == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.x == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.y == 0.0 &&
-                                              shared_variables_.command_deltas.twist.angular.z == 0.0;
-
-  if (!shared_variables_.zero_cartesian_cmd_flag)
+  shared_variables_.have_nonzero_cartesian_cmd = shared_variables_.command_deltas.twist.linear.x != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.linear.y != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.linear.z != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.x != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.y != 0.0 ||
+                                                 shared_variables_.command_deltas.twist.angular.z != 0.0;
+
+  if (shared_variables_.have_nonzero_cartesian_cmd)
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }
@@ -208,9 +208,9 @@ void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
   {
     all_zeros &= (delta == 0.0);
   };
-  shared_variables_.zero_joint_cmd_flag = all_zeros;
+  shared_variables_.have_nonzero_joint_cmd = !all_zeros;
 
-  if (!shared_variables_.zero_joint_cmd_flag)
+  if (shared_variables_.have_nonzero_joint_cmd)
   {
     shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
   }

From 9681f5064178a189e563055ee6d2cd72ac69a067 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 8 Apr 2020 10:07:33 -0600
Subject: [PATCH 256/612] add tests for move_group interface (#1995)

* add tests for move_group tutorials

* easier to reach joint positions for less flaky test

* allow more time for planning

* remove move to start pose

* reduce epsilon to 1e-5
---
 moveit_ros/planning_interface/package.xml     |   1 +
 .../planning_interface/test/CMakeLists.txt    |   3 +
 .../test/move_group_interface_cpp_test.cpp    | 363 ++++++++++++++++++
 .../test/move_group_interface_cpp_test.test   |  29 ++
 4 files changed, 396 insertions(+)
 create mode 100644 moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
 create mode 100644 moveit_ros/planning_interface/test/move_group_interface_cpp_test.test

diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index e6cf739497..5b9a0eef07 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -40,4 +40,5 @@
   <test_depend>moveit_resources</test_depend>
   <test_depend>eigen_conversions</test_depend>
   <test_depend>rostest</test_depend>
+  <test_depend>eigen_conversions</test_depend>
 </package>
diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 3bb83daaa3..7eb6543b1a 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -6,6 +6,9 @@ if (CATKIN_ENABLE_TESTING)
   add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
 
+  add_rostest_gtest(move_group_interface_cpp_test move_group_interface_cpp_test.test move_group_interface_cpp_test.cpp)
+  target_link_libraries(move_group_interface_cpp_test moveit_move_group_interface ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
+
   add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
   target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
 
diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
new file mode 100644
index 0000000000..7298f03d1a
--- /dev/null
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
@@ -0,0 +1,363 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2020, Tyler Weaver
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of PickNik Robotics nor the
+*     names of its contributors may be used to endorse or promote
+*     products derived from this software without specific prior
+*     written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Tyler Weaver */
+
+/* These integration tests are based on the tutorials for using move_group:
+ * https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html
+ */
+
+// C++
+#include <string>
+#include <vector>
+#include <map>
+
+// ROS
+#include <ros/ros.h>
+
+// The Testing Framework and Utils
+#include <gtest/gtest.h>
+
+// MoveIt
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+
+// TF2
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <eigen_conversions/eigen_msg.h>
+
+// 10um acuracy tested for position and orientation
+constexpr double EPSILON = 1e-5;
+
+static const std::string PLANNING_GROUP = "panda_arm";
+constexpr double PLANNING_TIME_S = 30.0;
+constexpr double MAX_VELOCITY_SCALE = 1.0;
+constexpr double MAX_ACCELERATION_SCALE = 1.0;
+constexpr double GOAL_TOLERANCE = 1e-6;
+
+class MoveGroupTestFixture : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    nh_ = ros::NodeHandle("/move_group_interface_cpp_test");
+    move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(PLANNING_GROUP);
+
+    // set velocity and acceleration scaling factors (full speed)
+    move_group_->setMaxVelocityScalingFactor(MAX_VELOCITY_SCALE);
+    move_group_->setMaxAccelerationScalingFactor(MAX_ACCELERATION_SCALE);
+
+    // allow more time for planning
+    move_group_->setPlanningTime(PLANNING_TIME_S);
+
+    // set the tolerance for the goals to be smaller than epsilon
+    move_group_->setGoalTolerance(GOAL_TOLERANCE);
+  }
+
+  void planAndMoveToPose(const geometry_msgs::Pose& pose)
+  {
+    SCOPED_TRACE("planAndMoveToPose");
+    ASSERT_TRUE(move_group_->setJointValueTarget(pose));
+    planAndMove();
+  }
+
+  void planAndMove()
+  {
+    SCOPED_TRACE("planAndMove");
+    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
+    ASSERT_EQ(move_group_->plan(my_plan), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+    ASSERT_EQ(move_group_->move(), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  }
+
+  void testEigenPose(const Eigen::Isometry3d& expected, const Eigen::Isometry3d& actual)
+  {
+    SCOPED_TRACE("testEigenPose");
+    std::stringstream ss;
+    ss << "expected: \n" << expected.matrix() << "\nactual: \n" << actual.matrix();
+    EXPECT_TRUE(actual.isApprox(expected, EPSILON)) << ss.str();
+  }
+
+  void testPose(const Eigen::Isometry3d& expected_pose)
+  {
+    SCOPED_TRACE("testPose(const Eigen::Isometry3d&)");
+    // get the pose of the end effector link after the movement
+    geometry_msgs::PoseStamped actual_pose_stamped = move_group_->getCurrentPose();
+    Eigen::Isometry3d actual_pose;
+    tf::poseMsgToEigen(actual_pose_stamped.pose, actual_pose);
+
+    // compare to planned pose
+    testEigenPose(expected_pose, actual_pose);
+  }
+
+  void testPose(const geometry_msgs::Pose& expected_pose_msg)
+  {
+    SCOPED_TRACE("testPose(const geometry_msgs::Pose&)");
+    Eigen::Isometry3d expected_pose;
+    tf::poseMsgToEigen(expected_pose_msg, expected_pose);
+    testPose(expected_pose);
+  }
+
+  void testJointPositions(const std::vector<double>& expected)
+  {
+    SCOPED_TRACE("testJointPositions");
+    const robot_state::JointModelGroup* joint_model_group =
+        move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP);
+    std::vector<double> actual;
+    move_group_->getCurrentState()->copyJointGroupPositions(joint_model_group, actual);
+    ASSERT_EQ(expected.size(), actual.size());
+    for (size_t i = 0; i < actual.size(); ++i)
+    {
+      double delta = std::abs(expected[i] - actual[i]);
+      EXPECT_LT(delta, EPSILON) << "joint index: " << i << ", plan: " << expected[i] << ", result: " << actual[i];
+    }
+  }
+
+protected:
+  ros::NodeHandle nh_;
+  moveit::planning_interface::MoveGroupInterfacePtr move_group_;
+  moveit::planning_interface::PlanningSceneInterface planning_scene_interface_;
+};
+
+TEST_F(MoveGroupTestFixture, MoveToPoseTest)
+{
+  SCOPED_TRACE("MoveToPoseTest");
+
+  // Test setting target pose with eigen and with geometry_msgs
+  geometry_msgs::Pose target_pose;
+  target_pose.orientation.w = 1.0;
+  target_pose.position.x = 0.28;
+  target_pose.position.y = -0.2;
+  target_pose.position.z = 0.5;
+
+  // convert to eigen
+  Eigen::Isometry3d eigen_target_pose;
+  tf::poseMsgToEigen(target_pose, eigen_target_pose);
+
+  // set with eigen, get ros message representation
+  move_group_->setPoseTarget(eigen_target_pose);
+  geometry_msgs::PoseStamped set_target_pose = move_group_->getPoseTarget();
+  Eigen::Isometry3d eigen_set_target_pose;
+  tf::poseMsgToEigen(set_target_pose.pose, eigen_set_target_pose);
+
+  // expect that they are identical
+  testEigenPose(eigen_target_pose, eigen_set_target_pose);
+
+  // plan and move
+  planAndMove();
+
+  // get the pose after the movement
+  testPose(eigen_target_pose);
+}
+
+TEST_F(MoveGroupTestFixture, JointSpaceGoalTest)
+{
+  SCOPED_TRACE("JointSpaceGoalTest");
+
+  // Next get the current set of joint values for the group.
+  std::vector<double> plan_joint_positions;
+  move_group_->getCurrentState()->copyJointGroupPositions(
+      move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP), plan_joint_positions);
+
+  // Now, let's modify the joint positions.  (radians)
+  ASSERT_EQ(plan_joint_positions.size(), std::size_t(7));
+  plan_joint_positions = { 1.2, -1.0, -0.1, -2.4, 0.0, 1.5, 0.6 };
+  move_group_->setJointValueTarget(plan_joint_positions);
+
+  // plan and move
+  planAndMove();
+
+  // test that we moved to the expected joint positions
+  testJointPositions(plan_joint_positions);
+}
+
+TEST_F(MoveGroupTestFixture, PathConstraintTest)
+{
+  SCOPED_TRACE("PathConstraintTest");
+
+  // set a custom start state
+  geometry_msgs::Pose start_pose;
+  start_pose.orientation.w = 1.0;
+  start_pose.position.x = 0.55;
+  start_pose.position.y = -0.05;
+  start_pose.position.z = 0.8;
+  planAndMoveToPose(start_pose);
+
+  // create an orientation constraint
+  moveit_msgs::OrientationConstraint ocm;
+  ocm.link_name = move_group_->getEndEffectorLink();
+  ocm.header.frame_id = move_group_->getPlanningFrame();
+  ocm.orientation.w = 1.0;
+  ocm.absolute_x_axis_tolerance = 0.1;
+  ocm.absolute_y_axis_tolerance = 0.1;
+  ocm.absolute_z_axis_tolerance = 0.1;
+  ocm.weight = 1.0;
+  moveit_msgs::Constraints test_constraints;
+  test_constraints.orientation_constraints.push_back(ocm);
+  move_group_->setPathConstraints(test_constraints);
+
+  // move to a custom target pose
+  geometry_msgs::Pose target_pose;
+  target_pose.orientation.w = 1.0;
+  target_pose.position.x = 0.28;
+  target_pose.position.y = -0.2;
+  target_pose.position.z = 0.5;
+  planAndMoveToPose(target_pose);
+
+  // clear path constraints
+  move_group_->clearPathConstraints();
+
+  // get the pose after the movement
+  testPose(target_pose);
+}
+
+TEST_F(MoveGroupTestFixture, CartPathTest)
+{
+  SCOPED_TRACE("CartPathTest");
+
+  // set a custom start state
+  geometry_msgs::Pose start_pose;
+  start_pose.orientation.w = 1.0;
+  start_pose.position.x = 0.55;
+  start_pose.position.y = -0.05;
+  start_pose.position.z = 0.8;
+  planAndMoveToPose(start_pose);
+
+  std::vector<geometry_msgs::Pose> waypoints;
+  waypoints.push_back(start_pose);
+
+  geometry_msgs::Pose target_waypoint = start_pose;
+  target_waypoint.position.z -= 0.2;
+  waypoints.push_back(target_waypoint);  // down
+
+  target_waypoint.position.y -= 0.2;
+  waypoints.push_back(target_waypoint);  // right
+
+  target_waypoint.position.z += 0.2;
+  target_waypoint.position.y += 0.2;
+  target_waypoint.position.x -= 0.2;
+  waypoints.push_back(target_waypoint);  // up and left
+
+  moveit_msgs::RobotTrajectory trajectory;
+  const double jump_threshold = 0.0;
+  const double eef_step = 0.01;
+  move_group_->computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
+
+  // Execute trajectory
+  EXPECT_EQ(move_group_->execute(trajectory), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+
+  // get the pose after the movement
+  testPose(target_waypoint);
+}
+
+TEST_F(MoveGroupTestFixture, CollisionObjectsTest)
+{
+  SCOPED_TRACE("CollisionObjectsTest");
+
+  // set a custom start state
+  geometry_msgs::Pose start_pose;
+  start_pose.orientation.w = 1.0;
+  start_pose.position.x = 0.28;
+  start_pose.position.y = -0.2;
+  start_pose.position.z = 0.5;
+  planAndMoveToPose(start_pose);
+
+  // Define a collision object ROS message.
+  moveit_msgs::CollisionObject collision_object;
+  collision_object.header.frame_id = move_group_->getPlanningFrame();
+
+  // The id of the object is used to identify it.
+  collision_object.id = "box1";
+
+  // Define a box to add to the world.
+  shape_msgs::SolidPrimitive primitive;
+  primitive.type = primitive.BOX;
+  primitive.dimensions.resize(3);
+  primitive.dimensions[0] = 0.4;
+  primitive.dimensions[1] = 0.1;
+  primitive.dimensions[2] = 0.1;
+
+  // Define a pose for the box (specified relative to frame_id)
+  geometry_msgs::Pose box_pose;
+  box_pose.orientation.w = 1.0;
+  box_pose.position.x = 0.4;
+  box_pose.position.y = -0.2;
+  box_pose.position.z = 0.8;
+
+  collision_object.primitives.push_back(primitive);
+  collision_object.primitive_poses.push_back(box_pose);
+  collision_object.operation = collision_object.ADD;
+
+  std::vector<moveit_msgs::CollisionObject> collision_objects;
+  collision_objects.push_back(collision_object);
+
+  // Now, let's add the collision object into the world
+  planning_scene_interface_.addCollisionObjects(collision_objects);
+
+  // plan trajectory avoiding object
+  geometry_msgs::Pose target_pose;
+  target_pose.orientation.w = 0.0;
+  target_pose.position.x = 0.4;
+  target_pose.position.y = -0.4;
+  target_pose.position.z = 0.7;
+  planAndMoveToPose(target_pose);
+
+  // get the pose after the movement
+  testPose(target_pose);
+
+  // attach and detach collision object
+  EXPECT_TRUE(move_group_->attachObject(collision_object.id));
+  EXPECT_EQ(planning_scene_interface_.getAttachedObjects().size(), std::size_t(1));
+  EXPECT_TRUE(move_group_->detachObject(collision_object.id));
+  EXPECT_EQ(planning_scene_interface_.getAttachedObjects().size(), std::size_t(0));
+
+  // remove object from world
+  std::vector<std::string> object_ids;
+  object_ids.push_back(collision_object.id);
+  EXPECT_EQ(planning_scene_interface_.getObjects().size(), std::size_t(1));
+  planning_scene_interface_.removeCollisionObjects(object_ids);
+  EXPECT_EQ(planning_scene_interface_.getObjects().size(), std::size_t(0));
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "move_group_interface_cpp_test");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  return result;
+}
diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
new file mode 100644
index 0000000000..af9d7de7c7
--- /dev/null
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
@@ -0,0 +1,29 @@
+<launch>
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Run the main MoveIt executable with fake trajectory execution -->
+  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+  </include>
+
+  <!-- test -->
+  <test pkg="moveit_ros_planning_interface" type="move_group_interface_cpp_test" test-name="move_group_interface_cpp_test"
+        time-limit="120" args=""/>
+</launch>

From 47d3d616bc4f416c55958a57b4c04fbaeb11f4a0 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 10 Apr 2020 11:30:10 -0600
Subject: [PATCH 257/612] add use_rviz to demo.launch in setup_assistant
 (#2019)

---
 .../templates/moveit_config_pkg_template/launch/demo.launch    | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
index 7cb5bebbf7..d7512b437a 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
@@ -20,6 +20,7 @@
   This corresponds to moving around the real robot without the use of MoveIt.
   -->
   <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
   <include file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_context.launch">
@@ -48,7 +49,7 @@
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/moveit_rviz.launch">
+  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/moveit_rviz.launch" if="$(arg use_rviz)">
     <arg name="rviz_config" value="$(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>

From 3be547d1c3a4e2f475b5fb019bae43c05cda07c4 Mon Sep 17 00:00:00 2001
From: John Stechschulte <john.l.stechschulte@gmail.com>
Date: Mon, 13 Apr 2020 09:46:27 -0600
Subject: [PATCH 258/612] [jog_arm] Split collision proximity threshold (#2008)

* separate proximity threshold values for self-collisions and scene collisions
* increase default value of scene collision proximity threshold
* deprecate old parameters
---
 .../src/collision_common.cpp                  | 19 ++++----
 .../config/ur_simulated_config.yaml           |  3 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |  3 +-
 .../src/collision_check_thread.cpp            | 45 ++++++++++++++-----
 .../moveit_jog_arm/src/jog_interface_base.cpp | 39 ++++++++++++++--
 5 files changed, 82 insertions(+), 27 deletions(-)

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index b90d7f0c53..862104d756 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -465,19 +465,16 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
                         cd1->getID().c_str(), cd2->getID().c_str());
     }
   }
-  else
+  else if (cd2->type == BodyTypes::ROBOT_LINK && cd1->type == BodyTypes::ROBOT_ATTACHED)
   {
-    if (cd2->type == BodyTypes::ROBOT_LINK && cd1->type == BodyTypes::ROBOT_ATTACHED)
+    const std::set<std::string>& tl = cd1->ptr.ab->getTouchLinks();
+    if (tl.find(cd2->getID()) != tl.end())
     {
-      const std::set<std::string>& tl = cd1->ptr.ab->getTouchLinks();
-      if (tl.find(cd2->getID()) != tl.end())
-      {
-        always_allow_collision = true;
-        if (cdata->req->verbose)
-          ROS_DEBUG_NAMED("collision_detection.fcl",
-                          "Robot link '%s' is allowed to touch attached object '%s'. No distances are computed.",
-                          cd2->getID().c_str(), cd1->getID().c_str());
-      }
+      always_allow_collision = true;
+      if (cdata->req->verbose)
+        ROS_DEBUG_NAMED("collision_detection.fcl",
+                        "Robot link '%s' is allowed to touch attached object '%s'. No distances are computed.",
+                        cd2->getID().c_str(), cd1->getID().c_str());
     }
   }
 
diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index f978ea5817..8a42b955dd 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -53,4 +53,5 @@ command_out_topic: joint_group_position_controller/command # Publish outgoing co
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
 collision_check_rate: 10 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
+self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.05 # Start decelerating when a scene collision is this far [m]
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 25b3fef816..ec2f69794e 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -121,7 +121,8 @@ struct JogArmParameters
   double joint_scale;
   double lower_singularity_threshold;
   double hard_stop_singularity_threshold;
-  double collision_proximity_threshold;
+  double scene_collision_proximity_threshold;
+  double self_collision_proximity_threshold;
   double low_pass_filter_coeff;
   double publish_period;
   double incoming_command_timeout;
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 0657f13229..e2425be5d6 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -70,14 +70,20 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   // Copy the planning scene's version of current state into new memory
   moveit::core::RobotState current_state(getLockedPlanningSceneRO()->getCurrentState());
 
-  double velocity_scale_coefficient = -log(0.001) / parameters_.collision_proximity_threshold;
+  const double self_velocity_scale_coefficient = -log(0.001) / parameters_.self_collision_proximity_threshold;
+  const double scene_velocity_scale_coefficient = -log(0.001) / parameters_.scene_collision_proximity_threshold;
   ros::Rate collision_rate(parameters_.collision_check_rate);
 
+  double self_collision_distance = 0;
+  double scene_collision_distance = 0;
+  bool collision_detected;
+
   // Scale robot velocity according to collision proximity and user-defined thresholds.
   // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
   // Proximity decreasing --> decelerate
   double velocity_scale = 1;
 
+  collision_detection::AllowedCollisionMatrix acm = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
   /////////////////////////////////////////////////
   // Spin while checking collisions
   /////////////////////////////////////////////////
@@ -92,29 +98,48 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
       for (std::size_t i = 0; i < jts.position.size(); ++i)
         current_state.setJointPositions(jts.name[i], &jts.position[i]);
 
-      collision_result.clear();
       current_state.updateCollisionBodyTransforms();
+      collision_detected = false;
 
       // Do a thread-safe distance-based collision detection
-      getLockedPlanningSceneRO()->checkCollision(collision_request, collision_result, current_state);
+      collision_result.clear();
+      getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request, collision_result,
+                                                                         current_state);
+      scene_collision_distance = collision_result.distance;
+      collision_detected |= collision_result.collision;
+
+      collision_result.clear();
+      getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision(collision_request, collision_result,
+                                                                                current_state, acm);
+      self_collision_distance = collision_result.distance;
+      collision_detected |= collision_result.collision;
 
+      velocity_scale = 1;
       // If we're definitely in collision, stop immediately
-      if (collision_result.collision)
+      if (collision_detected)
       {
         velocity_scale = 0;
       }
 
       // If we are far from a collision, velocity_scale should be 1.
       // If we are very close to a collision, velocity_scale should be ~zero.
-      // When collision_proximity_threshold is breached, start decelerating exponentially.
-      else if (collision_result.distance < parameters_.collision_proximity_threshold)
+      // When scene_collision_proximity_threshold is breached, start decelerating exponentially.
+      if (scene_collision_distance < parameters_.scene_collision_proximity_threshold)
       {
-        // velocity_scale = e ^ k * (collision_result.distance - threshold)
+        // velocity_scale = e ^ k * (collision_distance - threshold)
         // k = - ln(0.001) / collision_proximity_threshold
-        // velocity_scale should equal one when collision_result.distance is at collision_proximity_threshold.
-        // velocity_scale should equal 0.001 when collision_result.distance is at zero.
+        // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
+        // velocity_scale should equal 0.001 when collision_distance is at zero.
+        velocity_scale =
+            std::min(velocity_scale, exp(scene_velocity_scale_coefficient *
+                                         (scene_collision_distance - parameters_.scene_collision_proximity_threshold)));
+      }
+
+      if (self_collision_distance < parameters_.self_collision_proximity_threshold)
+      {
         velocity_scale =
-            exp(velocity_scale_coefficient * (collision_result.distance - parameters_.collision_proximity_threshold));
+            std::min(velocity_scale, exp(self_velocity_scale_coefficient *
+                                         (self_collision_distance - parameters_.self_collision_proximity_threshold)));
       }
 
       shared_variables.lock();
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index d07b10981a..9b318d7b98 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -88,8 +88,28 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                                     ros_parameters_.lower_singularity_threshold);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
                                     ros_parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold",
-                                    ros_parameters_.collision_proximity_threshold);
+  // parameter was removed, replaced with separate self- and scene-collision proximity thresholds; if old parameter
+  // exists, print warning and use old parameter for both new parameter values
+  // TODO(JStech): remove this deprecation warning in ROS Noetic
+  if (!rosparam_shortcuts::get("", n, parameter_ns + "/self_collision_proximity_threshold",
+                               ros_parameters_.self_collision_proximity_threshold) &&
+      !rosparam_shortcuts::get("", n, parameter_ns + "/scene_collision_proximity_threshold",
+                               ros_parameters_.scene_collision_proximity_threshold))
+  {
+    if (rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold",
+                                ros_parameters_.self_collision_proximity_threshold))
+    {
+      ROS_WARN_NAMED(LOGNAME,
+                     "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
+                     "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
+                     "parameters. Please update the jogging yaml file.");
+      ros_parameters_.scene_collision_proximity_threshold = ros_parameters_.self_collision_proximity_threshold;
+    }
+    else
+    {
+      error += 1;
+    }
+  }
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
@@ -143,12 +163,23 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.collision_proximity_threshold < 0.)
+  if (ros_parameters_.self_collision_proximity_threshold < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.scene_collision_proximity_threshold < 0.)
   {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_proximity_threshold' should be "
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'scene_collision_proximity_threshold' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
+  if (ros_parameters_.scene_collision_proximity_threshold < ros_parameters_.self_collision_proximity_threshold)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should probably be less "
+                            "than or equal to 'scene_collision_proximity_threshold'. Check yaml file.");
+  }
   if (ros_parameters_.low_pass_filter_coeff < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'low_pass_filter_coeff' should be "

From 4d3062164bf03ebb74c57d5eba0e3e50438481ba Mon Sep 17 00:00:00 2001
From: John Stechschulte <john@picknik.ai>
Date: Tue, 14 Apr 2020 11:48:49 -0600
Subject: [PATCH 259/612] [jog_arm] Fix param logic bug for self- and
 scene-collision proximity thresholds (#2022)

---
 .../moveit_jog_arm/src/jog_interface_base.cpp | 38 +++++++++++--------
 .../test/config/jog_settings.yaml             |  3 +-
 2 files changed, 24 insertions(+), 17 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 9b318d7b98..49f463002a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -88,28 +88,34 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                                     ros_parameters_.lower_singularity_threshold);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
                                     ros_parameters_.hard_stop_singularity_threshold);
-  // parameter was removed, replaced with separate self- and scene-collision proximity thresholds; if old parameter
-  // exists, print warning and use old parameter for both new parameter values
-  // TODO(JStech): remove this deprecation warning in ROS Noetic
-  if (!rosparam_shortcuts::get("", n, parameter_ns + "/self_collision_proximity_threshold",
-                               ros_parameters_.self_collision_proximity_threshold) &&
-      !rosparam_shortcuts::get("", n, parameter_ns + "/scene_collision_proximity_threshold",
-                               ros_parameters_.scene_collision_proximity_threshold))
+  // parameter was removed, replaced with separate self- and scene-collision proximity thresholds; the logic handling
+  // the different possible sets of defined parameters is somewhat complicated at this point
+  // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
+  bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
+      "", n, parameter_ns + "/self_collision_proximity_threshold", ros_parameters_.self_collision_proximity_threshold);
+  bool have_scene_collision_proximity_threshold =
+      rosparam_shortcuts::get("", n, parameter_ns + "/scene_collision_proximity_threshold",
+                              ros_parameters_.scene_collision_proximity_threshold);
+  double collision_proximity_threshold;
+  if (n.hasParam(parameter_ns + "/collision_proximity_threshold") &&
+      rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
   {
-    if (rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold",
-                                ros_parameters_.self_collision_proximity_threshold))
+    ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
+                            "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
+                            "parameters. Please update the jogging yaml file.");
+    if (!have_self_collision_proximity_threshold)
     {
-      ROS_WARN_NAMED(LOGNAME,
-                     "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
-                     "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
-                     "parameters. Please update the jogging yaml file.");
-      ros_parameters_.scene_collision_proximity_threshold = ros_parameters_.self_collision_proximity_threshold;
+      ros_parameters_.self_collision_proximity_threshold = collision_proximity_threshold;
+      have_self_collision_proximity_threshold = true;
     }
-    else
+    if (!have_scene_collision_proximity_threshold)
     {
-      error += 1;
+      ros_parameters_.scene_collision_proximity_threshold = collision_proximity_threshold;
+      have_scene_collision_proximity_threshold = true;
     }
   }
+  error += !have_self_collision_proximity_threshold;
+  error += !have_scene_collision_proximity_threshold;
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
diff --git a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
index 036126f453..a26f72a2b3 100644
--- a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
@@ -53,4 +53,5 @@ command_out_topic: jog_server/command # Publish outgoing commands here
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
+self_collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
+scene_collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]

From 173d6a6115d194019a3a5ada44e629d6ff5c7351 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 16 Apr 2020 22:38:41 +0200
Subject: [PATCH 260/612] collision world: check for empty shapes vector before
 access (#2026)

---
 moveit_core/collision_detection/src/world.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
index 8d270b7396..fe49764cb7 100644
--- a/moveit_core/collision_detection/src/world.cpp
+++ b/moveit_core/collision_detection/src/world.cpp
@@ -143,7 +143,7 @@ bool World::knowsTransform(const std::string& name) const
   std::map<std::string, ObjectPtr>::const_iterator it = objects_.find(name);
   if (it != objects_.end())
     // only accept object name as frame if it is associated to a unique shape
-    return it->second->shape_poses_.size() == 1;
+    return !it->second->shape_poses_.empty();
   else  // Then objects' subframes
   {
     for (const std::pair<const std::string, ObjectPtr>& object : objects_)
@@ -168,10 +168,15 @@ const Eigen::Isometry3d& World::getTransform(const std::string& name) const
 
 const Eigen::Isometry3d& World::getTransform(const std::string& name, bool& frame_found) const
 {
+  // assume found
   frame_found = true;
+
   std::map<std::string, ObjectPtr>::const_iterator it = objects_.find(name);
   if (it != objects_.end())
-    return it->second->shape_poses_[0];
+  {
+    if (!it->second->shape_poses_.empty())
+      return it->second->shape_poses_[0];
+  }
   else  // Search within subframes
   {
     for (const std::pair<const std::string, ObjectPtr>& object : objects_)
@@ -186,6 +191,7 @@ const Eigen::Isometry3d& World::getTransform(const std::string& name, bool& fram
     }
   }
 
+  // we need a persisting isometry for the API
   static const Eigen::Isometry3d IDENTITY_TRANSFORM = Eigen::Isometry3d::Identity();
   frame_found = false;
   return IDENTITY_TRANSFORM;

From 9a9f77923628ba25d86c9fab56e32c82384ce152 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Sun, 19 Apr 2020 11:13:36 +0200
Subject: [PATCH 261/612] commander: python3 fix (#2030)

---
 moveit_commander/src/moveit_commander/interpreter.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_commander/src/moveit_commander/interpreter.py b/moveit_commander/src/moveit_commander/interpreter.py
index c9088de375..cd4777e626 100644
--- a/moveit_commander/src/moveit_commander/interpreter.py
+++ b/moveit_commander/src/moveit_commander/interpreter.py
@@ -587,7 +587,7 @@ def get_keywords(self):
             known_vars = self.get_active_group().get_remembered_joint_values().keys()
             known_constr = self.get_active_group().get_known_constraints()
         groups = self._robot.get_group_names()
-        return {'go':['up', 'down', 'left', 'right', 'backward', 'forward', 'random'] + known_vars,
+        return {'go':['up', 'down', 'left', 'right', 'backward', 'forward', 'random'] + list(known_vars),
                 'help':[],
                 'record':known_vars,
                 'show':known_vars,

From 2a98624b26f7ad0be42c272e0787e538436bfedb Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Thu, 23 Apr 2020 13:08:15 +0200
Subject: [PATCH 262/612] Assistant: load additional file with kinematics
 parameters (#1997)

add extra field kinematics_parameters_file

add kinematics parameters files in launchfiles

read in kinematics_parameter_files from planning_context.launch

add button and file dialog to select file

resolve choosen file to relative file

move template cache invalidation to beginning of export
- cache has to be cleaned before *each* export, not just the first
  Otherwise changes will not be included in the second run

stop loading kinematic parameters in run_benchmark_ompl.launch
- It's redundant there

Remove support for manifest.xml
- obsolete since ... indigo?
---
 .../tools/moveit_config_data.h                | 18 +++++
 .../src/tools/moveit_config_data.cpp          | 80 +++++++++++++++++++
 .../widgets/configuration_files_widget.cpp    | 21 +++++
 .../src/widgets/group_edit_widget.cpp         | 40 ++++++++++
 .../src/widgets/group_edit_widget.h           |  4 +
 .../src/widgets/planning_groups_widget.cpp    |  3 +
 .../src/widgets/start_screen_widget.cpp       | 71 +++-------------
 .../launch/moveit_rviz.launch                 |  1 -
 .../launch/planning_context.launch            |  1 +
 .../launch/run_benchmark_ompl.launch          |  1 -
 10 files changed, 178 insertions(+), 62 deletions(-)

diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index c9bbedb26c..d649cb6ad5 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -69,6 +69,7 @@ struct GroupMetaData
   std::string kinematics_solver_;               // Name of kinematics plugin to use
   double kinematics_solver_search_resolution_;  // resolution to use with solver
   double kinematics_solver_timeout_;            // solver timeout
+  std::string kinematics_parameters_file_;      // file for additional kinematics parameters
   std::string default_planner_;                 // Name of the default planner to use
 };
 
@@ -362,6 +363,13 @@ class MoveItConfigData
    */
   bool inputKinematicsYAML(const std::string& file_path);
 
+  /**
+   * Input planning_context.launch for editing its values
+   * @param file_path path to planning_context.launch in the input package
+   * @return true if the file was read correctly
+   */
+  bool inputPlanningContextLaunch(const std::string& file_path);
+
   /**
    * Helper function for parsing ros_controllers.yaml file
    * @param YAML::Node - individual controller to be parsed
@@ -396,6 +404,16 @@ class MoveItConfigData
    */
   bool setPackagePath(const std::string& pkg_path);
 
+  /**
+   * determine the package name containing a given file path
+   * @param path to a file
+   * @param package_name holds the ros package name if found
+   * @param relative_filepath holds the relative path of the file to the package root
+   * @return whether the file belongs to a known package
+   */
+  bool extractPackageNameFromPath(const std::string& path, std::string& package_name,
+                                  std::string& relative_filepath) const;
+
   /**
    * Resolve path to .setup_assistant file
    * @param path resolved path
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 48678940ef..462b07b951 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -1360,6 +1360,46 @@ bool MoveItConfigData::inputKinematicsYAML(const std::string& file_path)
   return true;  // file created successfully
 }
 
+// ******************************************************************************************
+// Input planning_context.launch file
+// ******************************************************************************************
+bool MoveItConfigData::inputPlanningContextLaunch(const std::string& file_path)
+{
+  TiXmlDocument launch_document(file_path);
+  if (!launch_document.LoadFile())
+  {
+    ROS_ERROR_STREAM("Failed parsing " << file_path);
+    return false;
+  }
+
+  // find the kinematics section
+  TiXmlHandle doc(&launch_document);
+  TiXmlElement* kinematics_group = doc.FirstChild("launch").FirstChild("group").ToElement();
+  while (kinematics_group && kinematics_group->Attribute("ns") != std::string("$(arg robot_description)_kinematics"))
+  {
+    kinematics_group = kinematics_group->NextSiblingElement("group");
+  }
+  if (!kinematics_group)
+  {
+    ROS_ERROR("<group ns=\"$(arg robot_description)_kinematics\"> not found");
+    return false;
+  }
+
+  // iterate over all <rosparam namespace="group" file="..."/> elements
+  // and if 'group' matches an existing group, copy the filename
+  for (TiXmlElement* kinematics_parameter_file = kinematics_group->FirstChildElement("rosparam");
+       kinematics_parameter_file; kinematics_parameter_file = kinematics_parameter_file->NextSiblingElement("rosparam"))
+  {
+    const char* ns = kinematics_parameter_file->Attribute("ns");
+    if (ns && (group_meta_data_.find(ns) != group_meta_data_.end()))
+    {
+      group_meta_data_[ns].kinematics_parameters_file_ = kinematics_parameter_file->Attribute("file");
+    }
+  }
+
+  return true;
+}
+
 // ******************************************************************************************
 // Helper function for parsing an individual ROSController from ros_controllers yaml file
 // ******************************************************************************************
@@ -1550,6 +1590,46 @@ bool MoveItConfigData::setPackagePath(const std::string& pkg_path)
   return true;
 }
 
+// ******************************************************************************************
+// Extract the package/stack name from an absolute file path
+// Input:  path
+// Output: package name and relative path
+// ******************************************************************************************
+bool MoveItConfigData::extractPackageNameFromPath(const std::string& path, std::string& package_name,
+                                                  std::string& relative_filepath) const
+{
+  fs::path sub_path = path;  // holds the directory less one folder
+  fs::path relative_path;    // holds the path after the sub_path
+
+  bool package_found = false;
+
+  // truncate path step by step and check if it contains a package.xml
+  while (!sub_path.empty())
+  {
+    ROS_DEBUG_STREAM("checking in " << sub_path.make_preferred().string());
+    if (fs::is_regular_file(sub_path / "package.xml"))
+    {
+      ROS_DEBUG_STREAM("Found package.xml in " << sub_path.make_preferred().string());
+      package_found = true;
+      relative_filepath = relative_path.string();
+      package_name = sub_path.leaf().string();
+      break;
+    }
+    relative_path = sub_path.leaf() / relative_path;
+    sub_path.remove_leaf();
+  }
+
+  // Assign data to moveit_config_data
+  if (!package_found)
+  {
+    // No package name found, we must be outside ROS
+    return false;
+  }
+
+  ROS_DEBUG_STREAM("Package name for file \"" << path << "\" is \"" << package_name << "\"");
+  return true;
+}
+
 // ******************************************************************************************
 // Resolve path to .setup_assistant file
 // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index f0e6b7e9d9..fbb737ecd7 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -962,6 +962,9 @@ bool ConfigurationFilesWidget::generatePackage()
     absolute_path = config_data_->appendPaths(new_package_path, file->rel_path_);
     ROS_DEBUG_STREAM("Creating file " << absolute_path);
 
+    // Clear template strings in case export is run multiple times with changes in between
+    template_strings_.clear();
+
     // Run the generate function
     if (!file->gen_func_(absolute_path))
     {
@@ -1118,6 +1121,24 @@ void ConfigurationFilesWidget::loadTemplateStrings()
     addTemplateString("[ROS_CONTROLLERS]", controllers.str());
   }
 
+  // Pair 10 - Add parameter files for the kinematics solvers that should be loaded
+  // in addition to kinematics.yaml by planning_context.launch
+  std::string kinematics_parameters_files_block;
+  for (const auto& groups : config_data_->group_meta_data_)
+  {
+    if (groups.second.kinematics_parameters_file_.empty())
+      continue;
+
+    // add a linebreak if we have more than one entry
+    if (!kinematics_parameters_files_block.empty())
+      kinematics_parameters_files_block += "\n";
+
+    std::string line = "    <rosparam command=\"load\" ns=\"" + groups.first + "\" file=\"" +
+                       groups.second.kinematics_parameters_file_ + "\"/>";
+    kinematics_parameters_files_block += line;
+  }
+  addTemplateString("[KINEMATICS_PARAMETERS_FILE_NAMES_BLOCK]", kinematics_parameters_files_block);
+
   addTemplateString("[AUTHOR_NAME]", config_data_->author_name_);
   addTemplateString("[AUTHOR_EMAIL]", config_data_->author_email_);
 }
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index ed1643ea86..f857926413 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -37,6 +37,7 @@
 #include <QVBoxLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
+#include <QFileDialog>
 #include <QFormLayout>
 #include <QString>
 #include <QGroupBox>
@@ -88,6 +89,20 @@ GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& con
   kinematics_timeout_field_->setMaximumWidth(400);
   form_layout->addRow("Kin. Search Timeout (sec):", kinematics_timeout_field_);
 
+  // file to load additional parameters from
+  kinematics_parameters_file_field_ = new QLineEdit(this);
+  kinematics_parameters_file_field_->setMaximumWidth(400);
+  QPushButton* kinematics_parameters_file_button = new QPushButton("...", this);
+  kinematics_parameters_file_button->setMaximumWidth(50);
+  connect(kinematics_parameters_file_button, SIGNAL(clicked()), this, SLOT(selectKinematicsFile()));
+  QBoxLayout* kinematics_parameters_file_layout = new QHBoxLayout(this);
+  kinematics_parameters_file_layout->addWidget(kinematics_parameters_file_field_);
+  kinematics_parameters_file_layout->addWidget(kinematics_parameters_file_button);
+  kinematics_parameters_file_layout->setContentsMargins(0, 0, 0, 0);
+  QWidget* container = new QWidget(this);
+  container->setLayout(kinematics_parameters_file_layout);
+  form_layout->addRow("Kin. parameters file:", container);
+
   group1->setLayout(form_layout);
 
   // OMPL Planner form --------------------------------------------
@@ -258,6 +273,9 @@ void GroupEditWidget::setSelected(const std::string& group_name)
     kinematics_solver_field_->setCurrentIndex(index);
   }
 
+  kinematics_parameters_file_field_->setText(
+      config_data_->group_meta_data_[group_name].kinematics_parameters_file_.c_str());
+
   // Set default planner
   std::string default_planner = config_data_->group_meta_data_[group_name].default_planner_;
 
@@ -338,4 +356,26 @@ void GroupEditWidget::loadKinematicPlannersComboBox()
   }
 }
 
+void GroupEditWidget::selectKinematicsFile()
+{
+  QString filename = QFileDialog::getOpenFileName(this, "Select a parameter file", "", "YAML files (*.yaml)");
+
+  if (filename.isEmpty())
+  {
+    return;
+  }
+
+  std::string package_name;
+  std::string relative_filename;
+  bool package_found =
+      config_data_->extractPackageNameFromPath(filename.toStdString(), package_name, relative_filename);
+
+  QString lookup_path = filename;
+  if (package_found)
+  {
+    lookup_path = QString("$(find %1)/%2").arg(package_name.c_str()).arg(relative_filename.c_str());
+  }
+  kinematics_parameters_file_field_->setText(lookup_path);
+}
+
 }  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.h b/moveit_setup_assistant/src/widgets/group_edit_widget.h
index 60a6a67b6e..bf62ee77fb 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.h
@@ -75,6 +75,7 @@ class GroupEditWidget : public QWidget
   QComboBox* kinematics_solver_field_;
   QLineEdit* kinematics_resolution_field_;
   QLineEdit* kinematics_timeout_field_;
+  QLineEdit* kinematics_parameters_file_field_;
   QComboBox* default_planner_field_;
   QPushButton* btn_delete_;      // this button is hidden for new groups
   QPushButton* btn_save_;        // this button is hidden for new groups
@@ -86,6 +87,9 @@ private Q_SLOTS:
   // Slot Event Functions
   // ******************************************************************************************
 
+  /// Shows a file dialog to select an additional parameter file for kinematics
+  void selectKinematicsFile();
+
 Q_SIGNALS:
 
   // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 4379543ac9..e3da0c9ec4 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -1084,6 +1084,8 @@ bool PlanningGroupsWidget::saveGroupScreen()
   const std::string& default_planner = group_edit_widget_->default_planner_field_->currentText().toStdString();
   const std::string& kinematics_resolution = group_edit_widget_->kinematics_resolution_field_->text().toStdString();
   const std::string& kinematics_timeout = group_edit_widget_->kinematics_timeout_field_->text().toStdString();
+  const std::string& kinematics_parameters_file =
+      group_edit_widget_->kinematics_parameters_file_field_->text().toStdString();
 
   // Used for editing existing groups
   srdf::Model::Group* searched_group = nullptr;
@@ -1234,6 +1236,7 @@ bool PlanningGroupsWidget::saveGroupScreen()
   config_data_->group_meta_data_[group_name].kinematics_solver_ = kinematics_solver;
   config_data_->group_meta_data_[group_name].kinematics_solver_search_resolution_ = kinematics_resolution_double;
   config_data_->group_meta_data_[group_name].kinematics_solver_timeout_ = kinematics_timeout_double;
+  config_data_->group_meta_data_[group_name].kinematics_parameters_file_ = kinematics_parameters_file;
   config_data_->group_meta_data_[group_name].default_planner_ = default_planner;
   config_data_->changes |= MoveItConfigData::GROUP_KINEMATICS;
 
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 5c22805d09..6910917c35 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -416,6 +416,12 @@ bool StartScreenWidget::loadExistingFiles()
                                  "at location ")
                              .append(kinematics_yaml_path.make_preferred().string().c_str()));
   }
+  else
+  {
+    fs::path planning_context_launch_path = config_data_->config_pkg_path_;
+    planning_context_launch_path /= "launch/planning_context.launch";
+    config_data_->inputPlanningContextLaunch(planning_context_launch_path.make_preferred().string());
+  }
 
   // Load 3d_sensors config file
   load3DSensorsFile();
@@ -636,65 +642,10 @@ bool StartScreenWidget::setSRDFFile(const std::string& srdf_string)
 // ******************************************************************************************
 bool StartScreenWidget::extractPackageNameFromPath()
 {
-  // Get the path to urdf, save filename
-  fs::path urdf_path = config_data_->urdf_path_;
-  fs::path urdf_directory = urdf_path;
-  urdf_directory.remove_filename();
-
-  fs::path sub_path;         // holds the directory less one folder
-  fs::path relative_path;    // holds the path after the sub_path
-  std::string package_name;  // result
-
-  // Paths for testing if files exist
-  fs::path package_path;
-
-  std::vector<std::string> path_parts;  // holds each folder name in vector
-
-  // Copy path into vector of parts
-  for (fs::path::iterator it = urdf_directory.begin(); it != urdf_directory.end(); ++it)
-    path_parts.push_back(it->string());
-
-  bool package_found = false;
-
-  // reduce the generated directoy path's folder count by 1 each loop
-  for (int segment_length = path_parts.size(); segment_length > 0; --segment_length)
-  {
-    // Reset the sub_path
-    sub_path.clear();
+  std::string relative_path;  // holds the path after the sub_path
+  std::string package_name;   // result
 
-    // Create a subpath based on the outer loops length
-    for (int segment_count = 0; segment_count < segment_length; ++segment_count)
-    {
-      sub_path /= path_parts[segment_count];
-
-      // decide if we should remember this directory name because it is topmost, in case it is the package/stack name
-      if (segment_count == segment_length - 1)
-      {
-        package_name = path_parts[segment_count];
-      }
-    }
-
-    // check if this directory has a package.xml
-    package_path = sub_path;
-    package_path /= "package.xml";
-    ROS_DEBUG_STREAM("Checking for " << package_path.make_preferred().string());
-
-    // Check if the files exist
-    if (fs::is_regular_file(package_path) || fs::is_regular_file(sub_path / "manifest.xml"))
-    {
-      // now generate the relative path
-      for (std::size_t relative_count = segment_length; relative_count < path_parts.size(); ++relative_count)
-        relative_path /= path_parts[relative_count];
-
-      // add the URDF filename at end of relative path
-      relative_path /= urdf_path.filename();
-
-      // end the search
-      segment_length = 0;
-      package_found = true;
-      break;
-    }
-  }
+  bool package_found = config_data_->extractPackageNameFromPath(config_data_->urdf_path_, package_name, relative_path);
 
   // Assign data to moveit_config_data
   if (!package_found)
@@ -706,7 +657,7 @@ bool StartScreenWidget::extractPackageNameFromPath()
   else
   {
     // Check that ROS can find the package
-    const std::string robot_desc_pkg_path = ros::package::getPath(config_data_->urdf_pkg_name_) + "/";
+    const std::string robot_desc_pkg_path = ros::package::getPath(package_name);
 
     if (robot_desc_pkg_path.empty())
     {
@@ -718,7 +669,7 @@ bool StartScreenWidget::extractPackageNameFromPath()
 
     // Success
     config_data_->urdf_pkg_name_ = package_name;
-    config_data_->urdf_pkg_relative_path_ = relative_path.make_preferred().string();
+    config_data_->urdf_pkg_relative_path_ = relative_path;
   }
 
   ROS_DEBUG_STREAM("URDF Package Name: " << config_data_->urdf_pkg_name_);
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
index 89078f2bc3..615b2f12a5 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
@@ -10,7 +10,6 @@
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">
-    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/kinematics.yaml"/>
   </node>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
index c2f9b0b613..54efbec4e7 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
@@ -19,6 +19,7 @@
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
     <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/kinematics.yaml"/>
+[KINEMATICS_PARAMETERS_FILE_NAMES_BLOCK]
   </group>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
index f66253f1f3..f35d05fe05 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
@@ -15,7 +15,6 @@
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/kinematics.yaml"/>
     <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/ompl_planning.yaml"/>
   </node>
 

From ad88e18ae604e0533456c89eb0c6694bb0b63081 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 24 Apr 2020 06:11:56 -0500
Subject: [PATCH 263/612] [jog_arm] Keep updating joints, even while waiting
 for a valid command (#2027)

* Keep updating joints, even while waiting for a valid command

This prevents a potential jump in joint angles when jogging resumes

* Simplify some logic, add a flowchart pdf

* Delete pdf, clean up !stale_command usage
---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 76 +++++++++----------
 1 file changed, 37 insertions(+), 39 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 61ca19dc40..3d95fa2f1d 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -139,63 +139,63 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
     shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
     shared_variables.unlock();
 
-    //  Check for an initial jog command
-    if (wait_for_jog_commands)
-    {
-      shared_variables.lock();
-      // Check if there are any commands with valid timestamp
-      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.) &&
-                              shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
-      shared_variables.unlock();
-    }
-
     // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
     // joints so a jump doesn't occur when restarting
     if (wait_for_jog_commands || shared_variables.paused)
     {
       for (std::size_t i = 0; i < num_joints_; ++i)
-        position_filters_[i].reset(internal_joint_state_.position[i]);
+        position_filters_[i].reset(original_joint_state_.position[i]);
+
+      shared_variables.lock();
+      // Check if there are any new commands with valid timestamp
+      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.) &&
+                              shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
+      shared_variables.unlock();
     }
+    // If not waiting for initial command, and not paused.
     // Do jogging calculations only if the robot should move, for efficiency
     else
     {
-      // Flag that incoming commands are all zero. May be used to skip calculations/publication
+      // Halt if the command is stale or inputs are all zero, or commands were zero
       shared_variables.lock();
       bool have_nonzero_cartesian_cmd = shared_variables.have_nonzero_cartesian_cmd;
       bool have_nonzero_joint_cmd = shared_variables.have_nonzero_joint_cmd;
+      bool stale_command = shared_variables.command_is_stale;
       shared_variables.unlock();
 
-      // Prioritize cartesian jogging above joint jogging
-      if (have_nonzero_cartesian_cmd)
+      bool valid_nonzero_command = false;
+      if (!stale_command)
       {
-        shared_variables.lock();
-        cartesian_deltas = shared_variables.command_deltas;
-        shared_variables.unlock();
+        // Prioritize cartesian jogging above joint jogging
+        if (have_nonzero_cartesian_cmd)
+        {
+          shared_variables.lock();
+          cartesian_deltas = shared_variables.command_deltas;
+          shared_variables.unlock();
 
-        if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
-          continue;
-      }
-      else if (have_nonzero_joint_cmd)
-      {
-        shared_variables.lock();
-        joint_deltas = shared_variables.joint_command_deltas;
-        shared_variables.unlock();
+          if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
+            continue;
+        }
+        else if (have_nonzero_joint_cmd)
+        {
+          shared_variables.lock();
+          joint_deltas = shared_variables.joint_command_deltas;
+          shared_variables.unlock();
 
-        if (!jointJogCalcs(joint_deltas, shared_variables))
-          continue;
-      }
-      else
-      {
-        outgoing_command_ = composeJointTrajMessage(internal_joint_state_);
-      }
+          if (!jointJogCalcs(joint_deltas, shared_variables))
+            continue;
+        }
 
-      // Halt if the command is stale or inputs are all zero, or commands were zero
-      shared_variables.lock();
-      bool stale_command = shared_variables.command_is_stale;
-      shared_variables.unlock();
+        valid_nonzero_command = have_nonzero_cartesian_cmd || have_nonzero_joint_cmd;
+      }
 
-      if (stale_command || (!have_nonzero_cartesian_cmd && !have_nonzero_joint_cmd))
+      // If we should halt
+      if (!valid_nonzero_command)
       {
+        // Keep the joint position filters up-to-date with current joints
+        for (std::size_t i = 0; i < num_joints_; ++i)
+          position_filters_[i].reset(original_joint_state_.position[i]);
+
         suddenHalt(outgoing_command_);
         have_nonzero_cartesian_cmd = false;
         have_nonzero_joint_cmd = false;
@@ -206,8 +206,6 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
         shared_variables.unlock();
       }
 
-      bool valid_nonzero_command = have_nonzero_cartesian_cmd || have_nonzero_joint_cmd;
-
       // Send the newest target joints
       shared_variables.lock();
       // If everything normal, share the new traj to be published

From 50b401960adcd4aef438882ed5e6331d618ff896 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Sun, 22 Mar 2020 04:14:00 +0100
Subject: [PATCH 264/612] Improve performance by calling
 Eigen::Transform::linear() instead of Eigen::Transform::rotation().

---
 .../collision_common.h                        |  2 +-
 .../src/default_constraint_samplers.cpp       | 12 +++----
 .../distance_field/src/distance_field.cpp     |  8 ++---
 .../dynamics_solver/src/dynamics_solver.cpp   |  2 +-
 .../src/kinematic_constraint.cpp              | 27 ++++++++--------
 .../kinematic_constraints/src/utils.cpp       |  2 +-
 .../planning_scene/src/planning_scene.cpp     |  2 +-
 moveit_core/robot_model/src/aabb.cpp          |  2 +-
 .../robot_model/src/floating_joint_model.cpp  |  2 +-
 moveit_core/robot_model/src/link_model.cpp    |  4 +--
 .../robot_model/src/planar_joint_model.cpp    |  2 +-
 .../robot_model/src/revolute_joint_model.cpp  |  2 +-
 .../src/cartesian_interpolator.cpp            |  6 ++--
 moveit_core/robot_state/src/robot_state.cpp   | 10 +++---
 .../robot_state/test/robot_state_test.cpp     | 32 +++++++++----------
 moveit_core/robot_state/test/test_aabb.cpp    |  4 +--
 .../include/moveit/transforms/transforms.h    |  6 ++--
 .../src/approach_and_translate_stage.cpp      |  4 +--
 ...inematics_speed_and_validity_evaluator.cpp |  2 +-
 .../src/trajectory_execution_manager.cpp      |  2 +-
 .../src/wrap_python_robot_interface.cpp       |  2 +-
 .../src/motion_planning_frame_objects.cpp     |  4 +--
 .../src/planning_link_updater.cpp             |  2 +-
 .../src/render_shapes.cpp                     |  2 +-
 24 files changed, 71 insertions(+), 72 deletions(-)

diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 66beae404d..7922a7bbdb 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -319,7 +319,7 @@ inline void transform2fcl(const Eigen::Isometry3d& b, fcl::Transform3d& f)
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
   f = b.matrix();
 #else
-  Eigen::Quaterniond q(b.rotation());
+  Eigen::Quaterniond q(b.linear());
   f.setTranslation(fcl::Vector3d(b.translation().x(), b.translation().y(), b.translation().z()));
   f.setQuatRotation(fcl::Quaternion3f(q.w(), q.x(), q.y(), q.z()));
 #endif
diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
index c8dbb1f45e..4f78d7edd8 100644
--- a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
+++ b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -479,16 +479,16 @@ bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& q
     Eigen::Isometry3d diff(Eigen::AngleAxisd(angle_x, Eigen::Vector3d::UnitX()) *
                            Eigen::AngleAxisd(angle_y, Eigen::Vector3d::UnitY()) *
                            Eigen::AngleAxisd(angle_z, Eigen::Vector3d::UnitZ()));
-    Eigen::Isometry3d reqr(sampling_pose_.orientation_constraint_->getDesiredRotationMatrix() * diff.rotation());
-    quat = Eigen::Quaterniond(reqr.rotation());
+    Eigen::Isometry3d reqr(sampling_pose_.orientation_constraint_->getDesiredRotationMatrix() * diff.linear());
+    quat = Eigen::Quaterniond(reqr.linear());
 
     // if this constraint is with respect a mobile frame, we need to convert this rotation to the root frame of the
     // model
     if (sampling_pose_.orientation_constraint_->mobileReferenceFrame())
     {
       const Eigen::Isometry3d& t = ks.getFrameTransform(sampling_pose_.orientation_constraint_->getReferenceFrame());
-      Eigen::Isometry3d rt(t.rotation() * quat);
-      quat = Eigen::Quaterniond(rt.rotation());
+      Eigen::Isometry3d rt(t.linear() * quat);
+      quat = Eigen::Quaterniond(rt.linear());
     }
   }
   else
@@ -565,7 +565,7 @@ bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const mo
       Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);
       ikq = reference_state.getFrameTransform(ik_frame_).inverse() * ikq;
       point = ikq.translation();
-      quat = Eigen::Quaterniond(ikq.rotation());
+      quat = Eigen::Quaterniond(ikq.linear());
     }
 
     if (need_eef_to_ik_tip_transform_)
@@ -574,7 +574,7 @@ bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const mo
       Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);
       ikq = ikq * eef_to_ik_tip_transform_;
       point = ikq.translation();
-      quat = Eigen::Quaterniond(ikq.rotation());
+      quat = Eigen::Quaterniond(ikq.linear());
     }
 
     geometry_msgs::Pose ik_query;
diff --git a/moveit_core/distance_field/src/distance_field.cpp b/moveit_core/distance_field/src/distance_field.cpp
index 071777706b..0ec6cfecd2 100644
--- a/moveit_core/distance_field/src/distance_field.cpp
+++ b/moveit_core/distance_field/src/distance_field.cpp
@@ -172,10 +172,10 @@ void DistanceField::getGradientMarkers(double min_distance, double max_distance,
           // double angle = -gradient.angle(unitX);
           // Eigen::AngleAxisd rotation(angle, axis);
 
-          // marker.pose.orientation.x = rotation.rotation().x();
-          // marker.pose.orientation.y = rotation.rotation().y();
-          // marker.pose.orientation.z = rotation.rotation().z();
-          // marker.pose.orientation.w = rotation.rotation().w();
+          // marker.pose.orientation.x = rotation.linear().x();
+          // marker.pose.orientation.y = rotation.linear().y();
+          // marker.pose.orientation.z = rotation.linear().z();
+          // marker.pose.orientation.w = rotation.linear().w();
 
           marker.scale.x = getResolution();
           marker.scale.y = getResolution();
diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
index 20cf844b39..5462fd2ae5 100644
--- a/moveit_core/dynamics_solver/src/dynamics_solver.cpp
+++ b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -53,7 +53,7 @@ inline geometry_msgs::Vector3 transformVector(const Eigen::Isometry3d& transform
 {
   Eigen::Vector3d p;
   p = Eigen::Vector3d(vector.x, vector.y, vector.z);
-  p = transform.rotation() * p;
+  p = transform.linear() * p;
 
   geometry_msgs::Vector3 result;
   result.x = p.x();
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 9ed1c08125..3ca1d5c719 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -391,7 +391,7 @@ bool PositionConstraint::equal(const KinematicConstraint& other, double margin)
       for (std::size_t j = 0; j < o.constraint_region_.size(); ++j)
       {
         Eigen::Isometry3d diff = constraint_region_pose_[i].inverse() * o.constraint_region_pose_[j];
-        if (diff.translation().norm() < margin && diff.rotation().isIdentity(margin) &&
+        if (diff.translation().norm() < margin && diff.linear().isIdentity(margin) &&
             constraint_region_[i]->getType() == o.constraint_region_[j]->getType() &&
             fabs(constraint_region_[i]->computeVolume() - o.constraint_region_[j]->computeVolume()) < margin)
         {
@@ -597,16 +597,15 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
   Eigen::Vector3d xyz;
   if (mobile_frame_)
   {
-    Eigen::Matrix3d tmp = state.getFrameTransform(desired_rotation_frame_id_).rotation() * desired_rotation_matrix_;
-    Eigen::Isometry3d diff(tmp.transpose() * state.getGlobalLinkTransform(link_model_).rotation());
-    xyz = diff.rotation().eulerAngles(0, 1, 2);
+    Eigen::Matrix3d tmp = state.getFrameTransform(desired_rotation_frame_id_).linear() * desired_rotation_matrix_;
+    Eigen::Isometry3d diff(tmp.transpose() * state.getGlobalLinkTransform(link_model_).linear());
+    xyz = diff.linear().eulerAngles(0, 1, 2);
     // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   }
   else
   {
-    Eigen::Isometry3d diff(desired_rotation_matrix_inv_ * state.getGlobalLinkTransform(link_model_).rotation());
-    xyz =
-        diff.rotation().eulerAngles(0, 1, 2);  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
+    Eigen::Isometry3d diff(desired_rotation_matrix_inv_ * state.getGlobalLinkTransform(link_model_).linear());
+    xyz = diff.linear().eulerAngles(0, 1, 2);  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   }
 
   xyz(0) = std::min(fabs(xyz(0)), boost::math::constants::pi<double>() - fabs(xyz(0)));
@@ -618,7 +617,7 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
 
   if (verbose)
   {
-    Eigen::Quaterniond q_act(state.getGlobalLinkTransform(link_model_).rotation());
+    Eigen::Quaterniond q_act(state.getGlobalLinkTransform(link_model_).linear());
     Eigen::Quaterniond q_des(desired_rotation_matrix_);
     ROS_INFO_NAMED("kinematic_constraints",
                    "Orientation constraint %s for link '%s'. Quaternion desired: %f %f %f %f, quaternion "
@@ -756,12 +755,12 @@ bool VisibilityConstraint::equal(const KinematicConstraint& other, double margin
     Eigen::Isometry3d diff = sensor_pose_.inverse() * o.sensor_pose_;
     if (diff.translation().norm() > margin)
       return false;
-    if (!diff.rotation().isIdentity(margin))
+    if (!diff.linear().isIdentity(margin))
       return false;
     diff = target_pose_.inverse() * o.target_pose_;
     if (diff.translation().norm() > margin)
       return false;
-    if (!diff.rotation().isIdentity(margin))
+    if (!diff.linear().isIdentity(margin))
       return false;
     return true;
   }
@@ -895,7 +894,7 @@ void VisibilityConstraint::getMarkers(const moveit::core::RobotState& state,
   mka.scale.y = .15;
   mka.scale.z = 0.0;
   mka.points.resize(2);
-  Eigen::Vector3d d = tp.translation() + tp.rotation().col(2) * 0.5;
+  Eigen::Vector3d d = tp.translation() + tp.linear().col(2) * 0.5;
   mka.points[0].x = tp.translation().x();
   mka.points[0].y = tp.translation().y();
   mka.points[0].z = tp.translation().z();
@@ -908,7 +907,7 @@ void VisibilityConstraint::getMarkers(const moveit::core::RobotState& state,
   mka.color.b = 1.0;
   mka.color.r = 0.0;
 
-  d = sp.translation() + sp.rotation().col(2 - sensor_view_direction_) * 0.5;
+  d = sp.translation() + sp.linear().col(2 - sensor_view_direction_) * 0.5;
   mka.points[0].x = sp.translation().x();
   mka.points[0].y = sp.translation().y();
   mka.points[0].z = sp.translation().z();
@@ -932,11 +931,11 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const moveit::core::Robo
         mobile_target_frame_ ? state.getFrameTransform(target_frame_id_) * target_pose_ : target_pose_;
 
     // necessary to do subtraction as SENSOR_Z is 0 and SENSOR_X is 2
-    const Eigen::Vector3d& normal2 = sp.rotation().col(2 - sensor_view_direction_);
+    const Eigen::Vector3d& normal2 = sp.linear().col(2 - sensor_view_direction_);
 
     if (max_view_angle_ > 0.0)
     {
-      const Eigen::Vector3d& normal1 = tp.rotation().col(2) * -1.0;  // along Z axis and inverted
+      const Eigen::Vector3d& normal1 = tp.linear().col(2) * -1.0;  // along Z axis and inverted
       double dp = normal2.dot(normal1);
       double ang = acos(dp);
       if (dp < 0.0)
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 9b8813a1f7..c9cb35641e 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -567,7 +567,7 @@ bool kinematic_constraints::resolveConstraintFrames(const moveit::core::RobotSta
     if (c.link_name != robot_link->getName())
     {
       c.link_name = robot_link->getName();
-      Eigen::Quaterniond link_name_to_robot_link(transform.linear().inverse() *
+      Eigen::Quaterniond link_name_to_robot_link(transform.linear().transpose() *
                                                  state.getGlobalLinkTransform(robot_link).linear());
       Eigen::Quaterniond quat_target;
       tf::quaternionMsgToEigen(c.orientation, quat_target);
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 28f70f32b4..f340a5f144 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -966,7 +966,7 @@ void PlanningScene::saveGeometryToStream(std::ostream& out) const
           shapes::saveAsText(obj->shapes_[j].get(), out);
           out << obj->shape_poses_[j].translation().x() << " " << obj->shape_poses_[j].translation().y() << " "
               << obj->shape_poses_[j].translation().z() << std::endl;
-          Eigen::Quaterniond r(obj->shape_poses_[j].rotation());
+          Eigen::Quaterniond r(obj->shape_poses_[j].linear());
           out << r.x() << " " << r.y() << " " << r.z() << " " << r.w() << std::endl;
           if (hasObjectColor(id))
           {
diff --git a/moveit_core/robot_model/src/aabb.cpp b/moveit_core/robot_model/src/aabb.cpp
index fa7955ed37..51b3523032 100644
--- a/moveit_core/robot_model/src/aabb.cpp
+++ b/moveit_core/robot_model/src/aabb.cpp
@@ -44,7 +44,7 @@ void moveit::core::AABB::extendWithTransformedBox(const Eigen::Isometry3d& trans
   //
   // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
 
-  const Eigen::Matrix3d& r = transform.rotation();
+  const Eigen::Matrix3d& r = transform.linear();
   const Eigen::Vector3d& t = transform.translation();
 
   double x_range = 0.5 * (fabs(r(0, 0) * box[0]) + fabs(r(0, 1) * box[1]) + fabs(r(0, 2) * box[2]));
diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
index 47ed6a87d2..b7d25080a2 100644
--- a/moveit_core/robot_model/src/floating_joint_model.cpp
+++ b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -225,7 +225,7 @@ void FloatingJointModel::computeVariablePositions(const Eigen::Isometry3d& trans
   joint_values[0] = transf.translation().x();
   joint_values[1] = transf.translation().y();
   joint_values[2] = transf.translation().z();
-  Eigen::Quaterniond q(transf.rotation());
+  Eigen::Quaterniond q(transf.linear());
   joint_values[3] = q.x();
   joint_values[4] = q.y();
   joint_values[5] = q.z();
diff --git a/moveit_core/robot_model/src/link_model.cpp b/moveit_core/robot_model/src/link_model.cpp
index a4435e425e..c75ab24e0a 100644
--- a/moveit_core/robot_model/src/link_model.cpp
+++ b/moveit_core/robot_model/src/link_model.cpp
@@ -61,7 +61,7 @@ void LinkModel::setJointOriginTransform(const Eigen::Isometry3d& transform)
 {
   joint_origin_transform_ = transform;
   joint_origin_transform_is_identity_ =
-      joint_origin_transform_.rotation().isIdentity() &&
+      joint_origin_transform_.linear().isIdentity() &&
       joint_origin_transform_.translation().norm() < std::numeric_limits<double>::epsilon();
 }
 
@@ -83,7 +83,7 @@ void LinkModel::setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes,
   for (std::size_t i = 0; i < shapes_.size(); ++i)
   {
     collision_origin_transform_is_identity_[i] =
-        (collision_origin_transform_[i].rotation().isIdentity() &&
+        (collision_origin_transform_[i].linear().isIdentity() &&
          collision_origin_transform_[i].translation().norm() < std::numeric_limits<double>::epsilon()) ?
             1 :
             0;
diff --git a/moveit_core/robot_model/src/planar_joint_model.cpp b/moveit_core/robot_model/src/planar_joint_model.cpp
index 9be6a69bfa..f515be4c9f 100644
--- a/moveit_core/robot_model/src/planar_joint_model.cpp
+++ b/moveit_core/robot_model/src/planar_joint_model.cpp
@@ -224,7 +224,7 @@ void PlanarJointModel::computeVariablePositions(const Eigen::Isometry3d& transf,
   joint_values[0] = transf.translation().x();
   joint_values[1] = transf.translation().y();
 
-  Eigen::Quaterniond q(transf.rotation());
+  Eigen::Quaterniond q(transf.linear());
   // taken from Bullet
   double s_squared = 1.0 - (q.w() * q.w());
   if (s_squared < 10.0 * std::numeric_limits<double>::epsilon())
diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp
index a7afaa9b91..c3783d48e1 100644
--- a/moveit_core/robot_model/src/revolute_joint_model.cpp
+++ b/moveit_core/robot_model/src/revolute_joint_model.cpp
@@ -268,7 +268,7 @@ void RevoluteJointModel::computeTransform(const double* joint_values, Eigen::Iso
 
 void RevoluteJointModel::computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const
 {
-  Eigen::Quaterniond q(transf.rotation());
+  Eigen::Quaterniond q(transf.linear());
   q.normalize();
   size_t max_idx;
   axis_.array().abs().maxCoeff(&max_idx);
diff --git a/moveit_core/robot_state/src/cartesian_interpolator.cpp b/moveit_core/robot_state/src/cartesian_interpolator.cpp
index 46d17753b5..b2b38db361 100644
--- a/moveit_core/robot_state/src/cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/src/cartesian_interpolator.cpp
@@ -62,7 +62,7 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
   const Eigen::Isometry3d& start_pose = start_state->getGlobalLinkTransform(link);
 
   // the direction can be in the local reference frame (in which case we rotate it)
-  const Eigen::Vector3d rotated_direction = global_reference_frame ? direction : start_pose.rotation() * direction;
+  const Eigen::Vector3d rotated_direction = global_reference_frame ? direction : start_pose.linear() * direction;
 
   // The target pose is built by applying a translation to the start pose for the desired direction and distance
   Eigen::Isometry3d target_pose = start_pose;
@@ -91,8 +91,8 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
   // the target can be in the local reference frame (in which case we rotate it)
   Eigen::Isometry3d rotated_target = global_reference_frame ? target : start_pose * target;
 
-  Eigen::Quaterniond start_quaternion(start_pose.rotation());
-  Eigen::Quaterniond target_quaternion(rotated_target.rotation());
+  Eigen::Quaterniond start_quaternion(start_pose.linear());
+  Eigen::Quaterniond target_quaternion(rotated_target.linear());
 
   if (max_step.translation <= 0.0 && max_step.rotation <= 0.0)
   {
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 11e2440759..c8dda3b746 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1242,7 +1242,7 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
       if (pjm->getType() == moveit::core::JointModel::REVOLUTE)
       {
         joint_transform = reference_transform * getGlobalLinkTransform(link);
-        joint_axis = joint_transform.rotation() * static_cast<const moveit::core::RevoluteJointModel*>(pjm)->getAxis();
+        joint_axis = joint_transform.linear() * static_cast<const moveit::core::RevoluteJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) =
             jacobian.block<3, 1>(0, joint_index) + joint_axis.cross(point_transform - joint_transform.translation());
         jacobian.block<3, 1>(3, joint_index) = jacobian.block<3, 1>(3, joint_index) + joint_axis;
@@ -1250,7 +1250,7 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
       else if (pjm->getType() == moveit::core::JointModel::PRISMATIC)
       {
         joint_transform = reference_transform * getGlobalLinkTransform(link);
-        joint_axis = joint_transform.rotation() * static_cast<const moveit::core::PrismaticJointModel*>(pjm)->getAxis();
+        joint_axis = joint_transform.linear() * static_cast<const moveit::core::PrismaticJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) = jacobian.block<3, 1>(0, joint_index) + joint_axis;
       }
       else if (pjm->getType() == moveit::core::JointModel::PLANAR)
@@ -1279,7 +1279,7 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
     //        [x]           [  w -z  y ]    [ omega_2 ]
     //        [y]           [  z  w -x ]    [ omega_3 ]
     //        [z]           [ -y  x  w ]
-    Eigen::Quaterniond q(link_transform.rotation());
+    Eigen::Quaterniond q(link_transform.linear());
     double w = q.w(), x = q.x(), y = q.y(), z = q.z();
     Eigen::MatrixXd quaternion_update_matrix(4, 3);
     quaternion_update_matrix << -x, -y, -z, w, -z, y, z, w, -x, -y, x, w;
@@ -1836,7 +1836,7 @@ bool RobotState::setFromIKSubgroups(const JointModelGroup* jmg, const EigenSTL::
 
   for (std::size_t i = 0; i < transformed_poses.size(); ++i)
   {
-    Eigen::Quaterniond quat(transformed_poses[i].rotation());
+    Eigen::Quaterniond quat(transformed_poses[i].linear());
     Eigen::Vector3d point(transformed_poses[i].translation());
     ik_queries[i].position.x = point.x();
     ik_queries[i].position.y = point.y();
@@ -2101,7 +2101,7 @@ void RobotState::printStateInfo(std::ostream& out) const
 
 void RobotState::printTransform(const Eigen::Isometry3d& transform, std::ostream& out) const
 {
-  Eigen::Quaterniond q(transform.rotation());
+  Eigen::Quaterniond q(transform.linear());
   out << "T.xyz = [" << transform.translation().x() << ", " << transform.translation().y() << ", "
       << transform.translation().z() << "], Q.xyzw = [" << q.x() << ", " << q.y() << ", " << q.z() << ", " << q.w()
       << "]" << std::endl;
diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
index 358d0cb64c..5c1d4f5559 100644
--- a/moveit_core/robot_state/test/robot_state_test.cpp
+++ b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -450,28 +450,28 @@ TEST_F(OneRobot, FK)
   state.setVariablePositions(joint_values);
 
   EXPECT_NEAR_TRACED(state.getGlobalLinkTransform("base_link").translation(), Eigen::Vector3d(1, 1, 0));
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).x(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).y(), 1e-5);
-  EXPECT_NEAR(0.247404, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).z(), 1e-5);
-  EXPECT_NEAR(0.968912, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).w(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").linear()).x(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").linear()).y(), 1e-5);
+  EXPECT_NEAR(0.247404, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").linear()).z(), 1e-5);
+  EXPECT_NEAR(0.968912, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").linear()).w(), 1e-5);
 
   EXPECT_NEAR_TRACED(state.getGlobalLinkTransform("link_a").translation(), Eigen::Vector3d(1, 1, 0));
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).x(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).y(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).z(), 1e-5);
-  EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).w(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").linear()).x(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").linear()).y(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").linear()).z(), 1e-5);
+  EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").linear()).w(), 1e-5);
 
   EXPECT_NEAR_TRACED(state.getGlobalLinkTransform("link_b").translation(), Eigen::Vector3d(1, 1.5, 0));
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).x(), 1e-5);
-  EXPECT_NEAR(-0.2084598, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).y(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).z(), 1e-5);
-  EXPECT_NEAR(0.97803091, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).w(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").linear()).x(), 1e-5);
+  EXPECT_NEAR(-0.2084598, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").linear()).y(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").linear()).z(), 1e-5);
+  EXPECT_NEAR(0.97803091, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").linear()).w(), 1e-5);
 
   EXPECT_NEAR_TRACED(state.getGlobalLinkTransform("link_c").translation(), Eigen::Vector3d(1.08, 1.4, 0));
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).x(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).y(), 1e-5);
-  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).z(), 1e-5);
-  EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).w(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").linear()).x(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").linear()).y(), 1e-5);
+  EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").linear()).z(), 1e-5);
+  EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").linear()).w(), 1e-5);
 
   EXPECT_TRUE(state.satisfiesBounds());
 
diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
index 1c0cf06f6f..d41129ef28 100644
--- a/moveit_core/robot_state/test/test_aabb.cpp
+++ b/moveit_core/robot_state/test/test_aabb.cpp
@@ -211,7 +211,7 @@ TEST_F(TestAABB, TestPR2)
     msg.scale.z = extents[2];
     msg.color.r = 0;
     msg.color.b = 1;
-    Eigen::Quaterniond q(transform.rotation());
+    Eigen::Quaterniond q(transform.linear());
     msg.pose.orientation.x = q.x();
     msg.pose.orientation.y = q.y();
     msg.pose.orientation.z = q.z();
@@ -257,7 +257,7 @@ TEST_F(TestAABB, TestPR2)
       msg.scale.z = extents[2];
       msg.color.r = 0;
       msg.color.b = 1;
-      Eigen::Quaterniond q(transforms[i].rotation());
+      Eigen::Quaterniond q(transforms[i].linear());
       msg.pose.orientation.x = q.x();
       msg.pose.orientation.y = q.y();
       msg.pose.orientation.z = q.z();
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 6833b606aa..8e72213aa6 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -137,7 +137,7 @@ class Transforms : private boost::noncopyable
    */
   void transformVector3(const std::string& from_frame, const Eigen::Vector3d& v_in, Eigen::Vector3d& v_out) const
   {
-    v_out = getTransform(from_frame).rotation() * v_in;
+    v_out = getTransform(from_frame).linear() * v_in;
   }
 
   /**
@@ -149,7 +149,7 @@ class Transforms : private boost::noncopyable
   void transformQuaternion(const std::string& from_frame, const Eigen::Quaterniond& q_in,
                            Eigen::Quaterniond& q_out) const
   {
-    q_out = getTransform(from_frame).rotation() * q_in;
+    q_out = getTransform(from_frame).linear() * q_in;
   }
 
   /**
@@ -160,7 +160,7 @@ class Transforms : private boost::noncopyable
    */
   void transformRotationMatrix(const std::string& from_frame, const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out) const
   {
-    m_out = getTransform(from_frame).rotation() * m_in;
+    m_out = getTransform(from_frame).linear() * m_in;
   }
 
   /**
diff --git a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
index c05e817149..3fdde91816 100644
--- a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
+++ b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
@@ -216,10 +216,10 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
   // transform the input vectors in accordance to frame specified in the header;
   if (approach_direction_is_global_frame)
     approach_direction =
-        planning_scene_->getFrameTransform(plan->approach_.direction.header.frame_id).rotation() * approach_direction;
+        planning_scene_->getFrameTransform(plan->approach_.direction.header.frame_id).linear() * approach_direction;
   if (retreat_direction_is_global_frame)
     retreat_direction =
-        planning_scene_->getFrameTransform(plan->retreat_.direction.header.frame_id).rotation() * retreat_direction;
+        planning_scene_->getFrameTransform(plan->retreat_.direction.header.frame_id).linear() * retreat_direction;
 
   // state validity checking during the approach must ensure that the gripper posture is that for pre-grasping
   moveit::core::GroupStateValidityCallbackFn approach_valid_callback =
diff --git a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
index d0267a2850..4dc408396a 100644
--- a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
@@ -94,7 +94,7 @@ int main(int argc, char** argv)
           moveit::tools::Profiler::End("IK");
           const Eigen::Isometry3d& pose_upd = state.getGlobalLinkTransform(tip);
           Eigen::Isometry3d diff = pose_upd * pose.inverse();
-          double rot_err = (diff.rotation() - Eigen::Matrix3d::Identity()).norm();
+          double rot_err = (diff.linear() - Eigen::Matrix3d::Identity()).norm();
           double trans_err = diff.translation().norm();
           moveit::tools::Profiler::Average("Rotation error", rot_err);
           moveit::tools::Profiler::Average("Translation error", trans_err);
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index bf83b39e7e..1db84cf7ac 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -1009,7 +1009,7 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
         start_transform = tf2::transformToEigen(transforms[i]);
         Eigen::Vector3d offset = cur_transform.translation() - start_transform.translation();
         Eigen::AngleAxisd rotation;
-        rotation.fromRotationMatrix(cur_transform.rotation().transpose() * start_transform.rotation());
+        rotation.fromRotationMatrix(cur_transform.linear().transpose() * start_transform.linear());
         if ((offset.array() > allowed_start_tolerance_).any() || rotation.angle() > allowed_start_tolerance_)
         {
           ROS_ERROR_STREAM_NAMED(name_, "\nInvalid Trajectory: start point deviates from current robot state more than "
diff --git a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
index 893a8c9bb7..35c1e047ad 100644
--- a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
+++ b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
@@ -155,7 +155,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
       v[0] = t.translation().x();
       v[1] = t.translation().y();
       v[2] = t.translation().z();
-      Eigen::Quaterniond q(t.rotation());
+      Eigen::Quaterniond q(t.linear());
       v[3] = q.x();
       v[4] = q.y();
       v[5] = q.z();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index e22be44612..8573ba7f51 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -238,7 +238,7 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
           if (obj->shapes_.size() == 1)
           {
             obj_pose = obj->shape_poses_[0];
-            Eigen::Vector3d xyz = obj_pose.rotation().eulerAngles(0, 1, 2);
+            Eigen::Vector3d xyz = obj_pose.linear().eulerAngles(0, 1, 2);
             update_scene_marker = true;  // do the marker update outside locked scope to avoid deadlock
 
             bool old_state = ui_->object_x->blockSignals(true);
@@ -322,7 +322,7 @@ void MotionPlanningFrame::updateCollisionObjectPose(bool update_marker_position)
       // Update the interactive marker pose to match the manually introduced one
       if (update_marker_position && scene_marker_)
       {
-        Eigen::Quaterniond eq(p.rotation());
+        Eigen::Quaterniond eq(p.linear());
         scene_marker_->setPose(Ogre::Vector3(ui_->object_x->value(), ui_->object_y->value(), ui_->object_z->value()),
                                Ogre::Quaternion(eq.w(), eq.x(), eq.y(), eq.z()), "");
       }
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
index 0ad0668b06..2455db97ca 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
@@ -52,7 +52,7 @@ bool moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms(const std::strin
   }
 
   const Eigen::Vector3d& robot_visual_position = kinematic_state_->getGlobalLinkTransform(link_model).translation();
-  Eigen::Quaterniond robot_visual_orientation(kinematic_state_->getGlobalLinkTransform(link_model).rotation());
+  Eigen::Quaterniond robot_visual_orientation(kinematic_state_->getGlobalLinkTransform(link_model).linear());
   visual_position = Ogre::Vector3(robot_visual_position.x(), robot_visual_position.y(), robot_visual_position.z());
   visual_orientation = Ogre::Quaternion(robot_visual_orientation.w(), robot_visual_orientation.x(),
                                         robot_visual_orientation.y(), robot_visual_orientation.z());
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 55ad73109e..19e06f150c 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -82,7 +82,7 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
   rviz::Shape* ogre_shape = nullptr;
   Eigen::Vector3d translation = p.translation();
   Ogre::Vector3 position(translation.x(), translation.y(), translation.z());
-  Eigen::Quaterniond q(p.rotation());
+  Eigen::Quaterniond q(p.linear());
   Ogre::Quaternion orientation(q.w(), q.x(), q.y(), q.z());
 
   // we don't know how to render cones directly, but we can convert them to a mesh

From 2dacfe990ec1bda8d78a0aa5954cb16bc0c17493 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 4 May 2020 10:27:50 -0600
Subject: [PATCH 265/612] [ci] configure travis to report success before
 code-coverage finishes (#2041)

configure travis to report success before code-coverage finishes
---
 .travis.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.travis.yml b/.travis.yml
index 61cf02f9f9..294c83851d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,6 +22,7 @@ env:
     - WARNINGS_OK=false
 
 jobs:
+  fast_finish: true
   include:
     - env: TEST="clang-format catkin_lint"
     - env: TEST=code-coverage
@@ -34,6 +35,8 @@ jobs:
            CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
     - if: branch =~ /^(.*-devel|master)$/
       env: ROS_REPO=ros-shadow-fixed
+  allow_failures:
+    - env: TEST=code-coverage
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

From 5553507f97f36d8c34678975b1888fb2cff02960 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Mon, 4 May 2020 18:52:42 +0200
Subject: [PATCH 266/612] Fix mesh_filter test (#2044)

Test passes when relaxing the acceptance region to 1e-6
---
 .travis.yml                                                 | 2 --
 moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 294c83851d..740788cb87 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,8 +16,6 @@ env:
     - ROS_DISTRO=melodic
     - ROS_REPO=ros
     - UPSTREAM_WORKSPACE=moveit.rosinstall
-    # moveit_ros_perception: mesh_filter_test fails due to broken Mesa OpenGL
-    - TEST_BLACKLIST="moveit_ros_perception"
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
 
diff --git a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
index a452eb14f3..0de32d2a15 100644
--- a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
+++ b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
@@ -231,7 +231,7 @@ void MeshFilterTest<Type>::test()
     float sensor_depth = sensor_data_[idx] * FilterTraits<Type>::ToMetricScale;
     if (fabs(sensor_depth - distance_ - shadow_) > epsilon_ && fabs(sensor_depth - distance_) > epsilon_)
     {
-      ASSERT_FLOAT_EQ(filtered_depth[idx], gt_depth[idx]);
+      ASSERT_NEAR(filtered_depth[idx], gt_depth[idx], 1e-6);
       ASSERT_EQ(filtered_labels[idx], gt_labels[idx]);
     }
   }

From 7306d1df703d2baf0b98f7aac17e3879d6eb0549 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 15:42:54 +0200
Subject: [PATCH 267/612] llvm-namespace-comment

---
 .../moveit/background_processing/background_processing.h    | 4 ++--
 moveit_core/backtrace/include/moveit/backtrace/backtrace.h  | 2 +-
 .../collision_detection/allvalid/collision_env_allvalid.h   | 2 +-
 .../include/moveit/collision_detection/collision_common.h   | 4 ++--
 .../collision_detection/collision_detector_allocator.h      | 2 +-
 .../include/moveit/collision_detection/collision_env.h      | 2 +-
 .../include/moveit/collision_detection/collision_matrix.h   | 4 ++--
 .../moveit/collision_detection/collision_octomap_filter.h   | 2 +-
 .../include/moveit/collision_detection/collision_tools.h    | 2 +-
 .../include/moveit/collision_detection/world.h              | 2 +-
 .../include/moveit/collision_detection/world_diff.h         | 2 +-
 .../collision_detection_bullet/collision_env_bullet.h       | 2 +-
 .../moveit/collision_detection_fcl/collision_common.h       | 2 +-
 .../moveit/collision_detection_fcl/collision_env_fcl.h      | 2 +-
 .../include/moveit/collision_detection_fcl/fcl_compat.h     | 2 +-
 .../collision_common_distance_field.h                       | 2 +-
 .../collision_distance_field_types.h                        | 2 +-
 .../collision_distance_field/collision_env_distance_field.h | 2 +-
 .../moveit/collision_distance_field/collision_env_hybrid.h  | 2 +-
 .../include/moveit/constraint_samplers/constraint_sampler.h | 2 +-
 .../constraint_samplers/constraint_sampler_allocator.h      | 2 +-
 .../moveit/constraint_samplers/constraint_sampler_manager.h | 2 +-
 .../moveit/constraint_samplers/constraint_sampler_tools.h   | 2 +-
 .../constraint_samplers/default_constraint_samplers.h       | 2 +-
 .../moveit/constraint_samplers/union_constraint_sampler.h   | 2 +-
 moveit_core/constraint_samplers/test/pr2_arm_ik.h           | 2 +-
 .../constraint_samplers/test/pr2_arm_kinematics_plugin.h    | 2 +-
 .../include/moveit/controller_manager/controller_manager.h  | 2 +-
 .../include/moveit/distance_field/find_internal_points.h    | 2 +-
 .../moveit/distance_field/propagation_distance_field.h      | 2 +-
 .../include/moveit/dynamics_solver/dynamics_solver.h        | 2 +-
 .../exceptions/include/moveit/exceptions/exceptions.h       | 2 +-
 .../moveit/kinematic_constraints/kinematic_constraint.h     | 2 +-
 .../include/moveit/kinematic_constraints/utils.h            | 2 +-
 .../include/moveit/kinematics_base/kinematics_base.h        | 6 +++---
 .../include/moveit/kinematics_metrics/kinematics_metrics.h  | 2 +-
 .../include/moveit/planning_interface/planning_interface.h  | 2 +-
 .../include/moveit/planning_interface/planning_response.h   | 2 +-
 .../planning_request_adapter/planning_request_adapter.h     | 2 +-
 .../include/moveit/planning_scene/planning_scene.h          | 2 +-
 moveit_core/profiler/include/moveit/profiler/profiler.h     | 4 ++--
 moveit_core/robot_model/include/moveit/robot_model/aabb.h   | 2 +-
 .../include/moveit/robot_model/fixed_joint_model.h          | 4 ++--
 .../include/moveit/robot_model/floating_joint_model.h       | 4 ++--
 .../robot_model/include/moveit/robot_model/joint_model.h    | 4 ++--
 .../include/moveit/robot_model/joint_model_group.h          | 4 ++--
 .../robot_model/include/moveit/robot_model/link_model.h     | 4 ++--
 .../include/moveit/robot_model/planar_joint_model.h         | 4 ++--
 .../include/moveit/robot_model/prismatic_joint_model.h      | 4 ++--
 .../include/moveit/robot_model/revolute_joint_model.h       | 4 ++--
 .../robot_model/include/moveit/robot_model/robot_model.h    | 4 ++--
 moveit_core/robot_model/src/order_robot_model_items.inc     | 6 +++---
 .../robot_state/include/moveit/robot_state/attached_body.h  | 4 ++--
 .../robot_state/include/moveit/robot_state/conversions.h    | 4 ++--
 .../robot_state/include/moveit/robot_state/robot_state.h    | 4 ++--
 .../include/moveit/robot_trajectory/robot_trajectory.h      | 2 +-
 .../include/moveit/sensor_manager/sensor_manager.h          | 2 +-
 .../iterative_spline_parameterization.h                     | 2 +-
 .../trajectory_processing/iterative_time_parameterization.h | 2 +-
 .../transforms/include/moveit/transforms/transforms.h       | 4 ++--
 moveit_core/utils/include/moveit/utils/lexical_casts.h      | 4 ++--
 moveit_core/utils/include/moveit/utils/message_checks.h     | 4 ++--
 .../utils/include/moveit/utils/robot_model_test_utils.h     | 4 ++--
 moveit_core/utils/include/moveit/utils/xmlrpc_casts.h       | 4 ++--
 .../include/moveit_jog_arm/collision_check_thread.h         | 2 +-
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h    | 2 +-
 .../moveit_jog_arm/include/moveit_jog_arm/status_codes.h    | 2 +-
 .../cached_ik_kinematics_plugin-inl.h                       | 2 +-
 .../cached_ik_kinematics_plugin.h                           | 2 +-
 .../cached_ik_kinematics_plugin/detail/GreedyKCenters.h     | 2 +-
 .../cached_ik_kinematics_plugin/detail/NearestNeighbors.h   | 2 +-
 .../detail/NearestNeighborsGNAT.h                           | 2 +-
 .../kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp   | 2 +-
 .../include/moveit/kdl_kinematics_plugin/joint_mimic.hpp    | 2 +-
 .../moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h    | 2 +-
 .../moveit/lma_kinematics_plugin/lma_kinematics_plugin.h    | 2 +-
 .../moveit/srv_kinematics_plugin/srv_kinematics_plugin.h    | 2 +-
 .../include/chomp_interface/chomp_interface.h               | 2 +-
 .../include/chomp_motion_planner/chomp_optimizer.h          | 2 +-
 .../include/chomp_motion_planner/chomp_planner.h            | 2 +-
 .../include/chomp_motion_planner/chomp_trajectory.h         | 2 +-
 .../include/chomp_motion_planner/multivariate_gaussian.h    | 2 +-
 .../moveit/ompl_interface/detail/constrained_goal_sampler.h | 2 +-
 .../moveit/ompl_interface/detail/constrained_sampler.h      | 2 +-
 .../ompl_interface/detail/constrained_valid_state_sampler.h | 2 +-
 .../moveit/ompl_interface/detail/constraints_library.h      | 2 +-
 .../include/moveit/ompl_interface/detail/goal_union.h       | 2 +-
 .../moveit/ompl_interface/detail/projection_evaluators.h    | 2 +-
 .../moveit/ompl_interface/detail/state_validity_checker.h   | 2 +-
 .../moveit/ompl_interface/detail/threadsafe_state_storage.h | 2 +-
 .../include/moveit/ompl_interface/ompl_interface.h          | 2 +-
 .../parameterization/joint_space/joint_model_state_space.h  | 2 +-
 .../joint_space/joint_model_state_space_factory.h           | 2 +-
 .../parameterization/model_based_state_space_factory.h      | 2 +-
 .../parameterization/work_space/pose_model_state_space.h    | 2 +-
 .../work_space/pose_model_state_space_factory.h             | 2 +-
 .../moveit/ompl_interface/planning_context_manager.h        | 2 +-
 .../src/moveit_fake_controllers.h                           | 2 +-
 .../include/moveit/benchmarks/BenchmarkExecutor.h           | 2 +-
 .../benchmarks/include/moveit/benchmarks/BenchmarkOptions.h | 2 +-
 .../src/pick_place_action_capability.h                      | 2 +-
 .../moveit/pick_place/approach_and_translate_stage.h        | 2 +-
 .../include/moveit/pick_place/manipulation_pipeline.h       | 2 +-
 .../include/moveit/pick_place/manipulation_plan.h           | 2 +-
 .../include/moveit/pick_place/manipulation_stage.h          | 2 +-
 .../pick_place/include/moveit/pick_place/pick_place.h       | 2 +-
 .../include/moveit/pick_place/pick_place_params.h           | 2 +-
 .../pick_place/include/moveit/pick_place/plan_stage.h       | 2 +-
 .../include/moveit/pick_place/reachable_valid_pose_filter.h | 2 +-
 .../move_group/include/moveit/move_group/capability_names.h | 2 +-
 .../include/moveit/move_group/move_group_capability.h       | 2 +-
 .../include/moveit/move_group/move_group_context.h          | 2 +-
 .../apply_planning_scene_service_capability.h               | 2 +-
 .../cartesian_path_service_capability.h                     | 2 +-
 .../default_capabilities/clear_octomap_service_capability.h | 2 +-
 .../default_capabilities/kinematics_service_capability.h    | 2 +-
 .../src/default_capabilities/move_action_capability.h       | 2 +-
 .../src/default_capabilities/plan_service_capability.h      | 2 +-
 .../query_planners_service_capability.h                     | 2 +-
 .../state_validation_service_capability.h                   | 2 +-
 .../src/default_capabilities/tf_publisher_capability.h      | 2 +-
 .../include/moveit/occupancy_map_monitor/occupancy_map.h    | 2 +-
 .../moveit/occupancy_map_monitor/occupancy_map_monitor.h    | 2 +-
 .../moveit/occupancy_map_monitor/occupancy_map_updater.h    | 2 +-
 .../depth_image_octomap_updater.h                           | 2 +-
 .../lazy_free_space_updater/lazy_free_space_updater.h       | 2 +-
 .../mesh_filter/include/moveit/mesh_filter/filter_job.h     | 2 +-
 .../include/moveit/point_containment_filter/shape_mask.h    | 2 +-
 .../pointcloud_octomap_updater/pointcloud_octomap_updater.h | 2 +-
 .../include/moveit/semantic_world/semantic_world.h          | 4 ++--
 .../constraint_sampler_manager_loader.h                     | 2 +-
 .../kinematics_plugin_loader/kinematics_plugin_loader.h     | 2 +-
 .../include/moveit/plan_execution/plan_execution.h          | 2 +-
 .../include/moveit/plan_execution/plan_representation.h     | 2 +-
 .../include/moveit/plan_execution/plan_with_sensing.h       | 2 +-
 .../include/moveit/planning_pipeline/planning_pipeline.h    | 2 +-
 .../moveit/planning_scene_monitor/current_state_monitor.h   | 2 +-
 .../moveit/planning_scene_monitor/planning_scene_monitor.h  | 2 +-
 .../moveit/planning_scene_monitor/trajectory_monitor.h      | 2 +-
 .../rdf_loader/include/moveit/rdf_loader/rdf_loader.h       | 2 +-
 .../include/moveit/robot_model_loader/robot_model_loader.h  | 2 +-
 .../trajectory_execution_manager.h                          | 2 +-
 .../test/test_moveit_controller_manager.h                   | 2 +-
 .../common_planning_interface_objects/common_objects.h      | 2 +-
 .../planning_scene_interface/planning_scene_interface.h     | 4 ++--
 .../include/moveit/py_bindings_tools/py_conversions.h       | 4 ++--
 .../include/moveit/py_bindings_tools/roscpp_initializer.h   | 4 ++--
 .../include/moveit/robot_interaction/interaction.h          | 4 ++--
 .../include/moveit/robot_interaction/interaction_handler.h  | 2 +-
 .../moveit/robot_interaction/interactive_marker_helpers.h   | 2 +-
 .../include/moveit/robot_interaction/kinematic_options.h    | 2 +-
 .../moveit/robot_interaction/kinematic_options_map.h        | 2 +-
 .../include/moveit/robot_interaction/locked_robot_state.h   | 2 +-
 .../include/moveit/robot_interaction/robot_interaction.h    | 2 +-
 .../motion_planning_rviz_plugin/motion_planning_display.h   | 2 +-
 .../motion_planning_rviz_plugin/motion_planning_frame.h     | 2 +-
 .../motion_planning_frame_joints_widget.h                   | 2 +-
 .../motion_planning_param_widget.h                          | 2 +-
 .../planning_scene_rviz_plugin/planning_scene_display.h     | 2 +-
 .../moveit/rviz_plugin_render_tools/octomap_render.h        | 2 +-
 .../moveit/rviz_plugin_render_tools/planning_link_updater.h | 2 +-
 .../moveit/rviz_plugin_render_tools/planning_scene_render.h | 2 +-
 .../include/moveit/rviz_plugin_render_tools/render_shapes.h | 2 +-
 .../rviz_plugin_render_tools/robot_state_visualization.h    | 2 +-
 .../rviz_plugin_render_tools/trajectory_visualization.h     | 2 +-
 .../include/moveit/warehouse/constraints_storage.h          | 2 +-
 .../include/moveit/warehouse/moveit_message_storage.h       | 2 +-
 .../include/moveit/warehouse/planning_scene_storage.h       | 2 +-
 .../include/moveit/warehouse/planning_scene_world_storage.h | 2 +-
 .../warehouse/include/moveit/warehouse/state_storage.h      | 2 +-
 .../moveit/warehouse/trajectory_constraints_storage.h       | 2 +-
 .../include/moveit/warehouse/warehouse_connector.h          | 2 +-
 .../setup_assistant/tools/compute_default_collisions.h      | 2 +-
 .../moveit/setup_assistant/tools/moveit_config_data.h       | 2 +-
 moveit_setup_assistant/src/tools/rotated_header_view.h      | 2 +-
 moveit_setup_assistant/src/widgets/controller_edit_widget.h | 2 +-
 .../src/widgets/default_collisions_widget.h                 | 2 +-
 moveit_setup_assistant/src/widgets/end_effectors_widget.h   | 2 +-
 moveit_setup_assistant/src/widgets/group_edit_widget.h      | 2 +-
 moveit_setup_assistant/src/widgets/header_widget.h          | 2 +-
 moveit_setup_assistant/src/widgets/kinematic_chain_widget.h | 2 +-
 moveit_setup_assistant/src/widgets/navigation_widget.h      | 2 +-
 moveit_setup_assistant/src/widgets/passive_joints_widget.h  | 2 +-
 moveit_setup_assistant/src/widgets/planning_groups_widget.h | 2 +-
 moveit_setup_assistant/src/widgets/robot_poses_widget.h     | 2 +-
 moveit_setup_assistant/src/widgets/setup_assistant_widget.h | 2 +-
 moveit_setup_assistant/src/widgets/start_screen_widget.h    | 2 +-
 moveit_setup_assistant/src/widgets/virtual_joints_widget.h  | 2 +-
 188 files changed, 218 insertions(+), 218 deletions(-)

diff --git a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
index b87a82f997..3ecb98b526 100644
--- a/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
+++ b/moveit_core/background_processing/include/moveit/background_processing/background_processing.h
@@ -110,5 +110,5 @@ class BackgroundProcessing : private boost::noncopyable
 
   void processingThread();
 };
-}
-}
+}  // namespace tools
+}  // namespace moveit
diff --git a/moveit_core/backtrace/include/moveit/backtrace/backtrace.h b/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
index 224c0fe2dc..c00af92322 100644
--- a/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
+++ b/moveit_core/backtrace/include/moveit/backtrace/backtrace.h
@@ -61,4 +61,4 @@ void get_backtrace(std::ostream& out)
   out << "Unable to get backtrace with the used compiler." << std::endl;
 }
 #endif
-}
+}  // namespace moveit
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
index 2f0e91c88f..50b543d837 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
@@ -73,4 +73,4 @@ class CollisionEnvAllValid : public CollisionEnv
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                     const moveit::core::RobotState& state) const override;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 38a3fef260..35ceecc200 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -64,7 +64,7 @@ enum Type
   /** \brief A body in the environment */
   WORLD_OBJECT
 };
-}
+}  // namespace BodyTypes
 
 /** \brief The types of bodies that are considered for collision */
 typedef BodyTypes::Type BodyType;
@@ -392,4 +392,4 @@ struct DistanceResult
     distances.clear();
   }
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index 89624d9e09..f428066b42 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -98,4 +98,4 @@ class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
     return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
   }
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
index 7d42a73e3f..0b76908fac 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
@@ -324,4 +324,4 @@ class CollisionEnv
   WorldPtr world_;             // The world always valid, never nullptr.
   WorldConstPtr world_const_;  // always same as world_
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
index 1b9e36e36e..e83283688c 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
@@ -65,7 +65,7 @@ enum Type
       imply that the two bodies are in collision*/
   CONDITIONAL
 };
-}
+}  // namespace AllowedCollision
 
 /** \brief Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is
  * CONDITIONAL) */
@@ -276,4 +276,4 @@ class AllowedCollisionMatrix
   std::map<std::string, AllowedCollision::Type> default_entries_;
   std::map<std::string, DecideContactFn> default_allowed_contacts_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
index ed36a81113..36069f95a5 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_octomap_filter.h
@@ -60,4 +60,4 @@ namespace collision_detection
 int refineContactNormals(const World::ObjectConstPtr& object, CollisionResult& res,
                          double cell_bbx_search_distance = 1.0, double allowed_angle_divergence = 0.0,
                          bool estimate_depth = false, double iso_value = 0.5, double metaball_radius_multiple = 1.5);
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
index 8b06686148..bf7e2430bc 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h
@@ -70,4 +70,4 @@ bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource
 
 void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
 void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index ad21d3a034..110fcf631c 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -300,4 +300,4 @@ class World
   /// All registered observers of this world representation
   std::vector<Observer*> observers_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 84ae6a522c..071098d2f9 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -124,4 +124,4 @@ class WorldDiff
   /* used to unregister the notifier */
   WorldWeakPtr world_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
index bfaee98429..d976448a2c 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -145,4 +145,4 @@ class CollisionEnvBullet : public CollisionEnv
 
   World::ObserverHandle observer_handle_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 66beae404d..cde0730291 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -360,4 +360,4 @@ inline void fcl2costsource(const fcl::CostSourced& fcs, CostSource& cs)
 
   cs.cost = fcs.cost_density;
 }
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index 5c9674cf32..a6c261ec39 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -160,4 +160,4 @@ class CollisionEnvFCL : public CollisionEnv
 
   World::ObserverHandle observer_handle_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
index 123fac3c08..7c0cc3334f 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
@@ -95,5 +95,5 @@ class OBBRSS;
 using OBBRSSd = fcl::OBBRSS;
 class DynamicAABBTreeCollisionManager;
 using DynamicAABBTreeCollisionManagerd = fcl::DynamicAABBTreeCollisionManager;
-}
+}  // namespace fcl
 #endif
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
index 70cc449dfc..fe4567d561 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
@@ -178,4 +178,4 @@ PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const mov
 
 void getBodySphereVisualizationMarkers(const GroupStateRepresentationPtr& gsr, const std::string& reference_frame,
                                        visualization_msgs::MarkerArray& body_marker_array);
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index c9b7ae066c..627a0a790a 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -526,4 +526,4 @@ void getCollisionMarkers(const std::string& frame_id, const std::string& ns, con
                          const std::vector<PosedBodySphereDecompositionPtr>& posed_decompositions,
                          const std::vector<PosedBodySphereDecompositionVectorPtr>& posed_vector_decompositions,
                          const std::vector<GradientInfo>& gradients, visualization_msgs::MarkerArray& arr);
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index 5d7725faf3..93cd63ef2f 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -306,4 +306,4 @@ class CollisionEnvDistanceField : public CollisionEnv
   GroupStateRepresentationPtr last_gsr_;
   World::ObserverHandle observer_handle_;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
index eb98812a43..14d2a22a18 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h
@@ -150,4 +150,4 @@ class CollisionEnvHybrid : public collision_detection::CollisionEnvFCL
 protected:
   CollisionEnvDistanceFieldPtr cenv_distance_;
 };
-};
+}  // namespace collision_detection
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
index 6b2074b390..c7d24b3741 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
@@ -294,4 +294,4 @@ class ConstraintSampler
   moveit::core::GroupStateValidityCallbackFn group_state_validity_callback_;
   bool verbose_;  ///< True if verbosity is on
 };
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
index 89db5e830e..eb3d07fa07 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
@@ -60,4 +60,4 @@ class ConstraintSamplerAllocator
   virtual bool canService(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                           const moveit_msgs::Constraints& constr) const = 0;
 };
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
index 630e307c97..cfcd2f2ffe 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
@@ -142,4 +142,4 @@ class ConstraintSamplerManager
   std::vector<ConstraintSamplerAllocatorPtr>
       sampler_alloc_; /**< \brief Holds the constraint sampler allocators, which will be tested in order  */
 };
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
index 1bc811c4e3..54b392da54 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h
@@ -53,4 +53,4 @@ double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const moveit::
 
 double countSamplesPerSecond(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                              const std::string& group);
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
index ffc4b5ea8d..cdd5ae152d 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
@@ -524,4 +524,4 @@ class IKConstraintSampler : public ConstraintSampler
                                         frame of the end effector */
   Eigen::Isometry3d eef_to_ik_tip_transform_; /**< \brief Holds the transformation from end effector to IK tip frame */
 };
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
index 52b696df30..9c46104e76 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h
@@ -167,4 +167,4 @@ class UnionConstraintSampler : public ConstraintSampler
 protected:
   std::vector<ConstraintSamplerPtr> samplers_; /**< \brief Holder for sorted internal list of samplers*/
 };
-}
+}  // namespace constraint_samplers
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.h b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
index 46d4a7ef32..e27552a098 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
@@ -188,4 +188,4 @@ class PR2ArmIK
 
   std::vector<bool> continuous_joint_;
 };
-}
+}  // namespace pr2_arm_kinematics
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index da5be7edc3..f03c56525c 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -257,4 +257,4 @@ class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
   void jointSolutionCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
                              moveit_msgs::MoveItErrorCodes& error_code) const;
 };
-}
+}  // namespace pr2_arm_kinematics
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index 7af922b3bc..18490b75d8 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -207,4 +207,4 @@ class MoveItControllerManager
   virtual bool switchControllers(const std::vector<std::string>& activate,
                                  const std::vector<std::string>& deactivate) = 0;
 };
-}
+}  // namespace moveit_controller_manager
diff --git a/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h b/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
index 27363466e1..f03a42d39f 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h
@@ -52,4 +52,4 @@ namespace distance_field
  *                   vector.
  */
 void findInternalPointsConvex(const bodies::Body& body, double resolution, EigenSTL::vector_Vector3d& points);
-}
+}  // namespace distance_field
diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index a278a7f6d6..7dd4971421 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -609,4 +609,4 @@ inline double PropagationDistanceField::getDistance(const PropDistanceFieldVoxel
 {
   return sqrt_table_[object.distance_square_] - sqrt_table_[object.negative_distance_square_];
 }
-}
+}  // namespace distance_field
diff --git a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
index c8402b4031..6e46a929c5 100644
--- a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
+++ b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
@@ -149,4 +149,4 @@ class DynamicsSolver
 
   double gravity_;  // Norm of the gravity vector passed in initialize()
 };
-}
+}  // namespace dynamics_solver
diff --git a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
index 34394e987c..1e4d28ddb9 100644
--- a/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
+++ b/moveit_core/exceptions/include/moveit/exceptions/exceptions.h
@@ -54,4 +54,4 @@ class Exception : public std::runtime_error
 public:
   explicit Exception(const std::string& what_arg);
 };
-}
+}  // namespace moveit
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index cf28da8858..ad810d306f 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -1067,4 +1067,4 @@ class KinematicConstraintSet
                                                                                internal visibility constraints */
   moveit_msgs::Constraints all_constraints_; /**<  \brief Messages corresponding to all internal constraints */
 };
-}
+}  // namespace kinematic_constraints
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index 3396520631..1828077063 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -214,4 +214,4 @@ bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints&
  * @param [in] constraints The constraint to resolve.
  */
 bool resolveConstraintFrames(const moveit::core::RobotState& state, moveit_msgs::Constraints& constraints);
-}
+}  // namespace kinematic_constraints
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index a3dae858a2..7e2e47aaf5 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -75,7 +75,7 @@ enum DiscretizationMethod
   SOME_RANDOM_SAMPLED /**< the discretization for some redundant joint will be randomly generated.
                            The unused redundant joints will be fixed at their current value. */
 };
-}
+}  // namespace DiscretizationMethods
 typedef DiscretizationMethods::DiscretizationMethod DiscretizationMethod;
 
 /*
@@ -97,7 +97,7 @@ enum KinematicError
   NO_SOLUTION                          /**< A valid joint solution that can reach this pose(s) could not be found */
 
 };
-}
+}  // namespace KinematicErrors
 typedef KinematicErrors::KinematicError KinematicError;
 
 /**
@@ -663,4 +663,4 @@ class KinematicsBase
 private:
   std::string removeSlash(const std::string& str) const;
 };
-};
+}  // namespace kinematics
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index 27e111fdf1..5a8f61c32a 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -156,4 +156,4 @@ class KinematicsMetrics
 
   double penalty_multiplier_;
 };
-}
+}  // namespace kinematics_metrics
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
index 4c583a922c..5d785abc96 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -211,4 +211,4 @@ class PlannerManager
   PlannerConfigurationMap config_settings_;
 };
 
-}  // planning_interface
+}  // namespace planning_interface
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
index e05209921d..6347a3d70f 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
@@ -66,4 +66,4 @@ struct MotionPlanDetailedResponse
   moveit_msgs::MoveItErrorCodes error_code_;
 };
 
-}  // planning_interface
+}  // namespace planning_interface
diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index daf9426ba0..ab7f69b8c9 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -119,4 +119,4 @@ class PlanningRequestAdapterChain
 private:
   std::vector<PlanningRequestAdapterConstPtr> adapters_;
 };
-}
+}  // namespace planning_request_adapter
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 0c48ababfb..ce2f166ac0 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -1044,4 +1044,4 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   // a map of object types
   std::unique_ptr<ObjectTypeMap> object_types_;
 };
-}
+}  // namespace planning_scene
diff --git a/moveit_core/profiler/include/moveit/profiler/profiler.h b/moveit_core/profiler/include/moveit/profiler/profiler.h
index 554ec2b755..96a13881b2 100644
--- a/moveit_core/profiler/include/moveit/profiler/profiler.h
+++ b/moveit_core/profiler/include/moveit/profiler/profiler.h
@@ -310,8 +310,8 @@ class Profiler : private boost::noncopyable
   bool running_;
   bool printOnDestroy_;
 };
-}
-}
+}  // namespace tools
+}  // namespace moveit
 
 #else
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/aabb.h b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
index 5c1b84df13..997399675e 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/aabb.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
@@ -50,4 +50,4 @@ class AABB : public Eigen::AlignedBox3d
   void extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box);
 };
 }
-}
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
index d10b1622a7..bf80d6a1a1 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
@@ -65,5 +65,5 @@ class FixedJointModel : public JointModel
   void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
   void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
index 6d721d9bf5..73cd5b7a6c 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
@@ -88,5 +88,5 @@ class FloatingJointModel : public JointModel
 private:
   double angular_distance_weight_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
index aa07321d73..3cb25d946c 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
@@ -518,5 +518,5 @@ class JointModel
 
 /** \brief Operator overload for printing variable bounds to a stream */
 std::ostream& operator<<(std::ostream& out, const VariableBounds& b);
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
index 108e1a5ab3..e2f1978f94 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -742,5 +742,5 @@ class JointModelGroup
   /** \brief The names of the default states specified for this group in the SRDF */
   std::vector<std::string> default_states_names_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index d586dfded0..65cbf925e5 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -280,5 +280,5 @@ class LinkModel
   /** \brief Index of the transform for this link in the full robot frame */
   int link_index_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
index 3524250e41..747cc2c2ff 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
@@ -83,5 +83,5 @@ class PlanarJointModel : public JointModel
 private:
   double angular_distance_weight_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
index 87678c55a5..c3c5d0ac81 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
@@ -83,5 +83,5 @@ class PrismaticJointModel : public JointModel
   /** \brief The axis of the joint */
   Eigen::Vector3d axis_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
index 76322c2b04..6d3b080408 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
@@ -94,5 +94,5 @@ class RevoluteJointModel : public JointModel
 private:
   double x2_, y2_, z2_, xy_, xz_, yz_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 835c675c04..8c8ffdaf3a 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -615,8 +615,8 @@ class RobotModel
   /** \brief Given a geometry spec from the URDF and a filename (for a mesh), construct the corresponding shape object*/
   shapes::ShapePtr constructShape(const urdf::Geometry* geom);
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
 
 namespace robot_model = moveit::core;
 namespace robot_state = moveit::core;
diff --git a/moveit_core/robot_model/src/order_robot_model_items.inc b/moveit_core/robot_model/src/order_robot_model_items.inc
index 8c6a261773..c28073f078 100644
--- a/moveit_core/robot_model/src/order_robot_model_items.inc
+++ b/moveit_core/robot_model/src/order_robot_model_items.inc
@@ -65,6 +65,6 @@ struct OrderGroupsByName
   }
 };
 
-}
-}
-}
\ No newline at end of file
+}  // namespace
+}  // namespace core
+}  // namespace moveit
\ No newline at end of file
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index 7086d00120..cf93dc0c02 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -188,5 +188,5 @@ class AttachedBody
   /** \brief Transforms to subframes on the object, relative to the model frame. */
   moveit::core::FixedTransformsMap global_subframe_poses_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_state/include/moveit/robot_state/conversions.h b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
index e5d1017d33..43968a2e83 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/conversions.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
@@ -140,5 +140,5 @@ void robotStateToStream(const RobotState& state, std::ostream& out,
  * \return true on success
  */
 void streamToRobotState(RobotState& state, const std::string& line, const std::string& separator = ",");
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 00004d0247..cc1b6c5353 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1844,5 +1844,5 @@ class RobotState
 
 /** \brief Operator overload for printing variable bounds to a stream */
 std::ostream& operator<<(std::ostream& out, const RobotState& s);
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 69ff8e0eca..6961c1c6c0 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -272,4 +272,4 @@ class RobotTrajectory
   std::deque<moveit::core::RobotStatePtr> waypoints_;
   std::deque<double> duration_from_previous_;
 };
-}
+}  // namespace robot_trajectory
diff --git a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
index 222e703504..34dc28fb0e 100644
--- a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
+++ b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
@@ -101,4 +101,4 @@ class MoveItSensorManager
   virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
                              moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
 };
-}
+}  // namespace moveit_sensor_manager
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
index 67f4683047..9ecf66e823 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
@@ -83,4 +83,4 @@ class IterativeSplineParameterization
   bool add_points_;  /// @brief If true, add two points to trajectory (first and last segments).
                      /// If false, move the 2nd and 2nd-last points.
 };
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
index 64e3d2b5b9..a336c83b5b 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
@@ -67,4 +67,4 @@ class IterativeParabolicTimeParameterization
   double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
   double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
 };
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 6833b606aa..cd90bdff10 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -197,5 +197,5 @@ class Transforms : private boost::noncopyable
   std::string target_frame_;
   FixedTransformsMap transforms_map_;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/utils/include/moveit/utils/lexical_casts.h b/moveit_core/utils/include/moveit/utils/lexical_casts.h
index 3dc0e84ab8..8b3496b028 100644
--- a/moveit_core/utils/include/moveit/utils/lexical_casts.h
+++ b/moveit_core/utils/include/moveit/utils/lexical_casts.h
@@ -65,5 +65,5 @@ double toDouble(const std::string& s);
  \throws std::runtime_exception if not a valid number
 */
 float toFloat(const std::string& s);
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/utils/include/moveit/utils/message_checks.h b/moveit_core/utils/include/moveit/utils/message_checks.h
index 4ac3c0af8d..ffb12c8292 100644
--- a/moveit_core/utils/include/moveit/utils/message_checks.h
+++ b/moveit_core/utils/include/moveit/utils/message_checks.h
@@ -61,5 +61,5 @@ bool isEmpty(const moveit_msgs::RobotState& msg);
 
 /** \brief Check if a message specifies constraints */
 bool isEmpty(const moveit_msgs::Constraints& msg);
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 652d7111b6..a22d6c635a 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -193,5 +193,5 @@ class RobotModelBuilder
   /// Whether the current builder state is valid. If any 'add' method fails, this becomes false.
   bool is_valid_ = true;
 };
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h b/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
index 2ffa863b3c..839256bfb2 100644
--- a/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
+++ b/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
@@ -60,5 +60,5 @@ bool isArray(XmlRpc::XmlRpcValue& v, size_t size = 0, const std::string& name =
  * @param name: if non-empty, print a warning message "name is not a struct with keys ..."
  */
 bool isStruct(XmlRpc::XmlRpcValue& v, const std::vector<std::string>& keys = {}, const std::string& name = "");
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 24f2c52b31..8fbf5f2d50 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -68,4 +68,4 @@ class CollisionCheckThread
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 };
-}
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index ec2f69794e..1cb737d8f6 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -135,4 +135,4 @@ struct JogArmParameters
   bool publish_joint_velocities;
   bool publish_joint_accelerations;
 };
-}
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
index 1c6d264696..85660cd50b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
@@ -60,4 +60,4 @@ const std::unordered_map<uint, std::string>
                               { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
                               { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
                               { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
-}  // end namespace trackjoint
+}  // namespace moveit_jog_arm
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin-inl.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin-inl.h
index 045b2190a0..82a88c20d9 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin-inl.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin-inl.h
@@ -239,4 +239,4 @@ bool CachedMultiTipIKKinematicsPlugin<KinematicsPlugin>::searchPositionIK(
     CachedIKKinematicsPlugin<KinematicsPlugin>::cache_.updateCache(nearest, poses, solution);
   return solution_found;
 }
-}
+}  // namespace cached_ik_kinematics_plugin
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 86687f3164..43e38e0dd4 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -344,6 +344,6 @@ class CachedMultiTipIKKinematicsPlugin : public CachedIKKinematicsPlugin<Kinemat
                         const KinematicsQueryOptions& options = KinematicsQueryOptions(),
                         const moveit::core::RobotState* context_state = nullptr) const override;
 };
-}
+}  // namespace cached_ik_kinematics_plugin
 
 #include "cached_ik_kinematics_plugin-inl.h"
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
index f954d054a0..5deab2dc97 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
@@ -127,4 +127,4 @@ class GreedyKCenters
   /** Random number generator used to select first center */
   std::mt19937 generator_{ std::random_device{}() };
 };
-}
+}  // namespace cached_ik_kinematics_plugin
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
index e3fc410078..0a30b7b0df 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
@@ -114,4 +114,4 @@ class NearestNeighbors
   /** \brief The used distance function */
   DistanceFunction distFun_;
 };
-}
+}  // namespace cached_ik_kinematics_plugin
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
index dc21099fc6..13f2482c67 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
@@ -718,4 +718,4 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   // \brief Cache of removed elements.
   std::unordered_set<const _T*> removed_;
 };
-}
+}  // namespace cached_ik_kinematics_plugin
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index 34292a9262..72cfd99a27 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -114,4 +114,4 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
   Jacobian jac_;          // full Jacobian
   Jacobian jac_reduced_;  // reduced Jacobian with contributions of mimic joints mapped onto active DoFs
 };
-}
+}  // namespace KDL
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
index 45ad0a0c47..6d64b63edc 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/joint_mimic.hpp
@@ -69,4 +69,4 @@ class JointMimic
     active = false;
   }
 };
-}
+}  // namespace kdl_kinematics_plugin
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 70146c5afa..16f381ed65 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -177,4 +177,4 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
    * = 0.0: perform position-only IK */
   double orientation_vs_position_weight_;
 };
-}
+}  // namespace kdl_kinematics_plugin
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index ba81d148ce..a25d154d57 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -162,4 +162,4 @@ class LMAKinematicsPlugin : public kinematics::KinematicsBase
    * = 0.0: perform position-only IK */
   double orientation_vs_position_weight_;
 };
-}
+}  // namespace lma_kinematics_plugin
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index 2adad1d763..4ae5dfb01e 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -151,4 +151,4 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
 
   std::shared_ptr<ros::ServiceClient> ik_service_client_;
 };
-}
+}  // namespace srv_kinematics_plugin
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
index 464da4ab92..e742d0455b 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
@@ -62,4 +62,4 @@ class CHOMPInterface : public chomp::ChompPlanner
 
   chomp::ChompParameters params_;
 };
-}
+}  // namespace chomp_interface
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
index dafda7f0b2..ea01bad078 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
@@ -216,4 +216,4 @@ class ChompOptimizer
   void computeJointProperties(int trajectoryPoint);
   bool isCurrentTrajectoryMeshToMeshCollisionFree() const;
 };
-}
+}  // namespace chomp
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
index a4d85fb673..b47308edde 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.h
@@ -53,4 +53,4 @@ class ChompPlanner
              const planning_interface::MotionPlanRequest& req, const ChompParameters& params,
              planning_interface::MotionPlanDetailedResponse& res) const;
 };
-}
+}  // namespace chomp
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
index 559237aa12..10bd896438 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
@@ -306,4 +306,4 @@ inline double ChompTrajectory::getDuration() const
 {
   return duration_;
 }
-}
+}  // namespace chomp
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
index a1935d640e..45b265474b 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
@@ -91,4 +91,4 @@ void MultivariateGaussian::sample(Eigen::MatrixBase<Derived>& output)
     output(i) = gaussian_();
   output = mean_ + covariance_cholesky_ * output;
 }
-}
+}  // namespace chomp
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index 3eff4f9787..a982a0215f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -71,4 +71,4 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
   bool warned_invalid_samples_;
   unsigned int verbose_display_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
index b2195591bb..884b82e4e9 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
@@ -76,4 +76,4 @@ class ConstrainedSampler : public ompl::base::StateSampler
   unsigned int constrained_failure_;
   double inv_dim_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
index e0b76d6309..7b73f60e0a 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
@@ -68,4 +68,4 @@ class ValidConstrainedSampler : public ompl::base::ValidStateSampler
   double inv_dim_;
   ompl::RNG rng_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
index 4e93e0ff8b..46b97ba692 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
@@ -199,4 +199,4 @@ class ConstraintsLibrary
   ModelBasedPlanningContext* context_;
   std::map<std::string, ConstraintApproximationPtr> constraint_approximations_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
index 00cf1d830f..a0daa1cf6b 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
@@ -81,4 +81,4 @@ class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
   std::vector<ompl::base::GoalPtr> goals_;
   mutable unsigned int gindex_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
index 0e40f3da4d..c612d22454 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
@@ -82,4 +82,4 @@ class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
 private:
   std::vector<unsigned int> variables_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
index 23e02f87fb..0b462b25f6 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
@@ -87,4 +87,4 @@ class StateValidityChecker : public ompl::base::StateValidityChecker
   collision_detection::CollisionRequest collision_request_with_cost_;
   bool verbose_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
index e896b23e3e..e0a5e6dc7c 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
@@ -56,4 +56,4 @@ class TSStateStorage
   mutable std::map<std::thread::id, moveit::core::RobotState*> thread_states_;
   mutable std::mutex lock_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index caf92fab42..5677eea4a0 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -163,4 +163,4 @@ class OMPLInterface
 private:
   constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
index c82897307b..91d8867a10 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
@@ -52,4 +52,4 @@ class JointModelStateSpace : public ModelBasedStateSpace
     return PARAMETERIZATION_TYPE;
   }
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
index 10cac453eb..7386856fc6 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
@@ -51,4 +51,4 @@ class JointModelStateSpaceFactory : public ModelBasedStateSpaceFactory
 protected:
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
index 2ed0f90eb4..4b71b32e0f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
@@ -73,4 +73,4 @@ class ModelBasedStateSpaceFactory
   virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
   std::string type_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index 5bb996aebd..b0668a6727 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -139,4 +139,4 @@ class PoseModelStateSpace : public ModelBasedStateSpace
   std::vector<PoseComponent> poses_;
   double jump_factor_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
index c5b1676ceb..e6c34ebba9 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
@@ -51,4 +51,4 @@ class PoseModelStateSpaceFactory : public ModelBasedStateSpaceFactory
 protected:
   ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 14e1eeb0ea..fc5c71b792 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -261,4 +261,4 @@ class PlanningContextManager
   MOVEIT_STRUCT_FORWARD(CachedContexts);
   CachedContextsPtr cached_contexts_;
 };
-}
+}  // namespace ompl_interface
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
index 89bf9f6f81..f33ed0656a 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
@@ -122,6 +122,6 @@ class InterpolatingController : public ThreadedController
 private:
   ros::WallRate rate_;
 };
-}
+}  // namespace moveit_fake_controller_manager
 
 #endif
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index e7b50d07bc..6aac9db366 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -227,4 +227,4 @@ class BenchmarkExecutor
   std::vector<QueryStartEventFunction> query_start_fns_;
   std::vector<QueryCompletionEventFunction> query_end_fns_;
 };
-}
+}  // namespace moveit_ros_benchmarks
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
index 92c7671529..88caedb796 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
@@ -135,4 +135,4 @@ class BenchmarkOptions
 
   moveit_msgs::WorkspaceParameters workspace_;
 };
-}
+}  // namespace moveit_ros_benchmarks
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
index 3ba4abdb2f..5987597bc9 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
@@ -99,4 +99,4 @@ class MoveGroupPickPlaceAction : public MoveGroupCapability
 
   ros::ServiceClient grasp_planning_service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
index fc1737229c..8c7014495f 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/approach_and_translate_stage.h
@@ -60,4 +60,4 @@ class ApproachAndTranslateStage : public ManipulationStage
   double max_step_;
   double jump_factor_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
index 12b9dbf855..f341abf45b 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
@@ -115,4 +115,4 @@ class ManipulationPipeline
 
   bool stop_processing_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
index e4df2f2c01..2086af4b2d 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
@@ -141,4 +141,4 @@ struct ManipulationPlan
   // An id for this plan; this is usually the index of the Grasp / PlaceLocation in the input request
   std::size_t id_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
index 4b6e1f7b32..d71b930040 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
@@ -82,4 +82,4 @@ class ManipulationStage
   bool signal_stop_;
   bool verbose_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
index 1448112f13..ab26f50dae 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
@@ -163,4 +163,4 @@ class PickPlace : private boost::noncopyable, public std::enable_shared_from_thi
 
   constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
index 08ae38837f..32ef5d4277 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
@@ -50,4 +50,4 @@ struct PickPlaceParams
 
 // Get access to a global variable that contains the pick & place params.
 const PickPlaceParams& GetGlobalPickPlaceParams();
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
index 4810e44edf..7b651e196d 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/plan_stage.h
@@ -56,4 +56,4 @@ class PlanStage : public ManipulationStage
   planning_scene::PlanningSceneConstPtr planning_scene_;
   planning_pipeline::PlanningPipelinePtr planning_pipeline_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
index 09125623fe..0e5ec7b0f3 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/reachable_valid_pose_filter.h
@@ -58,4 +58,4 @@ class ReachableAndValidPoseFilter : public ManipulationStage
   collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_;
   constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_;
 };
-}
+}  // namespace pick_place
diff --git a/moveit_ros/move_group/include/moveit/move_group/capability_names.h b/moveit_ros/move_group/include/moveit/move_group/capability_names.h
index 53f36e07a5..2e5e64153d 100644
--- a/moveit_ros/move_group/include/moveit/move_group/capability_names.h
+++ b/moveit_ros/move_group/include/moveit/move_group/capability_names.h
@@ -62,4 +62,4 @@ static const std::string APPLY_PLANNING_SCENE_SERVICE_NAME =
     "apply_planning_scene";  // name of the service that applies a given planning scene
 static const std::string CLEAR_OCTOMAP_SERVICE_NAME =
     "clear_octomap";  // name of the service that can be used to clear the octomap
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
index c34ef2363d..633b19be12 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
@@ -97,4 +97,4 @@ class MoveGroupCapability
   std::string capability_name_;
   MoveGroupContextPtr context_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
index 7808a6f3ea..daeeb838a6 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
@@ -79,4 +79,4 @@ struct MoveGroupContext
   bool allow_trajectory_execution_;
   bool debug_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
index 9970cc8fef..858db10d64 100644
--- a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
@@ -57,4 +57,4 @@ class ApplyPlanningSceneService : public MoveGroupCapability
 
   ros::ServiceServer service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
index e90efe670c..aa000aad07 100644
--- a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
@@ -55,4 +55,4 @@ class MoveGroupCartesianPathService : public MoveGroupCapability
   ros::Publisher display_path_;
   bool display_computed_paths_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
index 2c5e68b542..b43edafcf2 100644
--- a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.h
@@ -53,4 +53,4 @@ class ClearOctomapService : public MoveGroupCapability
 
   ros::ServiceServer service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
index 3195f04150..34c2be26e9 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
@@ -61,4 +61,4 @@ class MoveGroupKinematicsService : public MoveGroupCapability
   ros::ServiceServer fk_service_;
   ros::ServiceServer ik_service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.h b/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
index 56917e6a67..3f83999841 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.h
@@ -69,4 +69,4 @@ class MoveGroupMoveAction : public MoveGroupCapability
   MoveGroupState move_state_;
   bool preempt_requested_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
index 6ca33b6791..5fb5bb5a0b 100644
--- a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
@@ -53,4 +53,4 @@ class MoveGroupPlanService : public MoveGroupCapability
 
   ros::ServiceServer plan_service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
index 5d3a8b632f..da31e1ca46 100644
--- a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.h
@@ -61,4 +61,4 @@ class MoveGroupQueryPlannersService : public MoveGroupCapability
   ros::ServiceServer get_service_;
   ros::ServiceServer set_service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
index 86dc6c8d52..c814974de1 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.h
@@ -53,4 +53,4 @@ class MoveGroupStateValidationService : public MoveGroupCapability
 
   ros::ServiceServer validity_service_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
index 2a15f4d283..9aab273170 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
@@ -56,4 +56,4 @@ class TfPublisher : public MoveGroupCapability
   std::thread thread_;
   bool keep_running_;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index 88e8730d6d..cd09da30e8 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -119,4 +119,4 @@ class OccMapTree : public octomap::OcTree
 
 typedef std::shared_ptr<OccMapTree> OccMapTreePtr;
 typedef std::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
index ece0658606..32da5da893 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
@@ -158,4 +158,4 @@ class OccupancyMapMonitor
 
   bool active_;
 };
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
index 07c2a0b0c8..edd896ddeb 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
@@ -110,4 +110,4 @@ class OccupancyMapUpdater
   static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
   static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
 };
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
index 199c79204d..6779854111 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
+++ b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
@@ -105,4 +105,4 @@ class DepthImageOctomapUpdater : public OccupancyMapUpdater
   std::vector<unsigned int> filtered_labels_;
   ros::WallTime last_depth_callback_start_;
 };
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h b/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
index 270ad565f1..64e93612bd 100644
--- a/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
+++ b/moveit_ros/perception/lazy_free_space_updater/include/moveit/lazy_free_space_updater/lazy_free_space_updater.h
@@ -87,4 +87,4 @@ class LazyFreeSpaceUpdater
   boost::thread update_thread_;
   boost::thread process_thread_;
 };
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
index a817245040..f3331e809c 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
@@ -140,4 +140,4 @@ class FilterJob<void> : public Job
 private:
   boost::function<void()> exec_;
 };
-}
+}  // namespace mesh_filter
diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index facd1d1319..d7248acded 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -130,4 +130,4 @@ class ShapeMask
   ShapeHandle min_handle_;
   std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator> used_handles_;
 };
-}
+}  // namespace point_containment_filter
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index 5eba41256d..6053926ae0 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -103,4 +103,4 @@ class PointCloudOctomapUpdater : public OccupancyMapUpdater
   std::unique_ptr<point_containment_filter::ShapeMask> shape_mask_;
   std::vector<int> mask_;
 };
-}
+}  // namespace occupancy_map_monitor
diff --git a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
index b53e280328..102780606d 100644
--- a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
+++ b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
@@ -161,5 +161,5 @@ class SemanticWorld
 
   ros::Publisher planning_scene_diff_publisher_;
 };
-}
-}
+}  // namespace semantic_world
+}  // namespace moveit
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
index 84246d1851..f7f0f45dbb 100644
--- a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
+++ b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
@@ -60,4 +60,4 @@ class ConstraintSamplerManagerLoader
   MOVEIT_CLASS_FORWARD(Helper)
   HelperPtr impl_;
 };
-}
+}  // namespace constraint_sampler_manager_loader
diff --git a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
index 809599bf79..f0377b80ba 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
+++ b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
@@ -113,4 +113,4 @@ class KinematicsPluginLoader
   std::string default_solver_plugin_;
   double default_solver_timeout_;
 };
-}
+}  // namespace kinematics_plugin_loader
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
index 7c93c012fb..274a3ca022 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
@@ -163,4 +163,4 @@ class PlanExecution
   class DynamicReconfigureImpl;
   DynamicReconfigureImpl* reconfigure_impl_;
 };
-}
+}  // namespace plan_execution
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
index 724414768f..fab59a19a1 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
@@ -86,4 +86,4 @@ struct ExecutableMotionPlan
 
 /// The signature of a function that can compute a motion plan
 typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
-}
+}  // namespace plan_execution
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
index b0b468cd19..5741e2e223 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
@@ -133,4 +133,4 @@ class PlanWithSensing
   class DynamicReconfigureImpl;
   DynamicReconfigureImpl* reconfigure_impl_;
 };
-}
+}  // namespace plan_execution
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
index 27b14c78dc..e7514f6702 100644
--- a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -195,4 +195,4 @@ class PlanningPipeline
 };
 
 MOVEIT_CLASS_FORWARD(PlanningPipeline);
-}
+}  // namespace planning_pipeline
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index ab63281a5e..95292a3634 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -211,4 +211,4 @@ class CurrentStateMonitor
 };
 
 MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
-}
+}  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index ca9fe70b3a..c7549056b5 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -719,4 +719,4 @@ class LockedPlanningSceneRW : public LockedPlanningSceneRO
     return planning_scene_monitor_->getPlanningScene();
   }
 };
-}
+}  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index aff77b560e..429d0163d8 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -105,4 +105,4 @@ class TrajectoryMonitor
   std::unique_ptr<boost::thread> record_states_thread_;
   TrajectoryStateAddedCallback state_add_callback_;
 };
-}
+}  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index bf506a96bf..d365ac8169 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -100,4 +100,4 @@ class RDFLoader
   srdf::ModelSharedPtr srdf_;
   urdf::ModelInterfaceSharedPtr urdf_;
 };
-}
+}  // namespace rdf_loader
diff --git a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
index 5307ae2b3e..c3b136d2ea 100644
--- a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
+++ b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
@@ -132,4 +132,4 @@ class RobotModelLoader
   rdf_loader::RDFLoaderPtr rdf_loader_;
   kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
 };
-}
+}  // namespace robot_model_loader
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 7a143dabf2..269422c203 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -361,4 +361,4 @@ class TrajectoryExecutionManager
   double execution_velocity_scaling_;
   bool wait_for_trajectory_completion_;
 };
-}
+}  // namespace trajectory_execution_manager
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
index 732457e801..7681fe51ad 100644
--- a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
@@ -159,4 +159,4 @@ class TestMoveItControllerManager : public moveit_controller_manager::MoveItCont
   std::map<std::string, int> controllers_;
   std::map<std::string, std::vector<std::string> > controller_joints_;
 };
-}
+}  // namespace test_moveit_controller_manager
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
index e6e62f60ca..d457714c84 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
@@ -70,5 +70,5 @@ planning_scene_monitor::CurrentStateMonitorPtr
 getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                       const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const ros::NodeHandle& nh);
 
-}  // namespace planning interface
+}  // namespace planning_interface
 }  // namespace moveit
diff --git a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
index 004ecade7f..6d872eb116 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
+++ b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
@@ -148,5 +148,5 @@ class PlanningSceneInterface
   class PlanningSceneInterfaceImpl;
   PlanningSceneInterfaceImpl* impl_;
 };
-}
-}
+}  // namespace planning_interface
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
index 47825360ba..acbbde0d2b 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/py_conversions.h
@@ -92,5 +92,5 @@ boost::python::list listFromString(const std::vector<std::string>& v)
 {
   return listFromType<std::string>(v);
 }
-}
-}
+}  // namespace py_bindings_tools
+}  // namespace moveit
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
index 1effb467a5..060d84164c 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
@@ -70,5 +70,5 @@ void roscpp_init(boost::python::list& argv);
 void roscpp_init();
 
 void roscpp_shutdown();
-}
-}
+}  // namespace py_bindings_tools
+}  // namespace moveit
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
index 3dc50a10ea..fc1dafc8d2 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
@@ -75,7 +75,7 @@ enum InteractionStyle
   ORIENTATION_NOSPHERE = ORIENTATION_CIRCLES | ORIENTATION_EEF,
   SIX_DOF_NOSPHERE = POSITION_NOSPHERE | ORIENTATION_NOSPHERE
 };
-}
+}  // namespace InteractionStyle
 
 /// Type of function for constructing markers.
 /// This callback sets up the marker used for an interaction.
@@ -173,4 +173,4 @@ struct JointInteraction
   /// The size of the connecting link  (diameter of enclosing sphere)
   double size;
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index e6a07c1d83..285b0c47a0 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -309,4 +309,4 @@ class InteractionHandler : public LockedRobotState
   // remove '_' characters from name
   static std::string fixName(std::string name);
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
index 16e821eab0..9404d5dc0b 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
@@ -67,4 +67,4 @@ void addPositionControl(visualization_msgs::InteractiveMarker& int_marker, bool
 
 void addViewPlaneControl(visualization_msgs::InteractiveMarker& int_marker, double radius,
                          const std_msgs::ColorRGBA& color, bool position = true, bool orientation = true);
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
index 0ba6699d47..7207bd6152 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
@@ -87,4 +87,4 @@ struct KinematicOptions
   /// other options
   kinematics::KinematicsQueryOptions options_;
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
index f0e6d807e1..40ebd87d1b 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
@@ -102,4 +102,4 @@ class KinematicOptionsMap
   // PROTECTED BY lock_
   M_options options_;
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
index 488b49057e..f10ddb99af 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
@@ -107,4 +107,4 @@ class LockedRobotState
   // PROTECTED BY state_lock_
   moveit::core::RobotStatePtr state_;
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index 3fc649d93e..7c458fab52 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -232,4 +232,4 @@ class RobotInteraction
   // options for doing IK
   KinematicOptionsMapPtr kinematic_options_map_;
 };
-}
+}  // namespace robot_interaction
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index ef8f3accd2..7dc3db6e20 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -75,7 +75,7 @@ class RosTopicProperty;
 class EditableEnumProperty;
 class ColorProperty;
 class MovableText;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 26ac2b6a3a..eda9170512 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -371,4 +371,4 @@ void MotionPlanningFrame::waitForAction(const T& action, const ros::NodeHandle&
   else
     ROS_DEBUG("Connected to '%s'", name.c_str());
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index 27363dd63c..d50aa8a720 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -251,4 +251,4 @@ class JogSlider : public QSlider
 Q_SIGNALS:
   void triggered(double value);
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 0869a1a8ed..44fd36c20e 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -80,4 +80,4 @@ private Q_SLOTS:
   std::string group_name_;
   std::string planner_id_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index d6ecd6848b..7b917fe33d 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -60,7 +60,7 @@ class FloatProperty;
 class RosTopicProperty;
 class ColorProperty;
 class EnumProperty;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index 1e086e2156..1bb8bf5daa 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -91,4 +91,4 @@ class OcTreeRender
   double colorFactor_;
   std::size_t octree_depth_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
index 3f16dffc55..bf9e86af54 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
@@ -60,4 +60,4 @@ class PlanningLinkUpdater : public rviz::LinkUpdater
 private:
   moveit::core::RobotStateConstPtr kinematic_state_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
index 987425752c..eb61b70521 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -86,4 +86,4 @@ class PlanningSceneRender
   RenderShapesPtr render_shapes_;
   RobotStateVisualizationPtr scene_robot_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index a58697c244..9e3e9222fe 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -78,4 +78,4 @@ class RenderShapes
   std::vector<std::unique_ptr<rviz::Shape> > scene_shapes_;
   std::vector<OcTreeRenderPtr> octree_voxel_grids_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 58b258df24..754ff06a01 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -114,4 +114,4 @@ class RobotStateVisualization
   bool visual_visible_;
   bool collision_visible_;
 };
-}
+}  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 0b6979701d..3c6d92307b 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -64,7 +64,7 @@ class RosTopicProperty;
 class EditableEnumProperty;
 class ColorProperty;
 class MovableText;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
index 7e507bb257..cc08a95d79 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
@@ -82,4 +82,4 @@ class ConstraintsStorage : public MoveItMessageStorage
 
   ConstraintsCollection constraints_collection_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
index f6b6be0c3e..fbc6077e47 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h
@@ -64,4 +64,4 @@ class MoveItMessageStorage
 
 /// \brief Load a database connection
 typename warehouse_ros::DatabaseConnection::Ptr loadDatabase();
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
index 1878942ecd..e7899729ac 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
@@ -118,4 +118,4 @@ class PlanningSceneStorage : public MoveItMessageStorage
   MotionPlanRequestCollection motion_plan_request_collection_;
   RobotTrajectoryCollection robot_trajectory_collection_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
index fec6384e54..8e1b34af82 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_world_storage.h
@@ -71,4 +71,4 @@ class PlanningSceneWorldStorage : public MoveItMessageStorage
 
   PlanningSceneWorldCollection planning_scene_world_collection_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
index ce592f9fa0..e008a5fbd2 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
@@ -77,4 +77,4 @@ class RobotStateStorage : public MoveItMessageStorage
 
   RobotStateCollection state_collection_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
index 7246618a41..7b2da57f5a 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
@@ -85,4 +85,4 @@ class TrajectoryConstraintsStorage : public MoveItMessageStorage
 
   TrajectoryConstraintsCollection constraints_collection_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
index 3555097ccd..04e279a3ca 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/warehouse_connector.h
@@ -53,4 +53,4 @@ class WarehouseConnector
   std::string dbexec_;
   int child_pid_;
 };
-}
+}  // namespace moveit_warehouse
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
index c19bc2e0f5..fc3ef90160 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
@@ -108,4 +108,4 @@ const std::string disabledReasonToString(DisabledReason reason);
  * \return reason as struct
  */
 DisabledReason disabledReasonFromString(const std::string& reason);
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index d649cb6ad5..394eac0875 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -536,4 +536,4 @@ class MoveItConfigData
   planning_scene::PlanningScenePtr planning_scene_;
 };
 
-}  // namespace
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/tools/rotated_header_view.h b/moveit_setup_assistant/src/tools/rotated_header_view.h
index 5bf288d84c..04ec7897e9 100644
--- a/moveit_setup_assistant/src/tools/rotated_header_view.h
+++ b/moveit_setup_assistant/src/tools/rotated_header_view.h
@@ -48,4 +48,4 @@ class RotatedHeaderView : public QHeaderView
   QSize sectionSizeFromContents(int logicalIndex) const override;
   int sectionSizeHint(int logicalIndex) const;
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.h b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
index f7a2679164..1da3f602b2 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
@@ -140,4 +140,4 @@ private Q_SLOTS:
   /// Contains all the configuration data for the setup assistant
   moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index d69cedefd3..ccf814a70c 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -255,4 +255,4 @@ class MonitorThread : public QThread
   unsigned int progress_;
   bool canceled_;
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.h b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
index a6be88ed6f..1073ec1866 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.h
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
@@ -182,4 +182,4 @@ private Q_SLOTS:
   void edit(const std::string& name);
 };
 
-}  // namespace
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.h b/moveit_setup_assistant/src/widgets/group_edit_widget.h
index bf62ee77fb..a55fb2943e 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.h
@@ -129,4 +129,4 @@ private Q_SLOTS:
   // Private Functions
   // ******************************************************************************************
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/header_widget.h b/moveit_setup_assistant/src/widgets/header_widget.h
index a5661beb83..3e82c51728 100644
--- a/moveit_setup_assistant/src/widgets/header_widget.h
+++ b/moveit_setup_assistant/src/widgets/header_widget.h
@@ -117,4 +117,4 @@ class LoadPathArgsWidget : public LoadPathWidget
   void setArgs(const QString& args);
   void setArgsEnabled(bool enabled = true);
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
index e7a3589803..150fe46de0 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
@@ -133,4 +133,4 @@ private Q_SLOTS:
   // Private Functions
   // ******************************************************************************************
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.h b/moveit_setup_assistant/src/widgets/navigation_widget.h
index 76084c869e..410be2deb8 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.h
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.h
@@ -82,4 +82,4 @@ class NavDelegate : public QStyledItemDelegate
   QSize sizeHint(const QStyleOptionViewItem& option, const QModelIndex& index) const override;
   void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const override;
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.h b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
index 3e6b94f439..9f27cf15b5 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
@@ -100,4 +100,4 @@ private Q_SLOTS:
   std::string current_edit_vjoint_;
 };
 
-}  // namespace
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.h b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
index 4c394c23ef..33fba55316 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.h
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
@@ -204,7 +204,7 @@ private Q_SLOTS:
   /// Switch to current groups view
   void showMainScreen();
 };
-}
+}  // namespace moveit_setup_assistant
 
 // ******************************************************************************************
 // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index d1dee54b10..86be2084a1 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -290,7 +290,7 @@ private Q_SLOTS:
   // ******************************************************************************************
 };
 
-}  // namespace
+}  // namespace moveit_setup_assistant
 
 // Declare std::string as metatype so we can use it in a signal
 Q_DECLARE_METATYPE(std::string)
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
index 51f07cf56f..20ab7cc114 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
@@ -235,4 +235,4 @@ private Q_SLOTS:
   // Private Functions
   // ******************************************************************************************
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.h b/moveit_setup_assistant/src/widgets/start_screen_widget.h
index d06dd6a6ce..c81def715e 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.h
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.h
@@ -188,4 +188,4 @@ private Q_SLOTS:
   QPushButton* btn_exist_;
   QLabel* widget_instructions_;
 };
-}
+}  // namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
index e3c6f5d4ec..0f48d7b2e2 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
@@ -186,4 +186,4 @@ private Q_SLOTS:
   void edit(const std::string& name);
 };
 
-}  // namespace
+}  // namespace moveit_setup_assistant

From 972b8836f460bcdeed0c246a567615d1f9793363 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 16:52:26 +0200
Subject: [PATCH 268/612] modernize-redundant-void-arg, modernize-use-nullptr,
 modernize-use-default, modernize-use-override

---
 .../moveit/collision_detection/world.h        |  2 +-
 .../bullet_cast_bvh_manager.h                 |  2 +-
 .../bullet_discrete_bvh_manager.h             |  2 +-
 .../bullet_integration/bullet_utils.h         |  2 +-
 .../collision_env_bullet.h                    | 16 ++++-----
 .../collision_common.h                        |  4 +--
 .../collision_detector_fcl_plugin_loader.h    |  2 +-
 .../collision_env_fcl.h                       | 16 ++++-----
 .../collision_env_distance_field.h            |  4 +--
 .../propagation_distance_field.h              |  6 ++--
 .../moveit/distance_field/voxel_grid.h        |  4 +--
 .../kinematic_constraint.h                    |  6 ++--
 .../moveit/kinematics_base/kinematics_base.h  |  2 +-
 .../moveit/planning_scene/planning_scene.h    | 16 ++++-----
 .../include/moveit/profiler/profiler.h        | 34 +++++++++----------
 .../include/moveit/robot_model/robot_model.h  |  2 +-
 .../include/moveit/robot_state/robot_state.h  |  4 +--
 .../time_optimal_trajectory_generation.h      |  2 +-
 .../include/chomp_motion_planner/chomp_cost.h |  8 ++---
 .../model_based_state_space.h                 |  2 +-
 .../work_space/pose_model_state_space.h       |  2 +-
 .../action_based_controller_handle.h          |  2 +-
 .../moveit/pick_place/manipulation_plan.h     |  6 ++--
 .../tf_publisher_capability.h                 |  2 +-
 .../occupancy_map_monitor/occupancy_map.h     |  2 +-
 .../point_containment_filter/shape_mask.h     |  2 +-
 .../move_group_interface.h                    |  4 +--
 .../robot_interaction/interaction_handler.h   |  2 +-
 .../robot_interaction/robot_interaction.h     |  2 +-
 .../motion_planning_frame.h                   |  2 +-
 .../motion_planning_frame_joints_widget.h     |  4 +--
 .../motion_planning_param_widget.h            |  2 +-
 .../trajectory_panel.h                        |  2 +-
 .../trajectory_constraints_storage.h          |  4 +--
 .../src/tools/collision_linear_model.h        |  4 +--
 .../src/tools/collision_matrix_model.h        |  2 +-
 .../src/tools/rotated_header_view.h           |  2 +-
 .../src/widgets/default_collisions_widget.h   |  2 +-
 .../src/widgets/double_list_widget.h          |  2 +-
 .../src/widgets/navigation_widget.h           |  4 +--
 40 files changed, 95 insertions(+), 95 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index 110fcf631c..836d900525 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -241,7 +241,7 @@ class World
   class ObserverHandle
   {
   public:
-    ObserverHandle() : observer_(NULL)
+    ObserverHandle() : observer_(nullptr)
     {
     }
 
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
index 45013d2113..69c856575b 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
@@ -50,7 +50,7 @@ class BulletCastBVHManager : public BulletBVHManager
   /** \brief Constructor */
   BulletCastBVHManager() = default;
 
-  virtual ~BulletCastBVHManager() = default;
+  ~BulletCastBVHManager() override = default;
 
   /**@brief Clone the manager
    *
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
index eea9e17820..ec1a451814 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
@@ -50,7 +50,7 @@ class BulletDiscreteBVHManager : public BulletBVHManager
   /** \brief Constructor */
   BulletDiscreteBVHManager() = default;
 
-  virtual ~BulletDiscreteBVHManager() = default;
+  ~BulletDiscreteBVHManager() override = default;
 
   /**@brief Clone the manager
    *
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
index 29f2434724..252f8c3e51 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -929,7 +929,7 @@ inline void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr& cow,
 
 struct BroadphaseFilterCallback : public btOverlapFilterCallback
 {
-  virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override
+  bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override
   {
     bool cull = !(proxy0->m_collisionFilterMask & proxy1->m_collisionFilterGroup);
     cull = cull || !(proxy1->m_collisionFilterMask & proxy0->m_collisionFilterGroup);
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
index d976448a2c..ba502f2e00 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -59,32 +59,32 @@ class CollisionEnvBullet : public CollisionEnv
 
   CollisionEnvBullet(CollisionEnvBullet&) = delete;
 
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state) const override;
 
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state,
                                   const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state,
                                    const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1,
                                    const moveit::core::RobotState& state2) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
-  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                             const moveit::core::RobotState& state) const override;
 
-  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                              const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index cde0730291..6f33b9280c 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -139,12 +139,12 @@ struct CollisionGeometryData
 /** \brief Data structure which is passed to the collision callback function of the collision manager. */
 struct CollisionData
 {
-  CollisionData() : req_(NULL), active_components_only_(NULL), res_(NULL), acm_(NULL), done_(false)
+  CollisionData() : req_(nullptr), active_components_only_(nullptr), res_(nullptr), acm_(nullptr), done_(false)
   {
   }
 
   CollisionData(const CollisionRequest* req, CollisionResult* res, const AllowedCollisionMatrix* acm)
-    : req_(req), active_components_only_(NULL), res_(res), acm_(acm), done_(false)
+    : req_(req), active_components_only_(nullptr), res_(res), acm_(acm), done_(false)
   {
   }
 
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
index 213b8ccc97..c18d059178 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -44,6 +44,6 @@ namespace collision_detection
 class CollisionDetectorFCLPluginLoader : public CollisionPlugin
 {
 public:
-  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const;
+  bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
 };
 }
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index a6c261ec39..dbdfa05673 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -64,32 +64,32 @@ class CollisionEnvFCL : public CollisionEnv
 
   ~CollisionEnvFCL() override;
 
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state) const override;
 
-  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state,
                                   const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state,
                                    const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1,
                                    const moveit::core::RobotState& state2) const override;
 
-  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                             const moveit::core::RobotState& state) const override;
 
-  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                              const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index 93cd63ef2f..3d1d81a55d 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -169,11 +169,11 @@ class CollisionEnvDistanceField : public CollisionEnv
                                    const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                    GroupStateRepresentationPtr& gsr) const;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix& acm) const override;
 
-  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1,
                                    const moveit::core::RobotState& state2) const override;
 
diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index 7dd4971421..e6b6d083a5 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -417,20 +417,20 @@ class PropagationDistanceField : public DistanceField
       dist = sqrt_table_[cell->distance_square_];
       pos = cell->closest_point_;
       const PropDistanceFieldVoxel* ncell = &voxel_grid_->getCell(pos.x(), pos.y(), pos.z());
-      return ncell == cell ? NULL : ncell;
+      return ncell == cell ? nullptr : ncell;
     }
     if (cell->negative_distance_square_ > 0)
     {
       dist = -sqrt_table_[cell->negative_distance_square_];
       pos = cell->closest_negative_point_;
       const PropDistanceFieldVoxel* ncell = &voxel_grid_->getCell(pos.x(), pos.y(), pos.z());
-      return ncell == cell ? NULL : ncell;
+      return ncell == cell ? nullptr : ncell;
     }
     dist = 0.0;
     pos.x() = x;
     pos.y() = y;
     pos.z() = z;
-    return NULL;
+    return nullptr;
   }
 
   /**
diff --git a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
index 82a296cabf..da05bd437d 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
@@ -341,7 +341,7 @@ class VoxelGrid
 template <typename T>
 VoxelGrid<T>::VoxelGrid(double size_x, double size_y, double size_z, double resolution, double origin_x,
                         double origin_y, double origin_z, T default_object)
-  : data_(NULL)
+  : data_(nullptr)
 {
   resize(size_x, size_y, size_z, resolution, origin_x, origin_y, origin_z, default_object);
 }
@@ -368,7 +368,7 @@ void VoxelGrid<T>::resize(double size_x, double size_y, double size_z, double re
                           double origin_y, double origin_z, T default_object)
 {
   delete[] data_;
-  data_ = NULL;
+  data_ = nullptr;
 
   size_[DIM_X] = size_x;
   size_[DIM_Y] = size_y;
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index ad810d306f..7c5b1691e6 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -208,7 +208,7 @@ class JointConstraint : public KinematicConstraint
    * @param [in] model The kinematic model used for constraint evaluation
    */
   JointConstraint(const moveit::core::RobotModelConstPtr& model)
-    : KinematicConstraint(model), joint_model_(NULL), joint_variable_index_(-1)
+    : KinematicConstraint(model), joint_model_(nullptr), joint_variable_index_(-1)
   {
     type_ = JOINT_CONSTRAINT;
   }
@@ -355,7 +355,7 @@ class OrientationConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  OrientationConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
+  OrientationConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(nullptr)
   {
     type_ = ORIENTATION_CONSTRAINT;
   }
@@ -512,7 +512,7 @@ class PositionConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  PositionConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(NULL)
+  PositionConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(nullptr)
   {
     type_ = POSITION_CONSTRAINT;
   }
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 7e2e47aaf5..a77c930ffe 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -508,7 +508,7 @@ class KinematicsBase
    *          supported.
    * \return True if the group is supported, false if not.
    */
-  virtual bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = NULL) const;
+  virtual bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const;
 
   /**
    * @brief  Set the search discretization value for all the redundant joints
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index ce2f166ac0..5a776494e3 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -867,14 +867,14 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) */
   bool isPathValid(const moveit_msgs::RobotState& start_state, const moveit_msgs::RobotTrajectory& trajectory,
                    const std::string& group = "", bool verbose = false,
-                   std::vector<std::size_t>* invalid_index = NULL) const;
+                   std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the
    * passed in trajectory. */
   bool isPathValid(const moveit_msgs::RobotState& start_state, const moveit_msgs::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints, const std::string& group = "",
-                   bool verbose = false, std::vector<std::size_t>* invalid_index = NULL) const;
+                   bool verbose = false, std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the
@@ -882,7 +882,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   bool isPathValid(const moveit_msgs::RobotState& start_state, const moveit_msgs::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints, const moveit_msgs::Constraints& goal_constraints,
                    const std::string& group = "", bool verbose = false,
-                   std::vector<std::size_t>* invalid_index = NULL) const;
+                   std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the
@@ -890,7 +890,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   bool isPathValid(const moveit_msgs::RobotState& start_state, const moveit_msgs::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints,
                    const std::vector<moveit_msgs::Constraints>& goal_constraints, const std::string& group = "",
-                   bool verbose = false, std::vector<std::size_t>* invalid_index = NULL) const;
+                   bool verbose = false, std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the
@@ -898,7 +898,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   bool isPathValid(const robot_trajectory::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints,
                    const std::vector<moveit_msgs::Constraints>& goal_constraints, const std::string& group = "",
-                   bool verbose = false, std::vector<std::size_t>* invalid_index = NULL) const;
+                   bool verbose = false, std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the
@@ -906,17 +906,17 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   bool isPathValid(const robot_trajectory::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints, const moveit_msgs::Constraints& goal_constraints,
                    const std::string& group = "", bool verbose = false,
-                   std::vector<std::size_t>* invalid_index = NULL) const;
+                   std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and
    * constraint satisfaction). */
   bool isPathValid(const robot_trajectory::RobotTrajectory& trajectory,
                    const moveit_msgs::Constraints& path_constraints, const std::string& group = "",
-                   bool verbose = false, std::vector<std::size_t>* invalid_index = NULL) const;
+                   bool verbose = false, std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) */
   bool isPathValid(const robot_trajectory::RobotTrajectory& trajectory, const std::string& group = "",
-                   bool verbose = false, std::vector<std::size_t>* invalid_index = NULL) const;
+                   bool verbose = false, std::vector<std::size_t>* invalid_index = nullptr) const;
 
   /** \brief Get the top \e max_costs cost sources for a specified trajectory. The resulting costs are stored in \e
    * costs */
diff --git a/moveit_core/profiler/include/moveit/profiler/profiler.h b/moveit_core/profiler/include/moveit/profiler/profiler.h
index 96a13881b2..82b5901bce 100644
--- a/moveit_core/profiler/include/moveit/profiler/profiler.h
+++ b/moveit_core/profiler/include/moveit/profiler/profiler.h
@@ -83,7 +83,7 @@ class Profiler : private boost::noncopyable
       prof_.begin(name);
     }
 
-    ~ScopedBlock(void)
+    ~ScopedBlock()
     {
       prof_.end(name_);
     }
@@ -105,7 +105,7 @@ class Profiler : private boost::noncopyable
         prof_.start();
     }
 
-    ~ScopedStart(void)
+    ~ScopedStart()
     {
       if (!wasRunning_)
         prof_.stop();
@@ -117,7 +117,7 @@ class Profiler : private boost::noncopyable
   };
 
   /** \brief Return an instance of the class */
-  static Profiler& instance(void);
+  static Profiler& instance();
 
   /** \brief Constructor. It is allowed to separately instantiate this
       class (not only as a singleton) */
@@ -128,38 +128,38 @@ class Profiler : private boost::noncopyable
   }
 
   /** \brief Destructor */
-  ~Profiler(void)
+  ~Profiler()
   {
     if (printOnDestroy_ && !data_.empty())
       status();
   }
 
   /** \brief Start counting time */
-  static void Start(void)
+  static void Start()
   {
     instance().start();
   }
 
   /** \brief Stop counting time */
-  static void Stop(void)
+  static void Stop()
   {
     instance().stop();
   }
 
   /** \brief Clear counted time and events */
-  static void Clear(void)
+  static void Clear()
   {
     instance().clear();
   }
 
   /** \brief Start counting time */
-  void start(void);
+  void start();
 
   /** \brief Stop counting time */
-  void stop(void);
+  void stop();
 
   /** \brief Clear counted time and events */
-  void clear(void);
+  void clear();
 
   /** \brief Count a specific event for a number of times */
   static void Event(const std::string& name, const unsigned int times = 1)
@@ -212,23 +212,23 @@ class Profiler : private boost::noncopyable
 
   /** \brief Print the status of the profiled code chunks and
       events to the console (using msg::Console) */
-  static void Console(void)
+  static void Console()
   {
     instance().console();
   }
 
   /** \brief Print the status of the profiled code chunks and
       events to the console (using msg::Console) */
-  void console(void);
+  void console();
 
   /** \brief Check if the profiler is counting time or not */
-  bool running(void) const
+  bool running() const
   {
     return running_;
   }
 
   /** \brief Check if the profiler is counting time or not */
-  static bool Running(void)
+  static bool Running()
   {
     return instance().running();
   }
@@ -237,7 +237,7 @@ class Profiler : private boost::noncopyable
   /** \brief Information about time spent in a section of the code */
   struct TimeInfo
   {
-    TimeInfo(void)
+    TimeInfo()
       : total(0, 0, 0, 0), shortest(boost::posix_time::pos_infin), longest(boost::posix_time::neg_infin), parts(0)
     {
     }
@@ -258,13 +258,13 @@ class Profiler : private boost::noncopyable
     boost::posix_time::ptime start;
 
     /** \brief Begin counting time */
-    void set(void)
+    void set()
     {
       start = boost::posix_time::microsec_clock::universal_time();
     }
 
     /** \brief Add the counted time to the total time */
-    void update(void)
+    void update()
     {
       const boost::posix_time::time_duration& dt = boost::posix_time::microsec_clock::universal_time() - start;
       if (dt > longest)
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 8c8ffdaf3a..3018008ea2 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -90,7 +90,7 @@ class RobotModel
   /** \brief Return true if the model is empty (has no root link, no joints) */
   bool isEmpty() const
   {
-    return root_link_ == NULL;
+    return root_link_ == nullptr;
   }
 
   /** \brief Get the parsed URDF model */
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index cc1b6c5353..fe49f1a760 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1734,7 +1734,7 @@ class RobotState
   {
     dirty_joint_transforms_[joint->getJointIndex()] = 1;
     dirty_link_transforms_ =
-        dirty_link_transforms_ == NULL ? joint : robot_model_->getCommonRoot(dirty_link_transforms_, joint);
+        dirty_link_transforms_ == nullptr ? joint : robot_model_->getCommonRoot(dirty_link_transforms_, joint);
   }
 
   void markDirtyJointTransforms(const JointModelGroup* group)
@@ -1742,7 +1742,7 @@ class RobotState
     const std::vector<const JointModel*>& jm = group->getActiveJointModels();
     for (std::size_t i = 0; i < jm.size(); ++i)
       dirty_joint_transforms_[jm[i]->getJointIndex()] = 1;
-    dirty_link_transforms_ = dirty_link_transforms_ == NULL ?
+    dirty_link_transforms_ = dirty_link_transforms_ == nullptr ?
                                  group->getCommonRoot() :
                                  robot_model_->getCommonRoot(dirty_link_transforms_, group->getCommonRoot());
   }
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
index 3e8268a92c..b5b7c80fd4 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
@@ -95,7 +95,7 @@ class Trajectory
   Trajectory(const Path& path, const Eigen::VectorXd& max_velocity, const Eigen::VectorXd& max_acceleration,
              double time_step = 0.001);
 
-  ~Trajectory(void);
+  ~Trajectory();
 
   /** @brief Call this method after constructing the object to make sure the
      trajectory generation succeeded without errors. If this method returns
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
index a60b1e1c71..ac4659582e 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
@@ -53,13 +53,13 @@ class ChompCost
   virtual ~ChompCost();
 
   template <typename Derived>
-  void getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const;
+  void getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const;
 
   const Eigen::MatrixXd& getQuadraticCostInverse() const;
 
   const Eigen::MatrixXd& getQuadraticCost() const;
 
-  double getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const;
+  double getCost(const Eigen::MatrixXd::ColXpr& joint_trajectory) const;
 
   double getMaxQuadCostInvValue() const;
 
@@ -75,7 +75,7 @@ class ChompCost
 };
 
 template <typename Derived>
-void ChompCost::getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const
+void ChompCost::getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const
 {
   derivative = (quad_cost_full_ * (2.0 * joint_trajectory));
 }
@@ -90,7 +90,7 @@ inline const Eigen::MatrixXd& ChompCost::getQuadraticCost() const
   return quad_cost_;
 }
 
-inline double ChompCost::getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const
+inline double ChompCost::getCost(const Eigen::MatrixXd::ColXpr& joint_trajectory) const
 {
   return joint_trajectory.dot(quad_cost_full_ * joint_trajectory);
 }
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
index b4543f047e..e334322a98 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -86,7 +86,7 @@ class ModelBasedStateSpace : public ompl::base::StateSpace
       IS_GOAL_STATE = 16
     };
 
-    StateType() : ompl::base::State(), values(NULL), tag(-1), flags(0), distance(0.0)
+    StateType() : ompl::base::State(), values(nullptr), tag(-1), flags(0), distance(0.0)
     {
     }
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index b0668a6727..071a3f262d 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -55,7 +55,7 @@ class PoseModelStateSpace : public ModelBasedStateSpace
       POSE_COMPUTED = 512
     };
 
-    StateType() : ModelBasedStateSpace::StateType(), poses(NULL)
+    StateType() : ModelBasedStateSpace::StateType(), poses(nullptr)
     {
       flags |= JOINTS_COMPUTED;
     }
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
index 72218f3e2e..5e093e68a7 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -152,7 +152,7 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
 
 protected:
   ros::NodeHandle nh_;
-  std::string getActionName(void) const
+  std::string getActionName() const
   {
     if (namespace_.empty())
       return name_;
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
index 2086af4b2d..56dd3523a7 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_plan.h
@@ -55,9 +55,9 @@ MOVEIT_STRUCT_FORWARD(ManipulationPlanSharedData);
 struct ManipulationPlanSharedData
 {
   ManipulationPlanSharedData()
-    : planning_group_(NULL)
-    , end_effector_group_(NULL)
-    , ik_link_(NULL)
+    : planning_group_(nullptr)
+    , end_effector_group_(nullptr)
+    , ik_link_(nullptr)
     , max_goal_sampling_attempts_(0)
     , minimize_object_distance_(false)
   {
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
index 9aab273170..7c01174408 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.h
@@ -45,7 +45,7 @@ class TfPublisher : public MoveGroupCapability
 {
 public:
   TfPublisher();
-  ~TfPublisher();
+  ~TfPublisher() override;
 
   void initialize() override;
 
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index cd09da30e8..875f3cab22 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -100,7 +100,7 @@ class OccMapTree : public octomap::OcTree
     return WriteLock(tree_mutex_);
   }
 
-  void triggerUpdateCallback(void)
+  void triggerUpdateCallback()
   {
     if (update_callback_)
       update_callback_();
diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index d7248acded..fdc238e891 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -95,7 +95,7 @@ class ShapeMask
   {
     SeeShape()
     {
-      body = NULL;
+      body = nullptr;
     }
 
     bodies::Body* body;
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 0d5a49c90e..ec8d70f0b4 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -749,7 +749,7 @@ class MoveGroupInterface
       Return -1.0 in case of error. */
   double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                               moveit_msgs::RobotTrajectory& trajectory, bool avoid_collisions = true,
-                              moveit_msgs::MoveItErrorCodes* error_code = NULL);
+                              moveit_msgs::MoveItErrorCodes* error_code = nullptr);
 
   /** \brief Compute a Cartesian path that follows specified waypoints with a step size of at most \e eef_step meters
       between end effector configurations of consecutive points in the result \e trajectory. The reference frame for the
@@ -766,7 +766,7 @@ class MoveGroupInterface
   double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                               moveit_msgs::RobotTrajectory& trajectory,
                               const moveit_msgs::Constraints& path_constraints, bool avoid_collisions = true,
-                              moveit_msgs::MoveItErrorCodes* error_code = NULL);
+                              moveit_msgs::MoveItErrorCodes* error_code = nullptr);
 
   /** \brief Stop any trajectory execution, if one is active */
   void stop();
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index 285b0c47a0..02b63a6e6c 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -215,7 +215,7 @@ class InteractionHandler : public LockedRobotState
 
   /** \brief Clear any error settings.
    * This makes the markers appear as if the state is no longer invalid. */
-  void clearError(void);
+  void clearError();
 
 protected:
   bool transformFeedbackPose(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback,
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index 7c458fab52..e770293d55 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -79,7 +79,7 @@ class RobotInteraction
   RobotInteraction(const moveit::core::RobotModelConstPtr& robot_model, const std::string& ns = "");
   virtual ~RobotInteraction();
 
-  const std::string& getServerTopic(void) const
+  const std::string& getServerTopic() const
   {
     return topic_;
   }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index eda9170512..a858fe2105 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -104,7 +104,7 @@ class MotionPlanningFrame : public QWidget
 
 public:
   MotionPlanningFrame(const MotionPlanningFrame&) = delete;
-  MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::DisplayContext* context, QWidget* parent = 0);
+  MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::DisplayContext* context, QWidget* parent = nullptr);
   ~MotionPlanningFrame() override;
 
   void changePlanningGroup();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index d50aa8a720..6cc3b42af3 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -124,7 +124,7 @@ class MotionPlanningFrameJointsWidget : public QWidget
 public:
   MotionPlanningFrameJointsWidget(const MotionPlanningFrameJointsWidget&) = delete;
   MotionPlanningFrameJointsWidget(MotionPlanningDisplay* display, QWidget* parent = nullptr);
-  ~MotionPlanningFrameJointsWidget();
+  ~MotionPlanningFrameJointsWidget() override;
 
   void changePlanningGroup(const std::string& group_name,
                            const robot_interaction::InteractionHandlerPtr& start_state_handler,
@@ -168,7 +168,7 @@ class ProgressBarDelegate : public QStyledItemDelegate
     VariableBoundsRole
   };
 
-  ProgressBarDelegate(QWidget* parent = 0) : QStyledItemDelegate(parent)
+  ProgressBarDelegate(QWidget* parent = nullptr) : QStyledItemDelegate(parent)
   {
   }
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 44fd36c20e..e423dc8272 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -58,7 +58,7 @@ class MotionPlanningParamWidget : public rviz::PropertyTreeWidget
   Q_OBJECT
 public:
   MotionPlanningParamWidget(const MotionPlanningParamWidget&) = delete;
-  MotionPlanningParamWidget(QWidget* parent = 0);
+  MotionPlanningParamWidget(QWidget* parent = nullptr);
   ~MotionPlanningParamWidget() override;
 
   void setMoveGroup(const moveit::planning_interface::MoveGroupInterfacePtr& mg);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
index c552f7ec84..73d2e6c01f 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h
@@ -53,7 +53,7 @@ class TrajectoryPanel : public rviz::Panel
   Q_OBJECT
 
 public:
-  TrajectoryPanel(QWidget* parent = 0);
+  TrajectoryPanel(QWidget* parent = nullptr);
 
   ~TrajectoryPanel() override;
 
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
index 7b2da57f5a..c7e6964a23 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
@@ -78,10 +78,10 @@ class TrajectoryConstraintsStorage : public MoveItMessageStorage
   void removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
                                    const std::string& group = "");
 
-  void reset(void);
+  void reset();
 
 private:
-  void createCollections(void);
+  void createCollections();
 
   TrajectoryConstraintsCollection constraints_collection_;
 };
diff --git a/moveit_setup_assistant/src/tools/collision_linear_model.h b/moveit_setup_assistant/src/tools/collision_linear_model.h
index 9b702fcc73..dd3dd4006a 100644
--- a/moveit_setup_assistant/src/tools/collision_linear_model.h
+++ b/moveit_setup_assistant/src/tools/collision_linear_model.h
@@ -51,7 +51,7 @@ class CollisionLinearModel : public QAbstractProxyModel
   Q_OBJECT
 
 public:
-  CollisionLinearModel(CollisionMatrixModel* src, QObject* parent = NULL);
+  CollisionLinearModel(CollisionMatrixModel* src, QObject* parent = nullptr);
   ~CollisionLinearModel() override;
 
   // reimplement to return the model index in the proxy model that to the sourceIndex from the source model
@@ -81,7 +81,7 @@ class SortFilterProxyModel : public QSortFilterProxyModel
   Q_OBJECT
 
 public:
-  SortFilterProxyModel(QObject* parent = 0);
+  SortFilterProxyModel(QObject* parent = nullptr);
   QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
   void sort(int column, Qt::SortOrder order) override;
   void setShowAll(bool show_all);
diff --git a/moveit_setup_assistant/src/tools/collision_matrix_model.h b/moveit_setup_assistant/src/tools/collision_matrix_model.h
index ed5d67e894..9d4b9d2d78 100644
--- a/moveit_setup_assistant/src/tools/collision_matrix_model.h
+++ b/moveit_setup_assistant/src/tools/collision_matrix_model.h
@@ -49,7 +49,7 @@ class CollisionMatrixModel : public QAbstractTableModel
   Q_OBJECT
 public:
   CollisionMatrixModel(moveit_setup_assistant::LinkPairMap& pairs, const std::vector<std::string>& names,
-                       QObject* parent = NULL);
+                       QObject* parent = nullptr);
   int rowCount(const QModelIndex& parent = QModelIndex()) const override;
   int columnCount(const QModelIndex& parent = QModelIndex()) const override;
   QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
diff --git a/moveit_setup_assistant/src/tools/rotated_header_view.h b/moveit_setup_assistant/src/tools/rotated_header_view.h
index 04ec7897e9..41e371b441 100644
--- a/moveit_setup_assistant/src/tools/rotated_header_view.h
+++ b/moveit_setup_assistant/src/tools/rotated_header_view.h
@@ -43,7 +43,7 @@ namespace moveit_setup_assistant
 class RotatedHeaderView : public QHeaderView
 {
 public:
-  RotatedHeaderView(Qt::Orientation orientation, QWidget* parent = NULL);
+  RotatedHeaderView(Qt::Orientation orientation, QWidget* parent = nullptr);
   void paintSection(QPainter* painter, const QRect& rect, int logicalIndex) const override;
   QSize sectionSizeFromContents(int logicalIndex) const override;
   int sectionSizeHint(int logicalIndex) const;
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index ccf814a70c..ade0c7f30b 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -236,7 +236,7 @@ class MonitorThread : public QThread
   Q_OBJECT
 
 public:
-  MonitorThread(const boost::function<void(unsigned int*)>& f, QProgressBar* progress_bar = NULL);
+  MonitorThread(const boost::function<void(unsigned int*)>& f, QProgressBar* progress_bar = nullptr);
   void run() override;
   void cancel()
   {
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.h b/moveit_setup_assistant/src/widgets/double_list_widget.h
index 1d983134aa..afcac603bc 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.h
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.h
@@ -68,7 +68,7 @@ class DoubleListWidget : public QWidget
   /// Set the right box
   void setSelected(const std::vector<std::string>& items);
 
-  void clearContents(void);
+  void clearContents();
 
   /// Convenience function for reusing set table code
   void setTable(const std::vector<std::string>& items, QTableWidget* table);
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.h b/moveit_setup_assistant/src/widgets/navigation_widget.h
index 410be2deb8..2adb17ca4e 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.h
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.h
@@ -56,7 +56,7 @@ class NavigationWidget : public QListView
 {
   Q_OBJECT
 public:
-  explicit NavigationWidget(QWidget* parent = 0);
+  explicit NavigationWidget(QWidget* parent = nullptr);
 
   void setNavs(const QList<QString>& navs);
   void setEnabled(const int& index, bool enabled);
@@ -77,7 +77,7 @@ class NavDelegate : public QStyledItemDelegate
 {
   Q_OBJECT
 public:
-  explicit NavDelegate(QObject* parent = 0);
+  explicit NavDelegate(QObject* parent = nullptr);
 
   QSize sizeHint(const QStyleOptionViewItem& option, const QModelIndex& index) const override;
   void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const override;

From 1d44aceec1d3dcb79c32c500eed41c22e5ba3c0f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 17:37:48 +0200
Subject: [PATCH 269/612] modernize-loop-convert

---
 .../collision_distance_field_types.h          |  6 +++---
 .../moveit/kinematics_base/kinematics_base.h  |  6 +++---
 .../include/moveit/robot_state/robot_state.h  | 20 +++++++++----------
 .../gripper_controller_handle.h               |  4 +---
 .../test/test_moveit_controller_manager.h     | 12 +++++------
 5 files changed, 22 insertions(+), 26 deletions(-)

diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index 627a0a790a..37a5a664b8 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -450,10 +450,10 @@ class PosedBodyPointDecompositionVector
   EigenSTL::vector_Vector3d getCollisionPoints() const
   {
     EigenSTL::vector_Vector3d ret_points;
-    for (unsigned int i = 0; i < decomp_vector_.size(); i++)
+    for (const PosedBodyPointDecompositionPtr& decomp : decomp_vector_)
     {
-      ret_points.insert(ret_points.end(), decomp_vector_[i]->getCollisionPoints().begin(),
-                        decomp_vector_[i]->getCollisionPoints().end());
+      ret_points.insert(ret_points.end(), decomp->getCollisionPoints().begin(),
+                        decomp->getCollisionPoints().end());
     }
     return ret_points;
   }
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index a77c930ffe..c3ad491745 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -531,10 +531,10 @@ class KinematicsBase
   {
     redundant_joint_discretization_.clear();
     redundant_joint_indices_.clear();
-    for (std::map<int, double>::const_iterator i = discretization.begin(); i != discretization.end(); i++)
+    for (const auto& pair : discretization)
     {
-      redundant_joint_discretization_.insert(*i);
-      redundant_joint_indices_.push_back(i->first);
+      redundant_joint_discretization_.insert(pair);
+      redundant_joint_indices_.push_back(pair.first);
     }
   }
 
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index fe49f1a760..a03c5bde7d 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1739,9 +1739,8 @@ class RobotState
 
   void markDirtyJointTransforms(const JointModelGroup* group)
   {
-    const std::vector<const JointModel*>& jm = group->getActiveJointModels();
-    for (std::size_t i = 0; i < jm.size(); ++i)
-      dirty_joint_transforms_[jm[i]->getJointIndex()] = 1;
+    for (const JointModel* jm : group->getActiveJointModels())
+      dirty_joint_transforms_[jm->getJointIndex()] = 1;
     dirty_link_transforms_ = dirty_link_transforms_ == nullptr ?
                                  group->getCommonRoot() :
                                  robot_model_->getCommonRoot(dirty_link_transforms_, group->getCommonRoot());
@@ -1753,12 +1752,11 @@ class RobotState
 
   void updateMimicJoint(const JointModel* joint)
   {
-    const std::vector<const JointModel*>& mim = joint->getMimicRequests();
     double v = position_[joint->getFirstVariableIndex()];
-    for (std::size_t i = 0; i < mim.size(); ++i)
+    for (const JointModel* jm : joint->getMimicRequests())
     {
-      position_[mim[i]->getFirstVariableIndex()] = mim[i]->getMimicFactor() * v + mim[i]->getMimicOffset();
-      markDirtyJointTransforms(mim[i]);
+      position_[jm->getFirstVariableIndex()] = jm->getMimicFactor() * v + jm->getMimicOffset();
+      markDirtyJointTransforms(jm);
     }
   }
 
@@ -1766,15 +1764,15 @@ class RobotState
   /* use updateMimicJoints() instead, which also marks joints dirty */
   [[deprecated]] void updateMimicJoint(const std::vector<const JointModel*>& mim)
   {
-    for (std::size_t i = 0; i < mim.size(); ++i)
+    for (const JointModel* jm : mim)
     {
-      const int fvi = mim[i]->getFirstVariableIndex();
+      const int fvi = jm->getFirstVariableIndex();
       position_[fvi] =
-          mim[i]->getMimicFactor() * position_[mim[i]->getMimic()->getFirstVariableIndex()] + mim[i]->getMimicOffset();
+          jm->getMimicFactor() * position_[jm->getMimic()->getFirstVariableIndex()] + jm->getMimicOffset();
       // Only mark joint transform dirty, but not the associated link transform
       // as this function is always used in combination of
       // updateMimicJoint(group->getMimicJointModels()) + markDirtyJointTransforms(group);
-      dirty_joint_transforms_[mim[i]->getJointIndex()] = 1;
+      dirty_joint_transforms_[jm->getJointIndex()] = 1;
     }
   }
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
index c52b53fcca..aae275a2e2 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
@@ -117,10 +117,8 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
     ROS_DEBUG_NAMED("GripperController", "Sending command from trajectory point %d", tpoint);
 
     // fill in goal from last point
-    for (std::size_t i = 0; i < gripper_joint_indexes.size(); ++i)
+    for (std::size_t idx : gripper_joint_indexes)
     {
-      std::size_t idx = gripper_joint_indexes[i];
-
       if (trajectory.joint_trajectory.points[tpoint].positions.size() <= idx)
       {
         ROS_ERROR_NAMED("GripperController", "GripperController expects a joint trajectory with one \
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
index 7681fe51ad..beaf196cd2 100644
--- a/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h
@@ -142,15 +142,15 @@ class TestMoveItControllerManager : public moveit_controller_manager::MoveItCont
 
   bool switchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate) override
   {
-    for (std::size_t i = 0; i < deactivate.size(); ++i)
+    for (const std::string& controller : deactivate)
     {
-      controllers_[deactivate[i]] &= ~ACTIVE;
-      std::cout << "Deactivated controller " << deactivate[i] << std::endl;
+      controllers_[controller] &= ~ACTIVE;
+      std::cout << "Deactivated controller " << controller << std::endl;
     }
-    for (std::size_t i = 0; i < activate.size(); ++i)
+    for (const std::string& controller : activate)
     {
-      controllers_[activate[i]] |= ACTIVE;
-      std::cout << "Activated controller " << activate[i] << std::endl;
+      controllers_[controller] |= ACTIVE;
+      std::cout << "Activated controller " << controller << std::endl;
     }
     return true;
   }

From e4c6bd32128c93506b872ea7f99051b07b07a169 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 18:07:03 +0200
Subject: [PATCH 270/612] readability-identifier-naming

---
 .../moveit/collision_detection/world.h        |   2 +-
 .../moveit/collision_detection/world_diff.h   |   2 +-
 .../moveit/distance_field/distance_field.h    |   6 +-
 .../propagation_distance_field.h              |   4 +-
 .../moveit/distance_field/voxel_grid.h        |  10 +-
 .../distance_field/src/distance_field.cpp     |   6 +-
 .../src/propagation_distance_field.cpp        |   2 +-
 .../kinematic_constraint.h                    |   2 +-
 .../include/moveit/profiler/profiler.h        |  20 ++--
 .../cached_ik_kinematics_plugin.h             |  24 ++--
 .../detail/GreedyKCenters.h                   |  14 +--
 .../detail/NearestNeighborsGNAT.h             | 112 +++++++++---------
 .../chainiksolver_vel_mimic_svd.hpp           |   1 +
 .../kdl_kinematics_plugin.h                   |   1 +
 .../chomp_motion_planner/chomp_trajectory.h   |   4 +-
 .../detail/constrained_goal_sampler.h         |   2 +-
 .../src/moveit_fake_controllers.h             |   4 +-
 .../src/depth_image_octomap_updater.cpp       |   8 +-
 .../moveit/mesh_filter/mesh_filter_base.h     |  10 +-
 .../moveit/mesh_filter/stereo_camera_model.h  |   2 +-
 .../mesh_filter/src/mesh_filter_base.cpp      |   4 +-
 .../mesh_filter/test/mesh_filter_test.cpp     |  16 +--
 .../motion_planning_frame_joints_widget.h     |   4 +-
 .../tools/moveit_config_data.h                |   6 +-
 .../src/tools/collision_matrix_model.h        |   2 +-
 .../src/tools/moveit_config_data.cpp          |   6 +-
 .../src/widgets/default_collisions_widget.cpp |  12 +-
 .../src/widgets/default_collisions_widget.h   |   4 +-
 .../src/widgets/group_edit_widget.cpp         |   4 +-
 29 files changed, 148 insertions(+), 146 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index 836d900525..c641529465 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -270,7 +270,7 @@ class World
 
 private:
   /** notify all observers of a change */
-  void notify(const ObjectConstPtr&, Action);
+  void notify(const ObjectConstPtr& /*obj*/, Action /*action*/);
 
   /** send notification of change to all objects. */
   void notifyAll(Action action);
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 071098d2f9..4838758b24 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -113,7 +113,7 @@ class WorldDiff
 
 private:
   /** \brief Notification function */
-  void notify(const World::ObjectConstPtr&, World::Action);
+  void notify(const World::ObjectConstPtr& /*obj*/, World::Action /*action*/);
 
   /** keep changes in a map so they can be coalesced */
   std::map<std::string, World::Action> changes_;
diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index b8473a1239..56f0bc082e 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -68,9 +68,9 @@ namespace distance_field
 /// \brief The plane to visualize
 enum PlaneVisualizationType
 {
-  XYPlane,
-  XZPlane,
-  YZPlane
+  XY_PLANE,
+  XZ_PLANE,
+  YZ_PLANE
 };
 
 MOVEIT_CLASS_FORWARD(DistanceField);
diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index e6b6d083a5..dcff47fcda 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -55,7 +55,7 @@ namespace distance_field
  * \brief Struct for sorting type Eigen::Vector3i for use in sorted
  * std containers.  Sorts in z order, then y order, then x order.
  */
-struct compareEigen_Vector3i
+struct CompareEigenVector3i
 {
   bool operator()(const Eigen::Vector3i& loc_1, const Eigen::Vector3i& loc_2) const
   {
@@ -448,7 +448,7 @@ class PropagationDistanceField : public DistanceField
 
 private:
   /** Typedef for set of integer indices */
-  typedef std::set<Eigen::Vector3i, compareEigen_Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>> VoxelSet;
+  typedef std::set<Eigen::Vector3i, CompareEigenVector3i, Eigen::aligned_allocator<Eigen::Vector3i>> VoxelSet;
   /**
    * \brief Initializes the field, resetting the voxel grid and
    * building a sqrt lookup table for efficiency based on
diff --git a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
index da05bd437d..75dc96806f 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
@@ -461,12 +461,12 @@ inline int VoxelGrid<T>::getNumCells(Dimension dim) const
 template <typename T>
 inline const T& VoxelGrid<T>::operator()(double x, double y, double z) const
 {
-  int cellX = getCellFromLocation(DIM_X, x);
-  int cellY = getCellFromLocation(DIM_Y, y);
-  int cellZ = getCellFromLocation(DIM_Z, z);
-  if (!isCellValid(cellX, cellY, cellZ))
+  int cell_x = getCellFromLocation(DIM_X, x);
+  int cell_y = getCellFromLocation(DIM_Y, y);
+  int cell_z = getCellFromLocation(DIM_Z, z);
+  if (!isCellValid(cell_x, cell_y, cell_z))
     return default_object_;
-  return getCell(cellX, cellY, cellZ);
+  return getCell(cell_x, cell_y, cell_z);
 }
 
 template <typename T>
diff --git a/moveit_core/distance_field/src/distance_field.cpp b/moveit_core/distance_field/src/distance_field.cpp
index 071777706b..d150eb0612 100644
--- a/moveit_core/distance_field/src/distance_field.cpp
+++ b/moveit_core/distance_field/src/distance_field.cpp
@@ -358,7 +358,7 @@ void DistanceField::getPlaneMarkers(PlaneVisualizationType type, double length,
 
   switch (type)
   {
-    case XYPlane:
+    case XY_PLANE:
       min_z = height;
       max_z = height;
 
@@ -367,7 +367,7 @@ void DistanceField::getPlaneMarkers(PlaneVisualizationType type, double length,
       min_y = -width / 2.0;
       max_y = width / 2.0;
       break;
-    case XZPlane:
+    case XZ_PLANE:
       min_y = height;
       max_y = height;
 
@@ -376,7 +376,7 @@ void DistanceField::getPlaneMarkers(PlaneVisualizationType type, double length,
       min_z = -width / 2.0;
       max_z = width / 2.0;
       break;
-    case YZPlane:
+    case YZ_PLANE:
       min_x = height;
       max_x = height;
 
diff --git a/moveit_core/distance_field/src/propagation_distance_field.cpp b/moveit_core/distance_field/src/propagation_distance_field.cpp
index d656c22ff0..4bfa6fa1c3 100644
--- a/moveit_core/distance_field/src/propagation_distance_field.cpp
+++ b/moveit_core/distance_field/src/propagation_distance_field.cpp
@@ -148,7 +148,7 @@ void PropagationDistanceField::updatePointsInField(const EigenSTL::vector_Vector
       new_point_set.insert(voxel_loc);
     }
   }
-  compareEigen_Vector3i comp;
+  CompareEigenVector3i comp;
 
   EigenSTL::vector_Vector3i old_not_new;
   std::set_difference(old_point_set.begin(), old_point_set.end(), new_point_set.begin(), new_point_set.end(),
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 7c5b1691e6..bb115456c8 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -144,7 +144,7 @@ class KinematicConstraint
    *
    * @param [in] out The file descriptor for printing
    */
-  virtual void print(std::ostream& = std::cout) const
+  virtual void print(std::ostream& /*unused*/ = std::cout) const
   {
   }
 
diff --git a/moveit_core/profiler/include/moveit/profiler/profiler.h b/moveit_core/profiler/include/moveit/profiler/profiler.h
index 82b5901bce..1224016d07 100644
--- a/moveit_core/profiler/include/moveit/profiler/profiler.h
+++ b/moveit_core/profiler/include/moveit/profiler/profiler.h
@@ -135,19 +135,19 @@ class Profiler : private boost::noncopyable
   }
 
   /** \brief Start counting time */
-  static void Start()
+  static void Start()  // NOLINT(readability-identifier-naming)
   {
     instance().start();
   }
 
   /** \brief Stop counting time */
-  static void Stop()
+  static void Stop()  // NOLINT(readability-identifier-naming)
   {
     instance().stop();
   }
 
   /** \brief Clear counted time and events */
-  static void Clear()
+  static void Clear()  // NOLINT(readability-identifier-naming)
   {
     instance().clear();
   }
@@ -162,7 +162,7 @@ class Profiler : private boost::noncopyable
   void clear();
 
   /** \brief Count a specific event for a number of times */
-  static void Event(const std::string& name, const unsigned int times = 1)
+  static void Event(const std::string& name, const unsigned int times = 1)  // NOLINT(readability-identifier-naming)
   {
     instance().event(name, times);
   }
@@ -171,7 +171,7 @@ class Profiler : private boost::noncopyable
   void event(const std::string& name, const unsigned int times = 1);
 
   /** \brief Maintain the average of a specific value */
-  static void Average(const std::string& name, const double value)
+  static void Average(const std::string& name, const double value)  // NOLINT(readability-identifier-naming)
   {
     instance().average(name, value);
   }
@@ -180,13 +180,13 @@ class Profiler : private boost::noncopyable
   void average(const std::string& name, const double value);
 
   /** \brief Begin counting time for a specific chunk of code */
-  static void Begin(const std::string& name)
+  static void Begin(const std::string& name)  // NOLINT(readability-identifier-naming)
   {
     instance().begin(name);
   }
 
   /** \brief Stop counting time for a specific chunk of code */
-  static void End(const std::string& name)
+  static void End(const std::string& name)  // NOLINT(readability-identifier-naming)
   {
     instance().end(name);
   }
@@ -200,7 +200,7 @@ class Profiler : private boost::noncopyable
   /** \brief Print the status of the profiled code chunks and
       events. Optionally, computation done by different threads
       can be printed separately. */
-  static void Status(std::ostream& out = std::cout, bool merge = true)
+  static void Status(std::ostream& out = std::cout, bool merge = true)  // NOLINT(readability-identifier-naming)
   {
     instance().status(out, merge);
   }
@@ -212,7 +212,7 @@ class Profiler : private boost::noncopyable
 
   /** \brief Print the status of the profiled code chunks and
       events to the console (using msg::Console) */
-  static void Console()
+  static void Console()  // NOLINT(readability-identifier-naming)
   {
     instance().console();
   }
@@ -228,7 +228,7 @@ class Profiler : private boost::noncopyable
   }
 
   /** \brief Check if the profiler is counting time or not */
-  static bool Running()
+  static bool Running()  // NOLINT(readability-identifier-naming)
   {
     return instance().running();
   }
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 43e38e0dd4..c75e3938e9 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -177,27 +177,27 @@ class IKCacheMap : public std::unordered_map<std::string, IKCache*>
 };
 
 // Helper class to enable/disable initialize() methods with new/old API
-// hasRobotModelAPI<T>::value provides a true/false constexpr depending on KinematicsPlugin offers the new API
+// HasRobotModelApi<T>::value provides a true/false constexpr depending on KinematicsPlugin offers the new Api
 // This uses SFINAE magic: https://jguegant.github.io/blogs/tech/sfinae-introduction.html
 template <typename KinematicsPlugin, typename = bool>
-struct hasRobotModelAPI : std::false_type
+struct HasRobotModelApi : std::false_type
 {
 };
 
 template <typename KinematicsPlugin>
-struct hasRobotModelAPI<KinematicsPlugin, decltype(std::declval<KinematicsPlugin&>().initialize(
+struct HasRobotModelApi<KinematicsPlugin, decltype(std::declval<KinematicsPlugin&>().initialize(
                                               std::declval<const moveit::core::RobotModel&>(), std::string(),
                                               std::string(), std::vector<std::string>(), 0.0))> : std::true_type
 {
 };
 
 template <typename KinematicsPlugin, typename = bool>
-struct hasRobotDescAPI : std::false_type
+struct HasRobotDescApi : std::false_type
 {
 };
 
 template <typename KinematicsPlugin>
-struct hasRobotDescAPI<KinematicsPlugin,
+struct HasRobotDescApi<KinematicsPlugin,
                        decltype(std::declval<KinematicsPlugin&>().KinematicsPlugin::initialize(
                            std::string(), std::string(), std::string(), std::vector<std::string>(), 0.0))>
     : std::true_type
@@ -265,7 +265,7 @@ class CachedIKKinematicsPlugin : public KinematicsPlugin
      availability of API in wrapped KinematicsPlugin class.
      However, as templates and virtual functions cannot be combined, we need helpers initializeImpl(). */
   template <class T = KinematicsPlugin>
-  typename std::enable_if<hasRobotModelAPI<T>::value, bool>::type
+  typename std::enable_if<HasRobotModelApi<T>::value, bool>::type
   initializeImpl(const moveit::core::RobotModel& robot_model, const std::string& group_name,
                  const std::string& base_frame, const std::vector<std::string>& tip_frames,
                  double search_discretization)
@@ -284,15 +284,15 @@ class CachedIKKinematicsPlugin : public KinematicsPlugin
   }
 
   template <class T = KinematicsPlugin>
-  typename std::enable_if<!hasRobotModelAPI<T>::value, bool>::type
-  initializeImpl(const moveit::core::RobotModel&, const std::string&, const std::string&,
-                 const std::vector<std::string>&, double)
+  typename std::enable_if<!HasRobotModelApi<T>::value, bool>::type
+  initializeImpl(const moveit::core::RobotModel& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/,
+                 const std::vector<std::string>& /*unused*/, double /*unused*/)
   {
     return false;  // API not supported
   }
 
   template <class T = KinematicsPlugin>
-  typename std::enable_if<hasRobotDescAPI<T>::value, bool>::type
+  typename std::enable_if<HasRobotDescApi<T>::value, bool>::type
   initializeImpl(const std::string& robot_description, const std::string& group_name, const std::string& base_frame,
                  const std::string& tip_frame, double search_discretization)
   {
@@ -304,8 +304,8 @@ class CachedIKKinematicsPlugin : public KinematicsPlugin
   }
 
   template <class T = KinematicsPlugin>
-  typename std::enable_if<!hasRobotDescAPI<T>::value, bool>::type
-  initializeImpl(const std::string&, const std::string&, const std::string&, const std::string&, double)
+  typename std::enable_if<!HasRobotDescApi<T>::value, bool>::type
+  initializeImpl(const std::string& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/, double /*unused*/)
   {
     return false;  // API not supported
   }
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
index 5deab2dc97..1a311af4eb 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
@@ -84,7 +84,7 @@ class GreedyKCenters
   {
     // array containing the minimum distance between each data point
     // and the centers computed so far
-    std::vector<double> minDist(data.size(), std::numeric_limits<double>::infinity());
+    std::vector<double> min_dist(data.size(), std::numeric_limits<double>::infinity());
 
     centers.clear();
     centers.reserve(k);
@@ -96,20 +96,20 @@ class GreedyKCenters
     {
       unsigned ind = 0;
       const _T& center = data[centers[i - 1]];
-      double maxDist = -std::numeric_limits<double>::infinity();
+      double max_dist = -std::numeric_limits<double>::infinity();
       for (unsigned j = 0; j < data.size(); ++j)
       {
-        if ((dists(j, i - 1) = distFun_(data[j], center)) < minDist[j])
-          minDist[j] = dists(j, i - 1);
+        if ((dists(j, i - 1) = distFun_(data[j], center)) < min_dist[j])
+          min_dist[j] = dists(j, i - 1);
         // the j-th center is the one furthest away from center 0,..,j-1
-        if (minDist[j] > maxDist)
+        if (min_dist[j] > max_dist)
         {
           ind = j;
-          maxDist = minDist[j];
+          max_dist = min_dist[j];
         }
       }
       // no more centers available
-      if (maxDist < std::numeric_limits<double>::epsilon())
+      if (max_dist < std::numeric_limits<double>::epsilon())
         break;
       centers.push_back(ind);
     }
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
index 13f2482c67..4c4f180852 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
@@ -186,17 +186,17 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   {
     if (size_ == 0u)
       return false;
-    NearQueue nbhQueue;
+    NearQueue nbh_queue;
     // find data in tree
-    bool isPivot = nearestKInternal(data, 1, nbhQueue);
-    const _T* d = nbhQueue.top().first;
+    bool is_pivot = nearestKInternal(data, 1, nbh_queue);
+    const _T* d = nbh_queue.top().first;
     if (*d != data)
       return false;
     removed_.insert(d);
     size_--;
     // if we removed a pivot or if the capacity of removed elements
     // has been reached, we rebuild the entire GNAT
-    if (isPivot || removed_.size() >= removedCacheSize_)
+    if (is_pivot || removed_.size() >= removedCacheSize_)
       rebuildDataStructure();
     return true;
   }
@@ -205,10 +205,10 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   {
     if (size_)
     {
-      NearQueue nbhQueue;
-      nearestKInternal(data, 1, nbhQueue);
-      if (!nbhQueue.empty())
-        return *nbhQueue.top().first;
+      NearQueue nbh_queue;
+      nearestKInternal(data, 1, nbh_queue);
+      if (!nbh_queue.empty())
+        return *nbh_queue.top().first;
     }
     throw moveit::Exception("No elements found in nearest neighbors data structure");
   }
@@ -221,9 +221,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       return;
     if (size_)
     {
-      NearQueue nbhQueue;
-      nearestKInternal(data, k, nbhQueue);
-      postprocessNearest(nbhQueue, nbh);
+      NearQueue nbh_queue;
+      nearestKInternal(data, k, nbh_queue);
+      postprocessNearest(nbh_queue, nbh);
     }
   }
 
@@ -233,9 +233,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
     nbh.clear();
     if (size_)
     {
-      NearQueue nbhQueue;
-      nearestRInternal(data, radius, nbhQueue);
-      postprocessNearest(nbhQueue, nbh);
+      NearQueue nbh_queue;
+      nearestRInternal(data, radius, nbh_queue);
+      postprocessNearest(nbh_queue, nbh);
     }
   }
 
@@ -319,42 +319,42 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   // special case).
   bool nearestKInternal(const _T& data, std::size_t k, NearQueue& nbhQueue) const
   {
-    bool isPivot;
+    bool is_pivot;
     double dist;
-    NodeDist nodeDist;
-    NodeQueue nodeQueue;
+    NodeDist node_dist;
+    NodeQueue node_queue;
 
     dist = NearestNeighbors<_T>::distFun_(data, tree_->pivot_);
-    isPivot = tree_->insertNeighborK(nbhQueue, k, tree_->pivot_, data, dist);
-    tree_->nearestK(*this, data, k, nbhQueue, nodeQueue, isPivot);
-    while (!nodeQueue.empty())
+    is_pivot = tree_->insertNeighborK(nbhQueue, k, tree_->pivot_, data, dist);
+    tree_->nearestK(*this, data, k, nbhQueue, node_queue, is_pivot);
+    while (!node_queue.empty())
     {
       dist = nbhQueue.top().second;  // note the difference with nearestRInternal
-      nodeDist = nodeQueue.top();
-      nodeQueue.pop();
+      node_dist = node_queue.top();
+      node_queue.pop();
       if (nbhQueue.size() == k &&
-          (nodeDist.second > nodeDist.first->maxRadius_ + dist || nodeDist.second < nodeDist.first->minRadius_ - dist))
+          (node_dist.second > node_dist.first->maxRadius_ + dist || node_dist.second < node_dist.first->minRadius_ - dist))
         continue;
-      nodeDist.first->nearestK(*this, data, k, nbhQueue, nodeQueue, isPivot);
+      node_dist.first->nearestK(*this, data, k, nbhQueue, node_queue, is_pivot);
     }
-    return isPivot;
+    return is_pivot;
   }
   // \brief Return in nbhQueue the elements that are within distance radius of data.
   void nearestRInternal(const _T& data, double radius, NearQueue& nbhQueue) const
   {
     double dist = radius;  // note the difference with nearestKInternal
-    NodeQueue nodeQueue;
-    NodeDist nodeDist;
+    NodeQueue node_queue;
+    NodeDist node_dist;
 
     tree_->insertNeighborR(nbhQueue, radius, tree_->pivot_, NearestNeighbors<_T>::distFun_(data, tree_->pivot_));
-    tree_->nearestR(*this, data, radius, nbhQueue, nodeQueue);
-    while (!nodeQueue.empty())
+    tree_->nearestR(*this, data, radius, nbhQueue, node_queue);
+    while (!node_queue.empty())
     {
-      nodeDist = nodeQueue.top();
-      nodeQueue.pop();
-      if (nodeDist.second > nodeDist.first->maxRadius_ + dist || nodeDist.second < nodeDist.first->minRadius_ - dist)
+      node_dist = node_queue.top();
+      node_queue.pop();
+      if (node_dist.second > node_dist.first->maxRadius_ + dist || node_dist.second < node_dist.first->minRadius_ - dist)
         continue;
-      nodeDist.first->nearestR(*this, data, radius, nbhQueue, nodeQueue);
+      node_dist.first->nearestR(*this, data, radius, nbhQueue, node_queue);
     }
   }
   // \brief Convert the internal data structure used for storing neighbors
@@ -443,19 +443,19 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       else
       {
         std::vector<double> dist(children_.size());
-        double minDist = dist[0] = gnat.distFun_(data, children_[0]->pivot_);
-        int minInd = 0;
+        double min_dist = dist[0] = gnat.distFun_(data, children_[0]->pivot_);
+        int min_ind = 0;
 
         for (unsigned int i = 1; i < children_.size(); ++i)
-          if ((dist[i] = gnat.distFun_(data, children_[i]->pivot_)) < minDist)
+          if ((dist[i] = gnat.distFun_(data, children_[i]->pivot_)) < min_dist)
           {
-            minDist = dist[i];
-            minInd = i;
+            min_dist = dist[i];
+            min_ind = i;
           }
         for (unsigned int i = 0; i < children_.size(); ++i)
-          children_[i]->updateRange(minInd, dist[i]);
-        children_[minInd]->updateRadius(minDist);
-        children_[minInd]->add(gnat, data);
+          children_[i]->updateRange(min_ind, dist[i]);
+        children_[min_ind]->updateRadius(min_dist);
+        children_[min_ind]->add(gnat, data);
       }
     }
     // Return true iff the node needs to be split into child nodes.
@@ -547,7 +547,7 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       {
         double dist;
         Node* child;
-        std::vector<double> distToPivot(children_.size());
+        std::vector<double> dist_to_pivot(children_.size());
         std::vector<int> permutation(children_.size());
         for (unsigned int i = 0; i < permutation.size(); ++i)
           permutation[i] = i;
@@ -557,16 +557,16 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
           if (permutation[i] >= 0)
           {
             child = children_[permutation[i]];
-            distToPivot[permutation[i]] = gnat.distFun_(data, child->pivot_);
-            if (insertNeighborK(nbh, k, child->pivot_, data, distToPivot[permutation[i]]))
+            dist_to_pivot[permutation[i]] = gnat.distFun_(data, child->pivot_);
+            if (insertNeighborK(nbh, k, child->pivot_, data, dist_to_pivot[permutation[i]]))
               isPivot = true;
             if (nbh.size() == k)
             {
               dist = nbh.top().second;  // note difference with nearestR
               for (unsigned int j = 0; j < children_.size(); ++j)
                 if (permutation[j] >= 0 && i != j &&
-                    (distToPivot[permutation[i]] - dist > child->maxRange_[permutation[j]] ||
-                     distToPivot[permutation[i]] + dist < child->minRange_[permutation[j]]))
+                    (dist_to_pivot[permutation[i]] - dist > child->maxRange_[permutation[j]] ||
+                     dist_to_pivot[permutation[i]] + dist < child->minRange_[permutation[j]]))
                   permutation[j] = -1;
             }
           }
@@ -576,9 +576,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
           if (permutation[i] >= 0)
           {
             child = children_[permutation[i]];
-            if (nbh.size() < k || (distToPivot[permutation[i]] - dist <= child->maxRadius_ &&
-                                   distToPivot[permutation[i]] + dist >= child->minRadius_))
-              nodeQueue.push(std::make_pair(child, distToPivot[permutation[i]]));
+            if (nbh.size() < k || (dist_to_pivot[permutation[i]] - dist <= child->maxRadius_ &&
+                                   dist_to_pivot[permutation[i]] + dist >= child->minRadius_))
+              nodeQueue.push(std::make_pair(child, dist_to_pivot[permutation[i]]));
           }
       }
     }
@@ -601,7 +601,7 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       if (!children_.empty())
       {
         Node* child;
-        std::vector<double> distToPivot(children_.size());
+        std::vector<double> dist_to_pivot(children_.size());
         std::vector<int> permutation(children_.size());
         for (unsigned int i = 0; i < permutation.size(); ++i)
           permutation[i] = i;
@@ -611,11 +611,11 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
           if (permutation[i] >= 0)
           {
             child = children_[permutation[i]];
-            distToPivot[i] = gnat.distFun_(data, child->pivot_);
-            insertNeighborR(nbh, r, child->pivot_, distToPivot[i]);
+            dist_to_pivot[i] = gnat.distFun_(data, child->pivot_);
+            insertNeighborR(nbh, r, child->pivot_, dist_to_pivot[i]);
             for (unsigned int j = 0; j < children_.size(); ++j)
-              if (permutation[j] >= 0 && i != j && (distToPivot[i] - dist > child->maxRange_[permutation[j]] ||
-                                                    distToPivot[i] + dist < child->minRange_[permutation[j]]))
+              if (permutation[j] >= 0 && i != j && (dist_to_pivot[i] - dist > child->maxRange_[permutation[j]] ||
+                                                    dist_to_pivot[i] + dist < child->minRange_[permutation[j]]))
                 permutation[j] = -1;
           }
 
@@ -623,8 +623,8 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
           if (permutation[i] >= 0)
           {
             child = children_[permutation[i]];
-            if (distToPivot[i] - dist <= child->maxRadius_ && distToPivot[i] + dist >= child->minRadius_)
-              nodeQueue.push(std::make_pair(child, distToPivot[i]));
+            if (dist_to_pivot[i] - dist <= child->maxRadius_ && dist_to_pivot[i] + dist >= child->minRadius_)
+              nodeQueue.push(std::make_pair(child, dist_to_pivot[i]));
           }
       }
     }
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index 72cfd99a27..782507bfed 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -79,6 +79,7 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
                      Eigen::Matrix<double, 6, 1>::Constant(1.0));
   }
 
+  // NOLINTNEXTLINE(readability-identifier-naming)
   /** Compute qdot_out = W_q * (W_x * J * W_q)^# * W_x * v_in
    *
    * where W_q and W_x are joint- and Cartesian weights respectively.
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 16f381ed65..977c3caf28 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -124,6 +124,7 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
 protected:
   typedef Eigen::Matrix<double, 6, 1> Twist;
 
+  // NOLINTNEXTLINE(readability-identifier-naming)
   /// Solve position IK given initial joint values
   int CartToJnt(KDL::ChainIkSolverVelMimicSVD& ik_solver, const KDL::JntArray& q_init, const KDL::Frame& p_in,
                 KDL::JntArray& q_out, const unsigned int max_iter, const Eigen::VectorXd& joint_weights,
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
index 10bd896438..e197008a2c 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
@@ -294,11 +294,11 @@ template <typename Derived>
 void ChompTrajectory::getJointVelocities(size_t traj_point, Eigen::MatrixBase<Derived>& velocities)
 {
   velocities.setZero();
-  double invTime = 1.0 / discretization_;
+  double inv_time = 1.0 / discretization_;
 
   for (int k = -DIFF_RULE_LENGTH / 2; k <= DIFF_RULE_LENGTH / 2; k++)
   {
-    velocities += (invTime * DIFF_RULES[0][k + DIFF_RULE_LENGTH / 2]) * trajectory_.row(traj_point + k).transpose();
+    velocities += (inv_time * DIFF_RULES[0][k + DIFF_RULE_LENGTH / 2]) * trajectory_.row(traj_point + k).transpose();
   }
 }
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index a982a0215f..b794208d4a 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -58,7 +58,7 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
 private:
   bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
   bool stateValidityCallback(ompl::base::State* new_goal, moveit::core::RobotState const* state,
-                             const moveit::core::JointModelGroup*, const double*, bool verbose = false) const;
+                             const moveit::core::JointModelGroup* /*jmg*/, const double* /*jpos*/, bool verbose = false) const;
   bool checkStateValidity(ompl::base::State* new_goal, const moveit::core::RobotState& state,
                           bool verbose = false) const;
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
index f33ed0656a..35ae72ec86 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
@@ -70,7 +70,7 @@ class LastPointController : public BaseFakeController
 
   bool sendTrajectory(const moveit_msgs::RobotTrajectory& t) override;
   bool cancelExecution() override;
-  bool waitForExecution(const ros::Duration&) override;
+  bool waitForExecution(const ros::Duration& /*timeout*/) override;
 };
 
 class ThreadedController : public BaseFakeController
@@ -81,7 +81,7 @@ class ThreadedController : public BaseFakeController
 
   bool sendTrajectory(const moveit_msgs::RobotTrajectory& t) override;
   bool cancelExecution() override;
-  bool waitForExecution(const ros::Duration&) override;
+  bool waitForExecution(const ros::Duration& /*timeout*/) override;
   moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override;
 
 protected:
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index c2da776a0c..b57d9e5418 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -473,7 +473,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
         for (int x = skip_horizontal_pixels_; x < w_bound; ++x)
         {
           // not filtered
-          if (labels_row[x] == mesh_filter::MeshFilterBase::Background)
+          if (labels_row[x] == mesh_filter::MeshFilterBase::BACKGROUND)
           {
             float zz = (float)input_row[x] * 1e-3;  // scale from mm to m
             float yy = y_cache_[y] * zz;
@@ -483,7 +483,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
             occupied_cells.insert(tree_->coordToKey(point_tf.getX(), point_tf.getY(), point_tf.getZ()));
           }
           // on far plane or a model point -> remove
-          else if (labels_row[x] >= mesh_filter::MeshFilterBase::FarClip)
+          else if (labels_row[x] >= mesh_filter::MeshFilterBase::FAR_CLIP)
           {
             float zz = input_row[x] * 1e-3;
             float yy = y_cache_[y] * zz;
@@ -502,7 +502,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
       for (int y = skip_vertical_pixels_; y < h_bound; ++y, labels_row += w, input_row += w)
         for (int x = skip_horizontal_pixels_; x < w_bound; ++x)
         {
-          if (labels_row[x] == mesh_filter::MeshFilterBase::Background)
+          if (labels_row[x] == mesh_filter::MeshFilterBase::BACKGROUND)
           {
             float zz = input_row[x];
             float yy = y_cache_[y] * zz;
@@ -511,7 +511,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
             tf2::Vector3 point_tf = map_h_sensor * tf2::Vector3(xx, yy, zz);
             occupied_cells.insert(tree_->coordToKey(point_tf.getX(), point_tf.getY(), point_tf.getZ()));
           }
-          else if (labels_row[x] >= mesh_filter::MeshFilterBase::FarClip)
+          else if (labels_row[x] >= mesh_filter::MeshFilterBase::FAR_CLIP)
           {
             float zz = input_row[x];
             float yy = y_cache_[y] * zz;
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
index dc8ee5f3f2..6fe3fb0745 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
@@ -69,11 +69,11 @@ class MeshFilterBase
   // this would allow me to do a single comparison instead of 3, in the code i write
   enum
   {
-    Background = 0,
-    Shadow = 1,
-    NearClip = 2,
-    FarClip = 3,
-    FirstLabel = 16
+    BACKGROUND = 0,
+    SHADOW = 1,
+    NEAR_CLIP = 2,
+    FAR_CLIP = 3,
+    FIRST_LABEL = 16
   };
 
 public:
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
index d6dc185be1..5ffd8174d3 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
@@ -148,7 +148,7 @@ class StereoCameraModel : public SensorModel
   };
 
   /** \brief predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion) */
-  static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;
+  static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)
 
   /** \brief source code of the vertex shader used to render the meshes*/
   static const std::string RENDER_VERTEX_SHADER_SOURCE;
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
index 67a241c77c..331dfe3780 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
@@ -59,8 +59,8 @@ mesh_filter::MeshFilterBase::MeshFilterBase(const TransformCallback& transform_c
                                             const std::string& filter_vertex_shader,
                                             const std::string& filter_fragment_shader)
   : sensor_parameters_(sensor_parameters.clone())
-  , next_handle_(FirstLabel)  // 0 and 1 are reserved!
-  , min_handle_(FirstLabel)
+  , next_handle_(FIRST_LABEL)  // 0 and 1 are reserved!
+  , min_handle_(FIRST_LABEL)
   , stop_(false)
   , transform_callback_(transform_callback)
   , padding_scale_(1.0)
diff --git a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
index a452eb14f3..2e09379c5e 100644
--- a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
+++ b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
@@ -251,11 +251,11 @@ void MeshFilterTest<Type>::getGroundTruth(unsigned int* labels, float* depth) co
       {
         depth[idx] = double(sensor_data_[idx]) * scale;
         if (depth[idx] < near_)
-          labels[idx] = MeshFilterBase::NearClip;
+          labels[idx] = MeshFilterBase::NEAR_CLIP;
         else if (depth[idx] >= far_)
-          labels[idx] = MeshFilterBase::FarClip;
+          labels[idx] = MeshFilterBase::FAR_CLIP;
         else
-          labels[idx] = MeshFilterBase::Background;
+          labels[idx] = MeshFilterBase::BACKGROUND;
 
         if (depth[idx] <= near_ || depth[idx] >= far_)
           depth[idx] = 0;
@@ -272,21 +272,21 @@ void MeshFilterTest<Type>::getGroundTruth(unsigned int* labels, float* depth) co
 
         if (depth[idx] < near_)
         {
-          labels[idx] = MeshFilterBase::NearClip;
+          labels[idx] = MeshFilterBase::NEAR_CLIP;
           depth[idx] = 0;
         }
         else
         {
           double diff = depth[idx] - distance_;
           if (diff < 0 && depth[idx] < far_)
-            labels[idx] = MeshFilterBase::Background;
+            labels[idx] = MeshFilterBase::BACKGROUND;
           else if (diff > shadow_)
-            labels[idx] = MeshFilterBase::Shadow;
+            labels[idx] = MeshFilterBase::SHADOW;
           else if (depth[idx] >= far_)
-            labels[idx] = MeshFilterBase::FarClip;
+            labels[idx] = MeshFilterBase::FAR_CLIP;
           else
           {
-            labels[idx] = MeshFilterBase::FirstLabel;
+            labels[idx] = MeshFilterBase::FIRST_LABEL;
             depth[idx] = 0;
           }
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index 6cc3b42af3..88b9795788 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -164,8 +164,8 @@ class ProgressBarDelegate : public QStyledItemDelegate
 public:
   enum CustomRole
   {
-    JointTypeRole = Qt::UserRole,
-    VariableBoundsRole
+    JointTypeRole = Qt::UserRole,  // NOLINT(readability-identifier-naming)
+    VariableBoundsRole  // NOLINT(readability-identifier-naming)
   };
 
   ProgressBarDelegate(QWidget* parent = nullptr) : QStyledItemDelegate(parent)
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index 394eac0875..f1a422e8b3 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -54,8 +54,8 @@ static const std::string ROBOT_DESCRIPTION = "robot_description";
 static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state";
 
 // Default kin solver values
-static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005;
-static const double DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005;
+static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005;
+static const double DEFAULT_KIN_SOLVER_TIMEOUT = 0.005;
 
 // ******************************************************************************************
 // Structs
@@ -510,7 +510,7 @@ class MoveItConfigData
    * \param jm2 - a pointer to the second joint model to compare
    * \return bool of alphabetical sorting comparison
    */
-  struct joint_model_compare
+  struct JointModelCompare
   {
     bool operator()(const moveit::core::JointModel* jm1, const moveit::core::JointModel* jm2) const
     {
diff --git a/moveit_setup_assistant/src/tools/collision_matrix_model.h b/moveit_setup_assistant/src/tools/collision_matrix_model.h
index 9d4b9d2d78..8d88b68bf5 100644
--- a/moveit_setup_assistant/src/tools/collision_matrix_model.h
+++ b/moveit_setup_assistant/src/tools/collision_matrix_model.h
@@ -58,7 +58,7 @@ class CollisionMatrixModel : public QAbstractTableModel
 
   // for editing
   Qt::ItemFlags flags(const QModelIndex& index) const override;
-  bool setData(const QModelIndex&, const QVariant& value, int role) override;
+  bool setData(const QModelIndex& /*index*/, const QVariant& value, int role) override;
   void setEnabled(const QItemSelection& selection, bool value);
   void setEnabled(const QModelIndexList& indexes, bool value);
 
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 462b07b951..c1b7f324a5 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -1108,7 +1108,7 @@ bool MoveItConfigData::outputJointLimitsYAML(const std::string& file_path)
   emitter << YAML::Value << YAML::BeginMap;
 
   // Union all the joints in groups. Uses a custom comparator to allow the joints to be sorted by name
-  std::set<const moveit::core::JointModel*, joint_model_compare> joints;
+  std::set<const moveit::core::JointModel*, JointModelCompare> joints;
 
   // Loop through groups
   for (srdf::Model::Group& group : srdf_->groups_)
@@ -1344,8 +1344,8 @@ bool MoveItConfigData::inputKinematicsYAML(const std::string& file_path)
 
       parse(group, "kinematics_solver", meta_data.kinematics_solver_);
       parse(group, "kinematics_solver_search_resolution", meta_data.kinematics_solver_search_resolution_,
-            DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_);
-      parse(group, "kinematics_solver_timeout", meta_data.kinematics_solver_timeout_, DEFAULT_KIN_SOLVER_TIMEOUT_);
+            DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION);
+      parse(group, "kinematics_solver_timeout", meta_data.kinematics_solver_timeout_, DEFAULT_KIN_SOLVER_TIMEOUT);
 
       // Assign meta data to vector
       group_meta_data_[group_name] = meta_data;
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
index c744036597..9f8bdeb1b3 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
@@ -187,12 +187,12 @@ DefaultCollisionsWidget::DefaultCollisionsWidget(QWidget* parent, const MoveItCo
   QRadioButton* radio_btn;
   radio_btn = new QRadioButton("linear view");
   bottom_layout->addWidget(radio_btn);
-  view_mode_buttons_->addButton(radio_btn, LinearMode);
+  view_mode_buttons_->addButton(radio_btn, LINEAR_MODE);
   radio_btn->setChecked(true);
 
   radio_btn = new QRadioButton("matrix view");
   bottom_layout->addWidget(radio_btn);
-  view_mode_buttons_->addButton(radio_btn, MatrixMode);
+  view_mode_buttons_->addButton(radio_btn, MATRIX_MODE);
   connect(view_mode_buttons_, SIGNAL(buttonClicked(int)), this, SLOT(loadCollisionTable()));
 
   // Revert Button
@@ -282,7 +282,7 @@ void DefaultCollisionsWidget::loadCollisionTable()
       link_pairs_, config_data_->getPlanningScene()->getRobotModel()->getLinkModelNamesWithCollisionGeometry());
   QAbstractItemModel* model;
 
-  if (view_mode_buttons_->checkedId() == MatrixMode)
+  if (view_mode_buttons_->checkedId() == MATRIX_MODE)
   {
     model = matrix_model;
   }
@@ -311,7 +311,7 @@ void DefaultCollisionsWidget::loadCollisionTable()
   QHeaderView *horizontal_header, *vertical_header;
 
   // activate some model-specific settings
-  if (view_mode_buttons_->checkedId() == MatrixMode)
+  if (view_mode_buttons_->checkedId() == MATRIX_MODE)
   {
     connect(selection_model_, SIGNAL(currentChanged(QModelIndex, QModelIndex)), this,
             SLOT(previewSelectedMatrix(QModelIndex)));
@@ -377,7 +377,7 @@ void DefaultCollisionsWidget::collisionsChanged(const QModelIndex& index)
   if (!index.isValid())
     return;
   // Hm. For some reason, QTableView doesn't change selection if we click a checkbox
-  bool linear_mode = (view_mode_buttons_->checkedId() == LinearMode);
+  bool linear_mode = (view_mode_buttons_->checkedId() == LINEAR_MODE);
   const QItemSelection& selection = selection_model_->selection();
   if ((linear_mode && !selection.contains(index)) ||  // in linear mode: index not in selection
       (!linear_mode &&
@@ -592,7 +592,7 @@ void DefaultCollisionsWidget::toggleSelection(QItemSelection selection)
 
   // set all selected items to inverse value of current item
   const QModelIndex& cur_idx = selection_model_->currentIndex();
-  if (view_mode_buttons_->checkedId() == MatrixMode)
+  if (view_mode_buttons_->checkedId() == MATRIX_MODE)
   {
     QModelIndex input_index;
     if (cur_idx.flags() & Qt::ItemIsUserCheckable)
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index ade0c7f30b..105dcb754c 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -72,8 +72,8 @@ class DefaultCollisionsWidget : public SetupScreenWidget
 public:
   enum ViewMode
   {
-    MatrixMode = 0,
-    LinearMode = 1
+    MATRIX_MODE = 0,
+    LINEAR_MODE = 1
   };
 
   // ******************************************************************************************
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index f857926413..3ecd04a16c 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -235,7 +235,7 @@ void GroupEditWidget::setSelected(const std::string& group_name)
   if (*resolution == 0)
   {
     // Set default value
-    *resolution = DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_;
+    *resolution = DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION;
   }
   kinematics_resolution_field_->setText(QString::number(*resolution));
 
@@ -244,7 +244,7 @@ void GroupEditWidget::setSelected(const std::string& group_name)
   if (*timeout == 0)
   {
     // Set default value
-    *timeout = DEFAULT_KIN_SOLVER_TIMEOUT_;
+    *timeout = DEFAULT_KIN_SOLVER_TIMEOUT;
   }
   kinematics_timeout_field_->setText(QString::number(*timeout));
 

From e619b6ab849ae837c01a54ec715d4c604014621c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 19:57:17 +0200
Subject: [PATCH 271/612] performance-*

---
 .../moveit/setup_assistant/tools/moveit_config_data.h  | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index f1a422e8b3..d60629d514 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -43,6 +43,10 @@
 #include <urdf/model.h>                                               // to share throughout app
 #include <srdfdom/srdf_writer.h>                                      // for writing srdf data
 
+
+#include <utility>
+
+
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************
@@ -143,15 +147,15 @@ class GenericParameter
 
   void setName(std::string name)
   {
-    name_ = name;
+    name_ = std::move(name);
   };
   void setValue(std::string value)
   {
-    value_ = value;
+    value_ = std::move(value);
   };
   void setComment(std::string comment)
   {
-    comment_ = comment;
+    comment_ = std::move(comment);
   };
   std::string getName()
   {

From 74bc601dce5e4f862652abf2a6026b1d8358d9ba Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 May 2020 20:22:35 +0200
Subject: [PATCH 272/612] clang-format

---
 .../collision_env_bullet.h                    | 28 ++++++++-----------
 .../collision_env_fcl.h                       | 28 ++++++++-----------
 .../collision_distance_field_types.h          |  3 +-
 .../collision_env_distance_field.h            | 10 +++----
 .../kinematic_constraint.h                    |  3 +-
 .../include/moveit/robot_state/robot_state.h  |  3 +-
 .../cached_ik_kinematics_plugin.h             |  7 +++--
 .../detail/NearestNeighborsGNAT.h             |  7 +++--
 .../include/chomp_motion_planner/chomp_cost.h |  3 +-
 .../detail/constrained_goal_sampler.h         |  3 +-
 .../motion_planning_frame_joints_widget.h     |  2 +-
 .../tools/moveit_config_data.h                |  2 --
 12 files changed, 45 insertions(+), 54 deletions(-)

diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
index ba502f2e00..e210322ebd 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -60,32 +60,28 @@ class CollisionEnvBullet : public CollisionEnv
   CollisionEnvBullet(CollisionEnvBullet&) = delete;
 
   void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const moveit::core::RobotState& state) const override;
+                          const moveit::core::RobotState& state) const override;
 
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const moveit::core::RobotState& state,
-                                  const AllowedCollisionMatrix& acm) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                          const AllowedCollisionMatrix& acm) const override;
 
   void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state) const override;
+                           const moveit::core::RobotState& state) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state,
-                                   const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                           const AllowedCollisionMatrix& acm) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1,
-                                   const moveit::core::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                                   const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const moveit::core::RobotState& state) const override;
+                    const moveit::core::RobotState& state) const override;
 
   void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                             const moveit::core::RobotState& state) const override;
+                     const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
 
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index dbdfa05673..278071b3ce 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -65,32 +65,28 @@ class CollisionEnvFCL : public CollisionEnv
   ~CollisionEnvFCL() override;
 
   void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const moveit::core::RobotState& state) const override;
+                          const moveit::core::RobotState& state) const override;
 
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                                  const moveit::core::RobotState& state,
-                                  const AllowedCollisionMatrix& acm) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                          const AllowedCollisionMatrix& acm) const override;
 
   void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state) const override;
+                           const moveit::core::RobotState& state) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state,
-                                   const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                           const AllowedCollisionMatrix& acm) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                                   const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1,
-                                   const moveit::core::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2) const override;
 
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                            const moveit::core::RobotState& state) const override;
+                    const moveit::core::RobotState& state) const override;
 
   void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                             const moveit::core::RobotState& state) const override;
+                     const moveit::core::RobotState& state) const override;
 
   void setWorld(const WorldPtr& world) override;
 
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index 37a5a664b8..f38c57aa24 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -452,8 +452,7 @@ class PosedBodyPointDecompositionVector
     EigenSTL::vector_Vector3d ret_points;
     for (const PosedBodyPointDecompositionPtr& decomp : decomp_vector_)
     {
-      ret_points.insert(ret_points.end(), decomp->getCollisionPoints().begin(),
-                        decomp->getCollisionPoints().end());
+      ret_points.insert(ret_points.end(), decomp->getCollisionPoints().begin(), decomp->getCollisionPoints().end());
     }
     return ret_points;
   }
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index 3d1d81a55d..a1f910d359 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -169,13 +169,11 @@ class CollisionEnvDistanceField : public CollisionEnv
                                    const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                                    GroupStateRepresentationPtr& gsr) const;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
-                                   const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                                   const moveit::core::RobotState& state1,
-                                   const moveit::core::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2) const override;
 
   virtual double distanceRobot(const moveit::core::RobotState& state, bool verbose = false) const
   {
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index bb115456c8..2eca8f9bc1 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -355,7 +355,8 @@ class OrientationConstraint : public KinematicConstraint
    *
    * @param [in] model The kinematic model used for constraint evaluation
    */
-  OrientationConstraint(const moveit::core::RobotModelConstPtr& model) : KinematicConstraint(model), link_model_(nullptr)
+  OrientationConstraint(const moveit::core::RobotModelConstPtr& model)
+    : KinematicConstraint(model), link_model_(nullptr)
   {
     type_ = ORIENTATION_CONSTRAINT;
   }
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index a03c5bde7d..e8463964fb 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1767,8 +1767,7 @@ class RobotState
     for (const JointModel* jm : mim)
     {
       const int fvi = jm->getFirstVariableIndex();
-      position_[fvi] =
-          jm->getMimicFactor() * position_[jm->getMimic()->getFirstVariableIndex()] + jm->getMimicOffset();
+      position_[fvi] = jm->getMimicFactor() * position_[jm->getMimic()->getFirstVariableIndex()] + jm->getMimicOffset();
       // Only mark joint transform dirty, but not the associated link transform
       // as this function is always used in combination of
       // updateMimicJoint(group->getMimicJointModels()) + markDirtyJointTransforms(group);
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index c75e3938e9..9038da5a55 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -285,8 +285,8 @@ class CachedIKKinematicsPlugin : public KinematicsPlugin
 
   template <class T = KinematicsPlugin>
   typename std::enable_if<!HasRobotModelApi<T>::value, bool>::type
-  initializeImpl(const moveit::core::RobotModel& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/,
-                 const std::vector<std::string>& /*unused*/, double /*unused*/)
+  initializeImpl(const moveit::core::RobotModel& /*unused*/, const std::string& /*unused*/,
+                 const std::string& /*unused*/, const std::vector<std::string>& /*unused*/, double /*unused*/)
   {
     return false;  // API not supported
   }
@@ -305,7 +305,8 @@ class CachedIKKinematicsPlugin : public KinematicsPlugin
 
   template <class T = KinematicsPlugin>
   typename std::enable_if<!HasRobotDescApi<T>::value, bool>::type
-  initializeImpl(const std::string& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/, double /*unused*/)
+  initializeImpl(const std::string& /*unused*/, const std::string& /*unused*/, const std::string& /*unused*/,
+                 const std::string& /*unused*/, double /*unused*/)
   {
     return false;  // API not supported
   }
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
index 4c4f180852..090c50057f 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
@@ -332,8 +332,8 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       dist = nbhQueue.top().second;  // note the difference with nearestRInternal
       node_dist = node_queue.top();
       node_queue.pop();
-      if (nbhQueue.size() == k &&
-          (node_dist.second > node_dist.first->maxRadius_ + dist || node_dist.second < node_dist.first->minRadius_ - dist))
+      if (nbhQueue.size() == k && (node_dist.second > node_dist.first->maxRadius_ + dist ||
+                                   node_dist.second < node_dist.first->minRadius_ - dist))
         continue;
       node_dist.first->nearestK(*this, data, k, nbhQueue, node_queue, is_pivot);
     }
@@ -352,7 +352,8 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
     {
       node_dist = node_queue.top();
       node_queue.pop();
-      if (node_dist.second > node_dist.first->maxRadius_ + dist || node_dist.second < node_dist.first->minRadius_ - dist)
+      if (node_dist.second > node_dist.first->maxRadius_ + dist ||
+          node_dist.second < node_dist.first->minRadius_ - dist)
         continue;
       node_dist.first->nearestR(*this, data, radius, nbhQueue, node_queue);
     }
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
index ac4659582e..7e76fbe1c6 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.h
@@ -75,7 +75,8 @@ class ChompCost
 };
 
 template <typename Derived>
-void ChompCost::getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const
+void ChompCost::getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory,
+                              Eigen::MatrixBase<Derived>& derivative) const
 {
   derivative = (quad_cost_full_ * (2.0 * joint_trajectory));
 }
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index b794208d4a..be711c991f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -58,7 +58,8 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
 private:
   bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
   bool stateValidityCallback(ompl::base::State* new_goal, moveit::core::RobotState const* state,
-                             const moveit::core::JointModelGroup* /*jmg*/, const double* /*jpos*/, bool verbose = false) const;
+                             const moveit::core::JointModelGroup* /*jmg*/, const double* /*jpos*/,
+                             bool verbose = false) const;
   bool checkStateValidity(ompl::base::State* new_goal, const moveit::core::RobotState& state,
                           bool verbose = false) const;
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index 88b9795788..8ae1258030 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -165,7 +165,7 @@ class ProgressBarDelegate : public QStyledItemDelegate
   enum CustomRole
   {
     JointTypeRole = Qt::UserRole,  // NOLINT(readability-identifier-naming)
-    VariableBoundsRole  // NOLINT(readability-identifier-naming)
+    VariableBoundsRole             // NOLINT(readability-identifier-naming)
   };
 
   ProgressBarDelegate(QWidget* parent = nullptr) : QStyledItemDelegate(parent)
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index d60629d514..99e58e9ece 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -43,10 +43,8 @@
 #include <urdf/model.h>                                               // to share throughout app
 #include <srdfdom/srdf_writer.h>                                      // for writing srdf data
 
-
 #include <utility>
 
-
 namespace moveit_setup_assistant
 {
 // ******************************************************************************************

From 1bfa63f0aa8475d7d9343070592fc4ef15de9d81 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Tue, 5 May 2020 19:28:07 +0200
Subject: [PATCH 273/612] RS: add interfaces to zero and remove dynamics

Sure, some of them will probably almost never be used,
but I prefer full flexibility over missing an intuitive interface in the long run.

Before this patch it was impossible to remove dynamics information
from a state once it was added.
---
 .../include/moveit/robot_state/robot_state.h  | 21 ++++++++++
 moveit_core/robot_state/src/robot_state.cpp   | 40 +++++++++++++++++++
 2 files changed, 61 insertions(+)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index e8463964fb..4e6a41bcb4 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -246,6 +246,9 @@ class RobotState
     return velocity_;
   }
 
+  /** \brief Set all velocities to 0.0 */
+  void zeroVelocities();
+
   /** \brief Given an array with velocity values for all variables, set those values as the velocities in this state */
   void setVariableVelocities(const double* velocity)
   {
@@ -303,6 +306,9 @@ class RobotState
     return velocity_[index];
   }
 
+  /** \brief Remove velocities from this state (this differs from setting them to zero) */
+  void dropVelocities();
+
   /** @} */
 
   /** \name Getting and setting variable acceleration
@@ -334,6 +340,9 @@ class RobotState
     return acceleration_;
   }
 
+  /** \brief Set all accelerations to 0.0 */
+  void zeroAccelerations();
+
   /** \brief Given an array with acceleration values for all variables, set those values as the accelerations in this
    * state */
   void setVariableAccelerations(const double* acceleration)
@@ -396,6 +405,9 @@ class RobotState
     return acceleration_[index];
   }
 
+  /** \brief Remove accelerations from this state (this differs from setting them to zero) */
+  void dropAccelerations();
+
   /** @} */
 
   /** \name Getting and setting variable effort
@@ -426,6 +438,9 @@ class RobotState
     return effort_;
   }
 
+  /** \brief Set all effort values to 0.0 */
+  void zeroEffort();
+
   /** \brief Given an array with effort values for all variables, set those values as the effort in this state */
   void setVariableEffort(const double* effort)
   {
@@ -482,6 +497,12 @@ class RobotState
     return effort_[index];
   }
 
+  /** \brief Remove effort values from this state (this differs from setting them to zero) */
+  void dropEffort();
+
+  /** \brief Reduce RobotState to kinematic information (remove velocity, acceleration and effort, if present) */
+  void dropDynamics();
+
   /** \brief Invert velocity if present. */
   void invertVelocity();
 
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 11e2440759..c0a4f5e214 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -232,6 +232,46 @@ void RobotState::markEffort()
   }
 }
 
+void RobotState::zeroVelocities()
+{
+  has_velocity_ = false;
+  markVelocity();
+}
+
+void RobotState::zeroAccelerations()
+{
+  has_acceleration_ = false;
+  markAcceleration();
+}
+
+void RobotState::zeroEffort()
+{
+  has_effort_ = false;
+  markEffort();
+}
+
+void RobotState::dropVelocities()
+{
+  has_velocity_ = false;
+}
+
+void RobotState::dropAccelerations()
+{
+  has_velocity_ = false;
+}
+
+void RobotState::dropEffort()
+{
+  has_velocity_ = false;
+}
+
+void RobotState::dropDynamics()
+{
+  dropVelocities();
+  dropAccelerations();
+  dropEffort();
+}
+
 void RobotState::setToRandomPositions()
 {
   random_numbers::RandomNumberGenerator& rng = getRandomNumberGenerator();

From 12797f11773f1d105d689d0c2a5aff33bd02dc54 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Tue, 5 May 2020 19:31:27 +0200
Subject: [PATCH 274/612] totg: add a correct time parameterization for
 1-waypoint trajectories

.. as they might be generated by a planner when the goal is already reached.
---
 .../src/time_optimal_trajectory_generation.cpp               | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 4bba94268c..076b1c482b 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -976,8 +976,11 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   // Return trajectory with only the first waypoint if there are not multiple diverse points
   if (points.size() == 1)
   {
-    ROS_WARN_NAMED(LOGNAME, "Trajectory is not being parameterized since it only contains a single distinct waypoint.");
+    ROS_DEBUG_NAMED(LOGNAME,
+                    "Trajectory is parameterized with 0.0 dynamics since it only contains a single distinct waypoint.");
     moveit::core::RobotState waypoint = moveit::core::RobotState(trajectory.getWayPoint(0));
+    waypoint.zeroVelocities();
+    waypoint.zeroAccelerations();
     trajectory.clear();
     trajectory.addSuffixWayPoint(waypoint, 0.0);
     return true;

From 7d7bd020cb8338fa19c8180220a1b0760ec3b39f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 6 May 2020 10:13:37 +0200
Subject: [PATCH 275/612] fix ordering of request adapters (#2053)

Some auxiliary PRAs can create additional waypoints,
so time parameterization must run *after* them on return of a successful plan,
which means it has to be loaded *before* them in the PRA chain.

Additionally, constraint names have to be resolved *before* fixing the input state w.r.t. them.

Look up the source code and documentation if you don't believe it.
---
 .../launch/ompl_planning_pipeline.launch.xml              | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
index eb408ed545..9ce2a6e1f0 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
@@ -6,12 +6,12 @@
   <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <arg name="planning_adapters"
-       value="default_planner_request_adapters/FixWorkspaceBounds
+       value="default_planner_request_adapters/AddTimeParameterization
+              default_planner_request_adapters/ResolveConstraintFrames
+              default_planner_request_adapters/FixWorkspaceBounds
               default_planner_request_adapters/FixStartStateBounds
               default_planner_request_adapters/FixStartStateCollision
-              default_planner_request_adapters/FixStartStatePathConstraints
-              default_planner_request_adapters/ResolveConstraintFrames
-              default_planner_request_adapters/AddTimeParameterization"
+              default_planner_request_adapters/FixStartStatePathConstraints"
               />
 
   <arg name="start_state_max_bounds_error" value="0.1" />

From 00f1ed9330a2a1dd93d2545c451ffba1bf23e4f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 6 May 2020 18:22:02 +0200
Subject: [PATCH 276/612] move NOLINT instructions to intended positions
 (#2058)

---
 .../kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp       | 2 +-
 .../moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index 782507bfed..ce8ad72bb4 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -79,11 +79,11 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
                      Eigen::Matrix<double, 6, 1>::Constant(1.0));
   }
 
-  // NOLINTNEXTLINE(readability-identifier-naming)
   /** Compute qdot_out = W_q * (W_x * J * W_q)^# * W_x * v_in
    *
    * where W_q and W_x are joint- and Cartesian weights respectively.
    * A smaller joint weight (< 1.0) will reduce the contribution of this joint to the solution. */
+  // NOLINTNEXTLINE(readability-identifier-naming)
   int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out, const Eigen::VectorXd& joint_weights,
                 const Eigen::Matrix<double, 6, 1>& cartesian_weights);
 
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 977c3caf28..a94944a989 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -124,8 +124,8 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
 protected:
   typedef Eigen::Matrix<double, 6, 1> Twist;
 
-  // NOLINTNEXTLINE(readability-identifier-naming)
   /// Solve position IK given initial joint values
+  // NOLINTNEXTLINE(readability-identifier-naming)
   int CartToJnt(KDL::ChainIkSolverVelMimicSVD& ik_solver, const KDL::JntArray& q_init, const KDL::Frame& p_in,
                 KDL::JntArray& q_out, const unsigned int max_iter, const Eigen::VectorXd& joint_weights,
                 const Twist& cartesian_weights) const;

From efa7fdca8a6999dbfcc28171b83deb67b258438a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 7 May 2020 13:05:59 +0200
Subject: [PATCH 277/612] Depend on geometric_shapes noetic-devel branch
 (#2059)

---
 moveit.rosinstall | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit.rosinstall b/moveit.rosinstall
index fc82f3ab95..19c6e7546b 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -7,7 +7,7 @@
 - git:
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
-    version: melodic-devel
+    version: noetic-devel
 - git:
     local-name: moveit
     uri: https://github.com/ros-planning/moveit.git

From aba69594485588fa0d0855f241b601807b1b83ae Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Fri, 8 May 2020 11:40:39 -0500
Subject: [PATCH 278/612] Jog arm dimensions (#1724)

Added a service to change which directions jogging is allowed in
---
 moveit_experimental/moveit_jog_arm/README.md  |  2 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |  4 ++++
 .../moveit_jog_arm/jog_interface_base.h       |  6 +++++
 .../moveit_jog_arm/src/jog_calcs.cpp          | 24 +++++++++++++++++--
 .../moveit_jog_arm/src/jog_interface_base.cpp | 14 +++++++++++
 .../moveit_jog_arm/src/jog_ros_interface.cpp  |  4 ++++
 6 files changed, 51 insertions(+), 3 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/README.md b/moveit_experimental/moveit_jog_arm/README.md
index 0543aed922..93c7c036d9 100644
--- a/moveit_experimental/moveit_jog_arm/README.md
+++ b/moveit_experimental/moveit_jog_arm/README.md
@@ -55,4 +55,4 @@ If you see a warning about "close to singularity", try changing the direction of
 
 Run tests from the jog\_arm folder:
 
-    catkin run_tests --no-deps --this
+    catkin run_tests --no-deps --this
\ No newline at end of file
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 1cb737d8f6..220902b224 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -101,6 +101,10 @@ struct JogArmShared : public std::mutex
 
   // Stop jog loop threads - threads are not stopped by default
   std::atomic<bool> stop_requested{ false };
+
+  // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
+  std::atomic_bool control_dimensions[6] = { ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true),
+                                             ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true) };
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
index 741c1babbe..9dee171b76 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
@@ -43,6 +43,7 @@
 #include "low_pass_filter.h"
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/ChangeDriftDimensions.h>
+#include <moveit_msgs/ChangeControlDimensions.h>
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Float64MultiArray.h>
@@ -73,6 +74,11 @@ class JogInterfaceBase
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
   /** \brief Start the main calculation thread */
+  // Service callback for changing jogging dimensions
+  bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                               moveit_msgs::ChangeControlDimensions::Response& res);
+
+  // Jogging calculation thread
   bool startJogCalcThread();
 
   /** \brief Stop the main calculation thread */
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 3d95fa2f1d..bedaa6a1b8 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -272,14 +272,34 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
     }
   }
 
+  // Set uncontrolled dimensions to 0 in command frame
+  if (!shared_variables.control_dimensions[0])
+    cmd.twist.linear.x = 0;
+  if (!shared_variables.control_dimensions[1])
+    cmd.twist.linear.y = 0;
+  if (!shared_variables.control_dimensions[2])
+    cmd.twist.linear.z = 0;
+  if (!shared_variables.control_dimensions[3])
+    cmd.twist.angular.x = 0;
+  if (!shared_variables.control_dimensions[4])
+    cmd.twist.angular.y = 0;
+  if (!shared_variables.control_dimensions[5])
+    cmd.twist.angular.z = 0;
+
   // Transform the command to the MoveGroup planning frame
   if (cmd.header.frame_id != parameters_.planning_frame)
   {
     Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
     Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
 
-    translation_vector = tf_moveit_to_cmd_frame_.linear() * translation_vector;
-    angular_vector = tf_moveit_to_cmd_frame_.linear() * angular_vector;
+    // We solve (planning_frame -> base -> cmd.header.frame_id)
+    // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
+    const auto tf_planning_to_cmd_frame =
+        kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+        kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
+
+    translation_vector = tf_planning_to_cmd_frame.linear() * translation_vector;
+    angular_vector = tf_planning_to_cmd_frame.linear() * angular_vector;
 
     // Put these components back into a TwistStamped
     cmd.header.frame_id = parameters_.planning_frame;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 49f463002a..3cd342a100 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -261,6 +261,20 @@ bool JogInterfaceBase::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions:
   return true;
 }
 
+bool JogInterfaceBase::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                                               moveit_msgs::ChangeControlDimensions::Response& res)
+{
+  shared_variables_.control_dimensions[0] = req.control_x_translation;
+  shared_variables_.control_dimensions[1] = req.control_y_translation;
+  shared_variables_.control_dimensions[2] = req.control_z_translation;
+  shared_variables_.control_dimensions[3] = req.control_x_rotation;
+  shared_variables_.control_dimensions[4] = req.control_y_rotation;
+  shared_variables_.control_dimensions[5] = req.control_z_rotation;
+
+  res.success = true;
+  return true;
+}
+
 // A separate thread for the heavy jogging calculations.
 bool JogInterfaceBase::startJogCalcThread()
 {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
index d5ab9921ba..567e0b707a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
@@ -94,6 +94,10 @@ JogROSInterface::JogROSInterface()
   ros::ServiceServer drift_dimensions_server =
       nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
                           &JogInterfaceBase::changeDriftDimensions, dynamic_cast<JogInterfaceBase*>(this));
+  // ROS Server for changing the control dimensions
+  ros::ServiceServer dims_server =
+      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
+                          &JogInterfaceBase::changeControlDimensions, dynamic_cast<JogInterfaceBase*>(this));
 
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).

From dfb00da5917f357f56b54db5b0e3038a3180e10a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 8 May 2020 18:59:33 +0200
Subject: [PATCH 279/612] MP display: planning attempts are natural numbers
 (#2076)

---
 .../src/ui/motion_planning_rviz_plugin_frame.ui             | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index a5f6f15f3a..2d644bcb72 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -603,7 +603,7 @@
              </widget>
             </item>
             <item>
-             <widget class="QDoubleSpinBox" name="planning_attempts">
+             <widget class="QSpinBox" name="planning_attempts">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                 <horstretch>0</horstretch>
@@ -611,10 +611,10 @@
                </sizepolicy>
               </property>
               <property name="maximum">
-               <double>1000.000000000000000</double>
+               <number>1000</number>
               </property>
               <property name="value">
-               <double>10.000000000000000</double>
+               <number>10</number>
               </property>
              </widget>
             </item>

From e7962233fde5ae07f6f333efccf70e778178168d Mon Sep 17 00:00:00 2001
From: Yeshwanth <yeshwanths88@gmail.com>
Date: Thu, 7 May 2020 18:12:58 +0530
Subject: [PATCH 280/612] Wait and check for the grasp service

Co-authored by v4hn
---
 .../move_group_interface/src/move_group_interface.cpp           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 8c66ab78bb..0da1c24e4d 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -716,7 +716,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
   MoveItErrorCode planGraspsAndPick(const moveit_msgs::CollisionObject& object, bool plan_only = false)
   {
-    if (!plan_grasps_service_)
+    if (!plan_grasps_service_.exists())
     {
       ROS_ERROR_STREAM_NAMED("move_group_interface", "Grasp planning service '"
                                                          << GRASP_PLANNING_SERVICE_NAME

From f34daa2689554c15e130f5dc8e00fbe8aa8f044b Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Mon, 11 May 2020 09:58:43 +0200
Subject: [PATCH 281/612] MGI: unify to LOGNAME logging

---
 .../src/move_group_interface.cpp              | 122 +++++++++---------
 1 file changed, 63 insertions(+), 59 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 0da1c24e4d..9774b58c5a 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -77,6 +77,8 @@ const std::string MoveGroupInterface::ROBOT_DESCRIPTION =
 
 const std::string GRASP_PLANNING_SERVICE_NAME = "plan_grasps";  // name of the service that can be used to plan grasps
 
+const std::string LOGNAME = "move_group_interface";
+
 namespace
 {
 enum ActiveTargetType
@@ -100,14 +102,14 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     {
       std::string error = "Unable to construct robot model. Please make sure all needed information is on the "
                           "parameter server.";
-      ROS_FATAL_STREAM_NAMED("move_group_interface", error);
+      ROS_FATAL_STREAM_NAMED(LOGNAME, error);
       throw std::runtime_error(error);
     }
 
     if (!getRobotModel()->hasJointModelGroup(opt.group_name_))
     {
       std::string error = "Group '" + opt.group_name_ + "' was not found.";
-      ROS_FATAL_STREAM_NAMED("move_group_interface", error);
+      ROS_FATAL_STREAM_NAMED(LOGNAME, error);
       throw std::runtime_error(error);
     }
 
@@ -174,14 +176,13 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     plan_grasps_service_ = node_handle_.serviceClient<moveit_msgs::GraspPlanning>(GRASP_PLANNING_SERVICE_NAME);
 
-    ROS_INFO_STREAM_NAMED("move_group_interface", "Ready to take commands for planning group " << opt.group_name_
-                                                                                               << ".");
+    ROS_INFO_STREAM_NAMED(LOGNAME, "Ready to take commands for planning group " << opt.group_name_ << ".");
   }
 
   template <typename T>
   void waitForAction(const T& action, const std::string& name, const ros::WallTime& timeout, double allotted_time) const
   {
-    ROS_DEBUG_NAMED("move_group_interface", "Waiting for move_group action server (%s)...", name.c_str());
+    ROS_DEBUG_NAMED(LOGNAME, "Waiting for move_group action server (%s)...", name.c_str());
 
     // wait for the server (and spin as needed)
     if (timeout == ros::WallTime())  // wait forever
@@ -197,8 +198,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
         }
         else  // in case of nodelets and specific callback queue implementations
         {
-          ROS_WARN_ONCE_NAMED("move_group_interface", "Non-default CallbackQueue: Waiting for external queue "
-                                                      "handling.");
+          ROS_WARN_ONCE_NAMED(LOGNAME, "Non-default CallbackQueue: Waiting for external queue "
+                                       "handling.");
         }
       }
     }
@@ -215,8 +216,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
         }
         else  // in case of nodelets and specific callback queue implementations
         {
-          ROS_WARN_ONCE_NAMED("move_group_interface", "Non-default CallbackQueue: Waiting for external queue "
-                                                      "handling.");
+          ROS_WARN_ONCE_NAMED(LOGNAME, "Non-default CallbackQueue: Waiting for external queue "
+                                       "handling.");
         }
       }
     }
@@ -230,7 +231,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_DEBUG_NAMED("move_group_interface", "Connected to '%s'", name.c_str());
+      ROS_DEBUG_NAMED(LOGNAME, "Connected to '%s'", name.c_str());
     }
   }
 
@@ -351,7 +352,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (target_value > 1.0)
     {
-      ROS_WARN_NAMED("move_group_interface", "Limiting max_%s (%.2f) to 1.0.", factor_name, target_value);
+      ROS_WARN_NAMED(LOGNAME, "Limiting max_%s (%.2f) to 1.0.", factor_name, target_value);
       variable = 1.0;
     }
     else if (target_value <= 0.0)
@@ -360,7 +361,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
                                  fallback_value);
       if (target_value < 0.0)
       {
-        ROS_WARN_NAMED("move_group_interface", "max_%s < 0.0! Setting to default: %.2f.", factor_name, variable);
+        ROS_WARN_NAMED(LOGNAME, "max_%s < 0.0! Setting to default: %.2f.", factor_name, variable);
       }
     }
     else
@@ -443,7 +444,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
         }
         else
         {
-          ROS_ERROR_NAMED("move_group_interface", "Unable to transform from frame '%s' to frame '%s'", frame.c_str(),
+          ROS_ERROR_NAMED(LOGNAME, "Unable to transform from frame '%s' to frame '%s'", frame.c_str(),
                           getRobotModel()->getModelFrame().c_str());
           return false;
         }
@@ -492,7 +493,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     const std::string& eef = end_effector_link.empty() ? end_effector_link_ : end_effector_link;
     if (eef.empty())
     {
-      ROS_ERROR_NAMED("move_group_interface", "No end-effector to set the pose for");
+      ROS_ERROR_NAMED(LOGNAME, "No end-effector to set the pose for");
       return false;
     }
     else
@@ -524,7 +525,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     // or return an error
     static const geometry_msgs::PoseStamped UNKNOWN;
-    ROS_ERROR_NAMED("move_group_interface", "Pose for end-effector '%s' not known.", eef.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Pose for end-effector '%s' not known.", eef.c_str());
     return UNKNOWN;
   }
 
@@ -539,7 +540,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     // or return an error
     static const std::vector<geometry_msgs::PoseStamped> EMPTY;
-    ROS_ERROR_NAMED("move_group_interface", "Poses for end-effector '%s' are not known.", eef.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Poses for end-effector '%s' are not known.", eef.c_str());
     return EMPTY;
   }
 
@@ -572,7 +573,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!current_state_monitor_)
     {
-      ROS_ERROR_NAMED("move_group_interface", "Unable to monitor current robot state");
+      ROS_ERROR_NAMED(LOGNAME, "Unable to monitor current robot state");
       return false;
     }
 
@@ -588,7 +589,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!current_state_monitor_)
     {
-      ROS_ERROR_NAMED("move_group_interface", "Unable to get current robot state");
+      ROS_ERROR_NAMED(LOGNAME, "Unable to get current robot state");
       return false;
     }
 
@@ -598,7 +599,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     if (!current_state_monitor_->waitForCurrentState(ros::Time::now(), wait_seconds))
     {
-      ROS_ERROR_NAMED("move_group_interface", "Failed to fetch current robot state");
+      ROS_ERROR_NAMED(LOGNAME, "Failed to fetch current robot state");
       return false;
     }
 
@@ -628,8 +629,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       location.place_pose = pose;
       locations.push_back(location);
     }
-    ROS_DEBUG_NAMED("move_group_interface", "Move group interface has %u place locations",
-                    (unsigned int)locations.size());
+    ROS_DEBUG_NAMED(LOGNAME, "Move group interface has %u place locations", (unsigned int)locations.size());
     return locations;
   }
 
@@ -637,20 +637,20 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!place_action_client_)
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Place action client not found");
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "place action client not found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
     if (!place_action_client_->isServerConnected())
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Place action server not connected");
+      ROS_WARN_STREAM_NAMED(LOGNAME, "place action server not connected");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
     place_action_client_->sendGoal(goal);
-    ROS_DEBUG_NAMED("move_group_interface", "Sent place goal with %d locations", (int)goal.place_locations.size());
+    ROS_DEBUG_NAMED(LOGNAME, "Sent place goal with %d locations", (int)goal.place_locations.size());
     if (!place_action_client_->waitForResult())
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", "Place action returned early");
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Place action returned early");
     }
     if (place_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
     {
@@ -658,8 +658,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_WARN_STREAM_NAMED("move_group_interface", "Fail: " << place_action_client_->getState().toString() << ": "
-                                                             << place_action_client_->getState().getText());
+      ROS_WARN_STREAM_NAMED(LOGNAME, "Fail: " << place_action_client_->getState().toString() << ": "
+                                              << place_action_client_->getState().getText());
       return MoveItErrorCode(place_action_client_->getResult()->error_code);
     }
   }
@@ -668,19 +668,19 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!pick_action_client_)
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Pick action client not found");
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "pick action client not found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
     if (!pick_action_client_->isServerConnected())
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Pick action server not connected");
+      ROS_WARN_STREAM_NAMED(LOGNAME, "pick action server not connected");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
     pick_action_client_->sendGoal(goal);
     if (!pick_action_client_->waitForResult())
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", "Pickup action returned early");
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Pickup action returned early");
     }
     if (pick_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
     {
@@ -688,8 +688,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_WARN_STREAM_NAMED("move_group_interface", "Fail: " << pick_action_client_->getState().toString() << ": "
-                                                             << pick_action_client_->getState().getText());
+      ROS_WARN_STREAM_NAMED(LOGNAME, "Fail: " << pick_action_client_->getState().toString() << ": "
+                                              << pick_action_client_->getState().getText());
       return MoveItErrorCode(pick_action_client_->getResult()->error_code);
     }
   }
@@ -706,8 +706,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     if (objects.empty())
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Asked for grasps for the object '"
-                                                         << object << "', but the object could not be found");
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "Asked for grasps for the object '" << object
+                                                                          << "', but the object could not be found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::INVALID_OBJECT_NAME);
     }
 
@@ -718,10 +718,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!plan_grasps_service_.exists())
     {
-      ROS_ERROR_STREAM_NAMED("move_group_interface", "Grasp planning service '"
-                                                         << GRASP_PLANNING_SERVICE_NAME
-                                                         << "' is not available."
-                                                            " This has to be implemented and started separately.");
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "Grasp planning service '"
+                                          << GRASP_PLANNING_SERVICE_NAME
+                                          << "' is not available."
+                                             " This has to be implemented and started separately.");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
@@ -732,11 +732,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     request.target = object;
     request.support_surfaces.push_back(support_surface_);
 
-    ROS_DEBUG_NAMED("move_group_interface", "Calling grasp planner...");
+    ROS_DEBUG_NAMED(LOGNAME, "Calling grasp planner...");
     if (!plan_grasps_service_.call(request, response) ||
         response.error_code.val != moveit_msgs::MoveItErrorCodes::SUCCESS)
     {
-      ROS_ERROR_NAMED("move_group_interface", "Grasp planning failed. Unable to pick.");
+      ROS_ERROR_NAMED(LOGNAME, "Grasp planning failed. Unable to pick.");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
@@ -747,10 +747,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!move_action_client_)
     {
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "move action client not found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
     if (!move_action_client_->isServerConnected())
     {
+      ROS_WARN_STREAM_NAMED(LOGNAME, "move action server not connected");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
@@ -765,7 +767,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     move_action_client_->sendGoal(goal);
     if (!move_action_client_->waitForResult())
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", "MoveGroup action returned early");
+      ROS_INFO_STREAM_NAMED(LOGNAME, "MoveGroup action returned early");
     }
     if (move_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
     {
@@ -776,8 +778,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_WARN_STREAM_NAMED("move_group_interface", "Fail: " << move_action_client_->getState().toString() << ": "
-                                                             << move_action_client_->getState().getText());
+      ROS_WARN_STREAM_NAMED(LOGNAME, "Fail: " << move_action_client_->getState().toString() << ": "
+                                              << move_action_client_->getState().getText());
       return MoveItErrorCode(move_action_client_->getResult()->error_code);
     }
   }
@@ -786,10 +788,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   {
     if (!move_action_client_)
     {
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "move action client not found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
     if (!move_action_client_->isServerConnected())
     {
+      ROS_WARN_STREAM_NAMED(LOGNAME, "move action server not connected");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 
@@ -810,7 +814,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     if (!move_action_client_->waitForResult())
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", "MoveGroup action returned early");
+      ROS_INFO_STREAM_NAMED(LOGNAME, "MoveGroup action returned early");
     }
 
     if (move_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
@@ -819,8 +823,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", move_action_client_->getState().toString()
-                                                        << ": " << move_action_client_->getState().getText());
+      ROS_INFO_STREAM_NAMED(LOGNAME, move_action_client_->getState().toString()
+                                         << ": " << move_action_client_->getState().getText());
       return MoveItErrorCode(move_action_client_->getResult()->error_code);
     }
   }
@@ -843,7 +847,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     if (!execute_action_client_->waitForResult())
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", "ExecuteTrajectory action returned early");
+      ROS_INFO_STREAM_NAMED(LOGNAME, "ExecuteTrajectory action returned early");
     }
 
     if (execute_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
@@ -852,8 +856,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     else
     {
-      ROS_INFO_STREAM_NAMED("move_group_interface", execute_action_client_->getState().toString()
-                                                        << ": " << execute_action_client_->getState().getText());
+      ROS_INFO_STREAM_NAMED(LOGNAME, execute_action_client_->getState().toString()
+                                         << ": " << execute_action_client_->getState().getText());
       return MoveItErrorCode(execute_action_client_->getResult()->error_code);
     }
   }
@@ -919,7 +923,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     if (l.empty())
     {
-      ROS_ERROR_NAMED("move_group_interface", "No known link to attach object '%s' to", object.c_str());
+      ROS_ERROR_NAMED(LOGNAME, "No known link to attach object '%s' to", object.c_str());
       return false;
     }
     moveit_msgs::AttachedCollisionObject aco;
@@ -1002,13 +1006,13 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
   void allowLooking(bool flag)
   {
     can_look_ = flag;
-    ROS_INFO_NAMED("move_group_interface", "Looking around: %s", can_look_ ? "yes" : "no");
+    ROS_INFO_NAMED(LOGNAME, "Looking around: %s", can_look_ ? "yes" : "no");
   }
 
   void allowReplanning(bool flag)
   {
     can_replan_ = flag;
-    ROS_INFO_NAMED("move_group_interface", "Replanning: %s", can_replan_ ? "yes" : "no");
+    ROS_INFO_NAMED(LOGNAME, "Replanning: %s", can_replan_ ? "yes" : "no");
   }
 
   void setReplanningDelay(double delay)
@@ -1071,7 +1075,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       }
     }
     else
-      ROS_ERROR_NAMED("move_group_interface", "Unable to construct MotionPlanRequest representation");
+      ROS_ERROR_NAMED(LOGNAME, "Unable to construct MotionPlanRequest representation");
 
     if (path_constraints_)
       request.path_constraints = *path_constraints_;
@@ -1242,7 +1246,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     }
     catch (std::exception& ex)
     {
-      ROS_ERROR_NAMED("move_group_interface", "%s", ex.what());
+      ROS_ERROR_NAMED(LOGNAME, "%s", ex.what());
     }
     initializing_constraints_ = false;
   }
@@ -1601,7 +1605,7 @@ bool MoveGroupInterface::setNamedTarget(const std::string& name)
       impl_->setTargetType(JOINT);
       return true;
     }
-    ROS_ERROR_NAMED("move_group_interface", "The requested named target '%s' does not exist", name.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "The requested named target '%s' does not exist", name.c_str());
     return false;
   }
 }
@@ -1830,7 +1834,7 @@ bool MoveGroupInterface::setPoseTargets(const std::vector<geometry_msgs::PoseSta
 {
   if (target.empty())
   {
-    ROS_ERROR_NAMED("move_group_interface", "No pose specified as goal target");
+    ROS_ERROR_NAMED(LOGNAME, "No pose specified as goal target");
     return false;
   }
   else
@@ -2019,7 +2023,7 @@ geometry_msgs::PoseStamped MoveGroupInterface::getRandomPose(const std::string&
   Eigen::Isometry3d pose;
   pose.setIdentity();
   if (eef.empty())
-    ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
+    ROS_ERROR_NAMED(LOGNAME, "No end-effector specified");
   else
   {
     moveit::core::RobotStatePtr current_state;
@@ -2044,7 +2048,7 @@ geometry_msgs::PoseStamped MoveGroupInterface::getCurrentPose(const std::string&
   Eigen::Isometry3d pose;
   pose.setIdentity();
   if (eef.empty())
-    ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
+    ROS_ERROR_NAMED(LOGNAME, "No end-effector specified");
   else
   {
     moveit::core::RobotStatePtr current_state;
@@ -2067,7 +2071,7 @@ std::vector<double> MoveGroupInterface::getCurrentRPY(const std::string& end_eff
   std::vector<double> result;
   const std::string& eef = end_effector_link.empty() ? getEndEffectorLink() : end_effector_link;
   if (eef.empty())
-    ROS_ERROR_NAMED("move_group_interface", "No end-effector specified");
+    ROS_ERROR_NAMED(LOGNAME, "No end-effector specified");
   else
   {
     moveit::core::RobotStatePtr current_state;

From 3d6274ba3060e0808eaf95d9d0a9594cb13ab609 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Mon, 11 May 2020 09:59:37 +0200
Subject: [PATCH 282/612] add aux check for shared-ptr

Unify the checks, they exist for all other actions.
---
 .../move_group_interface/src/move_group_interface.cpp       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 9774b58c5a..8c73d4c5fc 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -831,8 +831,14 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
   MoveItErrorCode execute(const moveit_msgs::RobotTrajectory& trajectory, bool wait)
   {
+    if (!execute_action_client_)
+    {
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "execute action client not found");
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+    }
     if (!execute_action_client_->isServerConnected())
     {
+      ROS_WARN_STREAM_NAMED(LOGNAME, "execute action server not connected");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
     }
 

From 2b38e26f737d79459e75edec9c7d3b28770765c0 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Mon, 11 May 2020 10:02:02 +0200
Subject: [PATCH 283/612] MGI: use new COMMUNICATION_FAILURE error code

---
 .../src/move_group_interface.cpp                     | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 8c73d4c5fc..55a1a47bf5 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -643,7 +643,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!place_action_client_->isServerConnected())
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "place action server not connected");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     place_action_client_->sendGoal(goal);
@@ -674,7 +674,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!pick_action_client_->isServerConnected())
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "pick action server not connected");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     pick_action_client_->sendGoal(goal);
@@ -722,7 +722,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
                                           << GRASP_PLANNING_SERVICE_NAME
                                           << "' is not available."
                                              " This has to be implemented and started separately.");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     moveit_msgs::GraspPlanning::Request request;
@@ -753,7 +753,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!move_action_client_->isServerConnected())
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "move action server not connected");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     moveit_msgs::MoveGroupGoal goal;
@@ -794,7 +794,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!move_action_client_->isServerConnected())
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "move action server not connected");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     moveit_msgs::MoveGroupGoal goal;
@@ -839,7 +839,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!execute_action_client_->isServerConnected())
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "execute action server not connected");
-      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::FAILURE);
+      return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::COMMUNICATION_FAILURE);
     }
 
     moveit_msgs::ExecuteTrajectoryGoal goal;

From 8a61ed688983f5c1dfa321b322b85255a5d8fc4a Mon Sep 17 00:00:00 2001
From: TrippleBender <bennide03@gmx.de>
Date: Mon, 11 May 2020 10:44:26 +0200
Subject: [PATCH 284/612] Added support for PS4 joystick (#2060)

---
 .../moveitjoy_module.py                       | 161 ++++++++++++++++++
 1 file changed, 161 insertions(+)

diff --git a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
index 5bf253c3ab..1b2408fb34 100644
--- a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
+++ b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
@@ -322,6 +322,163 @@ def __init__(self, msg):
         self.right_analog_y = msg.axes[3]
         self.orig_msg = msg
 
+class PS4Status(JoyStatus):
+    def __init__(self, msg):
+        JoyStatus.__init__(self)
+        #creating from sensor_msg/Joy
+        if msg.buttons[12] == 1:
+            self.center = True
+        else:
+            self.center = False
+        if msg.buttons[8] == 1:
+            self.select = True
+        else:
+            self.select = False
+        if msg.buttons[9] == 1:
+            self.start = True
+        else:
+            self.start = False
+        if msg.buttons[10] == 1:
+            self.L3 = True
+        else:
+            self.L3 = False
+        if msg.buttons[11] == 1:
+            self.R3 = True
+        else:
+            self.R3 = False
+        if msg.buttons[0] == 1:
+            self.square = True
+        else:
+            self.square = False
+        if msg.axes[10] < 0:
+            self.up = True
+        else:
+            self.up = False
+        if msg.axes[10] > 0:
+            self.down = True
+        else:
+            self.down = False
+        if msg.axes[9] < 0:
+            self.left = True
+        else:
+            self.left = False
+        if msg.axes[9] > 0:
+            self.right = True
+        else:
+            self.right = False
+        if msg.buttons[3] == 1:
+            self.triangle = True
+        else:
+            self.triangle = False
+        if msg.buttons[1] == 1:
+            self.cross = True
+        else:
+            self.cross = False
+        if msg.buttons[2] == 1:
+            self.circle = True
+        else:
+            self.circle = False
+        if msg.buttons[4] == 1:
+            self.L1 = True
+        else:
+            self.L1 = False
+        if msg.buttons[5] == 1:
+            self.R1 = True
+        else:
+            self.R1 = False
+        if msg.buttons[6] == 1:
+            self.L2 = True
+        else:
+            self.L2 = False
+        if msg.buttons[7] == 1:
+            self.R2 = True
+        else:
+            self.R2 = False
+        self.left_analog_x = msg.axes[0]
+        self.left_analog_y = msg.axes[1]
+        self.right_analog_x = msg.axes[5]
+        self.right_analog_y = msg.axes[2]
+        self.orig_msg = msg
+
+class PS4WiredStatus(JoyStatus):
+    def __init__(self, msg):
+        JoyStatus.__init__(self)
+        #creating from sensor_msg/Joy
+        if msg.buttons[10] == 1:
+            self.center = True
+        else:
+            self.center = False
+        if msg.buttons[8] == 1:
+            self.select = True
+        else:
+            self.select = False
+        if msg.buttons[9] == 1:
+            self.start = True
+        else:
+            self.start = False
+        if msg.buttons[11] == 1:
+            self.L3 = True
+        else:
+            self.L3 = False
+        if msg.buttons[12] == 1:
+            self.R3 = True
+        else:
+            self.R3 = False
+        if msg.buttons[3] == 1:
+            self.square = True
+        else:
+            self.square = False
+        if msg.axes[7] < 0:
+            self.up = True
+        else:
+            self.up = False
+        if msg.axes[7] > 0:
+            self.down = True
+        else:
+            self.down = False
+        if msg.axes[6] < 0:
+            self.left = True
+        else:
+            self.left = False
+        if msg.axes[6] > 0:
+            self.right = True
+        else:
+            self.right = False
+        if msg.buttons[2] == 1:
+            self.triangle = True
+        else:
+            self.triangle = False
+        if msg.buttons[0] == 1:
+            self.cross = True
+        else:
+            self.cross = False
+        if msg.buttons[1] == 1:
+            self.circle = True
+        else:
+            self.circle = False
+        if msg.buttons[4] == 1:
+            self.L1 = True
+        else:
+            self.L1 = False
+        if msg.buttons[5] == 1:
+            self.R1 = True
+        else:
+            self.R1 = False
+        if msg.buttons[6] == 1:
+            self.L2 = True
+        else:
+            self.L2 = False
+        if msg.buttons[7] == 1:
+            self.R2 = True
+        else:
+            self.R2 = False
+        self.left_analog_x = msg.axes[0]
+        self.left_analog_y = msg.axes[1]
+        self.right_analog_x = msg.axes[3]
+        self.right_analog_y = msg.axes[4]
+        self.orig_msg = msg
+
+
 class StatusHistory():
   def __init__(self, max_length=10):
     self.max_length = max_length
@@ -471,6 +628,10 @@ def joyCB(self, msg):
             status = XBoxStatus(msg)
         elif len(msg.axes) == 20 and len(msg.buttons) == 17:
             status = PS3Status(msg)
+        elif len(msg.axes) == 14 and len(msg.buttons) == 14:
+            status = PS4Status(msg)
+        elif len(msg.axes) == 8 and len(msg.buttons) == 13:
+            status = PS4WiredStatus(msg)
         else:
             raise Exception("Unknown joystick")
         self.run(status)

From 50e3c21081c03a106ac1157d8a8687710bcc0398 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 12 May 2020 15:51:28 +0200
Subject: [PATCH 285/612] fix signal for planning_attempts (#2082)

fixup for dfb00da5917f357f56b54db5b0e3038a3180e10a
---
 .../motion_planning_rviz_plugin/src/motion_planning_frame.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 0857a85bf1..3993bfd75f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -156,7 +156,7 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   connect(ui_->goal_tolerance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
   connect(ui_->planning_time, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
-  connect(ui_->planning_attempts, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->planning_attempts, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
   connect(ui_->velocity_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
   connect(ui_->acceleration_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 

From 442c0fe6ebfef6a9701e05def44de53feb7ea216 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Fri, 15 May 2020 00:40:35 +0900
Subject: [PATCH 286/612] Check for empty quaternion message (#2089)

---
 moveit_core/planning_scene/src/planning_scene.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 28f70f32b4..81d2846a47 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1687,7 +1687,15 @@ void PlanningScene::poseMsgToEigen(const geometry_msgs::Pose& msg, Eigen::Isomet
 {
   Eigen::Translation3d translation(msg.position.x, msg.position.y, msg.position.z);
   Eigen::Quaterniond quaternion(msg.orientation.w, msg.orientation.x, msg.orientation.y, msg.orientation.z);
-  quaternion.normalize();
+  if ((quaternion.x() == 0) && (quaternion.y() == 0) && (quaternion.z() == 0) && (quaternion.w() == 0))
+  {
+    ROS_WARN_NAMED(LOGNAME, "Empty quaternion found in pose message. Setting to neutral orientation.");
+    quaternion.setIdentity();
+  }
+  else
+  {
+    quaternion.normalize();
+  }
   out = translation * quaternion;
 }
 

From 96e2e798d5d6de3770c002262cb9d0391ab967a1 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Tue, 19 May 2020 04:41:02 +0900
Subject: [PATCH 287/612] Display subframes in Rviz plugin (#2024)

Display subframes in Rviz plugin
---
 .../src/motion_planning_frame_objects.cpp     | 26 +++++++-
 .../ui/motion_planning_rviz_plugin_frame.ui   | 64 ++++++++++---------
 2 files changed, 60 insertions(+), 30 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index e22be44612..ffdab45b7c 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -56,6 +56,21 @@
 
 #include "ui_motion_planning_rviz_plugin_frame.h"
 
+namespace
+{
+QString subframe_poses_to_qstring(const moveit::core::FixedTransformsMap& subframes)
+{
+  QString status_text = "\nIt has the subframes '";
+  for (auto subframe : subframes)
+  {
+    status_text += QString::fromStdString(subframe.first) + "', '";
+  }
+  status_text.chop(3);
+  status_text += ".";
+  return status_text;
+}
+}  // namespace
+
 namespace moveit_rviz_plugin
 {
 void MotionPlanningFrame::importFileButtonClicked()
@@ -175,6 +190,11 @@ static QString decideStatusText(const collision_detection::CollisionEnv::ObjectC
       for (const QString& shape_name : shape_names)
         status_text += " " + shape_name;
     }
+    status_text += ".";
+  }
+  if (!obj->subframe_poses_.empty())
+  {
+    status_text += subframe_poses_to_qstring(obj->subframe_poses_);
   }
   return status_text;
 }
@@ -182,7 +202,11 @@ static QString decideStatusText(const collision_detection::CollisionEnv::ObjectC
 static QString decideStatusText(const moveit::core::AttachedBody* attached_body)
 {
   QString status_text = "'" + QString::fromStdString(attached_body->getName()) + "' is attached to '" +
-                        QString::fromStdString(attached_body->getAttachedLinkName()) + "'";
+                        QString::fromStdString(attached_body->getAttachedLinkName()) + "'.";
+  if (!attached_body->getSubframeTransforms().empty())
+  {
+    status_text += subframe_poses_to_qstring(attached_body->getSubframeTransforms());
+  }
   return status_text;
 }
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 2d644bcb72..363fe0f478 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -938,37 +938,9 @@
       </attribute>
       <layout class="QGridLayout" name="gridLayout_4">
        <item row="0" column="1">
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="title">
-          <string>Object Status</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_12">
-          <item>
-           <widget class="QLabel" name="object_status">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="frameShape">
-             <enum>QFrame::StyledPanel</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
-            <property name="text">
-             <string>Status</string>
-            </property>
-            <property name="textFormat">
-             <enum>Qt::AutoText</enum>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="1" column="1">
         <widget class="QGroupBox" name="pose_scale_group_box">
          <property name="title">
-          <string>Manage Pose and Scale</string>
+          <string>Change Object Pose and Scale</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_6">
           <item>
@@ -1130,6 +1102,40 @@
          </layout>
         </widget>
        </item>
+       <item row="1" column="1">
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>Object Status</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_12">
+          <item>
+           <widget class="QLabel" name="object_status">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+            <property name="text">
+             <string>Status</string>
+            </property>
+            <property name="textFormat">
+             <enum>Qt::AutoText</enum>
+            </property>
+            <property name="WordWrap">
+             <bool>true</bool>
+            </property>
+            <property name="TextInteractionFlags">
+             <enum>Qt::TextBrowserInteraction</enum>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
        <item row="2" column="1">
         <widget class="QGroupBox" name="groupBox3">
          <property name="title">

From 091bdfb765e46ba399e6983f49a81c502b0bcb65 Mon Sep 17 00:00:00 2001
From: Jesse Li <jesse.li2002@gmail.com>
Date: Mon, 18 May 2020 12:48:05 -0700
Subject: [PATCH 288/612] Minor logic cleanup (#2091)

Due to the check priority > 0, there is no time when best == state_space_factories_.end()
while priority <= prev_priority, so best == state_space_factories_.end() is unnecessary.

Then if you change the starting value of prev_priority then you don't need to separately check if priority > 0.
---
 .../src/planning_context_manager.cpp              | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 6e868a5b5e..8fb562fabf 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -220,7 +220,7 @@ MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMst
 {
   return new og::LazyPRMstar(data);
 };
-}
+}  // namespace ompl_interface
 #endif
 
 ompl_interface::PlanningContextManager::PlanningContextManager(moveit::core::RobotModelConstPtr robot_model,
@@ -406,16 +406,15 @@ const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningCo
 {
   // find the problem representation to use
   auto best = state_space_factories_.end();
-  int prev_priority = -1;
+  int prev_priority = 0;
   for (auto it = state_space_factories_.begin(); it != state_space_factories_.end(); ++it)
   {
     int priority = it->second->canRepresentProblem(group, req, robot_model_);
-    if (priority > 0)
-      if (best == state_space_factories_.end() || priority > prev_priority)
-      {
-        best = it;
-        prev_priority = priority;
-      }
+    if (priority > prev_priority)
+    {
+      best = it;
+      prev_priority = priority;
+    }
   }
 
   if (best == state_space_factories_.end())

From 6427dfc1fbb8cdb71c477dff1f81936b7c72779f Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sun, 19 Apr 2020 01:06:21 -0600
Subject: [PATCH 289/612] move_group pick_place test

---
 .../planning_interface/test/CMakeLists.txt    |   3 +
 .../test/move_group_pick_place_test.cpp       | 290 ++++++++++++++++++
 .../test/move_group_pick_place_test.test      |  29 ++
 3 files changed, 322 insertions(+)
 create mode 100644 moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
 create mode 100644 moveit_ros/planning_interface/test/move_group_pick_place_test.test

diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 7eb6543b1a..8cb31d6004 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -9,6 +9,9 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest_gtest(move_group_interface_cpp_test move_group_interface_cpp_test.test move_group_interface_cpp_test.cpp)
   target_link_libraries(move_group_interface_cpp_test moveit_move_group_interface ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
 
+  add_rostest_gtest(move_group_pick_place_test move_group_pick_place_test.test move_group_pick_place_test.cpp)
+  target_link_libraries(move_group_pick_place_test moveit_move_group_interface ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
+
   add_rostest_gtest(moveit_cpp_test moveit_cpp_test.test moveit_cpp_test.cpp)
   target_link_libraries(moveit_cpp_test moveit_cpp ${catkin_LIBRARIES})
 
diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
new file mode 100644
index 0000000000..a7dbffd210
--- /dev/null
+++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
@@ -0,0 +1,290 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2020, Tyler Weaver
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of PickNik Robotics nor the
+*     names of its contributors may be used to endorse or promote
+*     products derived from this software without specific prior
+*     written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Tyler Weaver */
+
+/* These integration tests are based on the tutorials for using move_group to do a pick and place:
+ * https://ros-planning.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html
+ */
+
+// C++
+#include <vector>
+
+// ROS
+#include <ros/ros.h>
+
+// The Testing Framework and Utils
+#include <gtest/gtest.h>
+
+// MoveIt
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+
+// TF2
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+static const std::string PLANNING_GROUP = "panda_arm";
+constexpr double PLANNING_TIME_S = 45.0;
+constexpr double MAX_VELOCITY_SCALE = 1.0;
+constexpr double MAX_ACCELERATION_SCALE = 1.0;
+
+class PickPlaceTestFixture : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    nh_ = ros::NodeHandle("/move_group_pick_place_test");
+    move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(PLANNING_GROUP);
+
+    // set velocity and acceleration scaling factors (full speed)
+    move_group_->setMaxVelocityScalingFactor(MAX_VELOCITY_SCALE);
+    move_group_->setMaxAccelerationScalingFactor(MAX_ACCELERATION_SCALE);
+
+    // allow more time for planning
+    move_group_->setPlanningTime(PLANNING_TIME_S);
+  }
+
+protected:
+  ros::NodeHandle nh_;
+  moveit::planning_interface::MoveGroupInterfacePtr move_group_;
+  moveit::planning_interface::PlanningSceneInterface planning_scene_interface_;
+};
+
+TEST_F(PickPlaceTestFixture, PickPlaceTest)
+{
+  // Create vector to hold 3 collision objects.
+  std::vector<moveit_msgs::CollisionObject> collision_objects;
+  collision_objects.resize(3);
+
+  // Add the first table where the cube will originally be kept.
+  collision_objects[0].id = "table1";
+  collision_objects[0].header.frame_id = "panda_link0";
+
+  /* Create identity rotation quaternion */
+  tf2::Quaternion zero_orientation;
+  zero_orientation.setRPY(0, 0, 0);
+  geometry_msgs::Quaternion zero_orientation_msg = tf2::toMsg(zero_orientation);
+
+  /* Define the primitive and its dimensions. */
+  collision_objects[0].primitives.resize(1);
+  collision_objects[0].primitives[0].type = collision_objects[0].primitives[0].BOX;
+  collision_objects[0].primitives[0].dimensions.resize(3);
+  collision_objects[0].primitives[0].dimensions[0] = 0.2;
+  collision_objects[0].primitives[0].dimensions[1] = 0.4;
+  collision_objects[0].primitives[0].dimensions[2] = 0.4;
+
+  /* Define the pose of the table. */
+  collision_objects[0].primitive_poses.resize(1);
+  collision_objects[0].primitive_poses[0].position.x = 0.5;
+  collision_objects[0].primitive_poses[0].position.y = 0;
+  collision_objects[0].primitive_poses[0].position.z = 0.2;
+  collision_objects[0].primitive_poses[0].orientation = zero_orientation_msg;
+
+  collision_objects[0].operation = collision_objects[0].ADD;
+
+  // Add the second table where we will be placing the cube.
+  collision_objects[1].id = "table2";
+  collision_objects[1].header.frame_id = "panda_link0";
+
+  /* Define the primitive and its dimensions. */
+  collision_objects[1].primitives.resize(1);
+  collision_objects[1].primitives[0].type = collision_objects[1].primitives[0].BOX;
+  collision_objects[1].primitives[0].dimensions.resize(3);
+  collision_objects[1].primitives[0].dimensions[0] = 0.4;
+  collision_objects[1].primitives[0].dimensions[1] = 0.2;
+  collision_objects[1].primitives[0].dimensions[2] = 0.4;
+
+  /* Define the pose of the table. */
+  collision_objects[1].primitive_poses.resize(1);
+  collision_objects[1].primitive_poses[0].position.x = 0;
+  collision_objects[1].primitive_poses[0].position.y = 0.5;
+  collision_objects[1].primitive_poses[0].position.z = 0.2;
+  collision_objects[1].primitive_poses[0].orientation = zero_orientation_msg;
+
+  collision_objects[1].operation = collision_objects[1].ADD;
+
+  // Define the object that we will be manipulating
+  collision_objects[2].header.frame_id = "panda_link0";
+  collision_objects[2].id = "object";
+
+  /* Define the primitive and its dimensions. */
+  collision_objects[2].primitives.resize(1);
+  collision_objects[2].primitives[0].type = collision_objects[1].primitives[0].BOX;
+  collision_objects[2].primitives[0].dimensions.resize(3);
+  collision_objects[2].primitives[0].dimensions[0] = 0.02;
+  collision_objects[2].primitives[0].dimensions[1] = 0.02;
+  collision_objects[2].primitives[0].dimensions[2] = 0.2;
+
+  /* Define the pose of the object. */
+  collision_objects[2].primitive_poses.resize(1);
+  collision_objects[2].primitive_poses[0].position.x = 0.5;
+  collision_objects[2].primitive_poses[0].position.y = 0;
+  collision_objects[2].primitive_poses[0].position.z = 0.5;
+  collision_objects[2].primitive_poses[0].orientation = zero_orientation_msg;
+
+  collision_objects[2].operation = collision_objects[2].ADD;
+
+  planning_scene_interface_.applyCollisionObjects(collision_objects);
+
+  // Create a vector of grasps to be attempted, currently only creating single grasp.
+  // This is essentially useful when using a grasp generator to generate and test multiple grasps.
+  std::vector<moveit_msgs::Grasp> grasps;
+  grasps.resize(1);
+
+  // Setting grasp pose
+  // ++++++++++++++++++++++
+  // This is the pose of panda_link8. |br|
+  // Make sure that when you set the grasp_pose, you are setting it to be the pose of the last link in
+  // your manipulator which in this case would be `"panda_link8"` You will have to compensate for the
+  // transform from `"panda_link8"` to the palm of the end effector.
+  grasps[0].grasp_pose.header.frame_id = "panda_link0";
+  tf2::Quaternion grasp_orientation;
+  grasp_orientation.setRPY(-M_PI / 2, -M_PI / 4, -M_PI / 2);
+  grasps[0].grasp_pose.pose.orientation = tf2::toMsg(grasp_orientation);
+  grasps[0].grasp_pose.pose.position.x = 0.415;
+  grasps[0].grasp_pose.pose.position.y = 0;
+  grasps[0].grasp_pose.pose.position.z = 0.5;
+
+  // Setting pre-grasp approach
+  // ++++++++++++++++++++++++++
+  /* Defined with respect to frame_id */
+  grasps[0].pre_grasp_approach.direction.header.frame_id = "panda_link0";
+  /* Direction is set as positive x axis */
+  grasps[0].pre_grasp_approach.direction.vector.x = 1.0;
+  grasps[0].pre_grasp_approach.min_distance = 0.095;
+  grasps[0].pre_grasp_approach.desired_distance = 0.115;
+
+  // Setting post-grasp retreat
+  // ++++++++++++++++++++++++++
+  /* Defined with respect to frame_id */
+  grasps[0].post_grasp_retreat.direction.header.frame_id = "panda_link0";
+  /* Direction is set as positive z axis */
+  grasps[0].post_grasp_retreat.direction.vector.z = 1.0;
+  grasps[0].post_grasp_retreat.min_distance = 0.1;
+  grasps[0].post_grasp_retreat.desired_distance = 0.25;
+
+  // Setting posture of eef before grasp
+  // +++++++++++++++++++++++++++++++++++
+  /* Add both finger joints of panda robot. */
+  grasps[0].pre_grasp_posture.joint_names.resize(2);
+  grasps[0].pre_grasp_posture.joint_names[0] = "panda_finger_joint1";
+  grasps[0].pre_grasp_posture.joint_names[1] = "panda_finger_joint2";
+
+  /* Set them as open, wide enough for the object to fit. */
+  grasps[0].pre_grasp_posture.points.resize(1);
+  grasps[0].pre_grasp_posture.points[0].positions.resize(2);
+  grasps[0].pre_grasp_posture.points[0].positions[0] = 0.04;
+  grasps[0].pre_grasp_posture.points[0].positions[1] = 0.04;
+  grasps[0].pre_grasp_posture.points[0].time_from_start = ros::Duration(0.5);
+
+  // Setting posture of eef during grasp
+  // +++++++++++++++++++++++++++++++++++
+  /* Add both finger joints of panda robot and set them as closed. */
+  grasps[0].grasp_posture = grasps[0].pre_grasp_posture;
+  grasps[0].grasp_posture.points[0].positions[0] = 0.00;
+  grasps[0].grasp_posture.points[0].positions[1] = 0.00;
+
+  // Set support surface as table1.
+  move_group_->setSupportSurfaceName("table1");
+  // Call pick to pick up the object using the grasps given
+  ASSERT_EQ(move_group_->pick("object", grasps), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+
+  // Ideally, you would create a vector of place locations to be attempted although in this example, we only create
+  // a single place location.
+  std::vector<moveit_msgs::PlaceLocation> place_location;
+  place_location.resize(1);
+
+  // Setting place location pose
+  // +++++++++++++++++++++++++++
+  place_location[0].place_pose.header.frame_id = "panda_link0";
+  tf2::Quaternion place_orientation;
+  place_orientation.setRPY(0, 0, M_PI / 2);
+  place_location[0].place_pose.pose.orientation = tf2::toMsg(place_orientation);
+
+  /* For place location, we set the value to the exact location of the center of the object. */
+  place_location[0].place_pose.pose.position.x = 0;
+  place_location[0].place_pose.pose.position.y = 0.5;
+  place_location[0].place_pose.pose.position.z = 0.5;
+
+  // Setting pre-place approach
+  // ++++++++++++++++++++++++++
+  /* Defined with respect to frame_id */
+  place_location[0].pre_place_approach.direction.header.frame_id = "panda_link0";
+  /* Direction is set as negative z axis */
+  place_location[0].pre_place_approach.direction.vector.z = -1.0;
+  place_location[0].pre_place_approach.min_distance = 0.095;
+  place_location[0].pre_place_approach.desired_distance = 0.115;
+
+  // Setting post-grasp retreat
+  // ++++++++++++++++++++++++++
+  /* Defined with respect to frame_id */
+  place_location[0].post_place_retreat.direction.header.frame_id = "panda_link0";
+  /* Direction is set as negative y axis */
+  place_location[0].post_place_retreat.direction.vector.y = -1.0;
+  place_location[0].post_place_retreat.min_distance = 0.1;
+  place_location[0].post_place_retreat.desired_distance = 0.25;
+
+  // Setting posture of eef after placing object
+  // +++++++++++++++++++++++++++++++++++++++++++
+  /* Similar to the pick case */
+  /* Add both finger joints of panda robot. */
+  place_location[0].post_place_posture.joint_names.resize(2);
+  place_location[0].post_place_posture.joint_names[0] = "panda_finger_joint1";
+  place_location[0].post_place_posture.joint_names[1] = "panda_finger_joint2";
+
+  /* Set them as open, wide enough for the object to fit. */
+  place_location[0].post_place_posture.points.resize(1);
+  place_location[0].post_place_posture.points[0].positions.resize(2);
+  place_location[0].post_place_posture.points[0].positions[0] = 0.04;
+  place_location[0].post_place_posture.points[0].positions[1] = 0.04;
+  place_location[0].post_place_posture.points[0].time_from_start = ros::Duration(0.5);
+
+  // Set support surface as table2.
+  move_group_->setSupportSurfaceName("table2");
+  // Call place to place the object using the place locations given.
+  ASSERT_EQ(move_group_->place("object", place_location), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "move_group_pick_place_test");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  return result;
+}
diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.test b/moveit_ros/planning_interface/test/move_group_pick_place_test.test
new file mode 100644
index 0000000000..17dd3c179b
--- /dev/null
+++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.test
@@ -0,0 +1,29 @@
+<launch>
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Run the main MoveIt executable with fake trajectory execution -->
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+  </include>
+
+  <!-- test -->
+  <test pkg="moveit_ros_planning_interface" type="move_group_pick_place_test" test-name="move_group_pick_place_test"
+        time-limit="60" args=""/>
+</launch>

From d3bd523ee0ec296656cf964c1b7af190e3bfe9f9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 6 May 2020 03:53:27 -0600
Subject: [PATCH 290/612] change FloatingJointModel::getStateSpaceDimension
 return value to 7

---
 moveit_core/robot_model/src/floating_joint_model.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
index 47ed6a87d2..bb0bb1b273 100644
--- a/moveit_core/robot_model/src/floating_joint_model.cpp
+++ b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -45,6 +45,12 @@ namespace moveit
 {
 namespace core
 {
+namespace
+{
+constexpr size_t STATE_SPACE_DIMENSION = 7;
+
+}  // namespace
+
 FloatingJointModel::FloatingJointModel(const std::string& name) : JointModel(name), angular_distance_weight_(1.0)
 {
   type_ = FLOATING;
@@ -55,7 +61,7 @@ FloatingJointModel::FloatingJointModel(const std::string& name) : JointModel(nam
   local_variable_names_.push_back("rot_y");
   local_variable_names_.push_back("rot_z");
   local_variable_names_.push_back("rot_w");
-  for (int i = 0; i < 7; ++i)
+  for (size_t i = 0; i < STATE_SPACE_DIMENSION; ++i)
   {
     variable_names_.push_back(name_ + "/" + local_variable_names_[i]);
     variable_index_map_[variable_names_.back()] = i;
@@ -192,7 +198,7 @@ bool FloatingJointModel::normalizeRotation(double* values) const
 
 unsigned int FloatingJointModel::getStateSpaceDimension() const
 {
-  return 6;
+  return STATE_SPACE_DIMENSION;
 }
 
 bool FloatingJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const

From 11cbc826d5ae001b0403193320923b1f7a3c3650 Mon Sep 17 00:00:00 2001
From: rfeistenauer <45563842+rfeistenauer@users.noreply.github.com>
Date: Wed, 20 May 2020 16:07:01 +0200
Subject: [PATCH 291/612] [jog_arm] Fix crash on empty jog msgs (#2094)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* adds empty point msg to prevent invalid indexing

* do not add effort

it's not used internally and should be consistent.

Co-authored-by: Michael Görner <me@v4hn.de>
---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index bedaa6a1b8..f08a9473bb 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -78,7 +78,6 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   num_joints_ = internal_joint_state_.name.size();
   internal_joint_state_.position.resize(num_joints_);
   internal_joint_state_.velocity.resize(num_joints_);
-  internal_joint_state_.effort.resize(num_joints_);
   // A map for the indices of incoming joint commands
   for (std::size_t i = 0; i < internal_joint_state_.name.size(); ++i)
   {
@@ -694,6 +693,13 @@ void JogCalcs::suddenHalt(Eigen::ArrayXd& delta_theta)
 // Is handled differently for position vs. velocity control.
 void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 {
+  if (joint_traj.points.empty())
+  {
+    joint_traj.points.push_back(trajectory_msgs::JointTrajectoryPoint());
+    joint_traj.points[0].positions.resize(num_joints_);
+    joint_traj.points[0].velocities.resize(num_joints_);
+  }
+
   for (std::size_t i = 0; i < num_joints_; ++i)
   {
     // For position-controlled robots, can reset the joints to a known, good state

From 26ec92850d4bae71bab1daf193981f66b0ad8beb Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 16:30:17 +0200
Subject: [PATCH 292/612] robot_state is diff if only position changed

---
 .../planning_scene_monitor/src/planning_scene_monitor.cpp    | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index cc0ebeb38f..f839528dc1 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -370,6 +370,11 @@ void PlanningSceneMonitor::scenePublishingThread()
             if (octomap_monitor_)
               lock = octomap_monitor_->getOcTreePtr()->reading();
             scene_->getPlanningSceneDiffMsg(msg);
+            if (new_scene_update_ == UPDATE_STATE)
+            {
+              msg.robot_state.attached_collision_objects.clear();
+              msg.robot_state.is_diff = true;
+            }
           }
           boost::recursive_mutex::scoped_lock prevent_shape_cache_updates(shape_handles_lock_);  // we don't want the
                                                                                                  // transform cache to

From f43a3af5291a5f3d4f96d9233f8a0c354f23872d Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 16:37:17 +0200
Subject: [PATCH 293/612] attach objects to the corresponding link

instead of the robots root node, this will move them automatically
---
 .../src/robot_state_visualization.cpp              | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index 99528fb88b..7775e5bc6f 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -100,7 +100,7 @@ void RobotStateVisualization::update(const moveit::core::RobotStateConstPtr& kin
                                      const std_msgs::ColorRGBA& default_attached_object_color,
                                      const std::map<std::string, std_msgs::ColorRGBA>& color_map)
 {
-  updateHelper(kinematic_state, default_attached_object_color, &color_map);
+    updateHelper(kinematic_state, default_attached_object_color, &color_map);
 }
 
 void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPtr& kinematic_state,
@@ -127,14 +127,20 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
         alpha = color.a = it->second.a;
       }
     }
+    rviz::RobotLink* link = robot_.getLink(attached_body->getAttachedLinkName());
+    if (!link)
+    {
+        ROS_ERROR_STREAM("Link " << attached_body->getAttachedLinkName() << " not found in rviz::Robot");
+        continue;
+    }
     rviz::Color rcolor(color.r, color.g, color.b);
-    const EigenSTL::vector_Isometry3d& ab_t = attached_body->getGlobalCollisionBodyTransforms();
+    const EigenSTL::vector_Isometry3d& ab_t = attached_body->getFixedTransforms();
     const std::vector<shapes::ShapeConstPtr>& ab_shapes = attached_body->getShapes();
     for (std::size_t j = 0; j < ab_shapes.size(); ++j)
     {
-      render_shapes_->renderShape(robot_.getVisualNode(), ab_shapes[j].get(), ab_t[j], octree_voxel_render_mode_,
+      render_shapes_->renderShape(link->getVisualNode(), ab_shapes[j].get(), ab_t[j], octree_voxel_render_mode_,
                                   octree_voxel_color_mode_, rcolor, alpha);
-      render_shapes_->renderShape(robot_.getCollisionNode(), ab_shapes[j].get(), ab_t[j], octree_voxel_render_mode_,
+      render_shapes_->renderShape(link->getCollisionNode(), ab_shapes[j].get(), ab_t[j], octree_voxel_render_mode_,
                                   octree_voxel_color_mode_, rcolor, alpha);
     }
   }

From cf9d0659b9e636d8e4743e98e0ebe0f01aed20dd Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 16:45:24 +0200
Subject: [PATCH 294/612] Don't rebuild the ogre scene if only the robot state
 changed

---
 .../planning_scene_display.h                  |  3 +++
 .../src/planning_scene_display.cpp            | 19 ++++++++++++++-----
 .../planning_scene_render.h                   |  2 ++
 .../robot_state_visualization.h               |  1 +
 .../src/planning_scene_render.cpp             | 10 ++++++++++
 .../src/robot_state_visualization.cpp         | 12 +++++++++---
 6 files changed, 39 insertions(+), 8 deletions(-)

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 7b917fe33d..99f9ab8634 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -191,7 +191,10 @@ protected Q_SLOTS:
   RobotStateVisualizationPtr planning_scene_robot_;
   PlanningSceneRenderPtr planning_scene_render_;
 
+  // full update required
   bool planning_scene_needs_render_;
+  // or only the robot position (excluding attached object changes)
+  bool robot_state_needs_render_;
   float current_scene_time_;
 
   rviz::Property* scene_category_;
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 7701558a58..874940d83a 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -336,10 +336,17 @@ void PlanningSceneDisplay::renderPlanningScene()
   try
   {
     const planning_scene_monitor::LockedPlanningSceneRO& ps = getPlanningSceneRO();
-    planning_scene_render_->renderPlanningScene(
-        ps, env_color, attached_color, static_cast<OctreeVoxelRenderMode>(octree_render_property_->getOptionInt()),
-        static_cast<OctreeVoxelColorMode>(octree_coloring_property_->getOptionInt()),
-        scene_alpha_property_->getFloat());
+    if (planning_scene_needs_render_)
+    {
+      planning_scene_render_->renderPlanningScene(
+          ps, env_color, attached_color, static_cast<OctreeVoxelRenderMode>(octree_render_property_->getOptionInt()),
+          static_cast<OctreeVoxelColorMode>(octree_coloring_property_->getOptionInt()),
+          scene_alpha_property_->getFloat());
+    }
+    else
+    {
+      planning_scene_render_->updateRobotPosition(ps);
+    }
   }
   catch (std::exception& ex)
   {
@@ -633,12 +640,14 @@ void PlanningSceneDisplay::update(float wall_dt, float ros_dt)
 void PlanningSceneDisplay::updateInternal(float wall_dt, float /*ros_dt*/)
 {
   current_scene_time_ += wall_dt;
-  if (current_scene_time_ > scene_display_time_property_->getFloat() && planning_scene_render_ &&
+  if ((current_scene_time_ > scene_display_time_property_->getFloat() && planning_scene_render_ &&
+       robot_state_needs_render_) ||
       planning_scene_needs_render_)
   {
     renderPlanningScene();
     calculateOffsetPosition();
     current_scene_time_ = 0.0f;
+    robot_state_needs_render_ = false;
     planning_scene_needs_render_ = false;
   }
 }
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
index eb61b70521..ba49862429 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -75,6 +75,8 @@ class PlanningSceneRender
     return scene_robot_;
   }
 
+  void updateRobotPosition(const planning_scene::PlanningSceneConstPtr& scene);
+
   void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene, const rviz::Color& default_scene_color,
                            const rviz::Color& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
                            OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 754ff06a01..0c04ade4e5 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -71,6 +71,7 @@ class RobotStateVisualization
   void update(const moveit::core::RobotStateConstPtr& kinematic_state,
               const std_msgs::ColorRGBA& default_attached_object_color,
               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
+  void updateKinematicState(const robot_state::RobotStateConstPtr& kinematic_state);
   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
   /// update color of all attached object shapes
   void updateAttachedObjectColors(const std_msgs::ColorRGBA& attached_object_color);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index 05210fe078..5537e0a340 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -56,6 +56,16 @@ PlanningSceneRender::~PlanningSceneRender()
   context_->getSceneManager()->destroySceneNode(planning_scene_geometry_node_);
 }
 
+void PlanningSceneRender::updateRobotPosition(const planning_scene::PlanningSceneConstPtr& scene)
+{
+  if (scene_robot_)
+  {
+    robot_state::RobotStatePtr rs = std::make_shared<robot_state::RobotState>(scene->getCurrentState());
+    rs->update();
+    scene_robot_->updateKinematicState(rs);
+  }
+}
+
 void PlanningSceneRender::clear()
 {
   render_shapes_->clear();
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index 7775e5bc6f..2f4183daa2 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -37,6 +37,7 @@
 #include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
 #include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
 #include <moveit/rviz_plugin_render_tools/render_shapes.h>
+#include <rviz/robot/robot_link.h>
 #include <QApplication>
 
 namespace moveit_rviz_plugin
@@ -100,7 +101,7 @@ void RobotStateVisualization::update(const moveit::core::RobotStateConstPtr& kin
                                      const std_msgs::ColorRGBA& default_attached_object_color,
                                      const std::map<std::string, std_msgs::ColorRGBA>& color_map)
 {
-    updateHelper(kinematic_state, default_attached_object_color, &color_map);
+  updateHelper(kinematic_state, default_attached_object_color, &color_map);
 }
 
 void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPtr& kinematic_state,
@@ -130,8 +131,8 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
     rviz::RobotLink* link = robot_.getLink(attached_body->getAttachedLinkName());
     if (!link)
     {
-        ROS_ERROR_STREAM("Link " << attached_body->getAttachedLinkName() << " not found in rviz::Robot");
-        continue;
+      ROS_ERROR_STREAM("Link " << attached_body->getAttachedLinkName() << " not found in rviz::Robot");
+      continue;
     }
     rviz::Color rcolor(color.r, color.g, color.b);
     const EigenSTL::vector_Isometry3d& ab_t = attached_body->getFixedTransforms();
@@ -149,6 +150,11 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
   robot_.setVisible(visible_);
 }
 
+void RobotStateVisualization::updateKinematicState(const moveit::core::RobotStateConstPtr& kinematic_state)
+{
+  robot_.update(PlanningLinkUpdater(kinematic_state));
+}
+
 void RobotStateVisualization::setVisible(bool visible)
 {
   visible_ = visible;

From 1df820bff0ccee71c4904f4b532bc05284335702 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 16:48:21 +0200
Subject: [PATCH 295/612] accept joint state updates at ca 30hz

---
 .../planning_scene_monitor/src/planning_scene_monitor.cpp       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index f839528dc1..d24e51bd72 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -240,7 +240,7 @@ void PlanningSceneMonitor::initialize(const planning_scene::PlanningScenePtr& sc
 
   last_update_time_ = last_robot_motion_time_ = ros::Time::now();
   last_robot_state_update_wall_time_ = ros::WallTime::now();
-  dt_state_update_ = ros::WallDuration(0.1);
+  dt_state_update_ = ros::WallDuration(0.03);
 
   double temp_wait_time = 0.05;
 

From 9554440f202cdead3ace84f0d019a40276e94575 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 16:50:59 +0200
Subject: [PATCH 296/612] try publishing with a fixed rate

---
 .../planning_scene_monitor/src/planning_scene_monitor.cpp        | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index d24e51bd72..e2d67803bc 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -410,7 +410,6 @@ void PlanningSceneMonitor::scenePublishingThread()
     }
     if (publish_msg)
     {
-      rate.reset();
       planning_scene_publisher_.publish(msg);
       if (is_full)
         ROS_DEBUG_NAMED(LOGNAME, "Published full planning scene: '%s'", msg.name.c_str());

From 2fc28767be58920fc74bdf57282b92424249a6b0 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Mon, 4 May 2020 17:08:47 +0200
Subject: [PATCH 297/612] don't limit subscription of display

---
 .../planning_scene_rviz_plugin/src/planning_scene_display.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 874940d83a..5be08a27d2 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -115,8 +115,8 @@ PlanningSceneDisplay::PlanningSceneDisplay(bool listen_to_planning_scene, bool s
   octree_coloring_property_->addOption("Cell Probability", OCTOMAP_PROBABLILTY_COLOR);
 
   scene_display_time_property_ =
-      new rviz::FloatProperty("Scene Display Time", 0.2f, "The amount of wall-time to wait in between rendering "
-                                                          "updates to the planning scene (if any)",
+      new rviz::FloatProperty("Scene Display Time", 0.01f, "The amount of wall-time to wait in between rendering "
+                                                           "updates to the planning scene (if any)",
                               scene_category_, SLOT(changedSceneDisplayTime()), this);
   scene_display_time_property_->setMin(0.0001);
 

From ea42a6814faa8ce70a80db3e6554766792d399ba Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Fri, 22 May 2020 09:32:20 +0200
Subject: [PATCH 298/612] Utilize new geometric_shapes functions to improve
 performance (#2038)

Utilize createEmptyBodyFromShapeType(), setScaleDirty() and setPaddingDirty()
---
 .../distance_field/src/distance_field.cpp     | 18 ++++++++-----
 .../src/kinematic_constraint.cpp              | 27 +++++++++----------
 .../src/shape_mask.cpp                        |  8 +++---
 3 files changed, 30 insertions(+), 23 deletions(-)

diff --git a/moveit_core/distance_field/src/distance_field.cpp b/moveit_core/distance_field/src/distance_field.cpp
index d150eb0612..5358a59052 100644
--- a/moveit_core/distance_field/src/distance_field.cpp
+++ b/moveit_core/distance_field/src/distance_field.cpp
@@ -208,8 +208,10 @@ bool DistanceField::getShapePoints(const shapes::Shape* shape, const Eigen::Isom
   }
   else
   {
-    bodies::Body* body = bodies::createBodyFromShape(shape);
-    body->setPose(pose);
+    bodies::Body* body = bodies::createEmptyBodyFromShapeType(shape->type);
+    body->setDimensionsDirty(shape);
+    body->setPoseDirty(pose);
+    body->updateInternalData();
     findInternalPointsConvex(*body, resolution_, *points);
     delete body;
   }
@@ -292,8 +294,10 @@ void DistanceField::moveShapeInField(const shapes::Shape* shape, const Eigen::Is
     ROS_WARN_NAMED("distance_field", "Move shape not supported for Octree");
     return;
   }
-  bodies::Body* body = bodies::createBodyFromShape(shape);
-  body->setPose(old_pose);
+  bodies::Body* body = bodies::createEmptyBodyFromShapeType(shape->type);
+  body->setDimensionsDirty(shape);
+  body->setPoseDirty(old_pose);
+  body->updateInternalData();
   EigenSTL::vector_Vector3d old_point_vec;
   findInternalPointsConvex(*body, resolution_, old_point_vec);
   body->setPose(new_pose);
@@ -315,8 +319,10 @@ void DistanceField::moveShapeInField(const shapes::Shape* shape, const geometry_
 
 void DistanceField::removeShapeFromField(const shapes::Shape* shape, const Eigen::Isometry3d& pose)
 {
-  bodies::Body* body = bodies::createBodyFromShape(shape);
-  body->setPose(pose);
+  bodies::Body* body = bodies::createEmptyBodyFromShapeType(shape->type);
+  body->setDimensionsDirty(shape);
+  body->setPoseDirty(pose);
+  body->updateInternalData();
   EigenSTL::vector_Vector3d point_vec;
   findInternalPointsConvex(*body, resolution_, point_vec);
   delete body;
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 9ed1c08125..e12e450351 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -315,17 +315,17 @@ bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, co
         ROS_WARN_NAMED("kinematic_constraints", "Constraint region message does not contain enough primitive poses");
         continue;
       }
-      constraint_region_.push_back(bodies::BodyPtr(bodies::createBodyFromShape(shape.get())));
       Eigen::Isometry3d t;
       tf2::fromMsg(pc.constraint_region.primitive_poses[i], t);
       constraint_region_pose_.push_back(t);
-      if (mobile_frame_)
-        constraint_region_.back()->setPose(constraint_region_pose_.back());
-      else
-      {
+      if (!mobile_frame_)
         tf.transformPose(pc.header.frame_id, constraint_region_pose_.back(), constraint_region_pose_.back());
-        constraint_region_.back()->setPose(constraint_region_pose_.back());
-      }
+
+      const bodies::BodyPtr body(bodies::createEmptyBodyFromShapeType(shape->type));
+      body->setDimensionsDirty(shape.get());
+      body->setPoseDirty(constraint_region_pose_.back());
+      body->updateInternalData();
+      constraint_region_.push_back(body);
     }
     else
       ROS_WARN_NAMED("kinematic_constraints", "Could not construct primitive shape %zu", i);
@@ -342,17 +342,16 @@ bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, co
         ROS_WARN_NAMED("kinematic_constraints", "Constraint region message does not contain enough primitive poses");
         continue;
       }
-      constraint_region_.push_back(bodies::BodyPtr(bodies::createBodyFromShape(shape.get())));
       Eigen::Isometry3d t;
       tf2::fromMsg(pc.constraint_region.mesh_poses[i], t);
       constraint_region_pose_.push_back(t);
-      if (mobile_frame_)
-        constraint_region_.back()->setPose(constraint_region_pose_.back());
-      else
-      {
+      if (!mobile_frame_)
         tf.transformPose(pc.header.frame_id, constraint_region_pose_.back(), constraint_region_pose_.back());
-        constraint_region_.back()->setPose(constraint_region_pose_.back());
-      }
+      const bodies::BodyPtr body(bodies::createEmptyBodyFromShapeType(shape->type));
+      body->setDimensionsDirty(shape.get());
+      body->setPoseDirty(constraint_region_pose_.back());
+      body->updateInternalData();
+      constraint_region_.push_back(body);
     }
     else
     {
diff --git a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
index 1afaeee43c..5440274826 100644
--- a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
+++ b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
@@ -69,11 +69,13 @@ point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addSh
 {
   boost::mutex::scoped_lock _(shapes_lock_);
   SeeShape ss;
-  ss.body = bodies::createBodyFromShape(shape.get());
+  ss.body = bodies::createEmptyBodyFromShapeType(shape->type);
   if (ss.body)
   {
-    ss.body->setScale(scale);
-    ss.body->setPadding(padding);
+    ss.body->setDimensionsDirty(shape.get());
+    ss.body->setScaleDirty(scale);
+    ss.body->setPaddingDirty(padding);
+    ss.body->updateInternalData();
     ss.volume = ss.body->computeVolume();
     ss.handle = next_handle_;
     std::pair<std::set<SeeShape, SortBodies>::iterator, bool> insert_op = bodies_.insert(ss);

From 44e98d047dd2fd42be7850de1dbd3dde9d6d9a05 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <wxmerkt@users.noreply.github.com>
Date: Fri, 22 May 2020 20:36:14 +0100
Subject: [PATCH 299/612] [moveit_core] PropagationDistanceField: Replace
 eucDistSq with squaredNorm (#2101)

This results in a speed-up of 25% for me for large sets of points.

Before: 1248ms
After: 956ms
---
 .../distance_field/propagation_distance_field.h      | 10 ----------
 .../src/propagation_distance_field.cpp               | 12 ++----------
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index dcff47fcda..4b3ad13cd9 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -539,16 +539,6 @@ class PropagationDistanceField : public DistanceField
    */
   void print(const EigenSTL::vector_Vector3d& points);
 
-  /**
-   * \brief Computes squared distance between two 3D integer points
-   *
-   * @param point1 Point 1 for distance
-   * @param point2 Point 2 for distance
-   *
-   * @return Distance between points squared
-   */
-  static int eucDistSq(Eigen::Vector3i point1, Eigen::Vector3i point2);
-
   bool propagate_negative_; /**< \brief Whether or not to propagate negative distances */
 
   VoxelGrid<PropDistanceFieldVoxel>::Ptr voxel_grid_; /**< \brief Actual container for distance data */
diff --git a/moveit_core/distance_field/src/propagation_distance_field.cpp b/moveit_core/distance_field/src/propagation_distance_field.cpp
index 4bfa6fa1c3..0cb108cd7b 100644
--- a/moveit_core/distance_field/src/propagation_distance_field.cpp
+++ b/moveit_core/distance_field/src/propagation_distance_field.cpp
@@ -92,14 +92,6 @@ void PropagationDistanceField::initialize()
   reset();
 }
 
-int PropagationDistanceField::eucDistSq(Eigen::Vector3i point1, Eigen::Vector3i point2)
-{
-  int dx = point1.x() - point2.x();
-  int dy = point1.y() - point2.y();
-  int dz = point1.z() - point2.z();
-  return dx * dx + dy * dy + dz * dz;
-}
-
 void PropagationDistanceField::print(const VoxelSet& set)
 {
   ROS_DEBUG_NAMED("distance_field", "[");
@@ -430,7 +422,7 @@ void PropagationDistanceField::propagatePositive()
         // the real update code:
         // calculate the neighbor's new distance based on my closest filled voxel:
         PropDistanceFieldVoxel* neighbor = &voxel_grid_->getCell(nloc.x(), nloc.y(), nloc.z());
-        int new_distance_sq = eucDistSq(vptr->closest_point_, nloc);
+        int new_distance_sq = (vptr->closest_point_ - nloc).squaredNorm();
         if (new_distance_sq > max_distance_sq_)
           continue;
 
@@ -488,7 +480,7 @@ void PropagationDistanceField::propagateNegative()
         // the real update code:
         // calculate the neighbor's new distance based on my closest filled voxel:
         PropDistanceFieldVoxel* neighbor = &voxel_grid_->getCell(nloc.x(), nloc.y(), nloc.z());
-        int new_distance_sq = eucDistSq(vptr->closest_negative_point_, nloc);
+        int new_distance_sq = (vptr->closest_negative_point_ - nloc).squaredNorm();
         if (new_distance_sq > max_distance_sq_)
           continue;
         // std::cout << "Looking at " << nloc.x() << " " << nloc.y() << " " << nloc.z() << " " << new_distance_sq << " "

From d15682bfd43c0142ff3280fc7992785cf4d1d113 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 21 May 2020 04:29:00 +0200
Subject: [PATCH 300/612] Added isometry checks.

---
 .../test_collision_common_pr2.h               |  6 ++--
 .../moveit/collision_detection/world.h        |  6 ++--
 moveit_core/collision_detection/src/world.cpp |  8 +++++
 .../collision_common.h                        |  2 ++
 .../default_constraint_samplers.h             |  2 +-
 .../src/default_constraint_samplers.cpp       | 30 +++++++++++--------
 .../dynamics_solver/src/dynamics_solver.cpp   | 13 ++++----
 .../kinematic_constraint.h                    | 20 ++++++++-----
 .../src/kinematic_constraint.cpp              | 23 ++++++++++++--
 .../kinematic_constraints/src/utils.cpp       |  1 +
 .../test/test_constraints.cpp                 |  4 +--
 .../planning_scene/src/planning_scene.cpp     |  1 +
 .../include/moveit/robot_model/joint_model.h  |  6 ++--
 .../include/moveit/robot_model/link_model.h   | 11 +++++--
 moveit_core/robot_model/src/aabb.cpp          |  2 ++
 .../robot_model/src/floating_joint_model.cpp  |  7 +++--
 moveit_core/robot_model/src/link_model.cpp    |  3 ++
 .../robot_model/src/planar_joint_model.cpp    |  2 ++
 .../robot_model/src/revolute_joint_model.cpp  |  2 ++
 .../moveit/robot_state/attached_body.h        | 20 +++++++++----
 .../include/moveit/robot_state/robot_state.h  | 14 +++++++--
 moveit_core/robot_state/src/attached_body.cpp | 15 ++++++++--
 .../src/cartesian_interpolator.cpp            | 11 +++++--
 moveit_core/robot_state/src/robot_state.cpp   | 19 +++++++-----
 .../include/moveit/transforms/transforms.h    | 23 ++++++++------
 moveit_core/transforms/src/transforms.cpp     |  6 ++++
 .../src/approach_and_translate_stage.cpp      |  2 ++
 ...inematics_speed_and_validity_evaluator.cpp |  4 ++-
 .../src/trajectory_execution_manager.cpp      |  3 ++
 .../src/wrap_python_robot_interface.cpp       |  1 +
 .../src/motion_planning_frame_objects.cpp     |  3 +-
 .../src/planning_link_updater.cpp             |  1 +
 .../src/render_shapes.cpp                     |  2 ++
 33 files changed, 199 insertions(+), 74 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
index 8a3eb61e73..b8f3f8e22e 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
@@ -239,7 +239,8 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   }
 
   pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
-  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(0.965, 0.0, 0.258, 0.0));
+  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) *
+                           Eigen::Quaterniond(sqrt(1 - pow(0.258, 2)), 0.0, 0.258, 0.0));
   //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
   //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
@@ -259,7 +260,8 @@ TYPED_TEST_P(CollisionDetectorTest, ContactPositions)
   }
 
   pos1 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond::Identity());
-  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) * Eigen::Quaterniond(M_PI / 4.0, 0.0, M_PI / 4.0, 0.0));
+  pos2 = Eigen::Isometry3d(Eigen::Translation3d(3.0, 0.0, 0.0) *
+                           Eigen::Quaterniond(M_PI / 4.0, 0.0, M_PI / 4.0, 0.0).normalized());
   //  robot_state.getLinkState("r_gripper_palm_link")->updateGivenGlobalLinkTransform(pos1);
   //  robot_state.getLinkState("l_gripper_palm_link")->updateGivenGlobalLinkTransform(pos2);
   robot_state.updateStateWithLinkAt("r_gripper_palm_link", pos1);
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index ad21d3a034..0225fd4cb8 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -151,12 +151,14 @@ class World
 
   /** \brief Get the transform to an object or subframe with given name.
    * If name does not exist, a std::runtime_error is thrown.
-   * A subframe name needs to be prefixed with the object's name separated by a slash. */
+   * A subframe name needs to be prefixed with the object's name separated by a slash.
+   * The returned transform is guaranteed to be a valid isometry. */
   const Eigen::Isometry3d& getTransform(const std::string& name) const;
 
   /** \brief Get the transform to an object or subframe with given name.
    * If name does not exist, returns an identity transform and sets frame_found to false.
-   * A subframe name needs to be prefixed with the object's name separated by a slash. */
+   * A subframe name needs to be prefixed with the object's name separated by a slash.
+   * The returned transform is guaranteed to be a valid isometry. */
   const Eigen::Isometry3d& getTransform(const std::string& name, bool& frame_found) const;
 
   /** \brief Add shapes to an object in the map.
diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
index fe49764cb7..383f298471 100644
--- a/moveit_core/collision_detection/src/world.cpp
+++ b/moveit_core/collision_detection/src/world.cpp
@@ -35,6 +35,7 @@
 /* Author: Acorn Pooley, Ioan Sucan */
 
 #include <moveit/collision_detection/world.h>
+#include <geometric_shapes/check_isometry.h>
 #include <boost/algorithm/string/predicate.hpp>
 #include <ros/console.h>
 
@@ -59,6 +60,7 @@ inline void World::addToObjectInternal(const ObjectPtr& obj, const shapes::Shape
                                        const Eigen::Isometry3d& pose)
 {
   obj->shapes_.push_back(shape);
+  ASSERT_ISOMETRY(pose)  // unsanitized input, could contain a non-isometry
   obj->shape_poses_.push_back(pose);
 }
 
@@ -208,6 +210,7 @@ bool World::moveShapeInObject(const std::string& object_id, const shapes::ShapeC
       if (it->second->shapes_[i] == shape)
       {
         ensureUnique(it->second);
+        ASSERT_ISOMETRY(pose)  // unsanitized input, could contain a non-isometry
         it->second->shape_poses_[i] = pose;
 
         notify(it->second, MOVE_SHAPE);
@@ -227,6 +230,7 @@ bool World::moveObject(const std::string& object_id, const Eigen::Isometry3d& tr
   ensureUnique(it->second);
   for (size_t i = 0, n = it->second->shapes_.size(); i < n; ++i)
   {
+    ASSERT_ISOMETRY(transform)  // unsanitized input, could contain a non-isometry
     it->second->shape_poses_[i] = transform * it->second->shape_poses_[i];
   }
   notify(it->second, MOVE_SHAPE);
@@ -286,6 +290,10 @@ bool World::setSubframesOfObject(const std::string& object_id, const moveit::cor
   {
     return false;
   }
+  for (const auto& t : subframe_poses)
+  {
+    ASSERT_ISOMETRY(t.second)  // unsanitized input, could contain a non-isometry
+  }
   obj_pair->second->subframe_poses_ = subframe_poses;
   return true;
 }
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 7922a7bbdb..be370daf07 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -40,6 +40,7 @@
 #include <moveit/collision_detection/collision_env.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection_fcl/fcl_compat.h>
+#include <geometric_shapes/check_isometry.h>
 
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
 #include <fcl/broadphase/broadphase_collision_manager.h>
@@ -316,6 +317,7 @@ void cleanCollisionGeometryCache();
 /** \brief Transforms an Eigen Isometry3d to FCL coordinate transformation */
 inline void transform2fcl(const Eigen::Isometry3d& b, fcl::Transform3d& f)
 {
+  ASSERT_ISOMETRY(b);
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
   f = b.matrix();
 #else
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
index ffc4b5ea8d..79ceeab154 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
@@ -465,7 +465,7 @@ class IKConstraintSampler : public ConstraintSampler
    * Otherwise, a random quaternion is produced.
    *
    * @param [out] pos The position component of the sample
-   * @param [out] quat The orientation component of the sample
+   * @param [out] quat The orientation component of the sample. It will always be a normalized quaternion.
    * @param [in] ks The reference state used for performing transforms
    * @param [in] max_attempts The maximum attempts to try to sample - applies only to the position constraint
    *
diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
index 4f78d7edd8..4cdf1e1855 100644
--- a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
+++ b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -374,7 +374,7 @@ bool IKConstraintSampler::loadIKSolver()
       for (const std::pair<const moveit::core::LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
         if (moveit::core::Transforms::sameFrame(fixed_link.first->getName(), kb_->getTipFrame()))
         {
-          eef_to_ik_tip_transform_ = fixed_link.second;
+          eef_to_ik_tip_transform_ = fixed_link.second;  // valid isometry by contract
           need_eef_to_ik_tip_transform_ = true;
           wrong_link = false;
           break;
@@ -392,7 +392,7 @@ bool IKConstraintSampler::loadIKSolver()
       for (const std::pair<const moveit::core::LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
         if (moveit::core::Transforms::sameFrame(fixed_link.first->getName(), kb_->getTipFrame()))
         {
-          eef_to_ik_tip_transform_ = fixed_link.second;
+          eef_to_ik_tip_transform_ = fixed_link.second;  // valid isometry by contract
           need_eef_to_ik_tip_transform_ = true;
           wrong_link = false;
           break;
@@ -479,16 +479,21 @@ bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& q
     Eigen::Isometry3d diff(Eigen::AngleAxisd(angle_x, Eigen::Vector3d::UnitX()) *
                            Eigen::AngleAxisd(angle_y, Eigen::Vector3d::UnitY()) *
                            Eigen::AngleAxisd(angle_z, Eigen::Vector3d::UnitZ()));
+    // diff is isometry by construction
+    // getDesiredRotationMatrix() returns a valid rotation matrix by contract
+    // reqr has thus to be a valid isometry
     Eigen::Isometry3d reqr(sampling_pose_.orientation_constraint_->getDesiredRotationMatrix() * diff.linear());
-    quat = Eigen::Quaterniond(reqr.linear());
+    quat = Eigen::Quaterniond(reqr.linear());  // reqr is isometry, so quat has to be normalized
 
     // if this constraint is with respect a mobile frame, we need to convert this rotation to the root frame of the
     // model
     if (sampling_pose_.orientation_constraint_->mobileReferenceFrame())
     {
+      // getFrameTransform() returns a valid isometry by contract
       const Eigen::Isometry3d& t = ks.getFrameTransform(sampling_pose_.orientation_constraint_->getReferenceFrame());
+      // rt is isometry by construction
       Eigen::Isometry3d rt(t.linear() * quat);
-      quat = Eigen::Quaterniond(rt.linear());
+      quat = Eigen::Quaterniond(rt.linear());  // rt is isometry, so quat has to be normalized
     }
   }
   else
@@ -496,7 +501,7 @@ bool IKConstraintSampler::samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& q
     // sample a random orientation
     double q[4];
     random_number_generator_.quaternion(q);
-    quat = Eigen::Quaterniond(q[3], q[0], q[1], q[2]);
+    quat = Eigen::Quaterniond(q[3], q[0], q[1], q[2]);  // quat is normalized by contract
   }
 
   // if there is an offset, we need to undo the induced rotation in the sampled transform origin (point)
@@ -549,7 +554,7 @@ bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const mo
   {
     // sample a point in the constraint region
     Eigen::Vector3d point;
-    Eigen::Quaterniond quat;
+    Eigen::Quaterniond quat;  // quat is normalized by contract
     if (!samplePose(point, quat, reference_state, max_attempts))
     {
       if (verbose_)
@@ -562,19 +567,20 @@ bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const mo
     {
       // we need to convert this transform to the frame expected by the IK solver
       // both the planning frame and the frame for the IK are assumed to be robot links
-      Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);
-      ikq = reference_state.getFrameTransform(ik_frame_).inverse() * ikq;
+      Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);  // valid isometry by construction
+      // getFrameTransform() returns a valid isometry by contract
+      ikq = reference_state.getFrameTransform(ik_frame_).inverse() * ikq;  // valid isometry * valid isometry
       point = ikq.translation();
-      quat = Eigen::Quaterniond(ikq.linear());
+      quat = Eigen::Quaterniond(ikq.linear());  // ikq is isometry, so quat is normalized
     }
 
     if (need_eef_to_ik_tip_transform_)
     {
       // After sampling the pose needs to be transformed to the ik chain tip
-      Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);
-      ikq = ikq * eef_to_ik_tip_transform_;
+      Eigen::Isometry3d ikq(Eigen::Translation3d(point) * quat);  // valid isometry by construction
+      ikq = ikq * eef_to_ik_tip_transform_;  // eef_to_ik_tip_transform_ is valid isometry (checked in loadIKSolver())
       point = ikq.translation();
-      quat = Eigen::Quaterniond(ikq.linear());
+      quat = Eigen::Quaterniond(ikq.linear());  // ikq is isometry, so quat is normalized
     }
 
     geometry_msgs::Pose ik_query;
diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
index 5462fd2ae5..1126d29cdf 100644
--- a/moveit_core/dynamics_solver/src/dynamics_solver.cpp
+++ b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -53,6 +53,7 @@ inline geometry_msgs::Vector3 transformVector(const Eigen::Isometry3d& transform
 {
   Eigen::Vector3d p;
   p = Eigen::Vector3d(vector.x, vector.y, vector.z);
+  // transform has to be a valid isometry; the caller is responsible for the check
   p = transform.linear() * p;
 
   geometry_msgs::Vector3 result;
@@ -243,9 +244,9 @@ bool DynamicsSolver::getMaxPayload(const std::vector<double>& joint_angles, doub
   }
 
   state_->setJointGroupPositions(joint_model_group_, joint_angles);
-  const Eigen::Isometry3d& base_frame = state_->getFrameTransform(base_name_);
-  const Eigen::Isometry3d& tip_frame = state_->getFrameTransform(tip_name_);
-  Eigen::Isometry3d transform = tip_frame.inverse() * base_frame;
+  const Eigen::Isometry3d& base_frame = state_->getFrameTransform(base_name_);  // valid isometry by contract
+  const Eigen::Isometry3d& tip_frame = state_->getFrameTransform(tip_name_);    // valid isometry by contract
+  Eigen::Isometry3d transform = tip_frame.inverse() * base_frame;               // valid isometry by construction
   wrenches.back().force.z = 1.0;
   wrenches.back().force = transformVector(transform, wrenches.back().force);
   wrenches.back().torque = transformVector(transform, wrenches.back().torque);
@@ -299,9 +300,9 @@ bool DynamicsSolver::getPayloadTorques(const std::vector<double>& joint_angles,
   std::vector<geometry_msgs::Wrench> wrenches(num_segments_);
   state_->setJointGroupPositions(joint_model_group_, joint_angles);
 
-  const Eigen::Isometry3d& base_frame = state_->getFrameTransform(base_name_);
-  const Eigen::Isometry3d& tip_frame = state_->getFrameTransform(tip_name_);
-  Eigen::Isometry3d transform = tip_frame.inverse() * base_frame;
+  const Eigen::Isometry3d& base_frame = state_->getFrameTransform(base_name_);  // valid isometry by contract
+  const Eigen::Isometry3d& tip_frame = state_->getFrameTransform(tip_name_);    // valid isometry by contract
+  Eigen::Isometry3d transform = tip_frame.inverse() * base_frame;               // valid isometry by construction
   wrenches.back().force.z = payload * gravity_;
   wrenches.back().force = transformVector(transform, wrenches.back().force);
   wrenches.back().torque = transformVector(transform, wrenches.back().torque);
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index cf28da8858..70cf8f0871 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -434,10 +434,13 @@ class OrientationConstraint : public KinematicConstraint
   /**
    * \brief The rotation target in the reference frame.
    *
-    * @return The target rotation
+    * @return The target rotation.
+    *
+    * The returned matrix is always a valid rotation matrix.
    */
   const Eigen::Matrix3d& getDesiredRotationMatrix() const
   {
+    // validity of the rotation matrix is enforced in configure()
     return desired_rotation_matrix_;
   }
 
@@ -476,10 +479,10 @@ class OrientationConstraint : public KinematicConstraint
 
 protected:
   const moveit::core::LinkModel* link_model_;   /**< \brief The target link model */
-  Eigen::Matrix3d desired_rotation_matrix_;     /**< \brief The desired rotation matrix in the tf frame */
+  Eigen::Matrix3d desired_rotation_matrix_;     /**< \brief The desired rotation matrix in the tf frame. Guaranteed to
+                                                 * be valid rotation matrix. */
   Eigen::Matrix3d desired_rotation_matrix_inv_; /**< \brief The inverse of the desired rotation matrix, precomputed for
-                                                 * efficiency
-                                                   */
+                                                 * efficiency. Guaranteed to be valid rotation matrix. */
   std::string desired_rotation_frame_id_;       /**< \brief The target frame of the transform tree */
   bool mobile_frame_;                           /**< \brief Whether or not the header frame is mobile or fixed */
   double absolute_x_axis_tolerance_, absolute_y_axis_tolerance_,
@@ -641,10 +644,11 @@ class PositionConstraint : public KinematicConstraint
   Eigen::Vector3d offset_;                         /**< \brief The target offset */
   bool has_offset_;                                /**< \brief Whether the offset is substantially different than 0.0 */
   std::vector<bodies::BodyPtr> constraint_region_; /**< \brief The constraint region vector */
-  EigenSTL::vector_Isometry3d constraint_region_pose_; /**< \brief The constraint region pose vector */
-  bool mobile_frame_;                                  /**< \brief Whether or not a mobile frame is employed*/
-  std::string constraint_frame_id_;                    /**< \brief The constraint frame id */
-  const moveit::core::LinkModel* link_model_;          /**< \brief The link model constraint subject */
+  /** \brief The constraint region pose vector. All isometries are guaranteed to be valid. */
+  EigenSTL::vector_Isometry3d constraint_region_pose_;
+  bool mobile_frame_;                         /**< \brief Whether or not a mobile frame is employed*/
+  std::string constraint_frame_id_;           /**< \brief The constraint frame id */
+  const moveit::core::LinkModel* link_model_; /**< \brief The link model constraint subject */
 };
 
 MOVEIT_CLASS_FORWARD(VisibilityConstraint);
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 3ca1d5c719..8101a46a4d 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -39,6 +39,7 @@
 #include <geometric_shapes/shape_operations.h>
 #include <moveit/robot_state/conversions.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <geometric_shapes/check_isometry.h>
 #include <boost/math/constants/constants.hpp>
 #include <tf2_eigen/tf2_eigen.h>
 #include <boost/bind.hpp>
@@ -318,6 +319,7 @@ bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, co
       constraint_region_.push_back(bodies::BodyPtr(bodies::createBodyFromShape(shape.get())));
       Eigen::Isometry3d t;
       tf2::fromMsg(pc.constraint_region.primitive_poses[i], t);
+      ASSERT_ISOMETRY(t)  // unsanitized input, could contain a non-isometry
       constraint_region_pose_.push_back(t);
       if (mobile_frame_)
         constraint_region_.back()->setPose(constraint_region_pose_.back());
@@ -345,6 +347,7 @@ bool PositionConstraint::configure(const moveit_msgs::PositionConstraint& pc, co
       constraint_region_.push_back(bodies::BodyPtr(bodies::createBodyFromShape(shape.get())));
       Eigen::Isometry3d t;
       tf2::fromMsg(pc.constraint_region.mesh_poses[i], t);
+      ASSERT_ISOMETRY(t)  // unsanitized input, could contain a non-isometry
       constraint_region_pose_.push_back(t);
       if (mobile_frame_)
         constraint_region_.back()->setPose(constraint_region_pose_.back());
@@ -390,6 +393,7 @@ bool PositionConstraint::equal(const KinematicConstraint& other, double margin)
       // need to check against all other regions
       for (std::size_t j = 0; j < o.constraint_region_.size(); ++j)
       {
+        // constraint_region_pose_ contain only valid isometries, so diff is also a valid isometry
         Eigen::Isometry3d diff = constraint_region_pose_[i].inverse() * o.constraint_region_pose_[j];
         if (diff.translation().norm() < margin && diff.linear().isIdentity(margin) &&
             constraint_region_[i]->getType() == o.constraint_region_[j]->getType() &&
@@ -597,13 +601,16 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
   Eigen::Vector3d xyz;
   if (mobile_frame_)
   {
+    // getFrameTransform() returns a valid isometry by contract
     Eigen::Matrix3d tmp = state.getFrameTransform(desired_rotation_frame_id_).linear() * desired_rotation_matrix_;
-    Eigen::Isometry3d diff(tmp.transpose() * state.getGlobalLinkTransform(link_model_).linear());
+    // getGlobalLinkTransform() returns a valid isometry by contract
+    Eigen::Isometry3d diff(tmp.transpose() * state.getGlobalLinkTransform(link_model_).linear());  // valid isometry
     xyz = diff.linear().eulerAngles(0, 1, 2);
     // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   }
   else
   {
+    // diff is valid isometry by construction
     Eigen::Isometry3d diff(desired_rotation_matrix_inv_ * state.getGlobalLinkTransform(link_model_).linear());
     xyz = diff.linear().eulerAngles(0, 1, 2);  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   }
@@ -695,6 +702,7 @@ bool VisibilityConstraint::configure(const moveit_msgs::VisibilityConstraint& vc
   }
 
   tf2::fromMsg(vc.target_pose.pose, target_pose_);
+  ASSERT_ISOMETRY(target_pose_)  // unsanitized input, could contain a non-isometry
 
   if (tf.isFixedFrame(vc.target_pose.header.frame_id))
   {
@@ -712,6 +720,7 @@ bool VisibilityConstraint::configure(const moveit_msgs::VisibilityConstraint& vc
   }
 
   tf2::fromMsg(vc.sensor_pose.pose, sensor_pose_);
+  ASSERT_ISOMETRY(sensor_pose_)  // unsanitized input, could contain a non-isometry
 
   if (tf.isFixedFrame(vc.sensor_pose.header.frame_id))
   {
@@ -752,12 +761,14 @@ bool VisibilityConstraint::equal(const KinematicConstraint& other, double margin
   {
     if (fabs(max_view_angle_ - o.max_view_angle_) > margin || fabs(target_radius_ - o.target_radius_) > margin)
       return false;
-    Eigen::Isometry3d diff = sensor_pose_.inverse() * o.sensor_pose_;
+    // sensor_pose_ is valid isometry, checked in configure()
+    Eigen::Isometry3d diff = sensor_pose_.inverse() * o.sensor_pose_;  // valid isometry
     if (diff.translation().norm() > margin)
       return false;
     if (!diff.linear().isIdentity(margin))
       return false;
-    diff = target_pose_.inverse() * o.target_pose_;
+    // target_pose_ is valid isometry, checked in configure()
+    diff = target_pose_.inverse() * o.target_pose_;  // valid isometry
     if (diff.translation().norm() > margin)
       return false;
     if (!diff.linear().isIdentity(margin))
@@ -875,8 +886,11 @@ void VisibilityConstraint::getMarkers(const moveit::core::RobotState& state,
 
   markers.markers.push_back(mk);
 
+  // getFrameTransform() returns a valid isometry by contract
+  // sensor_pose_ is valid isometry (checked in configure())
   const Eigen::Isometry3d& sp =
       mobile_sensor_frame_ ? state.getFrameTransform(sensor_frame_id_) * sensor_pose_ : sensor_pose_;
+  // target_pose_ is valid isometry (checked in configure())
   const Eigen::Isometry3d& tp =
       mobile_target_frame_ ? state.getFrameTransform(target_frame_id_) * target_pose_ : target_pose_;
 
@@ -925,8 +939,11 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const moveit::core::Robo
 
   if (max_view_angle_ > 0.0 || max_range_angle_ > 0.0)
   {
+    // getFrameTransform() returns a valid isometry by contract
+    // sensor_pose_ is valid isometry (checked in configure())
     const Eigen::Isometry3d& sp =
         mobile_sensor_frame_ ? state.getFrameTransform(sensor_frame_id_) * sensor_pose_ : sensor_pose_;
+    // target_pose_ is valid isometry (checked in configure())
     const Eigen::Isometry3d& tp =
         mobile_target_frame_ ? state.getFrameTransform(target_frame_id_) * target_pose_ : target_pose_;
 
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index c9cb35641e..088fff83db 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -558,6 +558,7 @@ bool kinematic_constraints::resolveConstraintFrames(const moveit::core::RobotSta
   {
     bool frame_found;
     const moveit::core::LinkModel* robot_link;
+    // getFrameInfo() returns a valid isometry by contract
     const Eigen::Isometry3d& transform = state.getFrameInfo(c.link_name, robot_link, frame_found);
     if (!frame_found)
       return false;
diff --git a/moveit_core/kinematic_constraints/test/test_constraints.cpp b/moveit_core/kinematic_constraints/test/test_constraints.cpp
index b16e9505ae..2ffe6df1ee 100644
--- a/moveit_core/kinematic_constraints/test/test_constraints.cpp
+++ b/moveit_core/kinematic_constraints/test/test_constraints.cpp
@@ -694,13 +694,13 @@ TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsSimple)
 
   // very slight angle, so still ok
   vcm.target_pose.pose.orientation.y = 0.03;
-  vcm.target_pose.pose.orientation.w = .9995;
+  vcm.target_pose.pose.orientation.w = sqrt(1 - pow(vcm.target_pose.pose.orientation.y, 2));
   EXPECT_TRUE(vc.configure(vcm, tf));
   EXPECT_TRUE(vc.decide(robot_state, true).satisfied);
 
   // a little bit more puts it over
   vcm.target_pose.pose.orientation.y = 0.06;
-  vcm.target_pose.pose.orientation.w = .9981;
+  vcm.target_pose.pose.orientation.w = sqrt(1 - pow(vcm.target_pose.pose.orientation.y, 2));
   EXPECT_TRUE(vc.configure(vcm, tf));
   EXPECT_FALSE(vc.decide(robot_state, true).satisfied);
 }
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index f340a5f144..be510d88f5 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -964,6 +964,7 @@ void PlanningScene::saveGeometryToStream(std::ostream& out) const
         for (std::size_t j = 0; j < obj->shapes_.size(); ++j)
         {
           shapes::saveAsText(obj->shapes_[j].get(), out);
+          // shape_poses_ is valid isometry by contract
           out << obj->shape_poses_[j].translation().x() << " " << obj->shape_poses_[j].translation().y() << " "
               << obj->shape_poses_[j].translation().z() << std::endl;
           Eigen::Quaterniond r(obj->shape_poses_[j].linear());
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
index aa07321d73..173590129d 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
@@ -443,10 +443,12 @@ class JointModel
   /** @name Computing transforms
       @{ */
 
-  /** \brief Given the joint values for a joint, compute the corresponding transform */
+  /** \brief Given the joint values for a joint, compute the corresponding transform. The computed transform is
+   *  guaranteed to be a valid isometry. */
   virtual void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const = 0;
 
-  /** \brief Given the transform generated by joint, compute the corresponding joint values */
+  /** \brief Given the transform generated by joint, compute the corresponding joint values. Make sure the passed
+   *  transform is a valid isometry. */
   virtual void computeVariablePositions(const Eigen::Isometry3d& transform, double* joint_values) const = 0;
 
   /** @} */
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index d586dfded0..5d81a53fa8 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -43,6 +43,7 @@
 #include <Eigen/Geometry>
 #include <eigen_stl_containers/eigen_stl_vector_container.h>
 #include <moveit/macros/class_forward.h>
+#include <geometric_shapes/check_isometry.h>
 
 namespace shapes
 {
@@ -137,7 +138,8 @@ class LinkModel
   /** \brief When transforms are computed for this link,
       they are usually applied to the link's origin. The
       joint origin transform acts as an offset -- it is
-      pre-applied before any other transform */
+      pre-applied before any other transform. The
+      transform is guaranteed to be a valid isometry. */
   const Eigen::Isometry3d& getJointOriginTransform() const
   {
     return joint_origin_transform_;
@@ -157,7 +159,8 @@ class LinkModel
 
   /** \brief In addition to the link transform, the geometry
       of a link that is used for collision checking may have
-      a different offset itself, with respect to the origin */
+      a different offset itself, with respect to the origin.
+      The transform is guaranteed to be a valid isometry. */
   const EigenSTL::vector_Isometry3d& getCollisionOriginTransforms() const
   {
     return collision_origin_transform_;
@@ -191,7 +194,8 @@ class LinkModel
     return centered_bounding_box_offset_;
   }
 
-  /** \brief Get the set of links that are attached to this one via fixed transforms */
+  /** \brief Get the set of links that are attached to this one via fixed transforms. The returned transforms are
+   * guaranteed to be valid isometries. */
   const LinkTransformMap& getAssociatedFixedTransforms() const
   {
     return associated_fixed_transforms_;
@@ -200,6 +204,7 @@ class LinkModel
   /** \brief Remember that \e link_model is attached to this link using a fixed transform */
   void addAssociatedFixedTransform(const LinkModel* link_model, const Eigen::Isometry3d& transform)
   {
+    ASSERT_ISOMETRY(transform);  // unsanitized input, could contain a non-isometry
     associated_fixed_transforms_[link_model] = transform;
   }
 
diff --git a/moveit_core/robot_model/src/aabb.cpp b/moveit_core/robot_model/src/aabb.cpp
index 51b3523032..1b115cfefc 100644
--- a/moveit_core/robot_model/src/aabb.cpp
+++ b/moveit_core/robot_model/src/aabb.cpp
@@ -35,6 +35,7 @@
 /* Author: Martin Pecka */
 
 #include <moveit/robot_model/aabb.h>
+#include <geometric_shapes/check_isometry.h>
 
 void moveit::core::AABB::extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box)
 {
@@ -44,6 +45,7 @@ void moveit::core::AABB::extendWithTransformedBox(const Eigen::Isometry3d& trans
   //
   // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
 
+  ASSERT_ISOMETRY(transform)  // unsanitized input, could contain non-isometry
   const Eigen::Matrix3d& r = transform.linear();
   const Eigen::Vector3d& t = transform.translation();
 
diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
index b7d25080a2..15f0191f3b 100644
--- a/moveit_core/robot_model/src/floating_joint_model.cpp
+++ b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -36,6 +36,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/robot_model/floating_joint_model.h>
+#include <geometric_shapes/check_isometry.h>
 #include <boost/math/constants/constants.hpp>
 #include <ros/console.h>
 #include <limits>
@@ -216,8 +217,9 @@ bool FloatingJointModel::enforcePositionBounds(double* values, const Bounds& bou
 
 void FloatingJointModel::computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const
 {
-  transf = Eigen::Isometry3d(Eigen::Translation3d(joint_values[0], joint_values[1], joint_values[2]) *
-                             Eigen::Quaterniond(joint_values[6], joint_values[3], joint_values[4], joint_values[5]));
+  transf = Eigen::Isometry3d(
+      Eigen::Translation3d(joint_values[0], joint_values[1], joint_values[2]) *
+      Eigen::Quaterniond(joint_values[6], joint_values[3], joint_values[4], joint_values[5]).normalized());
 }
 
 void FloatingJointModel::computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const
@@ -225,6 +227,7 @@ void FloatingJointModel::computeVariablePositions(const Eigen::Isometry3d& trans
   joint_values[0] = transf.translation().x();
   joint_values[1] = transf.translation().y();
   joint_values[2] = transf.translation().z();
+  ASSERT_ISOMETRY(transf)  // unsanitized input, could contain non-isometry
   Eigen::Quaterniond q(transf.linear());
   joint_values[3] = q.x();
   joint_values[4] = q.y();
diff --git a/moveit_core/robot_model/src/link_model.cpp b/moveit_core/robot_model/src/link_model.cpp
index c75ab24e0a..76f45e3bb6 100644
--- a/moveit_core/robot_model/src/link_model.cpp
+++ b/moveit_core/robot_model/src/link_model.cpp
@@ -36,6 +36,7 @@
 
 #include <moveit/robot_model/link_model.h>
 #include <moveit/robot_model/joint_model.h>
+#include <geometric_shapes/check_isometry.h>
 #include <geometric_shapes/shape_operations.h>
 #include <moveit/robot_model/aabb.h>
 
@@ -59,6 +60,7 @@ LinkModel::~LinkModel() = default;
 
 void LinkModel::setJointOriginTransform(const Eigen::Isometry3d& transform)
 {
+  ASSERT_ISOMETRY(transform)  // unsanitized input, could contain a non-isometry
   joint_origin_transform_ = transform;
   joint_origin_transform_is_identity_ =
       joint_origin_transform_.linear().isIdentity() &&
@@ -82,6 +84,7 @@ void LinkModel::setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes,
 
   for (std::size_t i = 0; i < shapes_.size(); ++i)
   {
+    ASSERT_ISOMETRY(collision_origin_transform_[i])  // unsanitized input, could contain a non-isometry
     collision_origin_transform_is_identity_[i] =
         (collision_origin_transform_[i].linear().isIdentity() &&
          collision_origin_transform_[i].translation().norm() < std::numeric_limits<double>::epsilon()) ?
diff --git a/moveit_core/robot_model/src/planar_joint_model.cpp b/moveit_core/robot_model/src/planar_joint_model.cpp
index f515be4c9f..2727ccd48e 100644
--- a/moveit_core/robot_model/src/planar_joint_model.cpp
+++ b/moveit_core/robot_model/src/planar_joint_model.cpp
@@ -36,6 +36,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/robot_model/planar_joint_model.h>
+#include <geometric_shapes/check_isometry.h>
 #include <boost/math/constants/constants.hpp>
 #include <limits>
 #include <cmath>
@@ -224,6 +225,7 @@ void PlanarJointModel::computeVariablePositions(const Eigen::Isometry3d& transf,
   joint_values[0] = transf.translation().x();
   joint_values[1] = transf.translation().y();
 
+  ASSERT_ISOMETRY(transf)  // unsanitized input, could contain a non-isometry
   Eigen::Quaterniond q(transf.linear());
   // taken from Bullet
   double s_squared = 1.0 - (q.w() * q.w());
diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp
index c3783d48e1..4a87291f38 100644
--- a/moveit_core/robot_model/src/revolute_joint_model.cpp
+++ b/moveit_core/robot_model/src/revolute_joint_model.cpp
@@ -36,6 +36,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/robot_model/revolute_joint_model.h>
+#include <geometric_shapes/check_isometry.h>
 #include <boost/math/constants/constants.hpp>
 #include <algorithm>
 #include <limits>
@@ -268,6 +269,7 @@ void RevoluteJointModel::computeTransform(const double* joint_values, Eigen::Iso
 
 void RevoluteJointModel::computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const
 {
+  ASSERT_ISOMETRY(transf)  // unsanitized input, could contain a non-isometry
   Eigen::Quaterniond q(transf.linear());
   q.normalize();
   size_t max_idx;
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index 7086d00120..657c147dc7 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -38,6 +38,7 @@
 
 #include <moveit/robot_model/link_model.h>
 #include <moveit/transforms/transforms.h>
+#include <geometric_shapes/check_isometry.h>
 #include <eigen_stl_containers/eigen_stl_containers.h>
 #include <boost/function.hpp>
 #include <trajectory_msgs/JointTrajectory.h>
@@ -105,13 +106,15 @@ class AttachedBody
     return detach_posture_;
   }
 
-  /** \brief Get the fixed transforms (the transforms to the shapes of this body, relative to the link) */
+  /** \brief Get the fixed transforms (the transforms to the shapes of this body, relative to the link). The returned
+   *  transforms are guaranteed to be valid isometries. */
   const EigenSTL::vector_Isometry3d& getFixedTransforms() const
   {
     return attach_trans_;
   }
 
-  /** \brief Get subframes of this object (relative to the link) */
+  /** \brief Get subframes of this object (relative to the link). The returned transforms are guaranteed to be valid
+   *  isometries. */
   const moveit::core::FixedTransformsMap& getSubframeTransforms() const
   {
     return subframe_poses_;
@@ -124,18 +127,24 @@ class AttachedBody
    */
   void setSubframeTransforms(const moveit::core::FixedTransformsMap& subframe_poses)
   {
+    for (const auto& t : subframe_poses)
+    {
+      ASSERT_ISOMETRY(t.second)  // unsanitized input, could contain a non-isometry
+    }
     subframe_poses_ = subframe_poses;
   }
 
   /** \brief Get the fixed transform to a named subframe on this body (relative to the robot link)
    *
    * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
-   * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false). */
+   * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false).
+   * The returned transform is guaranteed to be a valid isometry. */
   const Eigen::Isometry3d& getSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
 
   /** \brief Get the fixed transform to a named subframe on this body.
    * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
-   * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false). */
+   * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false).
+   * The returned transform is guaranteed to be a valid isometry. */
   const Eigen::Isometry3d& getGlobalSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
 
   /** \brief Check whether a subframe of given @frame_name is present in this object.
@@ -144,7 +153,8 @@ class AttachedBody
    * name is "screwdriver"). */
   bool hasSubframeTransform(const std::string& frame_name) const;
 
-  /** \brief Get the global transforms for the collision bodies */
+  /** \brief Get the global transforms for the collision bodies. The returned transforms are guaranteed to be valid
+   *  isometries. */
   const EigenSTL::vector_Isometry3d& getGlobalCollisionBodyTransforms() const
   {
     return global_collision_body_transforms_;
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 00004d0247..5731a6a4ff 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1307,6 +1307,8 @@ class RobotState
    *   Checks the cache and if there are any dirty (non-updated) transforms, first updates them as needed.
    *   A related, more comprehensive function is |getFrameTransform|, which additionally to link frames
    *   also searches for attached object frames and their subframes.
+   *
+   *  The returned transformation is always a valid isometry.
    */
   const Eigen::Isometry3d& getGlobalLinkTransform(const std::string& link_name)
   {
@@ -1647,18 +1649,24 @@ class RobotState
 
   /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
-   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
+   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned.
+   *
+   * The returned transformation is always a valid isometry. */
   const Eigen::Isometry3d& getFrameTransform(const std::string& frame_id, bool* frame_found = nullptr);
 
   /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
-   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
+   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned.
+   *
+   * The returned transformation is always a valid isometry. */
   const Eigen::Isometry3d& getFrameTransform(const std::string& frame_id, bool* frame_found = nullptr) const;
 
   /** \brief Get the transformation matrix from the model frame (root of model) to the frame identified by \e frame_id
    *
    * If this frame is attached to a robot link, the link pointer is returned in \e robot_link.
-   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned */
+   * If frame_id was not found, \e frame_found is set to false and an identity transform is returned.
+   *
+   * The returned transformation is always a valid isometry. */
   const Eigen::Isometry3d& getFrameInfo(const std::string& frame_id, const LinkModel*& robot_link,
                                         bool& frame_found) const;
 
diff --git a/moveit_core/robot_state/src/attached_body.cpp b/moveit_core/robot_state/src/attached_body.cpp
index 51a403a7a2..ff3fbaa3fb 100644
--- a/moveit_core/robot_state/src/attached_body.cpp
+++ b/moveit_core/robot_state/src/attached_body.cpp
@@ -35,6 +35,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/robot_state/attached_body.h>
+#include <geometric_shapes/check_isometry.h>
 #include <geometric_shapes/shapes.h>
 #include <boost/algorithm/string/predicate.hpp>
 
@@ -56,6 +57,14 @@ AttachedBody::AttachedBody(const LinkModel* parent_link_model, const std::string
   , subframe_poses_(subframe_poses)
   , global_subframe_poses_(subframe_poses)
 {
+  for (const auto& t : attach_trans_)
+  {
+    ASSERT_ISOMETRY(t)  // unsanitized input, could contain a non-isometry
+  }
+  for (const auto& t : subframe_poses_)
+  {
+    ASSERT_ISOMETRY(t.second)  // unsanitized input, could contain a non-isometry
+  }
   global_collision_body_transforms_.resize(attach_trans.size());
   for (Eigen::Isometry3d& global_collision_body_transform : global_collision_body_transforms_)
     global_collision_body_transform.setIdentity();
@@ -82,15 +91,17 @@ void AttachedBody::setScale(double scale)
 
 void AttachedBody::computeTransform(const Eigen::Isometry3d& parent_link_global_transform)
 {
+  ASSERT_ISOMETRY(parent_link_global_transform)  // unsanitized input, could contain a non-isometry
+
   // update collision body transforms
   for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
-    global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
+    global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];  // valid isometry
 
   // update subframe transforms
   for (auto global = global_subframe_poses_.begin(), end = global_subframe_poses_.end(),
             local = subframe_poses_.begin();
        global != end; ++global, ++local)
-    global->second = parent_link_global_transform * local->second;
+    global->second = parent_link_global_transform * local->second;  // valid isometry
 }
 
 void AttachedBody::setPadding(double padding)
diff --git a/moveit_core/robot_state/src/cartesian_interpolator.cpp b/moveit_core/robot_state/src/cartesian_interpolator.cpp
index b2b38db361..5431b490af 100644
--- a/moveit_core/robot_state/src/cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/src/cartesian_interpolator.cpp
@@ -37,6 +37,7 @@
 /* Author: Ioan Sucan, Sachin Chitta, Acorn Pooley, Mario Prats, Dave Coleman */
 
 #include <moveit/robot_state/cartesian_interpolator.h>
+#include <geometric_shapes/check_isometry.h>
 
 namespace moveit
 {
@@ -59,13 +60,14 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
                                                    const kinematics::KinematicsQueryOptions& options)
 {
   // this is the Cartesian pose we start from, and have to move in the direction indicated
+  // getGlobalLinkTransform() returns a valid isometry by contract
   const Eigen::Isometry3d& start_pose = start_state->getGlobalLinkTransform(link);
 
   // the direction can be in the local reference frame (in which case we rotate it)
   const Eigen::Vector3d rotated_direction = global_reference_frame ? direction : start_pose.linear() * direction;
 
   // The target pose is built by applying a translation to the start pose for the desired direction and distance
-  Eigen::Isometry3d target_pose = start_pose;
+  Eigen::Isometry3d target_pose = start_pose;  // valid isometry
   target_pose.translation() += rotated_direction * distance;
 
   // call computeCartesianPath for the computed target pose in the global reference frame
@@ -86,10 +88,13 @@ double CartesianInterpolator::computeCartesianPath(RobotState* start_state, cons
     start_state->enforceBounds(joint);
 
   // this is the Cartesian pose we start from, and we move in the direction indicated
-  Eigen::Isometry3d start_pose = start_state->getGlobalLinkTransform(link);
+  // getGlobalLinkTransform() returns a valid isometry by contract
+  Eigen::Isometry3d start_pose = start_state->getGlobalLinkTransform(link);  // valid isometry
+
+  ASSERT_ISOMETRY(target)  // unsanitized input, could contain a non-isometry
 
   // the target can be in the local reference frame (in which case we rotate it)
-  Eigen::Isometry3d rotated_target = global_reference_frame ? target : start_pose * target;
+  Eigen::Isometry3d rotated_target = global_reference_frame ? target : start_pose * target;  // valid isometry
 
   Eigen::Quaterniond start_quaternion(start_pose.linear());
   Eigen::Quaterniond target_quaternion(rotated_target.linear());
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index c8dda3b746..da3750bfd5 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -38,6 +38,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/robot_state/cartesian_interpolator.h>
 #include <moveit/transforms/transforms.h>
+#include <geometric_shapes/check_isometry.h>
 #include <geometric_shapes/shape_operations.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <moveit/backtrace/backtrace.h>
@@ -1202,13 +1203,15 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
 
   const moveit::core::JointModel* root_joint_model = group->getJointModels()[0];  // group->getJointRoots()[0];
   const moveit::core::LinkModel* root_link_model = root_joint_model->getParentLinkModel();
+  // getGlobalLinkTransform() returns a valid isometry by contract
   Eigen::Isometry3d reference_transform =
       root_link_model ? getGlobalLinkTransform(root_link_model).inverse() : Eigen::Isometry3d::Identity();
   int rows = use_quaternion_representation ? 7 : 6;
   int columns = group->getVariableCount();
   jacobian = Eigen::MatrixXd::Zero(rows, columns);
 
-  Eigen::Isometry3d link_transform = reference_transform * getGlobalLinkTransform(link);
+  // getGlobalLinkTransform() returns a valid isometry by contract
+  Eigen::Isometry3d link_transform = reference_transform * getGlobalLinkTransform(link);  // valid isometry
   Eigen::Vector3d point_transform = link_transform * reference_point_position;
 
   /*
@@ -1239,9 +1242,10 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
         continue;
       }
       unsigned int joint_index = group->getVariableGroupIndex(pjm->getName());
+      // getGlobalLinkTransform() returns a valid isometry by contract
+      joint_transform = reference_transform * getGlobalLinkTransform(link);  // valid isometry
       if (pjm->getType() == moveit::core::JointModel::REVOLUTE)
       {
-        joint_transform = reference_transform * getGlobalLinkTransform(link);
         joint_axis = joint_transform.linear() * static_cast<const moveit::core::RevoluteJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) =
             jacobian.block<3, 1>(0, joint_index) + joint_axis.cross(point_transform - joint_transform.translation());
@@ -1249,13 +1253,11 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
       }
       else if (pjm->getType() == moveit::core::JointModel::PRISMATIC)
       {
-        joint_transform = reference_transform * getGlobalLinkTransform(link);
         joint_axis = joint_transform.linear() * static_cast<const moveit::core::PrismaticJointModel*>(pjm)->getAxis();
         jacobian.block<3, 1>(0, joint_index) = jacobian.block<3, 1>(0, joint_index) + joint_axis;
       }
       else if (pjm->getType() == moveit::core::JointModel::PLANAR)
       {
-        joint_transform = reference_transform * getGlobalLinkTransform(link);
         joint_axis = joint_transform * Eigen::Vector3d(1.0, 0.0, 0.0);
         jacobian.block<3, 1>(0, joint_index) = jacobian.block<3, 1>(0, joint_index) + joint_axis;
         joint_axis = joint_transform * Eigen::Vector3d(0.0, 1.0, 0.0);
@@ -1775,6 +1777,7 @@ bool RobotState::setFromIKSubgroups(const JointModelGroup* jmg, const EigenSTL::
   // Each each pose's tip frame naming
   for (std::size_t i = 0; i < poses_in.size(); ++i)
   {
+    ASSERT_ISOMETRY(transformed_poses[i])  // unsanitized input, could contain a non-isometry
     Eigen::Isometry3d& pose = transformed_poses[i];
     std::string& pose_frame = pose_frames[i];
 
@@ -1795,26 +1798,27 @@ bool RobotState::setFromIKSubgroups(const JointModelGroup* jmg, const EigenSTL::
       if (hasAttachedBody(pose_frame))
       {
         const AttachedBody* body = getAttachedBody(pose_frame);
-        const EigenSTL::vector_Isometry3d& ab_trans = body->getFixedTransforms();
+        const EigenSTL::vector_Isometry3d& ab_trans = body->getFixedTransforms();  // valid isometries by contract
         if (ab_trans.size() != 1)
         {
           ROS_ERROR_NAMED(LOGNAME, "Cannot use an attached body with multiple geometries as a reference frame.");
           return false;
         }
         pose_frame = body->getAttachedLinkName();
-        pose = pose * ab_trans[0].inverse();
+        pose = pose * ab_trans[0].inverse();  // valid isometry
       }
       if (pose_frame != solver_tip_frame)
       {
         const moveit::core::LinkModel* link_model = getLinkModel(pose_frame);
         if (!link_model)
           return false;
+        // getAssociatedFixedTransforms() returns valid isometries by contract
         const moveit::core::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
         for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
           if (fixed_link.first->getName() == solver_tip_frame)
           {
             pose_frame = solver_tip_frame;
-            pose = pose * fixed_link.second;
+            pose = pose * fixed_link.second;  // valid isometry
             break;
           }
       }
@@ -2101,6 +2105,7 @@ void RobotState::printStateInfo(std::ostream& out) const
 
 void RobotState::printTransform(const Eigen::Isometry3d& transform, std::ostream& out) const
 {
+  ASSERT_ISOMETRY(transform)  // unsanitized input, could contain a non-isometry
   Eigen::Quaterniond q(transform.linear());
   out << "T.xyz = [" << transform.translation().x() << ", " << transform.translation().y() << ", "
       << transform.translation().z() << "], Q.xyzw = [" << q.x() << ", " << q.y() << ", " << q.z() << ", " << q.w()
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 8e72213aa6..5fc6a81d9f 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -86,13 +86,14 @@ class Transforms : private boost::noncopyable
 
   /**
    * @brief Return all the transforms
-   * @return A map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the planning frame)
+   * @return A map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the planning frame). The
+   * transforms are guaranteed to be valid isometries.
    */
   const FixedTransformsMap& getAllTransforms() const;
 
   /**
    * @brief Get a vector of all the transforms as ROS messages
-   * @param transforms The output transforms
+   * @param transforms The output transforms. They are guaranteed to be valid isometries.
    */
   void copyTransforms(std::vector<geometry_msgs::TransformStamped>& transforms) const;
 
@@ -137,40 +138,44 @@ class Transforms : private boost::noncopyable
    */
   void transformVector3(const std::string& from_frame, const Eigen::Vector3d& v_in, Eigen::Vector3d& v_out) const
   {
+    // getTransform() returns a valid isometry by contract
     v_out = getTransform(from_frame).linear() * v_in;
   }
 
   /**
    * @brief Transform a quaternion in from_frame to the target_frame
    * @param from_frame The frame in which the input quaternion is specified
-   * @param v_in The input quaternion (in from_frame)
-   * @param v_out The resultant (transformed) quaternion
+   * @param v_in The input quaternion (in from_frame). Make sure the quaternion is normalized.
+   * @param v_out The resultant (transformed) quaternion. It is guaranteed to be a valid and normalized quaternion.
    */
   void transformQuaternion(const std::string& from_frame, const Eigen::Quaterniond& q_in,
                            Eigen::Quaterniond& q_out) const
   {
+    // getTransform() returns a valid isometry by contract
     q_out = getTransform(from_frame).linear() * q_in;
   }
 
   /**
    * @brief Transform a rotation matrix in from_frame to the target_frame
    * @param from_frame The frame in which the input rotation matrix is specified
-   * @param m_in The input rotation matrix (in from_frame)
-   * @param m_out The resultant (transformed) rotation matrix
+   * @param m_in The input rotation matrix (in from_frame). Make sure the matrix is a valid rotation matrix.
+   * @param m_out The resultant (transformed) rotation matrix. It is guaranteed to be a valid rotation matrix.
    */
   void transformRotationMatrix(const std::string& from_frame, const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out) const
   {
+    // getTransform() returns a valid isometry by contract
     m_out = getTransform(from_frame).linear() * m_in;
   }
 
   /**
    * @brief Transform a pose in from_frame to the target_frame
    * @param from_frame The frame in which the input pose is specified
-   * @param t_in The input pose (in from_frame)
-   * @param t_out The resultant (transformed) pose
+   * @param t_in The input pose (in from_frame). Make sure the pose is a valid isometry.
+   * @param t_out The resultant (transformed) pose. It is guaranteed to be a valid isometry.
    */
   void transformPose(const std::string& from_frame, const Eigen::Isometry3d& t_in, Eigen::Isometry3d& t_out) const
   {
+    // getTransform() returns a valid isometry by contract
     t_out = getTransform(from_frame) * t_in;
   }
   /**@}*/
@@ -189,7 +194,7 @@ class Transforms : private boost::noncopyable
   /**
    * @brief Get transform for from_frame (w.r.t target frame)
    * @param from_frame The string id of the frame for which the transform is being computed
-   * @return The required transform
+   * @return The required transform. It is guaranteed to be a valid isometry.
    */
   virtual const Eigen::Isometry3d& getTransform(const std::string& from_frame) const;
 
diff --git a/moveit_core/transforms/src/transforms.cpp b/moveit_core/transforms/src/transforms.cpp
index 190fb10d0d..005bc2e07f 100644
--- a/moveit_core/transforms/src/transforms.cpp
+++ b/moveit_core/transforms/src/transforms.cpp
@@ -35,6 +35,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/transforms/transforms.h>
+#include <geometric_shapes/check_isometry.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <boost/algorithm/string/trim.hpp>
 #include <ros/console.h>
@@ -75,6 +76,10 @@ const FixedTransformsMap& Transforms::getAllTransforms() const
 
 void Transforms::setAllTransforms(const FixedTransformsMap& transforms)
 {
+  for (const auto& t : transforms)
+  {
+    ASSERT_ISOMETRY(t.second)  // unsanitized input, could contain a non-isometry
+  }
   transforms_map_ = transforms;
 }
 
@@ -114,6 +119,7 @@ bool Transforms::canTransform(const std::string& from_frame) const
 
 void Transforms::setTransform(const Eigen::Isometry3d& t, const std::string& from_frame)
 {
+  ASSERT_ISOMETRY(t)  // unsanitized input, could contain a non-isometry
   if (from_frame.empty())
     ROS_ERROR_NAMED("transforms", "Cannot record transform with empty name");
   else
diff --git a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
index 3fdde91816..4a667fd489 100644
--- a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
+++ b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
@@ -215,9 +215,11 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
 
   // transform the input vectors in accordance to frame specified in the header;
   if (approach_direction_is_global_frame)
+    // getFrameTransform() returns a valid isometry by contract
     approach_direction =
         planning_scene_->getFrameTransform(plan->approach_.direction.header.frame_id).linear() * approach_direction;
   if (retreat_direction_is_global_frame)
+    // getFrameTransform() returns a valid isometry by contract
     retreat_direction =
         planning_scene_->getFrameTransform(plan->retreat_.direction.header.frame_id).linear() * retreat_direction;
 
diff --git a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
index 4dc408396a..7030c918da 100644
--- a/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/kinematics_speed_and_validity_evaluator.cpp
@@ -87,13 +87,15 @@ int main(int argc, char** argv)
         for (unsigned int i = 0; i < test_count; ++i)
         {
           state.setToRandomPositions(jmg);
+          // getGlobalLinkTransform() returns a valid isometry by contract
           Eigen::Isometry3d pose = state.getGlobalLinkTransform(tip);
           state.setToRandomPositions(jmg);
           moveit::tools::Profiler::Begin("IK");
           state.setFromIK(jmg, pose);
           moveit::tools::Profiler::End("IK");
+          // getGlobalLinkTransform() returns a valid isometry by contract
           const Eigen::Isometry3d& pose_upd = state.getGlobalLinkTransform(tip);
-          Eigen::Isometry3d diff = pose_upd * pose.inverse();
+          Eigen::Isometry3d diff = pose_upd * pose.inverse();  // valid isometry
           double rot_err = (diff.linear() - Eigen::Matrix3d::Identity()).norm();
           double trans_err = diff.translation().norm();
           moveit::tools::Profiler::Average("Rotation error", rot_err);
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index 1db84cf7ac..c07c592fb8 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -37,6 +37,7 @@
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_ros_planning/TrajectoryExecutionDynamicReconfigureConfig.h>
+#include <geometric_shapes/check_isometry.h>
 #include <dynamic_reconfigure/server.h>
 #include <tf2_eigen/tf2_eigen.h>
 
@@ -1005,8 +1006,10 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
         // compute difference (offset vector and rotation angle) between current transform
         // and start transform in trajectory
         Eigen::Isometry3d cur_transform, start_transform;
+        // computeTransform() computes a valid isometry by contract
         jm->computeTransform(current_state->getJointPositions(jm), cur_transform);
         start_transform = tf2::transformToEigen(transforms[i]);
+        ASSERT_ISOMETRY(start_transform)  // unsanitized input, could contain a non-isometry
         Eigen::Vector3d offset = cur_transform.translation() - start_transform.translation();
         Eigen::AngleAxisd rotation;
         rotation.fromRotationMatrix(cur_transform.linear().transpose() * start_transform.linear());
diff --git a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
index 35c1e047ad..f6e3d40061 100644
--- a/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
+++ b/moveit_ros/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp
@@ -150,6 +150,7 @@ class RobotInterfacePython : protected py_bindings_tools::ROScppInitializer
     const moveit::core::LinkModel* lm = state->getLinkModel(name);
     if (lm)
     {
+      // getGlobalLinkTransform() returns a valid isometry by contract
       const Eigen::Isometry3d& t = state->getGlobalLinkTransform(lm);
       std::vector<double> v(7);
       v[0] = t.translation().x();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 8573ba7f51..85cf1631e1 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -237,7 +237,7 @@ void MotionPlanningFrame::selectedCollisionObjectChanged()
 
           if (obj->shapes_.size() == 1)
           {
-            obj_pose = obj->shape_poses_[0];
+            obj_pose = obj->shape_poses_[0];  // valid isometry by contract
             Eigen::Vector3d xyz = obj_pose.linear().eulerAngles(0, 1, 2);
             update_scene_marker = true;  // do the marker update outside locked scope to avoid deadlock
 
@@ -322,6 +322,7 @@ void MotionPlanningFrame::updateCollisionObjectPose(bool update_marker_position)
       // Update the interactive marker pose to match the manually introduced one
       if (update_marker_position && scene_marker_)
       {
+        // p is isometry by construction
         Eigen::Quaterniond eq(p.linear());
         scene_marker_->setPose(Ogre::Vector3(ui_->object_x->value(), ui_->object_y->value(), ui_->object_z->value()),
                                Ogre::Quaternion(eq.w(), eq.x(), eq.y(), eq.z()), "");
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
index 2455db97ca..26259978cb 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_link_updater.cpp
@@ -51,6 +51,7 @@ bool moveit_rviz_plugin::PlanningLinkUpdater::getLinkTransforms(const std::strin
     return false;
   }
 
+  // getGlobalLinkTransform() returns a valid isometry by contract
   const Eigen::Vector3d& robot_visual_position = kinematic_state_->getGlobalLinkTransform(link_model).translation();
   Eigen::Quaterniond robot_visual_orientation(kinematic_state_->getGlobalLinkTransform(link_model).linear());
   visual_position = Ogre::Vector3(robot_visual_position.x(), robot_visual_position.y(), robot_visual_position.z());
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 19e06f150c..f2ddd86aeb 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -36,6 +36,7 @@
 
 #include <moveit/rviz_plugin_render_tools/render_shapes.h>
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
+#include <geometric_shapes/check_isometry.h>
 #include <geometric_shapes/mesh_operations.h>
 
 #include <OgreSceneNode.h>
@@ -82,6 +83,7 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
   rviz::Shape* ogre_shape = nullptr;
   Eigen::Vector3d translation = p.translation();
   Ogre::Vector3 position(translation.x(), translation.y(), translation.z());
+  ASSERT_ISOMETRY(p)  // unsanitized input, could contain a non-isometry
   Eigen::Quaterniond q(p.linear());
   Ogre::Quaternion orientation(q.w(), q.x(), q.y(), q.z());
 

From 7aa1699f84d38f2881156b0a7466d3d528228e5d Mon Sep 17 00:00:00 2001
From: John Stechschulte <john@picknik.ai>
Date: Tue, 26 May 2020 11:09:47 -0600
Subject: [PATCH 301/612] Prevent collision checking segfault if octomap has
 NULL root pointer (#2104)

---
 .../collision_detection_fcl/src/collision_common.cpp      | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 862104d756..30aa876374 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -517,6 +517,14 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
   }
 
   fcl_result.min_distance = dist_threshold;
+  // fcl::distance segfaults when given an octree with a null root pointer (using FCL 0.6.1)
+  if ((o1->getObjectType() == fcl::OT_OCTREE &&
+       !std::static_pointer_cast<const fcl::OcTreed>(o1->collisionGeometry())->getRoot()) ||
+      (o2->getObjectType() == fcl::OT_OCTREE &&
+       !std::static_pointer_cast<const fcl::OcTreed>(o2->collisionGeometry())->getRoot()))
+  {
+    return false;
+  }
   double d = fcl::distance(o1, o2, fcl::DistanceRequestd(cdata->req->enable_nearest_points), fcl_result);
 
   // Check if either object is already in the map. If not add it or if present

From 3f3ef1fa8f8a9856c24df97fcb3ff09a0aaec24c Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Tue, 26 May 2020 20:15:36 +0300
Subject: [PATCH 302/612] PlanningComponent: Load plan_request_params (#2033)

Load plan_request_params and use them when calling plan(void).
---
 .../moveit/moveit_cpp/planning_component.h    | 13 +++++++++++-
 .../moveit_cpp/src/moveit_cpp.cpp             |  4 ++--
 .../moveit_cpp/src/planning_component.cpp     | 21 +++++++++++--------
 .../planning_interface/test/moveit_cpp.yaml   |  3 ++-
 4 files changed, 28 insertions(+), 13 deletions(-)

diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index c8bc15c6f3..7a48c9446f 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -108,10 +108,21 @@ class PlanningComponent
   {
     std::string planner_id;
     std::string planning_pipeline;
-    size_t planning_attempts;
+    int planning_attempts;
     double planning_time;
     double max_velocity_scaling_factor;
     double max_acceleration_scaling_factor;
+
+    void load(const ros::NodeHandle& nh)
+    {
+      std::string ns = "plan_request_params/";
+      nh.param(ns + "planner_id", planner_id, std::string(""));
+      nh.param(ns + "planning_pipeline", planning_pipeline, std::string(""));
+      nh.param(ns + "planning_time", planning_attempts, 1);
+      nh.param(ns + "planning_attempts", planning_time, 5.0);
+      nh.param(ns + "max_velocity_scaling_factor", max_velocity_scaling_factor, 1.0);
+      nh.param(ns + "max_acceleration_scaling_factor", max_acceleration_scaling_factor, 1.0);
+    }
   };
 
   /** \brief Constructor */
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 7f9b6700dc..8b5b494e7e 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -57,9 +57,9 @@ MoveItCpp::MoveItCpp(const ros::NodeHandle& nh, const std::shared_ptr<tf2_ros::B
 {
 }
 
-MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& /*unused*/,
+MoveItCpp::MoveItCpp(const Options& options, const ros::NodeHandle& nh,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
-  : tf_buffer_(tf_buffer)
+  : tf_buffer_(tf_buffer), node_handle_(nh)
 {
   if (!tf_buffer_)
     tf_buffer_.reset(new tf2_ros::Buffer());
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index 47f3ff56b3..102489b269 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -81,10 +81,19 @@ PlanningComponent::PlanningComponent(const std::string& group_name, const MoveIt
     throw std::runtime_error(error);
   }
   planning_pipeline_names_ = moveit_cpp_->getPlanningPipelineNames(group_name);
+  plan_request_parameters_.load(nh_);
+  ROS_DEBUG_STREAM_NAMED(
+      LOGNAME, "Plan request parameters loaded with --"
+                   << " planning_pipeline: " << plan_request_parameters_.planning_pipeline << ","
+                   << " planner_id: " << plan_request_parameters_.planner_id << ","
+                   << " planning_time: " << plan_request_parameters_.planning_time << ","
+                   << " planning_attempts: " << plan_request_parameters_.planning_attempts << ","
+                   << " max_velocity_scaling_factor: " << plan_request_parameters_.max_velocity_scaling_factor << ","
+                   << " max_acceleration_scaling_factor: " << plan_request_parameters_.max_acceleration_scaling_factor);
 }
 
 PlanningComponent::PlanningComponent(const std::string& group_name, const ros::NodeHandle& nh)
-  : nh_(nh), moveit_cpp_(new MoveItCpp(nh)), group_name_(group_name)
+  : PlanningComponent(group_name, std::make_shared<MoveItCpp>(nh))
 {
 }
 
@@ -138,6 +147,7 @@ PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParamet
   ::planning_interface::MotionPlanRequest req;
   req.group_name = group_name_;
   req.planner_id = parameters.planner_id;
+  req.num_planning_attempts = std::max(1, parameters.planning_attempts);
   req.allowed_planning_time = parameters.planning_time;
   req.max_velocity_scaling_factor = parameters.max_velocity_scaling_factor;
   req.max_acceleration_scaling_factor = parameters.max_acceleration_scaling_factor;
@@ -197,14 +207,7 @@ PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParamet
 
 PlanningComponent::PlanSolution PlanningComponent::plan()
 {
-  PlanRequestParameters default_parameters;
-  default_parameters.planning_attempts = 1;
-  default_parameters.planning_time = 5.0;
-  default_parameters.max_velocity_scaling_factor = 1.0;
-  default_parameters.max_acceleration_scaling_factor = 1.0;
-  if (!planning_pipeline_names_.empty())
-    default_parameters.planning_pipeline = *planning_pipeline_names_.begin();
-  return plan(default_parameters);
+  return plan(plan_request_parameters_);
 }
 
 bool PlanningComponent::setStartState(const moveit::core::RobotState& start_state)
diff --git a/moveit_ros/planning_interface/test/moveit_cpp.yaml b/moveit_ros/planning_interface/test/moveit_cpp.yaml
index 910b85c700..6d622662c9 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp.yaml
+++ b/moveit_ros/planning_interface/test/moveit_cpp.yaml
@@ -11,7 +11,8 @@ planning_pipelines:
   pipeline_names:
     - ompl
 
-default_planner_options:
+plan_request_params:
   planning_attempts: 1
+  planning_pipeline: ompl
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
\ No newline at end of file

From acc94505b23cb28fbf075fea03ea00dc0148b97d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 28 May 2020 09:56:17 +0200
Subject: [PATCH 303/612] Fix getTransform() (#2113)

Replace:
- PlanningScene::getTransforms().getTransform() -> PlanningScene::getFrameTransform()
- PlanningScene::getTransforms().canTransform() -> PlanningScene::knowsFrameTransform()

getTransforms() essentially yields the SceneTransforms instance of the parent scene only.
Accessing the corresponding frame transforms obviously yields the wrong results.
---
 .../include/moveit/planning_scene/planning_scene.h |  2 +-
 moveit_core/planning_scene/src/planning_scene.cpp  | 14 +++++++-------
 .../semantic_world/src/semantic_world.cpp          |  2 +-
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 5a776494e3..942cbd3b07 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -1022,7 +1022,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   moveit::core::AttachedBodyCallback current_state_attached_body_callback_;
 
   // This variable is not necessarily used by child planning scenes
-  // This Transforms class is actually a SceneTransform class
+  // This Transforms class is actually a SceneTransforms class
   moveit::core::TransformsPtr scene_transforms_;  // if NULL use parent's
 
   collision_detection::WorldPtr world_;             // never NULL, never shared with parent/child
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index bdfd3ed07f..c72decd3b9 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1285,7 +1285,7 @@ void PlanningScene::processOctomapMsg(const octomap_msgs::Octomap& map)
   std::shared_ptr<octomap::OcTree> om(static_cast<octomap::OcTree*>(octomap_msgs::msgToMap(map)));
   if (!map.header.frame_id.empty())
   {
-    const Eigen::Isometry3d& t = getTransforms().getTransform(map.header.frame_id);
+    const Eigen::Isometry3d& t = getFrameTransform(map.header.frame_id);
     world_->addToObject(OCTOMAP_NS, shapes::ShapeConstPtr(new shapes::OcTree(om)), t);
   }
   else
@@ -1321,7 +1321,7 @@ void PlanningScene::processOctomapMsg(const octomap_msgs::OctomapWithPose& map)
   }
 
   std::shared_ptr<octomap::OcTree> om(static_cast<octomap::OcTree*>(octomap_msgs::msgToMap(map.octomap)));
-  const Eigen::Isometry3d& t = getTransforms().getTransform(map.header.frame_id);
+  const Eigen::Isometry3d& t = getFrameTransform(map.header.frame_id);
   Eigen::Isometry3d p;
   tf2::fromMsg(map.origin, p);
   p = t * p;
@@ -1493,7 +1493,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         if (object.object.header.frame_id != object.link_name)
         {
           const Eigen::Isometry3d& transform = robot_state_->getGlobalLinkTransform(link_model).inverse() *
-                                               getTransforms().getTransform(object.object.header.frame_id);
+                                               getFrameTransform(object.object.header.frame_id);
           for (Eigen::Isometry3d& pose : poses)
             pose = transform * pose;
         }
@@ -1533,7 +1533,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         if (object.object.header.frame_id != object.link_name)
         {
           const Eigen::Isometry3d& transform = robot_state_->getGlobalLinkTransform(link_model).inverse() *
-                                               getTransforms().getTransform(object.object.header.frame_id);
+                                               getFrameTransform(object.object.header.frame_id);
           for (auto& subframe : subframe_poses)
             subframe.second = transform * subframe.second;
         }
@@ -1727,7 +1727,7 @@ bool PlanningScene::processCollisionObjectAdd(const moveit_msgs::CollisionObject
     return false;
   }
 
-  if (!getTransforms().canTransform(object.header.frame_id))
+  if (!knowsFrameTransform(object.header.frame_id))
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Unknown frame: " << object.header.frame_id);
     return false;
@@ -1737,7 +1737,7 @@ bool PlanningScene::processCollisionObjectAdd(const moveit_msgs::CollisionObject
   if (object.operation == moveit_msgs::CollisionObject::ADD && world_->hasObject(object.id))
     world_->removeObject(object.id);
 
-  const Eigen::Isometry3d& object_frame_transform = getTransforms().getTransform(object.header.frame_id);
+  const Eigen::Isometry3d& object_frame_transform = getFrameTransform(object.header.frame_id);
 
   for (std::size_t i = 0; i < object.primitives.size(); ++i)
   {
@@ -1808,7 +1808,7 @@ bool PlanningScene::processCollisionObjectMove(const moveit_msgs::CollisionObjec
       ROS_WARN_NAMED(LOGNAME, "Move operation for object '%s' ignores the geometry specified in the message.",
                      object.id.c_str());
 
-    const Eigen::Isometry3d& t = getTransforms().getTransform(object.header.frame_id);
+    const Eigen::Isometry3d& t = getFrameTransform(object.header.frame_id);
     EigenSTL::vector_Isometry3d new_poses;
     for (const geometry_msgs::Pose& primitive_pose : object.primitive_poses)
     {
diff --git a/moveit_ros/perception/semantic_world/src/semantic_world.cpp b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
index dec19c206b..f1eb076184 100644
--- a/moveit_ros/perception/semantic_world/src/semantic_world.cpp
+++ b/moveit_ros/perception/semantic_world/src/semantic_world.cpp
@@ -485,7 +485,7 @@ void SemanticWorld::transformTableArray(object_recognition_msgs::TableArray& tab
     ROS_INFO_STREAM_NAMED(LOGNAME, "Original pose: " << table.pose.position.x << "," << table.pose.position.y << ","
                                                      << table.pose.position.z);
     std::string error_text;
-    const Eigen::Isometry3d& original_transform = planning_scene_->getTransforms().getTransform(original_frame);
+    const Eigen::Isometry3d& original_transform = planning_scene_->getFrameTransform(original_frame);
     Eigen::Isometry3d original_pose;
     tf2::fromMsg(table.pose, original_pose);
     original_pose = original_transform * original_pose;

From 81e64b9c8ce5672d770c8b4c21ed3896bd1ea400 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 29 May 2020 14:19:43 +0200
Subject: [PATCH 304/612] [CMake] fix link to eigenpy (#2118)

fix https://github.com/stack-of-tasks/eigenpy/issues/195

Since https://github.com/ros-planning/moveit/pull/1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
---
 moveit_ros/planning_interface/CMakeLists.txt                    | 1 -
 .../planning_interface/move_group_interface/CMakeLists.txt      | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 8fed49b108..3ba534ecf8 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -86,7 +86,6 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
 
 include_directories(SYSTEM
                     ${EIGEN3_INCLUDE_DIRS}
-                    ${eigenpy_INCLUDE_DIRS}
                     ${PYTHON_INCLUDE_DIRS})
 
 add_subdirectory(py_bindings_tools)
diff --git a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
index 31536f08c9..d822174bf0 100644
--- a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
@@ -6,7 +6,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_object
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp)
-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${eigenpy_LIBRARIES} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
+target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} eigenpy::eigenpy ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
 add_dependencies(${MOVEIT_LIB_NAME}_python ${catkin_EXPORTED_TARGETS})
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_move_group_interface PREFIX "")

From 641fe842c9e40c77fba884487a61ef92dbf94b86 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 29 May 2020 18:56:15 +0300
Subject: [PATCH 305/612] Fix catkin_lint issues (#2120)

catkin_lint became a little stricter in checking...
---
 moveit_ros/visualization/CMakeLists.txt | 1 +
 moveit_setup_assistant/package.xml      | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 16b505344c..c1c71a5bbc 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -81,6 +81,7 @@ catkin_package(
     moveit_ros_robot_interaction
     object_recognition_msgs
     roscpp
+    rviz
   DEPENDS
     EIGEN3
 )
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 3a8581b32a..b72a15a2cd 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -22,18 +22,19 @@
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
   <build_depend>ompl</build_depend>
+  <build_depend>rviz</build_depend>
 
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_visualization</depend>
   <depend>rosconsole</depend>
   <depend>roscpp</depend>
-  <depend>rviz</depend>
   <depend>urdf</depend>
   <depend>yaml-cpp</depend>
   <depend version_gt="0.3.1">srdfdom</depend>
 
   <exec_depend>xacro</exec_depend>
+  <exec_depend>rviz</exec_depend>
 
   <test_depend>moveit_resources</test_depend>
   <test_depend>rosunit</test_depend>

From 1518cbf71bf0c25232abba9640307929db5820e2 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sun, 31 May 2020 21:01:00 +0200
Subject: [PATCH 306/612] Bump version to upcoming Noetic release: 1.1.0
 (#2123)

---
 moveit/package.xml                                          | 2 +-
 moveit_commander/package.xml                                | 2 +-
 moveit_core/package.xml                                     | 2 +-
 moveit_experimental/moveit_jog_arm/package.xml              | 2 +-
 moveit_kinematics/package.xml                               | 2 +-
 moveit_planners/chomp/chomp_interface/package.xml           | 2 +-
 moveit_planners/chomp/chomp_motion_planner/package.xml      | 2 +-
 moveit_planners/chomp/chomp_optimizer_adapter/package.xml   | 2 +-
 moveit_planners/moveit_planners/package.xml                 | 2 +-
 moveit_planners/ompl/package.xml                            | 2 +-
 moveit_plugins/moveit_fake_controller_manager/package.xml   | 2 +-
 moveit_plugins/moveit_plugins/package.xml                   | 2 +-
 moveit_plugins/moveit_ros_control_interface/package.xml     | 2 +-
 moveit_plugins/moveit_simple_controller_manager/package.xml | 2 +-
 moveit_ros/benchmarks/package.xml                           | 2 +-
 moveit_ros/manipulation/package.xml                         | 2 +-
 moveit_ros/move_group/package.xml                           | 2 +-
 moveit_ros/moveit_ros/package.xml                           | 2 +-
 moveit_ros/occupancy_map_monitor/package.xml                | 2 +-
 moveit_ros/perception/package.xml                           | 2 +-
 moveit_ros/planning/package.xml                             | 2 +-
 moveit_ros/planning_interface/package.xml                   | 2 +-
 moveit_ros/robot_interaction/package.xml                    | 2 +-
 moveit_ros/visualization/package.xml                        | 2 +-
 moveit_ros/warehouse/package.xml                            | 2 +-
 moveit_runtime/package.xml                                  | 2 +-
 moveit_setup_assistant/package.xml                          | 2 +-
 27 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/moveit/package.xml b/moveit/package.xml
index 5a50dbd315..ac350c8c1c 100644
--- a/moveit/package.xml
+++ b/moveit/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Meta package that contains all essential package of MoveIt. Until Summer 2016 MoveIt had been developed over multiple repositories, where developers' usability and maintenance effort was non-trivial. See <a href = "http://discourse.ros.org/t/migration-to-one-github-repo-for-moveit/266/34">the detailed discussion for the merge of several repositories</a>.</description>
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
index a962c6a2df..4d58b563ec 100644
--- a/moveit_commander/package.xml
+++ b/moveit_commander/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_commander</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Python interfaces to MoveIt</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index a8256a6e29..26f94f3826 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_core</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Core libraries used by MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index 931be71bac..0a9858261c 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_jog_arm</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
 
   <description>Provides real-time manipulator Cartesian jogging.</description>
 
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 64ddccb0b9..561d943079 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_kinematics</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Package for all inverse kinematics solvers in MoveIt</description>
 
   <author email="dave@picknik.ai">Dave Coleman</author>
diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml
index bc27808754..8a4291483f 100644
--- a/moveit_planners/chomp/chomp_interface/package.xml
+++ b/moveit_planners/chomp/chomp_interface/package.xml
@@ -2,7 +2,7 @@
   <name>moveit_planners_chomp</name>
   <description>The interface for using CHOMP within MoveIt</description>
 
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <author email="gjones@willowgarage.com">Gil Jones</author>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>
diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml
index 81c05a1bf6..1473bafc5a 100644
--- a/moveit_planners/chomp/chomp_motion_planner/package.xml
+++ b/moveit_planners/chomp/chomp_motion_planner/package.xml
@@ -2,7 +2,7 @@
   <name>chomp_motion_planner</name>
   <description>chomp_motion_planner</description>
 
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <author email="gjones@willowgarage.com">Gil Jones</author>
   <author email="mail@mrinal.net">Mrinal Kalakrishnan</author>
 
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
index 4861c4e43c..d68ec3800f 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
@@ -3,7 +3,7 @@
   <name>moveit_chomp_optimizer_adapter</name>
   <description>MoveIt planning request adapter utilizing chomp for solution optimization</description>
 
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <author email="raghavendersahdev@gmail.com">Raghavender Sahdev</author>
   <maintainer email="raghavendersahdev@gmail.com">Raghavender Sahdev</maintainer>
   <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml
index a3ef9a50aa..bc7dc31873 100644
--- a/moveit_planners/moveit_planners/package.xml
+++ b/moveit_planners/moveit_planners/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_planners</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Metapacakge that installs all available planners for MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
index f7c87e00f2..1efad63a75 100644
--- a/moveit_planners/ompl/package.xml
+++ b/moveit_planners/ompl/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_planners_ompl</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>MoveIt interface to OMPL</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_plugins/moveit_fake_controller_manager/package.xml b/moveit_plugins/moveit_fake_controller_manager/package.xml
index d87a4a53bb..3c7dd57332 100644
--- a/moveit_plugins/moveit_fake_controller_manager/package.xml
+++ b/moveit_plugins/moveit_fake_controller_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_fake_controller_manager</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>A fake controller manager plugin for MoveIt.</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml
index c64dc69235..f6598bb080 100644
--- a/moveit_plugins/moveit_plugins/package.xml
+++ b/moveit_plugins/moveit_plugins/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_plugins</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Metapackage for MoveIt plugins.</description>
 
   <author email="mferguson@fetchrobotics.com">Michael Ferguson</author>
diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml
index 92bd877cdc..f3d1626a5c 100644
--- a/moveit_plugins/moveit_ros_control_interface/package.xml
+++ b/moveit_plugins/moveit_ros_control_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_ros_control_interface</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>ros_control controller manager interface for MoveIt</description>
 
   <author email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</author>
diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml
index a53dea01fc..af672e7e71 100644
--- a/moveit_plugins/moveit_simple_controller_manager/package.xml
+++ b/moveit_plugins/moveit_simple_controller_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_simple_controller_manager</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>A generic, simple controller manager plugin for MoveIt.</description>
 
   <author email="mferguson@fetchrobotics.com">Michael Ferguson</author>
diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml
index acc1789072..d5d3ecb890 100644
--- a/moveit_ros/benchmarks/package.xml
+++ b/moveit_ros/benchmarks/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_benchmarks</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
 
   <description>Enhanced tools for benchmarks in MoveIt</description>
 
diff --git a/moveit_ros/manipulation/package.xml b/moveit_ros/manipulation/package.xml
index 6b1c82dddc..49053da42f 100644
--- a/moveit_ros/manipulation/package.xml
+++ b/moveit_ros/manipulation/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_manipulation</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt used for manipulation</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml
index 9c1130b9f1..39fdfe514a 100644
--- a/moveit_ros/move_group/package.xml
+++ b/moveit_ros/move_group/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_move_group</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>The move_group node for MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml
index 60671d1f8f..3a2337f53b 100644
--- a/moveit_ros/moveit_ros/package.xml
+++ b/moveit_ros/moveit_ros/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
index 8ff09a2966..f56023495d 100644
--- a/moveit_ros/occupancy_map_monitor/package.xml
+++ b/moveit_ros/occupancy_map_monitor/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_ros_occupancy_map_monitor</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt connecting to occupancy map</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml
index 0d3a038102..19e72c6bd2 100644
--- a/moveit_ros/perception/package.xml
+++ b/moveit_ros/perception/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_perception</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt connecting to perception</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml
index c5f426ebe1..1cf2bb163f 100644
--- a/moveit_ros/planning/package.xml
+++ b/moveit_ros/planning/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <package format="2">
   <name>moveit_ros_planning</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Planning components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 5b9a0eef07..90dc50db0b 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_planning_interface</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt that offer simpler interfaces to planning and execution</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml
index 83116910cf..f18f2e4b1e 100644
--- a/moveit_ros/robot_interaction/package.xml
+++ b/moveit_ros/robot_interaction/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_robot_interaction</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt that offer interaction via interactive markers</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index a0f4183906..40fcbd843f 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_visualization</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt that offer visualization</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml
index 14512ec42f..b815fa139a 100644
--- a/moveit_ros/warehouse/package.xml
+++ b/moveit_ros/warehouse/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_warehouse</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Components of MoveIt connecting to MongoDB</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml
index f331186799..bc8a465c1e 100644
--- a/moveit_runtime/package.xml
+++ b/moveit_runtime/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_runtime</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).</description>
 
   <author email="gm130s@gmail.com">Isaac I. Y. Saito</author>
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index b72a15a2cd..9b73230f22 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_setup_assistant</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
 
   <description>Generates a configuration package that makes it easy to use MoveIt</description>
 

From 4da86c65d3babc8f02c42aa2c6656cbddf295710 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 2 Jun 2020 09:50:29 -0600
Subject: [PATCH 307/612] Cleanup MoveIt 1 README (#2125)

* Cleanup MoveIt 1 README

* Update README.md

Co-authored-by: Nathan Brooks <nbbrooks@gmail.com>

* Update README.md

Co-authored-by: Nathan Brooks <nbbrooks@gmail.com>

* Update README.md

Co-authored-by: Nathan Brooks <nbbrooks@gmail.com>

Co-authored-by: Nathan Brooks <nbbrooks@gmail.com>
---
 README.md | 35 ++++++++++++++++++-----------------
 1 file changed, 18 insertions(+), 17 deletions(-)

diff --git a/README.md b/README.md
index 0b330cc1bc..f371471aff 100644
--- a/README.md
+++ b/README.md
@@ -1,40 +1,41 @@
-<img src="http://moveit.ros.org/assets/images/moveit2_logo_black.png" alt="MoveIt Logo" width="200"/>
+<img src="https://moveit.ros.org/assets/logo/moveit_logo-black.png" alt="MoveIt Logo" width="200"/>
 
-The MoveIt Motion Planning Framework
+**The MoveIt Motion Planning Framework**
 
-Currently we support ROS Kinetic and Melodic for ROS 1.
+*Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.*
 
-- [Overview of MoveIt](http://moveit.ros.org)
-- [Installation Instructions](http://moveit.ros.org/install/)
-- [Documentation](http://moveit.ros.org/documentation/)
-- [Get Involved](http://moveit.ros.org/documentation/contributing/)
+- [Overview of MoveIt](https://moveit.ros.org)
+- [Installation Instructions](https://moveit.ros.org/install/)
+- [Documentation](https://moveit.ros.org/documentation/)
+- [Get Involved](https://moveit.ros.org/about/get_involved/)
 
 ## Branches Policy
 
-We develop all new 1.0 features on ``master``. The ``*-devel`` branches correspond to
-released and stable versions of MoveIt for specific distributions of ROS.
-Bug fixes occationally get backported to these released versions of MoveIt.
-The next version of MoveIt 1.0 will be branched to ``noetic-devel`` around May 2020.
+- We develop latest features on ``master``.
+- The ``*-devel`` branches correspond to released and stable versions of MoveIt for specific distributions of ROS.
+- Bug fixes occationally get backported to these released versions of MoveIt.
+- The next version of MoveIt 1.0 will be branched to ``noetic-devel`` around June 2020.
+- For MoveIt 2 development, see [moveit2](https://github.com/ros-planning/moveit2).
 
-For MoveIt 2.0 development, see [moveit2](https://github.com/ros-planning/moveit2).
+## MoveIt Status
 
-## Continuous Integration Status
+### Continuous Integration
 
 service    | Kinetic | Melodic | Master
 ---------- | ------- | ------- | ------
 Travis     | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=kinetic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=melodic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=master)](https://travis-ci.org/ros-planning/moveit/branches) |
 build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__moveit__ubuntu_xenial_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__moveit__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__moveit__ubuntu_bionic_amd64) | N/A |
 
-## Licenses
+### Licenses
 
 [![FOSSA Status](https://app.fossa.com/api/projects/git%2Bgithub.com%2Fros-planning%2Fmoveit.svg?type=shield)](https://app.fossa.com/projects/git%2Bgithub.com%2Fros-planning%2Fmoveit?ref=badge_shield)
 
-## Docker Containers
+### Docker Containers
 
 [![Docker Build](https://img.shields.io/docker/build/moveit/moveit.svg)](https://hub.docker.com/r/moveit/moveit/builds)
 [![Docker Automated build](https://img.shields.io/docker/automated/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Pulls](https://img.shields.io/docker/pulls/moveit/moveit.svg?maxAge=2592000)](https://hub.docker.com/r/moveit/moveit/) [![Docker Stars](https://img.shields.io/docker/stars/moveit/moveit.svg)](https://registry.hub.docker.com/moveit/moveit/)
 
-## ROS Buildfarm
+### ROS Buildfarm
 
 MoveIt Package | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
 --------------- | -------------- | -------------- | -------------- | --------------
@@ -68,4 +69,4 @@ moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildSt
 moveit_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)
 chomp_motion_planner | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)
 geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__geometric_shapes__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__geometric_shapes__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__geometric_shapes__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__geometric_shapes__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)
-srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)
\ No newline at end of file
+srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)

From 1ae43180a09b53252cf952a7ac83c87bd6097f74 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 2 Jun 2020 10:00:15 -0600
Subject: [PATCH 308/612] Remove support for Indigo's ros_control (#2128)

Code states "This can be removed upon EOL Indigo", which MoveIt has EOL'd
---
 .../CMakeLists.txt                            |  5 ----
 .../src/controller_manager_plugin.cpp         | 27 -------------------
 2 files changed, 32 deletions(-)

diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index 90a00ea567..00988dcb65 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -29,11 +29,6 @@ catkin_package(
   DEPENDS Boost
 )
 
-# support indigo's ros_control - This can be removed upon EOL indigo
-if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
-  add_definitions(-DMOVEIT_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
-endif()
-
 include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}_plugin
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
index 2a6e1ce8d8..e1e0232e5d 100644
--- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
+++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -158,9 +158,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
       }
 
       std::vector<std::string> resources;
-#if defined(MOVEIT_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
-      resources = controller.resources;
-#else
       // Collect claimed resources across different hardware interfaces
       for (const controller_manager_msgs::HardwareInterfaceResources& claimed_resource : controller.claimed_resources)
       {
@@ -169,7 +166,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
           resources.push_back(resource);
         }
       }
-#endif
 
       moveit_controller_manager::MoveItControllerHandlePtr handle =
           alloc_it->second->alloc(name, resources);  // allocate handle
@@ -268,15 +264,11 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
     ControllersMap::iterator it = managed_controllers_.find(name);
     if (it != managed_controllers_.end())
     {
-#if defined(MOVEIT_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
-      joints = it->second.resources;
-#else
       for (controller_manager_msgs::HardwareInterfaceResources& claimed_resource : it->second.claimed_resources)
       {
         std::vector<std::string>& resources = claimed_resource.resources;
         joints.insert(joints.end(), resources.begin(), resources.end());
       }
-#endif
     }
   }
 
@@ -319,12 +311,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
     for (std::pair<const std::string, controller_manager_msgs::ControllerState>& active_controller :
          active_controllers_)
     {
-#if defined(MOVEIT_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
-      for (std::vector<std::string>::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
-      {
-        claimed_resources.insert(resources_bimap::value_type(c->second.name, *r));
-      }
-#else
       for (std::vector<controller_manager_msgs::HardwareInterfaceResources>::iterator hir =
                active_controller.second.claimed_resources.begin();
            hir != active_controller.second.claimed_resources.end(); ++hir)
@@ -334,7 +320,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
           claimed_resources.insert(resources_bimap::value_type(active_controller.second.name, resource));
         }
       }
-#endif
     }
 
     controller_manager_msgs::SwitchController srv;
@@ -355,17 +340,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
       if (c != managed_controllers_.end())
       {  // controller belongs to this manager
         srv.request.start_controllers.push_back(c->second.name);
-#if defined(MOVEIT_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
-        for (std::vector<std::string>::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
-        {  // for all claimed resource
-          resources_bimap::right_const_iterator res = claimed_resources.right.find(*r);
-          if (res != claimed_resources.right.end())
-          {                                                       // resource is claimed
-            srv.request.stop_controllers.push_back(res->second);  // add claiming controller to stop list
-            claimed_resources.left.erase(res->second);            // remove claimed resources
-          }
-        }
-#else
         for (controller_manager_msgs::HardwareInterfaceResources& claimed_resource : c->second.claimed_resources)
         {
           for (const std::string& resource : claimed_resource.resources)
@@ -378,7 +352,6 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
             }
           }
         }
-#endif
       }
     }
     srv.request.strictness = srv.request.STRICT;

From 725a1f411a16b9703e034273faba40188002c11a Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 2 Jun 2020 12:38:24 -0600
Subject: [PATCH 309/612] Add temporary rosinstall for building Noetic (#2134)

Includes all repos that are not yet available from Debian
---
 moveit_noetic.rosinstall | 75 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 moveit_noetic.rosinstall

diff --git a/moveit_noetic.rosinstall b/moveit_noetic.rosinstall
new file mode 100644
index 0000000000..532928a195
--- /dev/null
+++ b/moveit_noetic.rosinstall
@@ -0,0 +1,75 @@
+#################################
+# Temporary Noetic ROS Install
+# Remove all the extra source builds once they are released
+#################################
+
+# This file is intended for users who want to build MoveIt from source.
+# Used with wstool, users can download source of all packages of MoveIt.
+- git:
+    local-name: moveit_msgs
+    uri: https://github.com/ros-planning/moveit_msgs.git
+    version: master
+- git:
+    local-name: geometric_shapes
+    uri: https://github.com/ros-planning/geometric_shapes.git
+    version: noetic-devel
+- git:
+    local-name: moveit
+    uri: https://github.com/ros-planning/moveit.git
+    version: master
+- git:
+    local-name: rviz_visual_tools
+    uri: https://github.com/PickNikRobotics/rviz_visual_tools
+    version: master
+- git:
+    local-name: moveit_visual_tools
+    uri: https://github.com/ros-planning/moveit_visual_tools.git
+    version: master
+- git:
+    local-name: moveit_tutorials
+    uri: https://github.com/ros-planning/moveit_tutorials.git
+    version: master
+- git:
+    local-name: panda_moveit_config
+    uri: https://github.com/ros-planning/panda_moveit_config.git
+    version: melodic-devel
+
+####################################
+# Remove the following once released
+####################################
+- git:
+    local-name: rosparam_shortcuts
+    uri: https://github.com/PickNikRobotics/rosparam_shortcuts.git
+    version: melodic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ros-planning/srdfdom.git
+    version: melodic-devel
+- git:
+    local-name: ompl
+    uri: https://github.com/ompl/ompl.git
+    version: master
+- git:
+    local-name: ros_pytest
+    uri: https://github.com/machinekoder/ros_pytest.git
+    version: melodic-devel
+- git:
+    local-name: joystick_drivers
+    uri: https://github.com/ros-drivers/joystick_drivers.git
+    version: master
+- git:
+    local-name: teleop_tools
+    uri: https://github.com/ros-teleop/teleop_tools.git
+    version: kinetic-devel
+- git:
+    local-name: moveit_resources
+    uri: https://github.com/ros-planning/moveit_resources.git
+    version: master
+- git:
+    local-name: franka_ros
+    uri: https://github.com/frankaemika/franka_ros.git
+    version: kinetic-devel
+- git:
+    local-name: graph_msgs
+    uri: https://github.com/davetcoleman/graph_msgs.git
+    version: jade-devel
\ No newline at end of file

From c6cc5669c3392c9ed6c426857c1a7db6e70a1ac2 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 2 Jun 2020 16:45:15 -0600
Subject: [PATCH 310/612] Add Noetic ROS Build Badges to README (#2136)

* Update README

* Add ROS Buildfarm badges for Noetic
---
 README.md                             | 75 +++++++++++++++------------
 moveit/scripts/README.md              | 12 ++++-
 moveit/scripts/create_readme_table.py |  7 +--
 3 files changed, 56 insertions(+), 38 deletions(-)

diff --git a/README.md b/README.md
index f371471aff..f10d46ecfd 100644
--- a/README.md
+++ b/README.md
@@ -37,36 +37,45 @@ build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__mo
 
 ### ROS Buildfarm
 
-MoveIt Package | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian
---------------- | -------------- | -------------- | -------------- | --------------
-moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)
-moveit_chomp_optimizer_adapter | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)
-moveit_commander | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_commander__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_commander__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_commander__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_commander__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)
-moveit_core | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_core__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_core__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_core__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_core__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)
-moveit_experimental | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_experimental__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_experimental__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_experimental__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_experimental__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_experimental__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_experimental__ubuntu_bionic_amd64__binary)
-moveit_fake_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)
-moveit_kinematics | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_kinematics__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_kinematics__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_kinematics__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_kinematics__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)
-moveit_msgs | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_msgs__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_msgs__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_msgs__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_msgs__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary)
-moveit_planners | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)
-moveit_planners_chomp | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)
-moveit_planners_ompl | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)
-moveit_plugins | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_plugins__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_plugins__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_plugins__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_plugins__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)
-moveit_resources | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_resources__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_resources__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_resources__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_resources__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary)
-moveit_ros | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary)
-moveit_ros_benchmarks | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)
-moveit_ros_control_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)
-moveit_ros_manipulation | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)
-moveit_ros_move_group | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)
-moveit_ros_perception | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_perception__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_perception__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)
-moveit_ros_planning | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)
-moveit_ros_planning_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)
-moveit_ros_robot_interaction | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)
-moveit_ros_visualization | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)
-moveit_ros_warehouse | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)
-moveit_runtime | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_runtime__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_runtime__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_runtime__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_runtime__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)
-moveit_setup_assistant | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)
-moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)
-moveit_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)
-chomp_motion_planner | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)
-geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__geometric_shapes__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__geometric_shapes__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__geometric_shapes__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__geometric_shapes__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)
-srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)
+MoveIt Package | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian | Noetic Source | Noetic Debian
+-------------- | -------------- | -------------- | -------------- | -------------- | ------------- | -------------
+moveit | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit__ubuntu_focal_amd64__binary)
+moveit_chomp_optimizer_adapter | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_chomp_optimizer_adapter__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_chomp_optimizer_adapter__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_chomp_optimizer_adapter__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_chomp_optimizer_adapter__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_chomp_optimizer_adapter__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_chomp_optimizer_adapter__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_chomp_optimizer_adapter__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_chomp_optimizer_adapter__ubuntu_focal_amd64__binary)
+moveit_commander | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_commander__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_commander__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_commander__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_commander__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_commander__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_commander__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_commander__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_commander__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_commander__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_commander__ubuntu_focal_amd64__binary)
+moveit_core | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_core__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_core__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_core__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_core__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_core__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_core__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_core__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_core__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_core__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_core__ubuntu_focal_amd64__binary)
+moveit_fake_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_fake_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_fake_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_fake_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_fake_controller_manager__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_fake_controller_manager__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_fake_controller_manager__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_fake_controller_manager__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_fake_controller_manager__ubuntu_focal_amd64__binary)
+moveit_grasps |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_grasps__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_grasps__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_grasps__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_grasps__ubuntu_focal_amd64__binary)
+moveit_jog_arm |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_jog_arm__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_jog_arm__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_jog_arm__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_jog_arm__ubuntu_focal_amd64__binary)
+moveit_kinematics | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_kinematics__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_kinematics__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_kinematics__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_kinematics__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_kinematics__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_kinematics__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_kinematics__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_kinematics__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_kinematics__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_kinematics__ubuntu_focal_amd64__binary)
+moveit_msgs | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_msgs__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_msgs__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_msgs__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_msgs__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_msgs__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_msgs__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_msgs__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_msgs__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_msgs__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_msgs__ubuntu_focal_amd64__binary)
+moveit_planners | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_planners__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_planners__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_planners__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_planners__ubuntu_focal_amd64__binary)
+moveit_planners_chomp | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_chomp__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_chomp__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_chomp__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_chomp__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_planners_chomp__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_planners_chomp__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_planners_chomp__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_planners_chomp__ubuntu_focal_amd64__binary)
+moveit_planners_ompl | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_planners_ompl__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_planners_ompl__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_planners_ompl__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_planners_ompl__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_planners_ompl__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_planners_ompl__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_planners_ompl__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_planners_ompl__ubuntu_focal_amd64__binary)
+moveit_plugins | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_plugins__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_plugins__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_plugins__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_plugins__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_plugins__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_plugins__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_plugins__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_plugins__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_plugins__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_plugins__ubuntu_focal_amd64__binary)
+moveit_resources | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_resources__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_resources__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_resources__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_resources__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_resources__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_resources__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_resources__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_resources__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_resources__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_resources__ubuntu_focal_amd64__binary)
+moveit_ros | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros__ubuntu_focal_amd64__binary)
+moveit_ros_benchmarks | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_benchmarks__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_benchmarks__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_benchmarks__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_benchmarks__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_benchmarks__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_benchmarks__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_benchmarks__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_benchmarks__ubuntu_focal_amd64__binary)
+moveit_ros_control_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_control_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_control_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_control_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_control_interface__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_control_interface__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_control_interface__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_control_interface__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_control_interface__ubuntu_focal_amd64__binary)
+moveit_ros_manipulation | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_manipulation__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_manipulation__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_manipulation__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_manipulation__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_manipulation__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_manipulation__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_manipulation__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_manipulation__ubuntu_focal_amd64__binary)
+moveit_ros_move_group | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_move_group__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_move_group__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_move_group__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_move_group__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_move_group__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_move_group__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_move_group__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_move_group__ubuntu_focal_amd64__binary)
+moveit_ros_occupancy_map_monitor |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_occupancy_map_monitor__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_occupancy_map_monitor__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_occupancy_map_monitor__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_occupancy_map_monitor__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_occupancy_map_monitor__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_occupancy_map_monitor__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_occupancy_map_monitor__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_occupancy_map_monitor__ubuntu_focal_amd64__binary)
+moveit_ros_perception | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_perception__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_perception__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_perception__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_perception__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_perception__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_perception__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_perception__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_perception__ubuntu_focal_amd64__binary)
+moveit_ros_planning | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_planning__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_planning__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_planning__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_planning__ubuntu_focal_amd64__binary)
+moveit_ros_planning_interface | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_planning_interface__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_planning_interface__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_planning_interface__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_planning_interface__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_planning_interface__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_planning_interface__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_planning_interface__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_planning_interface__ubuntu_focal_amd64__binary)
+moveit_ros_robot_interaction | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_robot_interaction__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_robot_interaction__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_robot_interaction__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_robot_interaction__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_robot_interaction__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_robot_interaction__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_robot_interaction__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_robot_interaction__ubuntu_focal_amd64__binary)
+moveit_ros_visualization | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_visualization__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_visualization__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_visualization__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_visualization__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_visualization__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_visualization__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_visualization__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_visualization__ubuntu_focal_amd64__binary)
+moveit_ros_warehouse | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_ros_warehouse__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_ros_warehouse__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_ros_warehouse__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_warehouse__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_ros_warehouse__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_ros_warehouse__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_ros_warehouse__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_ros_warehouse__ubuntu_focal_amd64__binary)
+moveit_runtime | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_runtime__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_runtime__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_runtime__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_runtime__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_runtime__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_runtime__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_runtime__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_runtime__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_runtime__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_runtime__ubuntu_focal_amd64__binary)
+moveit_setup_assistant | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_setup_assistant__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_setup_assistant__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_setup_assistant__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_setup_assistant__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_setup_assistant__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_setup_assistant__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_setup_assistant__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_setup_assistant__ubuntu_focal_amd64__binary)
+moveit_simple_controller_manager | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_simple_controller_manager__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_simple_controller_manager__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_simple_controller_manager__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_simple_controller_manager__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_simple_controller_manager__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_simple_controller_manager__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_simple_controller_manager__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_simple_controller_manager__ubuntu_focal_amd64__binary)
+moveit_task_constructor_capabilities |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_task_constructor_capabilities__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_task_constructor_capabilities__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_task_constructor_capabilities__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_task_constructor_capabilities__ubuntu_focal_amd64__binary)
+moveit_task_constructor_core |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_task_constructor_core__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_task_constructor_core__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_task_constructor_core__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_task_constructor_core__ubuntu_focal_amd64__binary)
+moveit_task_constructor_demo |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_task_constructor_demo__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_task_constructor_demo__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_task_constructor_demo__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_task_constructor_demo__ubuntu_focal_amd64__binary)
+moveit_task_constructor_msgs |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_task_constructor_msgs__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_task_constructor_msgs__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_task_constructor_msgs__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_task_constructor_msgs__ubuntu_focal_amd64__binary)
+moveit_task_constructor_visualization |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_task_constructor_visualization__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_task_constructor_visualization__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_task_constructor_visualization__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_task_constructor_visualization__ubuntu_focal_amd64__binary)
+moveit_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__moveit_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_visual_tools__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__moveit_visual_tools__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__moveit_visual_tools__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__moveit_visual_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__moveit_visual_tools__ubuntu_focal_amd64__binary)
+chomp_motion_planner | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__chomp_motion_planner__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__chomp_motion_planner__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__chomp_motion_planner__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__chomp_motion_planner__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__chomp_motion_planner__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__chomp_motion_planner__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__chomp_motion_planner__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__chomp_motion_planner__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__chomp_motion_planner__ubuntu_focal_amd64__binary)
+geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__geometric_shapes__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__geometric_shapes__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__geometric_shapes__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__geometric_shapes__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__geometric_shapes__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__geometric_shapes__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__geometric_shapes__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__geometric_shapes__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__geometric_shapes__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__geometric_shapes__ubuntu_focal_amd64__binary)
+rviz_marker_tools |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__rviz_marker_tools__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__rviz_marker_tools__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__rviz_marker_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__rviz_marker_tools__ubuntu_focal_amd64__binary)
+rviz_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__rviz_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__rviz_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__rviz_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__rviz_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__rviz_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__rviz_visual_tools__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__rviz_visual_tools__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__rviz_visual_tools__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__rviz_visual_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__rviz_visual_tools__ubuntu_focal_amd64__binary)
+srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__srdfdom__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__srdfdom__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__srdfdom__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__srdfdom__ubuntu_focal_amd64__binary)
diff --git a/moveit/scripts/README.md b/moveit/scripts/README.md
index e2da938586..e6fde97ef7 100644
--- a/moveit/scripts/README.md
+++ b/moveit/scripts/README.md
@@ -2,14 +2,22 @@
 
 ## README Markdown Buildfarm Table Generator
 
-This Python script will generate Github-style Markdown table with Jenkins badges for every package recursively from the current folder. It will order all packages alphabetically, but start with all MoveIt packages first. For generating an updated README for a new ROS distribution, first update the `create_readme_table.py` script and add/remove the current MoveIt-supported ROS distros and their corresponding Ubuntu distribution in the specified Python dictionary. Then, in the main MoveIt `README.md` file, remove the "## ROS Buildfarm" header and the following table. Finally, from your catkin workspace with every MoveIt package, run the `create_readme_table.py` script. For example:
+This Python script will generate Github-style Markdown table with Jenkins badges for every package recursively from the current folder.
+It will order all packages alphabetically, but start with all MoveIt packages first.
+For generating an updated README for a new ROS distribution:
+First update the `create_readme_table.py` script and add/remove the current MoveIt-supported ROS distros and their corresponding Ubuntu distribution in the specified Python dictionary.
+Then, in the main MoveIt `README.md` file, remove the "## ROS Buildfarm" header and the following table.
+Finally, from your catkin workspace with every MoveIt package, run the `create_readme_table.py` script.
+For example:
 
     cd ~/ws_moveit/src
     python moveit/moveit/scripts/create_readme_table.py >> moveit/README.md
 
 ## HTML Table Generator
 
-This python script will generate an html page with useful data about every package in the current folder the script is run in. Therefore, to summarize moveit, run within a catkin workspace. For example:
+This python script will generate an html page with useful data about every package in the current folder the script is run in.
+Therefore, to summarize moveit, run within a catkin workspace.
+For example:
 
     cd ~/ws_moveit/src
     python moveit/moveit/scripts/create_maintainer_table.py
diff --git a/moveit/scripts/create_readme_table.py b/moveit/scripts/create_readme_table.py
index 9cbaed3e52..0b52973892 100644
--- a/moveit/scripts/create_readme_table.py
+++ b/moveit/scripts/create_readme_table.py
@@ -10,7 +10,7 @@
 
 def create_header(ros_ubuntu_dict):
   ros_distros =  sorted(ros_ubuntu_dict.keys())
-  section_header = "## ROS Buildfarm\n"
+  section_header = "### ROS Buildfarm\n"
   header="MoveIt Package"
   header_lines = '-'*len(header)
   for ros in ros_distros:
@@ -39,7 +39,8 @@ def create_line(package, ros_ubuntu_dict):
         for target in ['src', 'bin']:
             define_urls(target, params)
             response = requests.get(params['url']).status_code
-            if response < 400:  # success
+            # we want to show a particular OS's badges to indicate they are not released / working yet
+            if response < 400 or ubuntu == "focal":  # success
                 line += ' | [![Build Status]({base_url}/buildStatus/icon?job={job})]({url})'.format(**params)
             else:  # error
                 line += ' | '
@@ -55,7 +56,7 @@ def create_moveit_buildfarm_table():
     # combinations for supported distribitions. For instance, in Noetic,
     # remove {"indigo":"trusty"} and add {"noetic":"fbuntu"} with "fbuntu"
     # being whatever the 20.04 distro is named
-    supported_distro_ubuntu_dict = {"kinetic":"xenial", "melodic":"bionic"}
+    supported_distro_ubuntu_dict = {"kinetic":"xenial", "melodic":"bionic", "noetic":"focal"}
 
     all_packages = sorted([package.name for _, package in find_packages(os.getcwd()).items()])
     moveit_packages = list()

From 9bdce08b2eab287021835d3989d073019e5c4709 Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Wed, 3 Jun 2020 03:03:57 -0600
Subject: [PATCH 311/612] Fix memory leaks related to geometric shapes usage
 (#2138)

* Fix memory leak with a shape object when malformed scene geometry file is loaded.
* Fix memory leak by removing unnecessary and leaky call to clone()
---
 .../src/collision_distance_field_types.cpp                | 2 +-
 moveit_core/planning_scene/src/planning_scene.cpp         | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp b/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
index 72b49f7696..f9be5ccc4a 100644
--- a/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
+++ b/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
@@ -280,7 +280,7 @@ void collision_detection::BodyDecomposition::init(const std::vector<shapes::Shap
   bodies_.clear();
   for (unsigned int i = 0; i < shapes.size(); i++)
   {
-    bodies_.addBody(shapes[i]->clone(), poses[i], padding);
+    bodies_.addBody(shapes[i].get(), poses[i], padding);
   }
 
   // collecting collision spheres
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index c72decd3b9..7d5dec02e9 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1018,8 +1018,8 @@ bool PlanningScene::loadGeometryFromStream(std::istream& in, const Eigen::Isomet
       in >> shape_count;
       for (std::size_t i = 0; i < shape_count && in.good() && !in.eof(); ++i)
       {
-        shapes::Shape* s = shapes::constructShapeFromText(in);
-        if (!s)
+        const auto shape = shapes::ShapeConstPtr(shapes::constructShapeFromText(in));
+        if (!shape)
         {
           ROS_ERROR_NAMED(LOGNAME, "Failed to load shape from scene file");
           return false;
@@ -1041,12 +1041,12 @@ bool PlanningScene::loadGeometryFromStream(std::istream& in, const Eigen::Isomet
           ROS_ERROR_NAMED(LOGNAME, "Improperly formatted color in scene geometry file");
           return false;
         }
-        if (s)
+        if (shape)
         {
           Eigen::Isometry3d pose = Eigen::Translation3d(x, y, z) * Eigen::Quaterniond(rw, rx, ry, rz);
           // Transform pose by input pose offset
           pose = offset * pose;
-          world_->addToObject(ns, shapes::ShapePtr(s), pose);
+          world_->addToObject(ns, shape, pose);
           if (r > 0.0f || g > 0.0f || b > 0.0f || a > 0.0f)
           {
             std_msgs::ColorRGBA color;

From edb0b0396a644ac9d22a6b8e3802b5217a57075a Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 3 Jun 2020 08:30:49 -0600
Subject: [PATCH 312/612] Switch README badges to travis-ci.com (#2139)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index f10d46ecfd..18a0d11020 100644
--- a/README.md
+++ b/README.md
@@ -23,7 +23,7 @@
 
 service    | Kinetic | Melodic | Master
 ---------- | ------- | ------- | ------
-Travis     | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=kinetic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=melodic-devel)](https://travis-ci.org/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.org/ros-planning/moveit.svg?branch=master)](https://travis-ci.org/ros-planning/moveit/branches) |
+Travis     | [![Build Status](https://travis-ci.com/ros-planning/moveit.svg?branch=kinetic-devel)](https://travis-ci.com/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.com/ros-planning/moveit.svg?branch=melodic-devel)](https://travis-ci.com/ros-planning/moveit/branches) | [![Build Status](https://travis-ci.com/ros-planning/moveit.svg?branch=master)](https://travis-ci.com/ros-planning/moveit/branches) |
 build farm | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__moveit__ubuntu_xenial_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__moveit__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__moveit__ubuntu_bionic_amd64) | N/A |
 
 ### Licenses

From 85ff93bd8724a5d8e15406c9a96680bff5858eca Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 3 Jun 2020 14:08:35 -0500
Subject: [PATCH 313/612] [jog_arm] time-based collision avoidance (#2100)

---
 .../config/ur_simulated_config.yaml           | 10 +-
 .../moveit_jog_arm/collision_check_thread.h   |  8 ++
 .../include/moveit_jog_arm/jog_arm_data.h     | 20 ++--
 .../src/collision_check_thread.cpp            | 89 +++++++++++++-----
 .../moveit_jog_arm/src/jog_calcs.cpp          | 43 ++++++++-
 .../moveit_jog_arm/src/jog_interface_base.cpp | 93 ++++++++++++-------
 .../test/config/jog_settings.yaml             |  8 ++
 7 files changed, 206 insertions(+), 65 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
index 8a42b955dd..74e896cfc9 100644
--- a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
+++ b/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
@@ -52,6 +52,14 @@ command_out_topic: joint_group_position_controller/command # Publish outgoing co
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
-collision_check_rate: 10 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+collision_check_rate: 50 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+# Two collision check algorithms are available:
+# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
+# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
+collision_check_type: stop_distance
+# Parameters for "threshold_distance"-type collision checking
 self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.05 # Start decelerating when a scene collision is this far [m]
+# Parameters for "stop_distance"-type collision checking
+collision_distance_safety_factor: 1000 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 8fbf5f2d50..447e945808 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -46,6 +46,12 @@
 
 namespace moveit_jog_arm
 {
+enum CollisionCheckType
+{
+  K_THRESHOLD_DISTANCE = 1,
+  K_STOP_DISTANCE = 2
+};
+
 class CollisionCheckThread
 {
 public:
@@ -65,6 +71,8 @@ class CollisionCheckThread
 private:
   const moveit_jog_arm::JogArmParameters parameters_;
 
+  CollisionCheckType collision_check_type_;
+
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 };
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 220902b224..4a4fb7b91d 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -56,7 +56,7 @@
 
 namespace moveit_jog_arm
 {
-// Variables to share between threads, and their mutexes
+// Variables to share between threads
 // Inherit from a mutex so the struct can be locked/unlocked easily
 struct JogArmShared : public std::mutex
 {
@@ -66,7 +66,11 @@ struct JogArmShared : public std::mutex
 
   sensor_msgs::JointState joints;
 
-  double collision_velocity_scale = 1;
+  // The collision check thread throttles robot velocity via this variable
+  std::atomic<double> collision_velocity_scale{ 1 };
+
+  // The jog thread communicates the minimum stopping time to the collision check thread via this variable
+  std::atomic<double> worst_case_stop_time{ std::numeric_limits<double>::max() };
 
   // Flag a valid incoming Cartesian command having nonzero velocities
   bool have_nonzero_cartesian_cmd = false;
@@ -125,18 +129,22 @@ struct JogArmParameters
   double joint_scale;
   double lower_singularity_threshold;
   double hard_stop_singularity_threshold;
-  double scene_collision_proximity_threshold;
-  double self_collision_proximity_threshold;
   double low_pass_filter_coeff;
   double publish_period;
   double incoming_command_timeout;
   double joint_limit_margin;
-  double collision_check_rate;
   int num_outgoing_halt_msgs_to_publish;
   bool use_gazebo;
-  bool check_collisions;
   bool publish_joint_positions;
   bool publish_joint_velocities;
   bool publish_joint_accelerations;
+  // Collision checking
+  bool check_collisions;
+  std::string collision_check_type;
+  double collision_check_rate;
+  double scene_collision_proximity_threshold;
+  double self_collision_proximity_threshold;
+  double collision_distance_safety_factor;
+  double min_allowable_collision_distance;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index e2425be5d6..c3d47fdcc2 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -40,7 +40,8 @@
 #include <moveit_jog_arm/collision_check_thread.h>
 
 static const std::string LOGNAME = "collision_check_thread";
-static const double MIN_RECOMMENDED_COLLISION_RATE = 10;
+static constexpr double MIN_RECOMMENDED_COLLISION_RATE = 10;
+constexpr double EPSILON = 1e-6;  // For very small numeric comparisons
 
 namespace moveit_jog_arm
 {
@@ -78,11 +79,19 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   double scene_collision_distance = 0;
   bool collision_detected;
 
-  // Scale robot velocity according to collision proximity and user-defined thresholds.
-  // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
-  // Proximity decreasing --> decelerate
+  // This variable scales the robot velocity when a collision is close
   double velocity_scale = 1;
 
+  collision_check_type_ =
+      (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
+
+  // Variables for stop-distance-based collision checking
+  double current_collision_distance = 0;
+  double derivative_of_collision_distance = 0;
+  double prev_collision_distance = 0;
+  double est_time_to_collision = 0;
+  double safety_factor = parameters_.collision_distance_safety_factor;
+
   collision_detection::AllowedCollisionMatrix acm = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
   /////////////////////////////////////////////////
   // Spin while checking collisions
@@ -115,36 +124,70 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
       collision_detected |= collision_result.collision;
 
       velocity_scale = 1;
+
       // If we're definitely in collision, stop immediately
       if (collision_detected)
       {
         velocity_scale = 0;
       }
-
-      // If we are far from a collision, velocity_scale should be 1.
-      // If we are very close to a collision, velocity_scale should be ~zero.
-      // When scene_collision_proximity_threshold is breached, start decelerating exponentially.
-      if (scene_collision_distance < parameters_.scene_collision_proximity_threshold)
+      // If threshold distances were specified
+      else if (collision_check_type_ == K_THRESHOLD_DISTANCE)
       {
-        // velocity_scale = e ^ k * (collision_distance - threshold)
-        // k = - ln(0.001) / collision_proximity_threshold
-        // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
-        // velocity_scale should equal 0.001 when collision_distance is at zero.
-        velocity_scale =
-            std::min(velocity_scale, exp(scene_velocity_scale_coefficient *
-                                         (scene_collision_distance - parameters_.scene_collision_proximity_threshold)));
+        // If we are far from a collision, velocity_scale should be 1.
+        // If we are very close to a collision, velocity_scale should be ~zero.
+        // When scene_collision_proximity_threshold is breached, start decelerating exponentially.
+        if (scene_collision_distance < parameters_.scene_collision_proximity_threshold)
+        {
+          // velocity_scale = e ^ k * (collision_distance - threshold)
+          // k = - ln(0.001) / collision_proximity_threshold
+          // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
+          // velocity_scale should equal 0.001 when collision_distance is at zero.
+          velocity_scale = std::min(velocity_scale,
+                                    exp(scene_velocity_scale_coefficient *
+                                        (scene_collision_distance - parameters_.scene_collision_proximity_threshold)));
+        }
+
+        if (self_collision_distance < parameters_.self_collision_proximity_threshold)
+        {
+          velocity_scale =
+              std::min(velocity_scale, exp(self_velocity_scale_coefficient *
+                                           (self_collision_distance - parameters_.self_collision_proximity_threshold)));
+        }
       }
-
-      if (self_collision_distance < parameters_.self_collision_proximity_threshold)
+      // Else, we stop based on worst-case stopping distance
+      else
       {
-        velocity_scale =
-            std::min(velocity_scale, exp(self_velocity_scale_coefficient *
-                                         (self_collision_distance - parameters_.self_collision_proximity_threshold)));
+        // Retrieve the worst-case time to stop, based on current joint velocities
+
+        // Calculate rate of change of distance to nearest collision
+        current_collision_distance = std::min(scene_collision_distance, self_collision_distance);
+        derivative_of_collision_distance =
+            (current_collision_distance - prev_collision_distance) / collision_rate.expectedCycleTime().toSec();
+
+        if (current_collision_distance < parameters_.min_allowable_collision_distance &&
+            derivative_of_collision_distance <= 0)
+        {
+          velocity_scale = 0;
+        }
+        // Only bother doing calculations if we are moving toward the nearest collision
+        else if (derivative_of_collision_distance < -EPSILON)
+        {
+          // At the rate the collision distance is decreasing, how long until we collide?
+          est_time_to_collision = fabs(current_collision_distance / derivative_of_collision_distance);
+
+          // halt if we can't stop fast enough (including the safety factor)
+          if (est_time_to_collision < (safety_factor * shared_variables.worst_case_stop_time))
+          {
+            velocity_scale = 0;
+          }
+        }
+
+        // Update for the next iteration
+        prev_collision_distance = current_collision_distance;
       }
 
-      shared_variables.lock();
+      // Communicate a velocity-scaling factor back to the other threads
       shared_variables.collision_velocity_scale = velocity_scale;
-      shared_variables.unlock();
     }
 
     collision_rate.sleep();
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index f08a9473bb..22ccdeffd0 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -477,9 +477,7 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
 void JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta,
                                     double singularity_scale)
 {
-  shared_variables.lock();
   double collision_scale = shared_variables.collision_velocity_scale;
-  shared_variables.unlock();
 
   if (collision_scale > 0 && collision_scale < 1)
   {
@@ -743,6 +741,47 @@ bool JogCalcs::updateJoints(JogArmShared& shared_variables)
   // Cache the original joints in case they need to be reset
   original_joint_state_ = internal_joint_state_;
 
+  // Calculate worst case joint stop time, for collision checking
+  std::string joint_name = "";
+  shared_variables.worst_case_stop_time = std::numeric_limits<double>::max();
+  moveit::core::JointModel::Bounds kinematic_bounds;
+  double accel_limit = 0;
+  double joint_velocity = 0;
+  double worst_case_stop_time = 0;
+  for (size_t jt_state_idx = 0; jt_state_idx < incoming_joint_state_.velocity.size(); ++jt_state_idx)
+  {
+    joint_name = incoming_joint_state_.name[jt_state_idx];
+
+    // Get acceleration limit for this joint
+    for (auto joint_model : joint_model_group_->getActiveJointModels())
+    {
+      if (joint_model->getName() == joint_name)
+      {
+        kinematic_bounds = joint_model->getVariableBounds();
+        // Some joints do not have acceleration limits
+        if (kinematic_bounds[0].acceleration_bounded_)
+        {
+          // Be conservative when calculating overall acceleration limit from min and max limits
+          accel_limit =
+              std::min(fabs(kinematic_bounds[0].min_acceleration_), fabs(kinematic_bounds[0].max_acceleration_));
+        }
+        else
+        {
+          ROS_WARN_STREAM_NAMED(LOGNAME, "An acceleration limit is not defined for this joint; minimum stop distance "
+                                         "should not be used for collision checking");
+        }
+        break;
+      }
+    }
+
+    // Get the current joint velocity
+    joint_velocity = incoming_joint_state_.velocity[jt_state_idx];
+
+    // Calculate worst case stop time
+    worst_case_stop_time = std::max(worst_case_stop_time, fabs(joint_velocity / accel_limit));
+  }
+  shared_variables.worst_case_stop_time = worst_case_stop_time;
+
   return true;
 }
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
index 3cd342a100..3234d70853 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
@@ -88,15 +88,32 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                                     ros_parameters_.lower_singularity_threshold);
   error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
                                     ros_parameters_.hard_stop_singularity_threshold);
-  // parameter was removed, replaced with separate self- and scene-collision proximity thresholds; the logic handling
-  // the different possible sets of defined parameters is somewhat complicated at this point
-  // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_positions",
+                                    ros_parameters_.publish_joint_positions);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_velocities",
+                                    ros_parameters_.publish_joint_velocities);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
+                                    ros_parameters_.publish_joint_accelerations);
+
+  // Parameters for collision checking
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
+  error +=
+      !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_type", ros_parameters_.collision_check_type);
   bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
       "", n, parameter_ns + "/self_collision_proximity_threshold", ros_parameters_.self_collision_proximity_threshold);
   bool have_scene_collision_proximity_threshold =
       rosparam_shortcuts::get("", n, parameter_ns + "/scene_collision_proximity_threshold",
                               ros_parameters_.scene_collision_proximity_threshold);
   double collision_proximity_threshold;
+  // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
+  // thresholds
+  // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
   if (n.hasParam(parameter_ns + "/collision_proximity_threshold") &&
       rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
   {
@@ -116,19 +133,10 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   }
   error += !have_self_collision_proximity_threshold;
   error += !have_scene_collision_proximity_threshold;
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_positions",
-                                    ros_parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_velocities",
-                                    ros_parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
-                                    ros_parameters_.publish_joint_accelerations);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/collision_distance_safety_factor",
+                                    ros_parameters_.collision_distance_safety_factor);
+  error += !rosparam_shortcuts::get("", n, parameter_ns + "/min_allowable_collision_distance",
+                                    ros_parameters_.min_allowable_collision_distance);
 
   // This parameter name was changed recently.
   // Try retrieving from the correct name. If it fails, then try the deprecated name.
@@ -169,23 +177,6 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.self_collision_proximity_threshold < 0.)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.scene_collision_proximity_threshold < 0.)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'scene_collision_proximity_threshold' should be "
-                            "greater than zero. Check yaml file.");
-    return false;
-  }
-  if (ros_parameters_.scene_collision_proximity_threshold < ros_parameters_.self_collision_proximity_threshold)
-  {
-    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should probably be less "
-                            "than or equal to 'scene_collision_proximity_threshold'. Check yaml file.");
-  }
   if (ros_parameters_.low_pass_filter_coeff < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'low_pass_filter_coeff' should be "
@@ -228,12 +219,48 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
                             "you must select positions OR velocities.");
     return false;
   }
+  // Collision checking
+  if (ros_parameters_.collision_check_type != "threshold_distance" &&
+      ros_parameters_.collision_check_type != "stop_distance")
+  {
+    ROS_WARN_NAMED(LOGNAME, "collision_check_type must be 'threshold_distance' or 'stop_distance'");
+    return false;
+  }
+  if (ros_parameters_.self_collision_proximity_threshold < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.scene_collision_proximity_threshold < 0.)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'scene_collision_proximity_threshold' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.scene_collision_proximity_threshold < ros_parameters_.self_collision_proximity_threshold)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should probably be less "
+                            "than or equal to 'scene_collision_proximity_threshold'. Check yaml file.");
+  }
   if (ros_parameters_.collision_check_rate < 0)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_check_rate' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
+  if (ros_parameters_.collision_distance_safety_factor < 1)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_distance_safety_factor' should be "
+                            "greater than or equal to 1. Check yaml file.");
+    return false;
+  }
+  if (ros_parameters_.min_allowable_collision_distance < 0)
+  {
+    ROS_WARN_NAMED(LOGNAME, "Parameter 'min_allowable_collision_distance' should be "
+                            "greater than zero. Check yaml file.");
+    return false;
+  }
 
   return true;
 }
diff --git a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
index a26f72a2b3..67e2d93f69 100644
--- a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
+++ b/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
@@ -53,5 +53,13 @@ command_out_topic: jog_server/command # Publish outgoing commands here
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
 collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+# Two collision check algorithms are available:
+# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
+# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
+collision_check_type: stop_distance
+# Parameters for "threshold_distance"-type collision checking
 self_collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
 scene_collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
+# Parameters for "stop_distance"-type collision checking
+collision_distance_safety_factor: 1000 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]

From 8e2ca7fd7af41821a191a1daa5984fd08a7c0bee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 3 Jun 2020 22:01:24 +0200
Subject: [PATCH 314/612] Replace robot_model and robot_state namespaces with
 moveit::core (#2135)

---
 MIGRATION.md                                                    | 1 +
 .../planning_interface/test/move_group_interface_cpp_test.cpp   | 2 +-
 .../moveit/rviz_plugin_render_tools/robot_state_visualization.h | 2 +-
 .../rviz_plugin_render_tools/src/planning_scene_render.cpp      | 2 +-
 4 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index 99b8e20aa8..5b2462012c 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -16,6 +16,7 @@ API changes in MoveIt releases
 - `moveit_ros_planning` no longer depends on `moveit_ros_perception`
 - `CollisionRobot` and `CollisionWorld` are combined into a single `CollisionEnv` class. This applies for all derived collision checkers as `FCL`, `ALL_VALID`, `HYBRID` and `DISTANCE_FIELD`. Consequently, `getCollisionRobot[Unpadded] / getCollisionWorld` functions are replaced through a `getCollisionEnv` in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions of `CollisionRobot` and `CollisionWorld`. Note that calling `checkRobotCollision` of the `CollisionEnv` does not take a `CollisionRobot` as an argument anymore as it is implicitly contained in the `CollisionEnv`.
 - `RobotTrajectory` provides a copy constructor that allows a shallow (default) and deep copy of waypoints
+- Replace the redundant namespaces `robot_state::` and `robot_model::` with the actual namespace `moveit::core::`. The additional namespaces will disappear in the future (ROS2).
 
 ## ROS Melodic
 
diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
index 7298f03d1a..bb2666f24b 100644
--- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
@@ -132,7 +132,7 @@ class MoveGroupTestFixture : public ::testing::Test
   void testJointPositions(const std::vector<double>& expected)
   {
     SCOPED_TRACE("testJointPositions");
-    const robot_state::JointModelGroup* joint_model_group =
+    const moveit::core::JointModelGroup* joint_model_group =
         move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP);
     std::vector<double> actual;
     move_group_->getCurrentState()->copyJointGroupPositions(joint_model_group, actual);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 0c04ade4e5..1f3d90c4b3 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -71,7 +71,7 @@ class RobotStateVisualization
   void update(const moveit::core::RobotStateConstPtr& kinematic_state,
               const std_msgs::ColorRGBA& default_attached_object_color,
               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
-  void updateKinematicState(const robot_state::RobotStateConstPtr& kinematic_state);
+  void updateKinematicState(const moveit::core::RobotStateConstPtr& kinematic_state);
   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
   /// update color of all attached object shapes
   void updateAttachedObjectColors(const std_msgs::ColorRGBA& attached_object_color);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index 5537e0a340..c24ca4adc2 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -60,7 +60,7 @@ void PlanningSceneRender::updateRobotPosition(const planning_scene::PlanningScen
 {
   if (scene_robot_)
   {
-    robot_state::RobotStatePtr rs = std::make_shared<robot_state::RobotState>(scene->getCurrentState());
+    auto rs = std::make_shared<moveit::core::RobotState>(scene->getCurrentState());
     rs->update();
     scene_robot_->updateKinematicState(rs);
   }

From d03bb752e55e3e399541cb773cb389e6da5e27f8 Mon Sep 17 00:00:00 2001
From: John Stechschulte <john@picknik.ai>
Date: Fri, 5 Jun 2020 12:32:33 -0600
Subject: [PATCH 315/612] Added throttle to jogarm accel limit warning (#2141)

* added throttle to jogarm accel limit warning
* switched to ERROR_ONCE
---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 22ccdeffd0..f97130b5d6 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -767,8 +767,9 @@ bool JogCalcs::updateJoints(JogArmShared& shared_variables)
         }
         else
         {
-          ROS_WARN_STREAM_NAMED(LOGNAME, "An acceleration limit is not defined for this joint; minimum stop distance "
-                                         "should not be used for collision checking");
+          ROS_ERROR_STREAM_ONCE_NAMED(LOGNAME, "An acceleration limit is not defined for this joint, '"
+                                                   << joint_model->getName() << "'; minimum stop distance should not "
+                                                                                "be used for collision checking");
         }
         break;
       }

From f52d7c6e4b0ef8633a517a611d9ff7a909950452 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 22 May 2020 14:58:40 -0600
Subject: [PATCH 316/612] simplify communication between threads in jog arm

fixup! simplify communication between threads in jog arm
---
 .../moveit_jog_arm/CMakeLists.txt             |  18 +-
 .../moveit_jog_arm/collision_check_thread.h   |  25 +-
 .../{jog_interface_base.h => jog_arm.h}       | 101 ++++--
 .../include/moveit_jog_arm/jog_arm_data.h     |  71 +++--
 .../include/moveit_jog_arm/jog_calcs.h        |  50 ++-
 .../moveit_jog_arm/jog_cpp_interface.h        | 100 ------
 .../moveit_jog_arm/jog_ros_interface.h        |  60 ----
 .../src/collision_check_thread.cpp            |  32 +-
 .../cpp_interface_example.cpp                 |  19 +-
 .../{jog_interface_base.cpp => jog_arm.cpp}   | 288 +++++++++++++-----
 .../moveit_jog_arm/src/jog_calcs.cpp          | 161 ++++++----
 .../moveit_jog_arm/src/jog_cpp_interface.cpp  | 232 --------------
 .../moveit_jog_arm/src/jog_ros_interface.cpp  | 223 --------------
 .../moveit_jog_arm/src/jog_server.cpp         |  99 +++++-
 .../test/jog_cpp_interface_test.cpp           |   6 +-
 .../test/jog_cpp_interface_test.test          |   6 +
 16 files changed, 650 insertions(+), 841 deletions(-)
 rename moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/{jog_interface_base.h => jog_arm.h} (60%)
 delete mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
 delete mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
 rename moveit_experimental/moveit_jog_arm/src/{jog_interface_base.cpp => jog_arm.cpp} (53%)
 delete mode 100644 moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
 delete mode 100644 moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index d8e01a7ec2..b816413b7b 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -11,6 +11,8 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
+find_package(Boost REQUIRED)
+
 find_package(catkin REQUIRED COMPONENTS
   control_msgs
   geometry_msgs
@@ -45,6 +47,7 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIR}
 )
 
 #########################################
@@ -54,14 +57,14 @@ include_directories(
 add_library(${LIBRARY_NAME} SHARED
   src/collision_check_thread.cpp
   src/jog_calcs.cpp
-  src/jog_cpp_interface.cpp
-  src/jog_interface_base.cpp
+  src/jog_arm.cpp
   src/low_pass_filter.cpp
 )
 add_dependencies(${LIBRARY_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${LIBRARY_NAME}
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
+  ${Boost_LIBRARIES}
 )
 
 # An example of using the C++ library
@@ -72,6 +75,7 @@ add_dependencies(cpp_interface_example ${catkin_EXPORTED_TARGETS})
 target_link_libraries(cpp_interface_example
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
+  ${Boost_LIBRARIES}
   ${LIBRARY_NAME}
 )
 
@@ -82,13 +86,16 @@ target_link_libraries(cpp_interface_example
 add_executable(jog_server
   src/collision_check_thread.cpp
   src/jog_calcs.cpp
-  src/jog_interface_base.cpp
-  src/jog_ros_interface.cpp
+  src/jog_arm.cpp
   src/jog_server.cpp
   src/low_pass_filter.cpp
 )
 add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
-target_link_libraries(jog_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
+target_link_libraries(jog_server
+  ${catkin_LIBRARIES}
+  ${Eigen_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
 
 ################################################
 ## An example of converting joystick commands ##
@@ -140,6 +147,7 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(jog_cpp_interface_test
     ${LIBRARY_NAME}
     ${catkin_LIBRARIES}
+    ${Eigen_LIBRARIES}
     ${Boost_LIBRARIES}
   )
 endif()
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index 447e945808..abef5e1abf 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -38,11 +38,14 @@
 
 #pragma once
 
-#include <atomic>
-#include "jog_arm_data.h"
-#include "low_pass_filter.h"
+#include <mutex>
+
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <sensor_msgs/JointState.h>
+
+#include "jog_arm_data.h"
+#include "low_pass_filter.h"
 
 namespace moveit_jog_arm
 {
@@ -63,17 +66,25 @@ class CollisionCheckThread
   CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  // Get thread-safe read-only lock of planning scene
-  planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
-
-  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables);
+  /** \breif run function to be run in a thread */
+  void run(moveit_jog_arm::JogArmShared& shared_variables);
 
 private:
+  planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
+  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
+
   const moveit_jog_arm::JogArmParameters parameters_;
 
   CollisionCheckType collision_check_type_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+
+  // ROS
+  ros::Subscriber joint_state_sub_;
+
+  // Latest joint state, updated by ROS callback
+  mutable std::mutex joint_state_mutex_;
+  sensor_msgs::JointState latest_joint_state_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
similarity index 60%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 9dee171b76..84730b5d0b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_interface_base.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -36,31 +36,46 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-#include "collision_check_thread.h"
+#include <memory>
+#include <mutex>
+#include <thread>
+
 #include <Eigen/Eigenvalues>
-#include "jog_arm_data.h"
-#include "jog_calcs.h"
-#include "low_pass_filter.h"
+
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/ChangeDriftDimensions.h>
 #include <moveit_msgs/ChangeControlDimensions.h>
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
+#include <sensor_msgs/JointState.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Float64MultiArray.h>
 
+#include "collision_check_thread.h"
+#include "jog_arm_data.h"
+#include "jog_calcs.h"
+#include "low_pass_filter.h"
+
 namespace moveit_jog_arm
 {
 /**
- * Class JogInterfaceBase - Base class for C++ interface and ROS node.
+ * Class JogArm - Base class for C++ interface and ROS node.
  * Handles ROS subs & pubs and creates the worker threads.
  */
-class JogInterfaceBase
+class JogArm
 {
 public:
-  JogInterfaceBase();
+  JogArm(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+
+  ~JogArm();
+
+  /** \brief start jog arm threads */
+  void start();
 
-  /** \brief Update the joints of the robot */
-  void jointsCB(const sensor_msgs::JointStateConstPtr& msg);
+  /** \brief stop jog arm threads */
+  void stop();
+
+  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  void setPaused(bool paused);
 
   /**
    * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely.
@@ -78,20 +93,46 @@ class JogInterfaceBase
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
 
-  // Jogging calculation thread
-  bool startJogCalcThread();
+  /** \brief Provide a Cartesian velocity command to the jogger.
+   * The units are determined by settings in the yaml file.
+   */
+  void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);
+  void provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg);
 
-  /** \brief Stop the main calculation thread */
-  bool stopJogCalcThread();
+  /** \brief Send joint position(s) commands */
+  void provideJointCommand(const control_msgs::JointJog& joint_command);
+  void provideJointCommand(const control_msgs::JointJogConstPtr& msg);
 
-  /** \brief Start collision checking */
-  bool startCollisionCheckThread();
+  /**
+   * Returns the most recent JointState that the jogger has received.
+   * May eliminate the need to create your own joint_state subscriber.
+   *
+   * @return the most recent joints known to the jogger
+   */
+  sensor_msgs::JointState getJointState();
 
-  /** \brief Stop collision checking */
-  bool stopCollisionCheckThread();
+  /**
+   * Get the MoveIt planning link transform.
+   * The transform from the MoveIt planning frame to robot_link_command_frame
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-protected:
-  bool readParameters(ros::NodeHandle& n);
+  /**
+   * Get the status of the jogger.
+   *
+   * @return 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
+   */
+  StatusCode getJoggerStatus() const;
+
+private:
+  bool readParameters();
+  void run();
+  bool startJogCalcThread();
+  bool startCollisionCheckThread();
+  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
@@ -102,12 +143,30 @@ class JogInterfaceBase
   // Share data between threads
   JogArmShared shared_variables_;
 
+  // Queues for message passing between threads
+  std::shared_ptr<TwistedStampedQueue> command_deltas_queue_;
+  std::shared_ptr<JointJogQueue> joint_command_deltas_queue_;
+  std::shared_ptr<JointTrajectoryQueue> outgoing_command_queue_;
+
   // Jog calcs
   std::unique_ptr<JogCalcs> jog_calcs_;
-  std::unique_ptr<std::thread> jog_calc_thread_;
 
   // Collision checks
   std::unique_ptr<CollisionCheckThread> collision_checker_;
-  std::unique_ptr<std::thread> collision_check_thread_;
+
+  // Threads
+  std::thread jog_server_thread_;
+  std::thread jog_calc_thread_;
+  std::thread collision_check_thread_;
+
+  // ROS
+  ros::Subscriber joint_state_sub_;
+  ros::Publisher outgoing_cmd_pub_;
+
+  // Latest state
+  mutable std::mutex latest_state_mutex_;
+  sensor_msgs::JointState latest_joint_state_;
+  ros::Time latest_command_stamp_;
 };
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 4a4fb7b91d..136a5b07f1 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -38,9 +38,8 @@
 
 #pragma once
 
-// System
-#include <mutex>
-#include <thread>
+// Boost
+#include <boost/lockfree/spsc_queue.hpp>
 
 // Eigen
 #include <Eigen/Geometry>
@@ -48,7 +47,6 @@
 // ROS
 #include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
-#include <sensor_msgs/JointState.h>
 #include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_jog_arm
@@ -56,21 +54,41 @@
 
 namespace moveit_jog_arm
 {
-// Variables to share between threads
-// Inherit from a mutex so the struct can be locked/unlocked easily
-struct JogArmShared : public std::mutex
+// Types for queues between threads
+constexpr size_t QUEUE_SIZE = 10;
+template <typename T, size_t U>
+using MessageQueue = boost::lockfree::spsc_queue<T, boost::lockfree::capacity<U>>;
+using TwistedStampedQueue = MessageQueue<geometry_msgs::TwistStamped, QUEUE_SIZE>;
+using JointJogQueue = MessageQueue<control_msgs::JointJog, QUEUE_SIZE>;
+using JointTrajectoryQueue = MessageQueue<trajectory_msgs::JointTrajectory, QUEUE_SIZE>;
+
+// Helper function for popping the latest value out of a queue
+template <typename T, size_t U>
+bool popLatest(MessageQueue<T, U>& queue, T& output)
 {
-  geometry_msgs::TwistStamped command_deltas;
-
-  control_msgs::JointJog joint_command_deltas;
+  size_t count = queue.read_available();
+  if (count > 0)
+  {
+    // clear all but the latest from the queue
+    for (size_t i = 0; i < (count - 1); ++i)
+    {
+      queue.pop();
+    }
+    // read the latest value
+    queue.pop(output);
+  }
+  return true;
+}
 
-  sensor_msgs::JointState joints;
-
-  // The collision check thread throttles robot velocity via this variable
-  std::atomic<double> collision_velocity_scale{ 1 };
+// Variables to share between threads
+// Be careful to not read-modify-write any of these because they are not
+// protected by a mutex.
+struct JogArmShared
+{
+  double collision_velocity_scale = 1;
 
   // The jog thread communicates the minimum stopping time to the collision check thread via this variable
-  std::atomic<double> worst_case_stop_time{ std::numeric_limits<double>::max() };
+  double worst_case_stop_time = std::numeric_limits<double>::max();
 
   // Flag a valid incoming Cartesian command having nonzero velocities
   bool have_nonzero_cartesian_cmd = false;
@@ -81,34 +99,23 @@ struct JogArmShared : public std::mutex
   // Indicates that we have not received a new command in some time
   bool command_is_stale = false;
 
-  // The new command which is calculated
-  trajectory_msgs::JointTrajectory outgoing_command;
-
-  // Timestamp of incoming commands
-  ros::Time latest_nonzero_cmd_stamp = ros::Time(0.);
-
   // Indicates no collision, etc, so outgoing commands can be sent
   bool ok_to_publish = false;
 
-  // The transform from the MoveIt planning frame to robot_link_command_frame
-  Eigen::Isometry3d tf_moveit_to_cmd_frame;
-
   // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
-  std::atomic_bool drift_dimensions[6] = { ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false),
-                                           ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false), ATOMIC_VAR_INIT(false) };
+  bool drift_dimensions[6] = { false, false, false, false, false, false };
 
   // Status of the jogger. 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
-  std::atomic<StatusCode> status;
+  StatusCode status = NO_WARNING;
 
   // Pause/unpause jog threads - threads are not paused by default
-  std::atomic<bool> paused{ false };
+  bool paused = false;
 
   // Stop jog loop threads - threads are not stopped by default
-  std::atomic<bool> stop_requested{ false };
+  bool stop_requested = false;
 
   // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
-  std::atomic_bool control_dimensions[6] = { ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true),
-                                             ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true), ATOMIC_VAR_INIT(true) };
+  bool control_dimensions[6] = { true, true, true, true, true, true };
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
@@ -116,12 +123,10 @@ struct JogArmParameters
 {
   std::string move_group_name;
   std::string joint_topic;
-  std::string cartesian_command_in_topic;
   std::string robot_link_command_frame;
   std::string command_out_topic;
   std::string planning_frame;
   std::string status_topic;
-  std::string joint_command_in_topic;
   std::string command_in_type;
   std::string command_out_type;
   double linear_scale;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 049f7af452..b1c6355d50 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -39,11 +39,12 @@
 #pragma once
 
 // System
-#include <atomic>
+#include <mutex>
 
 // ROS
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
+#include <sensor_msgs/JointState.h>
 #include <std_msgs/Int8.h>
 
 // moveit_jog_arm
@@ -56,21 +57,29 @@ namespace moveit_jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);
+  JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr,
+           const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
+           const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
+           const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue);
 
-  void startMainLoop(JogArmShared& shared_variables);
+  /** \breif Thread run method */
+  void run(JogArmShared& shared_variables);
 
   /** \brief Check if the robot state is being updated and the end effector transform is known
    *  @return true if initialized properly
    */
   bool isInitialized();
 
-protected:
-  ros::NodeHandle nh_;
-
-  // Flag that robot state is up to date, end effector transform is known
-  std::atomic<bool> is_initialized_;
+  /**
+   * Get the MoveIt planning link transform.
+   * The transform from the MoveIt planning frame to robot_link_command_frame
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
+private:
   /** \brief Do jogging calculations for Cartesian twist commands. */
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables);
 
@@ -153,21 +162,40 @@ class JogCalcs
    */
   void removeDimension(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x, unsigned int row_to_remove);
 
+  /* \brief Callback for joint subsription */
+  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
+
+  // Flag that robot state is up to date, end effector transform is known
+  bool is_initialized_;
+
   const moveit::core::JointModelGroup* joint_model_group_;
 
   moveit::core::RobotStatePtr kinematic_state_;
 
+  // Queues for message passing between threads
+  std::shared_ptr<TwistedStampedQueue> command_deltas_queue_;
+  std::shared_ptr<JointJogQueue> joint_command_deltas_queue_;
+  std::shared_ptr<JointTrajectoryQueue> outgoing_command_queue_;
+
+  // latest_state_mutex_ is used to protect
+  // incoming_joint_state_ and tf_moveit_to_cmd_frame_
+  mutable std::mutex latest_state_mutex_;
+  sensor_msgs::JointState incoming_joint_state_;
+  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
+
   // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
   // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
-  sensor_msgs::JointState incoming_joint_state_, internal_joint_state_, original_joint_state_;
+  sensor_msgs::JointState internal_joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
+
   trajectory_msgs::JointTrajectory outgoing_command_;
 
   std::vector<LowPassFilter> position_filters_;
 
+  // ROS
+  ros::Subscriber joint_state_sub_;
   ros::Publisher status_pub_;
-
   StatusCode status_ = NO_WARNING;
 
   JogArmParameters parameters_;
@@ -176,8 +204,6 @@ class JogCalcs
   Eigen::ArrayXd delta_theta_;
   Eigen::ArrayXd prev_joint_velocity_;
 
-  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
-
   const int gazebo_redundant_message_count_ = 30;
 
   uint num_joints_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
deleted file mode 100644
index a6d35e077a..0000000000
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_cpp_interface.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*******************************************************************************
- *      Title     : jog_cpp_interface.h
- *      Project   : moveit_jog_arm
- *      Created   : 11/20/2019
- *      Author    : Andy Zelenak
- *
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-#pragma once
-
-#include <atomic>
-#include "jog_interface_base.h"
-#include <std_msgs/Int8.h>
-
-namespace moveit_jog_arm
-{
-/**
-* Class JogCppInterface - This class should be instantiated in a new thread
-* See cpp_interface_example.cpp
-*/
-class JogCppInterface : public JogInterfaceBase
-{
-public:
-  JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
-
-  ~JogCppInterface();
-
-  void startMainLoop();
-
-  void stopMainLoop();
-
-  /** \brief Pause or unpause processing jog commands while keeping the main loop alive */
-  void setPaused(bool paused);
-
-  /** \brief Provide a Cartesian velocity command to the jogger.
-   * The units are determined by settings in the yaml file.
-   */
-  void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);
-
-  /** \brief Send joint position(s) commands */
-  void provideJointCommand(const control_msgs::JointJog& joint_command);
-
-  /**
-   * Returns the most recent JointState that the jogger has received.
-   * May eliminate the need to create your own joint_state subscriber.
-   *
-   * @return the most recent joints known to the jogger
-   */
-  sensor_msgs::JointState getJointState();
-
-  /**
-   * Get the MoveIt planning link transform.
-   * The transform from the MoveIt planning frame to robot_link_command_frame
-   *
-   * @param transform the transform that will be calculated
-   * @return true if a valid transform was available
-   */
-  bool getCommandFrameTransform(Eigen::Isometry3d& transform);
-
-  /**
-   * Get the status of the jogger.
-   *
-   * @return 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
-   */
-  StatusCode getJoggerStatus();
-
-private:
-  ros::NodeHandle nh_;
-};
-}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
deleted file mode 100644
index 7afe5029f5..0000000000
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_ros_interface.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*******************************************************************************
- *      Title     : jog_ros_interface.h
- *      Project   : moveit_jog_arm
- *      Created   : 3/9/2017
- *      Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
- *
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-// Server node for arm jogging with MoveIt.
-
-#pragma once
-
-#include "jog_interface_base.h"
-
-namespace moveit_jog_arm
-{
-/**
- * Class JogROSInterface - Instantiated in main(). Handles ROS subs & pubs and creates the worker threads.
- */
-class JogROSInterface : protected JogInterfaceBase
-{
-public:
-  JogROSInterface();
-
-private:
-  // ROS subscriber callbacks
-  void deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg);
-  void deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg);
-};
-}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index c3d47fdcc2..3c4fcb8d18 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -51,8 +51,17 @@ CollisionCheckThread::CollisionCheckThread(
     const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : parameters_(parameters), planning_scene_monitor_(planning_scene_monitor)
 {
+  ros::NodeHandle nh;
+
   if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
     ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
+
+  // subscribe to joints
+  joint_state_sub_ = nh.subscribe(parameters.joint_topic, 1, &CollisionCheckThread::jointStateCB, this);
+
+  // Wait for incoming topics to appear
+  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
+  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters.joint_topic);
 }
 
 planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
@@ -60,7 +69,7 @@ planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPla
   return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
 }
 
-void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
+void CollisionCheckThread::run(JogArmShared& shared_variables)
 {
   // Init collision request
   collision_detection::CollisionRequest collision_request;
@@ -93,19 +102,24 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
   double safety_factor = parameters_.collision_distance_safety_factor;
 
   collision_detection::AllowedCollisionMatrix acm = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
+
   /////////////////////////////////////////////////
   // Spin while checking collisions
   /////////////////////////////////////////////////
+  sensor_msgs::JointState joint_state;
+
   while (ros::ok() && !shared_variables.stop_requested)
   {
     if (!shared_variables.paused)
     {
-      shared_variables.lock();
-      sensor_msgs::JointState jts = shared_variables.joints;
-      shared_variables.unlock();
+      {
+        // Copy the latest joint state
+        const std::lock_guard<std::mutex> lock(CollisionCheckThread);
+        joint_state = latest_joint_state_;
+      }
 
-      for (std::size_t i = 0; i < jts.position.size(); ++i)
-        current_state.setJointPositions(jts.name[i], &jts.position[i]);
+      for (std::size_t i = 0; i < joint_state.position.size(); ++i)
+        current_state.setJointPositions(joint_state.name[i], &joint_state.position[i]);
 
       current_state.updateCollisionBodyTransforms();
       collision_detected = false;
@@ -193,4 +207,10 @@ void CollisionCheckThread::startMainLoop(JogArmShared& shared_variables)
     collision_rate.sleep();
   }
 }
+
+void CollisionCheckThread::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
+  latest_joint_state_ = *msg;
+}
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 987bf449cb..ad916a90be 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -36,7 +36,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-#include "moveit_jog_arm/jog_cpp_interface.h"
+#include "moveit_jog_arm/jog_arm.h"
 #include "moveit_jog_arm/status_codes.h"
 
 static const std::string LOGNAME = "cpp_interface_example";
@@ -49,6 +49,8 @@ static const std::string LOGNAME = "cpp_interface_example";
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
+  ros::AsyncSpinner spinner(4);
+  spinner.start();
 
   // Load the planning scene monitor
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
@@ -67,8 +69,8 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
-  moveit_jog_arm::JogCppInterface jog_interface(planning_scene_monitor);
-  std::thread jogging_thread([&]() { jog_interface.startMainLoop(); });
+  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor);
+  jog_arm.start();
 
   // Make a Cartesian velocity message
   geometry_msgs::TwistStamped velocity_msg;
@@ -84,7 +86,7 @@ int main(int argc, char** argv)
   {
     ++num_commands;
     velocity_msg.header.stamp = ros::Time::now();
-    jog_interface.provideTwistStampedCommand(velocity_msg);
+    jog_arm.provideTwistStampedCommand(velocity_msg);
     cmd_rate.sleep();
   }
 
@@ -104,20 +106,19 @@ int main(int argc, char** argv)
   {
     ++num_commands;
     base_joint_command.header.stamp = ros::Time::now();
-    jog_interface.provideJointCommand(base_joint_command);
+    jog_arm.provideJointCommand(base_joint_command);
     cmd_rate.sleep();
   }
 
   // Retrieve the current joint state from the jogger
-  sensor_msgs::JointState current_joint_state = jog_interface.getJointState();
+  sensor_msgs::JointState current_joint_state = jog_arm.getJointState();
   ROS_INFO_STREAM_NAMED(LOGNAME, "Current joint state:");
   ROS_INFO_STREAM_NAMED(LOGNAME, current_joint_state);
 
   // Retrieve the current status of the jogger
-  moveit_jog_arm::StatusCode status = jog_interface.getJoggerStatus();
+  moveit_jog_arm::StatusCode status = jog_arm.getJoggerStatus();
   ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status:\n" << status);
 
-  jog_interface.stopMainLoop();
-  jogging_thread.join();
+  jog_arm.stop();
   return 0;
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
similarity index 53%
rename from moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
rename to moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 3234d70853..d124e31552 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_interface_base.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -31,25 +31,51 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/*      Title     : jog_interface_base.cpp
+/*      Title     : jog_arm.cpp
  *      Project   : moveit_jog_arm
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
-#include "moveit_jog_arm/jog_interface_base.h"
+#include "moveit_jog_arm/jog_arm.h"
 
-static const std::string LOGNAME = "jog_interface_base";
+static const std::string LOGNAME = "jog_arm";
 
 namespace moveit_jog_arm
 {
-JogInterfaceBase::JogInterfaceBase()
+JogArm::JogArm(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : planning_scene_monitor_(planning_scene_monitor)
 {
+  ros::NodeHandle nh;
+
+  // Read ROS parameters, typically from YAML file
+  if (!readParameters())
+    exit(EXIT_FAILURE);
+
+  // Create queues for message passing between threads
+  command_deltas_queue_ = std::make_shared<TwistedStampedQueue>();
+  joint_command_deltas_queue_ = std::make_shared<JointJogQueue>();
+  outgoing_command_queue_ = std::make_shared<JointTrajectoryQueue>();
+
+  // Publish freshly-calculated joints to the robot.
+  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+    outgoing_cmd_pub_ = nh.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
+  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+    outgoing_cmd_pub_ = nh.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);
+
+  // subscribe to joints
+  joint_state_sub_ = nh.subscribe(ros_parameters_.joint_topic, 1, &JogArm::jointStateCB, this);
+
+  // Wait for incoming topics to appear
+  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
+  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
 }
 
 // Read ROS parameters, typically from YAML file
-bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
+bool JogArm::readParameters()
 {
+  ros::NodeHandle nh;
   std::size_t error = 0;
 
   // Specified in the launch file. All other parameters will be read from this namespace.
@@ -64,58 +90,54 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
     return false;
   }
 
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_period", ros_parameters_.publish_period);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_period", ros_parameters_.publish_period);
   error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
+      !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
                                     ros_parameters_.num_outgoing_halt_msgs_to_publish);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
   error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/low_pass_filter_coeff", ros_parameters_.low_pass_filter_coeff);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_topic", ros_parameters_.joint_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_in_type", ros_parameters_.command_in_type);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/cartesian_command_in_topic",
-                                    ros_parameters_.cartesian_command_in_topic);
-  error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/joint_command_in_topic", ros_parameters_.joint_command_in_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/robot_link_command_frame",
+      !rosparam_shortcuts::get("", nh, parameter_ns + "/low_pass_filter_coeff", ros_parameters_.low_pass_filter_coeff);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_topic", ros_parameters_.joint_topic);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_in_type", ros_parameters_.command_in_type);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/robot_link_command_frame",
                                     ros_parameters_.robot_link_command_frame);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/incoming_command_timeout",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/incoming_command_timeout",
                                     ros_parameters_.incoming_command_timeout);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/lower_singularity_threshold",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/lower_singularity_threshold",
                                     ros_parameters_.lower_singularity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/hard_stop_singularity_threshold",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/hard_stop_singularity_threshold",
                                     ros_parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_positions",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_positions",
                                     ros_parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_velocities",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_velocities",
                                     ros_parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/publish_joint_accelerations",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_accelerations",
                                     ros_parameters_.publish_joint_accelerations);
 
   // Parameters for collision checking
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
   error +=
-      !rosparam_shortcuts::get("", n, parameter_ns + "/collision_check_type", ros_parameters_.collision_check_type);
+      !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_check_type", ros_parameters_.collision_check_type);
   bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", n, parameter_ns + "/self_collision_proximity_threshold", ros_parameters_.self_collision_proximity_threshold);
+      "", nh, parameter_ns + "/self_collision_proximity_threshold", ros_parameters_.self_collision_proximity_threshold);
   bool have_scene_collision_proximity_threshold =
-      rosparam_shortcuts::get("", n, parameter_ns + "/scene_collision_proximity_threshold",
+      rosparam_shortcuts::get("", nh, parameter_ns + "/scene_collision_proximity_threshold",
                               ros_parameters_.scene_collision_proximity_threshold);
   double collision_proximity_threshold;
   // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
   // thresholds
   // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
-  if (n.hasParam(parameter_ns + "/collision_proximity_threshold") &&
-      rosparam_shortcuts::get("", n, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
+  if (nh.hasParam(parameter_ns + "/collision_proximity_threshold") &&
+      rosparam_shortcuts::get("", nh, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
                             "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
@@ -133,19 +155,19 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   }
   error += !have_self_collision_proximity_threshold;
   error += !have_scene_collision_proximity_threshold;
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/collision_distance_safety_factor",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_distance_safety_factor",
                                     ros_parameters_.collision_distance_safety_factor);
-  error += !rosparam_shortcuts::get("", n, parameter_ns + "/min_allowable_collision_distance",
+  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/min_allowable_collision_distance",
                                     ros_parameters_.min_allowable_collision_distance);
 
   // This parameter name was changed recently.
   // Try retrieving from the correct name. If it fails, then try the deprecated name.
   // TODO(andyz): remove this deprecation warning in ROS Noetic
-  if (!rosparam_shortcuts::get("", n, parameter_ns + "/status_topic", ros_parameters_.status_topic))
+  if (!rosparam_shortcuts::get("", nh, parameter_ns + "/status_topic", ros_parameters_.status_topic))
   {
     ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
                             "the jogging yaml file.");
-    error += !rosparam_shortcuts::get("", n, parameter_ns + "/warning_topic", ros_parameters_.status_topic);
+    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/warning_topic", ros_parameters_.status_topic);
   }
 
   rosparam_shortcuts::shutdownIfError(parameter_ns, error);
@@ -265,18 +287,106 @@ bool JogInterfaceBase::readParameters(ros::NodeHandle& n)
   return true;
 }
 
+void JogArm::run()
+{
+  ros::Rate main_rate(1. / ros_parameters_.publish_period);
+  trajectory_msgs::JointTrajectory outgoing_command;
+
+  // Wait for low pass filters to stabilize
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
+  ros::Duration(10 * ros_parameters_.publish_period).sleep();
+
+  while (ros::ok() && !shared_variables_.stop_requested)
+  {
+    // Check for stale cmds
+    {
+      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+      shared_variables_.command_is_stale =
+          ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(ros_parameters_.incoming_command_timeout));
+    }
+
+    // Read the latest outgoing command out of the queue
+    popLatest(*outgoing_command_queue_, outgoing_command);
+
+    // Publish the most recent trajectory, unless the jogging calculation thread tells not to
+    if (shared_variables_.ok_to_publish)
+    {
+      // Put the outgoing msg in the right format
+      // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+      if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+      {
+        outgoing_command.header.stamp = ros::Time::now();
+        outgoing_cmd_pub_.publish(outgoing_command);
+      }
+      else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
+      {
+        std_msgs::Float64MultiArray joints;
+        if (ros_parameters_.publish_joint_positions)
+          joints.data = outgoing_command.points[0].positions;
+        else if (ros_parameters_.publish_joint_velocities)
+          joints.data = outgoing_command.points[0].velocities;
+        outgoing_cmd_pub_.publish(joints);
+      }
+    }
+    else if (shared_variables_.command_is_stale)
+    {
+      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                  "Try a larger 'incoming_command_timeout' parameter?");
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
+    }
+
+    main_rate.sleep();
+  }
+}
+
+void JogArm::start()
+{
+  shared_variables_.stop_requested = false;
+  shared_variables_.paused = false;
+
+  // Start the jog server main
+  jog_server_thread_ = std::thread([&]() { this->run(); });
+
+  // Crunch the numbers in this thread
+  startJogCalcThread();
+
+  // Check collisions in this thread
+  if (ros_parameters_.check_collisions)
+    startCollisionCheckThread();
+}
+
+void JogArm::stop()
+{
+  shared_variables_.stop_requested = true;
+
+  if (jog_server_thread_.joinable())
+    jog_server_thread_.join();
+
+  if (jog_calc_thread_.joinable())
+    jog_calc_thread_.join();
+
+  if (collision_check_thread_.joinable())
+    collision_check_thread_.join();
+}
+
+JogArm::~JogArm()
+{
+  stop();
+}
+
 // Listen to joint angles. Store them in a shared variable.
-void JogInterfaceBase::jointsCB(const sensor_msgs::JointStateConstPtr& msg)
+void JogArm::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
 {
-  shared_variables_.lock();
-  shared_variables_.joints = *msg;
-  shared_variables_.unlock();
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  latest_joint_state_ = *msg;
 }
 
-bool JogInterfaceBase::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
-                                             moveit_msgs::ChangeDriftDimensions::Response& res)
+bool JogArm::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                                   moveit_msgs::ChangeDriftDimensions::Response& res)
 {
-  // These are std::atomic's, they are threadsafe without a mutex lock
   shared_variables_.drift_dimensions[0] = req.drift_x_translation;
   shared_variables_.drift_dimensions[1] = req.drift_y_translation;
   shared_variables_.drift_dimensions[2] = req.drift_z_translation;
@@ -288,8 +398,8 @@ bool JogInterfaceBase::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions:
   return true;
 }
 
-bool JogInterfaceBase::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
-                                               moveit_msgs::ChangeControlDimensions::Response& res)
+bool JogArm::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                                     moveit_msgs::ChangeControlDimensions::Response& res)
 {
   shared_variables_.control_dimensions[0] = req.control_x_translation;
   shared_variables_.control_dimensions[1] = req.control_y_translation;
@@ -303,50 +413,80 @@ bool JogInterfaceBase::changeControlDimensions(moveit_msgs::ChangeControlDimensi
 }
 
 // A separate thread for the heavy jogging calculations.
-bool JogInterfaceBase::startJogCalcThread()
+bool JogArm::startJogCalcThread()
 {
   if (!jog_calcs_)
-    jog_calcs_.reset(new JogCalcs(ros_parameters_, planning_scene_monitor_->getRobotModelLoader()));
+    jog_calcs_ =
+        std::make_unique<JogCalcs>(ros_parameters_, planning_scene_monitor_->getRobotModelLoader(),
+                                   command_deltas_queue_, joint_command_deltas_queue_, outgoing_command_queue_);
 
-  jog_calc_thread_.reset(new std::thread([&]() { jog_calcs_->startMainLoop(shared_variables_); }));
+  jog_calc_thread_ = std::thread([&]() { jog_calcs_->run(shared_variables_); });
 
   return true;
 }
 
-bool JogInterfaceBase::stopJogCalcThread()
+// A separate thread for collision checking.
+bool JogArm::startCollisionCheckThread()
 {
-  if (jog_calc_thread_)
-  {
-    if (jog_calc_thread_->joinable())
-      jog_calc_thread_->join();
+  if (!collision_checker_)
+    collision_checker_ = std::make_unique<CollisionCheckThread>(ros_parameters_, planning_scene_monitor_);
 
-    jog_calc_thread_.reset();
-  }
+  collision_check_thread_ = std::thread([&]() { collision_checker_->run(shared_variables_); });
 
   return true;
 }
 
-// A separate thread for collision checking.
-bool JogInterfaceBase::startCollisionCheckThread()
+void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStamped& msg)
 {
-  if (!collision_checker_)
-    collision_checker_.reset(new CollisionCheckThread(ros_parameters_, planning_scene_monitor_));
-
-  collision_check_thread_.reset(new std::thread([&]() { collision_checker_->startMainLoop(shared_variables_); }));
+  command_deltas_queue_->push(msg);
+  if (msg.header.stamp != ros::Time(0.))
+  {
+    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+    latest_command_stamp_ = msg.header.stamp;
+  }
+};
 
-  return true;
+void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg)
+{
+  provideTwistStampedCommand(*msg);
 }
 
-bool JogInterfaceBase::stopCollisionCheckThread()
+void JogArm::provideJointCommand(const control_msgs::JointJog& msg)
 {
-  if (collision_check_thread_)
+  joint_command_deltas_queue_->push(msg);
+  if (msg.header.stamp != ros::Time(0.))
   {
-    if (collision_check_thread_->joinable())
-      collision_check_thread_->join();
-
-    collision_check_thread_.reset();
+    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+    latest_command_stamp_ = msg.header.stamp;
   }
+}
 
-  return true;
+void JogArm::provideJointCommand(const control_msgs::JointJogConstPtr& msg)
+{
+  provideJointCommand(*msg);
+}
+
+void JogArm::setPaused(bool paused)
+{
+  shared_variables_.paused = paused;
+}
+
+sensor_msgs::JointState JogArm::getJointState()
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  return latest_joint_state_;
 }
+
+bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
+{
+  if (!jog_calcs_ || !jog_calcs_->isInitialized())
+    return false;
+  return jog_calcs_->getCommandFrameTransform(transform);
+}
+
+StatusCode JogArm::getJoggerStatus() const
+{
+  return shared_variables_.status;
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index f97130b5d6..acbb153fea 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -43,12 +43,42 @@ static const std::string LOGNAME = "jog_calcs";
 
 namespace moveit_jog_arm
 {
+namespace
+{
+// Helper function for detecting zeroed message
+bool isNonZero(const geometry_msgs::TwistStamped& msg)
+{
+  return msg.twist.linear.x != 0.0 || msg.twist.linear.y != 0.0 || msg.twist.linear.z != 0.0 ||
+         msg.twist.angular.x != 0.0 || msg.twist.angular.y != 0.0 || msg.twist.angular.z != 0.0;
+}
+
+// Helper function for detecting zeroed message
+bool isNonZero(const control_msgs::JointJog& msg)
+{
+  bool all_zeros = true;
+  for (double delta : msg.velocities)
+  {
+    all_zeros &= (delta == 0.0);
+  };
+  return !all_zeros;
+}
+}  // namespace
+
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr)
-  : parameters_(parameters), default_sleep_rate_(1000)
+JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr,
+                   const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
+                   const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
+                   const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue)
+  : command_deltas_queue_(command_deltas_queue)
+  , joint_command_deltas_queue_(joint_command_deltas_queue)
+  , outgoing_command_queue_(outgoing_command_queue)
+  , parameters_(parameters)
+  , default_sleep_rate_(1000)
 {
+  ros::NodeHandle nh;
+
   // Publish jogger status
-  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
+  status_pub_ = nh.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
 
   // MoveIt Setup
   while (ros::ok() && !model_loader_ptr)
@@ -62,9 +92,12 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
 
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
+
+  // subscribe to joints
+  joint_state_sub_ = nh.subscribe(parameters.joint_topic, 1, &JogCalcs::jointStateCB, this);
 }
 
-void JogCalcs::startMainLoop(JogArmShared& shared_variables)
+void JogCalcs::run(JogArmShared& shared_variables)
 {
   // Reset flags
   is_initialized_ = false;
@@ -95,10 +128,6 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   {
     if (shared_variables.stop_requested)
       return;
-
-    shared_variables.lock();
-    incoming_joint_state_ = shared_variables.joints;
-    shared_variables.unlock();
     default_sleep_rate_.sleep();
   }
 
@@ -117,6 +146,11 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
   geometry_msgs::TwistStamped cartesian_deltas;
   control_msgs::JointJog joint_deltas;
 
+  // Nonzero status flags
+  bool have_nonzero_cartesian_command = false;
+  bool have_nonzero_joint_command = false;
+  bool have_nonzero_command = false;
+
   // Do jogging calcs
   while (ros::ok() && !shared_variables.stop_requested)
   {
@@ -131,12 +165,40 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
     // Get the transform from MoveIt planning frame to jogging command frame
     // We solve (planning_frame -> base -> robot_link_command_frame)
     // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
-    kinematic_state_->setVariableValues(incoming_joint_state_);
+    {
+      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+      kinematic_state_->setVariableValues(incoming_joint_state_);
+    }
     tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                               kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
-    shared_variables.lock();
-    shared_variables.tf_moveit_to_cmd_frame = tf_moveit_to_cmd_frame_;
-    shared_variables.unlock();
+
+    // Read the latest cartesian commands out of the queues
+    bool have_new_cartesian_command = popLatest(*command_deltas_queue_, cartesian_deltas);
+    bool have_new_joint_command = popLatest(*joint_command_deltas_queue_, joint_deltas);
+
+    if (have_new_cartesian_command)
+    {
+      // Update nonzero flags for updated messages
+      have_nonzero_cartesian_command = isNonZero(cartesian_deltas);
+
+      // Input frame determined by YAML file if not passed with message
+      if (cartesian_deltas.header.frame_id.empty())
+      {
+        cartesian_deltas.header.frame_id = parameters_.robot_link_command_frame;
+      }
+    }
+    if (have_new_joint_command)
+    {
+      // Update nonzero flags for updated messages
+      have_nonzero_joint_command = isNonZero(joint_deltas);
+
+      // Input frame determined by YAML file if not passed with message
+      if (cartesian_deltas.header.frame_id.empty())
+      {
+        joint_deltas.header.frame_id = parameters_.robot_link_command_frame;
+      }
+    }
+    have_nonzero_command = have_nonzero_cartesian_command || have_nonzero_joint_command;
 
     // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
     // joints so a jump doesn't occur when restarting
@@ -145,72 +207,47 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(original_joint_state_.position[i]);
 
-      shared_variables.lock();
       // Check if there are any new commands with valid timestamp
-      wait_for_jog_commands = shared_variables.command_deltas.header.stamp == ros::Time(0.) &&
-                              shared_variables.joint_command_deltas.header.stamp == ros::Time(0.);
-      shared_variables.unlock();
+      wait_for_jog_commands =
+          cartesian_deltas.header.stamp == ros::Time(0.) && joint_deltas.header.stamp == ros::Time(0.);
     }
     // If not waiting for initial command, and not paused.
     // Do jogging calculations only if the robot should move, for efficiency
     else
     {
-      // Halt if the command is stale or inputs are all zero, or commands were zero
-      shared_variables.lock();
-      bool have_nonzero_cartesian_cmd = shared_variables.have_nonzero_cartesian_cmd;
-      bool have_nonzero_joint_cmd = shared_variables.have_nonzero_joint_cmd;
-      bool stale_command = shared_variables.command_is_stale;
-      shared_variables.unlock();
-
-      bool valid_nonzero_command = false;
-      if (!stale_command)
+      if (!shared_variables.command_is_stale)
       {
         // Prioritize cartesian jogging above joint jogging
-        if (have_nonzero_cartesian_cmd)
+        if (have_nonzero_cartesian_command)
         {
-          shared_variables.lock();
-          cartesian_deltas = shared_variables.command_deltas;
-          shared_variables.unlock();
-
           if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
             continue;
         }
-        else if (have_nonzero_joint_cmd)
+        else if (have_nonzero_joint_command)
         {
-          shared_variables.lock();
-          joint_deltas = shared_variables.joint_command_deltas;
-          shared_variables.unlock();
-
           if (!jointJogCalcs(joint_deltas, shared_variables))
             continue;
         }
-
-        valid_nonzero_command = have_nonzero_cartesian_cmd || have_nonzero_joint_cmd;
       }
 
       // If we should halt
-      if (!valid_nonzero_command)
+      if (!have_nonzero_command)
       {
         // Keep the joint position filters up-to-date with current joints
         for (std::size_t i = 0; i < num_joints_; ++i)
           position_filters_[i].reset(original_joint_state_.position[i]);
 
         suddenHalt(outgoing_command_);
-        have_nonzero_cartesian_cmd = false;
-        have_nonzero_joint_cmd = false;
-        // Reset the valid command flag so jogging stops until a new command arrives
-        shared_variables.lock();
-        shared_variables.have_nonzero_cartesian_cmd = false;
-        shared_variables.have_nonzero_joint_cmd = false;
-        shared_variables.unlock();
+        have_nonzero_cartesian_command = false;
+        have_nonzero_joint_command = false;
       }
 
       // Send the newest target joints
-      shared_variables.lock();
       // If everything normal, share the new traj to be published
-      if (valid_nonzero_command)
+      if (have_nonzero_command)
       {
-        shared_variables.outgoing_command = outgoing_command_;
+        outgoing_command_queue_->push(outgoing_command_);
+        // shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
       }
       // Skip the jogging publication if all inputs have been zero for several cycles in a row.
@@ -223,14 +260,14 @@ void JogCalcs::startMainLoop(JogArmShared& shared_variables)
       // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
       else
       {
-        shared_variables.outgoing_command = outgoing_command_;
+        outgoing_command_queue_->push(outgoing_command_);
+        // shared_variables.outgoing_command = outgoing_command_;
         shared_variables.ok_to_publish = true;
       }
-      shared_variables.unlock();
 
       // Store last zero-velocity message flag to prevent superfluous warnings.
       // Cartesian and joint commands must both be zero.
-      if (!have_nonzero_cartesian_cmd && !have_nonzero_joint_cmd)
+      if (!have_nonzero_cartesian_command && !have_nonzero_joint_command)
       {
         // Avoid overflow
         if (zero_velocity_count < std::numeric_limits<int>::max())
@@ -713,9 +750,8 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 // Parse the incoming joint msg for the joints of our MoveGroup
 bool JogCalcs::updateJoints(JogArmShared& shared_variables)
 {
-  shared_variables.lock();
-  incoming_joint_state_ = shared_variables.joints;
-  shared_variables.unlock();
+  // lock the latest state mutex for the joint states
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
 
   // Check that the msg contains enough joints
   if (incoming_joint_state_.name.size() < num_joints_)
@@ -835,6 +871,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     }
     catch (const std::out_of_range& e)
     {
+      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
       ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
       continue;
     }
@@ -886,4 +923,20 @@ void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta
   jacobian.conservativeResize(num_rows, num_cols);
   delta_x.conservativeResize(num_rows);
 }
+
+void JogCalcs::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  incoming_joint_state_ = *msg;
+}
+
+bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  transform = tf_moveit_to_cmd_frame_;
+
+  // All zeros means the transform wasn't initialized, so return false
+  return !transform.matrix().isZero(0);
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
deleted file mode 100644
index 47e23f5eb0..0000000000
--- a/moveit_experimental/moveit_jog_arm/src/jog_cpp_interface.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/*******************************************************************************
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-/*      Title     : jog_cpp_interface.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 11/20/2019
- *      Author    : Andy Zelenak
- */
-
-#include "moveit_jog_arm/jog_cpp_interface.h"
-
-static const std::string LOGNAME = "jog_cpp_interface";
-
-namespace moveit_jog_arm
-{
-JogCppInterface::JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-{
-  planning_scene_monitor_ = planning_scene_monitor;
-
-  // Read ROS parameters, typically from YAML file
-  if (!readParameters(nh_))
-    exit(EXIT_FAILURE);
-}
-
-JogCppInterface::~JogCppInterface()
-{
-  stopMainLoop();
-}
-
-void JogCppInterface::startMainLoop()
-{
-  // Reset loop termination flag
-  shared_variables_.stop_requested = false;
-  shared_variables_.paused = false;
-
-  // Crunch the numbers in this thread
-  startJogCalcThread();
-
-  // Check collisions in this thread
-  if (ros_parameters_.check_collisions)
-    startCollisionCheckThread();
-
-  // ROS subscriptions. Share the data with the worker threads
-  ros::Subscriber joints_sub =
-      nh_.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));
-
-  // Publish freshly-calculated joints to the robot.
-  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-  ros::Publisher outgoing_cmd_pub;
-  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    outgoing_cmd_pub = nh_.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
-  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    outgoing_cmd_pub = nh_.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);
-
-  // Wait for incoming topics to appear
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
-
-  // Wait for low pass filters to stabilize
-  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
-  ros::Duration(10 * ros_parameters_.publish_period).sleep();
-
-  ros::Rate main_rate(1. / ros_parameters_.publish_period);
-
-  while (ros::ok() && !shared_variables_.stop_requested)
-  {
-    ros::spinOnce();
-
-    if (!shared_variables_.paused)
-    {
-      shared_variables_.lock();
-      trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
-
-      // Check if incoming commands are stale
-      shared_variables_.command_is_stale = (ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) >=
-                                           ros::Duration(ros_parameters_.incoming_command_timeout);
-
-      // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-      if (shared_variables_.ok_to_publish)
-      {
-        // Put the outgoing msg in the right format
-        // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-        if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-        {
-          outgoing_command.header.stamp = ros::Time::now();
-          outgoing_cmd_pub.publish(outgoing_command);
-        }
-        else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-        {
-          std_msgs::Float64MultiArray joints;
-          if (ros_parameters_.publish_joint_positions)
-            joints.data = outgoing_command.points[0].positions;
-          else if (ros_parameters_.publish_joint_velocities)
-            joints.data = outgoing_command.points[0].velocities;
-          outgoing_cmd_pub.publish(joints);
-        }
-      }
-      else if (shared_variables_.command_is_stale)
-      {
-        ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                    "Try a larger 'incoming_command_timeout' parameter?");
-      }
-      else
-      {
-        ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
-      }
-
-      shared_variables_.unlock();
-    }
-
-    main_rate.sleep();
-  }
-
-  stopJogCalcThread();
-  stopCollisionCheckThread();
-}
-
-void JogCppInterface::stopMainLoop()
-{
-  shared_variables_.stop_requested = true;
-}
-
-void JogCppInterface::setPaused(bool paused)
-{
-  shared_variables_.paused = paused;
-}
-
-void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
-{
-  shared_variables_.lock();
-
-  shared_variables_.command_deltas.twist = velocity_command.twist;
-  shared_variables_.command_deltas.header = velocity_command.header;
-
-  // Input frame determined by YAML file if not passed with message
-  if (shared_variables_.command_deltas.header.frame_id.empty())
-  {
-    shared_variables_.command_deltas.header.frame_id = ros_parameters_.robot_link_command_frame;
-  }
-
-  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
-  shared_variables_.have_nonzero_cartesian_cmd = shared_variables_.command_deltas.twist.linear.x != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.linear.y != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.linear.z != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.x != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.y != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.z != 0.0;
-
-  if (shared_variables_.have_nonzero_cartesian_cmd)
-  {
-    shared_variables_.latest_nonzero_cmd_stamp = velocity_command.header.stamp;
-  }
-  shared_variables_.unlock();
-};
-
-void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_command)
-{
-  shared_variables_.lock();
-  shared_variables_.joint_command_deltas = joint_command;
-
-  // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
-  bool all_zeros = true;
-  for (double delta : shared_variables_.joint_command_deltas.velocities)
-  {
-    all_zeros &= (delta == 0.0);
-  };
-  shared_variables_.have_nonzero_joint_cmd = !all_zeros;
-
-  if (shared_variables_.have_nonzero_joint_cmd)
-  {
-    shared_variables_.latest_nonzero_cmd_stamp = joint_command.header.stamp;
-  }
-  shared_variables_.unlock();
-}
-
-sensor_msgs::JointState JogCppInterface::getJointState()
-{
-  shared_variables_.lock();
-  sensor_msgs::JointState current_joints = shared_variables_.joints;
-  shared_variables_.unlock();
-
-  return current_joints;
-}
-
-bool JogCppInterface::getCommandFrameTransform(Eigen::Isometry3d& transform)
-{
-  if (!jog_calcs_ || !jog_calcs_->isInitialized())
-    return false;
-
-  shared_variables_.lock();
-  transform = shared_variables_.tf_moveit_to_cmd_frame;
-  shared_variables_.unlock();
-
-  // All zeros means the transform wasn't initialized, so return false
-  return !transform.matrix().isZero(0);
-}
-
-StatusCode JogCppInterface::getJoggerStatus()
-{
-  return shared_variables_.status;
-}
-}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp b/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
deleted file mode 100644
index 567e0b707a..0000000000
--- a/moveit_experimental/moveit_jog_arm/src/jog_ros_interface.cpp
+++ /dev/null
@@ -1,223 +0,0 @@
-/*******************************************************************************
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-/*      Title     : jog_ros_interface.cpp
- *      Project   : moveit_jog_arm
- *      Created   : 3/9/2017
- *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
- */
-
-// Server node for arm jogging with MoveIt.
-
-#include <moveit_jog_arm/jog_ros_interface.h>
-
-static const std::string LOGNAME = "jog_ros_interface";
-
-namespace moveit_jog_arm
-{
-/////////////////////////////////////////////////////////////////////////////////
-// JogROSInterface handles ROS subscriptions and instantiates the worker threads.
-// One worker thread does the jogging calculations.
-// Another worker thread does collision checking.
-/////////////////////////////////////////////////////////////////////////////////
-
-// Constructor for the main ROS interface node
-JogROSInterface::JogROSInterface()
-{
-  ros::NodeHandle nh;
-
-  // Read ROS parameters, typically from YAML file
-  if (!readParameters(nh))
-    exit(EXIT_FAILURE);
-
-  // Load the planning scene monitor
-  planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
-  if (!planning_scene_monitor_->getPlanningScene())
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
-    exit(EXIT_FAILURE);
-  }
-
-  planning_scene_monitor_->startSceneMonitor();
-  planning_scene_monitor_->startWorldGeometryMonitor(
-      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
-      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
-      false /* skip octomap monitor */);
-  planning_scene_monitor_->startStateMonitor();
-
-  // Crunch the numbers in this thread
-  startJogCalcThread();
-
-  // Check collisions in this thread
-  if (ros_parameters_.check_collisions)
-    startCollisionCheckThread();
-
-  // ROS subscriptions. Share the data with the worker threads
-  ros::Subscriber cmd_sub =
-      nh.subscribe(ros_parameters_.cartesian_command_in_topic, 1, &JogROSInterface::deltaCartesianCmdCB, this);
-  ros::Subscriber joint_jog_cmd_sub =
-      nh.subscribe(ros_parameters_.joint_command_in_topic, 1, &JogROSInterface::deltaJointCmdCB, this);
-  ros::Subscriber joints_sub =
-      nh.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));
-
-  // ROS Server for allowing drift in some dimensions
-  ros::ServiceServer drift_dimensions_server =
-      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
-                          &JogInterfaceBase::changeDriftDimensions, dynamic_cast<JogInterfaceBase*>(this));
-  // ROS Server for changing the control dimensions
-  ros::ServiceServer dims_server =
-      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
-                          &JogInterfaceBase::changeControlDimensions, dynamic_cast<JogInterfaceBase*>(this));
-
-  // Publish freshly-calculated joints to the robot.
-  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-  ros::Publisher outgoing_cmd_pub;
-  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    outgoing_cmd_pub = nh.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
-  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    outgoing_cmd_pub = nh.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);
-
-  // Wait for incoming topics to appear
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
-
-  // Wait for low pass filters to stabilize
-  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
-  ros::Duration(10 * ros_parameters_.publish_period).sleep();
-
-  ros::Rate main_rate(1. / ros_parameters_.publish_period);
-
-  while (ros::ok())
-  {
-    ros::spinOnce();
-
-    shared_variables_.lock();
-    trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;
-
-    // Check for stale cmds
-    shared_variables_.command_is_stale = ((ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) >=
-                                          ros::Duration(ros_parameters_.incoming_command_timeout));
-
-    // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-    if (shared_variables_.ok_to_publish)
-    {
-      // Put the outgoing msg in the right format
-      // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-      if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-      {
-        outgoing_command.header.stamp = ros::Time::now();
-        outgoing_cmd_pub.publish(outgoing_command);
-      }
-      else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-      {
-        std_msgs::Float64MultiArray joints;
-        if (ros_parameters_.publish_joint_positions)
-          joints.data = outgoing_command.points[0].positions;
-        else if (ros_parameters_.publish_joint_velocities)
-          joints.data = outgoing_command.points[0].velocities;
-        outgoing_cmd_pub.publish(joints);
-      }
-    }
-    else if (shared_variables_.command_is_stale)
-    {
-      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                  "Try a larger 'incoming_command_timeout' parameter?");
-    }
-    else
-    {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
-    }
-
-    shared_variables_.unlock();
-
-    main_rate.sleep();
-  }
-
-  // Stop JogArm threads
-  shared_variables_.stop_requested = true;
-  stopJogCalcThread();
-  stopCollisionCheckThread();
-}
-
-// Listen to cartesian delta commands. Store them in a shared variable.
-void JogROSInterface::deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg)
-{
-  shared_variables_.lock();
-
-  // Copy everything but the frame name. The frame name is set by yaml file at startup.
-  // (so it isn't copied over and over)
-  shared_variables_.command_deltas.twist = msg->twist;
-  shared_variables_.command_deltas.header = msg->header;
-
-  // Input frame determined by YAML file if not passed with message
-  if (shared_variables_.command_deltas.header.frame_id.empty())
-  {
-    shared_variables_.command_deltas.header.frame_id = ros_parameters_.robot_link_command_frame;
-  }
-
-  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
-  shared_variables_.have_nonzero_cartesian_cmd = shared_variables_.command_deltas.twist.linear.x != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.linear.y != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.linear.z != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.x != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.y != 0.0 ||
-                                                 shared_variables_.command_deltas.twist.angular.z != 0.0;
-
-  if (shared_variables_.have_nonzero_cartesian_cmd)
-  {
-    shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
-  }
-  shared_variables_.unlock();
-}
-
-// Listen to joint delta commands. Store them in a shared variable.
-void JogROSInterface::deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg)
-{
-  shared_variables_.lock();
-  shared_variables_.joint_command_deltas = *msg;
-
-  // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
-  bool all_zeros = true;
-  for (double delta : shared_variables_.joint_command_deltas.velocities)
-  {
-    all_zeros &= (delta == 0.0);
-  };
-  shared_variables_.have_nonzero_joint_cmd = !all_zeros;
-
-  if (shared_variables_.have_nonzero_joint_cmd)
-  {
-    shared_variables_.latest_nonzero_cmd_stamp = msg->header.stamp;
-  }
-  shared_variables_.unlock();
-}
-}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index f258211f45..ffc7dc8b3c 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -37,15 +37,108 @@
  *      Author    : Andy Zelenak
  */
 
-#include <moveit_jog_arm/jog_ros_interface.h>
+#include <moveit_jog_arm/jog_arm.h>
 
-static const std::string LOGNAME = "jog_server";
+namespace
+{
+constexpr char LOGNAME[] = "jog_server";
+constexpr char ROS_THREADS = 4;
+
+struct JogServerParameters
+{
+  bool read_error = true;
+  std::string cartesian_command_in_topic = "";
+  std::string joint_command_in_topic = "";
+};
+
+JogServerParameters readParameters()
+{
+  ros::NodeHandle nh;
+  JogServerParameters params;
+
+  // Load parameters
+  std::string parameter_ns;
+  ros::param::get("~parameter_ns", parameter_ns);
+
+  if (parameter_ns.empty())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
+                                    "type=\"string\" "
+                                    "value=\"left_jog_server\" />");
+    params.read_error = true;
+  }
+  else
+  {
+    std::size_t error = 0;
+    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/cartesian_command_in_topic",
+                                      params.cartesian_command_in_topic);
+    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_command_in_topic", params.joint_command_in_topic);
+    params.read_error = (error != 0);
+  }
+  return params;
+}
+
+}  // namespace
 
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
+  ros::AsyncSpinner spinner(ROS_THREADS);
+  spinner.start();
+
+  ros::NodeHandle nh;
+
+  const auto params = readParameters();
+  if (params.read_error)
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error reading parameters.");
+    exit(EXIT_FAILURE);
+  }
+
+  // Load the planning scene monitor
+  auto planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+  if (!planning_scene_monitor->getPlanningScene())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
+    exit(EXIT_FAILURE);
+  }
+
+  // Start the planning scene monitor
+  planning_scene_monitor->startSceneMonitor();
+  planning_scene_monitor->startWorldGeometryMonitor(
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+      false /* skip octomap monitor */);
+  planning_scene_monitor->startStateMonitor();
+
+  // Create the jog server
+  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor);
+
+  // ROS subscriptions. Share the data with the worker threads
+  auto cmd_sub =
+      nh.subscribe(params.cartesian_command_in_topic, 1, &moveit_jog_arm::JogArm::provideTwistStampedCommand, &jog_arm);
+  auto joint_jog_cmd_sub =
+      nh.subscribe(params.joint_command_in_topic, 1, &moveit_jog_arm::JogArm::provideJointCommand, &jog_arm);
+
+  // ROS Server for allowing drift in some dimensions
+  auto drift_dimensions_server =
+      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
+                          &moveit_jog_arm::JogArm::changeDriftDimensions, &jog_arm);
+
+  // ROS Server for changing the control dimensions
+  auto dims_server =
+      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
+                          &moveit_jog_arm::JogArm::changeControlDimensions, &jog_arm);
+
+  // Start the jog server (runs in the ros spinner)
+  jog_arm.start();
+
+  // Wait for ros to shutdown
+  ros::waitForShutdown();
 
-  moveit_jog_arm::JogROSInterface ros_interface;
+  // Stop the jog server
+  jog_arm.stop();
 
   return 0;
 }
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index 2b18f7e083..fea4d4cf16 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -46,7 +46,7 @@
 #include <gtest/gtest.h>
 
 // Main class
-#include <moveit_jog_arm/jog_cpp_interface.h>
+#include <moveit_jog_arm/jog_arm.h>
 
 static const std::string LOGNAME = "jog_cpp_interface_test";
 
@@ -75,8 +75,10 @@ class TestJogCppInterface : public ::testing::Test
 
 TEST_F(TestJogCppInterface, InitTest)
 {
-  moveit_jog_arm::JogCppInterface jog_cpp_interface(planning_scene_monitor_);
+  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor_);
+  jog_arm.start();
   ros::Duration(1).sleep();  // Give the started thread some time to run
+  jog_arm.stop();
 }
 
 // TODO(davetcoleman): due to many blocking checks for ROS messages, and
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
index 428d8482e1..73d626f086 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
@@ -5,6 +5,12 @@
     <arg name="load_robot_description" value="true"/>
   </include>
 
+  <!-- Initial joint positions -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
   <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="10" args="">
     <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
     <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>

From f21c7255fc7ff680adf5a23de21f55eb074d685f Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Tue, 26 May 2020 16:36:55 -0600
Subject: [PATCH 317/612] use ros timers instead of threads in jog_arm

---
 .../moveit_jog_arm/collision_check_thread.h   |  48 ++-
 .../include/moveit_jog_arm/jog_arm.h          |  18 +-
 .../include/moveit_jog_arm/jog_arm_data.h     |   3 +
 .../include/moveit_jog_arm/jog_calcs.h        |  53 +++-
 .../src/collision_check_thread.cpp            | 249 +++++++--------
 .../cpp_interface_example.cpp                 |   3 +-
 .../moveit_jog_arm/src/jog_arm.cpp            | 299 ++++++++----------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 281 ++++++++--------
 .../moveit_jog_arm/src/jog_server.cpp         |   4 +-
 .../test/jog_cpp_interface_test.cpp           |  12 +-
 10 files changed, 518 insertions(+), 452 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index abef5e1abf..b88b0d783d 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -63,28 +63,66 @@ class CollisionCheckThread
    *  \param planning_scene_monitor: PSM should have scene monitor and state monitor
    *                                 already started when passed into this class
    */
-  CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
+  CollisionCheckThread(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
+                       JogArmShared& shared_variables,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \breif run function to be run in a thread */
-  void run(moveit_jog_arm::JogArmShared& shared_variables);
+  /** \breif start and stop the Thread */
+  void start();
+  void stop();
 
 private:
+  void init();
+  void run(const ros::TimerEvent& timer_event);
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
+  // ROS node handle
+  ros::NodeHandle nh_;
+
+  // Parameters
   const moveit_jog_arm::JogArmParameters parameters_;
 
-  CollisionCheckType collision_check_type_;
+  // Shared variables from JogArm
+  JogArmShared& shared_variables_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
+  // Robot state and collision matrix from planning scene
+  std::unique_ptr<moveit::core::RobotState> current_state_;
+  collision_detection::AllowedCollisionMatrix acm_;
+
+  // Scale robot velocity according to collision proximity and user-defined thresholds.
+  // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold.
+  // Proximity decreasing --> decelerate
+  CollisionCheckType collision_check_type_;
+  double velocity_scale_ = 1;
+  double self_collision_distance_ = 0;
+  double scene_collision_distance_ = 0;
+  bool collision_detected_ = false;
+
+  // Variables for stop-distance-based collision checking
+  double current_collision_distance_ = 0;
+  double derivative_of_collision_distance_ = 0;
+  double prev_collision_distance_ = 0;
+  double est_time_to_collision_ = 0;
+  double safety_factor_ = 1000;
+
+  const double self_velocity_scale_coefficient_;
+  const double scene_velocity_scale_coefficient_;
+
+  // collision request
+  collision_detection::CollisionRequest collision_request_;
+  collision_detection::CollisionResult collision_result_;
+
   // ROS
+  ros::Timer timer_;
+  ros::Duration period_;
   ros::Subscriber joint_state_sub_;
 
   // Latest joint state, updated by ROS callback
   mutable std::mutex joint_state_mutex_;
-  sensor_msgs::JointState latest_joint_state_;
+  sensor_msgs::JointStateConstPtr latest_joint_state_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 84730b5d0b..c8c7cea178 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -38,7 +38,6 @@
 
 #include <memory>
 #include <mutex>
-#include <thread>
 
 #include <Eigen/Eigenvalues>
 
@@ -64,7 +63,7 @@ namespace moveit_jog_arm
 class JogArm
 {
 public:
-  JogArm(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+  JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   ~JogArm();
 
@@ -129,16 +128,16 @@ class JogArm
 
 private:
   bool readParameters();
-  void run();
-  bool startJogCalcThread();
-  bool startCollisionCheckThread();
+  void run(const ros::TimerEvent& timer_event);
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
+  ros::NodeHandle nh_;
+
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
   // Store the parameters that were read from ROS server
-  JogArmParameters ros_parameters_;
+  JogArmParameters parameters_;
 
   // Share data between threads
   JogArmShared shared_variables_;
@@ -154,12 +153,9 @@ class JogArm
   // Collision checks
   std::unique_ptr<CollisionCheckThread> collision_checker_;
 
-  // Threads
-  std::thread jog_server_thread_;
-  std::thread jog_calc_thread_;
-  std::thread collision_check_thread_;
-
   // ROS
+  ros::Timer timer_;
+  ros::Duration period_;
   ros::Subscriber joint_state_sub_;
   ros::Publisher outgoing_cmd_pub_;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 136a5b07f1..be168098c4 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -123,10 +123,12 @@ struct JogArmParameters
 {
   std::string move_group_name;
   std::string joint_topic;
+  std::string cartesian_command_in_topic;
   std::string robot_link_command_frame;
   std::string command_out_topic;
   std::string planning_frame;
   std::string status_topic;
+  std::string joint_command_in_topic;
   std::string command_in_type;
   std::string command_out_type;
   double linear_scale;
@@ -152,4 +154,5 @@ struct JogArmParameters
   double collision_distance_safety_factor;
   double min_allowable_collision_distance;
 };
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index b1c6355d50..8aa79cc836 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -57,13 +57,15 @@ namespace moveit_jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr,
+  JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
+           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
            const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
            const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
            const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue);
 
-  /** \breif Thread run method */
-  void run(JogArmShared& shared_variables);
+  /** \breif Start and stop the timer (thread) */
+  void start();
+  void stop();
 
   /** \brief Check if the robot state is being updated and the end effector transform is known
    *  @return true if initialized properly
@@ -80,6 +82,12 @@ class JogCalcs
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
 private:
+  /** \breif Init must be called once before run */
+  void init();
+
+  /** \brief Timer method */
+  void run(const ros::TimerEvent& timer_event);
+
   /** \brief Do jogging calculations for Cartesian twist commands. */
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables);
 
@@ -165,8 +173,36 @@ class JogCalcs
   /* \brief Callback for joint subsription */
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
+  // ROS node handle
+  ros::NodeHandle nh_;
+
+  // Ros parameters from JogArm
+  const JogArmParameters& parameters_;
+
+  // Shared variables from JogArm
+  JogArmShared& shared_variables_;
+
+  // Pointer to the collision environment
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+
   // Flag that robot state is up to date, end effector transform is known
-  bool is_initialized_;
+  bool is_initialized_ = false;
+
+  // Track the number of cycles during which motion has not occurred.
+  // Will avoid re-publishing zero velocities endlessly.
+  int zero_velocity_count_ = 0;
+
+  // Flag for staying inactive while there are no incoming commands
+  bool wait_for_jog_commands_ = true;
+
+  // Nonzero status flags
+  bool have_nonzero_cartesian_command_ = false;
+  bool have_nonzero_joint_command_ = false;
+  bool have_nonzero_command_ = false;
+
+  // Incoming command messages
+  geometry_msgs::TwistStamped cartesian_deltas_;
+  control_msgs::JointJog joint_deltas_;
 
   const moveit::core::JointModelGroup* joint_model_group_;
 
@@ -180,10 +216,10 @@ class JogCalcs
   // latest_state_mutex_ is used to protect
   // incoming_joint_state_ and tf_moveit_to_cmd_frame_
   mutable std::mutex latest_state_mutex_;
+  // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   sensor_msgs::JointState incoming_joint_state_;
   Eigen::Isometry3d tf_moveit_to_cmd_frame_;
 
-  // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
   // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
   sensor_msgs::JointState internal_joint_state_, original_joint_state_;
@@ -194,12 +230,12 @@ class JogCalcs
   std::vector<LowPassFilter> position_filters_;
 
   // ROS
+  ros::Timer timer_;
+  ros::Duration period_;
   ros::Subscriber joint_state_sub_;
   ros::Publisher status_pub_;
   StatusCode status_ = NO_WARNING;
 
-  JogArmParameters parameters_;
-
   // Use ArrayXd type to enable more coefficient-wise operations
   Eigen::ArrayXd delta_theta_;
   Eigen::ArrayXd prev_joint_velocity_;
@@ -208,6 +244,7 @@ class JogCalcs
 
   uint num_joints_;
 
-  ros::Rate default_sleep_rate_;
+  // Amount we sleep when waiting
+  ros::Rate default_sleep_rate_ = 1000;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 3c4fcb8d18..b04232f6ec 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -47,21 +47,29 @@ namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
 CollisionCheckThread::CollisionCheckThread(
-    const moveit_jog_arm::JogArmParameters& parameters,
+    ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters, JogArmShared& shared_variables,
     const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-  : parameters_(parameters), planning_scene_monitor_(planning_scene_monitor)
+  : nh_(nh)
+  , parameters_(parameters)
+  , shared_variables_(shared_variables)
+  , planning_scene_monitor_(planning_scene_monitor)
+  , self_velocity_scale_coefficient_(-log(0.001) / parameters.self_collision_proximity_threshold)
+  , scene_velocity_scale_coefficient_(-log(0.001) / parameters.scene_collision_proximity_threshold)
+  , period_(1. / parameters_.collision_check_rate)
 {
-  ros::NodeHandle nh;
+  // Init collision request
+  collision_request_.group_name = parameters_.move_group_name;
+  collision_request_.distance = true;  // enable distance-based collision checking
 
   if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
     ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
 
   // subscribe to joints
-  joint_state_sub_ = nh.subscribe(parameters.joint_topic, 1, &CollisionCheckThread::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &CollisionCheckThread::jointStateCB, this);
 
-  // Wait for incoming topics to appear
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters.joint_topic);
+  collision_check_type_ =
+      (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
+  safety_factor_ = parameters_.collision_distance_safety_factor;
 }
 
 planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
@@ -69,148 +77,137 @@ planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPla
   return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
 }
 
-void CollisionCheckThread::run(JogArmShared& shared_variables)
+void CollisionCheckThread::init()
 {
-  // Init collision request
-  collision_detection::CollisionRequest collision_request;
-  collision_request.group_name = parameters_.move_group_name;
-  collision_request.distance = true;  // enable distance-based collision checking
-  collision_detection::CollisionResult collision_result;
-
-  // Copy the planning scene's version of current state into new memory
-  moveit::core::RobotState current_state(getLockedPlanningSceneRO()->getCurrentState());
-
-  const double self_velocity_scale_coefficient = -log(0.001) / parameters_.self_collision_proximity_threshold;
-  const double scene_velocity_scale_coefficient = -log(0.001) / parameters_.scene_collision_proximity_threshold;
-  ros::Rate collision_rate(parameters_.collision_check_rate);
+  // Wait for incoming topics to appear
+  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
+  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
 
-  double self_collision_distance = 0;
-  double scene_collision_distance = 0;
-  bool collision_detected;
+  current_state_ = std::make_unique<moveit::core::RobotState>(getLockedPlanningSceneRO()->getCurrentState());
+  acm_ = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
+}
 
-  // This variable scales the robot velocity when a collision is close
-  double velocity_scale = 1;
+void CollisionCheckThread::start()
+{
+  init();
+  timer_ = nh_.createTimer(period_, &CollisionCheckThread::run, this);
+}
 
-  collision_check_type_ =
-      (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
+void CollisionCheckThread::stop()
+{
+  timer_.stop();
+}
 
-  // Variables for stop-distance-based collision checking
-  double current_collision_distance = 0;
-  double derivative_of_collision_distance = 0;
-  double prev_collision_distance = 0;
-  double est_time_to_collision = 0;
-  double safety_factor = parameters_.collision_distance_safety_factor;
+void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
+{
+  // Log last loop duration and warn if it was longer than period
+  if (timer_event.profile.last_duration.toSec() < period_.toSec())
+  {
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                                   << period_.toSec() << ")");
+  }
+  else
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
+                                                                 << period_.toSec());
+  }
 
-  collision_detection::AllowedCollisionMatrix acm = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
+  if (shared_variables_.paused)
+  {
+    return;
+  }
 
-  /////////////////////////////////////////////////
-  // Spin while checking collisions
-  /////////////////////////////////////////////////
-  sensor_msgs::JointState joint_state;
+  {
+    // Copy the latest joint state
+    const std::lock_guard<std::mutex> lock(CollisionCheckThread);
+    for (std::size_t i = 0; i < latest_joint_state_->position.size(); ++i)
+      current_state_->setJointPositions(latest_joint_state_->name[i], &latest_joint_state_->position[i]);
+  }
 
-  while (ros::ok() && !shared_variables.stop_requested)
+  current_state_->updateCollisionBodyTransforms();
+  collision_detected_ = false;
+
+  // Do a thread-safe distance-based collision detection
+  collision_result_.clear();
+  getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request_, collision_result_,
+                                                                     *current_state_);
+  scene_collision_distance_ = collision_result_.distance;
+  collision_detected_ |= collision_result_.collision;
+
+  collision_result_.clear();
+  getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision(collision_request_, collision_result_,
+                                                                            *current_state_, acm_);
+  self_collision_distance_ = collision_result_.distance;
+  collision_detected_ |= collision_result_.collision;
+
+  velocity_scale_ = 1;
+  // If we're definitely in collision, stop immediately
+  if (collision_detected_)
   {
-    if (!shared_variables.paused)
+    velocity_scale_ = 0;
+  }
+  // If threshold distances were specified
+  else if (collision_check_type_ == K_THRESHOLD_DISTANCE)
+  {
+    // If we are far from a collision, velocity_scale should be 1.
+    // If we are very close to a collision, velocity_scale should be ~zero.
+    // When scene_collision_proximity_threshold is breached, start decelerating exponentially.
+    if (scene_collision_distance_ < parameters_.scene_collision_proximity_threshold)
     {
-      {
-        // Copy the latest joint state
-        const std::lock_guard<std::mutex> lock(CollisionCheckThread);
-        joint_state = latest_joint_state_;
-      }
-
-      for (std::size_t i = 0; i < joint_state.position.size(); ++i)
-        current_state.setJointPositions(joint_state.name[i], &joint_state.position[i]);
-
-      current_state.updateCollisionBodyTransforms();
-      collision_detected = false;
+      // velocity_scale = e ^ k * (collision_distance - threshold)
+      // k = - ln(0.001) / collision_proximity_threshold
+      // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
+      // velocity_scale should equal 0.001 when collision_distance is at zero.
+      velocity_scale_ =
+          std::min(velocity_scale_, exp(scene_velocity_scale_coefficient_ *
+                                        (scene_collision_distance_ - parameters_.scene_collision_proximity_threshold)));
+    }
 
-      // Do a thread-safe distance-based collision detection
-      collision_result.clear();
-      getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request, collision_result,
-                                                                         current_state);
-      scene_collision_distance = collision_result.distance;
-      collision_detected |= collision_result.collision;
+    if (self_collision_distance_ < parameters_.self_collision_proximity_threshold)
+    {
+      velocity_scale_ =
+          std::min(velocity_scale_, exp(self_velocity_scale_coefficient_ *
+                                        (self_collision_distance_ - parameters_.self_collision_proximity_threshold)));
+    }
+  }
+  // Else, we stop based on worst-case stopping distance
+  else
+  {
+    // Retrieve the worst-case time to stop, based on current joint velocities
 
-      collision_result.clear();
-      getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision(collision_request, collision_result,
-                                                                                current_state, acm);
-      self_collision_distance = collision_result.distance;
-      collision_detected |= collision_result.collision;
+    // Calculate rate of change of distance to nearest collision
+    current_collision_distance_ = std::min(scene_collision_distance_, self_collision_distance_);
+    derivative_of_collision_distance_ = (current_collision_distance_ - prev_collision_distance_) / period_.toSec();
 
-      velocity_scale = 1;
+    if (current_collision_distance_ < parameters_.min_allowable_collision_distance &&
+        derivative_of_collision_distance_ <= 0)
+    {
+      velocity_scale_ = 0;
+    }
+    // Only bother doing calculations if we are moving toward the nearest collision
+    else if (derivative_of_collision_distance_ < -EPSILON)
+    {
+      // At the rate the collision distance is decreasing, how long until we collide?
+      est_time_to_collision_ = fabs(current_collision_distance_ / derivative_of_collision_distance_);
 
-      // If we're definitely in collision, stop immediately
-      if (collision_detected)
+      // halt if we can't stop fast enough (including the safety factor)
+      if (est_time_to_collision_ < (safety_factor_ * shared_variables_.worst_case_stop_time))
       {
-        velocity_scale = 0;
+        velocity_scale_ = 0;
       }
-      // If threshold distances were specified
-      else if (collision_check_type_ == K_THRESHOLD_DISTANCE)
-      {
-        // If we are far from a collision, velocity_scale should be 1.
-        // If we are very close to a collision, velocity_scale should be ~zero.
-        // When scene_collision_proximity_threshold is breached, start decelerating exponentially.
-        if (scene_collision_distance < parameters_.scene_collision_proximity_threshold)
-        {
-          // velocity_scale = e ^ k * (collision_distance - threshold)
-          // k = - ln(0.001) / collision_proximity_threshold
-          // velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
-          // velocity_scale should equal 0.001 when collision_distance is at zero.
-          velocity_scale = std::min(velocity_scale,
-                                    exp(scene_velocity_scale_coefficient *
-                                        (scene_collision_distance - parameters_.scene_collision_proximity_threshold)));
-        }
-
-        if (self_collision_distance < parameters_.self_collision_proximity_threshold)
-        {
-          velocity_scale =
-              std::min(velocity_scale, exp(self_velocity_scale_coefficient *
-                                           (self_collision_distance - parameters_.self_collision_proximity_threshold)));
-        }
-      }
-      // Else, we stop based on worst-case stopping distance
-      else
-      {
-        // Retrieve the worst-case time to stop, based on current joint velocities
-
-        // Calculate rate of change of distance to nearest collision
-        current_collision_distance = std::min(scene_collision_distance, self_collision_distance);
-        derivative_of_collision_distance =
-            (current_collision_distance - prev_collision_distance) / collision_rate.expectedCycleTime().toSec();
-
-        if (current_collision_distance < parameters_.min_allowable_collision_distance &&
-            derivative_of_collision_distance <= 0)
-        {
-          velocity_scale = 0;
-        }
-        // Only bother doing calculations if we are moving toward the nearest collision
-        else if (derivative_of_collision_distance < -EPSILON)
-        {
-          // At the rate the collision distance is decreasing, how long until we collide?
-          est_time_to_collision = fabs(current_collision_distance / derivative_of_collision_distance);
-
-          // halt if we can't stop fast enough (including the safety factor)
-          if (est_time_to_collision < (safety_factor * shared_variables.worst_case_stop_time))
-          {
-            velocity_scale = 0;
-          }
-        }
-
-        // Update for the next iteration
-        prev_collision_distance = current_collision_distance;
-      }
-
-      // Communicate a velocity-scaling factor back to the other threads
-      shared_variables.collision_velocity_scale = velocity_scale;
     }
 
-    collision_rate.sleep();
+    // Update for the next iteration
+    prev_collision_distance_ = current_collision_distance_;
   }
+
+  // Communicate a velocity-scaling factor back to the other threads
+  shared_variables_.collision_velocity_scale = velocity_scale_;
 }
 
 void CollisionCheckThread::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(joint_state_mutex_);
-  latest_joint_state_ = *msg;
+  latest_joint_state_ = msg;
 }
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index ad916a90be..53c1e971f9 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -49,6 +49,7 @@ static const std::string LOGNAME = "cpp_interface_example";
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
+  ros::NodeHandle nh;
   ros::AsyncSpinner spinner(4);
   spinner.start();
 
@@ -69,7 +70,7 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
-  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor);
+  moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
   jog_arm.start();
 
   // Make a Cartesian velocity message
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index d124e31552..29b604bdde 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -43,15 +43,16 @@ static const std::string LOGNAME = "jog_arm";
 
 namespace moveit_jog_arm
 {
-JogArm::JogArm(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-  : planning_scene_monitor_(planning_scene_monitor)
+JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
 {
-  ros::NodeHandle nh;
-
   // Read ROS parameters, typically from YAML file
   if (!readParameters())
     exit(EXIT_FAILURE);
 
+  // loop period
+  period_ = ros::Duration(parameters_.publish_period);
+
   // Create queues for message passing between threads
   command_deltas_queue_ = std::make_shared<TwistedStampedQueue>();
   joint_command_deltas_queue_ = std::make_shared<JointJogQueue>();
@@ -59,23 +60,28 @@ JogArm::JogArm(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_s
 
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    outgoing_cmd_pub_ = nh.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
-  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    outgoing_cmd_pub_ = nh.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);
+  if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+    outgoing_cmd_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory>(parameters_.command_out_topic, 1);
+  else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
+    outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, 1);
 
   // subscribe to joints
-  joint_state_sub_ = nh.subscribe(ros_parameters_.joint_topic, 1, &JogArm::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, 1, &JogArm::jointStateCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);
+  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
+
+  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, shared_variables_, planning_scene_monitor_,
+                                          command_deltas_queue_, joint_command_deltas_queue_, outgoing_command_queue_);
+
+  collision_checker_ =
+      std::make_unique<CollisionCheckThread>(nh_, parameters_, shared_variables_, planning_scene_monitor_);
 }
 
 // Read ROS parameters, typically from YAML file
 bool JogArm::readParameters()
 {
-  ros::NodeHandle nh;
   std::size_t error = 0;
 
   // Specified in the launch file. All other parameters will be read from this namespace.
@@ -90,143 +96,144 @@ bool JogArm::readParameters()
     return false;
   }
 
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_period", ros_parameters_.publish_period);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_period", parameters_.publish_period);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_check_rate", parameters_.collision_check_rate);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
+                                    parameters_.num_outgoing_halt_msgs_to_publish);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/linear", parameters_.linear_scale);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/rotational", parameters_.rotational_scale);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/joint", parameters_.joint_scale);
+  error +=
+      !rosparam_shortcuts::get("", nh_, parameter_ns + "/low_pass_filter_coeff", parameters_.low_pass_filter_coeff);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_topic", parameters_.joint_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_in_type", parameters_.command_in_type);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/cartesian_command_in_topic",
+                                    parameters_.cartesian_command_in_topic);
   error +=
-      !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_check_rate", ros_parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
-                                    ros_parameters_.num_outgoing_halt_msgs_to_publish);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/linear", ros_parameters_.linear_scale);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/rotational", ros_parameters_.rotational_scale);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/scale/joint", ros_parameters_.joint_scale);
+      !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_command_in_topic", parameters_.joint_command_in_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/robot_link_command_frame",
+                                    parameters_.robot_link_command_frame);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/incoming_command_timeout",
+                                    parameters_.incoming_command_timeout);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/lower_singularity_threshold",
+                                    parameters_.lower_singularity_threshold);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/hard_stop_singularity_threshold",
+                                    parameters_.hard_stop_singularity_threshold);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/move_group_name", parameters_.move_group_name);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/planning_frame", parameters_.planning_frame);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/use_gazebo", parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_limit_margin", parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_out_topic", parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_out_type", parameters_.command_out_type);
   error +=
-      !rosparam_shortcuts::get("", nh, parameter_ns + "/low_pass_filter_coeff", ros_parameters_.low_pass_filter_coeff);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_topic", ros_parameters_.joint_topic);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_in_type", ros_parameters_.command_in_type);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/robot_link_command_frame",
-                                    ros_parameters_.robot_link_command_frame);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/incoming_command_timeout",
-                                    ros_parameters_.incoming_command_timeout);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/lower_singularity_threshold",
-                                    ros_parameters_.lower_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/hard_stop_singularity_threshold",
-                                    ros_parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/move_group_name", ros_parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/planning_frame", ros_parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/use_gazebo", ros_parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_limit_margin", ros_parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_out_topic", ros_parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/command_out_type", ros_parameters_.command_out_type);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_positions",
-                                    ros_parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_velocities",
-                                    ros_parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/publish_joint_accelerations",
-                                    ros_parameters_.publish_joint_accelerations);
+      !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_positions", parameters_.publish_joint_positions);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_velocities",
+                                    parameters_.publish_joint_velocities);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_accelerations",
+                                    parameters_.publish_joint_accelerations);
 
   // Parameters for collision checking
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/check_collisions", ros_parameters_.check_collisions);
-  error +=
-      !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_check_type", ros_parameters_.collision_check_type);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/check_collisions", parameters_.check_collisions);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_check_type", parameters_.collision_check_type);
   bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", nh, parameter_ns + "/self_collision_proximity_threshold", ros_parameters_.self_collision_proximity_threshold);
-  bool have_scene_collision_proximity_threshold =
-      rosparam_shortcuts::get("", nh, parameter_ns + "/scene_collision_proximity_threshold",
-                              ros_parameters_.scene_collision_proximity_threshold);
+      "", nh_, parameter_ns + "/self_collision_proximity_threshold", parameters_.self_collision_proximity_threshold);
+  bool have_scene_collision_proximity_threshold = rosparam_shortcuts::get(
+      "", nh_, parameter_ns + "/scene_collision_proximity_threshold", parameters_.scene_collision_proximity_threshold);
   double collision_proximity_threshold;
   // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
   // thresholds
   // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
-  if (nh.hasParam(parameter_ns + "/collision_proximity_threshold") &&
-      rosparam_shortcuts::get("", nh, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
+  if (nh_.hasParam(parameter_ns + "/collision_proximity_threshold") &&
+      rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
                             "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
                             "parameters. Please update the jogging yaml file.");
     if (!have_self_collision_proximity_threshold)
     {
-      ros_parameters_.self_collision_proximity_threshold = collision_proximity_threshold;
+      parameters_.self_collision_proximity_threshold = collision_proximity_threshold;
       have_self_collision_proximity_threshold = true;
     }
     if (!have_scene_collision_proximity_threshold)
     {
-      ros_parameters_.scene_collision_proximity_threshold = collision_proximity_threshold;
+      parameters_.scene_collision_proximity_threshold = collision_proximity_threshold;
       have_scene_collision_proximity_threshold = true;
     }
   }
   error += !have_self_collision_proximity_threshold;
   error += !have_scene_collision_proximity_threshold;
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/collision_distance_safety_factor",
-                                    ros_parameters_.collision_distance_safety_factor);
-  error += !rosparam_shortcuts::get("", nh, parameter_ns + "/min_allowable_collision_distance",
-                                    ros_parameters_.min_allowable_collision_distance);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_distance_safety_factor",
+                                    parameters_.collision_distance_safety_factor);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/min_allowable_collision_distance",
+                                    parameters_.min_allowable_collision_distance);
 
   // This parameter name was changed recently.
   // Try retrieving from the correct name. If it fails, then try the deprecated name.
   // TODO(andyz): remove this deprecation warning in ROS Noetic
-  if (!rosparam_shortcuts::get("", nh, parameter_ns + "/status_topic", ros_parameters_.status_topic))
+  if (!rosparam_shortcuts::get("", nh_, parameter_ns + "/status_topic", parameters_.status_topic))
   {
     ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
                             "the jogging yaml file.");
-    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/warning_topic", ros_parameters_.status_topic);
+    error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/warning_topic", parameters_.status_topic);
   }
 
   rosparam_shortcuts::shutdownIfError(parameter_ns, error);
 
   // Input checking
-  if (ros_parameters_.publish_period <= 0.)
+  if (parameters_.publish_period <= 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'publish_period' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.num_outgoing_halt_msgs_to_publish < 0)
+  if (parameters_.num_outgoing_halt_msgs_to_publish < 0)
   {
     ROS_WARN_NAMED(LOGNAME,
                    "Parameter 'num_outgoing_halt_msgs_to_publish' should be greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.hard_stop_singularity_threshold < ros_parameters_.lower_singularity_threshold)
+  if (parameters_.hard_stop_singularity_threshold < parameters_.lower_singularity_threshold)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'hard_stop_singularity_threshold' "
                             "should be greater than 'lower_singularity_threshold.' "
                             "Check yaml file.");
     return false;
   }
-  if ((ros_parameters_.hard_stop_singularity_threshold < 0.) || (ros_parameters_.lower_singularity_threshold < 0.))
+  if ((parameters_.hard_stop_singularity_threshold < 0.) || (parameters_.lower_singularity_threshold < 0.))
   {
     ROS_WARN_NAMED(LOGNAME, "Parameters 'hard_stop_singularity_threshold' "
                             "and 'lower_singularity_threshold' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.low_pass_filter_coeff < 0.)
+  if (parameters_.low_pass_filter_coeff < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'low_pass_filter_coeff' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.joint_limit_margin < 0.)
+  if (parameters_.joint_limit_margin < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'joint_limit_margin' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.command_in_type != "unitless" && ros_parameters_.command_in_type != "speed_units")
+  if (parameters_.command_in_type != "unitless" && parameters_.command_in_type != "speed_units")
   {
     ROS_WARN_NAMED(LOGNAME, "command_in_type should be 'unitless' or "
                             "'speed_units'. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.command_out_type != "trajectory_msgs/JointTrajectory" &&
-      ros_parameters_.command_out_type != "std_msgs/Float64MultiArray")
+  if (parameters_.command_out_type != "trajectory_msgs/JointTrajectory" &&
+      parameters_.command_out_type != "std_msgs/Float64MultiArray")
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter command_out_type should be "
                             "'trajectory_msgs/JointTrajectory' or "
                             "'std_msgs/Float64MultiArray'. Check yaml file.");
     return false;
   }
-  if (!ros_parameters_.publish_joint_positions && !ros_parameters_.publish_joint_velocities &&
-      !ros_parameters_.publish_joint_accelerations)
+  if (!parameters_.publish_joint_positions && !parameters_.publish_joint_velocities &&
+      !parameters_.publish_joint_accelerations)
   {
     ROS_WARN_NAMED(LOGNAME, "At least one of publish_joint_positions / "
                             "publish_joint_velocities / "
@@ -234,50 +241,49 @@ bool JogArm::readParameters()
                             "yaml file.");
     return false;
   }
-  if ((ros_parameters_.command_out_type == "std_msgs/Float64MultiArray") && ros_parameters_.publish_joint_positions &&
-      ros_parameters_.publish_joint_velocities)
+  if ((parameters_.command_out_type == "std_msgs/Float64MultiArray") && parameters_.publish_joint_positions &&
+      parameters_.publish_joint_velocities)
   {
     ROS_WARN_NAMED(LOGNAME, "When publishing a std_msgs/Float64MultiArray, "
                             "you must select positions OR velocities.");
     return false;
   }
   // Collision checking
-  if (ros_parameters_.collision_check_type != "threshold_distance" &&
-      ros_parameters_.collision_check_type != "stop_distance")
+  if (parameters_.collision_check_type != "threshold_distance" && parameters_.collision_check_type != "stop_distance")
   {
     ROS_WARN_NAMED(LOGNAME, "collision_check_type must be 'threshold_distance' or 'stop_distance'");
     return false;
   }
-  if (ros_parameters_.self_collision_proximity_threshold < 0.)
+  if (parameters_.self_collision_proximity_threshold < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.scene_collision_proximity_threshold < 0.)
+  if (parameters_.scene_collision_proximity_threshold < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'scene_collision_proximity_threshold' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.scene_collision_proximity_threshold < ros_parameters_.self_collision_proximity_threshold)
+  if (parameters_.scene_collision_proximity_threshold < parameters_.self_collision_proximity_threshold)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'self_collision_proximity_threshold' should probably be less "
                             "than or equal to 'scene_collision_proximity_threshold'. Check yaml file.");
   }
-  if (ros_parameters_.collision_check_rate < 0)
+  if (parameters_.collision_check_rate < 0)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_check_rate' should be "
                             "greater than zero. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.collision_distance_safety_factor < 1)
+  if (parameters_.collision_distance_safety_factor < 1)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'collision_distance_safety_factor' should be "
                             "greater than or equal to 1. Check yaml file.");
     return false;
   }
-  if (ros_parameters_.min_allowable_collision_distance < 0)
+  if (parameters_.min_allowable_collision_distance < 0)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'min_allowable_collision_distance' should be "
                             "greater than zero. Check yaml file.");
@@ -287,58 +293,60 @@ bool JogArm::readParameters()
   return true;
 }
 
-void JogArm::run()
+void JogArm::run(const ros::TimerEvent& timer_event)
 {
-  ros::Rate main_rate(1. / ros_parameters_.publish_period);
-  trajectory_msgs::JointTrajectory outgoing_command;
+  // Log last loop duration and warn if it was longer than period
+  if (timer_event.profile.last_duration.toSec() < period_.toSec())
+  {
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                                   << period_.toSec() << ")");
+  }
+  else
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
+                                                                 << period_.toSec());
+  }
 
-  // Wait for low pass filters to stabilize
-  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
-  ros::Duration(10 * ros_parameters_.publish_period).sleep();
+  trajectory_msgs::JointTrajectory outgoing_command;
 
-  while (ros::ok() && !shared_variables_.stop_requested)
+  // Check for stale cmds
   {
-    // Check for stale cmds
-    {
-      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-      shared_variables_.command_is_stale =
-          ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(ros_parameters_.incoming_command_timeout));
-    }
+    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+    shared_variables_.command_is_stale =
+        ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+  }
 
-    // Read the latest outgoing command out of the queue
-    popLatest(*outgoing_command_queue_, outgoing_command);
+  // Read the latest outgoing command out of the queue
+  popLatest(*outgoing_command_queue_, outgoing_command);
 
-    // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-    if (shared_variables_.ok_to_publish)
-    {
-      // Put the outgoing msg in the right format
-      // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-      if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-      {
-        outgoing_command.header.stamp = ros::Time::now();
-        outgoing_cmd_pub_.publish(outgoing_command);
-      }
-      else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
-      {
-        std_msgs::Float64MultiArray joints;
-        if (ros_parameters_.publish_joint_positions)
-          joints.data = outgoing_command.points[0].positions;
-        else if (ros_parameters_.publish_joint_velocities)
-          joints.data = outgoing_command.points[0].velocities;
-        outgoing_cmd_pub_.publish(joints);
-      }
-    }
-    else if (shared_variables_.command_is_stale)
+  // Publish the most recent trajectory, unless the jogging calculation thread tells not to
+  if (shared_variables_.ok_to_publish)
+  {
+    // Put the outgoing msg in the right format
+    // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+    if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                  "Try a larger 'incoming_command_timeout' parameter?");
+      outgoing_command.header.stamp = ros::Time::now();
+      outgoing_cmd_pub_.publish(outgoing_command);
     }
-    else
+    else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
+      std_msgs::Float64MultiArray joints;
+      if (parameters_.publish_joint_positions)
+        joints.data = outgoing_command.points[0].positions;
+      else if (parameters_.publish_joint_velocities)
+        joints.data = outgoing_command.points[0].velocities;
+      outgoing_cmd_pub_.publish(joints);
     }
-
-    main_rate.sleep();
+  }
+  else if (shared_variables_.command_is_stale)
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                "Try a larger 'incoming_command_timeout' parameter?");
+  }
+  else
+  {
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
   }
 }
 
@@ -347,29 +355,24 @@ void JogArm::start()
   shared_variables_.stop_requested = false;
   shared_variables_.paused = false;
 
-  // Start the jog server main
-  jog_server_thread_ = std::thread([&]() { this->run(); });
-
   // Crunch the numbers in this thread
-  startJogCalcThread();
+  jog_calcs_->start();
 
   // Check collisions in this thread
-  if (ros_parameters_.check_collisions)
-    startCollisionCheckThread();
+  if (parameters_.check_collisions)
+    collision_checker_->start();
+
+  // Start the jog server timer
+  timer_ = nh_.createTimer(period_, &JogArm::run, this);
 }
 
 void JogArm::stop()
 {
   shared_variables_.stop_requested = true;
 
-  if (jog_server_thread_.joinable())
-    jog_server_thread_.join();
-
-  if (jog_calc_thread_.joinable())
-    jog_calc_thread_.join();
-
-  if (collision_check_thread_.joinable())
-    collision_check_thread_.join();
+  timer_.stop();
+  jog_calcs_->stop();
+  collision_checker_->stop();
 }
 
 JogArm::~JogArm()
@@ -412,30 +415,6 @@ bool JogArm::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Reque
   return true;
 }
 
-// A separate thread for the heavy jogging calculations.
-bool JogArm::startJogCalcThread()
-{
-  if (!jog_calcs_)
-    jog_calcs_ =
-        std::make_unique<JogCalcs>(ros_parameters_, planning_scene_monitor_->getRobotModelLoader(),
-                                   command_deltas_queue_, joint_command_deltas_queue_, outgoing_command_queue_);
-
-  jog_calc_thread_ = std::thread([&]() { jog_calcs_->run(shared_variables_); });
-
-  return true;
-}
-
-// A separate thread for collision checking.
-bool JogArm::startCollisionCheckThread()
-{
-  if (!collision_checker_)
-    collision_checker_ = std::make_unique<CollisionCheckThread>(ros_parameters_, planning_scene_monitor_);
-
-  collision_check_thread_ = std::thread([&]() { collision_checker_->run(shared_variables_); });
-
-  return true;
-}
-
 void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStamped& msg)
 {
   command_deltas_queue_->push(msg);
@@ -479,7 +458,7 @@ sensor_msgs::JointState JogArm::getJointState()
 
 bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  if (!jog_calcs_ || !jog_calcs_->isInitialized())
+  if (!jog_calcs_->isInitialized())
     return false;
   return jog_calcs_->getCommandFrameTransform(transform);
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index acbb153fea..46e123b367 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -65,22 +65,34 @@ bool isNonZero(const control_msgs::JointJog& msg)
 }  // namespace
 
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr,
+JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
+                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                    const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
                    const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
                    const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue)
-  : command_deltas_queue_(command_deltas_queue)
+  : nh_(nh)
+  , parameters_(parameters)
+  , shared_variables_(shared_variables)
+  , planning_scene_monitor_(planning_scene_monitor)
+  , command_deltas_queue_(command_deltas_queue)
   , joint_command_deltas_queue_(joint_command_deltas_queue)
   , outgoing_command_queue_(outgoing_command_queue)
-  , parameters_(parameters)
-  , default_sleep_rate_(1000)
+  , period_(parameters.publish_period)
 {
-  ros::NodeHandle nh;
-
   // Publish jogger status
-  status_pub_ = nh.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
+  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
+
+  // subscribe to joints
+  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &JogCalcs::jointStateCB, this);
+}
+
+void JogCalcs::init()
+{
+  // Reset flags
+  is_initialized_ = false;
 
   // MoveIt Setup
+  const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr = planning_scene_monitor_->getRobotModelLoader();
   while (ros::ok() && !model_loader_ptr)
   {
     ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
@@ -93,15 +105,6 @@ JogCalcs::JogCalcs(const JogArmParameters& parameters, const robot_model_loader:
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 
-  // subscribe to joints
-  joint_state_sub_ = nh.subscribe(parameters.joint_topic, 1, &JogCalcs::jointStateCB, this);
-}
-
-void JogCalcs::run(JogArmShared& shared_variables)
-{
-  // Reset flags
-  is_initialized_ = false;
-
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
@@ -124,160 +127,170 @@ void JogCalcs::run(JogArmShared& shared_variables)
   }
 
   // Initialize the position filters to initial robot joints
-  while (!updateJoints(shared_variables) && ros::ok())
+  while (!updateJoints(shared_variables_) && ros::ok())
   {
-    if (shared_variables.stop_requested)
+    if (shared_variables_.stop_requested)
       return;
     default_sleep_rate_.sleep();
   }
 
+  // reset flags
+  wait_for_jog_commands_ = true;
+  have_nonzero_cartesian_command_ = false;
+  have_nonzero_joint_command_ = false;
+  have_nonzero_command_ = false;
+
+  // initialization is finished
   is_initialized_ = true;
+}
 
-  // Track the number of cycles during which motion has not occurred.
-  // Will avoid re-publishing zero velocities endlessly.
-  int zero_velocity_count = 0;
+void JogCalcs::start()
+{
+  init();
 
-  ros::Rate loop_rate(1. / parameters_.publish_period);
+  timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
+}
 
-  // Flag for staying inactive while there are no incoming commands
-  bool wait_for_jog_commands = true;
+void JogCalcs::stop()
+{
+  timer_.stop();
+}
 
-  // Incoming command messages
-  geometry_msgs::TwistStamped cartesian_deltas;
-  control_msgs::JointJog joint_deltas;
+void JogCalcs::run(const ros::TimerEvent& timer_event)
+{
+  // Log last loop duration and warn if it was longer than period
+  if (timer_event.profile.last_duration.toSec() < period_.toSec())
+  {
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                                   << period_.toSec() << ")");
+  }
+  else
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
+                                                                 << period_.toSec());
+  }
 
-  // Nonzero status flags
-  bool have_nonzero_cartesian_command = false;
-  bool have_nonzero_joint_command = false;
-  bool have_nonzero_command = false;
+  // Always update the joints and end-effector transform for 2 reasons:
+  // 1) in case the getCommandFrameTransform() method is being used
+  // 2) so the low-pass filters are up to date and don't cause a jump
+  while (!updateJoints(shared_variables_) && ros::ok())
+  {
+    default_sleep_rate_.sleep();
+  }
 
-  // Do jogging calcs
-  while (ros::ok() && !shared_variables.stop_requested)
+  // Get the transform from MoveIt planning frame to jogging command frame
+  // We solve (planning_frame -> base -> robot_link_command_frame)
+  // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
   {
-    // Always update the joints and end-effector transform for 2 reasons:
-    // 1) in case the getCommandFrameTransform() method is being used
-    // 2) so the low-pass filters are up to date and don't cause a jump
-    while (!updateJoints(shared_variables) && ros::ok())
+    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+    kinematic_state_->setVariableValues(incoming_joint_state_);
+  }
+  tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                            kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+
+  // Read the latest cartesian commands out of the queues
+  bool have_new_cartesian_command = popLatest(*command_deltas_queue_, cartesian_deltas_);
+  bool have_new_joint_command = popLatest(*joint_command_deltas_queue_, joint_deltas_);
+
+  if (have_new_cartesian_command)
+  {
+    // Update nonzero flags for updated messages
+    have_nonzero_cartesian_command_ = isNonZero(cartesian_deltas_);
+
+    // Input frame determined by YAML file if not passed with message
+    if (cartesian_deltas_.header.frame_id.empty())
     {
-      default_sleep_rate_.sleep();
+      cartesian_deltas_.header.frame_id = parameters_.robot_link_command_frame;
     }
+  }
+  if (have_new_joint_command)
+  {
+    // Update nonzero flags for updated messages
+    have_nonzero_joint_command_ = isNonZero(joint_deltas_);
 
-    // Get the transform from MoveIt planning frame to jogging command frame
-    // We solve (planning_frame -> base -> robot_link_command_frame)
-    // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
+    // Input frame determined by YAML file if not passed with message
+    if (cartesian_deltas_.header.frame_id.empty())
     {
-      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-      kinematic_state_->setVariableValues(incoming_joint_state_);
+      joint_deltas_.header.frame_id = parameters_.robot_link_command_frame;
     }
-    tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                              kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+  }
+  have_nonzero_command_ = have_nonzero_cartesian_command_ || have_nonzero_joint_command_;
 
-    // Read the latest cartesian commands out of the queues
-    bool have_new_cartesian_command = popLatest(*command_deltas_queue_, cartesian_deltas);
-    bool have_new_joint_command = popLatest(*joint_command_deltas_queue_, joint_deltas);
+  // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
+  // joints so a jump doesn't occur when restarting
+  if (wait_for_jog_commands_ || shared_variables_.paused)
+  {
+    for (std::size_t i = 0; i < num_joints_; ++i)
+      position_filters_[i].reset(original_joint_state_.position[i]);
 
-    if (have_new_cartesian_command)
+    // Check if there are any new commands with valid timestamp
+    wait_for_jog_commands_ =
+        cartesian_deltas_.header.stamp == ros::Time(0.) && joint_deltas_.header.stamp == ros::Time(0.);
+  }
+  // If not waiting for initial command, and not paused.
+  // Do jogging calculations only if the robot should move, for efficiency
+  else
+  {
+    if (!shared_variables_.command_is_stale)
     {
-      // Update nonzero flags for updated messages
-      have_nonzero_cartesian_command = isNonZero(cartesian_deltas);
-
-      // Input frame determined by YAML file if not passed with message
-      if (cartesian_deltas.header.frame_id.empty())
+      // Prioritize cartesian jogging above joint jogging
+      if (have_nonzero_cartesian_command_)
       {
-        cartesian_deltas.header.frame_id = parameters_.robot_link_command_frame;
+        if (!cartesianJogCalcs(cartesian_deltas_, shared_variables_))
+          return;
       }
-    }
-    if (have_new_joint_command)
-    {
-      // Update nonzero flags for updated messages
-      have_nonzero_joint_command = isNonZero(joint_deltas);
-
-      // Input frame determined by YAML file if not passed with message
-      if (cartesian_deltas.header.frame_id.empty())
+      else if (have_nonzero_joint_command_)
       {
-        joint_deltas.header.frame_id = parameters_.robot_link_command_frame;
+        if (!jointJogCalcs(joint_deltas_, shared_variables_))
+          return;
       }
     }
-    have_nonzero_command = have_nonzero_cartesian_command || have_nonzero_joint_command;
 
-    // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
-    // joints so a jump doesn't occur when restarting
-    if (wait_for_jog_commands || shared_variables.paused)
+    // If we should halt
+    if (!have_nonzero_command_)
     {
+      // Keep the joint position filters up-to-date with current joints
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(original_joint_state_.position[i]);
 
-      // Check if there are any new commands with valid timestamp
-      wait_for_jog_commands =
-          cartesian_deltas.header.stamp == ros::Time(0.) && joint_deltas.header.stamp == ros::Time(0.);
+      suddenHalt(outgoing_command_);
+      have_nonzero_cartesian_command_ = false;
+      have_nonzero_joint_command_ = false;
     }
-    // If not waiting for initial command, and not paused.
-    // Do jogging calculations only if the robot should move, for efficiency
+
+    // Send the newest target joints
+    // If everything normal, share the new traj to be published
+    if (have_nonzero_command_)
+    {
+      outgoing_command_queue_->push(outgoing_command_);
+      // shared_variables.outgoing_command = outgoing_command_;
+      shared_variables_.ok_to_publish = true;
+    }
+    // Skip the jogging publication if all inputs have been zero for several cycles in a row.
+    // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
+    else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
+             (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
+    {
+      shared_variables_.ok_to_publish = false;
+    }
+    // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
     else
     {
-      if (!shared_variables.command_is_stale)
-      {
-        // Prioritize cartesian jogging above joint jogging
-        if (have_nonzero_cartesian_command)
-        {
-          if (!cartesianJogCalcs(cartesian_deltas, shared_variables))
-            continue;
-        }
-        else if (have_nonzero_joint_command)
-        {
-          if (!jointJogCalcs(joint_deltas, shared_variables))
-            continue;
-        }
-      }
-
-      // If we should halt
-      if (!have_nonzero_command)
-      {
-        // Keep the joint position filters up-to-date with current joints
-        for (std::size_t i = 0; i < num_joints_; ++i)
-          position_filters_[i].reset(original_joint_state_.position[i]);
-
-        suddenHalt(outgoing_command_);
-        have_nonzero_cartesian_command = false;
-        have_nonzero_joint_command = false;
-      }
-
-      // Send the newest target joints
-      // If everything normal, share the new traj to be published
-      if (have_nonzero_command)
-      {
-        outgoing_command_queue_->push(outgoing_command_);
-        // shared_variables.outgoing_command = outgoing_command_;
-        shared_variables.ok_to_publish = true;
-      }
-      // Skip the jogging publication if all inputs have been zero for several cycles in a row.
-      // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
-      else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
-               (zero_velocity_count > parameters_.num_outgoing_halt_msgs_to_publish))
-      {
-        shared_variables.ok_to_publish = false;
-      }
-      // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
-      else
-      {
-        outgoing_command_queue_->push(outgoing_command_);
-        // shared_variables.outgoing_command = outgoing_command_;
-        shared_variables.ok_to_publish = true;
-      }
-
-      // Store last zero-velocity message flag to prevent superfluous warnings.
-      // Cartesian and joint commands must both be zero.
-      if (!have_nonzero_cartesian_command && !have_nonzero_joint_command)
-      {
-        // Avoid overflow
-        if (zero_velocity_count < std::numeric_limits<int>::max())
-          ++zero_velocity_count;
-      }
-      else
-        zero_velocity_count = 0;
+      outgoing_command_queue_->push(outgoing_command_);
+      // shared_variables.outgoing_command = outgoing_command_;
+      shared_variables_.ok_to_publish = true;
     }
 
-    loop_rate.sleep();
+    // Store last zero-velocity message flag to prevent superfluous warnings.
+    // Cartesian and joint commands must both be zero.
+    if (!have_nonzero_cartesian_command_ && !have_nonzero_joint_command_)
+    {
+      // Avoid overflow
+      if (zero_velocity_count_ < std::numeric_limits<int>::max())
+        ++zero_velocity_count_;
+    }
+    else
+      zero_velocity_count_ = 0;
   }
 }
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index ffc7dc8b3c..5593117d83 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -42,7 +42,7 @@
 namespace
 {
 constexpr char LOGNAME[] = "jog_server";
-constexpr char ROS_THREADS = 4;
+constexpr char ROS_THREADS = 8;
 
 struct JogServerParameters
 {
@@ -113,7 +113,7 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Create the jog server
-  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor);
+  moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
 
   // ROS subscriptions. Share the data with the worker threads
   auto cmd_sub =
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index fea4d4cf16..cbd25a1d42 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -57,8 +57,6 @@ class TestJogCppInterface : public ::testing::Test
 public:
   void SetUp() override
   {
-    nh_.reset(new ros::NodeHandle("~"));
-
     // Load the planning scene monitor
     planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
     planning_scene_monitor_->startSceneMonitor();
@@ -69,13 +67,17 @@ class TestJogCppInterface : public ::testing::Test
   }
 
 protected:
-  std::unique_ptr<ros::NodeHandle> nh_;
+  ros::NodeHandle nh_;
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 };  // class TestJogCppInterface
 
 TEST_F(TestJogCppInterface, InitTest)
 {
-  moveit_jog_arm::JogArm jog_arm(planning_scene_monitor_);
+  moveit_jog_arm::JogArm jog_arm(nh_, planning_scene_monitor_);
+  jog_arm.start();
+  ros::Duration(1).sleep();  // Give the started thread some time to run
+  jog_arm.stop();
+  ros::Duration(1).sleep();  // Give the started thread some time to run
   jog_arm.start();
   ros::Duration(1).sleep();  // Give the started thread some time to run
   jog_arm.stop();
@@ -92,7 +94,7 @@ int main(int argc, char** argv)
   testing::InitGoogleTest(&argc, argv);
   ros::init(argc, argv, "jog_cpp_interface_test_test");
 
-  ros::AsyncSpinner spinner(1);
+  ros::AsyncSpinner spinner(8);
   spinner.start();
 
   int result = RUN_ALL_TESTS();

From 4b2b1d3712f9ab3971b4eb883f6d908a9a103289 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 27 May 2020 01:34:07 -0600
Subject: [PATCH 318/612] use built in zero copy message passing instead of
 spsc_queues

---
 .../include/moveit_jog_arm/jog_arm.h          |  20 ++--
 .../include/moveit_jog_arm/jog_arm_data.h     |  29 -----
 .../include/moveit_jog_arm/jog_calcs.h        |  40 +++----
 .../cpp_interface_example.cpp                 |  25 ++--
 .../moveit_jog_arm/src/jog_arm.cpp            |  92 ++++++---------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 107 ++++++++++--------
 .../moveit_jog_arm/src/jog_server.cpp         |  58 ----------
 7 files changed, 134 insertions(+), 237 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index c8c7cea178..27e689e9b2 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -95,11 +95,9 @@ class JogArm
   /** \brief Provide a Cartesian velocity command to the jogger.
    * The units are determined by settings in the yaml file.
    */
-  void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);
   void provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg);
 
   /** \brief Send joint position(s) commands */
-  void provideJointCommand(const control_msgs::JointJog& joint_command);
   void provideJointCommand(const control_msgs::JointJogConstPtr& msg);
 
   /**
@@ -129,7 +127,7 @@ class JogArm
 private:
   bool readParameters();
   void run(const ros::TimerEvent& timer_event);
-  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
+  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryPtr& msg);
 
   ros::NodeHandle nh_;
 
@@ -142,11 +140,6 @@ class JogArm
   // Share data between threads
   JogArmShared shared_variables_;
 
-  // Queues for message passing between threads
-  std::shared_ptr<TwistedStampedQueue> command_deltas_queue_;
-  std::shared_ptr<JointJogQueue> joint_command_deltas_queue_;
-  std::shared_ptr<JointTrajectoryQueue> outgoing_command_queue_;
-
   // Jog calcs
   std::unique_ptr<JogCalcs> jog_calcs_;
 
@@ -156,13 +149,16 @@ class JogArm
   // ROS
   ros::Timer timer_;
   ros::Duration period_;
-  ros::Subscriber joint_state_sub_;
   ros::Publisher outgoing_cmd_pub_;
+  ros::Publisher twist_stamped_pub_;
+  ros::Publisher joint_jog_pub_;
+  ros::ServiceServer drift_dimensions_server_;
+  ros::ServiceServer dims_server_;
+  ros::Subscriber joint_trajectory_sub_;
 
-  // Latest state
+  // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
-  sensor_msgs::JointState latest_joint_state_;
-  ros::Time latest_command_stamp_;
+  trajectory_msgs::JointTrajectoryPtr latest_joint_trajectory_;
 };
 
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index be168098c4..4f671ce36f 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -38,9 +38,6 @@
 
 #pragma once
 
-// Boost
-#include <boost/lockfree/spsc_queue.hpp>
-
 // Eigen
 #include <Eigen/Geometry>
 
@@ -54,32 +51,6 @@
 
 namespace moveit_jog_arm
 {
-// Types for queues between threads
-constexpr size_t QUEUE_SIZE = 10;
-template <typename T, size_t U>
-using MessageQueue = boost::lockfree::spsc_queue<T, boost::lockfree::capacity<U>>;
-using TwistedStampedQueue = MessageQueue<geometry_msgs::TwistStamped, QUEUE_SIZE>;
-using JointJogQueue = MessageQueue<control_msgs::JointJog, QUEUE_SIZE>;
-using JointTrajectoryQueue = MessageQueue<trajectory_msgs::JointTrajectory, QUEUE_SIZE>;
-
-// Helper function for popping the latest value out of a queue
-template <typename T, size_t U>
-bool popLatest(MessageQueue<T, U>& queue, T& output)
-{
-  size_t count = queue.read_available();
-  if (count > 0)
-  {
-    // clear all but the latest from the queue
-    for (size_t i = 0; i < (count - 1); ++i)
-    {
-      queue.pop();
-    }
-    // read the latest value
-    queue.pop(output);
-  }
-  return true;
-}
-
 // Variables to share between threads
 // Be careful to not read-modify-write any of these because they are not
 // protected by a mutex.
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 8aa79cc836..87b0e9c162 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -58,10 +58,7 @@ class JogCalcs
 {
 public:
   JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
-           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-           const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
-           const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
-           const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue);
+           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   /** \breif Start and stop the timer (thread) */
   void start();
@@ -173,6 +170,10 @@ class JogCalcs
   /* \brief Callback for joint subsription */
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
+  /* \breif Command callbacks */
+  void twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg);
+  void jointJogCB(const control_msgs::JointJogConstPtr& msg);
+
   // ROS node handle
   ros::NodeHandle nh_;
 
@@ -196,30 +197,20 @@ class JogCalcs
   bool wait_for_jog_commands_ = true;
 
   // Nonzero status flags
-  bool have_nonzero_cartesian_command_ = false;
-  bool have_nonzero_joint_command_ = false;
+  bool have_nonzero_twist_stamped_ = false;
+  bool have_nonzero_joint_jog_ = false;
   bool have_nonzero_command_ = false;
 
   // Incoming command messages
-  geometry_msgs::TwistStamped cartesian_deltas_;
-  control_msgs::JointJog joint_deltas_;
+  geometry_msgs::TwistStamped twist_stamped_;
+  control_msgs::JointJog joint_jog_;
 
   const moveit::core::JointModelGroup* joint_model_group_;
 
   moveit::core::RobotStatePtr kinematic_state_;
 
-  // Queues for message passing between threads
-  std::shared_ptr<TwistedStampedQueue> command_deltas_queue_;
-  std::shared_ptr<JointJogQueue> joint_command_deltas_queue_;
-  std::shared_ptr<JointTrajectoryQueue> outgoing_command_queue_;
-
-  // latest_state_mutex_ is used to protect
-  // incoming_joint_state_ and tf_moveit_to_cmd_frame_
-  mutable std::mutex latest_state_mutex_;
   // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
-  sensor_msgs::JointState incoming_joint_state_;
-  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
-
+  // (mutex protected below)
   // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
   // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
   sensor_msgs::JointState internal_joint_state_, original_joint_state_;
@@ -233,7 +224,10 @@ class JogCalcs
   ros::Timer timer_;
   ros::Duration period_;
   ros::Subscriber joint_state_sub_;
+  ros::Subscriber twist_stamped_sub_;
+  ros::Subscriber joint_jog_sub_;
   ros::Publisher status_pub_;
+  ros::Publisher joint_trajectory_pub_;
   StatusCode status_ = NO_WARNING;
 
   // Use ArrayXd type to enable more coefficient-wise operations
@@ -246,5 +240,13 @@ class JogCalcs
 
   // Amount we sleep when waiting
   ros::Rate default_sleep_rate_ = 1000;
+
+  // latest_state_mutex_ is used to protect the state below it
+  mutable std::mutex latest_state_mutex_;
+  sensor_msgs::JointState incoming_joint_state_;
+  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
+  geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
+  control_msgs::JointJogConstPtr latest_joint_jog_;
+  ros::Time latest_command_stamp_ = ros::Time(0.);
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 53c1e971f9..d0a17f39e0 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -74,10 +74,10 @@ int main(int argc, char** argv)
   jog_arm.start();
 
   // Make a Cartesian velocity message
-  geometry_msgs::TwistStamped velocity_msg;
-  velocity_msg.header.frame_id = "base_link";
-  velocity_msg.twist.linear.y = 0.01;
-  velocity_msg.twist.linear.z = -0.01;
+  auto velocity_msg = boost::make_shared<geometry_msgs::TwistStamped>();
+  velocity_msg->header.frame_id = "base_link";
+  velocity_msg->twist.linear.y = 0.01;
+  velocity_msg->twist.linear.z = -0.01;
 
   ros::Rate cmd_rate(100);
   uint num_commands = 0;
@@ -86,7 +86,7 @@ int main(int argc, char** argv)
   while (ros::ok() && num_commands < 200)
   {
     ++num_commands;
-    velocity_msg.header.stamp = ros::Time::now();
+    velocity_msg->header.stamp = ros::Time::now();
     jog_arm.provideTwistStampedCommand(velocity_msg);
     cmd_rate.sleep();
   }
@@ -96,26 +96,21 @@ int main(int argc, char** argv)
   ros::Duration(2).sleep();
 
   // Make a joint command
-  control_msgs::JointJog base_joint_command;
-  base_joint_command.joint_names.push_back("elbow_joint");
-  base_joint_command.velocities.push_back(0.2);
-  base_joint_command.header.stamp = ros::Time::now();
+  auto base_joint_command = boost::make_shared<control_msgs::JointJog>();
+  base_joint_command->joint_names.push_back("elbow_joint");
+  base_joint_command->velocities.push_back(0.2);
+  base_joint_command->header.stamp = ros::Time::now();
 
   // Send a few joint commands
   num_commands = 0;
   while (ros::ok() && num_commands < 200)
   {
     ++num_commands;
-    base_joint_command.header.stamp = ros::Time::now();
+    base_joint_command->header.stamp = ros::Time::now();
     jog_arm.provideJointCommand(base_joint_command);
     cmd_rate.sleep();
   }
 
-  // Retrieve the current joint state from the jogger
-  sensor_msgs::JointState current_joint_state = jog_arm.getJointState();
-  ROS_INFO_STREAM_NAMED(LOGNAME, "Current joint state:");
-  ROS_INFO_STREAM_NAMED(LOGNAME, current_joint_state);
-
   // Retrieve the current status of the jogger
   moveit_jog_arm::StatusCode status = jog_arm.getJoggerStatus();
   ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status:\n" << status);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 29b604bdde..9f3e8280d6 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -53,11 +53,6 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   // loop period
   period_ = ros::Duration(parameters_.publish_period);
 
-  // Create queues for message passing between threads
-  command_deltas_queue_ = std::make_shared<TwistedStampedQueue>();
-  joint_command_deltas_queue_ = std::make_shared<JointJogQueue>();
-  outgoing_command_queue_ = std::make_shared<JointTrajectoryQueue>();
-
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
   if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
@@ -65,15 +60,29 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, 1);
 
-  // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, 1, &JogArm::jointStateCB, this);
+  // publish commands (for c++ interface)
+  twist_stamped_pub_ = nh_.advertise<geometry_msgs::TwistStamped>(parameters_.cartesian_command_in_topic, 1);
+  joint_jog_pub_ = nh_.advertise<control_msgs::JointJog>(parameters_.joint_command_in_topic, 1);
+
+  // ROS Server for allowing drift in some dimensions
+  drift_dimensions_server_ =
+      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
+                           &JogArm::changeDriftDimensions, this);
+
+  // ROS Server for changing the control dimensions
+  dims_server_ =
+      nh_.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
+                           &JogArm::changeControlDimensions, this);
+
+  // Subscribe to output commands in internal namespace
+  ros::NodeHandle internal_nh("~internal");
+  joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", 1, &JogArm::jointTrajectoryCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
 
-  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, shared_variables_, planning_scene_monitor_,
-                                          command_deltas_queue_, joint_command_deltas_queue_, outgoing_command_queue_);
+  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, shared_variables_, planning_scene_monitor_);
 
   collision_checker_ =
       std::make_unique<CollisionCheckThread>(nh_, parameters_, shared_variables_, planning_scene_monitor_);
@@ -307,18 +316,16 @@ void JogArm::run(const ros::TimerEvent& timer_event)
                                                                  << period_.toSec());
   }
 
-  trajectory_msgs::JointTrajectory outgoing_command;
-
-  // Check for stale cmds
+  // Get the latest joint trajectory
+  trajectory_msgs::JointTrajectory joint_trajectory;
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    shared_variables_.command_is_stale =
-        ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+    if (latest_joint_trajectory_)
+    {
+      joint_trajectory = *latest_joint_trajectory_;
+    }
   }
 
-  // Read the latest outgoing command out of the queue
-  popLatest(*outgoing_command_queue_, outgoing_command);
-
   // Publish the most recent trajectory, unless the jogging calculation thread tells not to
   if (shared_variables_.ok_to_publish)
   {
@@ -326,16 +333,16 @@ void JogArm::run(const ros::TimerEvent& timer_event)
     // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
     if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
     {
-      outgoing_command.header.stamp = ros::Time::now();
-      outgoing_cmd_pub_.publish(outgoing_command);
+      joint_trajectory.header.stamp = ros::Time::now();
+      outgoing_cmd_pub_.publish(joint_trajectory);
     }
     else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     {
       std_msgs::Float64MultiArray joints;
       if (parameters_.publish_joint_positions)
-        joints.data = outgoing_command.points[0].positions;
+        joints.data = joint_trajectory.points[0].positions;
       else if (parameters_.publish_joint_velocities)
-        joints.data = outgoing_command.points[0].velocities;
+        joints.data = joint_trajectory.points[0].velocities;
       outgoing_cmd_pub_.publish(joints);
     }
   }
@@ -380,13 +387,6 @@ JogArm::~JogArm()
   stop();
 }
 
-// Listen to joint angles. Store them in a shared variable.
-void JogArm::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
-{
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  latest_joint_state_ = *msg;
-}
-
 bool JogArm::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                                    moveit_msgs::ChangeDriftDimensions::Response& res)
 {
@@ -415,34 +415,14 @@ bool JogArm::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Reque
   return true;
 }
 
-void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStamped& msg)
-{
-  command_deltas_queue_->push(msg);
-  if (msg.header.stamp != ros::Time(0.))
-  {
-    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    latest_command_stamp_ = msg.header.stamp;
-  }
-};
-
 void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg)
 {
-  provideTwistStampedCommand(*msg);
-}
-
-void JogArm::provideJointCommand(const control_msgs::JointJog& msg)
-{
-  joint_command_deltas_queue_->push(msg);
-  if (msg.header.stamp != ros::Time(0.))
-  {
-    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    latest_command_stamp_ = msg.header.stamp;
-  }
+  twist_stamped_pub_.publish(msg);
 }
 
 void JogArm::provideJointCommand(const control_msgs::JointJogConstPtr& msg)
 {
-  provideJointCommand(*msg);
+  joint_jog_pub_.publish(msg);
 }
 
 void JogArm::setPaused(bool paused)
@@ -450,12 +430,6 @@ void JogArm::setPaused(bool paused)
   shared_variables_.paused = paused;
 }
 
-sensor_msgs::JointState JogArm::getJointState()
-{
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  return latest_joint_state_;
-}
-
 bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   if (!jog_calcs_->isInitialized())
@@ -468,4 +442,10 @@ StatusCode JogArm::getJoggerStatus() const
   return shared_variables_.status;
 }
 
+void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  latest_joint_trajectory_ = msg;
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 46e123b367..ac45858958 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -66,17 +66,11 @@ bool isNonZero(const control_msgs::JointJog& msg)
 
 // Constructor for the class that handles jogging calculations
 JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
-                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                   const std::shared_ptr<TwistedStampedQueue>& command_deltas_queue,
-                   const std::shared_ptr<JointJogQueue>& joint_command_deltas_queue,
-                   const std::shared_ptr<JointTrajectoryQueue>& outgoing_command_queue)
+                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh)
   , parameters_(parameters)
   , shared_variables_(shared_variables)
   , planning_scene_monitor_(planning_scene_monitor)
-  , command_deltas_queue_(command_deltas_queue)
-  , joint_command_deltas_queue_(joint_command_deltas_queue)
-  , outgoing_command_queue_(outgoing_command_queue)
   , period_(parameters.publish_period)
 {
   // Publish jogger status
@@ -84,6 +78,14 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogA
 
   // subscribe to joints
   joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &JogCalcs::jointStateCB, this);
+
+  // Subscribe to command topics
+  twist_stamped_sub_ = nh_.subscribe(parameters.cartesian_command_in_topic, 1, &JogCalcs::twistStampedCB, this);
+  joint_jog_sub_ = nh.subscribe(parameters.joint_command_in_topic, 1, &JogCalcs::jointJogCB, this);
+
+  // Publish output commands to internal namespace
+  ros::NodeHandle internal_nh("~internal");
+  joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", 1);
 }
 
 void JogCalcs::init()
@@ -136,8 +138,8 @@ void JogCalcs::init()
 
   // reset flags
   wait_for_jog_commands_ = true;
-  have_nonzero_cartesian_command_ = false;
-  have_nonzero_joint_command_ = false;
+  have_nonzero_twist_stamped_ = false;
+  have_nonzero_joint_jog_ = false;
   have_nonzero_command_ = false;
 
   // initialization is finished
@@ -178,43 +180,37 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     default_sleep_rate_.sleep();
   }
 
-  // Get the transform from MoveIt planning frame to jogging command frame
-  // We solve (planning_frame -> base -> robot_link_command_frame)
-  // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
+  // Update from latest state
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
     kinematic_state_->setVariableValues(incoming_joint_state_);
+    if (latest_twist_stamped_)
+      twist_stamped_ = *latest_twist_stamped_;
+    if (latest_joint_jog_)
+      joint_jog_ = *latest_joint_jog_;
+
+    // Check for stale cmds
+    shared_variables_.command_is_stale =
+        ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
   }
+
+  // Get the transform from MoveIt planning frame to jogging command frame
+  // We solve (planning_frame -> base -> robot_link_command_frame)
+  // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
   tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                             kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
-  // Read the latest cartesian commands out of the queues
-  bool have_new_cartesian_command = popLatest(*command_deltas_queue_, cartesian_deltas_);
-  bool have_new_joint_command = popLatest(*joint_command_deltas_queue_, joint_deltas_);
-
-  if (have_new_cartesian_command)
+  // Input frame determined by YAML file if not passed with message
+  if (twist_stamped_.header.frame_id.empty())
   {
-    // Update nonzero flags for updated messages
-    have_nonzero_cartesian_command_ = isNonZero(cartesian_deltas_);
-
-    // Input frame determined by YAML file if not passed with message
-    if (cartesian_deltas_.header.frame_id.empty())
-    {
-      cartesian_deltas_.header.frame_id = parameters_.robot_link_command_frame;
-    }
+    twist_stamped_.header.frame_id = parameters_.robot_link_command_frame;
   }
-  if (have_new_joint_command)
+  if (twist_stamped_.header.frame_id.empty())
   {
-    // Update nonzero flags for updated messages
-    have_nonzero_joint_command_ = isNonZero(joint_deltas_);
-
-    // Input frame determined by YAML file if not passed with message
-    if (cartesian_deltas_.header.frame_id.empty())
-    {
-      joint_deltas_.header.frame_id = parameters_.robot_link_command_frame;
-    }
+    joint_jog_.header.frame_id = parameters_.robot_link_command_frame;
   }
-  have_nonzero_command_ = have_nonzero_cartesian_command_ || have_nonzero_joint_command_;
+
+  have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_jog_;
 
   // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
   // joints so a jump doesn't occur when restarting
@@ -224,8 +220,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
       position_filters_[i].reset(original_joint_state_.position[i]);
 
     // Check if there are any new commands with valid timestamp
-    wait_for_jog_commands_ =
-        cartesian_deltas_.header.stamp == ros::Time(0.) && joint_deltas_.header.stamp == ros::Time(0.);
+    wait_for_jog_commands_ = twist_stamped_.header.stamp == ros::Time(0.) && joint_jog_.header.stamp == ros::Time(0.);
   }
   // If not waiting for initial command, and not paused.
   // Do jogging calculations only if the robot should move, for efficiency
@@ -234,14 +229,14 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     if (!shared_variables_.command_is_stale)
     {
       // Prioritize cartesian jogging above joint jogging
-      if (have_nonzero_cartesian_command_)
+      if (have_nonzero_twist_stamped_)
       {
-        if (!cartesianJogCalcs(cartesian_deltas_, shared_variables_))
+        if (!cartesianJogCalcs(twist_stamped_, shared_variables_))
           return;
       }
-      else if (have_nonzero_joint_command_)
+      else if (have_nonzero_joint_jog_)
       {
-        if (!jointJogCalcs(joint_deltas_, shared_variables_))
+        if (!jointJogCalcs(joint_jog_, shared_variables_))
           return;
       }
     }
@@ -254,16 +249,15 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
         position_filters_[i].reset(original_joint_state_.position[i]);
 
       suddenHalt(outgoing_command_);
-      have_nonzero_cartesian_command_ = false;
-      have_nonzero_joint_command_ = false;
+      have_nonzero_twist_stamped_ = false;
+      have_nonzero_joint_jog_ = false;
     }
 
     // Send the newest target joints
     // If everything normal, share the new traj to be published
     if (have_nonzero_command_)
     {
-      outgoing_command_queue_->push(outgoing_command_);
-      // shared_variables.outgoing_command = outgoing_command_;
+      joint_trajectory_pub_.publish(outgoing_command_);
       shared_variables_.ok_to_publish = true;
     }
     // Skip the jogging publication if all inputs have been zero for several cycles in a row.
@@ -276,14 +270,13 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
     else
     {
-      outgoing_command_queue_->push(outgoing_command_);
-      // shared_variables.outgoing_command = outgoing_command_;
+      joint_trajectory_pub_.publish(outgoing_command_);
       shared_variables_.ok_to_publish = true;
     }
 
     // Store last zero-velocity message flag to prevent superfluous warnings.
     // Cartesian and joint commands must both be zero.
-    if (!have_nonzero_cartesian_command_ && !have_nonzero_joint_command_)
+    if (!have_nonzero_twist_stamped_ && !have_nonzero_joint_jog_)
     {
       // Avoid overflow
       if (zero_velocity_count_ < std::numeric_limits<int>::max())
@@ -952,4 +945,22 @@ bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return !transform.matrix().isZero(0);
 }
 
+void JogCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  latest_twist_stamped_ = msg;
+  have_nonzero_twist_stamped_ = isNonZero(*latest_twist_stamped_);
+  if (msg->header.stamp != ros::Time(0.))
+    latest_command_stamp_ = msg->header.stamp;
+}
+
+void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  latest_joint_jog_ = msg;
+  have_nonzero_joint_jog_ = isNonZero(*latest_joint_jog_);
+  if (msg->header.stamp != ros::Time(0.))
+    latest_command_stamp_ = msg->header.stamp;
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
index 5593117d83..e33f2907a6 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_server.cpp
@@ -44,41 +44,6 @@ namespace
 constexpr char LOGNAME[] = "jog_server";
 constexpr char ROS_THREADS = 8;
 
-struct JogServerParameters
-{
-  bool read_error = true;
-  std::string cartesian_command_in_topic = "";
-  std::string joint_command_in_topic = "";
-};
-
-JogServerParameters readParameters()
-{
-  ros::NodeHandle nh;
-  JogServerParameters params;
-
-  // Load parameters
-  std::string parameter_ns;
-  ros::param::get("~parameter_ns", parameter_ns);
-
-  if (parameter_ns.empty())
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
-                                    "type=\"string\" "
-                                    "value=\"left_jog_server\" />");
-    params.read_error = true;
-  }
-  else
-  {
-    std::size_t error = 0;
-    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/cartesian_command_in_topic",
-                                      params.cartesian_command_in_topic);
-    error += !rosparam_shortcuts::get("", nh, parameter_ns + "/joint_command_in_topic", params.joint_command_in_topic);
-    params.read_error = (error != 0);
-  }
-  return params;
-}
-
 }  // namespace
 
 int main(int argc, char** argv)
@@ -89,13 +54,6 @@ int main(int argc, char** argv)
 
   ros::NodeHandle nh;
 
-  const auto params = readParameters();
-  if (params.read_error)
-  {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error reading parameters.");
-    exit(EXIT_FAILURE);
-  }
-
   // Load the planning scene monitor
   auto planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
   if (!planning_scene_monitor->getPlanningScene())
@@ -115,22 +73,6 @@ int main(int argc, char** argv)
   // Create the jog server
   moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
 
-  // ROS subscriptions. Share the data with the worker threads
-  auto cmd_sub =
-      nh.subscribe(params.cartesian_command_in_topic, 1, &moveit_jog_arm::JogArm::provideTwistStampedCommand, &jog_arm);
-  auto joint_jog_cmd_sub =
-      nh.subscribe(params.joint_command_in_topic, 1, &moveit_jog_arm::JogArm::provideJointCommand, &jog_arm);
-
-  // ROS Server for allowing drift in some dimensions
-  auto drift_dimensions_server =
-      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
-                          &moveit_jog_arm::JogArm::changeDriftDimensions, &jog_arm);
-
-  // ROS Server for changing the control dimensions
-  auto dims_server =
-      nh.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
-                          &moveit_jog_arm::JogArm::changeControlDimensions, &jog_arm);
-
   // Start the jog server (runs in the ros spinner)
   jog_arm.start();
 

From 485f98bc93fd5afabd814cc50623e5db5da3453e Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 27 May 2020 01:37:19 -0600
Subject: [PATCH 319/612] Add Tyler Weaver as an author to jog_arm

---
 moveit_experimental/moveit_jog_arm/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_experimental/moveit_jog_arm/package.xml
index 0a9858261c..96d38fe627 100644
--- a/moveit_experimental/moveit_jog_arm/package.xml
+++ b/moveit_experimental/moveit_jog_arm/package.xml
@@ -16,6 +16,7 @@
   <author email="andyz@utexas.edu">Andy Zelenak</author>
   <author>Blake Anderson</author>
   <author email="alex@machinekoder.com">Alexander Rössler</author>
+  <author email="tyler@picknik.ai">Tyler Weaver</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 

From 81e7460cbb52dcdaedf4a2661d9cd621cb7603b9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 27 May 2020 09:46:04 -0600
Subject: [PATCH 320/612] update cpp_interface_example for jog_arm

---
 .../cpp_interface_example.cpp                 | 38 +++++++++++--------
 1 file changed, 22 insertions(+), 16 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index d0a17f39e0..10d1ede113 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -73,42 +73,48 @@ int main(int argc, char** argv)
   moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
   jog_arm.start();
 
-  // Make a Cartesian velocity message
-  auto velocity_msg = boost::make_shared<geometry_msgs::TwistStamped>();
-  velocity_msg->header.frame_id = "base_link";
-  velocity_msg->twist.linear.y = 0.01;
-  velocity_msg->twist.linear.z = -0.01;
-
   ros::Rate cmd_rate(100);
   uint num_commands = 0;
 
   // Send a few Cartesian velocity commands
   while (ros::ok() && num_commands < 200)
   {
-    ++num_commands;
+    // Make a Cartesian velocity message
+    // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
+    // Because this message is not coppied we should not modify it after we send it.
+    auto velocity_msg = boost::make_shared<geometry_msgs::TwistStamped>();
     velocity_msg->header.stamp = ros::Time::now();
+    velocity_msg->header.frame_id = "base_link";
+    velocity_msg->twist.linear.y = 0.01;
+    velocity_msg->twist.linear.z = -0.01;
+
+    // Send the message
     jog_arm.provideTwistStampedCommand(velocity_msg);
     cmd_rate.sleep();
+    ++num_commands;
   }
 
   // Leave plenty of time for the jogger to halt its previous motion.
   // For a faster response, adjust the incoming_command_timeout yaml parameter
   ros::Duration(2).sleep();
 
-  // Make a joint command
-  auto base_joint_command = boost::make_shared<control_msgs::JointJog>();
-  base_joint_command->joint_names.push_back("elbow_joint");
-  base_joint_command->velocities.push_back(0.2);
-  base_joint_command->header.stamp = ros::Time::now();
-
   // Send a few joint commands
   num_commands = 0;
   while (ros::ok() && num_commands < 200)
   {
-    ++num_commands;
-    base_joint_command->header.stamp = ros::Time::now();
-    jog_arm.provideJointCommand(base_joint_command);
+    // Make a joint command
+    // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
+    // Because this message is not coppied we should not modify it after we send it.
+    auto elbow_joint_command = boost::make_shared<control_msgs::JointJog>();
+    elbow_joint_command->header.stamp = ros::Time::now();
+    elbow_joint_command->joint_names.push_back("elbow_joint");
+    elbow_joint_command->velocities.push_back(0.2);
+    elbow_joint_command->header.stamp = ros::Time::now();
+
+    // Send the message
+    jog_arm.provideJointCommand(elbow_joint_command);
     cmd_rate.sleep();
+    ++num_commands;
   }
 
   // Retrieve the current status of the jogger

From 8e61efa5dbb9a4085a234c4ebf7785032fc6ac67 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 27 May 2020 10:41:50 -0600
Subject: [PATCH 321/612] remove frame_id fixup for joint_jog command

---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ac45858958..ebf42d2757 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -205,10 +205,6 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   {
     twist_stamped_.header.frame_id = parameters_.robot_link_command_frame;
   }
-  if (twist_stamped_.header.frame_id.empty())
-  {
-    joint_jog_.header.frame_id = parameters_.robot_link_command_frame;
-  }
 
   have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_jog_;
 

From a0abf8b721c9ca8ee30b0b670b46c8536f5e33d9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 27 May 2020 14:39:50 -0600
Subject: [PATCH 322/612] move server into calcs object and remove unused
 variables from shared_variables

---
 .../include/moveit_jog_arm/jog_arm.h          | 28 ---------
 .../include/moveit_jog_arm/jog_arm_data.h     |  7 +--
 .../include/moveit_jog_arm/jog_calcs.h        | 29 ++++++++-
 .../cpp_interface_example.cpp                 |  1 -
 .../moveit_jog_arm/src/jog_arm.cpp            | 41 -------------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 60 ++++++++++++++-----
 6 files changed, 74 insertions(+), 92 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 27e689e9b2..5c76645ba9 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -42,8 +42,6 @@
 #include <Eigen/Eigenvalues>
 
 #include <moveit/robot_state/robot_state.h>
-#include <moveit_msgs/ChangeDriftDimensions.h>
-#include <moveit_msgs/ChangeControlDimensions.h>
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 #include <sensor_msgs/JointState.h>
 #include <sensor_msgs/Joy.h>
@@ -76,22 +74,6 @@ class JogArm
   /** \brief Pause or unpause processing jog commands while keeping the threads alive */
   void setPaused(bool paused);
 
-  /**
-   * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely.
-   * This can help avoid singularities.
-   *
-   * @param request the service request
-   * @param response the service response
-   * @return true if the adjustment was made
-   */
-  bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
-                             moveit_msgs::ChangeDriftDimensions::Response& res);
-
-  /** \brief Start the main calculation thread */
-  // Service callback for changing jogging dimensions
-  bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
-                               moveit_msgs::ChangeControlDimensions::Response& res);
-
   /** \brief Provide a Cartesian velocity command to the jogger.
    * The units are determined by settings in the yaml file.
    */
@@ -100,14 +82,6 @@ class JogArm
   /** \brief Send joint position(s) commands */
   void provideJointCommand(const control_msgs::JointJogConstPtr& msg);
 
-  /**
-   * Returns the most recent JointState that the jogger has received.
-   * May eliminate the need to create your own joint_state subscriber.
-   *
-   * @return the most recent joints known to the jogger
-   */
-  sensor_msgs::JointState getJointState();
-
   /**
    * Get the MoveIt planning link transform.
    * The transform from the MoveIt planning frame to robot_link_command_frame
@@ -152,8 +126,6 @@ class JogArm
   ros::Publisher outgoing_cmd_pub_;
   ros::Publisher twist_stamped_pub_;
   ros::Publisher joint_jog_pub_;
-  ros::ServiceServer drift_dimensions_server_;
-  ros::ServiceServer dims_server_;
   ros::Subscriber joint_trajectory_sub_;
 
   // latest_state_mutex_ is used to protect the state below it
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index 4f671ce36f..d69552473b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -74,7 +74,7 @@ struct JogArmShared
   bool ok_to_publish = false;
 
   // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
-  bool drift_dimensions[6] = { false, false, false, false, false, false };
+  std::array<bool, 6> drift_dimensions = { { false, false, false, false, false, false } };
 
   // Status of the jogger. 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
   StatusCode status = NO_WARNING;
@@ -82,11 +82,8 @@ struct JogArmShared
   // Pause/unpause jog threads - threads are not paused by default
   bool paused = false;
 
-  // Stop jog loop threads - threads are not stopped by default
-  bool stop_requested = false;
-
   // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
-  bool control_dimensions[6] = { true, true, true, true, true, true };
+  std::array<bool, 6> control_dimensions = { { true, true, true, true, true, true } };
 };
 
 // ROS params to be read. See the yaml file in /config for a description of each.
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 87b0e9c162..a4577b4ddf 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -44,6 +44,8 @@
 // ROS
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit_msgs/ChangeDriftDimensions.h>
+#include <moveit_msgs/ChangeControlDimensions.h>
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Int8.h>
 
@@ -60,7 +62,7 @@ class JogCalcs
   JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
            const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \breif Start and stop the timer (thread) */
+  /** \brief Start and stop the timer (thread) */
   void start();
   void stop();
 
@@ -79,7 +81,7 @@ class JogCalcs
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
 private:
-  /** \breif Init must be called once before run */
+  /** \brief Init must be called once before run */
   void init();
 
   /** \brief Timer method */
@@ -170,10 +172,26 @@ class JogCalcs
   /* \brief Callback for joint subsription */
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
 
-  /* \breif Command callbacks */
+  /* \brief Command callbacks */
   void twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg);
   void jointJogCB(const control_msgs::JointJogConstPtr& msg);
 
+  /**
+   * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely.
+   * This can help avoid singularities.
+   *
+   * @param request the service request
+   * @param response the service response
+   * @return true if the adjustment was made
+   */
+  bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                             moveit_msgs::ChangeDriftDimensions::Response& res);
+
+  /** \brief Start the main calculation thread */
+  // Service callback for changing jogging dimensions
+  bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                               moveit_msgs::ChangeControlDimensions::Response& res);
+
   // ROS node handle
   ros::NodeHandle nh_;
 
@@ -228,7 +246,12 @@ class JogCalcs
   ros::Subscriber joint_jog_sub_;
   ros::Publisher status_pub_;
   ros::Publisher joint_trajectory_pub_;
+  ros::ServiceServer drift_dimensions_server_;
+  ros::ServiceServer control_dimensions_server_;
+
+  // Status
   StatusCode status_ = NO_WARNING;
+  bool stop_requested_ = false;
 
   // Use ArrayXd type to enable more coefficient-wise operations
   Eigen::ArrayXd delta_theta_;
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 10d1ede113..18dca5af16 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -109,7 +109,6 @@ int main(int argc, char** argv)
     elbow_joint_command->header.stamp = ros::Time::now();
     elbow_joint_command->joint_names.push_back("elbow_joint");
     elbow_joint_command->velocities.push_back(0.2);
-    elbow_joint_command->header.stamp = ros::Time::now();
 
     // Send the message
     jog_arm.provideJointCommand(elbow_joint_command);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 9f3e8280d6..0a37345420 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -64,16 +64,6 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   twist_stamped_pub_ = nh_.advertise<geometry_msgs::TwistStamped>(parameters_.cartesian_command_in_topic, 1);
   joint_jog_pub_ = nh_.advertise<control_msgs::JointJog>(parameters_.joint_command_in_topic, 1);
 
-  // ROS Server for allowing drift in some dimensions
-  drift_dimensions_server_ =
-      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
-                           &JogArm::changeDriftDimensions, this);
-
-  // ROS Server for changing the control dimensions
-  dims_server_ =
-      nh_.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
-                           &JogArm::changeControlDimensions, this);
-
   // Subscribe to output commands in internal namespace
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", 1, &JogArm::jointTrajectoryCB, this);
@@ -359,7 +349,6 @@ void JogArm::run(const ros::TimerEvent& timer_event)
 
 void JogArm::start()
 {
-  shared_variables_.stop_requested = false;
   shared_variables_.paused = false;
 
   // Crunch the numbers in this thread
@@ -375,8 +364,6 @@ void JogArm::start()
 
 void JogArm::stop()
 {
-  shared_variables_.stop_requested = true;
-
   timer_.stop();
   jog_calcs_->stop();
   collision_checker_->stop();
@@ -387,34 +374,6 @@ JogArm::~JogArm()
   stop();
 }
 
-bool JogArm::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
-                                   moveit_msgs::ChangeDriftDimensions::Response& res)
-{
-  shared_variables_.drift_dimensions[0] = req.drift_x_translation;
-  shared_variables_.drift_dimensions[1] = req.drift_y_translation;
-  shared_variables_.drift_dimensions[2] = req.drift_z_translation;
-  shared_variables_.drift_dimensions[3] = req.drift_x_rotation;
-  shared_variables_.drift_dimensions[4] = req.drift_y_rotation;
-  shared_variables_.drift_dimensions[5] = req.drift_z_rotation;
-
-  res.success = true;
-  return true;
-}
-
-bool JogArm::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
-                                     moveit_msgs::ChangeControlDimensions::Response& res)
-{
-  shared_variables_.control_dimensions[0] = req.control_x_translation;
-  shared_variables_.control_dimensions[1] = req.control_y_translation;
-  shared_variables_.control_dimensions[2] = req.control_z_translation;
-  shared_variables_.control_dimensions[3] = req.control_x_rotation;
-  shared_variables_.control_dimensions[4] = req.control_y_rotation;
-  shared_variables_.control_dimensions[5] = req.control_z_rotation;
-
-  res.success = true;
-  return true;
-}
-
 void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg)
 {
   twist_stamped_pub_.publish(msg);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ebf42d2757..ccc80ed630 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -83,6 +83,16 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogA
   twist_stamped_sub_ = nh_.subscribe(parameters.cartesian_command_in_topic, 1, &JogCalcs::twistStampedCB, this);
   joint_jog_sub_ = nh.subscribe(parameters.joint_command_in_topic, 1, &JogCalcs::jointJogCB, this);
 
+  // ROS Server for allowing drift in some dimensions
+  drift_dimensions_server_ =
+      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
+                           &JogCalcs::changeDriftDimensions, this);
+
+  // ROS Server for changing the control dimensions
+  control_dimensions_server_ =
+      nh_.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
+                           &JogCalcs::changeControlDimensions, this);
+
   // Publish output commands to internal namespace
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", 1);
@@ -128,26 +138,17 @@ void JogCalcs::init()
     position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
   }
 
-  // Initialize the position filters to initial robot joints
-  while (!updateJoints(shared_variables_) && ros::ok())
-  {
-    if (shared_variables_.stop_requested)
-      return;
-    default_sleep_rate_.sleep();
-  }
-
-  // reset flags
+  // initialization is finished
+  is_initialized_ = true;
   wait_for_jog_commands_ = true;
   have_nonzero_twist_stamped_ = false;
   have_nonzero_joint_jog_ = false;
   have_nonzero_command_ = false;
-
-  // initialization is finished
-  is_initialized_ = true;
 }
 
 void JogCalcs::start()
 {
+  stop_requested_ = false;
   init();
 
   timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
@@ -155,6 +156,7 @@ void JogCalcs::start()
 
 void JogCalcs::stop()
 {
+  stop_requested_ = true;
   timer_.stop();
 }
 
@@ -177,6 +179,8 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // 2) so the low-pass filters are up to date and don't cause a jump
   while (!updateJoints(shared_variables_) && ros::ok())
   {
+    if (stop_requested_)
+      return;
     default_sleep_rate_.sleep();
   }
 
@@ -354,9 +358,9 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   // Convert from cartesian commands to joint commands
   Eigen::MatrixXd jacobian = kinematic_state_->getJacobian(joint_model_group_);
 
-  // May allow some dimensions to drift, based on shared_variables.drift_dimensions
+  // May allow some dimensions to drift, based on drift_dimensions
   // i.e. take advantage of task redundancy.
-  // Remove the Jacobian rows corresponding to True in the vector shared_variables.drift_dimensions
+  // Remove the Jacobian rows corresponding to True in the vector drift_dimensions
   // Work backwards through the 6-vector so indices don't get out of order
   for (auto dimension = jacobian.rows(); dimension >= 0; --dimension)
   {
@@ -959,4 +963,32 @@ void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
     latest_command_stamp_ = msg->header.stamp;
 }
 
+bool JogCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                                     moveit_msgs::ChangeDriftDimensions::Response& res)
+{
+  shared_variables_.drift_dimensions[0] = req.drift_x_translation;
+  shared_variables_.drift_dimensions[1] = req.drift_y_translation;
+  shared_variables_.drift_dimensions[2] = req.drift_z_translation;
+  shared_variables_.drift_dimensions[3] = req.drift_x_rotation;
+  shared_variables_.drift_dimensions[4] = req.drift_y_rotation;
+  shared_variables_.drift_dimensions[5] = req.drift_z_rotation;
+
+  res.success = true;
+  return true;
+}
+
+bool JogCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                                       moveit_msgs::ChangeControlDimensions::Response& res)
+{
+  shared_variables_.control_dimensions[0] = req.control_x_translation;
+  shared_variables_.control_dimensions[1] = req.control_y_translation;
+  shared_variables_.control_dimensions[2] = req.control_z_translation;
+  shared_variables_.control_dimensions[3] = req.control_x_rotation;
+  shared_variables_.control_dimensions[4] = req.control_y_rotation;
+  shared_variables_.control_dimensions[5] = req.control_z_rotation;
+
+  res.success = true;
+  return true;
+}
+
 }  // namespace moveit_jog_arm

From 2a1b831ce17484bbea1da3c5e3cef2ff34834f4d Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 28 May 2020 13:44:31 -0600
Subject: [PATCH 323/612] replace jog_arm shared variables with ros pub/sub

---
 .../moveit_jog_arm/boost_pool_allocation.h    |  49 ++++
 .../moveit_jog_arm/collision_check_thread.h   |  16 +-
 .../include/moveit_jog_arm/jog_arm.h          |  34 ++-
 .../include/moveit_jog_arm/jog_arm_data.h     |  46 ----
 .../include/moveit_jog_arm/jog_calcs.h        |  54 ++---
 .../include/moveit_jog_arm/status_codes.h     |   6 +-
 .../src/collision_check_thread.cpp            |  47 ++--
 .../cpp_interface_example.cpp                 |  66 ++++--
 .../moveit_jog_arm/src/jog_arm.cpp            |  55 ++---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 209 +++++++++---------
 .../test/jog_cpp_interface_test.cpp           | 127 +++++++++--
 .../test/jog_cpp_interface_test.test          |   2 +-
 .../test_drift_dimensions_service.py          |   2 +-
 .../halt_msg/test_jog_arm_halt_msg.py         |  12 +-
 .../test_jog_arm_msg_reception.py             |  14 +-
 .../moveit_jog_arm/test/python_tests/util.py  |  10 +-
 .../vel_accel_limits/test_vel_accel_limits.py |   5 +-
 17 files changed, 435 insertions(+), 319 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h
new file mode 100644
index 0000000000..ec1e550f74
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h
@@ -0,0 +1,49 @@
+/*******************************************************************************
+ *      Title     : boost_pool_allocation.h
+ *      Project   : moveit_jog_arm
+ *      Created   : 1/11/2019
+ *      Author    : Tyler Weaver
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#pragma once
+
+#include <boost/pool/pool_alloc.hpp>
+
+// Useful template for creating messages from a message pool
+template <typename T>
+boost::shared_ptr<T> make_shared_from_pool()
+{
+  using allocator_t = boost::fast_pool_allocator<boost::shared_ptr<T>>;
+  return boost::allocate_shared<T, allocator_t>(allocator_t());
+}
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
index b88b0d783d..23b19035de 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
@@ -43,6 +43,7 @@
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <sensor_msgs/JointState.h>
+#include <std_msgs/Float64.h>
 
 #include "jog_arm_data.h"
 #include "low_pass_filter.h"
@@ -64,18 +65,20 @@ class CollisionCheckThread
    *                                 already started when passed into this class
    */
   CollisionCheckThread(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
-                       JogArmShared& shared_variables,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \breif start and stop the Thread */
+  /** \brief start and stop the Thread */
   void start();
   void stop();
 
+  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  void setPaused(bool paused);
+
 private:
-  void init();
   void run(const ros::TimerEvent& timer_event);
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
+  void worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg);
 
   // ROS node handle
   ros::NodeHandle nh_;
@@ -83,9 +86,6 @@ class CollisionCheckThread
   // Parameters
   const moveit_jog_arm::JogArmParameters parameters_;
 
-  // Shared variables from JogArm
-  JogArmShared& shared_variables_;
-
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
@@ -101,6 +101,7 @@ class CollisionCheckThread
   double self_collision_distance_ = 0;
   double scene_collision_distance_ = 0;
   bool collision_detected_ = false;
+  bool paused_ = false;
 
   // Variables for stop-distance-based collision checking
   double current_collision_distance_ = 0;
@@ -108,6 +109,7 @@ class CollisionCheckThread
   double prev_collision_distance_ = 0;
   double est_time_to_collision_ = 0;
   double safety_factor_ = 1000;
+  double worst_case_stop_time_ = std::numeric_limits<double>::max();
 
   const double self_velocity_scale_coefficient_;
   const double scene_velocity_scale_coefficient_;
@@ -120,6 +122,8 @@ class CollisionCheckThread
   ros::Timer timer_;
   ros::Duration period_;
   ros::Subscriber joint_state_sub_;
+  ros::Publisher collision_velocity_scale_pub_;
+  ros::Subscriber worst_case_stop_time_sub_;
 
   // Latest joint state, updated by ROS callback
   mutable std::mutex joint_state_mutex_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 5c76645ba9..c3d0a75f6d 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -45,6 +45,7 @@
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 #include <sensor_msgs/JointState.h>
 #include <sensor_msgs/Joy.h>
+#include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
 #include "collision_check_thread.h"
@@ -74,14 +75,6 @@ class JogArm
   /** \brief Pause or unpause processing jog commands while keeping the threads alive */
   void setPaused(bool paused);
 
-  /** \brief Provide a Cartesian velocity command to the jogger.
-   * The units are determined by settings in the yaml file.
-   */
-  void provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg);
-
-  /** \brief Send joint position(s) commands */
-  void provideJointCommand(const control_msgs::JointJogConstPtr& msg);
-
   /**
    * Get the MoveIt planning link transform.
    * The transform from the MoveIt planning frame to robot_link_command_frame
@@ -91,17 +84,14 @@ class JogArm
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-  /**
-   * Get the status of the jogger.
-   *
-   * @return 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
-   */
-  StatusCode getJoggerStatus() const;
+  /** \brief Get the parameters used by jog arm. */
+  const JogArmParameters& getParameters() const;
 
 private:
   bool readParameters();
   void run(const ros::TimerEvent& timer_event);
-  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryPtr& msg);
+  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& msg);
+  void okToPublishCB(const std_msgs::BoolConstPtr& msg);
 
   ros::NodeHandle nh_;
 
@@ -111,9 +101,6 @@ class JogArm
   // Store the parameters that were read from ROS server
   JogArmParameters parameters_;
 
-  // Share data between threads
-  JogArmShared shared_variables_;
-
   // Jog calcs
   std::unique_ptr<JogCalcs> jog_calcs_;
 
@@ -124,13 +111,18 @@ class JogArm
   ros::Timer timer_;
   ros::Duration period_;
   ros::Publisher outgoing_cmd_pub_;
-  ros::Publisher twist_stamped_pub_;
-  ros::Publisher joint_jog_pub_;
   ros::Subscriber joint_trajectory_sub_;
+  ros::Subscriber ok_to_publish_sub_;
+
+  bool paused_ = false;
+  bool ok_to_publish_ = false;
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
-  trajectory_msgs::JointTrajectoryPtr latest_joint_trajectory_;
+  trajectory_msgs::JointTrajectoryConstPtr latest_joint_trajectory_;
 };
 
+// JogArmPtr using alias
+using JogArmPtr = std::shared_ptr<JogArm>;
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
index d69552473b..ad680028df 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
@@ -38,54 +38,8 @@
 
 #pragma once
 
-// Eigen
-#include <Eigen/Geometry>
-
-// ROS
-#include <control_msgs/JointJog.h>
-#include <geometry_msgs/TwistStamped.h>
-#include <trajectory_msgs/JointTrajectory.h>
-
-// moveit_jog_arm
-#include "status_codes.h"
-
 namespace moveit_jog_arm
 {
-// Variables to share between threads
-// Be careful to not read-modify-write any of these because they are not
-// protected by a mutex.
-struct JogArmShared
-{
-  double collision_velocity_scale = 1;
-
-  // The jog thread communicates the minimum stopping time to the collision check thread via this variable
-  double worst_case_stop_time = std::numeric_limits<double>::max();
-
-  // Flag a valid incoming Cartesian command having nonzero velocities
-  bool have_nonzero_cartesian_cmd = false;
-
-  // Flag a valid incoming joint angle command having nonzero velocities
-  bool have_nonzero_joint_cmd = false;
-
-  // Indicates that we have not received a new command in some time
-  bool command_is_stale = false;
-
-  // Indicates no collision, etc, so outgoing commands can be sent
-  bool ok_to_publish = false;
-
-  // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
-  std::array<bool, 6> drift_dimensions = { { false, false, false, false, false, false } };
-
-  // Status of the jogger. 0 for no warning. The meaning of nonzero values can be seen in status_codes.h
-  StatusCode status = NO_WARNING;
-
-  // Pause/unpause jog threads - threads are not paused by default
-  bool paused = false;
-
-  // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
-  std::array<bool, 6> control_dimensions = { { true, true, true, true, true, true } };
-};
-
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index a4577b4ddf..cc789795b7 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -48,6 +48,10 @@
 #include <moveit_msgs/ChangeControlDimensions.h>
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Int8.h>
+#include <std_msgs/Float64.h>
+#include <control_msgs/JointJog.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_jog_arm
 #include "jog_arm_data.h"
@@ -59,18 +63,13 @@ namespace moveit_jog_arm
 class JogCalcs
 {
 public:
-  JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
+  JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
            const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   /** \brief Start and stop the timer (thread) */
   void start();
   void stop();
 
-  /** \brief Check if the robot state is being updated and the end effector transform is known
-   *  @return true if initialized properly
-   */
-  bool isInitialized();
-
   /**
    * Get the MoveIt planning link transform.
    * The transform from the MoveIt planning frame to robot_link_command_frame
@@ -80,24 +79,21 @@ class JogCalcs
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-private:
-  /** \brief Init must be called once before run */
-  void init();
+  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  void setPaused(bool paused);
 
+private:
   /** \brief Timer method */
   void run(const ros::TimerEvent& timer_event);
 
   /** \brief Do jogging calculations for Cartesian twist commands. */
-  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables);
+  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd);
 
   /** \brief Do jogging calculations for direct commands to a joint. */
-  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);
-
-  /** \brief Update the stashed status so it can be retrieved asynchronously */
-  void updateCachedStatus(JogArmShared& shared_variables);
+  bool jointJogCalcs(const control_msgs::JointJog& cmd);
 
   /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
-  bool updateJoints(JogArmShared& shared_variables);
+  bool updateJoints();
 
   /** \brief If incoming velocity commands are from a unitless joystick, scale them to physical units.
    * Also, multiply by timestep to calculate a position change.
@@ -117,9 +113,6 @@ class JogCalcs
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
   void suddenHalt(Eigen::ArrayXd& delta_theta);
 
-  /** \brief Publish the status of the jogger to a ROS topic */
-  void publishStatus() const;
-
   /** \brief  Scale the delta theta to match joint velocity/acceleration limits */
   void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
 
@@ -135,11 +128,10 @@ class JogCalcs
 
   /**
    * Slow motion down if close to singularity or collision.
-   * @param shared_variables data shared between threads, tells how close we are to collision
    * @param delta_theta motion command, used in calculating new_joint_tray
    * @param singularity_scale tells how close we are to a singularity
    */
-  void applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta, double singularity_scale);
+  void applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale);
 
   /** \brief Compose the outgoing JointTrajectory message */
   trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
@@ -175,6 +167,7 @@ class JogCalcs
   /* \brief Command callbacks */
   void twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg);
   void jointJogCB(const control_msgs::JointJogConstPtr& msg);
+  void collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg);
 
   /**
    * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely.
@@ -198,15 +191,9 @@ class JogCalcs
   // Ros parameters from JogArm
   const JogArmParameters& parameters_;
 
-  // Shared variables from JogArm
-  JogArmShared& shared_variables_;
-
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
-  // Flag that robot state is up to date, end effector transform is known
-  bool is_initialized_ = false;
-
   // Track the number of cycles during which motion has not occurred.
   // Will avoid re-publishing zero velocities endlessly.
   int zero_velocity_count_ = 0;
@@ -244,14 +231,21 @@ class JogCalcs
   ros::Subscriber joint_state_sub_;
   ros::Subscriber twist_stamped_sub_;
   ros::Subscriber joint_jog_sub_;
+  ros::Subscriber collision_velocity_scale_sub_;
   ros::Publisher status_pub_;
   ros::Publisher joint_trajectory_pub_;
+  ros::Publisher worst_case_stop_time_pub_;
   ros::ServiceServer drift_dimensions_server_;
   ros::ServiceServer control_dimensions_server_;
 
+  ros::Publisher ok_to_publish_pub_;
+
   // Status
-  StatusCode status_ = NO_WARNING;
+  StatusCode status_ = StatusCode::NO_WARNING;
   bool stop_requested_ = false;
+  bool paused_ = false;
+  bool command_is_stale_ = false;
+  double collision_velocity_scale_ = 1.0;
 
   // Use ArrayXd type to enable more coefficient-wise operations
   Eigen::ArrayXd delta_theta_;
@@ -261,6 +255,12 @@ class JogCalcs
 
   uint num_joints_;
 
+  // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
+  std::array<bool, 6> drift_dimensions_ = { { false, false, false, false, false, false } };
+
+  // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
+  std::array<bool, 6> control_dimensions_ = { { true, true, true, true, true, true } };
+
   // Amount we sleep when waiting
   ros::Rate default_sleep_rate_ = 1000;
 
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
index 85660cd50b..7f930f6db6 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
@@ -45,6 +45,7 @@ namespace moveit_jog_arm
 {
 enum StatusCode : int8_t
 {
+  INVALID = -1,
   NO_WARNING = 0,
   DECELERATE_FOR_SINGULARITY = 1,
   HALT_FOR_SINGULARITY = 2,
@@ -53,8 +54,9 @@ enum StatusCode : int8_t
   JOINT_BOUND = 5
 };
 
-const std::unordered_map<uint, std::string>
-    JOG_ARM_STATUS_CODE_MAP({ { NO_WARNING, "No warnings" },
+const std::unordered_map<int8_t, std::string>
+    JOG_ARM_STATUS_CODE_MAP({ { INVALID, "Invalid" },
+                              { NO_WARNING, "No warnings" },
                               { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
                               { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
                               { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index b04232f6ec..98bac5056e 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -37,7 +37,10 @@
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
+#include <std_msgs/Float64.h>
+
 #include <moveit_jog_arm/collision_check_thread.h>
+#include <moveit_jog_arm/boost_pool_allocation.h>
 
 static const std::string LOGNAME = "collision_check_thread";
 static constexpr double MIN_RECOMMENDED_COLLISION_RATE = 10;
@@ -47,11 +50,10 @@ namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
 CollisionCheckThread::CollisionCheckThread(
-    ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters, JogArmShared& shared_variables,
+    ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
     const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh)
   , parameters_(parameters)
-  , shared_variables_(shared_variables)
   , planning_scene_monitor_(planning_scene_monitor)
   , self_velocity_scale_coefficient_(-log(0.001) / parameters.self_collision_proximity_threshold)
   , scene_velocity_scale_coefficient_(-log(0.001) / parameters.scene_collision_proximity_threshold)
@@ -70,15 +72,13 @@ CollisionCheckThread::CollisionCheckThread(
   collision_check_type_ =
       (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
   safety_factor_ = parameters_.collision_distance_safety_factor;
-}
 
-planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
-{
-  return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
-}
+  // Internal namespace
+  ros::NodeHandle internal_nh("~internal");
+  collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", 1);
+  worst_case_stop_time_sub_ =
+      internal_nh.subscribe("worst_case_stop_time", 2, &CollisionCheckThread::worstCaseStopTimeCB, this);
 
-void CollisionCheckThread::init()
-{
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
@@ -87,9 +87,13 @@ void CollisionCheckThread::init()
   acm_ = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
 }
 
+planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
+{
+  return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
+}
+
 void CollisionCheckThread::start()
 {
-  init();
   timer_ = nh_.createTimer(period_, &CollisionCheckThread::run, this);
 }
 
@@ -112,7 +116,7 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
                                                                  << period_.toSec());
   }
 
-  if (shared_variables_.paused)
+  if (paused_)
   {
     return;
   }
@@ -191,7 +195,7 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
       est_time_to_collision_ = fabs(current_collision_distance_ / derivative_of_collision_distance_);
 
       // halt if we can't stop fast enough (including the safety factor)
-      if (est_time_to_collision_ < (safety_factor_ * shared_variables_.worst_case_stop_time))
+      if (est_time_to_collision_ < (safety_factor_ * worst_case_stop_time_))
       {
         velocity_scale_ = 0;
       }
@@ -201,8 +205,12 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
     prev_collision_distance_ = current_collision_distance_;
   }
 
-  // Communicate a velocity-scaling factor back to the other threads
-  shared_variables_.collision_velocity_scale = velocity_scale_;
+  // publish message
+  {
+    auto msg = make_shared_from_pool<std_msgs::Float64>();
+    msg->data = velocity_scale_;
+    collision_velocity_scale_pub_.publish(msg);
+  }
 }
 
 void CollisionCheckThread::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
@@ -210,4 +218,15 @@ void CollisionCheckThread::jointStateCB(const sensor_msgs::JointStateConstPtr& m
   const std::lock_guard<std::mutex> lock(joint_state_mutex_);
   latest_joint_state_ = msg;
 }
+
+void CollisionCheckThread::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
+{
+  worst_case_stop_time_ = msg->data;
+}
+
+void CollisionCheckThread::setPaused(bool paused)
+{
+  paused_ = paused;
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 18dca5af16..0b2617f012 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -36,15 +36,41 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-#include "moveit_jog_arm/jog_arm.h"
-#include "moveit_jog_arm/status_codes.h"
+#include <std_msgs/Int8.h>
+
+#include <moveit_jog_arm/jog_arm.h>
+#include <moveit_jog_arm/status_codes.h>
+#include <moveit_jog_arm/boost_pool_allocation.h>
 
 static const std::string LOGNAME = "cpp_interface_example";
 
+// Class for monitoring status of jog_arm
+class StatusMonitor
+{
+public:
+  StatusMonitor(ros::NodeHandle& nh, const std::string& topic)
+  {
+    sub_ = nh.subscribe(topic, 1, &StatusMonitor::statusCB, this);
+  }
+
+private:
+  void statusCB(const std_msgs::Int8ConstPtr& msg)
+  {
+    moveit_jog_arm::StatusCode latest_stats = static_cast<moveit_jog_arm::StatusCode>(msg->data);
+    if (latest_stats != status_)
+    {
+      status_ = latest_stats;
+      const auto& status_str = moveit_jog_arm::JOG_ARM_STATUS_CODE_MAP.at(status_);
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status: " << status_str);
+    }
+  }
+  moveit_jog_arm::StatusCode status_ = moveit_jog_arm::StatusCode::INVALID;
+  ros::Subscriber sub_;
+};
+
 /**
  * Instantiate the C++ jogging interface.
  * Send some Cartesian commands, then some joint commands.
- * Then retrieve the current joint state from the jogger.
  */
 int main(int argc, char** argv)
 {
@@ -73,6 +99,14 @@ int main(int argc, char** argv)
   moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
   jog_arm.start();
 
+  // Subscribe to jog_arm status (and log it when it changes)
+  StatusMonitor status_monitor(nh, jog_arm.getParameters().status_topic);
+
+  // Create publishers to send jog_arm commands
+  auto twist_stamped_pub =
+      nh.advertise<geometry_msgs::TwistStamped>(jog_arm.getParameters().cartesian_command_in_topic, 1);
+  auto joint_jog_pub = nh.advertise<control_msgs::JointJog>(jog_arm.getParameters().joint_command_in_topic, 1);
+
   ros::Rate cmd_rate(100);
   uint num_commands = 0;
 
@@ -82,14 +116,14 @@ int main(int argc, char** argv)
     // Make a Cartesian velocity message
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not coppied we should not modify it after we send it.
-    auto velocity_msg = boost::make_shared<geometry_msgs::TwistStamped>();
-    velocity_msg->header.stamp = ros::Time::now();
-    velocity_msg->header.frame_id = "base_link";
-    velocity_msg->twist.linear.y = 0.01;
-    velocity_msg->twist.linear.z = -0.01;
+    auto msg = make_shared_from_pool<geometry_msgs::TwistStamped>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "base_link";
+    msg->twist.linear.y = 0.01;
+    msg->twist.linear.z = -0.01;
 
     // Send the message
-    jog_arm.provideTwistStampedCommand(velocity_msg);
+    twist_stamped_pub.publish(msg);
     cmd_rate.sleep();
     ++num_commands;
   }
@@ -105,21 +139,17 @@ int main(int argc, char** argv)
     // Make a joint command
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not coppied we should not modify it after we send it.
-    auto elbow_joint_command = boost::make_shared<control_msgs::JointJog>();
-    elbow_joint_command->header.stamp = ros::Time::now();
-    elbow_joint_command->joint_names.push_back("elbow_joint");
-    elbow_joint_command->velocities.push_back(0.2);
+    auto msg = make_shared_from_pool<control_msgs::JointJog>();
+    msg->header.stamp = ros::Time::now();
+    msg->joint_names.push_back("elbow_joint");
+    msg->velocities.push_back(0.2);
 
     // Send the message
-    jog_arm.provideJointCommand(elbow_joint_command);
+    joint_jog_pub.publish(msg);
     cmd_rate.sleep();
     ++num_commands;
   }
 
-  // Retrieve the current status of the jogger
-  moveit_jog_arm::StatusCode status = jog_arm.getJoggerStatus();
-  ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status:\n" << status);
-
   jog_arm.stop();
   return 0;
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 0a37345420..3afe8d0464 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -60,22 +60,18 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, 1);
 
-  // publish commands (for c++ interface)
-  twist_stamped_pub_ = nh_.advertise<geometry_msgs::TwistStamped>(parameters_.cartesian_command_in_topic, 1);
-  joint_jog_pub_ = nh_.advertise<control_msgs::JointJog>(parameters_.joint_command_in_topic, 1);
-
-  // Subscribe to output commands in internal namespace
+  // Subscribe to internal namespace
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", 1, &JogArm::jointTrajectoryCB, this);
+  ok_to_publish_sub_ = internal_nh.subscribe("ok_to_publish", 1, &JogArm::okToPublishCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
 
-  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, shared_variables_, planning_scene_monitor_);
+  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_);
 
-  collision_checker_ =
-      std::make_unique<CollisionCheckThread>(nh_, parameters_, shared_variables_, planning_scene_monitor_);
+  collision_checker_ = std::make_unique<CollisionCheckThread>(nh_, parameters_, planning_scene_monitor_);
 }
 
 // Read ROS parameters, typically from YAML file
@@ -317,7 +313,7 @@ void JogArm::run(const ros::TimerEvent& timer_event)
   }
 
   // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-  if (shared_variables_.ok_to_publish)
+  if (ok_to_publish_ && !paused_)
   {
     // Put the outgoing msg in the right format
     // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
@@ -336,20 +332,11 @@ void JogArm::run(const ros::TimerEvent& timer_event)
       outgoing_cmd_pub_.publish(joints);
     }
   }
-  else if (shared_variables_.command_is_stale)
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                "Try a larger 'incoming_command_timeout' parameter?");
-  }
-  else
-  {
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
-  }
 }
 
 void JogArm::start()
 {
-  shared_variables_.paused = false;
+  setPaused(false);
 
   // Crunch the numbers in this thread
   jog_calcs_->start();
@@ -374,37 +361,33 @@ JogArm::~JogArm()
   stop();
 }
 
-void JogArm::provideTwistStampedCommand(const geometry_msgs::TwistStampedConstPtr& msg)
-{
-  twist_stamped_pub_.publish(msg);
-}
-
-void JogArm::provideJointCommand(const control_msgs::JointJogConstPtr& msg)
-{
-  joint_jog_pub_.publish(msg);
-}
-
 void JogArm::setPaused(bool paused)
 {
-  shared_variables_.paused = paused;
+  paused_ = paused;
+  jog_calcs_->setPaused(paused);
+  collision_checker_->setPaused(paused);
 }
 
 bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  if (!jog_calcs_->isInitialized())
-    return false;
   return jog_calcs_->getCommandFrameTransform(transform);
 }
 
-StatusCode JogArm::getJoggerStatus() const
+void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& msg)
 {
-  return shared_variables_.status;
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  latest_joint_trajectory_ = msg;
 }
 
-void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryPtr& msg)
+void JogArm::okToPublishCB(const std_msgs::BoolConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  latest_joint_trajectory_ = msg;
+  ok_to_publish_ = msg->data;
+}
+
+const JogArmParameters& JogArm::getParameters() const
+{
+  return parameters_;
 }
 
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index ccc80ed630..e56768d585 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -37,7 +37,10 @@
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
+#include <std_msgs/Bool.h>
+
 #include <moveit_jog_arm/jog_calcs.h>
+#include <moveit_jog_arm/boost_pool_allocation.h>
 
 static const std::string LOGNAME = "jog_calcs";
 
@@ -65,23 +68,33 @@ bool isNonZero(const control_msgs::JointJog& msg)
 }  // namespace
 
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogArmShared& shared_variables,
+JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
                    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh)
   , parameters_(parameters)
-  , shared_variables_(shared_variables)
   , planning_scene_monitor_(planning_scene_monitor)
   , period_(parameters.publish_period)
 {
-  // Publish jogger status
-  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
+  // MoveIt Setup
+  const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr = planning_scene_monitor_->getRobotModelLoader();
+  while (ros::ok() && !model_loader_ptr)
+  {
+    ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
+    default_sleep_rate_.sleep();
+  }
+  const moveit::core::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
+  kinematic_state_ = std::make_shared<moveit::core::RobotState>(kinematic_model);
+  kinematic_state_->setToDefaultValues();
+
+  joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
+  prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 
   // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &JogCalcs::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, 1, &JogCalcs::jointStateCB, this);
 
   // Subscribe to command topics
-  twist_stamped_sub_ = nh_.subscribe(parameters.cartesian_command_in_topic, 1, &JogCalcs::twistStampedCB, this);
-  joint_jog_sub_ = nh.subscribe(parameters.joint_command_in_topic, 1, &JogCalcs::jointJogCB, this);
+  twist_stamped_sub_ = nh_.subscribe(parameters_.cartesian_command_in_topic, 100, &JogCalcs::twistStampedCB, this);
+  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, 1, &JogCalcs::jointJogCB, this);
 
   // ROS Server for allowing drift in some dimensions
   drift_dimensions_server_ =
@@ -90,32 +103,16 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters, JogA
 
   // ROS Server for changing the control dimensions
   control_dimensions_server_ =
-      nh_.advertiseService(nh.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
+      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
                            &JogCalcs::changeControlDimensions, this);
 
-  // Publish output commands to internal namespace
+  // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", 1);
-}
-
-void JogCalcs::init()
-{
-  // Reset flags
-  is_initialized_ = false;
-
-  // MoveIt Setup
-  const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr = planning_scene_monitor_->getRobotModelLoader();
-  while (ros::ok() && !model_loader_ptr)
-  {
-    ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
-    default_sleep_rate_.sleep();
-  }
-  const moveit::core::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
-  kinematic_state_ = std::make_shared<moveit::core::RobotState>(kinematic_model);
-  kinematic_state_->setToDefaultValues();
-
-  joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
-  prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
+  ok_to_publish_pub_ = internal_nh.advertise<std_msgs::Bool>("ok_to_publish", 1);
+  collision_velocity_scale_sub_ =
+      internal_nh.subscribe("collision_velocity_scale", 1, &JogCalcs::collisionVelocityScaleCB, this);
+  worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", 1);
 
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
@@ -139,7 +136,6 @@ void JogCalcs::init()
   }
 
   // initialization is finished
-  is_initialized_ = true;
   wait_for_jog_commands_ = true;
   have_nonzero_twist_stamped_ = false;
   have_nonzero_joint_jog_ = false;
@@ -149,7 +145,7 @@ void JogCalcs::init()
 void JogCalcs::start()
 {
   stop_requested_ = false;
-  init();
+  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
 
   timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
 }
@@ -174,10 +170,17 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
                                                                  << period_.toSec());
   }
 
+  // Publish status each loop iteration
+  {
+    auto status_msg = make_shared_from_pool<std_msgs::Int8>();
+    status_msg->data = static_cast<int8_t>(status_);
+    status_pub_.publish(status_msg);
+  }
+
   // Always update the joints and end-effector transform for 2 reasons:
   // 1) in case the getCommandFrameTransform() method is being used
   // 2) so the low-pass filters are up to date and don't cause a jump
-  while (!updateJoints(shared_variables_) && ros::ok())
+  while (!updateJoints() && ros::ok())
   {
     if (stop_requested_)
       return;
@@ -194,7 +197,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
       joint_jog_ = *latest_joint_jog_;
 
     // Check for stale cmds
-    shared_variables_.command_is_stale =
+    command_is_stale_ =
         ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
   }
 
@@ -214,7 +217,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
 
   // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
   // joints so a jump doesn't occur when restarting
-  if (wait_for_jog_commands_ || shared_variables_.paused)
+  if (wait_for_jog_commands_ || paused_)
   {
     for (std::size_t i = 0; i < num_joints_; ++i)
       position_filters_[i].reset(original_joint_state_.position[i]);
@@ -226,17 +229,17 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Do jogging calculations only if the robot should move, for efficiency
   else
   {
-    if (!shared_variables_.command_is_stale)
+    if (!command_is_stale_)
     {
       // Prioritize cartesian jogging above joint jogging
       if (have_nonzero_twist_stamped_)
       {
-        if (!cartesianJogCalcs(twist_stamped_, shared_variables_))
+        if (!cartesianJogCalcs(twist_stamped_))
           return;
       }
       else if (have_nonzero_joint_jog_)
       {
-        if (!jointJogCalcs(joint_jog_, shared_variables_))
+        if (!jointJogCalcs(joint_jog_))
           return;
       }
     }
@@ -258,20 +261,29 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     if (have_nonzero_command_)
     {
       joint_trajectory_pub_.publish(outgoing_command_);
-      shared_variables_.ok_to_publish = true;
+
+      auto bool_msg = boost::make_shared<std_msgs::Bool>();
+      bool_msg->data = true;
+      ok_to_publish_pub_.publish(bool_msg);
     }
     // Skip the jogging publication if all inputs have been zero for several cycles in a row.
     // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
     else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
              (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
     {
-      shared_variables_.ok_to_publish = false;
+      auto bool_msg = boost::make_shared<std_msgs::Bool>();
+      bool_msg->data = false;
+      ok_to_publish_pub_.publish(bool_msg);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
     // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
     else
     {
       joint_trajectory_pub_.publish(outgoing_command_);
-      shared_variables_.ok_to_publish = true;
+
+      auto bool_msg = boost::make_shared<std_msgs::Bool>();
+      bool_msg->data = true;
+      ok_to_publish_pub_.publish(bool_msg);
     }
 
     // Store last zero-velocity message flag to prevent superfluous warnings.
@@ -285,15 +297,15 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     else
       zero_velocity_count_ = 0;
   }
-}
 
-bool JogCalcs::isInitialized()
-{
-  return is_initialized_;
+  if (command_is_stale_)
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                "Try a larger 'incoming_command_timeout' parameter?");
+  }
 }
-
 // Perform the jogging calculations
-bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables)
+bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd)
 {
   // Check for nan's in the incoming command
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
@@ -315,17 +327,17 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   }
 
   // Set uncontrolled dimensions to 0 in command frame
-  if (!shared_variables.control_dimensions[0])
+  if (!control_dimensions_[0])
     cmd.twist.linear.x = 0;
-  if (!shared_variables.control_dimensions[1])
+  if (!control_dimensions_[1])
     cmd.twist.linear.y = 0;
-  if (!shared_variables.control_dimensions[2])
+  if (!control_dimensions_[2])
     cmd.twist.linear.z = 0;
-  if (!shared_variables.control_dimensions[3])
+  if (!control_dimensions_[3])
     cmd.twist.angular.x = 0;
-  if (!shared_variables.control_dimensions[4])
+  if (!control_dimensions_[4])
     cmd.twist.angular.y = 0;
-  if (!shared_variables.control_dimensions[5])
+  if (!control_dimensions_[5])
     cmd.twist.angular.z = 0;
 
   // Transform the command to the MoveGroup planning frame
@@ -364,7 +376,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   // Work backwards through the 6-vector so indices don't get out of order
   for (auto dimension = jacobian.rows(); dimension >= 0; --dimension)
   {
-    if (shared_variables.drift_dimensions[dimension] && jacobian.rows() > 1)
+    if (drift_dimensions_[dimension] && jacobian.rows() > 1)
     {
       removeDimension(jacobian, delta_x, dimension);
     }
@@ -380,9 +392,8 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
   enforceSRDFAccelVelLimits(delta_theta_);
 
   // If close to a collision or a singularity, decelerate
-  applyVelocityScaling(shared_variables, delta_theta_,
-                       velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));
-  if (status_ == HALT_FOR_COLLISION)
+  applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));
+  if (status_ == StatusCode::HALT_FOR_COLLISION)
   {
     ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Halting for collision!");
     suddenHalt(delta_theta_);
@@ -390,14 +401,10 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared&
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
-  publishStatus();
-  // Cache the status so it can be retrieved asynchronously
-  updateCachedStatus(shared_variables);
-
   return convertDeltasToOutgoingCmd();
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
@@ -418,19 +425,9 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& sh
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
-  publishStatus();
-  // Cache the status so it can be retrieved asynchronously
-  updateCachedStatus(shared_variables);
-
   return convertDeltasToOutgoingCmd();
 }
 
-void JogCalcs::updateCachedStatus(JogArmShared& shared_variables)
-{
-  shared_variables.status = status_;
-  status_ = NO_WARNING;
-}
-
 bool JogCalcs::convertDeltasToOutgoingCmd()
 {
   internal_joint_state_ = original_joint_state_;
@@ -447,7 +444,7 @@ bool JogCalcs::convertDeltasToOutgoingCmd()
   if (!enforceSRDFPositionLimits(outgoing_command_))
   {
     suddenHalt(outgoing_command_);
-    status_ = JOINT_BOUND;
+    status_ = StatusCode::JOINT_BOUND;
   }
 
   // done with calculations
@@ -516,20 +513,18 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
 }
 
 // Apply velocity scaling for proximity of collisions and singularities.
-// Scale for collisions is read from a shared variable.
-void JogCalcs::applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta,
-                                    double singularity_scale)
+void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale)
 {
-  double collision_scale = shared_variables.collision_velocity_scale;
+  double collision_scale = collision_velocity_scale_;
 
   if (collision_scale > 0 && collision_scale < 1)
   {
-    status_ = DECELERATE_FOR_COLLISION;
+    status_ = StatusCode::DECELERATE_FOR_COLLISION;
     ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
   }
   else if (collision_scale == 0)
   {
-    status_ = HALT_FOR_COLLISION;
+    status_ = StatusCode::HALT_FOR_COLLISION;
   }
 
   delta_theta = collision_scale * singularity_scale * delta_theta;
@@ -587,7 +582,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
       velocity_scale = 1. -
                        (ini_condition - parameters_.lower_singularity_threshold) /
                            (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
-      status_ = DECELERATE_FOR_SINGULARITY;
+      status_ = StatusCode::DECELERATE_FOR_SINGULARITY;
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
 
@@ -595,7 +590,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
     else if (ini_condition > parameters_.hard_stop_singularity_threshold)
     {
       velocity_scale = 0;
-      status_ = HALT_FOR_SINGULARITY;
+      status_ = StatusCode::HALT_FOR_SINGULARITY;
       ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
   }
@@ -716,13 +711,6 @@ bool JogCalcs::enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_j
   return !halting;
 }
 
-void JogCalcs::publishStatus() const
-{
-  std_msgs::Int8 status_msg;
-  status_msg.data = status_;
-  status_pub_.publish(status_msg);
-}
-
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
 void JogCalcs::suddenHalt(Eigen::ArrayXd& delta_theta)
@@ -754,7 +742,7 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
 }
 
 // Parse the incoming joint msg for the joints of our MoveGroup
-bool JogCalcs::updateJoints(JogArmShared& shared_variables)
+bool JogCalcs::updateJoints()
 {
   // lock the latest state mutex for the joint states
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
@@ -785,7 +773,6 @@ bool JogCalcs::updateJoints(JogArmShared& shared_variables)
 
   // Calculate worst case joint stop time, for collision checking
   std::string joint_name = "";
-  shared_variables.worst_case_stop_time = std::numeric_limits<double>::max();
   moveit::core::JointModel::Bounds kinematic_bounds;
   double accel_limit = 0;
   double joint_velocity = 0;
@@ -823,7 +810,13 @@ bool JogCalcs::updateJoints(JogArmShared& shared_variables)
     // Calculate worst case stop time
     worst_case_stop_time = std::max(worst_case_stop_time, fabs(joint_velocity / accel_limit));
   }
-  shared_variables.worst_case_stop_time = worst_case_stop_time;
+
+  // publish message
+  {
+    auto msg = make_shared_from_pool<std_msgs::Float64>();
+    msg->data = worst_case_stop_time;
+    worst_case_stop_time_pub_.publish(msg);
+  }
 
   return true;
 }
@@ -950,6 +943,7 @@ void JogCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_twist_stamped_ = msg;
   have_nonzero_twist_stamped_ = isNonZero(*latest_twist_stamped_);
+
   if (msg->header.stamp != ros::Time(0.))
     latest_command_stamp_ = msg->header.stamp;
 }
@@ -959,19 +953,25 @@ void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_joint_jog_ = msg;
   have_nonzero_joint_jog_ = isNonZero(*latest_joint_jog_);
+
   if (msg->header.stamp != ros::Time(0.))
     latest_command_stamp_ = msg->header.stamp;
 }
 
+void JogCalcs::collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg)
+{
+  collision_velocity_scale_ = msg->data;
+}
+
 bool JogCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                                      moveit_msgs::ChangeDriftDimensions::Response& res)
 {
-  shared_variables_.drift_dimensions[0] = req.drift_x_translation;
-  shared_variables_.drift_dimensions[1] = req.drift_y_translation;
-  shared_variables_.drift_dimensions[2] = req.drift_z_translation;
-  shared_variables_.drift_dimensions[3] = req.drift_x_rotation;
-  shared_variables_.drift_dimensions[4] = req.drift_y_rotation;
-  shared_variables_.drift_dimensions[5] = req.drift_z_rotation;
+  drift_dimensions_[0] = req.drift_x_translation;
+  drift_dimensions_[1] = req.drift_y_translation;
+  drift_dimensions_[2] = req.drift_z_translation;
+  drift_dimensions_[3] = req.drift_x_rotation;
+  drift_dimensions_[4] = req.drift_y_rotation;
+  drift_dimensions_[5] = req.drift_z_rotation;
 
   res.success = true;
   return true;
@@ -980,15 +980,20 @@ bool JogCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request
 bool JogCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                        moveit_msgs::ChangeControlDimensions::Response& res)
 {
-  shared_variables_.control_dimensions[0] = req.control_x_translation;
-  shared_variables_.control_dimensions[1] = req.control_y_translation;
-  shared_variables_.control_dimensions[2] = req.control_z_translation;
-  shared_variables_.control_dimensions[3] = req.control_x_rotation;
-  shared_variables_.control_dimensions[4] = req.control_y_rotation;
-  shared_variables_.control_dimensions[5] = req.control_z_rotation;
+  control_dimensions_[0] = req.control_x_translation;
+  control_dimensions_[1] = req.control_y_translation;
+  control_dimensions_[2] = req.control_z_translation;
+  control_dimensions_[3] = req.control_x_rotation;
+  control_dimensions_[4] = req.control_y_rotation;
+  control_dimensions_[5] = req.control_z_rotation;
 
   res.success = true;
   return true;
 }
 
+void JogCalcs::setPaused(bool paused)
+{
+  paused_ = paused;
+}
+
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index cbd25a1d42..61bb79c760 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -32,8 +32,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Dave Coleman
-   Desc:   Stub test for the C++ interface to JogArm
+/* Author: Dave Coleman and Tyler Weaver
+   Desc:   Test for the C++ interface to JogArm
 */
 
 // C++
@@ -45,14 +45,15 @@
 // Testing
 #include <gtest/gtest.h>
 
-// Main class
+// Jog Arm
 #include <moveit_jog_arm/jog_arm.h>
+#include <moveit_jog_arm/boost_pool_allocation.h>
 
 static const std::string LOGNAME = "jog_cpp_interface_test";
 
 namespace moveit_jog_arm
 {
-class TestJogCppInterface : public ::testing::Test
+class JogArmFixture : public ::testing::Test
 {
 public:
   void SetUp() override
@@ -61,45 +62,129 @@ class TestJogCppInterface : public ::testing::Test
     planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
     planning_scene_monitor_->startSceneMonitor();
     planning_scene_monitor_->startStateMonitor();
+    planning_scene_monitor_->startWorldGeometryMonitor(
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+        false /* skip octomap monitor */);
+
+    // Create jog_arm
+    jog_arm_ = std::make_shared<JogArm>(nh_, planning_scene_monitor_);
   }
   void TearDown() override
   {
   }
 
+  bool waitForFirstStatus()
+  {
+    auto msg =
+        ros::topic::waitForMessage<std_msgs::Int8>(jog_arm_->getParameters().status_topic, nh_, ros::Duration(15));
+    return static_cast<bool>(msg);
+  }
+
 protected:
   ros::NodeHandle nh_;
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
-};  // class TestJogCppInterface
+  moveit_jog_arm::JogArmPtr jog_arm_;
+};  // class JogArmFixture
 
-TEST_F(TestJogCppInterface, InitTest)
+TEST_F(JogArmFixture, StartStopTest)
 {
-  moveit_jog_arm::JogArm jog_arm(nh_, planning_scene_monitor_);
-  jog_arm.start();
-  ros::Duration(1).sleep();  // Give the started thread some time to run
-  jog_arm.stop();
-  ros::Duration(1).sleep();  // Give the started thread some time to run
-  jog_arm.start();
-  ros::Duration(1).sleep();  // Give the started thread some time to run
-  jog_arm.stop();
+  // Start and stop jog arm
+  jog_arm_->start();
+  EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
+  jog_arm_->stop();
+}
+
+TEST_F(JogArmFixture, SendTwistStampedTest)
+{
+  jog_arm_->start();
+  EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
+
+  auto parameters = jog_arm_->getParameters();
+
+  // count trajectory messages sent by jog_arm
+  size_t received_count = 0;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
+  auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
+
+  // Create publisher to send jog_arm commands
+  auto twist_stamped_pub = nh_.advertise<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic, 1);
+
+  constexpr double test_duration = 1.0;
+  const double publish_period = parameters.publish_period;
+  const size_t num_commands = static_cast<size_t>(test_duration / publish_period);
+
+  ros::Rate publish_rate(1. / publish_period);
+
+  // Send a few Cartesian velocity commands
+  for (size_t i = 0; i < num_commands && ros::ok(); ++i)
+  {
+    auto msg = make_shared_from_pool<geometry_msgs::TwistStamped>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "panda_link0";
+    msg->twist.angular.y = 1.0;
+
+    // Send the message
+    twist_stamped_pub.publish(msg);
+    publish_rate.sleep();
+  }
+
+  EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_LT(received_count, num_commands + 20);
+  jog_arm_->stop();
 }
 
-// TODO(davetcoleman): due to many blocking checks for ROS messages, and
-// an abundance of threads, unit tests are not currently feasible for the
-// cpp interface. This should be addressed in future re-factors
+TEST_F(JogArmFixture, SendJointJogTest)
+{
+  jog_arm_->start();
+  EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
+
+  auto parameters = jog_arm_->getParameters();
+
+  // count trajectory messages sent by jog_arm
+  size_t received_count = 0;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
+  auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
+
+  // Create publisher to send jog_arm commands
+  auto joint_jog_pub = nh_.advertise<control_msgs::JointJog>(parameters.joint_command_in_topic, 1);
+
+  constexpr double test_duration = 1.0;
+  const double publish_period = parameters.publish_period;
+  const size_t num_commands = static_cast<size_t>(test_duration / publish_period);
+
+  ros::Rate publish_rate(1. / publish_period);
+
+  // Send a few Cartesian velocity commands
+  for (size_t i = 0; i < num_commands && ros::ok(); ++i)
+  {
+    auto msg = make_shared_from_pool<control_msgs::JointJog>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "panda_link3";
+    msg->velocities.push_back(0.1);
+
+    // Send the message
+    joint_jog_pub.publish(msg);
+    publish_rate.sleep();
+  }
+
+  EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_LT(received_count, num_commands + 20);
+  jog_arm_->stop();
+}
 
 }  // namespace moveit_jog_arm
 
 int main(int argc, char** argv)
 {
+  ros::init(argc, argv, LOGNAME);
   testing::InitGoogleTest(&argc, argv);
-  ros::init(argc, argv, "jog_cpp_interface_test_test");
 
   ros::AsyncSpinner spinner(8);
   spinner.start();
 
   int result = RUN_ALL_TESTS();
-
-  spinner.stop();
-  ros::shutdown();
   return result;
 }
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
index 73d626f086..b487ef2461 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
@@ -11,7 +11,7 @@
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
-  <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="10" args="">
+  <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="60" args="">
     <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
     <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
   </test>
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
index d28b5c5a6d..eb049957b4 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
@@ -32,7 +32,7 @@ def node():
 
 
 def test_drift_dimensions_service(node):
-    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+    assert util.wait_for_jogger_initialization()
 
     # Service to change drift dimensions
     drift_service = rospy.ServiceProxy(SERVICE_NAME, ChangeDriftDimensions)
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index bb083877b5..fc84d28b6c 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -22,10 +22,7 @@
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
 # jog_arm should publish a nonzero warning code here
-HALT_TOPIC = 'jog_server/status'
-
-# Check if jogger is initialized with this service
-SERVICE_NAME = 'jog_server/change_drift_dimensions'
+STATUS_TOPIC = 'jog_server/status'
 
 
 @pytest.fixture
@@ -48,11 +45,11 @@ def send_cmd(self, linear, angular):
 
 
 def test_jog_arm_halt_msg(node):
-    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+    assert util.wait_for_jogger_initialization()
 
     received = []
     sub = rospy.Subscriber(
-        HALT_TOPIC, Int8, lambda msg: received.append(msg)
+        STATUS_TOPIC, Int8, lambda msg: received.append(msg)
     )
     cartesian_cmd = CartesianJogCmd()
 
@@ -68,8 +65,7 @@ def test_jog_arm_halt_msg(node):
     # Check the received messages
     # A non-zero value signifies a warning
     assert len(received) > 3
-    assert (received[-1].data != 0) or (received[-2].data != 0) or (received[-3].data != 0)
-
+    assert any(i != 0 for i in received[-3:])
 
 if __name__ == '__main__':
    node = node()
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 9147559d43..40714f42d0 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -22,9 +22,6 @@
 
 COMMAND_OUT_TOPIC = 'jog_server/command'
 
-# Check if jogger is initialized with this service
-SERVICE_NAME = 'jog_server/change_drift_dimensions'
-
 
 @pytest.fixture
 def node():
@@ -60,7 +57,7 @@ def send_cmd(self, linear, angular):
 def test_jog_arm_cartesian_command(node):
     # Test sending a cartesian velocity command
 
-    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+    assert util.wait_for_jogger_initialization()
 
     received = []
     sub = rospy.Subscriber(
@@ -70,10 +67,9 @@ def test_jog_arm_cartesian_command(node):
 
     # Repeated zero-commands should produce no output, other than a few halt messages
     # A subscriber in a different thread fills 'received'
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
+    for i in range(4):
+        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
+        rospy.sleep(0.1)
     received = []
     rospy.sleep(1)
     assert len(received) <= 4 # 'num_outgoing_halt_msgs_to_publish' in the config file
@@ -100,7 +96,7 @@ def test_jog_arm_cartesian_command(node):
 def test_jog_arm_joint_command(node):
     # Test sending a joint command
 
-    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+    assert util.wait_for_jogger_initialization()
 
     received = []
     sub = rospy.Subscriber(
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/util.py b/moveit_experimental/moveit_jog_arm/test/python_tests/util.py
index 0ee323b8c7..a76a681d40 100644
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/util.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/util.py
@@ -1,10 +1,14 @@
 import rospy
+from std_msgs.msg import Int8
 
-def wait_for_jogger_initialization(service_name):
+# jog_arm should publish a nonzero warning code here
+STATUS_TOPIC = 'jog_server/status'
+
+def wait_for_jogger_initialization(timeout=15):
     try:
-      rospy.wait_for_service(service_name, timeout=15)
+      rospy.wait_for_message(STATUS_TOPIC, Int8, timeout=timeout)
     except rospy.ROSException as exc:
-      rospy.logerr("The jogger service " + service_name + " is not available: " + str(exc))
+      rospy.logerr("The jogger topic " + STATUS_TOPIC + " is not available: " + str(exc))
       return False
 
     return True
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index 2baf6a594a..e9bb8665ec 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -20,9 +20,6 @@
 
 COMMAND_OUT_TOPIC = 'jog_server/command'
 
-# Check if jogger is initialized with this service
-SERVICE_NAME = 'jog_server/change_drift_dimensions'
-
 
 @pytest.fixture
 def node():
@@ -44,7 +41,7 @@ def send_joint_velocity_cmd(self, joint_pos):
 def test_vel_limit(node):
     # Test sending a joint command
 
-    assert util.wait_for_jogger_initialization(SERVICE_NAME)
+    assert util.wait_for_jogger_initialization()
 
     received = []
     sub = rospy.Subscriber(

From 39881a56dfe3f8801b486ceab3ff9740e5149f06 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 29 May 2020 16:50:27 -0600
Subject: [PATCH 324/612] lower polling rate in setup and increase thread count
 consistantly to 8

---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h           | 2 +-
 .../src/cpp_interface_example/cpp_interface_example.cpp         | 2 +-
 moveit_experimental/moveit_jog_arm/src/jog_arm.cpp              | 1 -
 3 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index cc789795b7..0054cf2d56 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -262,7 +262,7 @@ class JogCalcs
   std::array<bool, 6> control_dimensions_ = { { true, true, true, true, true, true } };
 
   // Amount we sleep when waiting
-  ros::Rate default_sleep_rate_ = 1000;
+  ros::Rate default_sleep_rate_ = 100;
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 0b2617f012..cdd025e493 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -76,7 +76,7 @@ int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
   ros::NodeHandle nh;
-  ros::AsyncSpinner spinner(4);
+  ros::AsyncSpinner spinner(8);
   spinner.start();
 
   // Load the planning scene monitor
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 3afe8d0464..5bf1b81785 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -381,7 +381,6 @@ void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& m
 
 void JogArm::okToPublishCB(const std_msgs::BoolConstPtr& msg)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   ok_to_publish_ = msg->data;
 }
 

From dfbcd487f1941d5ece6c9ffb161d0a7be04076fc Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 12:39:36 -0600
Subject: [PATCH 325/612] use condional log for warning when loop rate is too
 long

---
 .../moveit_jog_arm/src/collision_check_thread.cpp | 15 ++++-----------
 .../moveit_jog_arm/src/jog_arm.cpp                | 15 ++++-----------
 .../moveit_jog_arm/src/jog_calcs.cpp              | 15 ++++-----------
 3 files changed, 12 insertions(+), 33 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
index 98bac5056e..23cdc2c094 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
@@ -104,17 +104,10 @@ void CollisionCheckThread::stop()
 
 void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
 {
-  // Log last loop duration and warn if it was longer than period
-  if (timer_event.profile.last_duration.toSec() < period_.toSec())
-  {
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                                   << period_.toSec() << ")");
-  }
-  else
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
-                                                                 << period_.toSec());
-  }
+  // Log warning when the last loop duration was longer than the period
+  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
+                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
+                                               << ")");
 
   if (paused_)
   {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 5bf1b81785..7f2d94637b 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -290,17 +290,10 @@ bool JogArm::readParameters()
 
 void JogArm::run(const ros::TimerEvent& timer_event)
 {
-  // Log last loop duration and warn if it was longer than period
-  if (timer_event.profile.last_duration.toSec() < period_.toSec())
-  {
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                                   << period_.toSec() << ")");
-  }
-  else
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
-                                                                 << period_.toSec());
-  }
+  // Log warning when the last loop duration was longer than the period
+  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
+                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
+                                               << ")");
 
   // Get the latest joint trajectory
   trajectory_msgs::JointTrajectory joint_trajectory;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index e56768d585..efe984943d 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -158,17 +158,10 @@ void JogCalcs::stop()
 
 void JogCalcs::run(const ros::TimerEvent& timer_event)
 {
-  // Log last loop duration and warn if it was longer than period
-  if (timer_event.profile.last_duration.toSec() < period_.toSec())
-  {
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                                   << period_.toSec() << ")");
-  }
-  else
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " > "
-                                                                 << period_.toSec());
-  }
+  // Log warning when the last loop duration was longer than the period
+  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
+                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
+                                               << ")");
 
   // Publish status each loop iteration
   {

From af62e15598a1156e9a5951ef8b00e71b8fd73113 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 13:47:06 -0600
Subject: [PATCH 326/612] outgoing message as pool allocated shared pointer for
 zero copy

---
 .../include/moveit_jog_arm/jog_calcs.h        | 17 +++--
 .../moveit_jog_arm/src/jog_calcs.cpp          | 68 ++++++++++---------
 2 files changed, 43 insertions(+), 42 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 0054cf2d56..a6d31ed25b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -87,10 +87,10 @@ class JogCalcs
   void run(const ros::TimerEvent& timer_event);
 
   /** \brief Do jogging calculations for Cartesian twist commands. */
-  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd);
+  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Do jogging calculations for direct commands to a joint. */
-  bool jointJogCalcs(const control_msgs::JointJog& cmd);
+  bool jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
   bool updateJoints();
@@ -110,14 +110,14 @@ class JogCalcs
   /** \brief Suddenly halt for a joint limit or other critical issue.
    * Is handled differently for position vs. velocity control.
    */
-  void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
+  void suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory);
   void suddenHalt(Eigen::ArrayXd& delta_theta);
 
   /** \brief  Scale the delta theta to match joint velocity/acceleration limits */
   void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
 
   /** \brief Avoid overshooting joint limits */
-  bool enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj);
+  bool enforceSRDFPositionLimits();
 
   /** \brief Possibly calculate a velocity scaling factor, due to proximity of
    * singularity and direction of motion
@@ -134,7 +134,8 @@ class JogCalcs
   void applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale);
 
   /** \brief Compose the outgoing JointTrajectory message */
-  trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;
+  void composeJointTrajMessage(sensor_msgs::JointState& joint_state,
+                               trajectory_msgs::JointTrajectory& joint_trajectory) const;
 
   /** \brief Smooth position commands with a lowpass filter */
   void lowPassFilterPositions(sensor_msgs::JointState& joint_state);
@@ -145,12 +146,12 @@ class JogCalcs
   /** \brief Convert joint deltas to an outgoing JointTrajectory command.
     * This happens for joint commands and Cartesian commands.
     */
-  bool convertDeltasToOutgoingCmd();
+  bool convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Gazebo simulations have very strict message timestamp requirements.
    * Satisfy Gazebo by stuffing multiple messages into one.
    */
-  void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const;
+  void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const;
 
   /**
    * Remove the Jacobian row and the delta-x element of one Cartesian dimension, to take advantage of task redundancy
@@ -221,8 +222,6 @@ class JogCalcs
   sensor_msgs::JointState internal_joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
 
-  trajectory_msgs::JointTrajectory outgoing_command_;
-
   std::vector<LowPassFilter> position_filters_;
 
   // ROS
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index efe984943d..06542e5e53 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -222,17 +222,21 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Do jogging calculations only if the robot should move, for efficiency
   else
   {
+    // Create new outgoing joint trajectory command message
+    auto joint_trajectory = make_shared_from_pool<trajectory_msgs::JointTrajectory>();
+
+    // If the input command isn't stale, run calculations
     if (!command_is_stale_)
     {
       // Prioritize cartesian jogging above joint jogging
       if (have_nonzero_twist_stamped_)
       {
-        if (!cartesianJogCalcs(twist_stamped_))
+        if (!cartesianJogCalcs(twist_stamped_, *joint_trajectory))
           return;
       }
       else if (have_nonzero_joint_jog_)
       {
-        if (!jointJogCalcs(joint_jog_))
+        if (!jointJogCalcs(joint_jog_, *joint_trajectory))
           return;
       }
     }
@@ -244,7 +248,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
       for (std::size_t i = 0; i < num_joints_; ++i)
         position_filters_[i].reset(original_joint_state_.position[i]);
 
-      suddenHalt(outgoing_command_);
+      suddenHalt(*joint_trajectory);
       have_nonzero_twist_stamped_ = false;
       have_nonzero_joint_jog_ = false;
     }
@@ -253,7 +257,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     // If everything normal, share the new traj to be published
     if (have_nonzero_command_)
     {
-      joint_trajectory_pub_.publish(outgoing_command_);
+      joint_trajectory_pub_.publish(joint_trajectory);
 
       auto bool_msg = boost::make_shared<std_msgs::Bool>();
       bool_msg->data = true;
@@ -272,7 +276,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
     else
     {
-      joint_trajectory_pub_.publish(outgoing_command_);
+      joint_trajectory_pub_.publish(joint_trajectory);
 
       auto bool_msg = boost::make_shared<std_msgs::Bool>();
       bool_msg->data = true;
@@ -298,7 +302,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   }
 }
 // Perform the jogging calculations
-bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd)
+bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // Check for nan's in the incoming command
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
@@ -394,10 +398,10 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd)
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
-  return convertDeltasToOutgoingCmd();
+  return convertDeltasToOutgoingCmd(joint_trajectory);
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd)
+bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // Check for nan's or |delta|>1 in the incoming command
   for (double velocity : cmd.velocities)
@@ -418,10 +422,10 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd)
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
-  return convertDeltasToOutgoingCmd();
+  return convertDeltasToOutgoingCmd(joint_trajectory);
 }
 
-bool JogCalcs::convertDeltasToOutgoingCmd()
+bool JogCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   internal_joint_state_ = original_joint_state_;
   if (!addJointIncrements(internal_joint_state_, delta_theta_))
@@ -432,18 +436,18 @@ bool JogCalcs::convertDeltasToOutgoingCmd()
   // Calculate joint velocities here so that positions are filtered and SRDF bounds still get checked
   calculateJointVelocities(internal_joint_state_, delta_theta_);
 
-  outgoing_command_ = composeJointTrajMessage(internal_joint_state_);
+  composeJointTrajMessage(internal_joint_state_, joint_trajectory);
 
-  if (!enforceSRDFPositionLimits(outgoing_command_))
+  if (!enforceSRDFPositionLimits())
   {
-    suddenHalt(outgoing_command_);
+    suddenHalt(joint_trajectory);
     status_ = StatusCode::JOINT_BOUND;
   }
 
   // done with calculations
   if (parameters_.use_gazebo)
   {
-    insertRedundantPointsIntoTrajectory(outgoing_command_, gazebo_redundant_message_count_);
+    insertRedundantPointsIntoTrajectory(joint_trajectory, gazebo_redundant_message_count_);
   }
 
   return true;
@@ -452,14 +456,14 @@ bool JogCalcs::convertDeltasToOutgoingCmd()
 // Spam several redundant points into the trajectory. The first few may be skipped if the
 // time stamp is in the past when it reaches the client. Needed for gazebo simulation.
 // Start from 2 because the first point's timestamp is already 1*parameters_.publish_period
-void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const
+void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const
 {
-  auto point = trajectory.points[0];
+  auto point = joint_trajectory.points[0];
   // Start from 2 because we already have the first point. End at count+1 so (total #) == count
   for (int i = 2; i < count + 1; ++i)
   {
     point.time_from_start = ros::Duration(i * parameters_.publish_period);
-    trajectory.points.push_back(point);
+    joint_trajectory.points.push_back(point);
   }
 }
 
@@ -479,12 +483,12 @@ void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, co
   }
 }
 
-trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::JointState& joint_state) const
+void JogCalcs::composeJointTrajMessage(sensor_msgs::JointState& joint_state,
+                                       trajectory_msgs::JointTrajectory& joint_trajectory) const
 {
-  trajectory_msgs::JointTrajectory new_joint_traj;
-  new_joint_traj.header.frame_id = parameters_.planning_frame;
-  new_joint_traj.header.stamp = ros::Time::now();
-  new_joint_traj.joint_names = joint_state.name;
+  joint_trajectory.header.frame_id = parameters_.planning_frame;
+  joint_trajectory.header.stamp = ros::Time::now();
+  joint_trajectory.joint_names = joint_state.name;
 
   trajectory_msgs::JointTrajectoryPoint point;
   point.time_from_start = ros::Duration(parameters_.publish_period);
@@ -500,9 +504,7 @@ trajectory_msgs::JointTrajectory JogCalcs::composeJointTrajMessage(sensor_msgs::
     std::vector<double> acceleration(num_joints_);
     point.accelerations = acceleration;
   }
-  new_joint_traj.points.push_back(point);
-
-  return new_joint_traj;
+  joint_trajectory.points.push_back(point);
 }
 
 // Apply velocity scaling for proximity of collisions and singularities.
@@ -665,7 +667,7 @@ void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
   }
 }
 
-bool JogCalcs::enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj)
+bool JogCalcs::enforceSRDFPositionLimits()
 {
   bool halting = false;
 
@@ -713,24 +715,24 @@ void JogCalcs::suddenHalt(Eigen::ArrayXd& delta_theta)
 
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
-void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_traj)
+void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 {
-  if (joint_traj.points.empty())
+  if (joint_trajectory.points.empty())
   {
-    joint_traj.points.push_back(trajectory_msgs::JointTrajectoryPoint());
-    joint_traj.points[0].positions.resize(num_joints_);
-    joint_traj.points[0].velocities.resize(num_joints_);
+    joint_trajectory.points.push_back(trajectory_msgs::JointTrajectoryPoint());
+    joint_trajectory.points[0].positions.resize(num_joints_);
+    joint_trajectory.points[0].velocities.resize(num_joints_);
   }
 
   for (std::size_t i = 0; i < num_joints_; ++i)
   {
     // For position-controlled robots, can reset the joints to a known, good state
     if (parameters_.publish_joint_positions)
-      joint_traj.points[0].positions[i] = original_joint_state_.position[i];
+      joint_trajectory.points[0].positions[i] = original_joint_state_.position[i];
 
     // For velocity-controlled robots, stop
     if (parameters_.publish_joint_velocities)
-      joint_traj.points[0].velocities[i] = 0;
+      joint_trajectory.points[0].velocities[i] = 0;
   }
 }
 

From 9d5d3d66abf085c0c5d4486e5bdf2a534031e555 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 14:19:49 -0600
Subject: [PATCH 327/612] ok_to_publish as just a bool

---
 .../include/moveit_jog_arm/jog_arm.h          |  3 ---
 .../include/moveit_jog_arm/jog_calcs.h        |  6 ++++--
 .../moveit_jog_arm/src/jog_arm.cpp            |  8 +-------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 20 ++++++++-----------
 4 files changed, 13 insertions(+), 24 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index c3d0a75f6d..0c964a9dde 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -91,7 +91,6 @@ class JogArm
   bool readParameters();
   void run(const ros::TimerEvent& timer_event);
   void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& msg);
-  void okToPublishCB(const std_msgs::BoolConstPtr& msg);
 
   ros::NodeHandle nh_;
 
@@ -112,10 +111,8 @@ class JogArm
   ros::Duration period_;
   ros::Publisher outgoing_cmd_pub_;
   ros::Subscriber joint_trajectory_sub_;
-  ros::Subscriber ok_to_publish_sub_;
 
   bool paused_ = false;
-  bool ok_to_publish_ = false;
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index a6d31ed25b..7dc9afb04a 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -82,6 +82,9 @@ class JogCalcs
   /** \brief Pause or unpause processing jog commands while keeping the threads alive */
   void setPaused(bool paused);
 
+  /** \brief Accessor for ok_to_publish_ */
+  bool getOkToPublish() const;
+
 private:
   /** \brief Timer method */
   void run(const ros::TimerEvent& timer_event);
@@ -237,13 +240,12 @@ class JogCalcs
   ros::ServiceServer drift_dimensions_server_;
   ros::ServiceServer control_dimensions_server_;
 
-  ros::Publisher ok_to_publish_pub_;
-
   // Status
   StatusCode status_ = StatusCode::NO_WARNING;
   bool stop_requested_ = false;
   bool paused_ = false;
   bool command_is_stale_ = false;
+  bool ok_to_publish_ = false;
   double collision_velocity_scale_ = 1.0;
 
   // Use ArrayXd type to enable more coefficient-wise operations
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 7f2d94637b..8c24245e1a 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -63,7 +63,6 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   // Subscribe to internal namespace
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", 1, &JogArm::jointTrajectoryCB, this);
-  ok_to_publish_sub_ = internal_nh.subscribe("ok_to_publish", 1, &JogArm::okToPublishCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
@@ -306,7 +305,7 @@ void JogArm::run(const ros::TimerEvent& timer_event)
   }
 
   // Publish the most recent trajectory, unless the jogging calculation thread tells not to
-  if (ok_to_publish_ && !paused_)
+  if (jog_calcs_->getOkToPublish() && !paused_)
   {
     // Put the outgoing msg in the right format
     // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
@@ -372,11 +371,6 @@ void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& m
   latest_joint_trajectory_ = msg;
 }
 
-void JogArm::okToPublishCB(const std_msgs::BoolConstPtr& msg)
-{
-  ok_to_publish_ = msg->data;
-}
-
 const JogArmParameters& JogArm::getParameters() const
 {
   return parameters_;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 06542e5e53..62d865e459 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -109,7 +109,6 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
   joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", 1);
-  ok_to_publish_pub_ = internal_nh.advertise<std_msgs::Bool>("ok_to_publish", 1);
   collision_velocity_scale_sub_ =
       internal_nh.subscribe("collision_velocity_scale", 1, &JogCalcs::collisionVelocityScaleCB, this);
   worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", 1);
@@ -258,29 +257,21 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     if (have_nonzero_command_)
     {
       joint_trajectory_pub_.publish(joint_trajectory);
-
-      auto bool_msg = boost::make_shared<std_msgs::Bool>();
-      bool_msg->data = true;
-      ok_to_publish_pub_.publish(bool_msg);
+      ok_to_publish_ = true;
     }
     // Skip the jogging publication if all inputs have been zero for several cycles in a row.
     // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
     else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
              (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
     {
-      auto bool_msg = boost::make_shared<std_msgs::Bool>();
-      bool_msg->data = false;
-      ok_to_publish_pub_.publish(bool_msg);
+      ok_to_publish_ = false;
       ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
     }
     // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
     else
     {
       joint_trajectory_pub_.publish(joint_trajectory);
-
-      auto bool_msg = boost::make_shared<std_msgs::Bool>();
-      bool_msg->data = true;
-      ok_to_publish_pub_.publish(bool_msg);
+      ok_to_publish_ = true;
     }
 
     // Store last zero-velocity message flag to prevent superfluous warnings.
@@ -991,4 +982,9 @@ void JogCalcs::setPaused(bool paused)
   paused_ = paused;
 }
 
+bool JogCalcs::getOkToPublish() const
+{
+  return ok_to_publish_;
+}
+
 }  // namespace moveit_jog_arm

From d8355a3c998beee59ef18754aed83614a434e50d Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 14:57:35 -0600
Subject: [PATCH 328/612] renames for clarity and correctness

---
 .../moveit_jog_arm/CMakeLists.txt             |  4 +-
 ...ision_check_thread.h => collision_check.h} | 14 +++----
 .../include/moveit_jog_arm/jog_arm.h          | 14 +++----
 .../{jog_arm_data.h => jog_arm_parameters.h}  |  2 +-
 .../include/moveit_jog_arm/jog_calcs.h        |  8 ++--
 ...l_allocation.h => make_shared_from_pool.h} |  9 +++-
 ...n_check_thread.cpp => collision_check.cpp} | 41 +++++++++----------
 .../cpp_interface_example.cpp                 |  8 ++--
 .../moveit_jog_arm/src/jog_arm.cpp            |  8 ++--
 .../moveit_jog_arm/src/jog_calcs.cpp          | 12 +++---
 .../test/jog_cpp_interface_test.cpp           |  6 +--
 .../halt_msg/test_jog_arm_halt_msg.py         |  2 +-
 .../test_jog_arm_msg_reception.py             |  4 +-
 13 files changed, 69 insertions(+), 63 deletions(-)
 rename moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/{collision_check_thread.h => collision_check.h} (92%)
 rename moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/{jog_arm_data.h => jog_arm_parameters.h} (98%)
 rename moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/{boost_pool_allocation.h => make_shared_from_pool.h} (94%)
 rename moveit_experimental/moveit_jog_arm/src/{collision_check_thread.cpp => collision_check.cpp} (86%)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index b816413b7b..1e2701203b 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -55,7 +55,7 @@ include_directories(
 #########################################
 
 add_library(${LIBRARY_NAME} SHARED
-  src/collision_check_thread.cpp
+  src/collision_check.cpp
   src/jog_calcs.cpp
   src/jog_arm.cpp
   src/low_pass_filter.cpp
@@ -84,7 +84,7 @@ target_link_libraries(cpp_interface_example
 ############################
 
 add_executable(jog_server
-  src/collision_check_thread.cpp
+  src/collision_check.cpp
   src/jog_calcs.cpp
   src/jog_arm.cpp
   src/jog_server.cpp
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
similarity index 92%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
index 23b19035de..e3786f18c2 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check_thread.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- * Title     : collision_check_thread.h
+ * Title     : collision_check.h
  * Project   : moveit_jog_arm
  * Created   : 1/11/2019
  * Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
@@ -45,7 +45,7 @@
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float64.h>
 
-#include "jog_arm_data.h"
+#include "jog_arm_parameters.h"
 #include "low_pass_filter.h"
 
 namespace moveit_jog_arm
@@ -56,7 +56,7 @@ enum CollisionCheckType
   K_STOP_DISTANCE = 2
 };
 
-class CollisionCheckThread
+class CollisionCheck
 {
 public:
   /** \brief Constructor
@@ -64,14 +64,14 @@ class CollisionCheckThread
    *  \param planning_scene_monitor: PSM should have scene monitor and state monitor
    *                                 already started when passed into this class
    */
-  CollisionCheckThread(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
-                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+  CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
+                 const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \brief start and stop the Thread */
+  /** \brief start and stop the Timer */
   void start();
   void stop();
 
-  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
   void setPaused(bool paused);
 
 private:
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 0c964a9dde..161fcdeae0 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -48,8 +48,8 @@
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
-#include "collision_check_thread.h"
-#include "jog_arm_data.h"
+#include "collision_check.h"
+#include "jog_arm_parameters.h"
 #include "jog_calcs.h"
 #include "low_pass_filter.h"
 
@@ -57,7 +57,7 @@ namespace moveit_jog_arm
 {
 /**
  * Class JogArm - Base class for C++ interface and ROS node.
- * Handles ROS subs & pubs and creates the worker threads.
+ * Handles ROS subs & pubs and creates the worker timers.
  */
 class JogArm
 {
@@ -66,13 +66,13 @@ class JogArm
 
   ~JogArm();
 
-  /** \brief start jog arm threads */
+  /** \brief start jog arm timers */
   void start();
 
-  /** \brief stop jog arm threads */
+  /** \brief stop jog arm timers */
   void stop();
 
-  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
   void setPaused(bool paused);
 
   /**
@@ -104,7 +104,7 @@ class JogArm
   std::unique_ptr<JogCalcs> jog_calcs_;
 
   // Collision checks
-  std::unique_ptr<CollisionCheckThread> collision_checker_;
+  std::unique_ptr<CollisionCheck> collision_checker_;
 
   // ROS
   ros::Timer timer_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
similarity index 98%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
index ad680028df..aa29ee40ab 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_data.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- *      Title     : jog_arm_data.h
+ *      Title     : jog_arm_parameters.h
  *      Project   : moveit_jog_arm
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 7dc9afb04a..16883a8a42 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -54,7 +54,7 @@
 #include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_jog_arm
-#include "jog_arm_data.h"
+#include "jog_arm_parameters.h"
 #include "low_pass_filter.h"
 #include "status_codes.h"
 
@@ -66,7 +66,7 @@ class JogCalcs
   JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
            const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \brief Start and stop the timer (thread) */
+  /** \brief Start and stop the timer */
   void start();
   void stop();
 
@@ -79,7 +79,7 @@ class JogCalcs
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-  /** \brief Pause or unpause processing jog commands while keeping the threads alive */
+  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
   void setPaused(bool paused);
 
   /** \brief Accessor for ok_to_publish_ */
@@ -184,7 +184,7 @@ class JogCalcs
   bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
-  /** \brief Start the main calculation thread */
+  /** \brief Start the main calculation timer */
   // Service callback for changing jogging dimensions
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
similarity index 94%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h
rename to moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
index ec1e550f74..ca4243625e 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/boost_pool_allocation.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- *      Title     : boost_pool_allocation.h
+ *      Title     : make_shared_from_pool.h
  *      Project   : moveit_jog_arm
  *      Created   : 1/11/2019
  *      Author    : Tyler Weaver
@@ -40,6 +40,10 @@
 
 #include <boost/pool/pool_alloc.hpp>
 
+namespace moveit
+{
+namespace util
+{
 // Useful template for creating messages from a message pool
 template <typename T>
 boost::shared_ptr<T> make_shared_from_pool()
@@ -47,3 +51,6 @@ boost::shared_ptr<T> make_shared_from_pool()
   using allocator_t = boost::fast_pool_allocator<boost::shared_ptr<T>>;
   return boost::allocate_shared<T, allocator_t>(allocator_t());
 }
+
+}  // namespace util
+}  // namespace moveit
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
similarity index 86%
rename from moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
rename to moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 23cdc2c094..3ad3e704d9 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -31,7 +31,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/*      Title     : collision_check_thread.cpp
+/*      Title     : collision_check.cpp
  *      Project   : moveit_jog_arm
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
@@ -39,19 +39,18 @@
 
 #include <std_msgs/Float64.h>
 
-#include <moveit_jog_arm/collision_check_thread.h>
-#include <moveit_jog_arm/boost_pool_allocation.h>
+#include <moveit_jog_arm/collision_check.h>
+#include <moveit_jog_arm/make_shared_from_pool.h>
 
-static const std::string LOGNAME = "collision_check_thread";
-static constexpr double MIN_RECOMMENDED_COLLISION_RATE = 10;
+static const char LOGNAME[] = "collision_check";
+static const double MIN_RECOMMENDED_COLLISION_RATE = 10;
 constexpr double EPSILON = 1e-6;  // For very small numeric comparisons
 
 namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
-CollisionCheckThread::CollisionCheckThread(
-    ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
-    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
+                               const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
@@ -67,7 +66,7 @@ CollisionCheckThread::CollisionCheckThread(
     ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
 
   // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &CollisionCheckThread::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &CollisionCheck::jointStateCB, this);
 
   collision_check_type_ =
       (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
@@ -77,7 +76,7 @@ CollisionCheckThread::CollisionCheckThread(
   ros::NodeHandle internal_nh("~internal");
   collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", 1);
   worst_case_stop_time_sub_ =
-      internal_nh.subscribe("worst_case_stop_time", 2, &CollisionCheckThread::worstCaseStopTimeCB, this);
+      internal_nh.subscribe("worst_case_stop_time", 2, &CollisionCheck::worstCaseStopTimeCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
@@ -87,22 +86,22 @@ CollisionCheckThread::CollisionCheckThread(
   acm_ = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
 }
 
-planning_scene_monitor::LockedPlanningSceneRO CollisionCheckThread::getLockedPlanningSceneRO() const
+planning_scene_monitor::LockedPlanningSceneRO CollisionCheck::getLockedPlanningSceneRO() const
 {
   return planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor_);
 }
 
-void CollisionCheckThread::start()
+void CollisionCheck::start()
 {
-  timer_ = nh_.createTimer(period_, &CollisionCheckThread::run, this);
+  timer_ = nh_.createTimer(period_, &CollisionCheck::run, this);
 }
 
-void CollisionCheckThread::stop()
+void CollisionCheck::stop()
 {
   timer_.stop();
 }
 
-void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
+void CollisionCheck::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
   ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
@@ -116,7 +115,7 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
 
   {
     // Copy the latest joint state
-    const std::lock_guard<std::mutex> lock(CollisionCheckThread);
+    const std::lock_guard<std::mutex> lock(CollisionCheck);
     for (std::size_t i = 0; i < latest_joint_state_->position.size(); ++i)
       current_state_->setJointPositions(latest_joint_state_->name[i], &latest_joint_state_->position[i]);
   }
@@ -124,7 +123,7 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
   current_state_->updateCollisionBodyTransforms();
   collision_detected_ = false;
 
-  // Do a thread-safe distance-based collision detection
+  // Do a timer-safe distance-based collision detection
   collision_result_.clear();
   getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request_, collision_result_,
                                                                      *current_state_);
@@ -200,24 +199,24 @@ void CollisionCheckThread::run(const ros::TimerEvent& timer_event)
 
   // publish message
   {
-    auto msg = make_shared_from_pool<std_msgs::Float64>();
+    auto msg = moveit::util::make_shared_from_pool<std_msgs::Float64>();
     msg->data = velocity_scale_;
     collision_velocity_scale_pub_.publish(msg);
   }
 }
 
-void CollisionCheckThread::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
+void CollisionCheck::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(joint_state_mutex_);
   latest_joint_state_ = msg;
 }
 
-void CollisionCheckThread::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
+void CollisionCheck::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
 {
   worst_case_stop_time_ = msg->data;
 }
 
-void CollisionCheckThread::setPaused(bool paused)
+void CollisionCheck::setPaused(bool paused)
 {
   paused_ = paused;
 }
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index cdd025e493..a64428bb90 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -40,7 +40,7 @@
 
 #include <moveit_jog_arm/jog_arm.h>
 #include <moveit_jog_arm/status_codes.h>
-#include <moveit_jog_arm/boost_pool_allocation.h>
+#include <moveit_jog_arm/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "cpp_interface_example";
 
@@ -95,7 +95,7 @@ int main(int argc, char** argv)
       false /* skip octomap monitor */);
   planning_scene_monitor->startStateMonitor();
 
-  // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate.
+  // Run the jogging C++ interface in a new timer to ensure a constant outgoing message rate.
   moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
   jog_arm.start();
 
@@ -116,7 +116,7 @@ int main(int argc, char** argv)
     // Make a Cartesian velocity message
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not coppied we should not modify it after we send it.
-    auto msg = make_shared_from_pool<geometry_msgs::TwistStamped>();
+    auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
     msg->header.stamp = ros::Time::now();
     msg->header.frame_id = "base_link";
     msg->twist.linear.y = 0.01;
@@ -139,7 +139,7 @@ int main(int argc, char** argv)
     // Make a joint command
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not coppied we should not modify it after we send it.
-    auto msg = make_shared_from_pool<control_msgs::JointJog>();
+    auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();
     msg->header.stamp = ros::Time::now();
     msg->joint_names.push_back("elbow_joint");
     msg->velocities.push_back(0.2);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 8c24245e1a..cf4faadefd 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -70,7 +70,7 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
 
   jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_);
 
-  collision_checker_ = std::make_unique<CollisionCheckThread>(nh_, parameters_, planning_scene_monitor_);
+  collision_checker_ = std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_);
 }
 
 // Read ROS parameters, typically from YAML file
@@ -304,7 +304,7 @@ void JogArm::run(const ros::TimerEvent& timer_event)
     }
   }
 
-  // Publish the most recent trajectory, unless the jogging calculation thread tells not to
+  // Publish the most recent trajectory, unless the jogging calculation timer tells not to
   if (jog_calcs_->getOkToPublish() && !paused_)
   {
     // Put the outgoing msg in the right format
@@ -330,10 +330,10 @@ void JogArm::start()
 {
   setPaused(false);
 
-  // Crunch the numbers in this thread
+  // Crunch the numbers in this timer
   jog_calcs_->start();
 
-  // Check collisions in this thread
+  // Check collisions in this timer
   if (parameters_.check_collisions)
     collision_checker_->start();
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 62d865e459..b88f60fc86 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -40,7 +40,7 @@
 #include <std_msgs/Bool.h>
 
 #include <moveit_jog_arm/jog_calcs.h>
-#include <moveit_jog_arm/boost_pool_allocation.h>
+#include <moveit_jog_arm/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_calcs";
 
@@ -114,9 +114,9 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", 1);
 
   // Wait for initial messages
-  ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Waiting for first joint msg.");
+  ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
-  ROS_INFO_NAMED(LOGNAME, "jog_calcs_thread: Received first joint msg.");
+  ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
 
   internal_joint_state_.name = joint_model_group_->getActiveJointModelNames();
   num_joints_ = internal_joint_state_.name.size();
@@ -164,7 +164,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
 
   // Publish status each loop iteration
   {
-    auto status_msg = make_shared_from_pool<std_msgs::Int8>();
+    auto status_msg = moveit::util::make_shared_from_pool<std_msgs::Int8>();
     status_msg->data = static_cast<int8_t>(status_);
     status_pub_.publish(status_msg);
   }
@@ -222,7 +222,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   else
   {
     // Create new outgoing joint trajectory command message
-    auto joint_trajectory = make_shared_from_pool<trajectory_msgs::JointTrajectory>();
+    auto joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
     // If the input command isn't stale, run calculations
     if (!command_is_stale_)
@@ -799,7 +799,7 @@ bool JogCalcs::updateJoints()
 
   // publish message
   {
-    auto msg = make_shared_from_pool<std_msgs::Float64>();
+    auto msg = moveit::util::make_shared_from_pool<std_msgs::Float64>();
     msg->data = worst_case_stop_time;
     worst_case_stop_time_pub_.publish(msg);
   }
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index 61bb79c760..0e52397f9d 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -47,7 +47,7 @@
 
 // Jog Arm
 #include <moveit_jog_arm/jog_arm.h>
-#include <moveit_jog_arm/boost_pool_allocation.h>
+#include <moveit_jog_arm/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_cpp_interface_test";
 
@@ -120,7 +120,7 @@ TEST_F(JogArmFixture, SendTwistStampedTest)
   // Send a few Cartesian velocity commands
   for (size_t i = 0; i < num_commands && ros::ok(); ++i)
   {
-    auto msg = make_shared_from_pool<geometry_msgs::TwistStamped>();
+    auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
     msg->header.stamp = ros::Time::now();
     msg->header.frame_id = "panda_link0";
     msg->twist.angular.y = 1.0;
@@ -160,7 +160,7 @@ TEST_F(JogArmFixture, SendJointJogTest)
   // Send a few Cartesian velocity commands
   for (size_t i = 0; i < num_commands && ros::ok(); ++i)
   {
-    auto msg = make_shared_from_pool<control_msgs::JointJog>();
+    auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();
     msg->header.stamp = ros::Time::now();
     msg->header.frame_id = "panda_link3";
     msg->velocities.push_back(0.1);
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index fc84d28b6c..edd540d02c 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -54,7 +54,7 @@ def test_jog_arm_halt_msg(node):
     cartesian_cmd = CartesianJogCmd()
 
     # This nonzero command should produce jogging output
-    # A subscriber in a different thread fills `received`
+    # A subscriber in a different timer fills `received`
     TEST_DURATION = 1
     start_time = rospy.get_rostime()
     received = []
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 40714f42d0..e2b9028169 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -66,7 +66,7 @@ def test_jog_arm_cartesian_command(node):
     cartesian_cmd = CartesianJogCmd()
 
     # Repeated zero-commands should produce no output, other than a few halt messages
-    # A subscriber in a different thread fills 'received'
+    # A subscriber in a different timer fills 'received'
     for i in range(4):
         cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
         rospy.sleep(0.1)
@@ -75,7 +75,7 @@ def test_jog_arm_cartesian_command(node):
     assert len(received) <= 4 # 'num_outgoing_halt_msgs_to_publish' in the config file
 
     # This nonzero command should produce jogging output
-    # A subscriber in a different thread fills `received`
+    # A subscriber in a different timer fills `received`
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
 

From 3d5fe8745b06ceda21188e4896ab3d8fbdc3878f Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 15:04:43 -0600
Subject: [PATCH 329/612] start and stop twice in cpp test

---
 .../moveit_jog_arm/test/jog_cpp_interface_test.cpp        | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index 0e52397f9d..7b72e594e6 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -89,7 +89,13 @@ class JogArmFixture : public ::testing::Test
 
 TEST_F(JogArmFixture, StartStopTest)
 {
-  // Start and stop jog arm
+  jog_arm_->start();
+  EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
+  jog_arm_->stop();
+
+  ros::Duration(1.0).sleep();
+
+  // Start and stop again
   jog_arm_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
   jog_arm_->stop();

From ca92f7dd11a36a7e6661b74321c1425766a03b14 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 16:15:58 -0600
Subject: [PATCH 330/612] attempt to fix kinetic node memory issue

---
 .../moveit_jog_arm/src/jog_calcs.cpp               | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index b88f60fc86..4adf241018 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -163,11 +163,9 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
                                                << ")");
 
   // Publish status each loop iteration
-  {
-    auto status_msg = moveit::util::make_shared_from_pool<std_msgs::Int8>();
-    status_msg->data = static_cast<int8_t>(status_);
-    status_pub_.publish(status_msg);
-  }
+  auto status_msg = moveit::util::make_shared_from_pool<std_msgs::Int8>();
+  status_msg->data = static_cast<int8_t>(status_);
+  status_pub_.publish(status_msg);
 
   // Always update the joints and end-effector transform for 2 reasons:
   // 1) in case the getCommandFrameTransform() method is being used
@@ -449,6 +447,12 @@ bool JogCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& join
 // Start from 2 because the first point's timestamp is already 1*parameters_.publish_period
 void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const
 {
+  joint_trajectory.points.resize(count);
+  if (joint_trajectory.points.empty())
+  {
+    joint_trajectory.points.push_back(trajectory_msgs::JointTrajectoryPoint());
+  }
+
   auto point = joint_trajectory.points[0];
   // Start from 2 because we already have the first point. End at count+1 so (total #) == count
   for (int i = 2; i < count + 1; ++i)

From 0627c0f7928761489aeed2e34e775bb7f642c22a Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 30 May 2020 19:33:49 -0600
Subject: [PATCH 331/612] named size for ros queues

---
 .../moveit_jog_arm/jog_arm_parameters.h       |  3 +++
 .../moveit_jog_arm/src/collision_check.cpp    |  5 +++--
 .../moveit_jog_arm/src/jog_arm.cpp            |  6 +++---
 .../moveit_jog_arm/src/jog_calcs.cpp          | 20 ++++++++-----------
 .../halt_msg/test_jog_arm_halt_msg.py         |  2 +-
 .../test_jog_arm_msg_reception.py             |  4 ++--
 .../vel_accel_limits/test_vel_accel_limits.py | 12 +++++++----
 7 files changed, 28 insertions(+), 24 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
index aa29ee40ab..a9e2cfa245 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
@@ -40,6 +40,9 @@
 
 namespace moveit_jog_arm
 {
+// Size of queues used in ros pub/sub/service
+constexpr size_t ROS_QUEUE_SIZE = 2;
+
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 3ad3e704d9..f3def372a8 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -66,7 +66,7 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
     ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
 
   // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, 1, &CollisionCheck::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, ROS_QUEUE_SIZE, &CollisionCheck::jointStateCB, this);
 
   collision_check_type_ =
       (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
@@ -74,9 +74,10 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
 
   // Internal namespace
   ros::NodeHandle internal_nh("~internal");
+  collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", ROS_QUEUE_SIZE);
   collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", 1);
   worst_case_stop_time_sub_ =
-      internal_nh.subscribe("worst_case_stop_time", 2, &CollisionCheck::worstCaseStopTimeCB, this);
+      internal_nh.subscribe("worst_case_stop_time", ROS_QUEUE_SIZE, &CollisionCheck::worstCaseStopTimeCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index cf4faadefd..d54823b420 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -56,13 +56,13 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   // Publish freshly-calculated joints to the robot.
   // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
   if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    outgoing_cmd_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory>(parameters_.command_out_topic, 1);
+    outgoing_cmd_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
   else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, 1);
+    outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
 
   // Subscribe to internal namespace
   ros::NodeHandle internal_nh("~internal");
-  joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", 1, &JogArm::jointTrajectoryCB, this);
+  joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", ROS_QUEUE_SIZE, &JogArm::jointTrajectoryCB, this);
 
   // Wait for incoming topics to appear
   ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 4adf241018..aae69c4f24 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -90,11 +90,12 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 
   // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, 1, &JogCalcs::jointStateCB, this);
+  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, ROS_QUEUE_SIZE, &JogCalcs::jointStateCB, this);
 
   // Subscribe to command topics
-  twist_stamped_sub_ = nh_.subscribe(parameters_.cartesian_command_in_topic, 100, &JogCalcs::twistStampedCB, this);
-  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, 1, &JogCalcs::jointJogCB, this);
+  twist_stamped_sub_ =
+      nh_.subscribe(parameters_.cartesian_command_in_topic, ROS_QUEUE_SIZE, &JogCalcs::twistStampedCB, this);
+  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &JogCalcs::jointJogCB, this);
 
   // ROS Server for allowing drift in some dimensions
   drift_dimensions_server_ =
@@ -108,10 +109,10 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
 
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
-  joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", 1);
+  joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", ROS_QUEUE_SIZE);
   collision_velocity_scale_sub_ =
-      internal_nh.subscribe("collision_velocity_scale", 1, &JogCalcs::collisionVelocityScaleCB, this);
-  worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", 1);
+      internal_nh.subscribe("collision_velocity_scale", ROS_QUEUE_SIZE, &JogCalcs::collisionVelocityScaleCB, this);
+  worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", ROS_QUEUE_SIZE);
 
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
@@ -144,7 +145,7 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
 void JogCalcs::start()
 {
   stop_requested_ = false;
-  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, 1);
+  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, ROS_QUEUE_SIZE);
 
   timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
 }
@@ -448,11 +449,6 @@ bool JogCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& join
 void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const
 {
   joint_trajectory.points.resize(count);
-  if (joint_trajectory.points.empty())
-  {
-    joint_trajectory.points.push_back(trajectory_msgs::JointTrajectoryPoint());
-  }
-
   auto point = joint_trajectory.points[0];
   // Start from 2 because we already have the first point. End at count+1 so (total #) == count
   for (int i = 2; i < count + 1; ++i)
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index edd540d02c..afaf0f972e 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -33,7 +33,7 @@ def node():
 class CartesianJogCmd(object):
     def __init__(self):
         self._pub = rospy.Publisher(
-            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=1
+            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=10
         )
 
     def send_cmd(self, linear, angular):
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index e2b9028169..510966a114 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -30,7 +30,7 @@ def node():
 
 class JointJogCmd(object):
     def __init__(self):
-        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=1)
+        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=10)
 
     def send_joint_velocity_cmd(self, joint_pos):
         jj = JointJog()
@@ -43,7 +43,7 @@ def send_joint_velocity_cmd(self, joint_pos):
 class CartesianJogCmd(object):
     def __init__(self):
         self._pub = rospy.Publisher(
-            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=1
+            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=10
         )
 
     def send_cmd(self, linear, angular):
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index e9bb8665ec..3bf49883fb 100755
--- a/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -28,7 +28,7 @@ def node():
 
 class JointJogCmd(object):
     def __init__(self):
-        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=1)
+        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=10)
 
     def send_joint_velocity_cmd(self, joint_pos):
         jj = JointJog()
@@ -73,9 +73,13 @@ def test_vel_limit(node):
     # Should be no velocities greater than the limit
     assert len(received) > 2
     for msg_idx in range(1, len(received)):
-        velocity = \
-            (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / JOGGER_COMMAND_PERIOD
-        assert abs(velocity) <= VELOCITY_LIMIT
+        try:
+            velocity = \
+                (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / JOGGER_COMMAND_PERIOD
+            assert abs(velocity) <= VELOCITY_LIMIT
+        except IndexError:
+            # Sometimes a message doesn't have any points
+            pass
 
 if __name__ == '__main__':
     node = node()

From 168ec3f101d123967d08ea3fc0b12eb30266546b Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 00:15:17 -0600
Subject: [PATCH 332/612] publish from jog calcs timer, removing redundant
 timer and internal messaging to main timer

---
 .../include/moveit_jog_arm/jog_arm.h          |  34 +---
 .../include/moveit_jog_arm/jog_calcs.h        |   2 +
 .../moveit_jog_arm/src/jog_arm.cpp            |  70 +--------
 .../moveit_jog_arm/src/jog_calcs.cpp          | 145 ++++++++++--------
 4 files changed, 88 insertions(+), 163 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index 161fcdeae0..ebf70611ff 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -37,27 +37,15 @@
 *******************************************************************************/
 
 #include <memory>
-#include <mutex>
 
-#include <Eigen/Eigenvalues>
-
-#include <moveit/robot_state/robot_state.h>
-#include <rosparam_shortcuts/rosparam_shortcuts.h>
-#include <sensor_msgs/JointState.h>
-#include <sensor_msgs/Joy.h>
-#include <std_msgs/Bool.h>
-#include <std_msgs/Float64MultiArray.h>
-
-#include "collision_check.h"
-#include "jog_arm_parameters.h"
-#include "jog_calcs.h"
-#include "low_pass_filter.h"
+#include <moveit_jog_arm/collision_check.h>
+#include <moveit_jog_arm/jog_arm_parameters.h>
+#include <moveit_jog_arm/jog_calcs.h>
 
 namespace moveit_jog_arm
 {
 /**
- * Class JogArm - Base class for C++ interface and ROS node.
- * Handles ROS subs & pubs and creates the worker timers.
+ * Class JogArm - Jacobian based robot control with collision avoidance.
  */
 class JogArm
 {
@@ -89,8 +77,6 @@ class JogArm
 
 private:
   bool readParameters();
-  void run(const ros::TimerEvent& timer_event);
-  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& msg);
 
   ros::NodeHandle nh_;
 
@@ -105,18 +91,6 @@ class JogArm
 
   // Collision checks
   std::unique_ptr<CollisionCheck> collision_checker_;
-
-  // ROS
-  ros::Timer timer_;
-  ros::Duration period_;
-  ros::Publisher outgoing_cmd_pub_;
-  ros::Subscriber joint_trajectory_sub_;
-
-  bool paused_ = false;
-
-  // latest_state_mutex_ is used to protect the state below it
-  mutable std::mutex latest_state_mutex_;
-  trajectory_msgs::JointTrajectoryConstPtr latest_joint_trajectory_;
 };
 
 // JogArmPtr using alias
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 16883a8a42..fd43536082 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -57,6 +57,7 @@
 #include "jog_arm_parameters.h"
 #include "low_pass_filter.h"
 #include "status_codes.h"
+#include <moveit_jog_arm/low_pass_filter.h>
 
 namespace moveit_jog_arm
 {
@@ -237,6 +238,7 @@ class JogCalcs
   ros::Publisher status_pub_;
   ros::Publisher joint_trajectory_pub_;
   ros::Publisher worst_case_stop_time_pub_;
+  ros::Publisher outgoing_cmd_pub_;
   ros::ServiceServer drift_dimensions_server_;
   ros::ServiceServer control_dimensions_server_;
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index d54823b420..cb2f8a72ae 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -37,6 +37,8 @@
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
+#include <rosparam_shortcuts/rosparam_shortcuts.h>
+
 #include "moveit_jog_arm/jog_arm.h"
 
 static const std::string LOGNAME = "jog_arm";
@@ -50,24 +52,6 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   if (!readParameters())
     exit(EXIT_FAILURE);
 
-  // loop period
-  period_ = ros::Duration(parameters_.publish_period);
-
-  // Publish freshly-calculated joints to the robot.
-  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-  if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    outgoing_cmd_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
-  else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
-
-  // Subscribe to internal namespace
-  ros::NodeHandle internal_nh("~internal");
-  joint_trajectory_sub_ = internal_nh.subscribe("joint_trajectory", ROS_QUEUE_SIZE, &JogArm::jointTrajectoryCB, this);
-
-  // Wait for incoming topics to appear
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
-
   jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_);
 
   collision_checker_ = std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_);
@@ -287,45 +271,6 @@ bool JogArm::readParameters()
   return true;
 }
 
-void JogArm::run(const ros::TimerEvent& timer_event)
-{
-  // Log warning when the last loop duration was longer than the period
-  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
-                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
-                                               << ")");
-
-  // Get the latest joint trajectory
-  trajectory_msgs::JointTrajectory joint_trajectory;
-  {
-    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    if (latest_joint_trajectory_)
-    {
-      joint_trajectory = *latest_joint_trajectory_;
-    }
-  }
-
-  // Publish the most recent trajectory, unless the jogging calculation timer tells not to
-  if (jog_calcs_->getOkToPublish() && !paused_)
-  {
-    // Put the outgoing msg in the right format
-    // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
-    if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
-    {
-      joint_trajectory.header.stamp = ros::Time::now();
-      outgoing_cmd_pub_.publish(joint_trajectory);
-    }
-    else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
-    {
-      std_msgs::Float64MultiArray joints;
-      if (parameters_.publish_joint_positions)
-        joints.data = joint_trajectory.points[0].positions;
-      else if (parameters_.publish_joint_velocities)
-        joints.data = joint_trajectory.points[0].velocities;
-      outgoing_cmd_pub_.publish(joints);
-    }
-  }
-}
-
 void JogArm::start()
 {
   setPaused(false);
@@ -336,14 +281,10 @@ void JogArm::start()
   // Check collisions in this timer
   if (parameters_.check_collisions)
     collision_checker_->start();
-
-  // Start the jog server timer
-  timer_ = nh_.createTimer(period_, &JogArm::run, this);
 }
 
 void JogArm::stop()
 {
-  timer_.stop();
   jog_calcs_->stop();
   collision_checker_->stop();
 }
@@ -355,7 +296,6 @@ JogArm::~JogArm()
 
 void JogArm::setPaused(bool paused)
 {
-  paused_ = paused;
   jog_calcs_->setPaused(paused);
   collision_checker_->setPaused(paused);
 }
@@ -365,12 +305,6 @@ bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return jog_calcs_->getCommandFrameTransform(transform);
 }
 
-void JogArm::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr& msg)
-{
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  latest_joint_trajectory_ = msg;
-}
-
 const JogArmParameters& JogArm::getParameters() const
 {
   return parameters_;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index aae69c4f24..a38395ad14 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -38,6 +38,7 @@
  */
 
 #include <std_msgs/Bool.h>
+#include <std_msgs/Float64MultiArray.h>
 
 #include <moveit_jog_arm/jog_calcs.h>
 #include <moveit_jog_arm/make_shared_from_pool.h>
@@ -109,11 +110,17 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
 
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
-  joint_trajectory_pub_ = internal_nh.advertise<trajectory_msgs::JointTrajectory>("joint_trajectory", ROS_QUEUE_SIZE);
   collision_velocity_scale_sub_ =
       internal_nh.subscribe("collision_velocity_scale", ROS_QUEUE_SIZE, &JogCalcs::collisionVelocityScaleCB, this);
   worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", ROS_QUEUE_SIZE);
 
+  // Publish freshly-calculated joints to the robot.
+  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+  if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+    outgoing_cmd_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
+  else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
+    outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
+
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
@@ -134,12 +141,6 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   {
     position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
   }
-
-  // initialization is finished
-  wait_for_jog_commands_ = true;
-  have_nonzero_twist_stamped_ = false;
-  have_nonzero_joint_jog_ = false;
-  have_nonzero_command_ = false;
 }
 
 void JogCalcs::start()
@@ -215,74 +216,68 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
 
     // Check if there are any new commands with valid timestamp
     wait_for_jog_commands_ = twist_stamped_.header.stamp == ros::Time(0.) && joint_jog_.header.stamp == ros::Time(0.);
+
+    // Early exit
+    return;
   }
+
   // If not waiting for initial command, and not paused.
   // Do jogging calculations only if the robot should move, for efficiency
-  else
-  {
-    // Create new outgoing joint trajectory command message
-    auto joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
+  // Create new outgoing joint trajectory command message
+  auto joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
-    // If the input command isn't stale, run calculations
-    if (!command_is_stale_)
+  // If the input command isn't stale, run calculations
+  if (!command_is_stale_)
+  {
+    // Prioritize cartesian jogging above joint jogging
+    if (have_nonzero_twist_stamped_)
     {
-      // Prioritize cartesian jogging above joint jogging
-      if (have_nonzero_twist_stamped_)
-      {
-        if (!cartesianJogCalcs(twist_stamped_, *joint_trajectory))
-          return;
-      }
-      else if (have_nonzero_joint_jog_)
-      {
-        if (!jointJogCalcs(joint_jog_, *joint_trajectory))
-          return;
-      }
+      if (!cartesianJogCalcs(twist_stamped_, *joint_trajectory))
+        return;
     }
-
-    // If we should halt
-    if (!have_nonzero_command_)
+    else if (have_nonzero_joint_jog_)
     {
-      // Keep the joint position filters up-to-date with current joints
-      for (std::size_t i = 0; i < num_joints_; ++i)
-        position_filters_[i].reset(original_joint_state_.position[i]);
-
-      suddenHalt(*joint_trajectory);
-      have_nonzero_twist_stamped_ = false;
-      have_nonzero_joint_jog_ = false;
+      if (!jointJogCalcs(joint_jog_, *joint_trajectory))
+        return;
     }
+  }
 
-    // Send the newest target joints
-    // If everything normal, share the new traj to be published
-    if (have_nonzero_command_)
-    {
-      joint_trajectory_pub_.publish(joint_trajectory);
-      ok_to_publish_ = true;
-    }
-    // Skip the jogging publication if all inputs have been zero for several cycles in a row.
-    // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
-    else if ((parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
-             (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
-    {
-      ok_to_publish_ = false;
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
-    }
-    // The command is invalid but we are publishing num_outgoing_halt_msgs_to_publish
-    else
-    {
-      joint_trajectory_pub_.publish(joint_trajectory);
-      ok_to_publish_ = true;
-    }
+  // If we should halt
+  if (!have_nonzero_command_)
+  {
+    // Keep the joint position filters up-to-date with current joints
+    for (std::size_t i = 0; i < num_joints_; ++i)
+      position_filters_[i].reset(original_joint_state_.position[i]);
 
-    // Store last zero-velocity message flag to prevent superfluous warnings.
-    // Cartesian and joint commands must both be zero.
-    if (!have_nonzero_twist_stamped_ && !have_nonzero_joint_jog_)
-    {
-      // Avoid overflow
-      if (zero_velocity_count_ < std::numeric_limits<int>::max())
-        ++zero_velocity_count_;
-    }
-    else
-      zero_velocity_count_ = 0;
+    suddenHalt(*joint_trajectory);
+    have_nonzero_twist_stamped_ = false;
+    have_nonzero_joint_jog_ = false;
+  }
+
+  // Skip the jogging publication if all inputs have been zero for several cycles in a row.
+  // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
+  if (!have_nonzero_command_ && (parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
+      (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
+  {
+    ok_to_publish_ = false;
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
+  }
+  else
+  {
+    ok_to_publish_ = true;
+  }
+
+  // Store last zero-velocity message flag to prevent superfluous warnings.
+  // Cartesian and joint commands must both be zero.
+  if (!have_nonzero_twist_stamped_ && !have_nonzero_joint_jog_)
+  {
+    // Avoid overflow
+    if (zero_velocity_count_ < std::numeric_limits<int>::max())
+      ++zero_velocity_count_;
+  }
+  else
+  {
+    zero_velocity_count_ = 0;
   }
 
   if (command_is_stale_)
@@ -290,6 +285,26 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
                                                 "Try a larger 'incoming_command_timeout' parameter?");
   }
+
+  if (ok_to_publish_)
+  {
+    // Put the outgoing msg in the right format
+    // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
+    if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
+    {
+      joint_trajectory->header.stamp = ros::Time::now();
+      outgoing_cmd_pub_.publish(joint_trajectory);
+    }
+    else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
+    {
+      auto joints = moveit::util::make_shared_from_pool<std_msgs::Float64MultiArray>();
+      if (parameters_.publish_joint_positions)
+        joints->data = joint_trajectory->points[0].positions;
+      else if (parameters_.publish_joint_velocities)
+        joints->data = joint_trajectory->points[0].velocities;
+      outgoing_cmd_pub_.publish(joints);
+    }
+  }
 }
 // Perform the jogging calculations
 bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)

From 7416a543eb22a759e975c7324aa1a978816c8d28 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 00:30:49 -0600
Subject: [PATCH 333/612] fixup of comments

---
 .../moveit_jog_arm/include/moveit_jog_arm/collision_check.h | 5 ++---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm.h         | 4 ++--
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h       | 5 ++---
 .../src/cpp_interface_example/cpp_interface_example.cpp     | 6 +++---
 4 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
index e3786f18c2..0c98cd9d21 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
@@ -80,11 +80,10 @@ class CollisionCheck
   void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
   void worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg);
 
-  // ROS node handle
   ros::NodeHandle nh_;
 
-  // Parameters
-  const moveit_jog_arm::JogArmParameters parameters_;
+  // Parameters from yaml
+  const JogArmParameters& parameters_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index ebf70611ff..d0f77b5324 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -54,10 +54,10 @@ class JogArm
 
   ~JogArm();
 
-  /** \brief start jog arm timers */
+  /** \brief start jog arm */
   void start();
 
-  /** \brief stop jog arm timers */
+  /** \brief stop jog arm */
   void stop();
 
   /** \brief Pause or unpause processing jog commands while keeping the timers alive */
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index fd43536082..62655215c5 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -67,7 +67,7 @@ class JogCalcs
   JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
            const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  /** \brief Start and stop the timer */
+  /** \brief Start and stop the timer where we do work and publish outputs */
   void start();
   void stop();
 
@@ -190,10 +190,9 @@ class JogCalcs
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
 
-  // ROS node handle
   ros::NodeHandle nh_;
 
-  // Ros parameters from JogArm
+  // Parameters from yaml
   const JogArmParameters& parameters_;
 
   // Pointer to the collision environment
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index a64428bb90..b1e5582c3d 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -56,10 +56,10 @@ class StatusMonitor
 private:
   void statusCB(const std_msgs::Int8ConstPtr& msg)
   {
-    moveit_jog_arm::StatusCode latest_stats = static_cast<moveit_jog_arm::StatusCode>(msg->data);
-    if (latest_stats != status_)
+    moveit_jog_arm::StatusCode latest_status = static_cast<moveit_jog_arm::StatusCode>(msg->data);
+    if (latest_status != status_)
     {
-      status_ = latest_stats;
+      status_ = latest_status;
       const auto& status_str = moveit_jog_arm::JOG_ARM_STATUS_CODE_MAP.at(status_);
       ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status: " << status_str);
     }

From 940f4bac4152b3fb9a6e817c47d0dbbcccd480ba Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 00:39:42 -0600
Subject: [PATCH 334/612] move status publisher into constructor of JogCalcs

---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index a38395ad14..a9564dc080 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -121,6 +121,9 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     outgoing_cmd_pub_ = nh_.advertise<std_msgs::Float64MultiArray>(parameters_.command_out_topic, ROS_QUEUE_SIZE);
 
+  // Publish status
+  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, ROS_QUEUE_SIZE);
+
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
   ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
@@ -146,8 +149,6 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
 void JogCalcs::start()
 {
   stop_requested_ = false;
-  status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, ROS_QUEUE_SIZE);
-
   timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
 }
 

From 88805637cc697448e0e88e33df65b8c008df4386 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 00:59:13 -0600
Subject: [PATCH 335/612] remove getOkToPublish from JogCalcs

---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h        | 3 ---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp         | 5 -----
 2 files changed, 8 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 62655215c5..5b3aafe26a 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -83,9 +83,6 @@ class JogCalcs
   /** \brief Pause or unpause processing jog commands while keeping the timers alive */
   void setPaused(bool paused);
 
-  /** \brief Accessor for ok_to_publish_ */
-  bool getOkToPublish() const;
-
 private:
   /** \brief Timer method */
   void run(const ros::TimerEvent& timer_event);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index a9564dc080..5317195d50 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -998,9 +998,4 @@ void JogCalcs::setPaused(bool paused)
   paused_ = paused;
 }
 
-bool JogCalcs::getOkToPublish() const
-{
-  return ok_to_publish_;
-}
-
 }  // namespace moveit_jog_arm

From b160960aeee8e70b841cd3d8ffc34b01dc8994cd Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 09:27:53 -0600
Subject: [PATCH 336/612] Update
 moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .../src/cpp_interface_example/cpp_interface_example.cpp         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index b1e5582c3d..7a0389169c 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -138,7 +138,7 @@ int main(int argc, char** argv)
   {
     // Make a joint command
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
-    // Because this message is not coppied we should not modify it after we send it.
+    // Because this message is not copied we should not modify it after we send it.
     auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();
     msg->header.stamp = ros::Time::now();
     msg->joint_names.push_back("elbow_joint");

From ef09fbb68c63344f87057a5c5ac7160e78b1e08b Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 09:28:11 -0600
Subject: [PATCH 337/612] Update
 moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .../src/cpp_interface_example/cpp_interface_example.cpp         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
index 7a0389169c..77dee6b253 100644
--- a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
@@ -115,7 +115,7 @@ int main(int argc, char** argv)
   {
     // Make a Cartesian velocity message
     // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
-    // Because this message is not coppied we should not modify it after we send it.
+    // Because this message is not copied we should not modify it after we send it.
     auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
     msg->header.stamp = ros::Time::now();
     msg->header.frame_id = "base_link";

From 2eae1b34edbc935f893a417b82412a8216faa2d6 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 10:38:38 -0600
Subject: [PATCH 338/612] fix comment

---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm.h             | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index d0f77b5324..bd3bf8299b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- *      Title     : jog_interface_base.cpp
+ *      Title     : jog_arm.cpp
  *      Project   : moveit_jog_arm
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson

From f9a1bf0de9c77845431673d28dd75f476ebfb40c Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 1 Jun 2020 11:25:55 -0600
Subject: [PATCH 339/612] attempt to fix kinetic travis issue

---
 .../include/moveit_jog_arm/jog_calcs.h           |  2 +-
 .../moveit_jog_arm/src/jog_calcs.cpp             | 16 ++++++++--------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index 5b3aafe26a..f0c56a7983 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -265,7 +265,7 @@ class JogCalcs
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
-  sensor_msgs::JointState incoming_joint_state_;
+  sensor_msgs::JointStateConstPtr incoming_joint_state_;
   Eigen::Isometry3d tf_moveit_to_cmd_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
   control_msgs::JointJogConstPtr latest_joint_jog_;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 5317195d50..bb15e19539 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -183,7 +183,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Update from latest state
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    kinematic_state_->setVariableValues(incoming_joint_state_);
+    kinematic_state_->setVariableValues(*incoming_joint_state_);
     if (latest_twist_stamped_)
       twist_stamped_ = *latest_twist_stamped_;
     if (latest_joint_jog_)
@@ -750,24 +750,24 @@ bool JogCalcs::updateJoints()
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
 
   // Check that the msg contains enough joints
-  if (incoming_joint_state_.name.size() < num_joints_)
+  if (incoming_joint_state_->name.size() < num_joints_)
     return false;
 
   // Store joints in a member variable
-  for (std::size_t m = 0; m < incoming_joint_state_.name.size(); ++m)
+  for (std::size_t m = 0; m < incoming_joint_state_->name.size(); ++m)
   {
     std::size_t c;
     try
     {
-      c = joint_state_name_map_.at(incoming_joint_state_.name[m]);
+      c = joint_state_name_map_.at(incoming_joint_state_->name[m]);
     }
     catch (const std::out_of_range& e)
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_->name[m]);
       continue;
     }
 
-    internal_joint_state_.position[c] = incoming_joint_state_.position[m];
+    internal_joint_state_.position[c] = incoming_joint_state_->position[m];
   }
 
   // Cache the original joints in case they need to be reset
@@ -873,7 +873,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     catch (const std::out_of_range& e)
     {
       const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_.name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_->name[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]
@@ -928,7 +928,7 @@ void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta
 void JogCalcs::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  incoming_joint_state_ = *msg;
+  incoming_joint_state_ = msg;
 }
 
 bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)

From 59aecfea3d45c40df0eae8356cfe2756df55f7a9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 3 Jun 2020 14:28:18 -0600
Subject: [PATCH 340/612] throttle warning about loop duration to 30 seconds

---
 .../moveit_jog_arm/src/collision_check.cpp         |  8 +++++---
 .../moveit_jog_arm/src/jog_calcs.cpp               | 14 ++++++++------
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index f3def372a8..f4ea2c9bfa 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -105,9 +105,11 @@ void CollisionCheck::stop()
 void CollisionCheck::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
-  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
-                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
-                                               << ")");
+  if (timer_event.profile.last_duration.toSec() > period_.toSec())
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                                  << period_.toSec() << ")");
+  }
 
   if (paused_)
   {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index bb15e19539..26ee79a1c0 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -161,9 +161,11 @@ void JogCalcs::stop()
 void JogCalcs::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
-  ROS_WARN_STREAM_COND_NAMED(timer_event.profile.last_duration.toSec() > period_.toSec(), LOGNAME,
-                             "last_duration: " << timer_event.profile.last_duration.toSec() << " (" << period_.toSec()
-                                               << ")");
+  if (timer_event.profile.last_duration.toSec() > period_.toSec())
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                                  << period_.toSec() << ")");
+  }
 
   // Publish status each loop iteration
   auto status_msg = moveit::util::make_shared_from_pool<std_msgs::Int8>();
@@ -779,9 +781,9 @@ bool JogCalcs::updateJoints()
   double accel_limit = 0;
   double joint_velocity = 0;
   double worst_case_stop_time = 0;
-  for (size_t jt_state_idx = 0; jt_state_idx < incoming_joint_state_.velocity.size(); ++jt_state_idx)
+  for (size_t jt_state_idx = 0; jt_state_idx < incoming_joint_state_->velocity.size(); ++jt_state_idx)
   {
-    joint_name = incoming_joint_state_.name[jt_state_idx];
+    joint_name = incoming_joint_state_->name[jt_state_idx];
 
     // Get acceleration limit for this joint
     for (auto joint_model : joint_model_group_->getActiveJointModels())
@@ -807,7 +809,7 @@ bool JogCalcs::updateJoints()
     }
 
     // Get the current joint velocity
-    joint_velocity = incoming_joint_state_.velocity[jt_state_idx];
+    joint_velocity = incoming_joint_state_->velocity[jt_state_idx];
 
     // Calculate worst case stop time
     worst_case_stop_time = std::max(worst_case_stop_time, fabs(joint_velocity / accel_limit));

From fb0a38d7e416f9752002e1525b87f1ab19037fc7 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 3 Jun 2020 23:13:58 -0600
Subject: [PATCH 341/612] throttle warning logs

---
 .../moveit_jog_arm/jog_arm_parameters.h       |  3 ++
 .../moveit_jog_arm/src/collision_check.cpp    |  2 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 49 +++++++++++--------
 3 files changed, 33 insertions(+), 21 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
index a9e2cfa245..d9642ac91e 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
@@ -43,6 +43,9 @@ namespace moveit_jog_arm
 // Size of queues used in ros pub/sub/service
 constexpr size_t ROS_QUEUE_SIZE = 2;
 
+// Seconds to throttle logs inside loops
+constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;
+
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index f4ea2c9bfa..88f2ec2621 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -63,7 +63,7 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
   collision_request_.distance = true;  // enable distance-based collision checking
 
   if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
-    ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
+    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
 
   // subscribe to joints
   joint_state_sub_ = nh_.subscribe(parameters.joint_topic, ROS_QUEUE_SIZE, &CollisionCheck::jointStateCB, this);
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 26ee79a1c0..98a801dfb4 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -80,7 +80,7 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr = planning_scene_monitor_->getRobotModelLoader();
   while (ros::ok() && !model_loader_ptr)
   {
-    ROS_WARN_THROTTLE_NAMED(5, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
+    ROS_WARN_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
     default_sleep_rate_.sleep();
   }
   const moveit::core::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
@@ -163,8 +163,9 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Log warning when the last loop duration was longer than the period
   if (timer_event.profile.last_duration.toSec() > period_.toSec())
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                                  << period_.toSec() << ")");
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                     << period_.toSec() << ")");
   }
 
   // Publish status each loop iteration
@@ -263,7 +264,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
       (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
   {
     ok_to_publish_ = false;
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "All-zero command. Doing nothing.");
   }
   else
   {
@@ -285,8 +286,9 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
 
   if (command_is_stale_)
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                "Try a larger 'incoming_command_timeout' parameter?");
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "Stale command. "
+                                   "Try a larger 'incoming_command_timeout' parameter?");
   }
 
   if (ok_to_publish_)
@@ -316,7 +318,8 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
       std::isnan(cmd.twist.angular.x) || std::isnan(cmd.twist.angular.y) || std::isnan(cmd.twist.angular.z))
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "nan in incoming command. Skipping this datapoint.");
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "nan in incoming command. Skipping this datapoint.");
     return false;
   }
 
@@ -326,7 +329,8 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
     if ((fabs(cmd.twist.linear.x) > 1) || (fabs(cmd.twist.linear.y) > 1) || (fabs(cmd.twist.linear.z) > 1) ||
         (fabs(cmd.twist.angular.x) > 1) || (fabs(cmd.twist.angular.y) > 1) || (fabs(cmd.twist.angular.z) > 1))
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "Component of incoming command is >1. Skipping this datapoint.");
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                     "Component of incoming command is >1. Skipping this datapoint.");
       return false;
     }
   }
@@ -400,7 +404,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
   applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));
   if (status_ == StatusCode::HALT_FOR_COLLISION)
   {
-    ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Halting for collision!");
+    ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Halting for collision!");
     suddenHalt(delta_theta_);
   }
 
@@ -416,7 +420,8 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs:
   {
     if (std::isnan(velocity))
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, "nan in incoming command. Skipping this datapoint.");
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                     "nan in incoming command. Skipping this datapoint.");
       return false;
     }
   }
@@ -524,7 +529,7 @@ void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singular
   if (collision_scale > 0 && collision_scale < 1)
   {
     status_ = StatusCode::DECELERATE_FOR_COLLISION;
-    ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
   }
   else if (collision_scale == 0)
   {
@@ -587,7 +592,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
                        (ini_condition - parameters_.lower_singularity_threshold) /
                            (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
       status_ = StatusCode::DECELERATE_FOR_SINGULARITY;
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
 
     // Very close to singularity, so halt.
@@ -595,7 +600,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
     {
       velocity_scale = 0;
       status_ = StatusCode::HALT_FOR_SINGULARITY;
-      ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
     }
   }
 
@@ -704,7 +709,8 @@ bool JogCalcs::enforceSRDFPositionLimits()
             (kinematic_state_->getJointVelocities(joint)[0] > 0 &&
              (joint_angle > (limits[0].max_position - parameters_.joint_limit_margin))))
         {
-          ROS_WARN_STREAM_THROTTLE_NAMED(2, LOGNAME, ros::this_node::getName() << " " << joint->getName()
+          ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, ros::this_node::getName()
+                                                                               << " " << joint->getName()
                                                                                << " close to a "
                                                                                   " position limit. Halting.");
           halting = true;
@@ -765,7 +771,8 @@ bool JogCalcs::updateJoints()
     }
     catch (const std::out_of_range& e)
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_->name[m]);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint "
+                                                                            << incoming_joint_state_->name[m]);
       continue;
     }
 
@@ -851,7 +858,7 @@ Eigen::VectorXd JogCalcs::scaleCartesianCommand(const geometry_msgs::TwistStampe
     result[5] = command.twist.angular.z * parameters_.publish_period;
   }
   else
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "Unexpected command_in_type");
+    ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Unexpected command_in_type");
 
   return result;
 }
@@ -875,7 +882,8 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     catch (const std::out_of_range& e)
     {
       const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, LOGNAME, "Ignoring joint " << incoming_joint_state_->name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint "
+                                                                           << incoming_joint_state_->name[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]
@@ -885,7 +893,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     else if (parameters_.command_in_type == "speed_units")
       result[c] = command.velocities[m] * parameters_.publish_period;
     else
-      ROS_ERROR_STREAM_NAMED(LOGNAME, "Unexpected command_in_type, check yaml file.");
+      ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Unexpected command_in_type, check yaml file.");
   }
 
   return result;
@@ -902,8 +910,9 @@ bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::
     }
     catch (const std::out_of_range& e)
     {
-      ROS_ERROR_STREAM_NAMED(LOGNAME, ros::this_node::getName() << " Lengths of output and "
-                                                                   "increments do not match.");
+      ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, ros::this_node::getName()
+                                                                            << " Lengths of output and "
+                                                                               "increments do not match.");
       return false;
     }
   }

From 40fe760043ac1e7db24104a34ee9fe314c99856d Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 4 Jun 2020 09:07:38 -0600
Subject: [PATCH 342/612] remove unused

---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h            | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index f0c56a7983..a85253f39a 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -232,7 +232,6 @@ class JogCalcs
   ros::Subscriber joint_jog_sub_;
   ros::Subscriber collision_velocity_scale_sub_;
   ros::Publisher status_pub_;
-  ros::Publisher joint_trajectory_pub_;
   ros::Publisher worst_case_stop_time_pub_;
   ros::Publisher outgoing_cmd_pub_;
   ros::ServiceServer drift_dimensions_server_;

From 71115b80453d7921f3641f408211bb39ba980754 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 4 Jun 2020 11:42:39 -0600
Subject: [PATCH 343/612] fix bad mutex locking

---
 .../moveit_jog_arm/src/collision_check.cpp             | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 88f2ec2621..35637cc6e9 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -63,7 +63,8 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
   collision_request_.distance = true;  // enable distance-based collision checking
 
   if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
-    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "Collision check rate is low, increase it in yaml file if CPU allows");
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "Collision check rate is low, increase it in yaml file if CPU allows");
 
   // subscribe to joints
   joint_state_sub_ = nh_.subscribe(parameters.joint_topic, ROS_QUEUE_SIZE, &CollisionCheck::jointStateCB, this);
@@ -107,8 +108,9 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
   // Log warning when the last loop duration was longer than the period
   if (timer_event.profile.last_duration.toSec() > period_.toSec())
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(30, LOGNAME, "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                                  << period_.toSec() << ")");
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
+                                                     << period_.toSec() << ")");
   }
 
   if (paused_)
@@ -118,7 +120,7 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
 
   {
     // Copy the latest joint state
-    const std::lock_guard<std::mutex> lock(CollisionCheck);
+    const std::lock_guard<std::mutex> lock(joint_state_mutex_);
     for (std::size_t i = 0; i < latest_joint_state_->position.size(); ++i)
       current_state_->setJointPositions(latest_joint_state_->name[i], &latest_joint_state_->position[i]);
   }

From 8bb6cf610c9cd52688f713f1eed319efc1f4229a Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 11 Jun 2020 14:08:59 -0600
Subject: [PATCH 344/612] single joint_state subscriber in shared object

---
 .../moveit_jog_arm/CMakeLists.txt             |  6 +-
 .../include/moveit_jog_arm/collision_check.h  | 16 ++---
 .../include/moveit_jog_arm/jog_calcs.h        | 14 ++--
 .../moveit_jog_arm/joint_state_subscriber.h   | 69 ++++++++++++++++++
 .../moveit_jog_arm/src/collision_check.cpp    | 27 ++-----
 .../moveit_jog_arm/src/jog_arm.cpp            | 10 ++-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 45 +++++-------
 .../src/joint_state_subscriber.cpp            | 70 +++++++++++++++++++
 8 files changed, 188 insertions(+), 69 deletions(-)
 create mode 100644 moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
 create mode 100644 moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index 1e2701203b..da429665cc 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -58,6 +58,7 @@ add_library(${LIBRARY_NAME} SHARED
   src/collision_check.cpp
   src/jog_calcs.cpp
   src/jog_arm.cpp
+  src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
 )
 add_dependencies(${LIBRARY_NAME} ${catkin_EXPORTED_TARGETS})
@@ -84,14 +85,11 @@ target_link_libraries(cpp_interface_example
 ############################
 
 add_executable(jog_server
-  src/collision_check.cpp
-  src/jog_calcs.cpp
-  src/jog_arm.cpp
   src/jog_server.cpp
-  src/low_pass_filter.cpp
 )
 add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
 target_link_libraries(jog_server
+  ${LIBRARY_NAME}
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
   ${Boost_LIBRARIES}
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
index 0c98cd9d21..8055e7f762 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
@@ -45,8 +45,9 @@
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float64.h>
 
-#include "jog_arm_parameters.h"
-#include "low_pass_filter.h"
+#include <moveit_jog_arm/jog_arm_parameters.h>
+#include <moveit_jog_arm/low_pass_filter.h>
+#include <moveit_jog_arm/joint_state_subscriber.h>
 
 namespace moveit_jog_arm
 {
@@ -65,7 +66,8 @@ class CollisionCheck
    *                                 already started when passed into this class
    */
   CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
-                 const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+                 const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+                 const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
   /** \brief start and stop the Timer */
   void start();
@@ -77,7 +79,6 @@ class CollisionCheck
 private:
   void run(const ros::TimerEvent& timer_event);
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
-  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
   void worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg);
 
   ros::NodeHandle nh_;
@@ -88,6 +89,9 @@ class CollisionCheck
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
+  // Subscriber to joint states
+  const std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
+
   // Robot state and collision matrix from planning scene
   std::unique_ptr<moveit::core::RobotState> current_state_;
   collision_detection::AllowedCollisionMatrix acm_;
@@ -123,9 +127,5 @@ class CollisionCheck
   ros::Subscriber joint_state_sub_;
   ros::Publisher collision_velocity_scale_pub_;
   ros::Subscriber worst_case_stop_time_sub_;
-
-  // Latest joint state, updated by ROS callback
-  mutable std::mutex joint_state_mutex_;
-  sensor_msgs::JointStateConstPtr latest_joint_state_;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index a85253f39a..de9ef06b19 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -54,10 +54,11 @@
 #include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_jog_arm
-#include "jog_arm_parameters.h"
-#include "low_pass_filter.h"
-#include "status_codes.h"
+#include <moveit_jog_arm/jog_arm_parameters.h>
 #include <moveit_jog_arm/low_pass_filter.h>
+#include <moveit_jog_arm/status_codes.h>
+#include <moveit_jog_arm/low_pass_filter.h>
+#include <moveit_jog_arm/joint_state_subscriber.h>
 
 namespace moveit_jog_arm
 {
@@ -65,7 +66,8 @@ class JogCalcs
 {
 public:
   JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
-           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+           const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
   /** \brief Start and stop the timer where we do work and publish outputs */
   void start();
@@ -195,6 +197,9 @@ class JogCalcs
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
+  // Subscriber to the latest joint states
+  const std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
+
   // Track the number of cycles during which motion has not occurred.
   // Will avoid re-publishing zero velocities endlessly.
   int zero_velocity_count_ = 0;
@@ -264,7 +269,6 @@ class JogCalcs
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
-  sensor_msgs::JointStateConstPtr incoming_joint_state_;
   Eigen::Isometry3d tf_moveit_to_cmd_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
   control_msgs::JointJogConstPtr latest_joint_jog_;
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
new file mode 100644
index 0000000000..e7b74f2911
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
@@ -0,0 +1,69 @@
+/*******************************************************************************
+ * Title     : joint_state_subscriber.h
+ * Project   : moveit_jog_arm
+ * Created   : 06/11/2020
+ * Author    : Tyler Weaver
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+#pragma once
+
+#include <mutex>
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+
+#include "jog_arm_parameters.h"
+
+namespace moveit_jog_arm
+{
+class JointStateSubscriber
+{
+public:
+  /** \brief Constructor
+   */
+  JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name);
+
+  /** \brief Get the latest joint state message */
+  sensor_msgs::JointStateConstPtr getLatest() const;
+
+private:
+  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
+
+  ros::Subscriber joint_state_sub_;
+
+  // Latest joint state, updated by ROS callback
+  mutable std::mutex joint_state_mutex_;
+  sensor_msgs::JointStateConstPtr latest_joint_state_;
+};
+}  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 35637cc6e9..1d8619a62b 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -50,10 +50,12 @@ namespace moveit_jog_arm
 {
 // Constructor for the class that handles collision checking
 CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
-                               const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+                               const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+                               const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
+  , joint_state_subscriber_(joint_state_subscriber)
   , self_velocity_scale_coefficient_(-log(0.001) / parameters.self_collision_proximity_threshold)
   , scene_velocity_scale_coefficient_(-log(0.001) / parameters.scene_collision_proximity_threshold)
   , period_(1. / parameters_.collision_check_rate)
@@ -66,9 +68,6 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
     ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
                                    "Collision check rate is low, increase it in yaml file if CPU allows");
 
-  // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters.joint_topic, ROS_QUEUE_SIZE, &CollisionCheck::jointStateCB, this);
-
   collision_check_type_ =
       (parameters_.collision_check_type == "threshold_distance" ? K_THRESHOLD_DISTANCE : K_STOP_DISTANCE);
   safety_factor_ = parameters_.collision_distance_safety_factor;
@@ -80,10 +79,6 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
   worst_case_stop_time_sub_ =
       internal_nh.subscribe("worst_case_stop_time", ROS_QUEUE_SIZE, &CollisionCheck::worstCaseStopTimeCB, this);
 
-  // Wait for incoming topics to appear
-  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
-
   current_state_ = std::make_unique<moveit::core::RobotState>(getLockedPlanningSceneRO()->getCurrentState());
   acm_ = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
 }
@@ -118,12 +113,10 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
     return;
   }
 
-  {
-    // Copy the latest joint state
-    const std::lock_guard<std::mutex> lock(joint_state_mutex_);
-    for (std::size_t i = 0; i < latest_joint_state_->position.size(); ++i)
-      current_state_->setJointPositions(latest_joint_state_->name[i], &latest_joint_state_->position[i]);
-  }
+  // Copy the latest joint state
+  auto latest_joint_state = joint_state_subscriber_->getLatest();
+  for (std::size_t i = 0; i < latest_joint_state->position.size(); ++i)
+    current_state_->setJointPositions(latest_joint_state->name[i], &latest_joint_state->position[i]);
 
   current_state_->updateCollisionBodyTransforms();
   collision_detected_ = false;
@@ -210,12 +203,6 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
   }
 }
 
-void CollisionCheck::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
-{
-  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
-  latest_joint_state_ = msg;
-}
-
 void CollisionCheck::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
 {
   worst_case_stop_time_ = msg->data;
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index cb2f8a72ae..8cd6d6ce11 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -39,7 +39,8 @@
 
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
-#include "moveit_jog_arm/jog_arm.h"
+#include <moveit_jog_arm/jog_arm.h>
+#include <moveit_jog_arm/joint_state_subscriber.h>
 
 static const std::string LOGNAME = "jog_arm";
 
@@ -52,9 +53,12 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   if (!readParameters())
     exit(EXIT_FAILURE);
 
-  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_);
+  auto joint_state_subscriber = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
 
-  collision_checker_ = std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_);
+  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber);
+
+  collision_checker_ =
+      std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber);
 }
 
 // Read ROS parameters, typically from YAML file
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 98a801dfb4..8934cf4e9e 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -70,10 +70,12 @@ bool isNonZero(const control_msgs::JointJog& msg)
 
 // Constructor for the class that handles jogging calculations
 JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
-                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+                   const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
+  , joint_state_subscriber_(joint_state_subscriber)
   , period_(parameters.publish_period)
 {
   // MoveIt Setup
@@ -90,9 +92,6 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 
-  // subscribe to joints
-  joint_state_sub_ = nh_.subscribe(parameters_.joint_topic, ROS_QUEUE_SIZE, &JogCalcs::jointStateCB, this);
-
   // Subscribe to command topics
   twist_stamped_sub_ =
       nh_.subscribe(parameters_.cartesian_command_in_topic, ROS_QUEUE_SIZE, &JogCalcs::twistStampedCB, this);
@@ -124,11 +123,6 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   // Publish status
   status_pub_ = nh_.advertise<std_msgs::Int8>(parameters_.status_topic, ROS_QUEUE_SIZE);
 
-  // Wait for initial messages
-  ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(parameters_.joint_topic);
-  ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
-
   internal_joint_state_.name = joint_model_group_->getActiveJointModelNames();
   num_joints_ = internal_joint_state_.name.size();
   internal_joint_state_.position.resize(num_joints_);
@@ -184,9 +178,10 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   }
 
   // Update from latest state
+  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
+  kinematic_state_->setVariableValues(*latest_joint_state);
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    kinematic_state_->setVariableValues(*incoming_joint_state_);
     if (latest_twist_stamped_)
       twist_stamped_ = *latest_twist_stamped_;
     if (latest_joint_jog_)
@@ -754,29 +749,28 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 // Parse the incoming joint msg for the joints of our MoveGroup
 bool JogCalcs::updateJoints()
 {
-  // lock the latest state mutex for the joint states
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
 
   // Check that the msg contains enough joints
-  if (incoming_joint_state_->name.size() < num_joints_)
+  if (latest_joint_state->name.size() < num_joints_)
     return false;
 
   // Store joints in a member variable
-  for (std::size_t m = 0; m < incoming_joint_state_->name.size(); ++m)
+  for (std::size_t m = 0; m < latest_joint_state->name.size(); ++m)
   {
     std::size_t c;
     try
     {
-      c = joint_state_name_map_.at(incoming_joint_state_->name[m]);
+      c = joint_state_name_map_.at(latest_joint_state->name[m]);
     }
     catch (const std::out_of_range& e)
     {
       ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint "
-                                                                            << incoming_joint_state_->name[m]);
+                                                                            << latest_joint_state->name[m]);
       continue;
     }
 
-    internal_joint_state_.position[c] = incoming_joint_state_->position[m];
+    internal_joint_state_.position[c] = latest_joint_state->position[m];
   }
 
   // Cache the original joints in case they need to be reset
@@ -788,9 +782,9 @@ bool JogCalcs::updateJoints()
   double accel_limit = 0;
   double joint_velocity = 0;
   double worst_case_stop_time = 0;
-  for (size_t jt_state_idx = 0; jt_state_idx < incoming_joint_state_->velocity.size(); ++jt_state_idx)
+  for (size_t jt_state_idx = 0; jt_state_idx < latest_joint_state->velocity.size(); ++jt_state_idx)
   {
-    joint_name = incoming_joint_state_->name[jt_state_idx];
+    joint_name = latest_joint_state->name[jt_state_idx];
 
     // Get acceleration limit for this joint
     for (auto joint_model : joint_model_group_->getActiveJointModels())
@@ -816,7 +810,7 @@ bool JogCalcs::updateJoints()
     }
 
     // Get the current joint velocity
-    joint_velocity = incoming_joint_state_->velocity[jt_state_idx];
+    joint_velocity = latest_joint_state->velocity[jt_state_idx];
 
     // Calculate worst case stop time
     worst_case_stop_time = std::max(worst_case_stop_time, fabs(joint_velocity / accel_limit));
@@ -881,9 +875,8 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
     }
     catch (const std::out_of_range& e)
     {
-      const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint "
-                                                                           << incoming_joint_state_->name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                     "Ignoring joint " << joint_state_subscriber_->getLatest()->name[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]
@@ -936,12 +929,6 @@ void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta
   delta_x.conservativeResize(num_rows);
 }
 
-void JogCalcs::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
-{
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  incoming_joint_state_ = msg;
-}
-
 bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
diff --git a/moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp b/moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp
new file mode 100644
index 0000000000..b9cfb12ebf
--- /dev/null
+++ b/moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp
@@ -0,0 +1,70 @@
+/*******************************************************************************
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/*      Title     : joint_state_subscriber.cpp
+ *      Project   : moveit_jog_arm
+ *      Created   : 06/11/2020
+ *      Author    : Tyler Weaver
+ */
+
+#include <moveit_jog_arm/joint_state_subscriber.h>
+
+namespace moveit_jog_arm
+{
+constexpr char LOGNAME[] = "joint_state_subscriber";
+
+// Constructor for the class that handles collision checking
+JointStateSubscriber::JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name)
+{
+  // subscribe to joints
+  joint_state_sub_ = nh.subscribe(joint_state_topic_name, ROS_QUEUE_SIZE, &JointStateSubscriber::jointStateCB, this);
+
+  // Wait for initial messages
+  ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
+  ros::topic::waitForMessage<sensor_msgs::JointState>(joint_state_topic_name);
+  ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
+}
+
+sensor_msgs::JointStateConstPtr JointStateSubscriber::getLatest() const
+{
+  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
+  return latest_joint_state_;
+}
+
+void JointStateSubscriber::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
+{
+  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
+  latest_joint_state_ = msg;
+}
+
+}  // namespace moveit_jog_arm

From 26cd2731369f6a4dd11e448c8afbefe47d219388 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 11 Jun 2020 18:07:47 -0600
Subject: [PATCH 345/612] get latest joint state c++ api added

---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm.h  |  8 +++++---
 moveit_experimental/moveit_jog_arm/src/jog_arm.cpp   | 12 ++++++++----
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index bd3bf8299b..c774344639 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -41,6 +41,7 @@
 #include <moveit_jog_arm/collision_check.h>
 #include <moveit_jog_arm/jog_arm_parameters.h>
 #include <moveit_jog_arm/jog_calcs.h>
+#include <moveit_jog_arm/joint_state_subscriber.h>
 
 namespace moveit_jog_arm
 {
@@ -75,6 +76,9 @@ class JogArm
   /** \brief Get the parameters used by jog arm. */
   const JogArmParameters& getParameters() const;
 
+  /** \brief Get the latest joint state. */
+  sensor_msgs::JointStateConstPtr getLatestJointState() const;
+
 private:
   bool readParameters();
 
@@ -86,10 +90,8 @@ class JogArm
   // Store the parameters that were read from ROS server
   JogArmParameters parameters_;
 
-  // Jog calcs
+  std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
   std::unique_ptr<JogCalcs> jog_calcs_;
-
-  // Collision checks
   std::unique_ptr<CollisionCheck> collision_checker_;
 };
 
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
index 8cd6d6ce11..d7ef39d9b9 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
@@ -40,7 +40,6 @@
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
 #include <moveit_jog_arm/jog_arm.h>
-#include <moveit_jog_arm/joint_state_subscriber.h>
 
 static const std::string LOGNAME = "jog_arm";
 
@@ -53,12 +52,12 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
   if (!readParameters())
     exit(EXIT_FAILURE);
 
-  auto joint_state_subscriber = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
+  joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
 
-  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber);
+  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
 
   collision_checker_ =
-      std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber);
+      std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
 }
 
 // Read ROS parameters, typically from YAML file
@@ -314,4 +313,9 @@ const JogArmParameters& JogArm::getParameters() const
   return parameters_;
 }
 
+sensor_msgs::JointStateConstPtr JogArm::getLatestJointState() const
+{
+  return joint_state_subscriber_->getLatest();
+}
+
 }  // namespace moveit_jog_arm

From 23fcbc62afa31bb955463e35b719cf1e99e083a2 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Sun, 14 Jun 2020 07:59:36 -0400
Subject: [PATCH 346/612] update dependencies for python3 in noetic (#2131)

* update dependencies for python3 in noetic

* add one more that rosdep install didn't catch
---
 moveit_commander/package.xml              | 13 ++++++++-----
 moveit_core/package.xml                   |  6 ++++--
 moveit_kinematics/package.xml             |  5 +++--
 moveit_ros/planning_interface/package.xml |  9 ++++++---
 4 files changed, 21 insertions(+), 12 deletions(-)

diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
index 4d58b563ec..6e6b7fb51d 100644
--- a/moveit_commander/package.xml
+++ b/moveit_commander/package.xml
@@ -1,4 +1,5 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>moveit_commander</name>
   <version>1.1.0</version>
   <description>Python interfaces to MoveIt</description>
@@ -16,15 +17,17 @@
   <url type="repository">https://github.com/ros-planning/moveit</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>python-catkin-pkg</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-pkg</buildtool_depend>
 
-  <build_depend>python</build_depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
 
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>moveit_msgs</exec_depend>
   <exec_depend>moveit_ros_planning_interface</exec_depend>
-  <exec_depend>python</exec_depend>
-  <exec_depend>python-pyassimp</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pyassimp</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pyassimp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>shape_msgs</exec_depend>
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 26f94f3826..1ddc19cb5f 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -1,4 +1,5 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>moveit_core</name>
   <version>1.1.0</version>
   <description>Core libraries used by MoveIt</description>
@@ -53,7 +54,8 @@
   <test_depend>moveit_resources</test_depend>
   <test_depend>angles</test_depend>
   <test_depend>tf2_kdl</test_depend>
-  <test_depend>orocos_kdl</test_depend>
+  <test_depend condition="$ROS_DISTRO != noetic">orocos_kdl</test_depend>
+  <test_depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</test_depend>
   <test_depend>rosunit</test_depend>
 
   <export>
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 561d943079..a6bf3b78bd 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>moveit_kinematics</name>
   <version>1.1.0</version>
   <description>Package for all inverse kinematics solvers in MoveIt</description>
@@ -27,7 +27,8 @@
   <depend>eigen</depend>
   <depend>tf2</depend>
   <depend>tf2_kdl</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
 
   <exec_depend>python-lxml</exec_depend>
   <exec_depend>liburdfdom-tools</exec_depend> <!-- provides check_urdf required by ikfast scripts -->
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 90dc50db0b..5a864a72c8 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -1,4 +1,5 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>moveit_ros_planning_interface</name>
   <version>1.1.0</version>
   <description>Components of MoveIt that offer simpler interfaces to planning and execution</description>
@@ -16,7 +17,8 @@
   <url type="repository">https://github.com/ros-planning/moveit</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>python-catkin-pkg</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-pkg</buildtool_depend>
 
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_warehouse</depend>
@@ -32,7 +34,8 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
   <depend>eigenpy</depend>
 
   <build_depend>eigen</build_depend>

From de9f7841a4f41833bdc0f53bdc25cb6de915129f Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 17 Jun 2020 07:26:47 -0600
Subject: [PATCH 347/612] Update
 moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
---
 .../moveit_jog_arm/test/jog_cpp_interface_test.cpp              | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
index 7b72e594e6..247d905e66 100644
--- a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
+++ b/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
@@ -163,7 +163,7 @@ TEST_F(JogArmFixture, SendJointJogTest)
 
   ros::Rate publish_rate(1. / publish_period);
 
-  // Send a few Cartesian velocity commands
+  // Send a few joint velocity commands
   for (size_t i = 0; i < num_commands && ros::ok(); ++i)
   {
     auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();

From b05e0ae5c1726bb3b1453e94f56599f4979042d1 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 17 Jun 2020 13:53:27 -0600
Subject: [PATCH 348/612] pragma once in jog_arm.h (#2152)

Fixup #2103.
---
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm.h             | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
index c774344639..0949fcb71b 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
@@ -36,6 +36,8 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
+#pragma once
+
 #include <memory>
 
 #include <moveit_jog_arm/collision_check.h>

From d85c0895601e69c8ea7e31ac3fb03674bbbbb413 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 18 Jun 2020 12:04:50 -0600
Subject: [PATCH 349/612] [jog_arm] remove duplicate line

---
 moveit_experimental/moveit_jog_arm/src/collision_check.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 1d8619a62b..547b6feb63 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -75,7 +75,6 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArm
   // Internal namespace
   ros::NodeHandle internal_nh("~internal");
   collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", ROS_QUEUE_SIZE);
-  collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", 1);
   worst_case_stop_time_sub_ =
       internal_nh.subscribe("worst_case_stop_time", ROS_QUEUE_SIZE, &CollisionCheck::worstCaseStopTimeCB, this);
 

From 9e4a1646faabc87a1aae3ffc9c4802f7ecf10a40 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 19 Jun 2020 08:44:20 -0600
Subject: [PATCH 350/612] [jog_arm] fix access past end of array bug (#2155)

* [jog_arm] fix access past end of array bug
---
 moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 8934cf4e9e..0892103116 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -298,9 +298,9 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
     {
       auto joints = moveit::util::make_shared_from_pool<std_msgs::Float64MultiArray>();
-      if (parameters_.publish_joint_positions)
+      if (parameters_.publish_joint_positions && !joint_trajectory->points.empty())
         joints->data = joint_trajectory->points[0].positions;
-      else if (parameters_.publish_joint_velocities)
+      else if (parameters_.publish_joint_velocities && !joint_trajectory->points.empty())
         joints->data = joint_trajectory->points[0].velocities;
       outgoing_cmd_pub_.publish(joints);
     }

From e2a10d73eaeb1e3469a7b2921a2f93592836bb7d Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Mon, 22 Jun 2020 13:52:56 -0500
Subject: [PATCH 351/612] [jog_arm] Changes before porting to ROS2 (#2151)

* throttle warning logs

* ROS1 Basic improvements and changes

* Fixes to drift dimensions, singularity velocity scaling

* tf name changes, const fixes, slight logic changes

* Reverting enforceSRDFAccelVelLimits changes for now

* Move ROS_LOG_THROTTLE_PERIOD to cpp files

* Clang formatting

* Track staleness of joint and twist seperately

* Ensure joint_trajectory output is always populated with something, even when no jog

* Fix joint trajectory redundant points for gazebo pub

* Fix crazy joint jog from bad Eigen init

* Fix variable type in addJointIncrements()

* Initialize last sent command in constructor

* More explicit joint_jog_cmd_ and twist_stamped_cmd_ names

* Add comment clarying transform calculation / use

Co-authored-by: Tyler Weaver <tyler@picknik.ai>
Co-authored-by: AndyZe <andyz@utexas.edu>
---
 .../moveit_jog_arm/jog_arm_parameters.h       |   3 -
 .../include/moveit_jog_arm/jog_calcs.h        |  27 ++-
 .../moveit_jog_arm/src/collision_check.cpp    |   3 +-
 .../moveit_jog_arm/src/jog_calcs.cpp          | 215 +++++++++++-------
 4 files changed, 155 insertions(+), 93 deletions(-)

diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
index d9642ac91e..a9e2cfa245 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
@@ -43,9 +43,6 @@ namespace moveit_jog_arm
 // Size of queues used in ros pub/sub/service
 constexpr size_t ROS_QUEUE_SIZE = 2;
 
-// Seconds to throttle logs inside loops
-constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;
-
 // ROS params to be read. See the yaml file in /config for a description of each.
 struct JogArmParameters
 {
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
index de9ef06b19..9c87ccd5e2 100644
--- a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
+++ b/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
@@ -114,7 +114,6 @@ class JogCalcs
    * Is handled differently for position vs. velocity control.
    */
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory);
-  void suddenHalt(Eigen::ArrayXd& delta_theta);
 
   /** \brief  Scale the delta theta to match joint velocity/acceleration limits */
   void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
@@ -127,7 +126,7 @@ class JogCalcs
    */
   double velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
                                              const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
-                                             const Eigen::MatrixXd& jacobian, const Eigen::MatrixXd& pseudo_inverse);
+                                             const Eigen::MatrixXd& pseudo_inverse);
 
   /**
    * Slow motion down if close to singularity or collision.
@@ -137,12 +136,15 @@ class JogCalcs
   void applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale);
 
   /** \brief Compose the outgoing JointTrajectory message */
-  void composeJointTrajMessage(sensor_msgs::JointState& joint_state,
+  void composeJointTrajMessage(const sensor_msgs::JointState& joint_state,
                                trajectory_msgs::JointTrajectory& joint_trajectory) const;
 
   /** \brief Smooth position commands with a lowpass filter */
   void lowPassFilterPositions(sensor_msgs::JointState& joint_state);
 
+  /** \brief Set the filters to the specified values */
+  void resetLowPassFilters(const sensor_msgs::JointState& joint_state);
+
   /** \brief Convert an incremental position command to joint velocity message */
   void calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta);
 
@@ -207,14 +209,17 @@ class JogCalcs
   // Flag for staying inactive while there are no incoming commands
   bool wait_for_jog_commands_ = true;
 
+  // Flag saying if the filters were updated during the timer callback
+  bool updated_filters_ = false;
+
   // Nonzero status flags
   bool have_nonzero_twist_stamped_ = false;
   bool have_nonzero_joint_jog_ = false;
   bool have_nonzero_command_ = false;
 
   // Incoming command messages
-  geometry_msgs::TwistStamped twist_stamped_;
-  control_msgs::JointJog joint_jog_;
+  geometry_msgs::TwistStamped twist_stamped_cmd_;
+  control_msgs::JointJog joint_jog_cmd_;
 
   const moveit::core::JointModelGroup* joint_model_group_;
 
@@ -229,6 +234,8 @@ class JogCalcs
 
   std::vector<LowPassFilter> position_filters_;
 
+  trajectory_msgs::JointTrajectoryConstPtr last_sent_command_;
+
   // ROS
   ros::Timer timer_;
   ros::Duration period_;
@@ -246,7 +253,8 @@ class JogCalcs
   StatusCode status_ = StatusCode::NO_WARNING;
   bool stop_requested_ = false;
   bool paused_ = false;
-  bool command_is_stale_ = false;
+  bool twist_command_is_stale_ = false;
+  bool joint_command_is_stale_ = false;
   bool ok_to_publish_ = false;
   double collision_velocity_scale_ = 1.0;
 
@@ -269,9 +277,12 @@ class JogCalcs
 
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
-  Eigen::Isometry3d tf_moveit_to_cmd_frame_;
+  Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
   control_msgs::JointJogConstPtr latest_joint_jog_;
-  ros::Time latest_command_stamp_ = ros::Time(0.);
+  ros::Time latest_twist_command_stamp_ = ros::Time(0.);
+  ros::Time latest_joint_command_stamp_ = ros::Time(0.);
+  bool latest_nonzero_twist_stamped_ = false;
+  bool latest_nonzero_joint_jog_ = false;
 };
 }  // namespace moveit_jog_arm
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
index 547b6feb63..18f9ff5a6a 100644
--- a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/collision_check.cpp
@@ -44,7 +44,8 @@
 
 static const char LOGNAME[] = "collision_check";
 static const double MIN_RECOMMENDED_COLLISION_RATE = 10;
-constexpr double EPSILON = 1e-6;  // For very small numeric comparisons
+constexpr double EPSILON = 1e-6;                // For very small numeric comparisons
+constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
 
 namespace moveit_jog_arm
 {
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
index 0892103116..fe27c475f7 100644
--- a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
+++ b/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
@@ -44,6 +44,7 @@
 #include <moveit_jog_arm/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_calcs";
+constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
 
 namespace moveit_jog_arm
 {
@@ -127,13 +128,40 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
   num_joints_ = internal_joint_state_.name.size();
   internal_joint_state_.position.resize(num_joints_);
   internal_joint_state_.velocity.resize(num_joints_);
+
+  // Set up the "last" published message, in case we need to send it first
+  auto initial_joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
+  auto latest_joints = joint_state_subscriber_->getLatest();
+  initial_joint_trajectory->header.frame_id = parameters_.planning_frame;
+  initial_joint_trajectory->header.stamp = ros::Time::now();
+  initial_joint_trajectory->joint_names = internal_joint_state_.name;
+  trajectory_msgs::JointTrajectoryPoint point;
+  point.time_from_start = ros::Duration(parameters_.publish_period);
+  if (parameters_.publish_joint_positions)
+    point.positions = latest_joints->position;
+  if (parameters_.publish_joint_velocities)
+  {
+    std::vector<double> velocity(num_joints_);
+    point.velocities = velocity;
+  }
+  if (parameters_.publish_joint_accelerations)
+  {
+    // I do not know of a robot that takes acceleration commands.
+    // However, some controllers check that this data is non-empty.
+    // Send all zeros, for now.
+    std::vector<double> acceleration(num_joints_);
+    point.accelerations = acceleration;
+  }
+  initial_joint_trajectory->points.push_back(point);
+  last_sent_command_ = initial_joint_trajectory;
+
   // A map for the indices of incoming joint commands
-  for (std::size_t i = 0; i < internal_joint_state_.name.size(); ++i)
+  for (std::size_t i = 0; i < num_joints_; ++i)
   {
     joint_state_name_map_[internal_joint_state_.name[i]] = i;
   }
 
-  // Low-pass filters for the joint positions & velocities
+  // Low-pass filters for the joint positions
   for (size_t i = 0; i < num_joints_; ++i)
   {
     position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
@@ -183,38 +211,41 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
     if (latest_twist_stamped_)
-      twist_stamped_ = *latest_twist_stamped_;
+      twist_stamped_cmd_ = *latest_twist_stamped_;
     if (latest_joint_jog_)
-      joint_jog_ = *latest_joint_jog_;
+      joint_jog_cmd_ = *latest_joint_jog_;
 
     // Check for stale cmds
-    command_is_stale_ =
-        ((ros::Time::now() - latest_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+    twist_command_is_stale_ =
+        ((ros::Time::now() - latest_twist_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+    joint_command_is_stale_ =
+        ((ros::Time::now() - latest_joint_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+
+    have_nonzero_twist_stamped_ = latest_nonzero_twist_stamped_;
+    have_nonzero_joint_jog_ = latest_nonzero_joint_jog_;
   }
 
   // Get the transform from MoveIt planning frame to jogging command frame
+  // Calculate this transform to ensure it is available via C++ API
   // We solve (planning_frame -> base -> robot_link_command_frame)
   // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
-  tf_moveit_to_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                            kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
-
-  // Input frame determined by YAML file if not passed with message
-  if (twist_stamped_.header.frame_id.empty())
-  {
-    twist_stamped_.header.frame_id = parameters_.robot_link_command_frame;
-  }
+  tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                                  kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
   have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_jog_;
 
+  // Don't end this function without updating the filters
+  updated_filters_ = false;
+
   // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
   // joints so a jump doesn't occur when restarting
   if (wait_for_jog_commands_ || paused_)
   {
-    for (std::size_t i = 0; i < num_joints_; ++i)
-      position_filters_[i].reset(original_joint_state_.position[i]);
+    resetLowPassFilters(original_joint_state_);
 
     // Check if there are any new commands with valid timestamp
-    wait_for_jog_commands_ = twist_stamped_.header.stamp == ros::Time(0.) && joint_jog_.header.stamp == ros::Time(0.);
+    wait_for_jog_commands_ =
+        twist_stamped_cmd_.header.stamp == ros::Time(0.) && joint_jog_cmd_.header.stamp == ros::Time(0.);
 
     // Early exit
     return;
@@ -225,29 +256,44 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Create new outgoing joint trajectory command message
   auto joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
-  // If the input command isn't stale, run calculations
-  if (!command_is_stale_)
+  // Prioritize cartesian jogging above joint jogging
+  // Only run commands if not stale and nonzero
+  if (have_nonzero_twist_stamped_ && !twist_command_is_stale_)
+  {
+    if (!cartesianJogCalcs(twist_stamped_cmd_, *joint_trajectory))
+    {
+      resetLowPassFilters(original_joint_state_);
+      return;
+    }
+  }
+  else if (have_nonzero_joint_jog_ && !joint_command_is_stale_)
   {
-    // Prioritize cartesian jogging above joint jogging
-    if (have_nonzero_twist_stamped_)
+    if (!jointJogCalcs(joint_jog_cmd_, *joint_trajectory))
     {
-      if (!cartesianJogCalcs(twist_stamped_, *joint_trajectory))
-        return;
+      resetLowPassFilters(original_joint_state_);
+      return;
     }
-    else if (have_nonzero_joint_jog_)
+  }
+  else
+  {
+    // Joint trajectory is not populated with anything, so set it to the last positions and 0 velocity
+    *joint_trajectory = *last_sent_command_;
+    for (auto point : joint_trajectory->points)
     {
-      if (!jointJogCalcs(joint_jog_, *joint_trajectory))
-        return;
+      point.velocities.assign(point.velocities.size(), 0);
     }
   }
 
+  // Print a warning to the user if both are stale
+  if (!twist_command_is_stale_ || !joint_command_is_stale_)
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
+                                                "Try a larger 'incoming_command_timeout' parameter?");
+  }
+
   // If we should halt
   if (!have_nonzero_command_)
   {
-    // Keep the joint position filters up-to-date with current joints
-    for (std::size_t i = 0; i < num_joints_; ++i)
-      position_filters_[i].reset(original_joint_state_.position[i]);
-
     suddenHalt(*joint_trajectory);
     have_nonzero_twist_stamped_ = false;
     have_nonzero_joint_jog_ = false;
@@ -268,7 +314,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
 
   // Store last zero-velocity message flag to prevent superfluous warnings.
   // Cartesian and joint commands must both be zero.
-  if (!have_nonzero_twist_stamped_ && !have_nonzero_joint_jog_)
+  if (!have_nonzero_command_)
   {
     // Avoid overflow
     if (zero_velocity_count_ < std::numeric_limits<int>::max())
@@ -279,13 +325,6 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     zero_velocity_count_ = 0;
   }
 
-  if (command_is_stale_)
-  {
-    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                   "Stale command. "
-                                   "Try a larger 'incoming_command_timeout' parameter?");
-  }
-
   if (ok_to_publish_)
   {
     // Put the outgoing msg in the right format
@@ -304,7 +343,13 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
         joints->data = joint_trajectory->points[0].velocities;
       outgoing_cmd_pub_.publish(joints);
     }
+
+    last_sent_command_ = joint_trajectory;
   }
+
+  // Update the filters if we haven't yet
+  if (!updated_filters_)
+    resetLowPassFilters(original_joint_state_);
 }
 // Perform the jogging calculations
 bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
@@ -350,14 +395,23 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
     Eigen::Vector3d translation_vector(cmd.twist.linear.x, cmd.twist.linear.y, cmd.twist.linear.z);
     Eigen::Vector3d angular_vector(cmd.twist.angular.x, cmd.twist.angular.y, cmd.twist.angular.z);
 
-    // We solve (planning_frame -> base -> cmd.header.frame_id)
-    // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
-    const auto tf_planning_to_cmd_frame =
-        kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-        kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
-
-    translation_vector = tf_planning_to_cmd_frame.linear() * translation_vector;
-    angular_vector = tf_planning_to_cmd_frame.linear() * angular_vector;
+    // If the incoming frame is empty or is the command frame, we use the previously calculated tf
+    if (cmd.header.frame_id.empty() || cmd.header.frame_id == parameters_.robot_link_command_frame)
+    {
+      translation_vector = tf_moveit_to_robot_cmd_frame_.linear() * translation_vector;
+      angular_vector = tf_moveit_to_robot_cmd_frame_.linear() * angular_vector;
+    }
+    else
+    {
+      // We solve (planning_frame -> base -> cmd.header.frame_id)
+      // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
+      const auto tf_moveit_to_incoming_cmd_frame =
+          kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+          kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
+
+      translation_vector = tf_moveit_to_incoming_cmd_frame.linear() * translation_vector;
+      angular_vector = tf_moveit_to_incoming_cmd_frame.linear() * angular_vector;
+    }
 
     // Put these components back into a TwistStamped
     cmd.header.frame_id = parameters_.planning_frame;
@@ -378,7 +432,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
   // i.e. take advantage of task redundancy.
   // Remove the Jacobian rows corresponding to True in the vector drift_dimensions
   // Work backwards through the 6-vector so indices don't get out of order
-  for (auto dimension = jacobian.rows(); dimension >= 0; --dimension)
+  for (auto dimension = jacobian.rows() - 1; dimension >= 0; --dimension)
   {
     if (drift_dimensions_[dimension] && jacobian.rows() > 1)
     {
@@ -396,11 +450,11 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
   enforceSRDFAccelVelLimits(delta_theta_);
 
   // If close to a collision or a singularity, decelerate
-  applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, jacobian, pseudo_inverse));
+  applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, pseudo_inverse));
   if (status_ == StatusCode::HALT_FOR_COLLISION)
   {
-    ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Halting for collision!");
-    suddenHalt(delta_theta_);
+    ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Halting for collision!");
+    delta_theta_.setZero();
   }
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
@@ -410,7 +464,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
 
 bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
-  // Check for nan's or |delta|>1 in the incoming command
+  // Check for nan's
   for (double velocity : cmd.velocities)
   {
     if (std::isnan(velocity))
@@ -426,8 +480,6 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs:
 
   enforceSRDFAccelVelLimits(delta_theta_);
 
-  kinematic_state_->setVariableValues(internal_joint_state_);
-
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
   return convertDeltasToOutgoingCmd(joint_trajectory);
@@ -469,10 +521,10 @@ void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTraject
   joint_trajectory.points.resize(count);
   auto point = joint_trajectory.points[0];
   // Start from 2 because we already have the first point. End at count+1 so (total #) == count
-  for (int i = 2; i < count + 1; ++i)
+  for (int i = 2; i < count; ++i)
   {
     point.time_from_start = ros::Duration(i * parameters_.publish_period);
-    joint_trajectory.points.push_back(point);
+    joint_trajectory.points[i] = point;
   }
 }
 
@@ -482,6 +534,18 @@ void JogCalcs::lowPassFilterPositions(sensor_msgs::JointState& joint_state)
   {
     joint_state.position[i] = position_filters_[i].filter(joint_state.position[i]);
   }
+
+  updated_filters_ = true;
+}
+
+void JogCalcs::resetLowPassFilters(const sensor_msgs::JointState& joint_state)
+{
+  for (std::size_t i = 0; i < position_filters_.size(); ++i)
+  {
+    position_filters_[i].reset(joint_state.position[i]);
+  }
+
+  updated_filters_ = true;
 }
 
 void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta)
@@ -492,7 +556,7 @@ void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, co
   }
 }
 
-void JogCalcs::composeJointTrajMessage(sensor_msgs::JointState& joint_state,
+void JogCalcs::composeJointTrajMessage(const sensor_msgs::JointState& joint_state,
                                        trajectory_msgs::JointTrajectory& joint_trajectory) const
 {
   joint_trajectory.header.frame_id = parameters_.planning_frame;
@@ -537,11 +601,10 @@ void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singular
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
 double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
                                                      const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
-                                                     const Eigen::MatrixXd& jacobian,
                                                      const Eigen::MatrixXd& pseudo_inverse)
 {
   double velocity_scale = 1;
-  std::size_t num_dimensions = jacobian.rows();
+  std::size_t num_dimensions = commanded_velocity.size();
 
   // Find the direction away from nearest singularity.
   // The last column of U from the SVD of the Jacobian points directly toward or away from the singularity.
@@ -564,8 +627,9 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
   kinematic_state_->copyJointGroupPositions(joint_model_group_, new_theta);
   new_theta += pseudo_inverse * delta_x;
   kinematic_state_->setJointGroupPositions(joint_model_group_, new_theta);
+  auto new_jacobian = kinematic_state_->getJacobian(joint_model_group_);
 
-  Eigen::JacobiSVD<Eigen::MatrixXd> new_svd(jacobian);
+  Eigen::JacobiSVD<Eigen::MatrixXd> new_svd(new_jacobian);
   double new_condition = new_svd.singularValues()(0) / new_svd.singularValues()(new_svd.singularValues().size() - 1);
   // If new_condition < ini_condition, the singular vector does point towards a
   // singularity. Otherwise, flip its direction.
@@ -671,8 +735,8 @@ void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
           velocity(joint_delta_index) = relative_change * velocity(joint_delta_index);
         }
       }
-      ++joint_delta_index;
     }
+    ++joint_delta_index;
   }
 }
 
@@ -716,13 +780,6 @@ bool JogCalcs::enforceSRDFPositionLimits()
   return !halting;
 }
 
-// Suddenly halt for a joint limit or other critical issue.
-// Is handled differently for position vs. velocity control.
-void JogCalcs::suddenHalt(Eigen::ArrayXd& delta_theta)
-{
-  delta_theta = Eigen::ArrayXd::Zero(delta_theta.rows());
-}
-
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
 void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
@@ -801,9 +858,9 @@ bool JogCalcs::updateJoints()
         }
         else
         {
-          ROS_ERROR_STREAM_ONCE_NAMED(LOGNAME, "An acceleration limit is not defined for this joint, '"
-                                                   << joint_model->getName() << "'; minimum stop distance should not "
-                                                                                "be used for collision checking");
+          ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                         "An acceleration limit is not defined for this joint; minimum stop distance "
+                                         "should not be used for collision checking");
         }
         break;
       }
@@ -860,11 +917,7 @@ Eigen::VectorXd JogCalcs::scaleCartesianCommand(const geometry_msgs::TwistStampe
 Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& command) const
 {
   Eigen::VectorXd result(num_joints_);
-
-  for (std::size_t i = 0; i < num_joints_; ++i)
-  {
-    result[i] = 0.0;
-  }
+  result.setZero();
 
   std::size_t c;
   for (std::size_t m = 0; m < command.joint_names.size(); ++m)
@@ -899,7 +952,7 @@ bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::
   {
     try
     {
-      output.position[i] += increments[static_cast<long>(i)];
+      output.position[i] += increments[i];
     }
     catch (const std::out_of_range& e)
     {
@@ -932,7 +985,7 @@ void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta
 bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  transform = tf_moveit_to_cmd_frame_;
+  transform = tf_moveit_to_robot_cmd_frame_;
 
   // All zeros means the transform wasn't initialized, so return false
   return !transform.matrix().isZero(0);
@@ -942,20 +995,20 @@ void JogCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_twist_stamped_ = msg;
-  have_nonzero_twist_stamped_ = isNonZero(*latest_twist_stamped_);
+  latest_nonzero_twist_stamped_ = isNonZero(*latest_twist_stamped_);
 
   if (msg->header.stamp != ros::Time(0.))
-    latest_command_stamp_ = msg->header.stamp;
+    latest_twist_command_stamp_ = msg->header.stamp;
 }
 
 void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_joint_jog_ = msg;
-  have_nonzero_joint_jog_ = isNonZero(*latest_joint_jog_);
+  latest_nonzero_joint_jog_ = isNonZero(*latest_joint_jog_);
 
   if (msg->header.stamp != ros::Time(0.))
-    latest_command_stamp_ = msg->header.stamp;
+    latest_joint_command_stamp_ = msg->header.stamp;
 }
 
 void JogCalcs::collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg)

From 4f9531d253af14e102b13e5eb416ddd7c8b2e927 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 24 Jun 2020 18:35:28 +0200
Subject: [PATCH 352/612] TEM: fix check for start state position (#2157)

distance() respects unlimited revolute joints
---
 .../src/trajectory_execution_manager.cpp                        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index c07c592fb8..a7920194f7 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -972,7 +972,7 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
         // normalize positions and compare
         jm->enforcePositionBounds(&cur_position);
         jm->enforcePositionBounds(&traj_position);
-        if (fabs(cur_position - traj_position) > allowed_start_tolerance_)
+        if (jm->distance(&cur_position, &traj_position) > allowed_start_tolerance_)
         {
           ROS_ERROR_NAMED(name_, "\nInvalid Trajectory: start point deviates from current robot state more than %g"
                                  "\njoint '%s': expected: %g, current: %g",

From 335ba7e7710d2189e98ee769a9688f364a26e330 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 25 Jun 2020 11:38:24 +0200
Subject: [PATCH 353/612] Add missing boost::regex dependency (#2163)

---
 moveit_core/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index e645a0d179..6c336a1e9d 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -26,7 +26,7 @@ endif()
 if(WIN32)
   set(EXTRA_BOOST_COMPONENTS zlib)
 endif()
-find_package(Boost REQUIRED system filesystem date_time thread iostreams ${EXTRA_BOOST_COMPONENTS})
+find_package(Boost REQUIRED system filesystem date_time thread iostreams regex ${EXTRA_BOOST_COMPONENTS})
 find_package(Eigen3 REQUIRED)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")

From b8b57846650f7662a44106e0b7728e0c9ca36888 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 25 Jun 2020 14:24:45 -0600
Subject: [PATCH 354/612] optional cpp version setting (#2166)

---
 moveit_core/CMakeLists.txt                                    | 4 +++-
 moveit_experimental/moveit_jog_arm/CMakeLists.txt             | 4 +++-
 moveit_kinematics/CMakeLists.txt                              | 4 +++-
 .../ikfast_kinematics_plugin/templates/CMakeLists.txt         | 4 +++-
 moveit_planners/chomp/chomp_interface/CMakeLists.txt          | 4 +++-
 moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt     | 4 +++-
 moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt  | 4 +++-
 moveit_planners/ompl/CMakeLists.txt                           | 4 +++-
 moveit_planners/trajopt/CMakeLists.txt                        | 4 +++-
 moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt  | 4 +++-
 moveit_plugins/moveit_ros_control_interface/CMakeLists.txt    | 4 +++-
 .../moveit_simple_controller_manager/CMakeLists.txt           | 4 +++-
 moveit_ros/benchmarks/CMakeLists.txt                          | 4 +++-
 moveit_ros/manipulation/CMakeLists.txt                        | 4 +++-
 moveit_ros/move_group/CMakeLists.txt                          | 4 +++-
 moveit_ros/occupancy_map_monitor/CMakeLists.txt               | 4 +++-
 moveit_ros/perception/CMakeLists.txt                          | 4 +++-
 moveit_ros/planning/CMakeLists.txt                            | 4 +++-
 moveit_ros/planning_interface/CMakeLists.txt                  | 4 +++-
 moveit_ros/robot_interaction/CMakeLists.txt                   | 4 +++-
 moveit_ros/visualization/CMakeLists.txt                       | 4 +++-
 moveit_ros/warehouse/CMakeLists.txt                           | 4 +++-
 moveit_setup_assistant/CMakeLists.txt                         | 4 +++-
 23 files changed, 69 insertions(+), 23 deletions(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 6c336a1e9d..04a960fd48 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_core)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
index da429665cc..4b7ccda0aa 100644
--- a/moveit_experimental/moveit_jog_arm/CMakeLists.txt
+++ b/moveit_experimental/moveit_jog_arm/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_jog_arm)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 67f843f1ce..1ba7d8f56f 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_kinematics)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index f1ca31f341..71bc2f0442 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(_PACKAGE_NAME_)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
index 1c64f232e5..3c49159201 100644
--- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_chomp)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
index cd3e7a29b0..3aa69715fb 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(chomp_motion_planner)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
index fd4f0bdd5a..a08a00e79e 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_chomp_optimizer_adapter)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 20577b7fac..e9e745df30 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_ompl)
 
 # At least C++11 required for OMPL
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/CMakeLists.txt
index ad66fd900c..4d7d8f54e1 100644
--- a/moveit_planners/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_planners_trajopt)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index 95636d536f..2d4c43f82b 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_fake_controller_manager)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index 00988dcb65..04d702e1d1 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_control_interface)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index caaa598307..b338d15d5f 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_simple_controller_manager)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 1a84d206de..3bae2ed4e0 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -3,7 +3,9 @@ project(moveit_ros_benchmarks)
 
 set(MOVEIT_LIB_NAME moveit_ros_benchmarks)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
index 1288e6caba..0cf81cd7bd 100644
--- a/moveit_ros/manipulation/CMakeLists.txt
+++ b/moveit_ros/manipulation/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_manipulation)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index d74c89ea65..5ec56208e7 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_move_group)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index 686ef96e38..1390c52719 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_occupancy_map_monitor)
 set(MOVEIT_LIB_NAME ${PROJECT_NAME})
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 0456a0299f..74c908d4cd 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_perception)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index 6383fe717c..5c95e7df0b 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 3ba534ecf8..879cb6a399 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_planning_interface)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index 0380aef8db..c896af71c2 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_robot_interaction)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index c1c71a5bbc..51e5011804 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_visualization)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
index ec829566b3..e8a615e079 100644
--- a/moveit_ros/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_ros_warehouse)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index 6f9b85ef44..2a60903728 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_setup_assistant)
 
-set(CMAKE_CXX_STANDARD 14)
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 

From 0672c9e9d622907db43bfcb19c2a02a3ebfef03a Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 23 Jun 2020 09:33:42 -0500
Subject: [PATCH 355/612] Move moveit_experimental/moveit_jog_arm ->
 moveit_ros/moveit_jog_arm

---
 {moveit_experimental => moveit_ros}/moveit_jog_arm/CMakeLists.txt | 0
 {moveit_experimental => moveit_ros}/moveit_jog_arm/README.md      | 0
 .../moveit_jog_arm/config/spacenav_via_teleop_tools.yaml          | 0
 .../moveit_jog_arm/config/ur_simulated_config.yaml                | 0
 .../moveit_jog_arm/include/moveit_jog_arm/collision_check.h       | 0
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm.h               | 0
 .../moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h    | 0
 .../moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h             | 0
 .../include/moveit_jog_arm/joint_state_subscriber.h               | 0
 .../moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h       | 0
 .../moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h | 0
 .../moveit_jog_arm/include/moveit_jog_arm/status_codes.h          | 0
 .../moveit_jog_arm/launch/cpp_interface_example.launch            | 0
 .../moveit_jog_arm/launch/spacenav_cpp.launch                     | 0
 .../moveit_jog_arm/launch/spacenav_teleop_tools.launch            | 0
 {moveit_experimental => moveit_ros}/moveit_jog_arm/package.xml    | 0
 .../moveit_jog_arm/src/collision_check.cpp                        | 0
 .../src/cpp_interface_example/cpp_interface_example.cpp           | 0
 .../moveit_jog_arm/src/jog_arm.cpp                                | 0
 .../moveit_jog_arm/src/jog_calcs.cpp                              | 0
 .../moveit_jog_arm/src/jog_server.cpp                             | 0
 .../moveit_jog_arm/src/joint_state_subscriber.cpp                 | 0
 .../moveit_jog_arm/src/low_pass_filter.cpp                        | 0
 .../moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp      | 0
 .../moveit_jog_arm/test/config/initial_position.yaml              | 0
 .../moveit_jog_arm/test/config/jog_settings.yaml                  | 0
 .../moveit_jog_arm/test/config/singular_position.yaml             | 0
 .../moveit_jog_arm/test/jog_cpp_interface_test.cpp                | 0
 .../moveit_jog_arm/test/jog_cpp_interface_test.test               | 0
 .../moveit_jog_arm/test/launch/common_test_setup.launch           | 0
 .../test/launch/jog_arm_drift_dimensions_service_test.test        | 0
 .../moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test         | 0
 .../moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test    | 0
 .../moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test | 0
 .../moveit_jog_arm/test/python_tests/__init__.py                  | 0
 .../drift_dimensions_service/test_drift_dimensions_service.py     | 0
 .../test/python_tests/halt_msg/test_jog_arm_halt_msg.py           | 0
 .../test/python_tests/msg_reception/test_jog_arm_msg_reception.py | 0
 .../moveit_jog_arm/test/python_tests/util.py                      | 0
 .../test/python_tests/vel_accel_limits/test_vel_accel_limits.py   | 0
 40 files changed, 0 insertions(+), 0 deletions(-)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/CMakeLists.txt (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/README.md (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/config/ur_simulated_config.yaml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/collision_check.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/include/moveit_jog_arm/status_codes.h (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/launch/cpp_interface_example.launch (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/launch/spacenav_cpp.launch (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/launch/spacenav_teleop_tools.launch (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/package.xml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/collision_check.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/jog_arm.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/jog_calcs.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/jog_server.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/joint_state_subscriber.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/low_pass_filter.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/config/initial_position.yaml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/config/jog_settings.yaml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/config/singular_position.yaml (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/jog_cpp_interface_test.cpp (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/jog_cpp_interface_test.test (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/launch/common_test_setup.launch (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/__init__.py (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/util.py (100%)
 rename {moveit_experimental => moveit_ros}/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py (100%)

diff --git a/moveit_experimental/moveit_jog_arm/CMakeLists.txt b/moveit_ros/moveit_jog_arm/CMakeLists.txt
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/CMakeLists.txt
rename to moveit_ros/moveit_jog_arm/CMakeLists.txt
diff --git a/moveit_experimental/moveit_jog_arm/README.md b/moveit_ros/moveit_jog_arm/README.md
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/README.md
rename to moveit_ros/moveit_jog_arm/README.md
diff --git a/moveit_experimental/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml b/moveit_ros/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
rename to moveit_ros/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
diff --git a/moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_ros/moveit_jog_arm/config/ur_simulated_config.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
rename to moveit_ros/moveit_jog_arm/config/ur_simulated_config.yaml
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
diff --git a/moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
rename to moveit_ros/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
diff --git a/moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch b/moveit_ros/moveit_jog_arm/launch/cpp_interface_example.launch
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/launch/cpp_interface_example.launch
rename to moveit_ros/moveit_jog_arm/launch/cpp_interface_example.launch
diff --git a/moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch b/moveit_ros/moveit_jog_arm/launch/spacenav_cpp.launch
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/launch/spacenav_cpp.launch
rename to moveit_ros/moveit_jog_arm/launch/spacenav_cpp.launch
diff --git a/moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_jog_arm/launch/spacenav_teleop_tools.launch
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/launch/spacenav_teleop_tools.launch
rename to moveit_ros/moveit_jog_arm/launch/spacenav_teleop_tools.launch
diff --git a/moveit_experimental/moveit_jog_arm/package.xml b/moveit_ros/moveit_jog_arm/package.xml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/package.xml
rename to moveit_ros/moveit_jog_arm/package.xml
diff --git a/moveit_experimental/moveit_jog_arm/src/collision_check.cpp b/moveit_ros/moveit_jog_arm/src/collision_check.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/collision_check.cpp
rename to moveit_ros/moveit_jog_arm/src/collision_check.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
rename to moveit_ros/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_arm.cpp b/moveit_ros/moveit_jog_arm/src/jog_arm.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/jog_arm.cpp
rename to moveit_ros/moveit_jog_arm/src/jog_arm.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp b/moveit_ros/moveit_jog_arm/src/jog_calcs.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/jog_calcs.cpp
rename to moveit_ros/moveit_jog_arm/src/jog_calcs.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/jog_server.cpp b/moveit_ros/moveit_jog_arm/src/jog_server.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/jog_server.cpp
rename to moveit_ros/moveit_jog_arm/src/jog_server.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp b/moveit_ros/moveit_jog_arm/src/joint_state_subscriber.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/joint_state_subscriber.cpp
rename to moveit_ros/moveit_jog_arm/src/joint_state_subscriber.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_ros/moveit_jog_arm/src/low_pass_filter.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/low_pass_filter.cpp
rename to moveit_ros/moveit_jog_arm/src/low_pass_filter.cpp
diff --git a/moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
rename to moveit_ros/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
diff --git a/moveit_experimental/moveit_jog_arm/test/config/initial_position.yaml b/moveit_ros/moveit_jog_arm/test/config/initial_position.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/config/initial_position.yaml
rename to moveit_ros/moveit_jog_arm/test/config/initial_position.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_ros/moveit_jog_arm/test/config/jog_settings.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/config/jog_settings.yaml
rename to moveit_ros/moveit_jog_arm/test/config/jog_settings.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/config/singular_position.yaml b/moveit_ros/moveit_jog_arm/test/config/singular_position.yaml
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/config/singular_position.yaml
rename to moveit_ros/moveit_jog_arm/test/config/singular_position.yaml
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.cpp
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.cpp
rename to moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.cpp
diff --git a/moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.test
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/jog_cpp_interface_test.test
rename to moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.test
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch b/moveit_ros/moveit_jog_arm/test/launch/common_test_setup.launch
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/launch/common_test_setup.launch
rename to moveit_ros/moveit_jog_arm/test/launch/common_test_setup.launch
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_ros/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
rename to moveit_ros/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test b/moveit_ros/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
rename to moveit_ros/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test b/moveit_ros/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
rename to moveit_ros/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
diff --git a/moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_ros/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
rename to moveit_ros/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/__init__.py b/moveit_ros/moveit_jog_arm/test/python_tests/__init__.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/__init__.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/__init__.py
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_ros/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/util.py b/moveit_ros/moveit_jog_arm/test/python_tests/util.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/util.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/util.py
diff --git a/moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
similarity index 100%
rename from moveit_experimental/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
rename to moveit_ros/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py

From 93e29c490f66671b42e14541bc981be96081665c Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 09:33:35 -0500
Subject: [PATCH 356/612] Rename filepath moveit_ros/moveit_jog_arm ->
 moveit_ros/moveit_servo

---
 moveit_ros/{moveit_jog_arm => moveit_servo}/CMakeLists.txt        | 0
 moveit_ros/{moveit_jog_arm => moveit_servo}/README.md             | 0
 .../config/spacenav_via_teleop_tools.yaml                         | 0
 .../config/ur_simulated_config.yaml                               | 0
 .../include/moveit_servo}/collision_check.h                       | 0
 .../include/moveit_servo}/jog_arm.h                               | 0
 .../include/moveit_servo}/jog_arm_parameters.h                    | 0
 .../include/moveit_servo}/jog_calcs.h                             | 0
 .../include/moveit_servo}/joint_state_subscriber.h                | 0
 .../include/moveit_servo}/low_pass_filter.h                       | 0
 .../include/moveit_servo}/make_shared_from_pool.h                 | 0
 .../include/moveit_servo}/status_codes.h                          | 0
 .../launch/cpp_interface_example.launch                           | 0
 .../{moveit_jog_arm => moveit_servo}/launch/spacenav_cpp.launch   | 0
 .../launch/spacenav_teleop_tools.launch                           | 0
 moveit_ros/{moveit_jog_arm => moveit_servo}/package.xml           | 0
 .../{moveit_jog_arm => moveit_servo}/src/collision_check.cpp      | 0
 .../src/cpp_interface_example/cpp_interface_example.cpp           | 0
 moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_arm.cpp       | 0
 moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_calcs.cpp     | 0
 moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_server.cpp    | 0
 .../src/joint_state_subscriber.cpp                                | 0
 .../{moveit_jog_arm => moveit_servo}/src/low_pass_filter.cpp      | 0
 .../src/teleop_examples/spacenav_to_twist.cpp                     | 0
 .../test/config/initial_position.yaml                             | 0
 .../test/config/jog_settings.yaml                                 | 0
 .../test/config/singular_position.yaml                            | 0
 .../test/jog_cpp_interface_test.cpp                               | 0
 .../test/jog_cpp_interface_test.test                              | 0
 .../test/launch/common_test_setup.launch                          | 0
 .../test/launch/jog_arm_drift_dimensions_service_test.test        | 0
 .../test/launch/jog_arm_halt_msg_test.test                        | 0
 .../test/launch/jog_arm_msg_reception_test.test                   | 0
 .../test/launch/jog_arm_vel_accel_limits_test.test                | 0
 .../test/python_tests/__init__.py                                 | 0
 .../drift_dimensions_service/test_drift_dimensions_service.py     | 0
 .../test/python_tests/halt_msg/test_jog_arm_halt_msg.py           | 0
 .../test/python_tests/msg_reception/test_jog_arm_msg_reception.py | 0
 .../{moveit_jog_arm => moveit_servo}/test/python_tests/util.py    | 0
 .../test/python_tests/vel_accel_limits/test_vel_accel_limits.py   | 0
 40 files changed, 0 insertions(+), 0 deletions(-)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/CMakeLists.txt (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/README.md (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/config/spacenav_via_teleop_tools.yaml (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/config/ur_simulated_config.yaml (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/collision_check.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/jog_arm.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/jog_arm_parameters.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/jog_calcs.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/joint_state_subscriber.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/low_pass_filter.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/make_shared_from_pool.h (100%)
 rename moveit_ros/{moveit_jog_arm/include/moveit_jog_arm => moveit_servo/include/moveit_servo}/status_codes.h (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/launch/cpp_interface_example.launch (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/launch/spacenav_cpp.launch (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/launch/spacenav_teleop_tools.launch (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/package.xml (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/collision_check.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/cpp_interface_example/cpp_interface_example.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_arm.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_calcs.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/jog_server.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/joint_state_subscriber.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/low_pass_filter.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/src/teleop_examples/spacenav_to_twist.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/config/initial_position.yaml (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/config/jog_settings.yaml (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/config/singular_position.yaml (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/jog_cpp_interface_test.cpp (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/jog_cpp_interface_test.test (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/launch/common_test_setup.launch (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/launch/jog_arm_drift_dimensions_service_test.test (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/launch/jog_arm_halt_msg_test.test (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/launch/jog_arm_msg_reception_test.test (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/launch/jog_arm_vel_accel_limits_test.test (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/__init__.py (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/halt_msg/test_jog_arm_halt_msg.py (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/msg_reception/test_jog_arm_msg_reception.py (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/util.py (100%)
 rename moveit_ros/{moveit_jog_arm => moveit_servo}/test/python_tests/vel_accel_limits/test_vel_accel_limits.py (100%)

diff --git a/moveit_ros/moveit_jog_arm/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
similarity index 100%
rename from moveit_ros/moveit_jog_arm/CMakeLists.txt
rename to moveit_ros/moveit_servo/CMakeLists.txt
diff --git a/moveit_ros/moveit_jog_arm/README.md b/moveit_ros/moveit_servo/README.md
similarity index 100%
rename from moveit_ros/moveit_jog_arm/README.md
rename to moveit_ros/moveit_servo/README.md
diff --git a/moveit_ros/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml b/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/config/spacenav_via_teleop_tools.yaml
rename to moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
diff --git a/moveit_ros/moveit_jog_arm/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/config/ur_simulated_config.yaml
rename to moveit_ros/moveit_servo/config/ur_simulated_config.yaml
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/collision_check.h
rename to moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm.h
rename to moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_arm_parameters.h
rename to moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h
rename to moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/joint_state_subscriber.h
rename to moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/low_pass_filter.h
rename to moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/make_shared_from_pool.h
rename to moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
diff --git a/moveit_ros/moveit_jog_arm/include/moveit_jog_arm/status_codes.h b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
similarity index 100%
rename from moveit_ros/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
rename to moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
diff --git a/moveit_ros/moveit_jog_arm/launch/cpp_interface_example.launch b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
similarity index 100%
rename from moveit_ros/moveit_jog_arm/launch/cpp_interface_example.launch
rename to moveit_ros/moveit_servo/launch/cpp_interface_example.launch
diff --git a/moveit_ros/moveit_jog_arm/launch/spacenav_cpp.launch b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
similarity index 100%
rename from moveit_ros/moveit_jog_arm/launch/spacenav_cpp.launch
rename to moveit_ros/moveit_servo/launch/spacenav_cpp.launch
diff --git a/moveit_ros/moveit_jog_arm/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
similarity index 100%
rename from moveit_ros/moveit_jog_arm/launch/spacenav_teleop_tools.launch
rename to moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
diff --git a/moveit_ros/moveit_jog_arm/package.xml b/moveit_ros/moveit_servo/package.xml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/package.xml
rename to moveit_ros/moveit_servo/package.xml
diff --git a/moveit_ros/moveit_jog_arm/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/collision_check.cpp
rename to moveit_ros/moveit_servo/src/collision_check.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/cpp_interface_example/cpp_interface_example.cpp
rename to moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/jog_arm.cpp b/moveit_ros/moveit_servo/src/jog_arm.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/jog_arm.cpp
rename to moveit_ros/moveit_servo/src/jog_arm.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/jog_calcs.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/jog_calcs.cpp
rename to moveit_ros/moveit_servo/src/jog_calcs.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/jog_server.cpp b/moveit_ros/moveit_servo/src/jog_server.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/jog_server.cpp
rename to moveit_ros/moveit_servo/src/jog_server.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/joint_state_subscriber.cpp b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/joint_state_subscriber.cpp
rename to moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/low_pass_filter.cpp b/moveit_ros/moveit_servo/src/low_pass_filter.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/low_pass_filter.cpp
rename to moveit_ros/moveit_servo/src/low_pass_filter.cpp
diff --git a/moveit_ros/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/src/teleop_examples/spacenav_to_twist.cpp
rename to moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
diff --git a/moveit_ros/moveit_jog_arm/test/config/initial_position.yaml b/moveit_ros/moveit_servo/test/config/initial_position.yaml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/config/initial_position.yaml
rename to moveit_ros/moveit_servo/test/config/initial_position.yaml
diff --git a/moveit_ros/moveit_jog_arm/test/config/jog_settings.yaml b/moveit_ros/moveit_servo/test/config/jog_settings.yaml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/config/jog_settings.yaml
rename to moveit_ros/moveit_servo/test/config/jog_settings.yaml
diff --git a/moveit_ros/moveit_jog_arm/test/config/singular_position.yaml b/moveit_ros/moveit_servo/test/config/singular_position.yaml
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/config/singular_position.yaml
rename to moveit_ros/moveit_servo/test/config/singular_position.yaml
diff --git a/moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.cpp
rename to moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
diff --git a/moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.test b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/jog_cpp_interface_test.test
rename to moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
diff --git a/moveit_ros/moveit_jog_arm/test/launch/common_test_setup.launch b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/launch/common_test_setup.launch
rename to moveit_ros/moveit_servo/test/launch/common_test_setup.launch
diff --git a/moveit_ros/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/launch/jog_arm_drift_dimensions_service_test.test
rename to moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
diff --git a/moveit_ros/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/launch/jog_arm_halt_msg_test.test
rename to moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
diff --git a/moveit_ros/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/launch/jog_arm_msg_reception_test.test
rename to moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
diff --git a/moveit_ros/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/launch/jog_arm_vel_accel_limits_test.test
rename to moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/__init__.py b/moveit_ros/moveit_servo/test/python_tests/__init__.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/__init__.py
rename to moveit_ros/moveit_servo/test/python_tests/__init__.py
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
rename to moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
rename to moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
rename to moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/util.py b/moveit_ros/moveit_servo/test/python_tests/util.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/util.py
rename to moveit_ros/moveit_servo/test/python_tests/util.py
diff --git a/moveit_ros/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
similarity index 100%
rename from moveit_ros/moveit_jog_arm/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
rename to moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py

From c76997881e4998d557a291b2928674656a03c76d Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 11:17:06 -0500
Subject: [PATCH 357/612] Rename internal namespaces and package/project name
 to moveit_servo

---
 moveit_ros/moveit_servo/CMakeLists.txt        |  2 +-
 moveit_ros/moveit_servo/README.md             |  8 +--
 .../include/moveit_servo/collision_check.h    | 18 +++---
 .../include/moveit_servo/jog_arm.h            | 22 +++----
 .../include/moveit_servo/jog_arm_parameters.h | 10 ++--
 .../include/moveit_servo/jog_calcs.h          | 21 ++++---
 .../moveit_servo/joint_state_subscriber.h     |  8 +--
 .../include/moveit_servo/low_pass_filter.h    |  6 +-
 .../moveit_servo/make_shared_from_pool.h      |  2 +-
 .../include/moveit_servo/status_codes.h       | 18 +++---
 .../launch/cpp_interface_example.launch       |  4 +-
 .../moveit_servo/launch/spacenav_cpp.launch   |  6 +-
 .../launch/spacenav_teleop_tools.launch       |  6 +-
 moveit_ros/moveit_servo/package.xml           |  4 +-
 .../moveit_servo/src/collision_check.cpp      | 12 ++--
 .../cpp_interface_example.cpp                 | 20 +++----
 moveit_ros/moveit_servo/src/jog_arm.cpp       | 10 ++--
 moveit_ros/moveit_servo/src/jog_calcs.cpp     | 12 ++--
 moveit_ros/moveit_servo/src/jog_server.cpp    |  6 +-
 .../src/joint_state_subscriber.cpp            |  8 +--
 .../moveit_servo/src/low_pass_filter.cpp      | 10 ++--
 .../src/teleop_examples/spacenav_to_twist.cpp |  8 +--
 .../test/jog_cpp_interface_test.cpp           | 59 +++++++++----------
 .../test/jog_cpp_interface_test.test          |  6 +-
 .../test/launch/common_test_setup.launch      |  6 +-
 ...jog_arm_drift_dimensions_service_test.test |  6 +-
 .../test/launch/jog_arm_halt_msg_test.test    |  6 +-
 .../launch/jog_arm_msg_reception_test.test    |  6 +-
 .../launch/jog_arm_vel_accel_limits_test.test |  6 +-
 .../halt_msg/test_jog_arm_halt_msg.py         |  2 +-
 .../test_jog_arm_msg_reception.py             |  8 +--
 .../vel_accel_limits/test_vel_accel_limits.py |  2 +-
 32 files changed, 163 insertions(+), 165 deletions(-)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 4b7ccda0aa..2599b34458 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(moveit_jog_arm)
+project(moveit_servo)
 
 if(NOT "${CMAKE_CXX_STANDARD}")
   set(CMAKE_CXX_STANDARD 14)
diff --git a/moveit_ros/moveit_servo/README.md b/moveit_ros/moveit_servo/README.md
index 93c7c036d9..6b55fb804d 100644
--- a/moveit_ros/moveit_servo/README.md
+++ b/moveit_ros/moveit_servo/README.md
@@ -1,4 +1,4 @@
-## Jog Arm
+## Moveit Servo
 
 #### Quick Start Guide for UR5 example
 
@@ -30,9 +30,9 @@ stop_controllers:
 strictness: 2"
 ```
 
-Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
+Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:
 
-    roslaunch moveit_jog_arm spacenav_cpp.launch
+    roslaunch moveit_servo spacenav_cpp.launch
 
 If you dont have a SpaceNavigator, send commands like this:
 
@@ -53,6 +53,6 @@ If you see a warning about "close to singularity", try changing the direction of
 
 #### Running Tests
 
-Run tests from the jog\_arm folder:
+Run tests from the moveit\_servo folder:
 
     catkin run_tests --no-deps --this
\ No newline at end of file
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 8055e7f762..6abdfc8a1b 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  * Title     : collision_check.h
- * Project   : moveit_jog_arm
+ * Project   : moveit_servo
  * Created   : 1/11/2019
  * Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  *
@@ -45,11 +45,11 @@
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float64.h>
 
-#include <moveit_jog_arm/jog_arm_parameters.h>
-#include <moveit_jog_arm/low_pass_filter.h>
-#include <moveit_jog_arm/joint_state_subscriber.h>
+#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/low_pass_filter.h>
+#include <moveit_servo/joint_state_subscriber.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 enum CollisionCheckType
 {
@@ -61,11 +61,11 @@ class CollisionCheck
 {
 public:
   /** \brief Constructor
-   *  \param parameters: common settings of jog_arm
+   *  \param parameters: common settings of moveit_servo
    *  \param planning_scene_monitor: PSM should have scene monitor and state monitor
    *                                 already started when passed into this class
    */
-  CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
+  CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoParameters& parameters,
                  const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                  const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
@@ -84,7 +84,7 @@ class CollisionCheck
   ros::NodeHandle nh_;
 
   // Parameters from yaml
-  const JogArmParameters& parameters_;
+  const ServoParameters& parameters_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
@@ -128,4 +128,4 @@ class CollisionCheck
   ros::Publisher collision_velocity_scale_pub_;
   ros::Subscriber worst_case_stop_time_sub_;
 };
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
index 0949fcb71b..4beec792d6 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
- *      Title     : jog_arm.cpp
- *      Project   : moveit_jog_arm
+ *      Title     : jog_arm.h
+ *      Project   : moveit_servo
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  *
@@ -40,15 +40,15 @@
 
 #include <memory>
 
-#include <moveit_jog_arm/collision_check.h>
-#include <moveit_jog_arm/jog_arm_parameters.h>
-#include <moveit_jog_arm/jog_calcs.h>
-#include <moveit_jog_arm/joint_state_subscriber.h>
+#include <moveit_servo/collision_check.h>
+#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/jog_calcs.h>
+#include <moveit_servo/joint_state_subscriber.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 /**
- * Class JogArm - Jacobian based robot control with collision avoidance.
+ * Class Servo - Jacobian based robot control with collision avoidance.
  */
 class JogArm
 {
@@ -76,7 +76,7 @@ class JogArm
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
   /** \brief Get the parameters used by jog arm. */
-  const JogArmParameters& getParameters() const;
+  const ServoParameters& getParameters() const;
 
   /** \brief Get the latest joint state. */
   sensor_msgs::JointStateConstPtr getLatestJointState() const;
@@ -90,7 +90,7 @@ class JogArm
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
   // Store the parameters that were read from ROS server
-  JogArmParameters parameters_;
+  ServoParameters parameters_;
 
   std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
   std::unique_ptr<JogCalcs> jog_calcs_;
@@ -100,4 +100,4 @@ class JogArm
 // JogArmPtr using alias
 using JogArmPtr = std::shared_ptr<JogArm>;
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
index a9e2cfa245..2fcdea7c5c 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
- *      Title     : jog_arm_parameters.h
- *      Project   : moveit_jog_arm
+ *      Title     : servo_parameters.h
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  *
@@ -38,13 +38,13 @@
 
 #pragma once
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 // Size of queues used in ros pub/sub/service
 constexpr size_t ROS_QUEUE_SIZE = 2;
 
 // ROS params to be read. See the yaml file in /config for a description of each.
-struct JogArmParameters
+struct ServoParameters
 {
   std::string move_group_name;
   std::string joint_topic;
@@ -80,4 +80,4 @@ struct JogArmParameters
   double min_allowable_collision_distance;
 };
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
index 9c87ccd5e2..c2bb494211 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : jog_calcs.h
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  *
@@ -53,19 +53,18 @@
 #include <geometry_msgs/TwistStamped.h>
 #include <trajectory_msgs/JointTrajectory.h>
 
-// moveit_jog_arm
-#include <moveit_jog_arm/jog_arm_parameters.h>
-#include <moveit_jog_arm/low_pass_filter.h>
-#include <moveit_jog_arm/status_codes.h>
-#include <moveit_jog_arm/low_pass_filter.h>
-#include <moveit_jog_arm/joint_state_subscriber.h>
+// moveit_servo
+#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/status_codes.h>
+#include <moveit_servo/low_pass_filter.h>
+#include <moveit_servo/joint_state_subscriber.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 class JogCalcs
 {
 public:
-  JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
+  JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
            const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
            const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
@@ -194,7 +193,7 @@ class JogCalcs
   ros::NodeHandle nh_;
 
   // Parameters from yaml
-  const JogArmParameters& parameters_;
+  const ServoParameters& parameters_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
@@ -285,4 +284,4 @@ class JogCalcs
   bool latest_nonzero_twist_stamped_ = false;
   bool latest_nonzero_joint_jog_ = false;
 };
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
index e7b74f2911..9346ba7ae8 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  * Title     : joint_state_subscriber.h
- * Project   : moveit_jog_arm
+ * Project   : moveit_servo
  * Created   : 06/11/2020
  * Author    : Tyler Weaver
  *
@@ -43,9 +43,9 @@
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 
-#include "jog_arm_parameters.h"
+#include <moveit_servo/jog_arm_parameters.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 class JointStateSubscriber
 {
@@ -66,4 +66,4 @@ class JointStateSubscriber
   mutable std::mutex joint_state_mutex_;
   sensor_msgs::JointStateConstPtr latest_joint_state_;
 };
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
index 6d5d6ba2b0..99d9934224 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : low_pass_filter.h
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Andy Zelenak
  *
@@ -40,7 +40,7 @@
 
 #include <cstddef>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 /**
  * Class LowPassFilter - Filter a signal to soften jerks.
@@ -66,4 +66,4 @@ class LowPassFilter
   const double scale_term_;
   const double feedback_term_;
 };
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
index ca4243625e..73fd73df8d 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : make_shared_from_pool.h
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Tyler Weaver
  *
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
index 7f930f6db6..bdeca7dc4f 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : status_codes.h
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 2/25/2019
  *      Author    : Andy Zelenak
  *
@@ -41,7 +41,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 enum StatusCode : int8_t
 {
@@ -56,10 +56,10 @@ enum StatusCode : int8_t
 
 const std::unordered_map<int8_t, std::string>
     JOG_ARM_STATUS_CODE_MAP({ { INVALID, "Invalid" },
-                              { NO_WARNING, "No warnings" },
-                              { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
-                              { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
-                              { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
-                              { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
-                              { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
-}  // namespace moveit_jog_arm
+                            { NO_WARNING, "No warnings" },
+                            { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
+                            { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
+                            { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
+                            { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
+                            { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
index bc347ec658..ab1746a78a 100644
--- a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
+++ b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
@@ -1,9 +1,9 @@
 <launch>
   <!-- Launch an example that sends commands via C++ API. -->
 
-  <node name="jog_server" pkg="moveit_jog_arm" type="cpp_interface_example" output="screen" >
+  <node name="jog_server" pkg="moveit_servo" type="cpp_interface_example" output="screen" >
     <param name="parameter_ns" type="string" value="jog_server" />
-    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
index 9aa9f6b0c0..4346e17a09 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
@@ -10,11 +10,11 @@
 
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
-  <node name="spacenav_to_twist" pkg="moveit_jog_arm" type="spacenav_to_twist" output="screen" />
+  <node name="spacenav_to_twist" pkg="moveit_servo" type="spacenav_to_twist" output="screen" />
 
-  <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen" >
+  <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_server" />
-    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
index 5b04243434..238ce8cc03 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
@@ -9,14 +9,14 @@
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
   <!-- This node does the jogging calculations -->
-  <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen" >
+  <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen" >
     <param name="parameter_ns" type="string" value="jog_server" />
-    <rosparam command="load" file="$(find moveit_jog_arm)/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
   <!-- teleop_tools translates a joystick command into a twist message -->
   <arg name="cmd_vel" default="spacenav/joy" />
-  <arg name="teleop_config" default="$(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml" />
+  <arg name="teleop_config" default="$(find moveit_servo)/config/spacenav_via_teleop_tools.yaml" />
   <rosparam file="$(arg teleop_config)" command="load" />
 
   <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index 96d38fe627..1e8ded83ff 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>moveit_jog_arm</name>
+  <name>moveit_servo</name>
   <version>1.1.0</version>
 
-  <description>Provides real-time manipulator Cartesian jogging.</description>
+  <description>Provides real-time manipulator Cartesian and joint jogging.</description>
 
   <maintainer email="blakeanderson@utexas.edu">Blake Anderson</maintainer>
   <maintainer email="andyz@utexas.edu">Andy Zelenak</maintainer>
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 18f9ff5a6a..91adabf530 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -32,25 +32,25 @@
 *******************************************************************************/
 
 /*      Title     : collision_check.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
 #include <std_msgs/Float64.h>
 
-#include <moveit_jog_arm/collision_check.h>
-#include <moveit_jog_arm/make_shared_from_pool.h>
+#include <moveit_servo/collision_check.h>
+#include <moveit_servo/make_shared_from_pool.h>
 
 static const char LOGNAME[] = "collision_check";
 static const double MIN_RECOMMENDED_COLLISION_RATE = 10;
 constexpr double EPSILON = 1e-6;                // For very small numeric comparisons
 constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 // Constructor for the class that handles collision checking
-CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_jog_arm::JogArmParameters& parameters,
+CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoParameters& parameters,
                                const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                                const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
@@ -213,4 +213,4 @@ void CollisionCheck::setPaused(bool paused)
   paused_ = paused;
 }
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 77dee6b253..b79e5f4277 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : cpp_interface_example.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 11/20/2019
  *      Author    : Andy Zelenak
  *
@@ -38,13 +38,13 @@
 
 #include <std_msgs/Int8.h>
 
-#include <moveit_jog_arm/jog_arm.h>
-#include <moveit_jog_arm/status_codes.h>
-#include <moveit_jog_arm/make_shared_from_pool.h>
+#include <moveit_servo/jog_arm.h>
+#include <moveit_servo/status_codes.h>
+#include <moveit_servo/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "cpp_interface_example";
 
-// Class for monitoring status of jog_arm
+// Class for monitoring status of moveit_servo
 class StatusMonitor
 {
 public:
@@ -56,15 +56,15 @@ class StatusMonitor
 private:
   void statusCB(const std_msgs::Int8ConstPtr& msg)
   {
-    moveit_jog_arm::StatusCode latest_status = static_cast<moveit_jog_arm::StatusCode>(msg->data);
+    moveit_servo::StatusCode latest_status = static_cast<moveit_servo::StatusCode>(msg->data);
     if (latest_status != status_)
     {
       status_ = latest_status;
-      const auto& status_str = moveit_jog_arm::JOG_ARM_STATUS_CODE_MAP.at(status_);
-      ROS_INFO_STREAM_NAMED(LOGNAME, "Jogger status: " << status_str);
+      const auto& status_str = moveit_servo::JOG_ARM_STATUS_CODE_MAP.at(status_);
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Servo status: " << status_str);
     }
   }
-  moveit_jog_arm::StatusCode status_ = moveit_jog_arm::StatusCode::INVALID;
+  moveit_servo::StatusCode status_ = moveit_servo::StatusCode::INVALID;
   ros::Subscriber sub_;
 };
 
@@ -96,7 +96,7 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new timer to ensure a constant outgoing message rate.
-  moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
+  moveit_servo::JogArm jog_arm(nh, planning_scene_monitor);
   jog_arm.start();
 
   // Subscribe to jog_arm status (and log it when it changes)
diff --git a/moveit_ros/moveit_servo/src/jog_arm.cpp b/moveit_ros/moveit_servo/src/jog_arm.cpp
index d7ef39d9b9..8eb3e3fe29 100644
--- a/moveit_ros/moveit_servo/src/jog_arm.cpp
+++ b/moveit_ros/moveit_servo/src/jog_arm.cpp
@@ -32,18 +32,18 @@
 *******************************************************************************/
 
 /*      Title     : jog_arm.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
-#include <moveit_jog_arm/jog_arm.h>
+#include <moveit_servo/jog_arm.h>
 
 static const std::string LOGNAME = "jog_arm";
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
@@ -308,7 +308,7 @@ bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return jog_calcs_->getCommandFrameTransform(transform);
 }
 
-const JogArmParameters& JogArm::getParameters() const
+const ServoParameters& JogArm::getParameters() const
 {
   return parameters_;
 }
@@ -318,4 +318,4 @@ sensor_msgs::JointStateConstPtr JogArm::getLatestJointState() const
   return joint_state_subscriber_->getLatest();
 }
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/jog_calcs.cpp
index fe27c475f7..f5a1a5d3cb 100644
--- a/moveit_ros/moveit_servo/src/jog_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/jog_calcs.cpp
@@ -32,7 +32,7 @@
 *******************************************************************************/
 
 /*      Title     : jog_calcs.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
@@ -40,13 +40,13 @@
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
-#include <moveit_jog_arm/jog_calcs.h>
-#include <moveit_jog_arm/make_shared_from_pool.h>
+#include <moveit_servo/jog_calcs.h>
+#include <moveit_servo/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_calcs";
 constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 namespace
 {
@@ -70,7 +70,7 @@ bool isNonZero(const control_msgs::JointJog& msg)
 }  // namespace
 
 // Constructor for the class that handles jogging calculations
-JogCalcs::JogCalcs(ros::NodeHandle& nh, const JogArmParameters& parameters,
+JogCalcs::JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
                    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                    const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
@@ -1049,4 +1049,4 @@ void JogCalcs::setPaused(bool paused)
   paused_ = paused;
 }
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/jog_server.cpp b/moveit_ros/moveit_servo/src/jog_server.cpp
index e33f2907a6..8ad03d039d 100644
--- a/moveit_ros/moveit_servo/src/jog_server.cpp
+++ b/moveit_ros/moveit_servo/src/jog_server.cpp
@@ -32,12 +32,12 @@
 *******************************************************************************/
 
 /*      Title     : jog_server.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 12/31/2018
  *      Author    : Andy Zelenak
  */
 
-#include <moveit_jog_arm/jog_arm.h>
+#include <moveit_servo/jog_arm.h>
 
 namespace
 {
@@ -71,7 +71,7 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Create the jog server
-  moveit_jog_arm::JogArm jog_arm(nh, planning_scene_monitor);
+  moveit_servo::JogArm jog_arm(nh, planning_scene_monitor);
 
   // Start the jog server (runs in the ros spinner)
   jog_arm.start();
diff --git a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
index b9cfb12ebf..2ed780b650 100644
--- a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
+++ b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
@@ -32,14 +32,14 @@
 *******************************************************************************/
 
 /*      Title     : joint_state_subscriber.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 06/11/2020
  *      Author    : Tyler Weaver
  */
 
-#include <moveit_jog_arm/joint_state_subscriber.h>
+#include <moveit_servo/joint_state_subscriber.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 constexpr char LOGNAME[] = "joint_state_subscriber";
 
@@ -67,4 +67,4 @@ void JointStateSubscriber::jointStateCB(const sensor_msgs::JointStateConstPtr& m
   latest_joint_state_ = msg;
 }
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/low_pass_filter.cpp b/moveit_ros/moveit_servo/src/low_pass_filter.cpp
index 4c74829bbc..7013b3b4c9 100644
--- a/moveit_ros/moveit_servo/src/low_pass_filter.cpp
+++ b/moveit_ros/moveit_servo/src/low_pass_filter.cpp
@@ -32,17 +32,17 @@
 *******************************************************************************/
 
 /*      Title     : low_pass_filter.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Andy Zelenak
  */
 
-#include <moveit_jog_arm/low_pass_filter.h>
+#include <moveit_servo/low_pass_filter.h>
 #include <cmath>
 #include <string>
 #include <ros/ros.h>
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 namespace
 {
@@ -57,7 +57,7 @@ LowPassFilter::LowPassFilter(double low_pass_filter_coeff)
   , feedback_term_(1. - low_pass_filter_coeff)
 {
   // guarantee this doesn't change because the logic below depends on this length implicity
-  static_assert(LowPassFilter::FILTER_LENGTH == 2, "moveit_jog_arm::LowPassFilter::FILTER_LENGTH should be 2");
+  static_assert(LowPassFilter::FILTER_LENGTH == 2, "moveit_servo::LowPassFilter::FILTER_LENGTH should be 2");
 
   ROS_ASSERT_MSG(!std::isinf(feedback_term_), "%s: outputs from filter will be inf because feedback term is inf",
                  LOGNAME);
@@ -98,4 +98,4 @@ double LowPassFilter::filter(double new_measurement)
 
   return new_filtered_measurement;
 }
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
index c7f853843d..2b75bf87c9 100644
--- a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
@@ -1,6 +1,6 @@
 /*******************************************************************************
  *      Title     : spacenav_to_twist.cpp
- *      Project   : moveit_jog_arm
+ *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  *
@@ -41,7 +41,7 @@
 #include "ros/ros.h"
 #include "sensor_msgs/Joy.h"
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
 static const int NUM_SPINNERS = 1;
 static const int QUEUE_LENGTH = 1;
@@ -95,13 +95,13 @@ class SpaceNavToTwist
   ros::Publisher twist_pub_, joint_delta_pub_;
   ros::AsyncSpinner spinner_;
 };
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
 
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "spacenav_to_twist");
 
-  moveit_jog_arm::SpaceNavToTwist to_twist;
+  moveit_servo::SpaceNavToTwist to_twist;
 
   return 0;
 }
\ No newline at end of file
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
index 247d905e66..bc954976f5 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 /* Author: Dave Coleman and Tyler Weaver
-   Desc:   Test for the C++ interface to JogArm
+   Desc:   Test for the C++ interface to moveit_servo
 */
 
 // C++
@@ -45,15 +45,15 @@
 // Testing
 #include <gtest/gtest.h>
 
-// Jog Arm
-#include <moveit_jog_arm/jog_arm.h>
-#include <moveit_jog_arm/make_shared_from_pool.h>
+// Servo
+#include <moveit_servo/servo.h>
+#include <moveit_servo/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_cpp_interface_test";
 
-namespace moveit_jog_arm
+namespace moveit_servo
 {
-class JogArmFixture : public ::testing::Test
+class ServoFixture : public ::testing::Test
 {
 public:
   void SetUp() override
@@ -67,8 +67,8 @@ class JogArmFixture : public ::testing::Test
         planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
         false /* skip octomap monitor */);
 
-    // Create jog_arm
-    jog_arm_ = std::make_shared<JogArm>(nh_, planning_scene_monitor_);
+    // Create moveit_servo
+    servo_ = std::make_shared<Servo>(nh_, planning_scene_monitor_);
   }
   void TearDown() override
   {
@@ -76,45 +76,44 @@ class JogArmFixture : public ::testing::Test
 
   bool waitForFirstStatus()
   {
-    auto msg =
-        ros::topic::waitForMessage<std_msgs::Int8>(jog_arm_->getParameters().status_topic, nh_, ros::Duration(15));
+    auto msg = ros::topic::waitForMessage<std_msgs::Int8>(servo_->getParameters().status_topic, nh_, ros::Duration(15));
     return static_cast<bool>(msg);
   }
 
 protected:
   ros::NodeHandle nh_;
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
-  moveit_jog_arm::JogArmPtr jog_arm_;
-};  // class JogArmFixture
+  moveit_servo::ServoPtr servo_;
+};  // class ServoFixture
 
-TEST_F(JogArmFixture, StartStopTest)
+TEST_F(ServoFixture, StartStopTest)
 {
-  jog_arm_->start();
+  servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
-  jog_arm_->stop();
+  servo_->stop();
 
   ros::Duration(1.0).sleep();
 
   // Start and stop again
-  jog_arm_->start();
+  servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
-  jog_arm_->stop();
+  servo_->stop();
 }
 
-TEST_F(JogArmFixture, SendTwistStampedTest)
+TEST_F(ServoFixture, SendTwistStampedTest)
 {
-  jog_arm_->start();
+  servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
 
-  auto parameters = jog_arm_->getParameters();
+  auto parameters = servo_->getParameters();
 
-  // count trajectory messages sent by jog_arm
+  // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
       [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
-  // Create publisher to send jog_arm commands
+  // Create publisher to send servo commands
   auto twist_stamped_pub = nh_.advertise<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic, 1);
 
   constexpr double test_duration = 1.0;
@@ -138,23 +137,23 @@ TEST_F(JogArmFixture, SendTwistStampedTest)
 
   EXPECT_GT(received_count, num_commands - 20);
   EXPECT_LT(received_count, num_commands + 20);
-  jog_arm_->stop();
+  servo_->stop();
 }
 
-TEST_F(JogArmFixture, SendJointJogTest)
+TEST_F(ServoFixture, SendJointJogTest)
 {
-  jog_arm_->start();
+  servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
 
-  auto parameters = jog_arm_->getParameters();
+  auto parameters = servo_->getParameters();
 
-  // count trajectory messages sent by jog_arm
+  // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
       [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
-  // Create publisher to send jog_arm commands
+  // Create publisher to send servo commands
   auto joint_jog_pub = nh_.advertise<control_msgs::JointJog>(parameters.joint_command_in_topic, 1);
 
   constexpr double test_duration = 1.0;
@@ -178,10 +177,10 @@ TEST_F(JogArmFixture, SendJointJogTest)
 
   EXPECT_GT(received_count, num_commands - 20);
   EXPECT_LT(received_count, num_commands + 20);
-  jog_arm_->stop();
+  servo_->stop();
 }
 
-}  // namespace moveit_jog_arm
+}  // namespace moveit_servo
 
 int main(int argc, char** argv)
 {
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
index b487ef2461..829a33e117 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
+++ b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
@@ -7,12 +7,12 @@
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
-  <test pkg="moveit_jog_arm" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="60" args="">
+  <test pkg="moveit_servo" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="60" args="">
     <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
   </test>
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
index f406c10bdb..f8f0326693 100644
--- a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
+++ b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
@@ -13,13 +13,13 @@
   </node>
 
   <group ns="jog_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
-    <node name="jog_server" pkg="moveit_jog_arm" type="jog_server" output="screen">
+    <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen">
       <param name="parameter_ns" type="string" value="jog_server"/>
-      <rosparam command="load" file="$(find moveit_jog_arm)/test/config/jog_settings.yaml"/>
+      <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
     </node>
   </group>
 
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
index 33669dc061..145255f44e 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
+++ b/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
@@ -3,13 +3,13 @@
   <arg name="debug" value="false" />
 
   <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
+  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/drift_dimensions_service" />
+  <param name="test_module" value="$(find moveit_servo)/test/python_tests/drift_dimensions_service" />
   <test test-name="jog_arm_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
index 0ff461bb8c..efc3c1ae2f 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
+++ b/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
@@ -3,13 +3,13 @@
   <arg name="debug" value="false" />
 
   <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
+  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_jog_arm)/test/config/singular_position.yaml" />
+	  <rosparam command="load" file="$(find moveit_servo)/test/config/singular_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/halt_msg" />
+  <param name="test_module" value="$(find moveit_servo)/test/python_tests/halt_msg" />
   <test test-name="jog_arm_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
index 4761fb2ffb..b30ee1a8b7 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
+++ b/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
@@ -3,13 +3,13 @@
   <arg name="debug" value="false" />
 
   <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
+  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/msg_reception" />
+  <param name="test_module" value="$(find moveit_servo)/test/python_tests/msg_reception" />
   <test test-name="jog_arm_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
index 6a35a19e08..e6e3707bd7 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
+++ b/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
@@ -3,13 +3,13 @@
   <arg name="debug" value="false" />
 
   <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_jog_arm)/test/launch/common_test_setup.launch" />
+  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
 
   <!-- Initial joint positions -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_jog_arm)/test/config/initial_position.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
   </node>
 
-  <param name="test_module" value="$(find moveit_jog_arm)/test/python_tests/vel_accel_limits" />
+  <param name="test_module" value="$(find moveit_servo)/test/python_tests/vel_accel_limits" />
   <test test-name="jog_arm_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index afaf0f972e..aad950df3f 100755
--- a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -17,7 +17,7 @@
 # The jogger should halt and publish a warning.
 # Listen for a warning message from the jogger.
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_jog_arm test_jog_arm_halt_msg.py
+# rosrun moveit_servo test_jog_arm_halt_msg.py
 
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
 
diff --git a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 510966a114..9c74599f8f 100755
--- a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -15,7 +15,7 @@
 
 # Test that the jogger publishes controller commands when it receives Cartesian or joint commands.
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_jog_arm test_jog_arm_integration.py
+# rosrun moveit_servo test_jog_arm_integration.py
 
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
@@ -77,7 +77,7 @@ def test_jog_arm_cartesian_command(node):
     # This nonzero command should produce jogging output
     # A subscriber in a different timer fills `received`
     TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
 
     # Send a command to start the jogger
     cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
@@ -105,7 +105,7 @@ def test_jog_arm_joint_command(node):
     joint_cmd = JointJogCmd()
 
     TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
     velocities = [0.1]
 
     # Send a command to start the jogger
@@ -124,6 +124,6 @@ def test_jog_arm_joint_command(node):
 
 if __name__ == '__main__':
     node = node()
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for jog_arm server to init
+    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for servo server to init
     test_jog_arm_cartesian_command(node)
     test_jog_arm_joint_command(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index 3bf49883fb..c6a08de794 100755
--- a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -14,7 +14,7 @@
 
 # Test that commands that are too fast are caught and flagged
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_jog_arm test_vel_accel_limits.py
+# rosrun moveit_servo test_vel_accel_limits.py
 
 JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
 

From 349624b91f1c90f4062608a650bea210d3d59ba0 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 11:41:10 -0500
Subject: [PATCH 358/612] Rename jog_arm_parameters.h file to
 servo_parameters.h and fix relevant includes

---
 moveit_ros/moveit_servo/include/moveit_servo/collision_check.h  | 2 +-
 moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h          | 2 +-
 moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h        | 2 +-
 .../moveit_servo/include/moveit_servo/joint_state_subscriber.h  | 2 +-
 .../moveit_servo/{jog_arm_parameters.h => servo_parameters.h}   | 0
 5 files changed, 4 insertions(+), 4 deletions(-)
 rename moveit_ros/moveit_servo/include/moveit_servo/{jog_arm_parameters.h => servo_parameters.h} (100%)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 6abdfc8a1b..cfd303efed 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -45,7 +45,7 @@
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float64.h>
 
-#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/low_pass_filter.h>
 #include <moveit_servo/joint_state_subscriber.h>
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
index 4beec792d6..e4ee873014 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
@@ -41,7 +41,7 @@
 #include <memory>
 
 #include <moveit_servo/collision_check.h>
-#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/jog_calcs.h>
 #include <moveit_servo/joint_state_subscriber.h>
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
index c2bb494211..a32f6ae50c 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
@@ -54,7 +54,7 @@
 #include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_servo
-#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/status_codes.h>
 #include <moveit_servo/low_pass_filter.h>
 #include <moveit_servo/joint_state_subscriber.h>
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
index 9346ba7ae8..48d362123a 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
@@ -43,7 +43,7 @@
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 
-#include <moveit_servo/jog_arm_parameters.h>
+#include <moveit_servo/servo_parameters.h>
 
 namespace moveit_servo
 {
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
similarity index 100%
rename from moveit_ros/moveit_servo/include/moveit_servo/jog_arm_parameters.h
rename to moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h

From 325b2e5629136d05e25a9d88ca43785d7ffe0ead Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 11:49:31 -0500
Subject: [PATCH 359/612] Internal rename interface class JogArm to Servo

---
 .../include/moveit_servo/jog_arm.h            | 12 +++++------
 .../cpp_interface_example.cpp                 | 16 +++++++--------
 moveit_ros/moveit_servo/src/jog_arm.cpp       | 20 +++++++++----------
 moveit_ros/moveit_servo/src/jog_server.cpp    |  6 +++---
 4 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
index e4ee873014..d1bca753d0 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- *      Title     : jog_arm.h
+ *      Title     : servo.h
  *      Project   : moveit_servo
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
@@ -50,12 +50,12 @@ namespace moveit_servo
 /**
  * Class Servo - Jacobian based robot control with collision avoidance.
  */
-class JogArm
+class Servo
 {
 public:
-  JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  ~JogArm();
+  ~Servo();
 
   /** \brief start jog arm */
   void start();
@@ -97,7 +97,7 @@ class JogArm
   std::unique_ptr<CollisionCheck> collision_checker_;
 };
 
-// JogArmPtr using alias
-using JogArmPtr = std::shared_ptr<JogArm>;
+// ServoPtr using alias
+using ServoPtr = std::shared_ptr<Servo>;
 
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index b79e5f4277..1292357129 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -96,16 +96,16 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Run the jogging C++ interface in a new timer to ensure a constant outgoing message rate.
-  moveit_servo::JogArm jog_arm(nh, planning_scene_monitor);
-  jog_arm.start();
+  moveit_servo::Servo servo(nh, planning_scene_monitor);
+  servo.start();
 
-  // Subscribe to jog_arm status (and log it when it changes)
-  StatusMonitor status_monitor(nh, jog_arm.getParameters().status_topic);
+  // Subscribe to servo status (and log it when it changes)
+  StatusMonitor status_monitor(nh, servo.getParameters().status_topic);
 
-  // Create publishers to send jog_arm commands
+  // Create publishers to send servo commands
   auto twist_stamped_pub =
-      nh.advertise<geometry_msgs::TwistStamped>(jog_arm.getParameters().cartesian_command_in_topic, 1);
-  auto joint_jog_pub = nh.advertise<control_msgs::JointJog>(jog_arm.getParameters().joint_command_in_topic, 1);
+      nh.advertise<geometry_msgs::TwistStamped>(servo.getParameters().cartesian_command_in_topic, 1);
+  auto joint_jog_pub = nh.advertise<control_msgs::JointJog>(servo.getParameters().joint_command_in_topic, 1);
 
   ros::Rate cmd_rate(100);
   uint num_commands = 0;
@@ -150,6 +150,6 @@ int main(int argc, char** argv)
     ++num_commands;
   }
 
-  jog_arm.stop();
+  servo.stop();
   return 0;
 }
diff --git a/moveit_ros/moveit_servo/src/jog_arm.cpp b/moveit_ros/moveit_servo/src/jog_arm.cpp
index 8eb3e3fe29..66a845f553 100644
--- a/moveit_ros/moveit_servo/src/jog_arm.cpp
+++ b/moveit_ros/moveit_servo/src/jog_arm.cpp
@@ -31,7 +31,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/*      Title     : jog_arm.cpp
+/*      Title     : servo.cpp
  *      Project   : moveit_servo
  *      Created   : 3/9/2017
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
@@ -45,7 +45,7 @@ static const std::string LOGNAME = "jog_arm";
 
 namespace moveit_servo
 {
-JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
 {
   // Read ROS parameters, typically from YAML file
@@ -61,7 +61,7 @@ JogArm::JogArm(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneM
 }
 
 // Read ROS parameters, typically from YAML file
-bool JogArm::readParameters()
+bool Servo::readParameters()
 {
   std::size_t error = 0;
 
@@ -274,7 +274,7 @@ bool JogArm::readParameters()
   return true;
 }
 
-void JogArm::start()
+void Servo::start()
 {
   setPaused(false);
 
@@ -286,34 +286,34 @@ void JogArm::start()
     collision_checker_->start();
 }
 
-void JogArm::stop()
+void Servo::stop()
 {
   jog_calcs_->stop();
   collision_checker_->stop();
 }
 
-JogArm::~JogArm()
+Servo::~Servo()
 {
   stop();
 }
 
-void JogArm::setPaused(bool paused)
+void Servo::setPaused(bool paused)
 {
   jog_calcs_->setPaused(paused);
   collision_checker_->setPaused(paused);
 }
 
-bool JogArm::getCommandFrameTransform(Eigen::Isometry3d& transform)
+bool Servo::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   return jog_calcs_->getCommandFrameTransform(transform);
 }
 
-const ServoParameters& JogArm::getParameters() const
+const ServoParameters& Servo::getParameters() const
 {
   return parameters_;
 }
 
-sensor_msgs::JointStateConstPtr JogArm::getLatestJointState() const
+sensor_msgs::JointStateConstPtr Servo::getLatestJointState() const
 {
   return joint_state_subscriber_->getLatest();
 }
diff --git a/moveit_ros/moveit_servo/src/jog_server.cpp b/moveit_ros/moveit_servo/src/jog_server.cpp
index 8ad03d039d..51caa34d3a 100644
--- a/moveit_ros/moveit_servo/src/jog_server.cpp
+++ b/moveit_ros/moveit_servo/src/jog_server.cpp
@@ -71,16 +71,16 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Create the jog server
-  moveit_servo::JogArm jog_arm(nh, planning_scene_monitor);
+  moveit_servo::Servo servo(nh, planning_scene_monitor);
 
   // Start the jog server (runs in the ros spinner)
-  jog_arm.start();
+  servo.start();
 
   // Wait for ros to shutdown
   ros::waitForShutdown();
 
   // Stop the jog server
-  jog_arm.stop();
+  servo.stop();
 
   return 0;
 }

From 3b819d3e0ecaaaa0879c79e5c4e1324780f9558b Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 11:58:56 -0500
Subject: [PATCH 360/612] Rename jog_arm.cpp and h files to servo.cpp and h
 files, fix relvant includes

---
 moveit_ros/moveit_servo/CMakeLists.txt                          | 2 +-
 .../moveit_servo/include/moveit_servo/{jog_arm.h => servo.h}    | 0
 .../src/cpp_interface_example/cpp_interface_example.cpp         | 2 +-
 moveit_ros/moveit_servo/src/jog_server.cpp                      | 2 +-
 moveit_ros/moveit_servo/src/{jog_arm.cpp => servo.cpp}          | 2 +-
 5 files changed, 4 insertions(+), 4 deletions(-)
 rename moveit_ros/moveit_servo/include/moveit_servo/{jog_arm.h => servo.h} (100%)
 rename moveit_ros/moveit_servo/src/{jog_arm.cpp => servo.cpp} (99%)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 2599b34458..0307fe28c6 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -59,7 +59,7 @@ include_directories(
 add_library(${LIBRARY_NAME} SHARED
   src/collision_check.cpp
   src/jog_calcs.cpp
-  src/jog_arm.cpp
+  src/servo.cpp
   src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
 )
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
similarity index 100%
rename from moveit_ros/moveit_servo/include/moveit_servo/jog_arm.h
rename to moveit_ros/moveit_servo/include/moveit_servo/servo.h
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 1292357129..84fa96e5cb 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -38,7 +38,7 @@
 
 #include <std_msgs/Int8.h>
 
-#include <moveit_servo/jog_arm.h>
+#include <moveit_servo/servo.h>
 #include <moveit_servo/status_codes.h>
 #include <moveit_servo/make_shared_from_pool.h>
 
diff --git a/moveit_ros/moveit_servo/src/jog_server.cpp b/moveit_ros/moveit_servo/src/jog_server.cpp
index 51caa34d3a..9d238c0f52 100644
--- a/moveit_ros/moveit_servo/src/jog_server.cpp
+++ b/moveit_ros/moveit_servo/src/jog_server.cpp
@@ -37,7 +37,7 @@
  *      Author    : Andy Zelenak
  */
 
-#include <moveit_servo/jog_arm.h>
+#include <moveit_servo/servo.h>
 
 namespace
 {
diff --git a/moveit_ros/moveit_servo/src/jog_arm.cpp b/moveit_ros/moveit_servo/src/servo.cpp
similarity index 99%
rename from moveit_ros/moveit_servo/src/jog_arm.cpp
rename to moveit_ros/moveit_servo/src/servo.cpp
index 66a845f553..886af812d2 100644
--- a/moveit_ros/moveit_servo/src/jog_arm.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -39,7 +39,7 @@
 
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
-#include <moveit_servo/jog_arm.h>
+#include <moveit_servo/servo.h>
 
 static const std::string LOGNAME = "jog_arm";
 

From 542061950caa05f0feab100ac589dadd5e24bcbe Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 12:04:12 -0500
Subject: [PATCH 361/612] Internal rename JOG_ARM_STATUS_CODE_MAP to
 SERVO_STATUS_CODE_MAP

---
 moveit_ros/moveit_servo/include/moveit_servo/status_codes.h | 2 +-
 .../src/cpp_interface_example/cpp_interface_example.cpp     | 2 +-
 moveit_ros/moveit_servo/src/jog_calcs.cpp                   | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
index bdeca7dc4f..f6e9ddcb54 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
@@ -55,7 +55,7 @@ enum StatusCode : int8_t
 };
 
 const std::unordered_map<int8_t, std::string>
-    JOG_ARM_STATUS_CODE_MAP({ { INVALID, "Invalid" },
+    SERVO_STATUS_CODE_MAP({ { INVALID, "Invalid" },
                             { NO_WARNING, "No warnings" },
                             { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
                             { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 84fa96e5cb..2d6b869aa0 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -60,7 +60,7 @@ class StatusMonitor
     if (latest_status != status_)
     {
       status_ = latest_status;
-      const auto& status_str = moveit_servo::JOG_ARM_STATUS_CODE_MAP.at(status_);
+      const auto& status_str = moveit_servo::SERVO_STATUS_CODE_MAP.at(status_);
       ROS_INFO_STREAM_NAMED(LOGNAME, "Servo status: " << status_str);
     }
   }
diff --git a/moveit_ros/moveit_servo/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/jog_calcs.cpp
index f5a1a5d3cb..fa41e6867e 100644
--- a/moveit_ros/moveit_servo/src/jog_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/jog_calcs.cpp
@@ -588,7 +588,7 @@ void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singular
   if (collision_scale > 0 && collision_scale < 1)
   {
     status_ = StatusCode::DECELERATE_FOR_COLLISION;
-    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, SERVO_STATUS_CODE_MAP.at(status_));
   }
   else if (collision_scale == 0)
   {
@@ -651,7 +651,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
                        (ini_condition - parameters_.lower_singularity_threshold) /
                            (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
       status_ = StatusCode::DECELERATE_FOR_SINGULARITY;
-      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, SERVO_STATUS_CODE_MAP.at(status_));
     }
 
     // Very close to singularity, so halt.
@@ -659,7 +659,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
     {
       velocity_scale = 0;
       status_ = StatusCode::HALT_FOR_SINGULARITY;
-      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, JOG_ARM_STATUS_CODE_MAP.at(status_));
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, SERVO_STATUS_CODE_MAP.at(status_));
     }
   }
 

From 12ddc0d7d237409469bdc6e17de48d92a8339907 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 12:51:07 -0500
Subject: [PATCH 362/612] Internal rename jog_server to servo_server

---
 moveit_ros/moveit_servo/CMakeLists.txt                    | 8 ++++----
 moveit_ros/moveit_servo/README.md                         | 2 +-
 .../moveit_servo/config/spacenav_via_teleop_tools.yaml    | 2 +-
 moveit_ros/moveit_servo/config/ur_simulated_config.yaml   | 6 +++---
 .../moveit_servo/launch/cpp_interface_example.launch      | 4 ++--
 moveit_ros/moveit_servo/launch/spacenav_cpp.launch        | 4 ++--
 .../moveit_servo/launch/spacenav_teleop_tools.launch      | 4 ++--
 moveit_ros/moveit_servo/src/jog_server.cpp                | 4 ++--
 moveit_ros/moveit_servo/src/servo.cpp                     | 2 +-
 .../src/teleop_examples/spacenav_to_twist.cpp             | 4 ++--
 moveit_ros/moveit_servo/test/config/jog_settings.yaml     | 8 ++++----
 .../moveit_servo/test/launch/common_test_setup.launch     | 6 +++---
 .../test_drift_dimensions_service.py                      | 6 +++---
 .../test/python_tests/halt_msg/test_jog_arm_halt_msg.py   | 4 ++--
 .../msg_reception/test_jog_arm_msg_reception.py           | 6 +++---
 moveit_ros/moveit_servo/test/python_tests/util.py         | 2 +-
 .../vel_accel_limits/test_vel_accel_limits.py             | 6 +++---
 17 files changed, 39 insertions(+), 39 deletions(-)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 0307fe28c6..01d8b29e45 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -86,11 +86,11 @@ target_link_libraries(cpp_interface_example
 ## ROS message-based node ##
 ############################
 
-add_executable(jog_server
+add_executable(servo_server
   src/jog_server.cpp
 )
-add_dependencies(jog_server ${catkin_EXPORTED_TARGETS})
-target_link_libraries(jog_server
+add_dependencies(servo_server ${catkin_EXPORTED_TARGETS})
+target_link_libraries(servo_server
   ${LIBRARY_NAME}
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
@@ -114,7 +114,7 @@ target_link_libraries(spacenav_to_twist ${catkin_LIBRARIES})
 install(
   TARGETS
     ${LIBRARY_NAME}
-    jog_server
+    servo_server
     spacenav_to_twist
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/moveit_servo/README.md b/moveit_ros/moveit_servo/README.md
index 6b55fb804d..9ee62f4695 100644
--- a/moveit_ros/moveit_servo/README.md
+++ b/moveit_ros/moveit_servo/README.md
@@ -37,7 +37,7 @@ Launch the servo node. This example uses commands from a SpaceNavigator joystick
 If you dont have a SpaceNavigator, send commands like this:
 
 ```sh
-rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
+rostopic pub -r 100 /servo_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
 twist:
   linear:
     x: 0.0
diff --git a/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml b/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
index 2308e0c5a0..14b08917f5 100644
--- a/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
+++ b/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
@@ -2,7 +2,7 @@ teleop:
   cartesian_twist_command:
     type: topic
     message_type: geometry_msgs/TwistStamped
-    topic_name: jog_server/delta_jog_cmds
+    topic_name: servo_server/delta_jog_cmds
     axis_mappings:
       -
         axis: 0
diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index 74e896cfc9..941b8c2087 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -44,10 +44,10 @@ hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+cartesian_command_in_topic: servo_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: servo_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
-status_topic: jog_server/status # Publish status to this topic
+status_topic: servo_server/status # Publish status to this topic
 command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
diff --git a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
index ab1746a78a..c2ac9b8748 100644
--- a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
+++ b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
@@ -1,8 +1,8 @@
 <launch>
   <!-- Launch an example that sends commands via C++ API. -->
 
-  <node name="jog_server" pkg="moveit_servo" type="cpp_interface_example" output="screen" >
-    <param name="parameter_ns" type="string" value="jog_server" />
+  <node name="servo_server" pkg="moveit_servo" type="cpp_interface_example" output="screen" >
+    <param name="parameter_ns" type="string" value="servo_server" />
     <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
diff --git a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
index 4346e17a09..3364af893d 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
@@ -12,8 +12,8 @@
 
   <node name="spacenav_to_twist" pkg="moveit_servo" type="spacenav_to_twist" output="screen" />
 
-  <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen" >
-    <param name="parameter_ns" type="string" value="jog_server" />
+  <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen" >
+    <param name="parameter_ns" type="string" value="servo_server" />
     <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
diff --git a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
index 238ce8cc03..e86ab13530 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
@@ -9,8 +9,8 @@
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
   <!-- This node does the jogging calculations -->
-  <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen" >
-    <param name="parameter_ns" type="string" value="jog_server" />
+  <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen" >
+    <param name="parameter_ns" type="string" value="servo_server" />
     <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
diff --git a/moveit_ros/moveit_servo/src/jog_server.cpp b/moveit_ros/moveit_servo/src/jog_server.cpp
index 9d238c0f52..2405175ba2 100644
--- a/moveit_ros/moveit_servo/src/jog_server.cpp
+++ b/moveit_ros/moveit_servo/src/jog_server.cpp
@@ -31,7 +31,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/*      Title     : jog_server.cpp
+/*      Title     : servo_server.cpp
  *      Project   : moveit_servo
  *      Created   : 12/31/2018
  *      Author    : Andy Zelenak
@@ -41,7 +41,7 @@
 
 namespace
 {
-constexpr char LOGNAME[] = "jog_server";
+constexpr char LOGNAME[] = "servo_server";
 constexpr char ROS_THREADS = 8;
 
 }  // namespace
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index 886af812d2..c6145ec659 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -73,7 +73,7 @@ bool Servo::readParameters()
     ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
     ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
                                     "type=\"string\" "
-                                    "value=\"left_jog_server\" />");
+                                    "value=\"left_servo_server\" />");
     return false;
   }
 
diff --git a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
index 2b75bf87c9..7318f70263 100644
--- a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
@@ -52,8 +52,8 @@ class SpaceNavToTwist
   SpaceNavToTwist() : spinner_(NUM_SPINNERS)
   {
     joy_sub_ = n_.subscribe("spacenav/joy", QUEUE_LENGTH, &SpaceNavToTwist::joyCallback, this);
-    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("jog_server/delta_jog_cmds", QUEUE_LENGTH);
-    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("jog_server/joint_delta_jog_cmds", QUEUE_LENGTH);
+    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("servo_server/delta_jog_cmds", QUEUE_LENGTH);
+    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("servo_server/joint_delta_jog_cmds", QUEUE_LENGTH);
 
     spinner_.start();
     ros::waitForShutdown();
diff --git a/moveit_ros/moveit_servo/test/config/jog_settings.yaml b/moveit_ros/moveit_servo/test/config/jog_settings.yaml
index 67e2d93f69..e3d6767fe9 100644
--- a/moveit_ros/moveit_servo/test/config/jog_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/jog_settings.yaml
@@ -44,11 +44,11 @@ hard_stop_singularity_threshold: 45 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: jog_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: jog_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+cartesian_command_in_topic: servo_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: servo_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
-status_topic: jog_server/status # Publish status to this topic
-command_out_topic: jog_server/command # Publish outgoing commands here
+status_topic: servo_server/status # Publish status to this topic
+command_out_topic: servo_server/command # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
diff --git a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
index f8f0326693..f2ff32c5b0 100644
--- a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
+++ b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
@@ -12,13 +12,13 @@
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
-  <group ns="jog_server" if="$(arg debug)">
+  <group ns="servo_server" if="$(arg debug)">
     <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
-    <node name="jog_server" pkg="moveit_servo" type="jog_server" output="screen">
-      <param name="parameter_ns" type="string" value="jog_server"/>
+    <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen">
+      <param name="parameter_ns" type="string" value="servo_server"/>
       <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
     </node>
   </group>
diff --git a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
index eb049957b4..56d541d142 100755
--- a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
+++ b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
@@ -19,11 +19,11 @@
 # In other words, only the y-dimension will be controlled exactly.
 # Check that the service returns and the jog node continues to publish commands to the robot.
 
-CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
+CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
 
-COMMAND_OUT_TOPIC = 'jog_server/command'
+COMMAND_OUT_TOPIC = 'servo_server/command'
 
-SERVICE_NAME = 'jog_server/change_drift_dimensions'
+SERVICE_NAME = 'servo_server/change_drift_dimensions'
 
 
 @pytest.fixture
diff --git a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index aad950df3f..fa0e560291 100755
--- a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -19,10 +19,10 @@
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_jog_arm_halt_msg.py
 
-CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
+CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
 
 # jog_arm should publish a nonzero warning code here
-STATUS_TOPIC = 'jog_server/status'
+STATUS_TOPIC = 'servo_server/status'
 
 
 @pytest.fixture
diff --git a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 9c74599f8f..9ac5e721ac 100755
--- a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -17,10 +17,10 @@
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_jog_arm_integration.py
 
-JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
-CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
+JOINT_JOG_COMMAND_TOPIC = 'servo_server/joint_delta_jog_cmds'
+CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
 
-COMMAND_OUT_TOPIC = 'jog_server/command'
+COMMAND_OUT_TOPIC = 'servo_server/command'
 
 
 @pytest.fixture
diff --git a/moveit_ros/moveit_servo/test/python_tests/util.py b/moveit_ros/moveit_servo/test/python_tests/util.py
index a76a681d40..473e9e26d3 100644
--- a/moveit_ros/moveit_servo/test/python_tests/util.py
+++ b/moveit_ros/moveit_servo/test/python_tests/util.py
@@ -2,7 +2,7 @@
 from std_msgs.msg import Int8
 
 # jog_arm should publish a nonzero warning code here
-STATUS_TOPIC = 'jog_server/status'
+STATUS_TOPIC = 'servo_server/status'
 
 def wait_for_jogger_initialization(timeout=15):
     try:
diff --git a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index c6a08de794..dbb64e43f0 100755
--- a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -16,9 +16,9 @@
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_vel_accel_limits.py
 
-JOINT_JOG_COMMAND_TOPIC = 'jog_server/joint_delta_jog_cmds'
+JOINT_JOG_COMMAND_TOPIC = 'servo_server/joint_delta_jog_cmds'
 
-COMMAND_OUT_TOPIC = 'jog_server/command'
+COMMAND_OUT_TOPIC = 'servo_server/command'
 
 
 @pytest.fixture
@@ -68,7 +68,7 @@ def test_vel_limit(node):
         time.sleep(0.1)
 
     # Period of outgoing commands from the jogger, from yaml
-    JOGGER_COMMAND_PERIOD = rospy.get_param("/jog_server/publish_period")
+    JOGGER_COMMAND_PERIOD = rospy.get_param("/servo_server/publish_period")
 
     # Should be no velocities greater than the limit
     assert len(received) > 2

From 572088b6dd75001ea15e5549ff3afd00dec6816c Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Tue, 16 Jun 2020 12:53:57 -0500
Subject: [PATCH 363/612] Rename file jog_server.cpp to servo_server.cpp and
 fix CMakeList exec

---
 moveit_ros/moveit_servo/CMakeLists.txt                          | 2 +-
 .../moveit_servo/src/{jog_server.cpp => servo_server.cpp}       | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename moveit_ros/moveit_servo/src/{jog_server.cpp => servo_server.cpp} (100%)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 01d8b29e45..4937bcae61 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -87,7 +87,7 @@ target_link_libraries(cpp_interface_example
 ############################
 
 add_executable(servo_server
-  src/jog_server.cpp
+  src/servo_server.cpp
 )
 add_dependencies(servo_server ${catkin_EXPORTED_TARGETS})
 target_link_libraries(servo_server
diff --git a/moveit_ros/moveit_servo/src/jog_server.cpp b/moveit_ros/moveit_servo/src/servo_server.cpp
similarity index 100%
rename from moveit_ros/moveit_servo/src/jog_server.cpp
rename to moveit_ros/moveit_servo/src/servo_server.cpp

From e95ecc9986f88a585a3bca49171a64fe8b674c2e Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:02:50 -0500
Subject: [PATCH 364/612] Rename a bunch of internals

---
 moveit_ros/moveit_servo/CMakeLists.txt        |  2 +-
 moveit_ros/moveit_servo/README.md             |  2 +-
 .../config/spacenav_via_teleop_tools.yaml     |  2 +-
 .../config/ur_simulated_config.yaml           |  8 ++--
 .../include/moveit_servo/collision_check.h    |  2 +-
 .../include/moveit_servo/jog_calcs.h          |  6 +--
 .../include/moveit_servo/low_pass_filter.h    |  2 +-
 .../moveit_servo/include/moveit_servo/servo.h |  8 ++--
 .../moveit_servo/launch/spacenav_cpp.launch   |  2 +-
 .../launch/spacenav_teleop_tools.launch       |  4 +-
 moveit_ros/moveit_servo/package.xml           |  2 +-
 .../cpp_interface_example.cpp                 | 14 +++----
 moveit_ros/moveit_servo/src/jog_calcs.cpp     | 12 +++---
 moveit_ros/moveit_servo/src/servo.cpp         |  6 +--
 moveit_ros/moveit_servo/src/servo_server.cpp  |  6 +--
 .../src/teleop_examples/spacenav_to_twist.cpp | 12 +++---
 .../test/config/jog_settings.yaml             |  8 ++--
 .../test/jog_cpp_interface_test.cpp           |  6 +--
 .../test_drift_dimensions_service.py          |  6 +--
 .../halt_msg/test_jog_arm_halt_msg.py         | 22 +++++------
 .../test_jog_arm_msg_reception.py             | 38 +++++++++----------
 .../moveit_servo/test/python_tests/util.py    |  6 +--
 .../vel_accel_limits/test_vel_accel_limits.py | 20 +++++-----
 23 files changed, 98 insertions(+), 98 deletions(-)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 4937bcae61..0f32ef3950 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -7,7 +7,7 @@ endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-set(LIBRARY_NAME jog_arm_cpp_api)
+set(LIBRARY_NAME moveit_servo_cpp_api)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
diff --git a/moveit_ros/moveit_servo/README.md b/moveit_ros/moveit_servo/README.md
index 9ee62f4695..e889244cb8 100644
--- a/moveit_ros/moveit_servo/README.md
+++ b/moveit_ros/moveit_servo/README.md
@@ -37,7 +37,7 @@ Launch the servo node. This example uses commands from a SpaceNavigator joystick
 If you dont have a SpaceNavigator, send commands like this:
 
 ```sh
-rostopic pub -r 100 /servo_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
+rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
 twist:
   linear:
     x: 0.0
diff --git a/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml b/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
index 14b08917f5..cbc6cfa1a4 100644
--- a/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
+++ b/moveit_ros/moveit_servo/config/spacenav_via_teleop_tools.yaml
@@ -2,7 +2,7 @@ teleop:
   cartesian_twist_command:
     type: topic
     message_type: geometry_msgs/TwistStamped
-    topic_name: servo_server/delta_jog_cmds
+    topic_name: servo_server/delta_twist_cmds
     axis_mappings:
       -
         axis: 0
diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index 941b8c2087..ed3917f236 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -1,5 +1,5 @@
 ###############################################
-# Modify all parameters related to jogging here
+# Modify all parameters related to servoing here
 ###############################################
 use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
 
@@ -33,7 +33,7 @@ move_group_name:  manipulator  # Often 'manipulator' or 'arm'
 planning_frame: world  # The MoveIt planning frame. Often 'base_link' or 'world'
 
 ## Stopping behaviour
-incoming_command_timeout:  0.1  # Stop jogging if X seconds elapse without a new command
+incoming_command_timeout:  0.1  # Stop servoing if X seconds elapse without a new command
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
 # Important because ROS may drop some messages and we need the robot to halt reliably.
 num_outgoing_halt_msgs_to_publish: 4
@@ -44,8 +44,8 @@ hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: servo_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: servo_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+cartesian_command_in_topic: servo_server/delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: servo_server/delta_joint_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
 status_topic: servo_server/status # Publish status to this topic
 command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index cfd303efed..845b5dac84 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -73,7 +73,7 @@ class CollisionCheck
   void start();
   void stop();
 
-  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
+  /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
 
 private:
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
index a32f6ae50c..75fbe05bd7 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
@@ -88,10 +88,10 @@ class JogCalcs
   /** \brief Timer method */
   void run(const ros::TimerEvent& timer_event);
 
-  /** \brief Do jogging calculations for Cartesian twist commands. */
+  /** \brief Do servoing calculations for Cartesian twist commands. */
   bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
-  /** \brief Do jogging calculations for direct commands to a joint. */
+  /** \brief Do servoing calculations for direct commands to a joint. */
   bool jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
@@ -186,7 +186,7 @@ class JogCalcs
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
   /** \brief Start the main calculation timer */
-  // Service callback for changing jogging dimensions
+  // Service callback for changing servoing dimensions
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
index 99d9934224..9108626617 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
@@ -51,7 +51,7 @@ namespace moveit_servo
 class LowPassFilter
 {
 public:
-  // Larger filter_coeff-> more smoothing of jog commands, but more lag.
+  // Larger filter_coeff-> more smoothing of servo commands, but more lag.
   // Rough plot, with cutoff frequency on the y-axis:
   // https://www.wolframalpha.com/input/?i=plot+arccot(c)
   explicit LowPassFilter(double low_pass_filter_coeff);
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index d1bca753d0..706ea24db9 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -57,13 +57,13 @@ class Servo
 
   ~Servo();
 
-  /** \brief start jog arm */
+  /** \brief start servo node */
   void start();
 
-  /** \brief stop jog arm */
+  /** \brief stop servo node */
   void stop();
 
-  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
+  /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
 
   /**
@@ -75,7 +75,7 @@ class Servo
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-  /** \brief Get the parameters used by jog arm. */
+  /** \brief Get the parameters used by servo node. */
   const ServoParameters& getParameters() const;
 
   /** \brief Get the latest joint state. */
diff --git a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
index 3364af893d..41d81862db 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- The package has 2 examples of converting joystick commands to jog commands.
+  <!-- The package has 2 examples of converting joystick commands to servo commands.
        This is the lower-latency C++ example. You can modify it in your own package for
        your own type of gamepad or joystick.
        It reduces latency (slightly) compared to spacenav_teleop_tools.launch.
diff --git a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
index e86ab13530..93847e35a1 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- The package has 2 examples of converting joystick commands to jog commands.
+  <!-- The package has 2 examples of converting joystick commands to servo commands.
        This is the higher-latency, Python-based teleop_tools example.
        You can modify it in your own package for your own type of gamepad or joystick.
        We do plan to accept pull requests of config files for other controller types using this method.
@@ -8,7 +8,7 @@
   <!-- This node publishes commands from the controller -->
   <node name="spacenav_node" pkg="spacenav_node" type="spacenav_node" />
 
-  <!-- This node does the jogging calculations -->
+  <!-- This node does the servoing calculations -->
   <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen" >
     <param name="parameter_ns" type="string" value="servo_server" />
     <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index 1e8ded83ff..0e6b0f433b 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -3,7 +3,7 @@
   <name>moveit_servo</name>
   <version>1.1.0</version>
 
-  <description>Provides real-time manipulator Cartesian and joint jogging.</description>
+  <description>Provides real-time manipulator Cartesian and joint servoing.</description>
 
   <maintainer email="blakeanderson@utexas.edu">Blake Anderson</maintainer>
   <maintainer email="andyz@utexas.edu">Andy Zelenak</maintainer>
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 2d6b869aa0..6db053e4be 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -69,7 +69,7 @@ class StatusMonitor
 };
 
 /**
- * Instantiate the C++ jogging interface.
+ * Instantiate the C++ servo node interface.
  * Send some Cartesian commands, then some joint commands.
  */
 int main(int argc, char** argv)
@@ -95,7 +95,7 @@ int main(int argc, char** argv)
       false /* skip octomap monitor */);
   planning_scene_monitor->startStateMonitor();
 
-  // Run the jogging C++ interface in a new timer to ensure a constant outgoing message rate.
+  // Run the servo node C++ interface in a new timer to ensure a constant outgoing message rate.
   moveit_servo::Servo servo(nh, planning_scene_monitor);
   servo.start();
 
@@ -105,7 +105,7 @@ int main(int argc, char** argv)
   // Create publishers to send servo commands
   auto twist_stamped_pub =
       nh.advertise<geometry_msgs::TwistStamped>(servo.getParameters().cartesian_command_in_topic, 1);
-  auto joint_jog_pub = nh.advertise<control_msgs::JointJog>(servo.getParameters().joint_command_in_topic, 1);
+  auto joint_servo_pub = nh.advertise<control_msgs::JointJog>(servo.getParameters().joint_command_in_topic, 1);
 
   ros::Rate cmd_rate(100);
   uint num_commands = 0;
@@ -114,7 +114,7 @@ int main(int argc, char** argv)
   while (ros::ok() && num_commands < 200)
   {
     // Make a Cartesian velocity message
-    // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
+    // Messages are sent to servo node as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not copied we should not modify it after we send it.
     auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
     msg->header.stamp = ros::Time::now();
@@ -128,7 +128,7 @@ int main(int argc, char** argv)
     ++num_commands;
   }
 
-  // Leave plenty of time for the jogger to halt its previous motion.
+  // Leave plenty of time for the servo node to halt its previous motion.
   // For a faster response, adjust the incoming_command_timeout yaml parameter
   ros::Duration(2).sleep();
 
@@ -137,7 +137,7 @@ int main(int argc, char** argv)
   while (ros::ok() && num_commands < 200)
   {
     // Make a joint command
-    // Messages are sent to jogger as boost::shared_ptr to enable zero-copy message_passing.
+    // Messages are sent to servo node as boost::shared_ptr to enable zero-copy message_passing.
     // Because this message is not copied we should not modify it after we send it.
     auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();
     msg->header.stamp = ros::Time::now();
@@ -145,7 +145,7 @@ int main(int argc, char** argv)
     msg->velocities.push_back(0.2);
 
     // Send the message
-    joint_jog_pub.publish(msg);
+    joint_servo_pub.publish(msg);
     cmd_rate.sleep();
     ++num_commands;
   }
diff --git a/moveit_ros/moveit_servo/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/jog_calcs.cpp
index fa41e6867e..2fb50e53b2 100644
--- a/moveit_ros/moveit_servo/src/jog_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/jog_calcs.cpp
@@ -69,7 +69,7 @@ bool isNonZero(const control_msgs::JointJog& msg)
 }
 }  // namespace
 
-// Constructor for the class that handles jogging calculations
+// Constructor for the class that handles servoing calculations
 JogCalcs::JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
                    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                    const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
@@ -225,7 +225,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     have_nonzero_joint_jog_ = latest_nonzero_joint_jog_;
   }
 
-  // Get the transform from MoveIt planning frame to jogging command frame
+  // Get the transform from MoveIt planning frame to servoing command frame
   // Calculate this transform to ensure it is available via C++ API
   // We solve (planning_frame -> base -> robot_link_command_frame)
   // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
@@ -252,11 +252,11 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   }
 
   // If not waiting for initial command, and not paused.
-  // Do jogging calculations only if the robot should move, for efficiency
+  // Do servoing calculations only if the robot should move, for efficiency
   // Create new outgoing joint trajectory command message
   auto joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
-  // Prioritize cartesian jogging above joint jogging
+  // Prioritize cartesian servoing above joint servoing
   // Only run commands if not stale and nonzero
   if (have_nonzero_twist_stamped_ && !twist_command_is_stale_)
   {
@@ -299,7 +299,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     have_nonzero_joint_jog_ = false;
   }
 
-  // Skip the jogging publication if all inputs have been zero for several cycles in a row.
+  // Skip the servoing publication if all inputs have been zero for several cycles in a row.
   // num_outgoing_halt_msgs_to_publish == 0 signifies that we should keep republishing forever.
   if (!have_nonzero_command_ && (parameters_.num_outgoing_halt_msgs_to_publish != 0) &&
       (zero_velocity_count_ > parameters_.num_outgoing_halt_msgs_to_publish))
@@ -351,7 +351,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   if (!updated_filters_)
     resetLowPassFilters(original_joint_state_);
 }
-// Perform the jogging calculations
+// Perform the servoing calculations
 bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // Check for nan's in the incoming command
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index c6145ec659..101ffad173 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -41,7 +41,7 @@
 
 #include <moveit_servo/servo.h>
 
-static const std::string LOGNAME = "jog_arm";
+static const std::string LOGNAME = "servo_node";
 
 namespace moveit_servo
 {
@@ -129,7 +129,7 @@ bool Servo::readParameters()
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
                             "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
-                            "parameters. Please update the jogging yaml file.");
+                            "parameters. Please update the servoing yaml file.");
     if (!have_self_collision_proximity_threshold)
     {
       parameters_.self_collision_proximity_threshold = collision_proximity_threshold;
@@ -154,7 +154,7 @@ bool Servo::readParameters()
   if (!rosparam_shortcuts::get("", nh_, parameter_ns + "/status_topic", parameters_.status_topic))
   {
     ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
-                            "the jogging yaml file.");
+                            "the servoing yaml file.");
     error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/warning_topic", parameters_.status_topic);
   }
 
diff --git a/moveit_ros/moveit_servo/src/servo_server.cpp b/moveit_ros/moveit_servo/src/servo_server.cpp
index 2405175ba2..ef67b50277 100644
--- a/moveit_ros/moveit_servo/src/servo_server.cpp
+++ b/moveit_ros/moveit_servo/src/servo_server.cpp
@@ -70,16 +70,16 @@ int main(int argc, char** argv)
       false /* skip octomap monitor */);
   planning_scene_monitor->startStateMonitor();
 
-  // Create the jog server
+  // Create the servo server
   moveit_servo::Servo servo(nh, planning_scene_monitor);
 
-  // Start the jog server (runs in the ros spinner)
+  // Start the servo server (runs in the ros spinner)
   servo.start();
 
   // Wait for ros to shutdown
   ros::waitForShutdown();
 
-  // Stop the jog server
+  // Stop the servo server
   servo.stop();
 
   return 0;
diff --git a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
index 7318f70263..8294ba897b 100644
--- a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
@@ -52,20 +52,20 @@ class SpaceNavToTwist
   SpaceNavToTwist() : spinner_(NUM_SPINNERS)
   {
     joy_sub_ = n_.subscribe("spacenav/joy", QUEUE_LENGTH, &SpaceNavToTwist::joyCallback, this);
-    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("servo_server/delta_jog_cmds", QUEUE_LENGTH);
-    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("servo_server/joint_delta_jog_cmds", QUEUE_LENGTH);
+    twist_pub_ = n_.advertise<geometry_msgs::TwistStamped>("servo_server/delta_twist_cmds", QUEUE_LENGTH);
+    joint_delta_pub_ = n_.advertise<control_msgs::JointJog>("servo_server/delta_joint_cmds", QUEUE_LENGTH);
 
     spinner_.start();
     ros::waitForShutdown();
   };
 
 private:
-  // Convert incoming joy commands to TwistStamped commands for jogging.
-  // The TwistStamped component goes to jogging, while buttons 0 & 1 control
+  // Convert incoming joy commands to TwistStamped commands for servoing.
+  // The TwistStamped component goes to servoing, while buttons 0 & 1 control
   // joints directly.
   void joyCallback(const sensor_msgs::Joy::ConstPtr& msg)
   {
-    // Cartesian jogging with the axes
+    // Cartesian servoing with the axes
     geometry_msgs::TwistStamped twist;
     twist.header.stamp = ros::Time::now();
     twist.twist.linear.x = msg->axes[0];
@@ -76,7 +76,7 @@ class SpaceNavToTwist
     twist.twist.angular.y = msg->axes[4];
     twist.twist.angular.z = msg->axes[5];
 
-    // Joint jogging with the buttons
+    // Joint servoing with the buttons
     control_msgs::JointJog joint_deltas;
     // This example is for a UR5.
     joint_deltas.joint_names.push_back("shoulder_pan_joint");
diff --git a/moveit_ros/moveit_servo/test/config/jog_settings.yaml b/moveit_ros/moveit_servo/test/config/jog_settings.yaml
index e3d6767fe9..e98719f5f6 100644
--- a/moveit_ros/moveit_servo/test/config/jog_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/jog_settings.yaml
@@ -1,5 +1,5 @@
 ###############################################
-# Modify all parameters related to jogging here
+# Modify all parameters related to servoing here
 ###############################################
 use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
 
@@ -33,7 +33,7 @@ move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
 planning_frame: panda_link0  # The MoveIt planning frame. Often 'panda_link0' or 'world'
 
 ## Stopping behaviour
-incoming_command_timeout:  1  # Stop jogging if X seconds elapse without a new command
+incoming_command_timeout:  1  # Stop servoing if X seconds elapse without a new command
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
 # Important because ROS may drop some messages and we need the robot to halt reliably.
 num_outgoing_halt_msgs_to_publish: 1
@@ -44,8 +44,8 @@ hard_stop_singularity_threshold: 45 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: servo_server/delta_jog_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: servo_server/joint_delta_jog_cmds # Topic for incoming joint angle commands
+cartesian_command_in_topic: servo_server/delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: servo_server/delta_joint_cmds # Topic for incoming joint angle commands
 joint_topic:  joint_states
 status_topic: servo_server/status # Publish status to this topic
 command_out_topic: servo_server/command # Publish outgoing commands here
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
index bc954976f5..4b011e6f1c 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
@@ -140,7 +140,7 @@ TEST_F(ServoFixture, SendTwistStampedTest)
   servo_->stop();
 }
 
-TEST_F(ServoFixture, SendJointJogTest)
+TEST_F(ServoFixture, SendJointServoTest)
 {
   servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
@@ -154,7 +154,7 @@ TEST_F(ServoFixture, SendJointJogTest)
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
   // Create publisher to send servo commands
-  auto joint_jog_pub = nh_.advertise<control_msgs::JointJog>(parameters.joint_command_in_topic, 1);
+  auto joint_servo_pub = nh_.advertise<control_msgs::JointJog>(parameters.joint_command_in_topic, 1);
 
   constexpr double test_duration = 1.0;
   const double publish_period = parameters.publish_period;
@@ -171,7 +171,7 @@ TEST_F(ServoFixture, SendJointJogTest)
     msg->velocities.push_back(0.1);
 
     // Send the message
-    joint_jog_pub.publish(msg);
+    joint_servo_pub.publish(msg);
     publish_rate.sleep();
   }
 
diff --git a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
index 56d541d142..9d44acb223 100755
--- a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
+++ b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
@@ -17,9 +17,9 @@
 
 # Send a service call to allow drift in all but the y-dimension.
 # In other words, only the y-dimension will be controlled exactly.
-# Check that the service returns and the jog node continues to publish commands to the robot.
+# Check that the service returns and the servo node continues to publish commands to the robot.
 
-CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
+CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
 
 COMMAND_OUT_TOPIC = 'servo_server/command'
 
@@ -32,7 +32,7 @@ def node():
 
 
 def test_drift_dimensions_service(node):
-    assert util.wait_for_jogger_initialization()
+    assert util.wait_for_servo_initialization()
 
     # Service to change drift dimensions
     drift_service = rospy.ServiceProxy(SERVICE_NAME, ChangeDriftDimensions)
diff --git a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
index fa0e560291..4641bc59a0 100755
--- a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
@@ -14,14 +14,14 @@
 import util
 
 # The robot starts at a singular position (see config file).
-# The jogger should halt and publish a warning.
-# Listen for a warning message from the jogger.
+# The servo node should halt and publish a warning.
+# Listen for a warning message from the servo node.
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_jog_arm_halt_msg.py
 
-CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
+CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
 
-# jog_arm should publish a nonzero warning code here
+# servo should publish a nonzero warning code here
 STATUS_TOPIC = 'servo_server/status'
 
 
@@ -30,10 +30,10 @@ def node():
     return rospy.init_node('pytest', anonymous=True)
 
 
-class CartesianJogCmd(object):
+class CartesianCmd(object):
     def __init__(self):
         self._pub = rospy.Publisher(
-            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=10
+            CARTESIAN_COMMAND_TOPIC, TwistStamped, queue_size=10
         )
 
     def send_cmd(self, linear, angular):
@@ -44,16 +44,16 @@ def send_cmd(self, linear, angular):
         self._pub.publish(ts)
 
 
-def test_jog_arm_halt_msg(node):
-    assert util.wait_for_jogger_initialization()
+def test_servo_halt_msg(node):
+    assert util.wait_for_servo_initialization()
 
     received = []
     sub = rospy.Subscriber(
         STATUS_TOPIC, Int8, lambda msg: received.append(msg)
     )
-    cartesian_cmd = CartesianJogCmd()
+    cartesian_cmd = CartesianCmd()
 
-    # This nonzero command should produce jogging output
+    # This nonzero command should produce servoing output
     # A subscriber in a different timer fills `received`
     TEST_DURATION = 1
     start_time = rospy.get_rostime()
@@ -69,4 +69,4 @@ def test_jog_arm_halt_msg(node):
 
 if __name__ == '__main__':
    node = node()
-   test_jog_arm_halt_msg(node)
+   test_servo_halt_msg(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
index 9ac5e721ac..a71f6c7a39 100755
--- a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
@@ -13,12 +13,12 @@
 sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
 import util
 
-# Test that the jogger publishes controller commands when it receives Cartesian or joint commands.
+# Test that the servo node publishes controller commands when it receives Cartesian or joint commands.
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_jog_arm_integration.py
 
-JOINT_JOG_COMMAND_TOPIC = 'servo_server/joint_delta_jog_cmds'
-CARTESIAN_JOG_COMMAND_TOPIC = 'servo_server/delta_jog_cmds'
+JOINT_COMMAND_TOPIC = 'servo_server/delta_joint_cmds'
+CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
 
 COMMAND_OUT_TOPIC = 'servo_server/command'
 
@@ -28,9 +28,9 @@ def node():
     return rospy.init_node('pytest', anonymous=True)
 
 
-class JointJogCmd(object):
+class JointCmd(object):
     def __init__(self):
-        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=10)
+        self._pub = rospy.Publisher(JOINT_COMMAND_TOPIC, JointJog, queue_size=10)
 
     def send_joint_velocity_cmd(self, joint_pos):
         jj = JointJog()
@@ -40,10 +40,10 @@ def send_joint_velocity_cmd(self, joint_pos):
         self._pub.publish(jj)
 
 
-class CartesianJogCmd(object):
+class CartesianCmd(object):
     def __init__(self):
         self._pub = rospy.Publisher(
-            CARTESIAN_JOG_COMMAND_TOPIC, TwistStamped, queue_size=10
+            CARTESIAN_COMMAND_TOPIC, TwistStamped, queue_size=10
         )
 
     def send_cmd(self, linear, angular):
@@ -54,16 +54,16 @@ def send_cmd(self, linear, angular):
         self._pub.publish(ts)
 
 
-def test_jog_arm_cartesian_command(node):
+def test_servo_cartesian_command(node):
     # Test sending a cartesian velocity command
 
-    assert util.wait_for_jogger_initialization()
+    assert util.wait_for_servo_initialization()
 
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
-    cartesian_cmd = CartesianJogCmd()
+    cartesian_cmd = CartesianCmd()
 
     # Repeated zero-commands should produce no output, other than a few halt messages
     # A subscriber in a different timer fills 'received'
@@ -74,12 +74,12 @@ def test_jog_arm_cartesian_command(node):
     rospy.sleep(1)
     assert len(received) <= 4 # 'num_outgoing_halt_msgs_to_publish' in the config file
 
-    # This nonzero command should produce jogging output
+    # This nonzero command should produce servoing output
     # A subscriber in a different timer fills `received`
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
 
-    # Send a command to start the jogger
+    # Send a command to start the servo node
     cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
 
     start_time = rospy.get_rostime()
@@ -93,22 +93,22 @@ def test_jog_arm_cartesian_command(node):
     assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 20
 
 
-def test_jog_arm_joint_command(node):
+def test_servo_joint_command(node):
     # Test sending a joint command
 
-    assert util.wait_for_jogger_initialization()
+    assert util.wait_for_servo_initialization()
 
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
-    joint_cmd = JointJogCmd()
+    joint_cmd = JointCmd()
 
     TEST_DURATION = 1
     PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
     velocities = [0.1]
 
-    # Send a command to start the jogger
+    # Send a command to start the servo node
     joint_cmd.send_joint_velocity_cmd(velocities)
 
     start_time = rospy.get_rostime()
@@ -124,6 +124,6 @@ def test_jog_arm_joint_command(node):
 
 if __name__ == '__main__':
     node = node()
-    time.sleep(JOG_ARM_SETTLE_TIME_S)  # wait for servo server to init
-    test_jog_arm_cartesian_command(node)
-    test_jog_arm_joint_command(node)
+    time.sleep(SERVO_SETTLE_TIME_S)  # wait for servo server to init
+    test_servo_cartesian_command(node)
+    test_servo_joint_command(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/util.py b/moveit_ros/moveit_servo/test/python_tests/util.py
index 473e9e26d3..f813e8dea7 100644
--- a/moveit_ros/moveit_servo/test/python_tests/util.py
+++ b/moveit_ros/moveit_servo/test/python_tests/util.py
@@ -1,14 +1,14 @@
 import rospy
 from std_msgs.msg import Int8
 
-# jog_arm should publish a nonzero warning code here
+# servo should publish a nonzero warning code here
 STATUS_TOPIC = 'servo_server/status'
 
-def wait_for_jogger_initialization(timeout=15):
+def wait_for_servo_initialization(timeout=15):
     try:
       rospy.wait_for_message(STATUS_TOPIC, Int8, timeout=timeout)
     except rospy.ROSException as exc:
-      rospy.logerr("The jogger topic " + STATUS_TOPIC + " is not available: " + str(exc))
+      rospy.logerr("The servo topic " + STATUS_TOPIC + " is not available: " + str(exc))
       return False
 
     return True
diff --git a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
index dbb64e43f0..38dcdb2b8f 100755
--- a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
@@ -16,7 +16,7 @@
 # This can be run as part of a pytest, or like a normal ROS executable:
 # rosrun moveit_servo test_vel_accel_limits.py
 
-JOINT_JOG_COMMAND_TOPIC = 'servo_server/joint_delta_jog_cmds'
+JOINT_COMMAND_TOPIC = 'servo_server/delta_joint_cmds'
 
 COMMAND_OUT_TOPIC = 'servo_server/command'
 
@@ -26,9 +26,9 @@ def node():
     return rospy.init_node('pytest', anonymous=True)
 
 
-class JointJogCmd(object):
+class JointServoCmd(object):
     def __init__(self):
-        self._pub = rospy.Publisher(JOINT_JOG_COMMAND_TOPIC, JointJog, queue_size=10)
+        self._pub = rospy.Publisher(JOINT_COMMAND_TOPIC, JointJog, queue_size=10)
 
     def send_joint_velocity_cmd(self, joint_pos):
         jj = JointJog()
@@ -41,24 +41,24 @@ def send_joint_velocity_cmd(self, joint_pos):
 def test_vel_limit(node):
     # Test sending a joint command
 
-    assert util.wait_for_jogger_initialization()
+    assert util.wait_for_servo_initialization()
 
     received = []
     sub = rospy.Subscriber(
         COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
     )
 
-    joint_cmd = JointJogCmd()
+    joint_cmd = JointServoCmd()
 
     TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from jog_arm config file
+    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
 
     # Panda arm limit, from joint_limits.yaml
     VELOCITY_LIMIT = rospy.get_param("/robot_description_planning/joint_limits/panda_joint1/max_velocity")
     # Send a velocity command that exceeds the limit
     velocities = [10 * VELOCITY_LIMIT]
 
-    # Send a command to start the jogger
+    # Send a command to start the servo node
     joint_cmd.send_joint_velocity_cmd(velocities)
 
     start_time = rospy.get_rostime()
@@ -67,15 +67,15 @@ def test_vel_limit(node):
         joint_cmd.send_joint_velocity_cmd(velocities)
         time.sleep(0.1)
 
-    # Period of outgoing commands from the jogger, from yaml
-    JOGGER_COMMAND_PERIOD = rospy.get_param("/servo_server/publish_period")
+    # Period of outgoing commands from the servo node, from yaml
+    SERVO_COMMAND_PERIOD = rospy.get_param("/servo_server/publish_period")
 
     # Should be no velocities greater than the limit
     assert len(received) > 2
     for msg_idx in range(1, len(received)):
         try:
             velocity = \
-                (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / JOGGER_COMMAND_PERIOD
+                (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / SERVO_COMMAND_PERIOD
             assert abs(velocity) <= VELOCITY_LIMIT
         except IndexError:
             # Sometimes a message doesn't have any points

From a602b04f6d453079ddd474b4c976a82d4f046a69 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:07:48 -0500
Subject: [PATCH 365/612] Internal rename JogCalcs -> ServoCalcs

---
 .../include/moveit_servo/jog_calcs.h          | 12 +--
 .../moveit_servo/include/moveit_servo/servo.h |  2 +-
 moveit_ros/moveit_servo/src/jog_calcs.cpp     | 90 ++++++++++---------
 moveit_ros/moveit_servo/src/servo.cpp         | 10 +--
 4 files changed, 58 insertions(+), 56 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
index 75fbe05bd7..8766341523 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
@@ -61,12 +61,12 @@
 
 namespace moveit_servo
 {
-class JogCalcs
+class ServoCalcs
 {
 public:
-  JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
-           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-           const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
+  ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
+             const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
   /** \brief Start and stop the timer where we do work and publish outputs */
   void start();
@@ -89,10 +89,10 @@ class JogCalcs
   void run(const ros::TimerEvent& timer_event);
 
   /** \brief Do servoing calculations for Cartesian twist commands. */
-  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
+  bool cartesianServoCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Do servoing calculations for direct commands to a joint. */
-  bool jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
+  bool jointServoCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
   bool updateJoints();
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 706ea24db9..7de5197b41 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -93,7 +93,7 @@ class Servo
   ServoParameters parameters_;
 
   std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
-  std::unique_ptr<JogCalcs> jog_calcs_;
+  std::unique_ptr<ServoCalcs> servo_calcs_;
   std::unique_ptr<CollisionCheck> collision_checker_;
 };
 
diff --git a/moveit_ros/moveit_servo/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/jog_calcs.cpp
index 2fb50e53b2..77daa93e59 100644
--- a/moveit_ros/moveit_servo/src/jog_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/jog_calcs.cpp
@@ -70,9 +70,9 @@ bool isNonZero(const control_msgs::JointJog& msg)
 }  // namespace
 
 // Constructor for the class that handles servoing calculations
-JogCalcs::JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
-                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                   const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
+ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
+                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
@@ -95,23 +95,23 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
 
   // Subscribe to command topics
   twist_stamped_sub_ =
-      nh_.subscribe(parameters_.cartesian_command_in_topic, ROS_QUEUE_SIZE, &JogCalcs::twistStampedCB, this);
-  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &JogCalcs::jointJogCB, this);
+      nh_.subscribe(parameters_.cartesian_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::twistStampedCB, this);
+  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::jointJogCB, this);
 
   // ROS Server for allowing drift in some dimensions
   drift_dimensions_server_ =
       nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
-                           &JogCalcs::changeDriftDimensions, this);
+                           &ServoCalcs::changeDriftDimensions, this);
 
   // ROS Server for changing the control dimensions
   control_dimensions_server_ =
       nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
-                           &JogCalcs::changeControlDimensions, this);
+                           &ServoCalcs::changeControlDimensions, this);
 
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
   collision_velocity_scale_sub_ =
-      internal_nh.subscribe("collision_velocity_scale", ROS_QUEUE_SIZE, &JogCalcs::collisionVelocityScaleCB, this);
+      internal_nh.subscribe("collision_velocity_scale", ROS_QUEUE_SIZE, &ServoCalcs::collisionVelocityScaleCB, this);
   worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", ROS_QUEUE_SIZE);
 
   // Publish freshly-calculated joints to the robot.
@@ -168,19 +168,19 @@ JogCalcs::JogCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
   }
 }
 
-void JogCalcs::start()
+void ServoCalcs::start()
 {
   stop_requested_ = false;
-  timer_ = nh_.createTimer(period_, &JogCalcs::run, this);
+  timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
 }
 
-void JogCalcs::stop()
+void ServoCalcs::stop()
 {
   stop_requested_ = true;
   timer_.stop();
 }
 
-void JogCalcs::run(const ros::TimerEvent& timer_event)
+void ServoCalcs::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
   if (timer_event.profile.last_duration.toSec() > period_.toSec())
@@ -260,7 +260,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   // Only run commands if not stale and nonzero
   if (have_nonzero_twist_stamped_ && !twist_command_is_stale_)
   {
-    if (!cartesianJogCalcs(twist_stamped_cmd_, *joint_trajectory))
+    if (!cartesianServoCalcs(twist_stamped_cmd_, *joint_trajectory))
     {
       resetLowPassFilters(original_joint_state_);
       return;
@@ -268,7 +268,7 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
   }
   else if (have_nonzero_joint_jog_ && !joint_command_is_stale_)
   {
-    if (!jointJogCalcs(joint_jog_cmd_, *joint_trajectory))
+    if (!jointServoCalcs(joint_jog_cmd_, *joint_trajectory))
     {
       resetLowPassFilters(original_joint_state_);
       return;
@@ -352,7 +352,8 @@ void JogCalcs::run(const ros::TimerEvent& timer_event)
     resetLowPassFilters(original_joint_state_);
 }
 // Perform the servoing calculations
-bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
+bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
+                                     trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // Check for nan's in the incoming command
   if (std::isnan(cmd.twist.linear.x) || std::isnan(cmd.twist.linear.y) || std::isnan(cmd.twist.linear.z) ||
@@ -462,7 +463,7 @@ bool JogCalcs::cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, trajectory_ms
   return convertDeltasToOutgoingCmd(joint_trajectory);
 }
 
-bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
+bool ServoCalcs::jointServoCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // Check for nan's
   for (double velocity : cmd.velocities)
@@ -485,7 +486,7 @@ bool JogCalcs::jointJogCalcs(const control_msgs::JointJog& cmd, trajectory_msgs:
   return convertDeltasToOutgoingCmd(joint_trajectory);
 }
 
-bool JogCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& joint_trajectory)
+bool ServoCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   internal_joint_state_ = original_joint_state_;
   if (!addJointIncrements(internal_joint_state_, delta_theta_))
@@ -516,7 +517,8 @@ bool JogCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& join
 // Spam several redundant points into the trajectory. The first few may be skipped if the
 // time stamp is in the past when it reaches the client. Needed for gazebo simulation.
 // Start from 2 because the first point's timestamp is already 1*parameters_.publish_period
-void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const
+void ServoCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory,
+                                                     int count) const
 {
   joint_trajectory.points.resize(count);
   auto point = joint_trajectory.points[0];
@@ -528,7 +530,7 @@ void JogCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTraject
   }
 }
 
-void JogCalcs::lowPassFilterPositions(sensor_msgs::JointState& joint_state)
+void ServoCalcs::lowPassFilterPositions(sensor_msgs::JointState& joint_state)
 {
   for (size_t i = 0; i < position_filters_.size(); ++i)
   {
@@ -538,7 +540,7 @@ void JogCalcs::lowPassFilterPositions(sensor_msgs::JointState& joint_state)
   updated_filters_ = true;
 }
 
-void JogCalcs::resetLowPassFilters(const sensor_msgs::JointState& joint_state)
+void ServoCalcs::resetLowPassFilters(const sensor_msgs::JointState& joint_state)
 {
   for (std::size_t i = 0; i < position_filters_.size(); ++i)
   {
@@ -548,7 +550,7 @@ void JogCalcs::resetLowPassFilters(const sensor_msgs::JointState& joint_state)
   updated_filters_ = true;
 }
 
-void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta)
+void ServoCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta)
 {
   for (int i = 0; i < delta_theta.size(); ++i)
   {
@@ -556,8 +558,8 @@ void JogCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state, co
   }
 }
 
-void JogCalcs::composeJointTrajMessage(const sensor_msgs::JointState& joint_state,
-                                       trajectory_msgs::JointTrajectory& joint_trajectory) const
+void ServoCalcs::composeJointTrajMessage(const sensor_msgs::JointState& joint_state,
+                                         trajectory_msgs::JointTrajectory& joint_trajectory) const
 {
   joint_trajectory.header.frame_id = parameters_.planning_frame;
   joint_trajectory.header.stamp = ros::Time::now();
@@ -581,7 +583,7 @@ void JogCalcs::composeJointTrajMessage(const sensor_msgs::JointState& joint_stat
 }
 
 // Apply velocity scaling for proximity of collisions and singularities.
-void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale)
+void ServoCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singularity_scale)
 {
   double collision_scale = collision_velocity_scale_;
 
@@ -599,9 +601,9 @@ void JogCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singular
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion
-double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
-                                                     const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
-                                                     const Eigen::MatrixXd& pseudo_inverse)
+double ServoCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
+                                                       const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
+                                                       const Eigen::MatrixXd& pseudo_inverse)
 {
   double velocity_scale = 1;
   std::size_t num_dimensions = commanded_velocity.size();
@@ -666,7 +668,7 @@ double JogCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& comm
   return velocity_scale;
 }
 
-void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
+void ServoCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
 {
   Eigen::ArrayXd velocity = delta_theta / parameters_.publish_period;
   const Eigen::ArrayXd acceleration = (velocity - prev_joint_velocity_) / parameters_.publish_period;
@@ -740,7 +742,7 @@ void JogCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
   }
 }
 
-bool JogCalcs::enforceSRDFPositionLimits()
+bool ServoCalcs::enforceSRDFPositionLimits()
 {
   bool halting = false;
 
@@ -782,7 +784,7 @@ bool JogCalcs::enforceSRDFPositionLimits()
 
 // Suddenly halt for a joint limit or other critical issue.
 // Is handled differently for position vs. velocity control.
-void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
+void ServoCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   if (joint_trajectory.points.empty())
   {
@@ -804,7 +806,7 @@ void JogCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 }
 
 // Parse the incoming joint msg for the joints of our MoveGroup
-bool JogCalcs::updateJoints()
+bool ServoCalcs::updateJoints()
 {
   sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
 
@@ -884,7 +886,7 @@ bool JogCalcs::updateJoints()
 }
 
 // Scale the incoming jog command
-Eigen::VectorXd JogCalcs::scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const
+Eigen::VectorXd ServoCalcs::scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const
 {
   Eigen::VectorXd result(6);
 
@@ -914,7 +916,7 @@ Eigen::VectorXd JogCalcs::scaleCartesianCommand(const geometry_msgs::TwistStampe
   return result;
 }
 
-Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& command) const
+Eigen::VectorXd ServoCalcs::scaleJointCommand(const control_msgs::JointJog& command) const
 {
   Eigen::VectorXd result(num_joints_);
   result.setZero();
@@ -946,7 +948,7 @@ Eigen::VectorXd JogCalcs::scaleJointCommand(const control_msgs::JointJog& comman
 }
 
 // Add the deltas to each joint
-bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const
+bool ServoCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const
 {
   for (std::size_t i = 0, size = static_cast<std::size_t>(increments.size()); i < size; ++i)
   {
@@ -966,7 +968,7 @@ bool JogCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen::
   return true;
 }
 
-void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta_x, unsigned int row_to_remove)
+void ServoCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta_x, unsigned int row_to_remove)
 {
   unsigned int num_rows = jacobian.rows() - 1;
   unsigned int num_cols = jacobian.cols();
@@ -982,7 +984,7 @@ void JogCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta
   delta_x.conservativeResize(num_rows);
 }
 
-bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
+bool ServoCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   transform = tf_moveit_to_robot_cmd_frame_;
@@ -991,7 +993,7 @@ bool JogCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return !transform.matrix().isZero(0);
 }
 
-void JogCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
+void ServoCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_twist_stamped_ = msg;
@@ -1001,7 +1003,7 @@ void JogCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
     latest_twist_command_stamp_ = msg->header.stamp;
 }
 
-void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
+void ServoCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
   latest_joint_jog_ = msg;
@@ -1011,13 +1013,13 @@ void JogCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
     latest_joint_command_stamp_ = msg->header.stamp;
 }
 
-void JogCalcs::collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg)
+void ServoCalcs::collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg)
 {
   collision_velocity_scale_ = msg->data;
 }
 
-bool JogCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
-                                     moveit_msgs::ChangeDriftDimensions::Response& res)
+bool ServoCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
+                                       moveit_msgs::ChangeDriftDimensions::Response& res)
 {
   drift_dimensions_[0] = req.drift_x_translation;
   drift_dimensions_[1] = req.drift_y_translation;
@@ -1030,8 +1032,8 @@ bool JogCalcs::changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request
   return true;
 }
 
-bool JogCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
-                                       moveit_msgs::ChangeControlDimensions::Response& res)
+bool ServoCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
+                                         moveit_msgs::ChangeControlDimensions::Response& res)
 {
   control_dimensions_[0] = req.control_x_translation;
   control_dimensions_[1] = req.control_y_translation;
@@ -1044,7 +1046,7 @@ bool JogCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::Req
   return true;
 }
 
-void JogCalcs::setPaused(bool paused)
+void ServoCalcs::setPaused(bool paused)
 {
   paused_ = paused;
 }
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index 101ffad173..d8db2630df 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -54,7 +54,7 @@ Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMon
 
   joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
 
-  jog_calcs_ = std::make_unique<JogCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
+  servo_calcs_ = std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
 
   collision_checker_ =
       std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
@@ -279,7 +279,7 @@ void Servo::start()
   setPaused(false);
 
   // Crunch the numbers in this timer
-  jog_calcs_->start();
+  servo_calcs_->start();
 
   // Check collisions in this timer
   if (parameters_.check_collisions)
@@ -288,7 +288,7 @@ void Servo::start()
 
 void Servo::stop()
 {
-  jog_calcs_->stop();
+  servo_calcs_->stop();
   collision_checker_->stop();
 }
 
@@ -299,13 +299,13 @@ Servo::~Servo()
 
 void Servo::setPaused(bool paused)
 {
-  jog_calcs_->setPaused(paused);
+  servo_calcs_->setPaused(paused);
   collision_checker_->setPaused(paused);
 }
 
 bool Servo::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  return jog_calcs_->getCommandFrameTransform(transform);
+  return servo_calcs_->getCommandFrameTransform(transform);
 }
 
 const ServoParameters& Servo::getParameters() const

From 499665c232106332fe1c9562119fd607e1529d3b Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:13:41 -0500
Subject: [PATCH 366/612] Rename jog_calcs cpp/h -> servo_calcs cpp/h and fix
 includes

---
 moveit_ros/moveit_servo/CMakeLists.txt                        | 2 +-
 moveit_ros/moveit_servo/include/moveit_servo/servo.h          | 2 +-
 .../include/moveit_servo/{jog_calcs.h => servo_calcs.h}       | 2 +-
 .../moveit_servo/src/{jog_calcs.cpp => servo_calcs.cpp}       | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)
 rename moveit_ros/moveit_servo/include/moveit_servo/{jog_calcs.h => servo_calcs.h} (99%)
 rename moveit_ros/moveit_servo/src/{jog_calcs.cpp => servo_calcs.cpp} (99%)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 0f32ef3950..7e673b3d78 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -58,7 +58,7 @@ include_directories(
 
 add_library(${LIBRARY_NAME} SHARED
   src/collision_check.cpp
-  src/jog_calcs.cpp
+  src/servo_calcs.cpp
   src/servo.cpp
   src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 7de5197b41..6a3a29d4bd 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -42,7 +42,7 @@
 
 #include <moveit_servo/collision_check.h>
 #include <moveit_servo/servo_parameters.h>
-#include <moveit_servo/jog_calcs.h>
+#include <moveit_servo/servo_calcs.h>
 #include <moveit_servo/joint_state_subscriber.h>
 
 namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
similarity index 99%
rename from moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
rename to moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 8766341523..0e116b64f5 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/jog_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -1,5 +1,5 @@
 /*******************************************************************************
- *      Title     : jog_calcs.h
+ *      Title     : servo_calcs.h
  *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
diff --git a/moveit_ros/moveit_servo/src/jog_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
similarity index 99%
rename from moveit_ros/moveit_servo/src/jog_calcs.cpp
rename to moveit_ros/moveit_servo/src/servo_calcs.cpp
index 77daa93e59..b9593af591 100644
--- a/moveit_ros/moveit_servo/src/jog_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -31,7 +31,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/*      Title     : jog_calcs.cpp
+/*      Title     : servo_calcs.cpp
  *      Project   : moveit_servo
  *      Created   : 1/11/2019
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
@@ -40,7 +40,7 @@
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
-#include <moveit_servo/jog_calcs.h>
+#include <moveit_servo/servo_calcs.h>
 #include <moveit_servo/make_shared_from_pool.h>
 
 static const std::string LOGNAME = "jog_calcs";

From bc991965106f2cbe317160a7108b2244e3c6a3a6 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:24:25 -0500
Subject: [PATCH 367/612] Rename servo_calcs internals

---
 .../include/moveit_servo/servo_calcs.h        | 20 +++++------
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 34 +++++++++----------
 2 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 0e116b64f5..1b6bb31f90 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -81,7 +81,7 @@ class ServoCalcs
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
 
-  /** \brief Pause or unpause processing jog commands while keeping the timers alive */
+  /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
 
 private:
@@ -171,7 +171,7 @@ class ServoCalcs
 
   /* \brief Command callbacks */
   void twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg);
-  void jointJogCB(const control_msgs::JointJogConstPtr& msg);
+  void jointCmdCB(const control_msgs::JointJogConstPtr& msg);
   void collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg);
 
   /**
@@ -206,19 +206,19 @@ class ServoCalcs
   int zero_velocity_count_ = 0;
 
   // Flag for staying inactive while there are no incoming commands
-  bool wait_for_jog_commands_ = true;
+  bool wait_for_servo_commands_ = true;
 
   // Flag saying if the filters were updated during the timer callback
   bool updated_filters_ = false;
 
   // Nonzero status flags
   bool have_nonzero_twist_stamped_ = false;
-  bool have_nonzero_joint_jog_ = false;
+  bool have_nonzero_joint_command_ = false;
   bool have_nonzero_command_ = false;
 
   // Incoming command messages
   geometry_msgs::TwistStamped twist_stamped_cmd_;
-  control_msgs::JointJog joint_jog_cmd_;
+  control_msgs::JointJog joint_servo_cmd_;
 
   const moveit::core::JointModelGroup* joint_model_group_;
 
@@ -226,8 +226,8 @@ class ServoCalcs
 
   // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   // (mutex protected below)
-  // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
-  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
+  // internal_joint_state_ is used in servo calculations. It shouldn't be relied on to be accurate.
+  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints the servo node acts on.
   sensor_msgs::JointState internal_joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
 
@@ -240,7 +240,7 @@ class ServoCalcs
   ros::Duration period_;
   ros::Subscriber joint_state_sub_;
   ros::Subscriber twist_stamped_sub_;
-  ros::Subscriber joint_jog_sub_;
+  ros::Subscriber joint_cmd_sub_;
   ros::Subscriber collision_velocity_scale_sub_;
   ros::Publisher status_pub_;
   ros::Publisher worst_case_stop_time_pub_;
@@ -278,10 +278,10 @@ class ServoCalcs
   mutable std::mutex latest_state_mutex_;
   Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
-  control_msgs::JointJogConstPtr latest_joint_jog_;
+  control_msgs::JointJogConstPtr latest_joint_cmd_;
   ros::Time latest_twist_command_stamp_ = ros::Time(0.);
   ros::Time latest_joint_command_stamp_ = ros::Time(0.);
   bool latest_nonzero_twist_stamped_ = false;
-  bool latest_nonzero_joint_jog_ = false;
+  bool latest_nonzero_joint_cmd_ = false;
 };
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index b9593af591..2753d22ae0 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -43,7 +43,7 @@
 #include <moveit_servo/servo_calcs.h>
 #include <moveit_servo/make_shared_from_pool.h>
 
-static const std::string LOGNAME = "jog_calcs";
+static const std::string LOGNAME = "servo_calcs";
 constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
 
 namespace moveit_servo
@@ -96,7 +96,7 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
   // Subscribe to command topics
   twist_stamped_sub_ =
       nh_.subscribe(parameters_.cartesian_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::twistStampedCB, this);
-  joint_jog_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::jointJogCB, this);
+  joint_cmd_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::jointCmdCB, this);
 
   // ROS Server for allowing drift in some dimensions
   drift_dimensions_server_ =
@@ -212,8 +212,8 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
     if (latest_twist_stamped_)
       twist_stamped_cmd_ = *latest_twist_stamped_;
-    if (latest_joint_jog_)
-      joint_jog_cmd_ = *latest_joint_jog_;
+    if (latest_joint_cmd_)
+      joint_servo_cmd_ = *latest_joint_cmd_;
 
     // Check for stale cmds
     twist_command_is_stale_ =
@@ -222,7 +222,7 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
         ((ros::Time::now() - latest_joint_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
 
     have_nonzero_twist_stamped_ = latest_nonzero_twist_stamped_;
-    have_nonzero_joint_jog_ = latest_nonzero_joint_jog_;
+    have_nonzero_joint_command_ = latest_nonzero_joint_cmd_;
   }
 
   // Get the transform from MoveIt planning frame to servoing command frame
@@ -232,20 +232,20 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                                   kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
-  have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_jog_;
+  have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_command_;
 
   // Don't end this function without updating the filters
   updated_filters_ = false;
 
-  // If paused or while waiting for initial jog commands, just keep the low-pass filters up to date with current
+  // If paused or while waiting for initial servo commands, just keep the low-pass filters up to date with current
   // joints so a jump doesn't occur when restarting
-  if (wait_for_jog_commands_ || paused_)
+  if (wait_for_servo_commands_ || paused_)
   {
     resetLowPassFilters(original_joint_state_);
 
     // Check if there are any new commands with valid timestamp
-    wait_for_jog_commands_ =
-        twist_stamped_cmd_.header.stamp == ros::Time(0.) && joint_jog_cmd_.header.stamp == ros::Time(0.);
+    wait_for_servo_commands_ =
+        twist_stamped_cmd_.header.stamp == ros::Time(0.) && joint_servo_cmd_.header.stamp == ros::Time(0.);
 
     // Early exit
     return;
@@ -266,9 +266,9 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
       return;
     }
   }
-  else if (have_nonzero_joint_jog_ && !joint_command_is_stale_)
+  else if (have_nonzero_joint_command_ && !joint_command_is_stale_)
   {
-    if (!jointServoCalcs(joint_jog_cmd_, *joint_trajectory))
+    if (!jointServoCalcs(joint_servo_cmd_, *joint_trajectory))
     {
       resetLowPassFilters(original_joint_state_);
       return;
@@ -296,7 +296,7 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   {
     suddenHalt(*joint_trajectory);
     have_nonzero_twist_stamped_ = false;
-    have_nonzero_joint_jog_ = false;
+    have_nonzero_joint_command_ = false;
   }
 
   // Skip the servoing publication if all inputs have been zero for several cycles in a row.
@@ -885,7 +885,7 @@ bool ServoCalcs::updateJoints()
   return true;
 }
 
-// Scale the incoming jog command
+// Scale the incoming servo command
 Eigen::VectorXd ServoCalcs::scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const
 {
   Eigen::VectorXd result(6);
@@ -1003,11 +1003,11 @@ void ServoCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
     latest_twist_command_stamp_ = msg->header.stamp;
 }
 
-void ServoCalcs::jointJogCB(const control_msgs::JointJogConstPtr& msg)
+void ServoCalcs::jointCmdCB(const control_msgs::JointJogConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-  latest_joint_jog_ = msg;
-  latest_nonzero_joint_jog_ = isNonZero(*latest_joint_jog_);
+  latest_joint_cmd_ = msg;
+  latest_nonzero_joint_cmd_ = isNonZero(*latest_joint_cmd_);
 
   if (msg->header.stamp != ros::Time(0.))
     latest_joint_command_stamp_ = msg->header.stamp;

From abb90dc722317b113a04806aba77ec5e9e549ba1 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:28:47 -0500
Subject: [PATCH 368/612] Rename jog_settings.yaml -> servo_settings.yaml and
 fix includes

---
 .../test/config/{jog_settings.yaml => servo_settings.yaml}    | 0
 moveit_ros/moveit_servo/test/jog_cpp_interface_test.test      | 2 +-
 moveit_ros/moveit_servo/test/launch/common_test_setup.launch  | 4 ++--
 3 files changed, 3 insertions(+), 3 deletions(-)
 rename moveit_ros/moveit_servo/test/config/{jog_settings.yaml => servo_settings.yaml} (100%)

diff --git a/moveit_ros/moveit_servo/test/config/jog_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
similarity index 100%
rename from moveit_ros/moveit_servo/test/config/jog_settings.yaml
rename to moveit_ros/moveit_servo/test/config/servo_settings.yaml
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
index 829a33e117..88d1215191 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
+++ b/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
@@ -13,6 +13,6 @@
 
   <test pkg="moveit_servo" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="60" args="">
     <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
-    <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
   </test>
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
index f2ff32c5b0..3d587e12e9 100644
--- a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
+++ b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
@@ -13,13 +13,13 @@
   </node>
 
   <group ns="servo_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
   </group>
 
   <group unless="$(arg debug)">
     <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen">
       <param name="parameter_ns" type="string" value="servo_server"/>
-      <rosparam command="load" file="$(find moveit_servo)/test/config/jog_settings.yaml"/>
+      <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
     </node>
   </group>
 

From 747e82c05f599f642ccb3b005ef24a143aa1c4c6 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 09:36:18 -0500
Subject: [PATCH 369/612] Rename test names, fix calls to those names

---
 moveit_ros/moveit_servo/CMakeLists.txt        | 20 +++++++++----------
 ... servo_drift_dimensions_service_test.test} |  2 +-
 ...msg_test.test => servo_halt_msg_test.test} |  2 +-
 ...est.test => servo_msg_reception_test.test} |  2 +-
 ....test => servo_vel_accel_limits_test.test} |  2 +-
 ...arm_halt_msg.py => test_servo_halt_msg.py} |  2 +-
 ...ception.py => test_servo_msg_reception.py} |  2 +-
 ..._test.cpp => servo_cpp_interface_test.cpp} |  2 +-
 ...est.test => servo_cpp_interface_test.test} |  4 ++--
 9 files changed, 19 insertions(+), 19 deletions(-)
 rename moveit_ros/moveit_servo/test/launch/{jog_arm_drift_dimensions_service_test.test => servo_drift_dimensions_service_test.test} (84%)
 rename moveit_ros/moveit_servo/test/launch/{jog_arm_halt_msg_test.test => servo_halt_msg_test.test} (86%)
 rename moveit_ros/moveit_servo/test/launch/{jog_arm_msg_reception_test.test => servo_msg_reception_test.test} (85%)
 rename moveit_ros/moveit_servo/test/launch/{jog_arm_vel_accel_limits_test.test => servo_vel_accel_limits_test.test} (85%)
 rename moveit_ros/moveit_servo/test/python_tests/halt_msg/{test_jog_arm_halt_msg.py => test_servo_halt_msg.py} (97%)
 rename moveit_ros/moveit_servo/test/python_tests/msg_reception/{test_jog_arm_msg_reception.py => test_servo_msg_reception.py} (98%)
 rename moveit_ros/moveit_servo/test/{jog_cpp_interface_test.cpp => servo_cpp_interface_test.cpp} (99%)
 rename moveit_ros/moveit_servo/test/{jog_cpp_interface_test.test => servo_cpp_interface_test.test} (75%)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 7e673b3d78..c666edb037 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -134,17 +134,17 @@ if(CATKIN_ENABLE_TESTING)
   find_package(ros_pytest REQUIRED)
 
   # Python integration tests
-  add_rostest(test/launch/jog_arm_halt_msg_test.test)
-  add_rostest(test/launch/jog_arm_msg_reception_test.test)
-  add_rostest(test/launch/jog_arm_vel_accel_limits_test.test)
-  add_rostest(test/launch/jog_arm_drift_dimensions_service_test.test)
-
-  # jog_cpp_interface
-  add_rostest_gtest(jog_cpp_interface_test
-    test/jog_cpp_interface_test.test
-    test/jog_cpp_interface_test.cpp
+  add_rostest(test/launch/servo_halt_msg_test.test)
+  add_rostest(test/launch/servo_msg_reception_test.test)
+  add_rostest(test/launch/servo_vel_accel_limits_test.test)
+  add_rostest(test/launch/servo_drift_dimensions_service_test.test)
+
+  # servo_cpp_interface
+  add_rostest_gtest(servo_cpp_interface_test
+    test/servo_cpp_interface_test.test
+    test/servo_cpp_interface_test.cpp
   )
-  target_link_libraries(jog_cpp_interface_test
+  target_link_libraries(servo_cpp_interface_test
     ${LIBRARY_NAME}
     ${catkin_LIBRARIES}
     ${Eigen_LIBRARIES}
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test b/moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
similarity index 84%
rename from moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
rename to moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
index 145255f44e..b349292a6d 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_drift_dimensions_service_test.test
+++ b/moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
@@ -11,5 +11,5 @@
   </node>
 
   <param name="test_module" value="$(find moveit_servo)/test/python_tests/drift_dimensions_service" />
-  <test test-name="jog_arm_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
+  <test test-name="servo_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test b/moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
similarity index 86%
rename from moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
rename to moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
index efc3c1ae2f..ef78ce1870 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_halt_msg_test.test
+++ b/moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
@@ -11,5 +11,5 @@
   </node>
 
   <param name="test_module" value="$(find moveit_servo)/test/python_tests/halt_msg" />
-  <test test-name="jog_arm_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
+  <test test-name="servo_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test b/moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
similarity index 85%
rename from moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
rename to moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
index b30ee1a8b7..38de3317a0 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_msg_reception_test.test
+++ b/moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
@@ -11,5 +11,5 @@
   </node>
 
   <param name="test_module" value="$(find moveit_servo)/test/python_tests/msg_reception" />
-  <test test-name="jog_arm_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
+  <test test-name="servo_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test b/moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
similarity index 85%
rename from moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
rename to moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
index e6e3707bd7..918556cd82 100644
--- a/moveit_ros/moveit_servo/test/launch/jog_arm_vel_accel_limits_test.test
+++ b/moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
@@ -11,5 +11,5 @@
   </node>
 
   <param name="test_module" value="$(find moveit_servo)/test/python_tests/vel_accel_limits" />
-  <test test-name="jog_arm_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
+  <test test-name="servo_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
 </launch>
diff --git a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
similarity index 97%
rename from moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
rename to moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
index 4641bc59a0..1f09573fc5 100755
--- a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_jog_arm_halt_msg.py
+++ b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
@@ -17,7 +17,7 @@
 # The servo node should halt and publish a warning.
 # Listen for a warning message from the servo node.
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_servo test_jog_arm_halt_msg.py
+# rosrun moveit_servo test_servo_halt_msg.py
 
 CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
 
diff --git a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
similarity index 98%
rename from moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
rename to moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
index a71f6c7a39..116f6892ad 100755
--- a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_jog_arm_msg_reception.py
+++ b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
@@ -15,7 +15,7 @@
 
 # Test that the servo node publishes controller commands when it receives Cartesian or joint commands.
 # This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_servo test_jog_arm_integration.py
+# rosrun moveit_servo test_servo_integration.py
 
 JOINT_COMMAND_TOPIC = 'servo_server/delta_joint_cmds'
 CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
similarity index 99%
rename from moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
rename to moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index 4b011e6f1c..4fd01fc73e 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -49,7 +49,7 @@
 #include <moveit_servo/servo.h>
 #include <moveit_servo/make_shared_from_pool.h>
 
-static const std::string LOGNAME = "jog_cpp_interface_test";
+static const std::string LOGNAME = "servo_cpp_interface_test";
 
 namespace moveit_servo
 {
diff --git a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
similarity index 75%
rename from moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
rename to moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
index 88d1215191..f34d8503da 100644
--- a/moveit_ros/moveit_servo/test/jog_cpp_interface_test.test
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
@@ -11,8 +11,8 @@
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
-  <test pkg="moveit_servo" type="jog_cpp_interface_test" test-name="jog_cpp_interface_test" time-limit="60" args="">
-    <param name="parameter_ns" type="string" value="jog_cpp_interface_test" />
+  <test pkg="moveit_servo" type="servo_cpp_interface_test" test-name="servo_cpp_interface_test" time-limit="60" args="">
+    <param name="parameter_ns" type="string" value="servo_cpp_interface_test" />
     <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
   </test>
 </launch>

From 88021ddba4681d1c2b347614d89515dd1ebaa0ae Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 25 Jun 2020 10:00:13 -0500
Subject: [PATCH 370/612] Clang formatting

---
 moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 1b6bb31f90..569216238c 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -227,7 +227,8 @@ class ServoCalcs
   // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   // (mutex protected below)
   // internal_joint_state_ is used in servo calculations. It shouldn't be relied on to be accurate.
-  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints the servo node acts on.
+  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints the servo node acts
+  // on.
   sensor_msgs::JointState internal_joint_state_, original_joint_state_;
   std::map<std::string, std::size_t> joint_state_name_map_;
 

From 9dcc93cf96b8910698a0848be9799c04a644e2af Mon Sep 17 00:00:00 2001
From: Constantinos <chamzask@gmail.com>
Date: Sun, 28 Jun 2020 16:34:09 -0500
Subject: [PATCH 371/612] added hybridize/interpolate_flags (#2171)

---
 .../model_based_planning_context.h            | 16 ++++++++++
 .../src/model_based_planning_context.cpp      | 29 ++++++++++++-------
 2 files changed, 34 insertions(+), 11 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 0ed6002e8e..d9792e506e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -275,6 +275,16 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
     simplify_solutions_ = flag;
   }
 
+  void setInterpolation(bool flag)
+  {
+    interpolate_ = flag;
+  }
+
+  void setHybridize(bool flag)
+  {
+    hybridize_ = flag;
+  }
+
   /* @brief Solve the planning problem. Return true if the problem is solved
      @param timeout The time to spend on solving
      @param count The number of runs to combine the paths of, in an attempt to generate better quality paths
@@ -424,5 +434,11 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
   ConstraintsLibraryPtr constraints_library_;
 
   bool simplify_solutions_;
+
+  // if false the final solution is not interpolated
+  bool interpolate_;
+
+  // if false parallel plan returns the first solution found
+  bool hybridize_;
 };
 }  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 5cee993b16..2f9f9f5a1c 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -92,6 +92,8 @@ ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::
   , use_state_validity_cache_(true)
   , multi_query_planning_enabled_(false)  // maintain "old" behavior by default
   , simplify_solutions_(true)
+  , interpolate_(true)
+  , hybridize_(true)
 {
   complete_initial_robot_state_.update();
 
@@ -670,7 +672,9 @@ bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::Motion
       simplifySolution(request_.allowed_planning_time - ptime);
       ptime += getLastSimplifyTime();
     }
-    interpolateSolution();
+
+    if (interpolate_)
+      interpolateSolution();
 
     // fill the response
     ROS_DEBUG_NAMED("model_based_planning_context", "%s: Returning successful solution with %lu states",
@@ -714,13 +718,16 @@ bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::Motion
       getSolutionPath(*res.trajectory_.back());
     }
 
-    ompl::time::point start_interpolate = ompl::time::now();
-    interpolateSolution();
-    res.processing_time_.push_back(ompl::time::seconds(ompl::time::now() - start_interpolate));
-    res.description_.emplace_back("interpolate");
-    res.trajectory_.resize(res.trajectory_.size() + 1);
-    res.trajectory_.back().reset(new robot_trajectory::RobotTrajectory(getRobotModel(), getGroupName()));
-    getSolutionPath(*res.trajectory_.back());
+    if (interpolate_)
+    {
+      ompl::time::point start_interpolate = ompl::time::now();
+      interpolateSolution();
+      res.processing_time_.push_back(ompl::time::seconds(ompl::time::now() - start_interpolate));
+      res.description_.emplace_back("interpolate");
+      res.trajectory_.resize(res.trajectory_.size() + 1);
+      res.trajectory_.back().reset(new robot_trajectory::RobotTrajectory(getRobotModel(), getGroupName()));
+      getSolutionPath(*res.trajectory_.back());
+    }
 
     // fill the response
     ROS_DEBUG_NAMED("model_based_planning_context", "%s: Returning successful solution with %lu states",
@@ -768,7 +775,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
 
       ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
       registerTerminationCondition(ptc);
-      result = ompl_parallel_plan_.solve(ptc, 1, count, true) == ompl::base::PlannerStatus::EXACT_SOLUTION;
+      result = ompl_parallel_plan_.solve(ptc, 1, count, hybridize_) == ompl::base::PlannerStatus::EXACT_SOLUTION;
       last_plan_time_ = ompl::time::seconds(ompl::time::now() - start);
       unregisterTerminationCondition();
     }
@@ -787,7 +794,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
         else
           for (unsigned int i = 0; i < max_planning_threads_; ++i)
             ompl_parallel_plan_.addPlanner(ompl::tools::SelfConfig::getDefaultPlanner(ompl_simple_setup_->getGoal()));
-        bool r = ompl_parallel_plan_.solve(ptc, 1, count, true) == ompl::base::PlannerStatus::EXACT_SOLUTION;
+        bool r = ompl_parallel_plan_.solve(ptc, 1, count, hybridize_) == ompl::base::PlannerStatus::EXACT_SOLUTION;
         result = result && r;
       }
       n = count % max_planning_threads_;
@@ -800,7 +807,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
         else
           for (int i = 0; i < n; ++i)
             ompl_parallel_plan_.addPlanner(ompl::tools::SelfConfig::getDefaultPlanner(ompl_simple_setup_->getGoal()));
-        bool r = ompl_parallel_plan_.solve(ptc, 1, count, true) == ompl::base::PlannerStatus::EXACT_SOLUTION;
+        bool r = ompl_parallel_plan_.solve(ptc, 1, count, hybridize_) == ompl::base::PlannerStatus::EXACT_SOLUTION;
         result = result && r;
       }
       last_plan_time_ = ompl::time::seconds(ompl::time::now() - start);

From 9daecb6ab59b8c97edaee59b34acff9c31900b21 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Mon, 29 Jun 2020 08:44:39 -0700
Subject: [PATCH 372/612] add support for setting interpolate_ and hybridize_
 flags in ModelBasedPlanningContext via ompl_planning.yaml (#2172)

---
 .../src/model_based_planning_context.cpp         | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 2f9f9f5a1c..657374192a 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -340,6 +340,22 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
   if (it != cfg.end())
     multi_query_planning_enabled_ = boost::lexical_cast<bool>(it->second);
 
+  // check whether the path returned by the planner should be interpolated
+  it = cfg.find("interpolate");
+  if (it != cfg.end())
+  {
+    interpolate_ = boost::lexical_cast<bool>(it->second);
+    cfg.erase(it);
+  }
+
+  // check whether solution paths from parallel planning should be hybridized
+  it = cfg.find("hybridize");
+  if (it != cfg.end())
+  {
+    hybridize_ = boost::lexical_cast<bool>(it->second);
+    cfg.erase(it);
+  }
+
   // remove the 'type' parameter; the rest are parameters for the planner itself
   it = cfg.find("type");
   if (it == cfg.end())

From 966dee4031f475ecbce024237e9c13f084351228 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 1 Jul 2020 07:41:23 -0500
Subject: [PATCH 373/612] Minor moveit_servo header cleanup (#2173)

---
 .../moveit_servo/include/moveit_servo/collision_check.h     | 2 --
 .../include/moveit_servo/joint_state_subscriber.h           | 3 +--
 moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h  | 6 +-----
 3 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 845b5dac84..6b9610d6ce 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -38,8 +38,6 @@
 
 #pragma once
 
-#include <mutex>
-
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <sensor_msgs/JointState.h>
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
index 48d362123a..8300134bab 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
@@ -50,8 +50,7 @@ namespace moveit_servo
 class JointStateSubscriber
 {
 public:
-  /** \brief Constructor
-   */
+  /** \brief Constructor */
   JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name);
 
   /** \brief Get the latest joint state message */
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 569216238c..a8f676033a 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -38,9 +38,6 @@
 
 #pragma once
 
-// System
-#include <mutex>
-
 // ROS
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
@@ -185,8 +182,7 @@ class ServoCalcs
   bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
-  /** \brief Start the main calculation timer */
-  // Service callback for changing servoing dimensions
+  /** \brief Service callback for changing servoing dimensions (e.g. ignore rotation about X) */
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
 

From 349eb83228a37f65ba17023c7fc3ee2a38f341e7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 2 Jul 2020 13:29:26 +0200
Subject: [PATCH 374/612] partially transition unused test bin to rostest
 (#2158)

There is a lot of infrastructure missing to get this to actually run...
- the plugin needs to be registered
- pr2_moveit_config is not in moveit_resources
---
 .../CMakeLists.txt                            | 17 +++++++++++-----
 ...est_app.cpp => test_execution_manager.cpp} |  0
 .../test/test_execution_manager.test          | 20 +++++++++++++++++++
 3 files changed, 32 insertions(+), 5 deletions(-)
 rename moveit_ros/planning/trajectory_execution_manager/test/{test_app.cpp => test_execution_manager.cpp} (100%)
 create mode 100644 moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test

diff --git a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
index 14a2c23be8..280835786e 100644
--- a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
+++ b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
@@ -11,9 +11,16 @@ install(TARGETS ${MOVEIT_LIB_NAME}
         RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
-add_library(test_controller_manager_plugin test/test_moveit_controller_manager_plugin.cpp)
-set_target_properties(test_controller_manager_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(test_controller_manager_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+if(CATKIN_ENABLE_TESTING)
 
-add_executable(test_controller_manager test/test_app.cpp)
-target_link_libraries(test_controller_manager ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+## This needs further cleanup before it can run
+# add_library(test_controller_manager_plugin test/test_moveit_controller_manager_plugin.cpp)
+# set_target_properties(test_controller_manager_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+# target_link_libraries(test_controller_manager_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+#
+# find_package(rostest REQUIRED)
+# add_rostest_gtest(test_execution_manager
+#                   test/test_execution_manager.test
+#                   test/test_execution_manager.cpp)
+# target_link_libraries(test_execution_manager ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+endif(CATKIN_ENABLE_TESTING)
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_app.cpp b/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.cpp
similarity index 100%
rename from moveit_ros/planning/trajectory_execution_manager/test/test_app.cpp
rename to moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.cpp
diff --git a/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test b/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test
new file mode 100644
index 0000000000..ef1cab7521
--- /dev/null
+++ b/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find moveit_resources)/pr2_moveit_config/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world base_footprint" />
+
+  <!-- Send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+  <!-- Start robot state publisher -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <test test-name="execution_manager" pkg="moveit_ros_planning" type="test_execution_manager">
+    <param name="moveit_controller_manager" value=""/>
+  </test>
+</launch>

From 5af72583ee1798ae2534aa66d727f7c3dbf13f1c Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Thu, 2 Jul 2020 23:56:43 +0900
Subject: [PATCH 375/612] Clean up Rviz plugin, fix mesh scaling (#2142)

* Clarify object importing

* Add suggestion (LARGE_MESH_THRESHOLD)

* Add file filter

* Add tooltip, clarify names

* Fix and clarify names in robot states tab

* Add dialogue to Clear button in robot states
---
 .../motion_planning_frame.h                   | 14 +++--
 .../src/motion_planning_frame.cpp             | 49 +++++++++++++---
 .../src/motion_planning_frame_objects.cpp     | 19 ++++---
 .../src/motion_planning_frame_states.cpp      | 17 +++++-
 .../ui/motion_planning_rviz_plugin_frame.ui   | 56 +++++++++++++------
 5 files changed, 114 insertions(+), 41 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index a858fe2105..133a09fb1b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -97,6 +97,8 @@ static const std::string TAB_SCENES = "Stored Scenes";
 static const std::string TAB_STATES = "Stored States";
 static const std::string TAB_STATUS = "Status";
 
+static const double LARGE_MESH_THRESHOLD = 10.0;
+
 class MotionPlanningFrame : public QWidget
 {
   friend class MotionPlanningDisplay;
@@ -172,8 +174,8 @@ private Q_SLOTS:
   void onClearOctomapClicked();
 
   // Scene Objects tab
-  void importFileButtonClicked();
-  void importUrlButtonClicked();
+  void importObjectFromFileButtonClicked();
+  void importObjectFromUrlButtonClicked();
   void clearSceneButtonClicked();
   void sceneScaleChanged(int value);
   void sceneScaleStartChange();
@@ -184,8 +186,8 @@ private Q_SLOTS:
   void collisionObjectChanged(QListWidgetItem* item);
   void imProcessFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
   void copySelectedCollisionObject();
-  void exportAsTextButtonClicked();
-  void importFromTextButtonClicked();
+  void exportGeometryAsTextButtonClicked();
+  void importGeometryFromTextButtonClicked();
 
   // Stored scenes tab
   void saveSceneButtonClicked();
@@ -249,8 +251,8 @@ private Q_SLOTS:
   void renameCollisionObject(QListWidgetItem* item);
   void attachDetachCollisionObject(QListWidgetItem* item);
   void populateCollisionObjectsList();
-  void computeImportFromText(const std::string& path);
-  void computeExportAsText(const std::string& path);
+  void computeImportGeometryFromText(const std::string& path);
+  void computeExportGeometryAsText(const std::string& path);
   visualization_msgs::InteractiveMarker
   createObjectMarkerMsg(const collision_detection::CollisionEnv::ObjectConstPtr& obj);
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 3993bfd75f..80ea79e3db 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -105,8 +105,8 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
           SLOT(planningAlgorithmIndexChanged(int)));
   connect(ui_->planning_algorithm_combo_box, SIGNAL(currentIndexChanged(int)), this,
           SLOT(planningAlgorithmIndexChanged(int)));
-  connect(ui_->import_file_button, SIGNAL(clicked()), this, SLOT(importFileButtonClicked()));
-  connect(ui_->import_url_button, SIGNAL(clicked()), this, SLOT(importUrlButtonClicked()));
+  connect(ui_->import_object_file_button, SIGNAL(clicked()), this, SLOT(importObjectFromFileButtonClicked()));
+  connect(ui_->import_object_url_button, SIGNAL(clicked()), this, SLOT(importObjectFromUrlButtonClicked()));
   connect(ui_->clear_scene_button, SIGNAL(clicked()), this, SLOT(clearSceneButtonClicked()));
   connect(ui_->scene_scale, SIGNAL(valueChanged(int)), this, SLOT(sceneScaleChanged(int)));
   connect(ui_->scene_scale, SIGNAL(sliderPressed()), this, SLOT(sceneScaleStartChange()));
@@ -128,8 +128,8 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   connect(ui_->planning_scene_tree, SIGNAL(itemChanged(QTreeWidgetItem*, int)), this,
           SLOT(warehouseItemNameChanged(QTreeWidgetItem*, int)));
   connect(ui_->reset_db_button, SIGNAL(clicked()), this, SLOT(resetDbButtonClicked()));
-  connect(ui_->export_scene_text_button, SIGNAL(clicked()), this, SLOT(exportAsTextButtonClicked()));
-  connect(ui_->import_scene_text_button, SIGNAL(clicked()), this, SLOT(importFromTextButtonClicked()));
+  connect(ui_->export_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(exportGeometryAsTextButtonClicked()));
+  connect(ui_->import_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(importGeometryFromTextButtonClicked()));
   connect(ui_->load_state_button, SIGNAL(clicked()), this, SLOT(loadStateButtonClicked()));
   connect(ui_->save_start_state_button, SIGNAL(clicked()), this, SLOT(saveStartStateButtonClicked()));
   connect(ui_->save_goal_state_button, SIGNAL(clicked()), this, SLOT(saveGoalStateButtonClicked()));
@@ -435,9 +435,6 @@ void MotionPlanningFrame::importResource(const std::string& path)
     {
       std::size_t slash = path.find_last_of("/\\");
       std::string name = path.substr(slash + 1);
-      shapes::ShapeConstPtr shape(mesh);
-      Eigen::Isometry3d pose;
-      pose.setIdentity();
 
       if (planning_display_->getPlanningSceneRO()->getCurrentState().hasAttachedBody(name))
       {
@@ -448,6 +445,42 @@ void MotionPlanningFrame::importResource(const std::string& path)
         return;
       }
 
+      // If the object is very large, ask the user if the scale should be reduced.
+      bool object_is_very_large = false;
+      for (unsigned int i = 0; i < mesh->vertex_count; i++)
+      {
+        if ((abs(mesh->vertices[i * 3 + 0]) > LARGE_MESH_THRESHOLD) ||
+            (abs(mesh->vertices[i * 3 + 1]) > LARGE_MESH_THRESHOLD) ||
+            (abs(mesh->vertices[i * 3 + 2]) > LARGE_MESH_THRESHOLD))
+        {
+          object_is_very_large = true;
+          break;
+        }
+      }
+      if (object_is_very_large)
+      {
+        QMessageBox msg_box;
+        msg_box.setText(
+            "The object is very large (greater than 10 m). The file may be in millimeters instead of meters.");
+        msg_box.setInformativeText("Attempt to fix the size by shrinking the object?");
+        msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        msg_box.setDefaultButton(QMessageBox::Yes);
+        if (msg_box.exec() == QMessageBox::Yes)
+        {
+          for (unsigned int i = 0; i < mesh->vertex_count; ++i)
+          {
+            unsigned int i3 = i * 3;
+            mesh->vertices[i3] *= 0.001;
+            mesh->vertices[i3 + 1] *= 0.001;
+            mesh->vertices[i3 + 2] *= 0.001;
+          }
+        }
+      }
+
+      shapes::ShapeConstPtr shape(mesh);
+      Eigen::Isometry3d pose;
+      pose.setIdentity();
+
       // If the object already exists, ask the user whether to overwrite or rename
       if (planning_display_->getPlanningSceneRO()->getWorld()->hasObject(name))
       {
@@ -515,7 +548,7 @@ void MotionPlanningFrame::importResource(const std::string& path)
     }
     else
     {
-      QMessageBox::warning(this, QString("Import error"), QString("Unable to import scene"));
+      QMessageBox::warning(this, QString("Import error"), QString("Unable to import object"));
       return;
     }
   }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 9405cd123b..9aa972c902 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -73,14 +73,15 @@ QString subframe_poses_to_qstring(const moveit::core::FixedTransformsMap& subfra
 
 namespace moveit_rviz_plugin
 {
-void MotionPlanningFrame::importFileButtonClicked()
+void MotionPlanningFrame::importObjectFromFileButtonClicked()
 {
-  QString path = QFileDialog::getOpenFileName(this, tr("Import Object"));
+  QString path = QFileDialog::getOpenFileName(this, tr("Import Object Mesh"), QString(),
+                                              "CAD files (*.stl *.obj *.dae);;All files (*.*)");
   if (!path.isEmpty())
     importResource("file://" + path.toStdString());
 }
 
-void MotionPlanningFrame::importUrlButtonClicked()
+void MotionPlanningFrame::importObjectFromUrlButtonClicked()
 {
   bool ok = false;
   QString url = QInputDialog::getText(this, tr("Import Object"), tr("URL for file to import:"), QLineEdit::Normal,
@@ -926,16 +927,16 @@ void MotionPlanningFrame::populateCollisionObjectsList()
   selectedCollisionObjectChanged();
 }
 
-void MotionPlanningFrame::exportAsTextButtonClicked()
+void MotionPlanningFrame::exportGeometryAsTextButtonClicked()
 {
   QString path =
       QFileDialog::getSaveFileName(this, tr("Export Scene Geometry"), tr(""), tr("Scene Geometry (*.scene)"));
   if (!path.isEmpty())
     planning_display_->addBackgroundJob(
-        boost::bind(&MotionPlanningFrame::computeExportAsText, this, path.toStdString()), "export as text");
+        boost::bind(&MotionPlanningFrame::computeExportGeometryAsText, this, path.toStdString()), "export as text");
 }
 
-void MotionPlanningFrame::computeExportAsText(const std::string& path)
+void MotionPlanningFrame::computeExportGeometryAsText(const std::string& path)
 {
   planning_scene_monitor::LockedPlanningSceneRO ps = planning_display_->getPlanningSceneRO();
   if (ps)
@@ -953,7 +954,7 @@ void MotionPlanningFrame::computeExportAsText(const std::string& path)
   }
 }
 
-void MotionPlanningFrame::computeImportFromText(const std::string& path)
+void MotionPlanningFrame::computeImportGeometryFromText(const std::string& path)
 {
   planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
   if (ps)
@@ -973,12 +974,12 @@ void MotionPlanningFrame::computeImportFromText(const std::string& path)
   }
 }
 
-void MotionPlanningFrame::importFromTextButtonClicked()
+void MotionPlanningFrame::importGeometryFromTextButtonClicked()
 {
   QString path =
       QFileDialog::getOpenFileName(this, tr("Import Scene Geometry"), tr(""), tr("Scene Geometry (*.scene)"));
   if (!path.isEmpty())
     planning_display_->addBackgroundJob(
-        boost::bind(&MotionPlanningFrame::computeImportFromText, this, path.toStdString()), "import from text");
+        boost::bind(&MotionPlanningFrame::computeImportGeometryFromText, this, path.toStdString()), "import from text");
 }
 }  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
index 584f2329f1..3e554c6b9f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
@@ -245,8 +245,21 @@ void MotionPlanningFrame::removeStateButtonClicked()
 
 void MotionPlanningFrame::clearStatesButtonClicked()
 {
-  robot_states_.clear();
-  populateRobotStatesList();
+  QMessageBox msg_box;
+  msg_box.setText("Clear all stored robot states (from memory, not from the database)?");
+  msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
+  msg_box.setDefaultButton(QMessageBox::Yes);
+  int ret = msg_box.exec();
+  switch (ret)
+  {
+    case QMessageBox::Yes:
+    {
+      robot_states_.clear();
+      populateRobotStatesList();
+    }
+    break;
+  }
+  return;
 }
 
 }  // namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 363fe0f478..568cccd2b0 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -1169,16 +1169,22 @@
            </spacer>
           </item>
           <item>
-           <widget class="QPushButton" name="export_scene_text_button">
+           <widget class="QPushButton" name="export_scene_geometry_text_button">
             <property name="text">
-             <string>&amp;Export As Text</string>
+             <string>&amp;Export</string>
+            </property>
+            <property name="toolTip">
+             <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="import_scene_text_button">
+           <widget class="QPushButton" name="import_scene_geometry_text_button">
             <property name="text">
-             <string>&amp;Import From Text</string>
+             <string>&amp;Import</string>
+            </property>
+            <property name="toolTip">
+             <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
             </property>
            </widget>
           </item>
@@ -1195,9 +1201,12 @@
          </property>
          <layout class="QGridLayout" name="gridLayout_8">
           <item row="1" column="1">
-           <widget class="QPushButton" name="import_url_button">
+           <widget class="QPushButton" name="import_object_url_button">
             <property name="text">
-             <string>Import &amp;URL</string>
+             <string>From &amp;URL</string>
+            </property>
+            <property name="toolTip">
+             <string>Import a mesh from a URL</string>
             </property>
            </widget>
           </item>
@@ -1216,9 +1225,12 @@
            </widget>
           </item>
           <item row="1" column="0">
-           <widget class="QPushButton" name="import_file_button">
+           <widget class="QPushButton" name="import_object_file_button">
             <property name="text">
-             <string>Import &amp;File</string>
+             <string>Import &amp;Mesh</string>
+            </property>
+            <property name="toolTip">
+             <string>Import a mesh from a file</string>
             </property>
            </widget>
           </item>
@@ -1402,13 +1414,16 @@
          <item>
           <widget class="QGroupBox" name="groupBox_15">
            <property name="title">
-            <string>Stored States</string>
+            <string>Stored Robot States</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_17">
             <item row="0" column="0">
              <widget class="QPushButton" name="load_state_button">
               <property name="text">
-               <string>Filter</string>
+               <string>Load</string>
+              </property>
+              <property name="toolTip">
+               <string>Load a robot state</string>
               </property>
              </widget>
             </item>
@@ -1417,6 +1432,9 @@
               <property name="text">
                <string>Clear</string>
               </property>
+              <property name="toolTip">
+               <string>Clear robot states from list</string>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1425,7 +1443,7 @@
          <item>
           <widget class="QGroupBox" name="groupBox_16">
            <property name="title">
-            <string>Selected State</string>
+            <string>Selected Robot State</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_15">
             <item row="0" column="0">
@@ -1455,7 +1473,7 @@
          <item>
           <widget class="QGroupBox" name="groupBox_17">
            <property name="title">
-            <string>Current State</string>
+            <string>Current Robot State</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_16">
             <item row="0" column="0">
@@ -1463,6 +1481,9 @@
               <property name="text">
                <string>Save Start</string>
               </property>
+              <property name="toolTip">
+               <string>Save the current start state</string>
+              </property>
              </widget>
             </item>
             <item row="0" column="1">
@@ -1470,6 +1491,9 @@
               <property name="text">
                <string>Save Goal</string>
               </property>
+              <property name="toolTip">
+               <string>Save the current goal state</string>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1661,8 +1685,8 @@
   <tabstop>roi_size_y</tabstop>
   <tabstop>roi_size_z</tabstop>
   <tabstop>collision_objects_list</tabstop>
-  <tabstop>import_file_button</tabstop>
-  <tabstop>import_url_button</tabstop>
+  <tabstop>import_object_file_button</tabstop>
+  <tabstop>import_object_url_button</tabstop>
   <tabstop>remove_object_button</tabstop>
   <tabstop>clear_scene_button</tabstop>
   <tabstop>object_x</tabstop>
@@ -1673,8 +1697,8 @@
   <tabstop>object_rz</tabstop>
   <tabstop>scene_scale</tabstop>
   <tabstop>publish_current_scene_button</tabstop>
-  <tabstop>export_scene_text_button</tabstop>
-  <tabstop>import_scene_text_button</tabstop>
+  <tabstop>export_scene_geometry_text_button</tabstop>
+  <tabstop>import_scene_geometry_text_button</tabstop>
   <tabstop>planning_scene_tree</tabstop>
   <tabstop>load_scene_button</tabstop>
   <tabstop>load_query_button</tabstop>

From a617923cb7adc499aa7c2863ac0ddf597c431f9a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 28 Jun 2020 19:25:32 +0200
Subject: [PATCH 376/612] Prefer vendor-specific OpenGL library

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
---
 moveit_ros/perception/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 74c908d4cd..44353476bb 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -16,6 +16,10 @@ endif()
 find_package(Boost REQUIRED thread)
 
 if(WITH_OPENGL)
+  # Prefer newer vendor-specific OpenGL library
+  if (POLICY CMP0072)
+    cmake_policy(SET CMP0072 NEW)
+  endif()
   find_package(OpenGL REQUIRED)
   find_package(GLEW REQUIRED)
   find_package(GLUT REQUIRED)

From a15551f8df441865693dae5e81cf1f3e1679426d Mon Sep 17 00:00:00 2001
From: Patrick Beeson <beeson.p@gmail.com>
Date: Fri, 3 Jul 2020 07:42:57 -0500
Subject: [PATCH 377/612] Parameterize input trajectory density of Time Optimal
 trajectory generation  (#2185)

MoveIt wrapper to Time Optimal Trajectory Generation downsamples trajectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint.  For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time.  I was seeing 3000 point trajectory taking ~15 seconds.  This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm.
---
 .../time_optimal_trajectory_generation.h                   | 4 +++-
 .../src/time_optimal_trajectory_generation.cpp             | 7 ++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
index b5b7c80fd4..0ee4d13f41 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
@@ -162,7 +162,8 @@ class Trajectory
 class TimeOptimalTrajectoryGeneration
 {
 public:
-  TimeOptimalTrajectoryGeneration(const double path_tolerance = 0.1, const double resample_dt = 0.1);
+  TimeOptimalTrajectoryGeneration(const double path_tolerance = 0.1, const double resample_dt = 0.1,
+                                  const double min_angle_change = 0.001);
   ~TimeOptimalTrajectoryGeneration();
 
   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
@@ -171,5 +172,6 @@ class TimeOptimalTrajectoryGeneration
 private:
   const double path_tolerance_;
   const double resample_dt_;
+  const double min_angle_change_;
 };
 }  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 076b1c482b..42a9108ea2 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -863,8 +863,9 @@ Eigen::VectorXd Trajectory::getAcceleration(double time) const
   return path_acc;
 }
 
-TimeOptimalTrajectoryGeneration::TimeOptimalTrajectoryGeneration(const double path_tolerance, const double resample_dt)
-  : path_tolerance_(path_tolerance), resample_dt_(resample_dt)
+TimeOptimalTrajectoryGeneration::TimeOptimalTrajectoryGeneration(const double path_tolerance, const double resample_dt,
+                                                                 const double min_angle_change)
+  : path_tolerance_(path_tolerance), resample_dt_(resample_dt), min_angle_change_(min_angle_change)
 {
 }
 
@@ -965,7 +966,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
     for (size_t j = 0; j < num_joints; j++)
     {
       new_point[j] = waypoint->getVariablePosition(idx[j]);
-      if (p > 0 && std::abs(new_point[j] - points.back()[j]) > 0.001)
+      if (p > 0 && std::abs(new_point[j] - points.back()[j]) > min_angle_change_)
         diverse_point = true;
     }
 

From 73fa9ea640f507334052bab183163772f1d7b18d Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 3 Jul 2020 11:12:19 -0500
Subject: [PATCH 378/612] Fix a parameter mix-up in moveit_cpp loading (#2187)

---
 .../moveit_cpp/include/moveit/moveit_cpp/planning_component.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index 7a48c9446f..6aa2d0ca7d 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -118,8 +118,8 @@ class PlanningComponent
       std::string ns = "plan_request_params/";
       nh.param(ns + "planner_id", planner_id, std::string(""));
       nh.param(ns + "planning_pipeline", planning_pipeline, std::string(""));
-      nh.param(ns + "planning_time", planning_attempts, 1);
-      nh.param(ns + "planning_attempts", planning_time, 5.0);
+      nh.param(ns + "planning_time", planning_time, 1.0);
+      nh.param(ns + "planning_attempts", planning_attempts, 5);
       nh.param(ns + "max_velocity_scaling_factor", max_velocity_scaling_factor, 1.0);
       nh.param(ns + "max_acceleration_scaling_factor", max_acceleration_scaling_factor, 1.0);
     }

From 0274ea92df26c6c7ee29afc49b29d6835c1b3f69 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 3 Jul 2020 14:06:25 -0500
Subject: [PATCH 379/612] moveit_servo: delete python integration tests (#2186)

which (mostly) are redundant to the corresponding C++ tests.
---
 moveit_ros/moveit_servo/CMakeLists.txt        |   7 -
 moveit_ros/moveit_servo/package.xml           |   1 -
 .../test/config/singular_position.yaml        |  11 --
 .../test/launch/common_test_setup.launch      |  26 ----
 .../servo_drift_dimensions_service_test.test  |  15 --
 .../test/launch/servo_halt_msg_test.test      |  15 --
 .../test/launch/servo_msg_reception_test.test |  15 --
 .../launch/servo_vel_accel_limits_test.test   |  15 --
 .../test/python_tests/__init__.py             |   0
 .../test_drift_dimensions_service.py          |  49 -------
 .../halt_msg/test_servo_halt_msg.py           |  72 ----------
 .../msg_reception/test_servo_msg_reception.py | 129 ------------------
 .../moveit_servo/test/python_tests/util.py    |  14 --
 .../vel_accel_limits/test_vel_accel_limits.py |  87 ------------
 14 files changed, 456 deletions(-)
 delete mode 100644 moveit_ros/moveit_servo/test/config/singular_position.yaml
 delete mode 100644 moveit_ros/moveit_servo/test/launch/common_test_setup.launch
 delete mode 100644 moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
 delete mode 100644 moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
 delete mode 100644 moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
 delete mode 100644 moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
 delete mode 100644 moveit_ros/moveit_servo/test/python_tests/__init__.py
 delete mode 100755 moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
 delete mode 100755 moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
 delete mode 100755 moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
 delete mode 100644 moveit_ros/moveit_servo/test/python_tests/util.py
 delete mode 100755 moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index c666edb037..37c15d7da2 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -131,13 +131,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
-  find_package(ros_pytest REQUIRED)
-
-  # Python integration tests
-  add_rostest(test/launch/servo_halt_msg_test.test)
-  add_rostest(test/launch/servo_msg_reception_test.test)
-  add_rostest(test/launch/servo_vel_accel_limits_test.test)
-  add_rostest(test/launch/servo_drift_dimensions_service_test.test)
 
   # servo_cpp_interface
   add_rostest_gtest(servo_cpp_interface_test
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index 0e6b0f433b..bb7824858f 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -33,7 +33,6 @@
   <exec_depend>spacenav_node</exec_depend>
 
   <test_depend>rostest</test_depend>
-  <test_depend>ros_pytest</test_depend>
   <test_depend>moveit_resources</test_depend>
 
   <export>
diff --git a/moveit_ros/moveit_servo/test/config/singular_position.yaml b/moveit_ros/moveit_servo/test/config/singular_position.yaml
deleted file mode 100644
index 5ce15e651a..0000000000
--- a/moveit_ros/moveit_servo/test/config/singular_position.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-# This position is at a singularity
-zeros:
-  panda_joint1: 0
-  panda_joint2: 0
-  panda_joint3: 0
-  panda_joint4: 0
-  panda_joint5: 0
-  panda_joint6: 1.57
-  panda_joint7: 1.57
-publish_default_positions: True
-
diff --git a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch b/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
deleted file mode 100644
index 3d587e12e9..0000000000
--- a/moveit_ros/moveit_servo/test/launch/common_test_setup.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="debug" value="false" />
-
-
-  <!-- Load URDF, SRDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0"/>
-  </node>
-
-  <group ns="servo_server" if="$(arg debug)">
-    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
-  </group>
-
-  <group unless="$(arg debug)">
-    <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen">
-      <param name="parameter_ns" type="string" value="servo_server"/>
-      <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
-    </node>
-  </group>
-
-</launch>
diff --git a/moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test b/moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
deleted file mode 100644
index b349292a6d..0000000000
--- a/moveit_ros/moveit_servo/test/launch/servo_drift_dimensions_service_test.test
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="debug" value="false" />
-
-  <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
-
-  <!-- Initial joint positions -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
-  </node>
-
-  <param name="test_module" value="$(find moveit_servo)/test/python_tests/drift_dimensions_service" />
-  <test test-name="servo_drift_dimensions_service_test" pkg="ros_pytest" type="ros_pytest_runner" />
-</launch>
diff --git a/moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test b/moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
deleted file mode 100644
index ef78ce1870..0000000000
--- a/moveit_ros/moveit_servo/test/launch/servo_halt_msg_test.test
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="debug" value="false" />
-
-  <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
-
-  <!-- Initial joint positions -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-	  <rosparam command="load" file="$(find moveit_servo)/test/config/singular_position.yaml" />
-  </node>
-
-  <param name="test_module" value="$(find moveit_servo)/test/python_tests/halt_msg" />
-  <test test-name="servo_halt_msg_test" pkg="ros_pytest" type="ros_pytest_runner" />
-</launch>
diff --git a/moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test b/moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
deleted file mode 100644
index 38de3317a0..0000000000
--- a/moveit_ros/moveit_servo/test/launch/servo_msg_reception_test.test
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="debug" value="false" />
-
-  <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
-
-  <!-- Initial joint positions -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
-  </node>
-
-  <param name="test_module" value="$(find moveit_servo)/test/python_tests/msg_reception" />
-  <test test-name="servo_msg_reception_test" pkg="ros_pytest" type="ros_pytest_runner" />
-</launch>
diff --git a/moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test b/moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
deleted file mode 100644
index 918556cd82..0000000000
--- a/moveit_ros/moveit_servo/test/launch/servo_vel_accel_limits_test.test
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="debug" value="false" />
-
-  <!-- Common setup for most of the integration tests -->
-  <include file="$(find moveit_servo)/test/launch/common_test_setup.launch" />
-
-  <!-- Initial joint positions -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
-  </node>
-
-  <param name="test_module" value="$(find moveit_servo)/test/python_tests/vel_accel_limits" />
-  <test test-name="servo_vel_accel_limits_test" pkg="ros_pytest" type="ros_pytest_runner" />
-</launch>
diff --git a/moveit_ros/moveit_servo/test/python_tests/__init__.py b/moveit_ros/moveit_servo/test/python_tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py b/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
deleted file mode 100755
index 9d44acb223..0000000000
--- a/moveit_ros/moveit_servo/test/python_tests/drift_dimensions_service/test_drift_dimensions_service.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python
-import time
-
-import pytest
-import rospy
-
-from moveit_msgs.srv import ChangeDriftDimensions
-from geometry_msgs.msg import Transform
-from geometry_msgs.msg import TwistStamped
-from std_msgs.msg import Bool
-from trajectory_msgs.msg import JointTrajectory
-
-# Import common Python test utilities
-from os import sys, path
-sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
-import util
-
-# Send a service call to allow drift in all but the y-dimension.
-# In other words, only the y-dimension will be controlled exactly.
-# Check that the service returns and the servo node continues to publish commands to the robot.
-
-CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
-
-COMMAND_OUT_TOPIC = 'servo_server/command'
-
-SERVICE_NAME = 'servo_server/change_drift_dimensions'
-
-
-@pytest.fixture
-def node():
-    return rospy.init_node('pytest', anonymous=True)
-
-
-def test_drift_dimensions_service(node):
-    assert util.wait_for_servo_initialization()
-
-    # Service to change drift dimensions
-    drift_service = rospy.ServiceProxy(SERVICE_NAME, ChangeDriftDimensions)
-
-    # Service call to allow drift in all dimensions except y-translation
-    # The transform is an identity matrix, not used for now
-    drift_response = drift_service(True, False, True, True, True, True, Transform())
-    # Check for successful response
-    assert drift_response.success == True
-
-
-if __name__ == '__main__':
-   node = node()
-   test_drift_dimensions_service(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py b/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
deleted file mode 100755
index 1f09573fc5..0000000000
--- a/moveit_ros/moveit_servo/test/python_tests/halt_msg/test_servo_halt_msg.py
+++ /dev/null
@@ -1,72 +0,0 @@
-#!/usr/bin/env python
-import time
-
-import pytest
-import rospy
-from geometry_msgs.msg import TwistStamped
-
-from control_msgs.msg import JointJog
-from std_msgs.msg import Int8
-
-# Import common Python test utilities
-from os import sys, path
-sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
-import util
-
-# The robot starts at a singular position (see config file).
-# The servo node should halt and publish a warning.
-# Listen for a warning message from the servo node.
-# This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_servo test_servo_halt_msg.py
-
-CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
-
-# servo should publish a nonzero warning code here
-STATUS_TOPIC = 'servo_server/status'
-
-
-@pytest.fixture
-def node():
-    return rospy.init_node('pytest', anonymous=True)
-
-
-class CartesianCmd(object):
-    def __init__(self):
-        self._pub = rospy.Publisher(
-            CARTESIAN_COMMAND_TOPIC, TwistStamped, queue_size=10
-        )
-
-    def send_cmd(self, linear, angular):
-        ts = TwistStamped()
-        ts.header.stamp = rospy.Time.now()
-        ts.twist.linear.x, ts.twist.linear.y, ts.twist.linear.z = linear
-        ts.twist.angular.x, ts.twist.angular.y, ts.twist.angular.z = angular
-        self._pub.publish(ts)
-
-
-def test_servo_halt_msg(node):
-    assert util.wait_for_servo_initialization()
-
-    received = []
-    sub = rospy.Subscriber(
-        STATUS_TOPIC, Int8, lambda msg: received.append(msg)
-    )
-    cartesian_cmd = CartesianCmd()
-
-    # This nonzero command should produce servoing output
-    # A subscriber in a different timer fills `received`
-    TEST_DURATION = 1
-    start_time = rospy.get_rostime()
-    received = []
-    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
-        cartesian_cmd.send_cmd([1, 1, 1], [0, 0, 1])
-        time.sleep(0.1)
-
-    # Check the received messages
-    # A non-zero value signifies a warning
-    assert len(received) > 3
-    assert any(i != 0 for i in received[-3:])
-
-if __name__ == '__main__':
-   node = node()
-   test_servo_halt_msg(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py b/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
deleted file mode 100755
index 116f6892ad..0000000000
--- a/moveit_ros/moveit_servo/test/python_tests/msg_reception/test_servo_msg_reception.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env python
-import time
-
-import pytest
-import rospy
-from geometry_msgs.msg import TwistStamped
-
-from control_msgs.msg import JointJog
-from trajectory_msgs.msg import JointTrajectory
-
-# Import common Python test utilities
-from os import sys, path
-sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
-import util
-
-# Test that the servo node publishes controller commands when it receives Cartesian or joint commands.
-# This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_servo test_servo_integration.py
-
-JOINT_COMMAND_TOPIC = 'servo_server/delta_joint_cmds'
-CARTESIAN_COMMAND_TOPIC = 'servo_server/delta_twist_cmds'
-
-COMMAND_OUT_TOPIC = 'servo_server/command'
-
-
-@pytest.fixture
-def node():
-    return rospy.init_node('pytest', anonymous=True)
-
-
-class JointCmd(object):
-    def __init__(self):
-        self._pub = rospy.Publisher(JOINT_COMMAND_TOPIC, JointJog, queue_size=10)
-
-    def send_joint_velocity_cmd(self, joint_pos):
-        jj = JointJog()
-        jj.header.stamp = rospy.Time.now()
-        jj.joint_names = ['joint_{}'.format(i) for i in range(len(joint_pos))]
-        jj.velocities = list(map(float, joint_pos))
-        self._pub.publish(jj)
-
-
-class CartesianCmd(object):
-    def __init__(self):
-        self._pub = rospy.Publisher(
-            CARTESIAN_COMMAND_TOPIC, TwistStamped, queue_size=10
-        )
-
-    def send_cmd(self, linear, angular):
-        ts = TwistStamped()
-        ts.header.stamp = rospy.Time.now()
-        ts.twist.linear.x, ts.twist.linear.y, ts.twist.linear.z = linear
-        ts.twist.angular.x, ts.twist.angular.y, ts.twist.angular.z = angular
-        self._pub.publish(ts)
-
-
-def test_servo_cartesian_command(node):
-    # Test sending a cartesian velocity command
-
-    assert util.wait_for_servo_initialization()
-
-    received = []
-    sub = rospy.Subscriber(
-        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
-    )
-    cartesian_cmd = CartesianCmd()
-
-    # Repeated zero-commands should produce no output, other than a few halt messages
-    # A subscriber in a different timer fills 'received'
-    for i in range(4):
-        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 0])
-        rospy.sleep(0.1)
-    received = []
-    rospy.sleep(1)
-    assert len(received) <= 4 # 'num_outgoing_halt_msgs_to_publish' in the config file
-
-    # This nonzero command should produce servoing output
-    # A subscriber in a different timer fills `received`
-    TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
-
-    # Send a command to start the servo node
-    cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
-
-    start_time = rospy.get_rostime()
-    received = []
-    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
-        cartesian_cmd.send_cmd([0, 0, 0], [0, 0, 1])
-        time.sleep(0.1)
-    # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
-    # Allow a small +/- window due to rounding/timing errors
-    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 20
-    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 20
-
-
-def test_servo_joint_command(node):
-    # Test sending a joint command
-
-    assert util.wait_for_servo_initialization()
-
-    received = []
-    sub = rospy.Subscriber(
-        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
-    )
-    joint_cmd = JointCmd()
-
-    TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
-    velocities = [0.1]
-
-    # Send a command to start the servo node
-    joint_cmd.send_joint_velocity_cmd(velocities)
-
-    start_time = rospy.get_rostime()
-    received = []
-    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
-        joint_cmd.send_joint_velocity_cmd(velocities)
-        time.sleep(0.1)
-    # TEST_DURATION/PUBLISH_PERIOD is the expected number of messages in this duration.
-    # Allow a small +/- window due to rounding/timing errors
-    assert len(received) >= TEST_DURATION/PUBLISH_PERIOD - 20
-    assert len(received) <= TEST_DURATION/PUBLISH_PERIOD + 20
-
-
-if __name__ == '__main__':
-    node = node()
-    time.sleep(SERVO_SETTLE_TIME_S)  # wait for servo server to init
-    test_servo_cartesian_command(node)
-    test_servo_joint_command(node)
diff --git a/moveit_ros/moveit_servo/test/python_tests/util.py b/moveit_ros/moveit_servo/test/python_tests/util.py
deleted file mode 100644
index f813e8dea7..0000000000
--- a/moveit_ros/moveit_servo/test/python_tests/util.py
+++ /dev/null
@@ -1,14 +0,0 @@
-import rospy
-from std_msgs.msg import Int8
-
-# servo should publish a nonzero warning code here
-STATUS_TOPIC = 'servo_server/status'
-
-def wait_for_servo_initialization(timeout=15):
-    try:
-      rospy.wait_for_message(STATUS_TOPIC, Int8, timeout=timeout)
-    except rospy.ROSException as exc:
-      rospy.logerr("The servo topic " + STATUS_TOPIC + " is not available: " + str(exc))
-      return False
-
-    return True
diff --git a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py b/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
deleted file mode 100755
index 38dcdb2b8f..0000000000
--- a/moveit_ros/moveit_servo/test/python_tests/vel_accel_limits/test_vel_accel_limits.py
+++ /dev/null
@@ -1,87 +0,0 @@
-#!/usr/bin/env python
-import time
-
-import pytest
-import rospy
-
-from control_msgs.msg import JointJog
-from trajectory_msgs.msg import JointTrajectory
-
-# Import common Python test utilities
-from os import sys, path
-sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
-import util
-
-# Test that commands that are too fast are caught and flagged
-# This can be run as part of a pytest, or like a normal ROS executable:
-# rosrun moveit_servo test_vel_accel_limits.py
-
-JOINT_COMMAND_TOPIC = 'servo_server/delta_joint_cmds'
-
-COMMAND_OUT_TOPIC = 'servo_server/command'
-
-
-@pytest.fixture
-def node():
-    return rospy.init_node('pytest', anonymous=True)
-
-
-class JointServoCmd(object):
-    def __init__(self):
-        self._pub = rospy.Publisher(JOINT_COMMAND_TOPIC, JointJog, queue_size=10)
-
-    def send_joint_velocity_cmd(self, joint_pos):
-        jj = JointJog()
-        jj.header.stamp = rospy.Time.now()
-        jj.joint_names = ['joint_{}'.format(i) for i in range(len(joint_pos))]
-        jj.velocities = list(map(float, joint_pos))
-        self._pub.publish(jj)
-
-
-def test_vel_limit(node):
-    # Test sending a joint command
-
-    assert util.wait_for_servo_initialization()
-
-    received = []
-    sub = rospy.Subscriber(
-        COMMAND_OUT_TOPIC, JointTrajectory, lambda msg: received.append(msg)
-    )
-
-    joint_cmd = JointServoCmd()
-
-    TEST_DURATION = 1
-    PUBLISH_PERIOD = 0.01 # 'PUBLISH_PERIOD' from servo config file
-
-    # Panda arm limit, from joint_limits.yaml
-    VELOCITY_LIMIT = rospy.get_param("/robot_description_planning/joint_limits/panda_joint1/max_velocity")
-    # Send a velocity command that exceeds the limit
-    velocities = [10 * VELOCITY_LIMIT]
-
-    # Send a command to start the servo node
-    joint_cmd.send_joint_velocity_cmd(velocities)
-
-    start_time = rospy.get_rostime()
-    received = []
-    while (rospy.get_rostime() - start_time).to_sec() < TEST_DURATION:
-        joint_cmd.send_joint_velocity_cmd(velocities)
-        time.sleep(0.1)
-
-    # Period of outgoing commands from the servo node, from yaml
-    SERVO_COMMAND_PERIOD = rospy.get_param("/servo_server/publish_period")
-
-    # Should be no velocities greater than the limit
-    assert len(received) > 2
-    for msg_idx in range(1, len(received)):
-        try:
-            velocity = \
-                (received[msg_idx].points[0].positions[0] - received[msg_idx - 1].points[0].positions[0]) / SERVO_COMMAND_PERIOD
-            assert abs(velocity) <= VELOCITY_LIMIT
-        except IndexError:
-            # Sometimes a message doesn't have any points
-            pass
-
-if __name__ == '__main__':
-    node = node()
-    test_vel_limit(node)
-    # TODO(andyz): add an acceleration limit test (the Panda joint_limits.yaml doesn't define acceleration limits)

From 93cdeabf2c774d1a8066a3736e47ebdc68ec11c7 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 28 Jun 2020 19:33:48 +0200
Subject: [PATCH 380/612] use SYSTEM includes to suppress external warnings

---
 moveit_core/CMakeLists.txt                      | 17 ++++++++---------
 moveit_core/constraint_samplers/CMakeLists.txt  |  2 +-
 moveit_kinematics/CMakeLists.txt                |  7 ++++---
 .../templates/CMakeLists.txt                    |  3 ++-
 moveit_kinematics/test/CMakeLists.txt           |  3 ++-
 .../chomp/chomp_interface/CMakeLists.txt        |  4 ++--
 .../chomp/chomp_motion_planner/CMakeLists.txt   |  3 ++-
 .../chomp_optimizer_adapter/CMakeLists.txt      |  2 +-
 moveit_planners/ompl/CMakeLists.txt             |  5 +++--
 .../sbpl/core/sbpl_interface/CMakeLists.txt     |  2 +-
 .../sbpl/ros/sbpl_interface_ros/CMakeLists.txt  |  2 +-
 .../CMakeLists.txt                              |  2 +-
 .../moveit_ros_control_interface/CMakeLists.txt |  3 ++-
 .../CMakeLists.txt                              |  3 ++-
 moveit_ros/benchmarks/CMakeLists.txt            |  3 ++-
 moveit_ros/manipulation/CMakeLists.txt          |  4 ++--
 moveit_ros/move_group/CMakeLists.txt            |  3 ++-
 moveit_ros/moveit_servo/CMakeLists.txt          |  4 ++--
 moveit_ros/occupancy_map_monitor/CMakeLists.txt |  7 +++----
 moveit_ros/perception/CMakeLists.txt            |  6 +++---
 moveit_ros/planning/CMakeLists.txt              |  8 +++-----
 moveit_ros/planning_interface/CMakeLists.txt    |  6 +++---
 moveit_ros/robot_interaction/CMakeLists.txt     |  7 ++++---
 moveit_ros/visualization/CMakeLists.txt         |  6 +++---
 moveit_ros/warehouse/CMakeLists.txt             |  2 +-
 moveit_setup_assistant/CMakeLists.txt           |  5 +++--
 26 files changed, 63 insertions(+), 56 deletions(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 04a960fd48..05c127fcde 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -172,20 +172,19 @@ catkin_package(
     ${BULLET_ENABLE}
     )
 
-include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
+                           ${Boost_INCLUDE_DIRS}
+                           ${EIGEN3_INCLUDE_DIRS}
+                           ${urdfdom_INCLUDE_DIRS}
+                           ${urdfdom_headers_INCLUDE_DIRS}
                            ${LIBFCL_INCLUDE_DIRS}
                            ${BULLET_INCLUDE_DIRS}
-                           )
+                           ${OCTOMAP_INCLUDE_DIRS}
+                    )
 
 #catkin_lint: ignore_once external_directory  (${VERSION_FILE_PATH})
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
-                    ${VERSION_FILE_PATH}
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
-                    ${urdfdom_INCLUDE_DIRS}
-                    ${urdfdom_headers_INCLUDE_DIRS}
-                    ${OCTOMAP_INCLUDE_DIRS}
-                    )
+                    ${VERSION_FILE_PATH})
 
 # Generate and install version.h
 string(REGEX REPLACE "^([0-9]+)\\..*" "\\1" MOVEIT_VERSION_MAJOR "${${PROJECT_NAME}_VERSION}")
diff --git a/moveit_core/constraint_samplers/CMakeLists.txt b/moveit_core/constraint_samplers/CMakeLists.txt
index 958e37b563..0cb5fab70e 100644
--- a/moveit_core/constraint_samplers/CMakeLists.txt
+++ b/moveit_core/constraint_samplers/CMakeLists.txt
@@ -30,7 +30,7 @@ if(CATKIN_ENABLE_TESTING)
   find_package(tf2_kdl REQUIRED)
   find_package(moveit_resources REQUIRED)
 
-  include_directories(${orocos_kdl_INCLUDE_DIRS} ${angles_INCLUDE_DIRS} ${tf2_kdl_INCLUDE_DIRS} ${moveit_resources_INCLUDE_DIRS})
+  include_directories(SYSTEM ${orocos_kdl_INCLUDE_DIRS} ${angles_INCLUDE_DIRS} ${tf2_kdl_INCLUDE_DIRS} ${moveit_resources_INCLUDE_DIRS})
 
   catkin_add_gtest(test_constraint_samplers
     test/test_constraint_samplers.cpp
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 1ba7d8f56f..dfe9e7342d 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -41,11 +41,12 @@ catkin_package(
     EIGEN3
 )
 
-include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
+include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
+include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
-)
+                    )
 
 add_subdirectory(kdl_kinematics_plugin)
 add_subdirectory(lma_kinematics_plugin)
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index 71bc2f0442..9c19bba37a 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -17,7 +17,8 @@ find_package(catkin REQUIRED COMPONENTS
 )
 find_package(LAPACK REQUIRED)
 
-include_directories(${catkin_INCLUDE_DIRS} include)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 catkin_package()
 
diff --git a/moveit_kinematics/test/CMakeLists.txt b/moveit_kinematics/test/CMakeLists.txt
index dd05543291..1b8dc7139e 100644
--- a/moveit_kinematics/test/CMakeLists.txt
+++ b/moveit_kinematics/test/CMakeLists.txt
@@ -4,7 +4,8 @@ if(CATKIN_ENABLE_TESTING)
   find_package(xmlrpcpp REQUIRED)
   find_package(moveit_ros_planning REQUIRED)
 
-  include_directories(${xmlrpcpp_INCLUDE_DIRS} ${moveit_ros_planning_INCLUDE_DIRS})
+  include_directories(${moveit_ros_planning_INCLUDE_DIRS})
+  include_directories(SYSTEM ${xmlrpcpp_INCLUDE_DIRS})
 
   catkin_add_executable_with_gtest(test_kinematics_plugin test_kinematics_plugin.cpp)
   target_link_libraries(test_kinematics_plugin ${catkin_LIBRARIES} ${moveit_ros_planning_LIBRARIES} ${xmlrpcpp_LIBRARIES})
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
index 3c49159201..bacee69953 100644
--- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -32,8 +32,8 @@ catkin_package(
   CATKIN_DEPENDS roscpp moveit_core pluginlib
 )
 
-include_directories(
-  include
+include_directories(include)
+include_directories(SYSTEM
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
index 3aa69715fb..ed698c3336 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -17,7 +17,8 @@ catkin_package(
   LIBRARIES ${PROJECT_NAME}
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}
   src/chomp_cost.cpp
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
index a08a00e79e..d17f10a72a 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_package()
 
-include_directories(${catkin_INCLUDE_DIRS})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME} src/chomp_optimizer_adapter.cpp)
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index e9e745df30..16c3c8a544 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -40,9 +40,10 @@ catkin_package(
     OMPL
 )
 
-include_directories(ompl_interface/include
-                    ${Boost_INCLUDE_DIRS}
+include_directories(ompl_interface/include)
+include_directories(SYSTEM
                     ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${OMPL_INCLUDE_DIRS})
 
 add_subdirectory(ompl_interface)
diff --git a/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt b/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
index b93b07f3fc..1b436f0143 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
+++ b/moveit_planners/sbpl/core/sbpl_interface/CMakeLists.txt
@@ -13,7 +13,7 @@ rosbuild_init()
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(SBPL REQUIRED sbpl)
-include_directories(${SBPL_INCLUDE_DIRS})
+include_directories(SYSTEM ${SBPL_INCLUDE_DIRS})
 link_directories(${SBPL_LIBRARY_DIRS})
 
 #set the default path for built executables to the "bin" directory
diff --git a/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt b/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
index 557e38a8fd..edc0cf34bc 100644
--- a/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
+++ b/moveit_planners/sbpl/ros/sbpl_interface_ros/CMakeLists.txt
@@ -12,7 +12,7 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 
 find_package(Eigen REQUIRED)
-include_directories(${EIGEN_INCLUDE_DIRS})
+include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
diff --git a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
index 2d4c43f82b..5ffd372631 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_fake_controller_manager/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(catkin COMPONENTS
   roscpp
   REQUIRED)
 
-include_directories(${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 catkin_package(
   LIBRARIES
diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
index 04d702e1d1..8408cc163a 100644
--- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
+++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -31,7 +31,8 @@ catkin_package(
   DEPENDS Boost
 )
 
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}_plugin
   src/controller_manager_plugin.cpp
diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
index b338d15d5f..b89705f3ac 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
+++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -21,7 +21,8 @@ find_package(catkin COMPONENTS
   control_msgs
   REQUIRED)
 
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 catkin_package(
   LIBRARIES
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 3bae2ed4e0..0eb7714e85 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -34,7 +34,8 @@ catkin_package(
   INCLUDE_DIRS include
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 add_library(${MOVEIT_LIB_NAME} src/BenchmarkOptions.cpp
                                src/BenchmarkExecutor.cpp)
diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
index 0cf81cd7bd..5a6d452a53 100644
--- a/moveit_ros/manipulation/CMakeLists.txt
+++ b/moveit_ros/manipulation/CMakeLists.txt
@@ -48,9 +48,9 @@ catkin_package(
 include_directories(pick_place/include)
 include_directories(move_group_pick_place_capability/include)
 
-include_directories(${catkin_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS})
 include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS})
 
 add_subdirectory(pick_place)
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 5ec56208e7..b5f89fb410 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -39,7 +39,8 @@ catkin_package(
 )
 
 include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS}
+include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS})
 
 add_library(moveit_move_group_capabilities_base
diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index c666edb037..25f4b10db1 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -45,8 +45,8 @@ catkin_package(
     EIGEN3
 )
 
-include_directories(
-  include
+include_directories(include)
+include_directories(SYSTEM
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIR}
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index 1390c52719..c62d9c5551 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -44,11 +44,10 @@ catkin_package(
     OCTOMAP
 )
 
-include_directories(include
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
-                    )
+include_directories(include)
 include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS}
                     ${X11_INCLUDE_DIR}
                     )
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 44353476bb..73f692e687 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -85,12 +85,12 @@ include_directories(lazy_free_space_updater/include
                     pointcloud_octomap_updater/include
                     semantic_world/include
                     ${perception_GL_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
                     )
 include_directories(SYSTEM
-                    ${OpenCV_INCLUDE_DIRS}
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS}
+                    ${OpenCV_INCLUDE_DIRS}
                     ${SYSTEM_GL_INCLUDE_DIR}
                     ${X11_INCLUDE_DIR}
                     )
diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index 5c95e7df0b..eeab8f238d 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -78,13 +78,11 @@ catkin_package(
     EIGEN3
 )
 
-include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
+include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
+include_directories(SYSTEM
                     ${catkin_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
-)
-include_directories(SYSTEM
-                    ${EIGEN3_INCLUDE_DIRS}
-)
+                    ${EIGEN3_INCLUDE_DIRS})
 
 add_subdirectory(rdf_loader)
 add_subdirectory(collision_plugin_loader)
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 879cb6a399..bcc6070c88 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -82,11 +82,11 @@ catkin_package(
     EIGEN3
 )
 
-include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS})
+include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 
 include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS}
                     ${PYTHON_INCLUDE_DIRS})
 
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index c896af71c2..498b8e1c5d 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -36,9 +36,10 @@ catkin_package(
     tf2_geometry_msgs
 )
 
-include_directories(include
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS})
+include_directories(include)
+include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS})
 
 add_library(${MOVEIT_LIB_NAME}
   src/interactive_marker_helpers.cpp
diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 51e5011804..9bfa70b1d5 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -95,11 +95,11 @@ include_directories(rviz_plugin_render_tools/include
                     robot_state_rviz_plugin/include
                     planning_scene_rviz_plugin/include
                     motion_planning_rviz_plugin/include
-                    trajectory_rviz_plugin/include
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS})
+                    trajectory_rviz_plugin/include)
 
 include_directories(SYSTEM
+                    ${catkin_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS}
                     ${EIGEN3_INCLUDE_DIRS}
                     ${QT_INCLUDE_DIR})
 
diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
index e8a615e079..d974831537 100644
--- a/moveit_ros/warehouse/CMakeLists.txt
+++ b/moveit_ros/warehouse/CMakeLists.txt
@@ -34,6 +34,6 @@ catkin_package(
 )
 
 include_directories(warehouse/include)
-include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 add_subdirectory(warehouse)
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index 2a60903728..fbac89054f 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -31,7 +31,8 @@ find_package(catkin REQUIRED COMPONENTS
   srdfdom
 )
 find_package(ompl REQUIRED)
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
+include_directories(include)
 
 # Qt Stuff
 if(rviz_QT_VERSION VERSION_LESS "5")
@@ -48,7 +49,7 @@ add_definitions(-DQT_NO_KEYWORDS)
 # Support new yaml-cpp API.
 find_package(PkgConfig)
 pkg_check_modules(YAMLCPP REQUIRED yaml-cpp>=0.5)
-include_directories(${YAMLCPP_INCLUDE_DIRS})
+include_directories(SYSTEM ${YAMLCPP_INCLUDE_DIRS})
 
 catkin_package(
   INCLUDE_DIRS

From f21bcae714a017e0217651ed1aa2a361b70ae845 Mon Sep 17 00:00:00 2001
From: Jorge Nicho <jrgnichodevel@gmail.com>
Date: Tue, 2 Jun 2020 15:56:44 -0500
Subject: [PATCH 381/612] rviz panel: widgets for adding geometric primitives

---
 .../motion_planning_frame.h                   |   7 +
 .../src/motion_planning_frame.cpp             |  69 ++++++
 .../src/motion_planning_frame_objects.cpp     |  40 ++++
 .../ui/motion_planning_rviz_plugin_frame.ui   | 213 ++++++++++++------
 4 files changed, 265 insertions(+), 64 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 133a09fb1b..37452ea6e6 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -99,6 +99,11 @@ static const std::string TAB_STATUS = "Status";
 
 static const double LARGE_MESH_THRESHOLD = 10.0;
 
+static const std::map<std::string, shapes::ShapeType> SHAPES_MAP = { { "box", shapes::BOX },
+                                                                     { "sphere", shapes::SPHERE },
+                                                                     { "cone", shapes::CONE },
+                                                                     { "cylinder", shapes::CYLINDER } };
+
 class MotionPlanningFrame : public QWidget
 {
   friend class MotionPlanningDisplay;
@@ -174,6 +179,7 @@ private Q_SLOTS:
   void onClearOctomapClicked();
 
   // Scene Objects tab
+  void shapesComboBoxChanged(const QString& text);
   void importObjectFromFileButtonClicked();
   void importObjectFromUrlButtonClicked();
   void clearSceneButtonClicked();
@@ -306,6 +312,7 @@ private Q_SLOTS:
   ros::Subscriber update_custom_goal_state_subscriber_;
   // General
   void changePlanningGroupHelper();
+  void addPrimitiveShape();
   void importResource(const std::string& path);
   void loadStoredStates(const std::string& pattern);
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 80ea79e3db..47e680e667 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -128,6 +128,9 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   connect(ui_->planning_scene_tree, SIGNAL(itemChanged(QTreeWidgetItem*, int)), this,
           SLOT(warehouseItemNameChanged(QTreeWidgetItem*, int)));
   connect(ui_->reset_db_button, SIGNAL(clicked()), this, SLOT(resetDbButtonClicked()));
+
+  connect(ui_->add_shape_button, &QPushButton::clicked, this, &MotionPlanningFrame::addPrimitiveShape);
+  connect(ui_->shapes_combo_box, &QComboBox::currentTextChanged, this, &MotionPlanningFrame::shapesComboBoxChanged);
   connect(ui_->export_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(exportGeometryAsTextButtonClicked()));
   connect(ui_->import_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(importGeometryFromTextButtonClicked()));
   connect(ui_->load_state_button, SIGNAL(clicked()), this, SLOT(loadStateButtonClicked()));
@@ -426,6 +429,72 @@ void MotionPlanningFrame::sceneUpdate(planning_scene_monitor::PlanningSceneMonit
     planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
 }
 
+void MotionPlanningFrame::addPrimitiveShape()
+{
+  static const double MIN_VAL = 1e-6;
+
+  if (!planning_display_->getPlanningSceneMonitor())
+  {
+    return;
+  }
+
+  // get size values
+  double x_length = ui_->shape_size_x_spin_box->isEnabled() ? ui_->shape_size_x_spin_box->value() : MIN_VAL;
+  double y_length = ui_->shape_size_y_spin_box->isEnabled() ? ui_->shape_size_y_spin_box->value() : MIN_VAL;
+  double z_length = ui_->shape_size_z_spin_box->isEnabled() ? ui_->shape_size_z_spin_box->value() : MIN_VAL;
+  if (x_length < MIN_VAL || y_length < MIN_VAL || z_length < MIN_VAL)
+  {
+    QMessageBox::warning(this, QString("Side length value is too small"),
+                         QString("Value needs to be  >= '").append(std::to_string(MIN_VAL).c_str()).append("'"));
+    return;
+  }
+
+  // get selected shape
+  std::string selected_shape = ui_->shapes_combo_box->currentText().toStdString();
+  if (SHAPES_MAP.count(selected_shape) == 0)
+  {
+    QMessageBox::warning(this, QString("Unsupported shape"),
+                         QString("The '%1' shape is not supported.").arg(selected_shape.c_str()));
+    return;
+  }
+  shapes::ShapeType shape_type = SHAPES_MAP.at(selected_shape);
+  shapes::ShapeConstPtr shape;
+  switch (shape_type)
+  {
+    case shapes::BOX:
+      shape = std::make_shared<shapes::Box>(x_length, y_length, z_length);
+      break;
+    case shapes::SPHERE:
+      shape = std::make_shared<shapes::Sphere>(0.5 * x_length);
+      break;
+    case shapes::CONE:
+      shape = std::make_shared<shapes::Cone>(0.5 * x_length, z_length);
+      break;
+    case shapes::CYLINDER:
+      shape = std::make_shared<shapes::Cylinder>(0.5 * x_length, z_length);
+      break;
+    default:
+      QMessageBox::warning(this, QString("Unsupported shape"),
+                           QString("The '%1' is not supported.").arg(selected_shape.c_str()));
+  }
+
+  // naming object
+  int idx = 0;
+  std::string shape_name = selected_shape + "_" + std::to_string(idx);
+  while (planning_display_->getPlanningSceneRO()->getWorld()->hasObject(shape_name))
+  {
+    idx++;
+    shape_name = selected_shape + "_" + std::to_string(idx);
+  }
+
+  // adding object
+  Eigen::Isometry3d pose;
+  pose.setIdentity();
+  planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
+  if (ps)
+    addObject(ps->getWorldNonConst(), shape_name, shape, pose);
+}
+
 void MotionPlanningFrame::importResource(const std::string& path)
 {
   if (planning_display_->getPlanningSceneMonitor())
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 9aa972c902..fb8f9d20a2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -73,6 +73,46 @@ QString subframe_poses_to_qstring(const moveit::core::FixedTransformsMap& subfra
 
 namespace moveit_rviz_plugin
 {
+void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
+{
+  const std::string selected_shape = text.toStdString();
+  if (SHAPES_MAP.find(selected_shape) == SHAPES_MAP.end())
+  {
+    return;
+  }
+
+  shapes::ShapeType shape_type = SHAPES_MAP.at(selected_shape);
+  switch (shape_type)
+  {
+    case shapes::BOX:
+      ui_->shape_size_x_spin_box->setEnabled(true);
+      ui_->shape_size_y_spin_box->setEnabled(true);
+      ui_->shape_size_z_spin_box->setEnabled(true);
+      break;
+    case shapes::SPHERE:
+      ui_->shape_size_x_spin_box->setEnabled(true);
+      ui_->shape_size_y_spin_box->setEnabled(false);
+      ui_->shape_size_z_spin_box->setEnabled(false);
+      break;
+    case shapes::CONE:
+      ui_->shape_size_x_spin_box->setEnabled(true);
+      ui_->shape_size_y_spin_box->setEnabled(false);
+      ui_->shape_size_z_spin_box->setEnabled(true);
+      break;
+    case shapes::CYLINDER:
+      ui_->shape_size_x_spin_box->setEnabled(true);
+      ui_->shape_size_y_spin_box->setEnabled(false);
+      ui_->shape_size_z_spin_box->setEnabled(true);
+      break;
+    default:
+      ui_->shape_size_x_spin_box->setEnabled(false);
+      ui_->shape_size_y_spin_box->setEnabled(false);
+      ui_->shape_size_z_spin_box->setEnabled(false);
+      QMessageBox::warning(this, QString("Unsupported shape"),
+                           QString("The '%1' is not supported.").arg(selected_shape.c_str()));
+  }
+}
+
 void MotionPlanningFrame::importObjectFromFileButtonClicked()
 {
   QString path = QFileDialog::getOpenFileName(this, tr("Import Object Mesh"), QString(),
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 568cccd2b0..586129bb7b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>692</width>
-    <height>414</height>
+    <height>437</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,7 +26,7 @@
       <bool>false</bool>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>3</number>
      </property>
      <widget class="QWidget" name="context">
       <attribute name="title">
@@ -1102,37 +1102,62 @@
          </layout>
         </widget>
        </item>
-       <item row="1" column="1">
-        <widget class="QGroupBox" name="groupBox_5">
+       <item row="0" column="0" rowspan="5">
+        <widget class="QGroupBox" name="groupBox_8">
+         <property name="toolTip">
+          <string>Press Ctrl+C to duplicate an object</string>
+         </property>
          <property name="title">
-          <string>Object Status</string>
+          <string>Current Scene Objects</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_12">
-          <item>
-           <widget class="QLabel" name="object_status">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
-            <property name="frameShape">
-             <enum>QFrame::StyledPanel</enum>
+         <layout class="QGridLayout" name="gridLayout_8">
+          <item row="4" column="0">
+           <widget class="QPushButton" name="remove_object_button">
+            <property name="text">
+             <string>Remove</string>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QPushButton" name="clear_scene_button">
+            <property name="text">
+             <string>Clear</string>
             </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QPushButton" name="import_object_file_button">
             <property name="text">
-             <string>Status</string>
+             <string>Import &amp;File</string>
             </property>
-            <property name="textFormat">
-             <enum>Qt::AutoText</enum>
+            <property name="toolTip">
+             <string>Import a mesh from file</string>
             </property>
-            <property name="WordWrap">
-             <bool>true</bool>
+           </widget>
+          </item>
+          <item row="0" column="0" colspan="2">
+           <widget class="QListWidget" name="collision_objects_list">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
             </property>
-            <property name="TextInteractionFlags">
-             <enum>Qt::TextBrowserInteraction</enum>
+            <property name="editTriggers">
+             <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
             </property>
            </widget>
           </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="import_object_url_button">
+            <property name="text">
+             <string>Import &amp;URL</string>
+            </property>
+            <property name="toolTip">
+             <string>Import a mesh from URL</string>
+            </property>
+            </widget>
+          </item>
          </layout>
         </widget>
        </item>
@@ -1191,72 +1216,132 @@
          </layout>
         </widget>
        </item>
-       <item row="0" column="0" rowspan="4">
-        <widget class="QGroupBox" name="groupBox_8">
-         <property name="toolTip">
-          <string>Press Ctrl+C to duplicate an object</string>
+       <item row="4" column="1">
+        <spacer name="verticalSpacer_4">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
          </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item row="1" column="1">
+        <widget class="QGroupBox" name="groupBox_5">
          <property name="title">
-          <string>Current Scene Objects</string>
+          <string>Object Status</string>
          </property>
-         <layout class="QGridLayout" name="gridLayout_8">
-          <item row="1" column="1">
-           <widget class="QPushButton" name="import_object_url_button">
+         <layout class="QVBoxLayout" name="verticalLayout_12">
+          <item>
+           <widget class="QLabel" name="object_status">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
             <property name="text">
-             <string>From &amp;URL</string>
+             <string>Status</string>
             </property>
-            <property name="toolTip">
-             <string>Import a mesh from a URL</string>
+            <property name="textFormat">
+             <enum>Qt::AutoText</enum>
+            </property>
+            <property name="WordWrap" stdset="0">
+             <bool>true</bool>
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QPushButton" name="clear_scene_button">
-            <property name="text">
-             <string>Clear</string>
+         </layout>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QGroupBox" name="groupBox_4">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="title">
+          <string>Primitive Shapes</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_12">
+          <item>
+           <widget class="QComboBox" name="shapes_combo_box">
+            <item>
+             <property name="text">
+              <string>box</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>sphere</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>cone</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>cylinder</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
+            <property name="singleStep">
+             <double>0.050000000000000</double>
+            </property>
+            <property name="value">
+             <double>0.200000000000000</double>
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
-           <widget class="QPushButton" name="remove_object_button">
-            <property name="text">
-             <string>Remove</string>
+          <item>
+           <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
+            <property name="singleStep">
+             <double>0.050000000000000</double>
+            </property>
+            <property name="value">
+             <double>0.200000000000000</double>
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QPushButton" name="import_object_file_button">
-            <property name="text">
-             <string>Import &amp;Mesh</string>
+          <item>
+           <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
+            <property name="singleStep">
+             <double>0.050000000000000</double>
             </property>
-            <property name="toolTip">
-             <string>Import a mesh from a file</string>
+            <property name="value">
+             <double>0.200000000000000</double>
             </property>
            </widget>
           </item>
-          <item row="0" column="0" colspan="2">
-           <widget class="QListWidget" name="collision_objects_list">
-            <property name="editTriggers">
-             <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+          <item>
+           <widget class="QPushButton" name="add_shape_button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Add</string>
             </property>
            </widget>
           </item>
          </layout>
         </widget>
        </item>
-       <item row="3" column="1">
-        <spacer name="verticalSpacer_4">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="stored_plans">

From 538d15f1834df3065d7a1672d02118b91137b631 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 6 Jul 2020 16:46:07 +0200
Subject: [PATCH 382/612] Fix segfault in PSM::clearOctomap() (#2193)

---
 .../src/planning_scene_monitor.cpp                  | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index e2d67803bc..6d896254eb 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -531,9 +531,16 @@ void PlanningSceneMonitor::newPlanningSceneCallback(const moveit_msgs::PlanningS
 
 void PlanningSceneMonitor::clearOctomap()
 {
-  octomap_monitor_->getOcTreePtr()->lockWrite();
-  octomap_monitor_->getOcTreePtr()->clear();
-  octomap_monitor_->getOcTreePtr()->unlockWrite();
+  if (octomap_monitor_)
+  {
+    octomap_monitor_->getOcTreePtr()->lockWrite();
+    octomap_monitor_->getOcTreePtr()->clear();
+    octomap_monitor_->getOcTreePtr()->unlockWrite();
+  }
+  else
+  {
+    ROS_WARN_NAMED(LOGNAME, "Unable to clear octomap since no octomap monitor has been initialized");
+  }
 }
 
 bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::PlanningScene& scene)

From d6666a9aee734acd1891a43657cf162c9ca4e9b7 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 6 Jul 2020 08:54:28 -0600
Subject: [PATCH 383/612] use moveit_resources for testing (#2194)

---
 .../test/move_group_interface_cpp_test.test                   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
index af9d7de7c7..b1612e213d 100644
--- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
@@ -1,6 +1,6 @@
 <launch>
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -17,7 +17,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Run the main MoveIt executable with fake trajectory execution -->
-  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+  <include file="$(find moveit_resources)/panda_moveit_config/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>

From 37b94e7a8c49a56c136aa8c88e5a5935682e5083 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 6 Jul 2020 19:37:22 +0200
Subject: [PATCH 384/612] Unify UI of adding primitive and mesh shapes

- Remove "Import from File" and "Import from URL" buttons,
  but add those options as item in the shape combobox
- Integrate MotionPlanningFrame::addObject() into MotionPlanningFrame::addSceneObject()
---
 .../motion_planning_frame.h                   |  13 +-
 .../src/motion_planning_frame.cpp             | 217 +++-----
 .../src/motion_planning_frame_objects.cpp     |  53 +-
 .../ui/motion_planning_rviz_plugin_frame.ui   | 508 +++++++++---------
 4 files changed, 350 insertions(+), 441 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 37452ea6e6..3ce7cf7b9f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -99,11 +99,6 @@ static const std::string TAB_STATUS = "Status";
 
 static const double LARGE_MESH_THRESHOLD = 10.0;
 
-static const std::map<std::string, shapes::ShapeType> SHAPES_MAP = { { "box", shapes::BOX },
-                                                                     { "sphere", shapes::SPHERE },
-                                                                     { "cone", shapes::CONE },
-                                                                     { "cylinder", shapes::CYLINDER } };
-
 class MotionPlanningFrame : public QWidget
 {
   friend class MotionPlanningDisplay;
@@ -180,8 +175,6 @@ private Q_SLOTS:
 
   // Scene Objects tab
   void shapesComboBoxChanged(const QString& text);
-  void importObjectFromFileButtonClicked();
-  void importObjectFromUrlButtonClicked();
   void clearSceneButtonClicked();
   void sceneScaleChanged(int value);
   void sceneScaleStartChange();
@@ -250,8 +243,6 @@ private Q_SLOTS:
   void goalStateTextChangedExec(const std::string& goal_state);
 
   // Scene objects tab
-  void addObject(const collision_detection::WorldPtr& world, const std::string& id, const shapes::ShapeConstPtr& shape,
-                 const Eigen::Isometry3d& pose);
   void updateCollisionObjectPose(bool update_marker_position);
   void createSceneInteractiveMarker();
   void renameCollisionObject(QListWidgetItem* item);
@@ -312,8 +303,8 @@ private Q_SLOTS:
   ros::Subscriber update_custom_goal_state_subscriber_;
   // General
   void changePlanningGroupHelper();
-  void addPrimitiveShape();
-  void importResource(const std::string& path);
+  void addSceneObject();
+  shapes::ShapePtr loadMeshResource(const std::string& url);
   void loadStoredStates(const std::string& pattern);
 
   void remotePlanCallback(const std_msgs::EmptyConstPtr& msg);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 47e680e667..e51ce34c51 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -50,6 +50,8 @@
 
 #include <QMessageBox>
 #include <QInputDialog>
+#include <QFileDialog>
+#include <QComboBox>
 #include <QShortcut>
 
 #include "ui_motion_planning_rviz_plugin_frame.h"
@@ -67,6 +69,13 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
 {
   // set up the GUI
   ui_->setupUi(this);
+  ui_->shapes_combo_box->addItem("Box", shapes::BOX);
+  ui_->shapes_combo_box->addItem("Sphere", shapes::SPHERE);
+  ui_->shapes_combo_box->addItem("Cylinder", shapes::CYLINDER);
+  ui_->shapes_combo_box->addItem("Cone", shapes::CONE);
+  ui_->shapes_combo_box->addItem("Mesh from file", shapes::MESH);
+  ui_->shapes_combo_box->addItem("Mesh from URL", shapes::MESH);
+
   // add more tabs
   joints_tab_ = new MotionPlanningFrameJointsWidget(planning_display_, ui_->tabWidget);
   ui_->tabWidget->addTab(joints_tab_, "Joints");
@@ -105,8 +114,6 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
           SLOT(planningAlgorithmIndexChanged(int)));
   connect(ui_->planning_algorithm_combo_box, SIGNAL(currentIndexChanged(int)), this,
           SLOT(planningAlgorithmIndexChanged(int)));
-  connect(ui_->import_object_file_button, SIGNAL(clicked()), this, SLOT(importObjectFromFileButtonClicked()));
-  connect(ui_->import_object_url_button, SIGNAL(clicked()), this, SLOT(importObjectFromUrlButtonClicked()));
   connect(ui_->clear_scene_button, SIGNAL(clicked()), this, SLOT(clearSceneButtonClicked()));
   connect(ui_->scene_scale, SIGNAL(valueChanged(int)), this, SLOT(sceneScaleChanged(int)));
   connect(ui_->scene_scale, SIGNAL(sliderPressed()), this, SLOT(sceneScaleStartChange()));
@@ -129,7 +136,7 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
           SLOT(warehouseItemNameChanged(QTreeWidgetItem*, int)));
   connect(ui_->reset_db_button, SIGNAL(clicked()), this, SLOT(resetDbButtonClicked()));
 
-  connect(ui_->add_shape_button, &QPushButton::clicked, this, &MotionPlanningFrame::addPrimitiveShape);
+  connect(ui_->add_object_button, &QPushButton::clicked, this, &MotionPlanningFrame::addSceneObject);
   connect(ui_->shapes_combo_box, &QComboBox::currentTextChanged, this, &MotionPlanningFrame::shapesComboBoxChanged);
   connect(ui_->export_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(exportGeometryAsTextButtonClicked()));
   connect(ui_->import_scene_geometry_text_button, SIGNAL(clicked()), this, SLOT(importGeometryFromTextButtonClicked()));
@@ -429,7 +436,7 @@ void MotionPlanningFrame::sceneUpdate(planning_scene_monitor::PlanningSceneMonit
     planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
 }
 
-void MotionPlanningFrame::addPrimitiveShape()
+void MotionPlanningFrame::addSceneObject()
 {
   static const double MIN_VAL = 1e-6;
 
@@ -444,22 +451,14 @@ void MotionPlanningFrame::addPrimitiveShape()
   double z_length = ui_->shape_size_z_spin_box->isEnabled() ? ui_->shape_size_z_spin_box->value() : MIN_VAL;
   if (x_length < MIN_VAL || y_length < MIN_VAL || z_length < MIN_VAL)
   {
-    QMessageBox::warning(this, QString("Side length value is too small"),
-                         QString("Value needs to be  >= '").append(std::to_string(MIN_VAL).c_str()).append("'"));
+    QMessageBox::warning(this, QString("Dimension is too small"), QString("Size values need to be >= %1").arg(MIN_VAL));
     return;
   }
 
-  // get selected shape
+  // by default, name object by shape type
   std::string selected_shape = ui_->shapes_combo_box->currentText().toStdString();
-  if (SHAPES_MAP.count(selected_shape) == 0)
-  {
-    QMessageBox::warning(this, QString("Unsupported shape"),
-                         QString("The '%1' shape is not supported.").arg(selected_shape.c_str()));
-    return;
-  }
-  shapes::ShapeType shape_type = SHAPES_MAP.at(selected_shape);
   shapes::ShapeConstPtr shape;
-  switch (shape_type)
+  switch (ui_->shapes_combo_box->currentData().toInt())  // fetch shape ID from current combobox item
   {
     case shapes::BOX:
       shape = std::make_shared<shapes::Box>(x_length, y_length, z_length);
@@ -473,12 +472,29 @@ void MotionPlanningFrame::addPrimitiveShape()
     case shapes::CYLINDER:
       shape = std::make_shared<shapes::Cylinder>(0.5 * x_length, z_length);
       break;
+    case shapes::MESH:
+    {
+      QUrl url;
+      if (ui_->shapes_combo_box->currentText().contains("file"))  // open from file
+        url = QFileDialog::getOpenFileUrl(this, tr("Import Object Mesh"), QString(),
+                                          "CAD files (*.stl *.obj *.dae);;All files (*.*)");
+      else  // open from URL
+        url = QInputDialog::getText(this, tr("Import Object Mesh"), tr("URL for file to import from:"),
+                                    QLineEdit::Normal, QString("http://"));
+      if (!url.isEmpty())
+        shape = loadMeshResource(url.toString().toStdString());
+      if (!shape)
+        return;
+      // name mesh objects by their file name
+      selected_shape = url.fileName().toStdString();
+      break;
+    }
     default:
       QMessageBox::warning(this, QString("Unsupported shape"),
-                           QString("The '%1' is not supported.").arg(selected_shape.c_str()));
+                           QString("The '%1' is not supported.").arg(ui_->shapes_combo_box->currentText()));
   }
 
-  // naming object
+  // find available (initial) name of object
   int idx = 0;
   std::string shape_name = selected_shape + "_" + std::to_string(idx);
   while (planning_display_->getPlanningSceneRO()->getWorld()->hasObject(shape_name))
@@ -487,139 +503,64 @@ void MotionPlanningFrame::addPrimitiveShape()
     shape_name = selected_shape + "_" + std::to_string(idx);
   }
 
-  // adding object
-  Eigen::Isometry3d pose;
-  pose.setIdentity();
-  planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-  if (ps)
-    addObject(ps->getWorldNonConst(), shape_name, shape, pose);
+  // Actually add object to the plugin's PlanningScene
+  {
+    planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
+    ps->getWorldNonConst()->addToObject(shape_name, shape, Eigen::Isometry3d::Identity());
+  }
+
+  planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
+
+  // Automatically select the inserted object so that its IM is displayed
+  planning_display_->addMainLoopJob(
+      boost::bind(&MotionPlanningFrame::setItemSelectionInList, this, shape_name, true, ui_->collision_objects_list));
+
+  planning_display_->queueRenderSceneGeometry();
 }
 
-void MotionPlanningFrame::importResource(const std::string& path)
+shapes::ShapePtr MotionPlanningFrame::loadMeshResource(const std::string& url)
 {
-  if (planning_display_->getPlanningSceneMonitor())
+  shapes::Mesh* mesh = shapes::createMeshFromResource(url);
+  if (mesh)
   {
-    shapes::Mesh* mesh = shapes::createMeshFromResource(path);
-    if (mesh)
+    // If the object is very large, ask the user if the scale should be reduced.
+    bool object_is_very_large = false;
+    for (unsigned int i = 0; i < mesh->vertex_count; i++)
     {
-      std::size_t slash = path.find_last_of("/\\");
-      std::string name = path.substr(slash + 1);
-
-      if (planning_display_->getPlanningSceneRO()->getCurrentState().hasAttachedBody(name))
-      {
-        QMessageBox::warning(this, QString("Duplicate names"), QString("An attached object named '")
-                                                                   .append(name.c_str())
-                                                                   .append("' already exists. Please rename the "
-                                                                           "attached object before importing."));
-        return;
-      }
-
-      // If the object is very large, ask the user if the scale should be reduced.
-      bool object_is_very_large = false;
-      for (unsigned int i = 0; i < mesh->vertex_count; i++)
-      {
-        if ((abs(mesh->vertices[i * 3 + 0]) > LARGE_MESH_THRESHOLD) ||
-            (abs(mesh->vertices[i * 3 + 1]) > LARGE_MESH_THRESHOLD) ||
-            (abs(mesh->vertices[i * 3 + 2]) > LARGE_MESH_THRESHOLD))
-        {
-          object_is_very_large = true;
-          break;
-        }
-      }
-      if (object_is_very_large)
+      if ((abs(mesh->vertices[i * 3 + 0]) > LARGE_MESH_THRESHOLD) ||
+          (abs(mesh->vertices[i * 3 + 1]) > LARGE_MESH_THRESHOLD) ||
+          (abs(mesh->vertices[i * 3 + 2]) > LARGE_MESH_THRESHOLD))
       {
-        QMessageBox msg_box;
-        msg_box.setText(
-            "The object is very large (greater than 10 m). The file may be in millimeters instead of meters.");
-        msg_box.setInformativeText("Attempt to fix the size by shrinking the object?");
-        msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
-        msg_box.setDefaultButton(QMessageBox::Yes);
-        if (msg_box.exec() == QMessageBox::Yes)
-        {
-          for (unsigned int i = 0; i < mesh->vertex_count; ++i)
-          {
-            unsigned int i3 = i * 3;
-            mesh->vertices[i3] *= 0.001;
-            mesh->vertices[i3 + 1] *= 0.001;
-            mesh->vertices[i3 + 2] *= 0.001;
-          }
-        }
+        object_is_very_large = true;
+        break;
       }
-
-      shapes::ShapeConstPtr shape(mesh);
-      Eigen::Isometry3d pose;
-      pose.setIdentity();
-
-      // If the object already exists, ask the user whether to overwrite or rename
-      if (planning_display_->getPlanningSceneRO()->getWorld()->hasObject(name))
+    }
+    if (object_is_very_large)
+    {
+      QMessageBox msg_box;
+      msg_box.setText(
+          "The object is very large (greater than 10 m). The file may be in millimeters instead of meters.");
+      msg_box.setInformativeText("Attempt to fix the size by shrinking the object?");
+      msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+      msg_box.setDefaultButton(QMessageBox::Yes);
+      if (msg_box.exec() == QMessageBox::Yes)
       {
-        QMessageBox msg_box;
-        msg_box.setText("There exists another object with the same name.");
-        msg_box.setInformativeText("Would you like to overwrite it?");
-        msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
-        msg_box.setDefaultButton(QMessageBox::No);
-        int ret = msg_box.exec();
-
-        switch (ret)
+        for (unsigned int i = 0; i < mesh->vertex_count; ++i)
         {
-          case QMessageBox::Yes:
-            // Overwrite was clicked
-            {
-              planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-              if (ps)
-              {
-                ps->getWorldNonConst()->removeObject(name);
-                addObject(ps->getWorldNonConst(), name, shape, pose);
-              }
-            }
-            break;
-          case QMessageBox::No:
-          {
-            // Don't overwrite was clicked. Ask for another name
-            bool ok = false;
-            QString text = QInputDialog::getText(
-                this, tr("Choose a new name"), tr("Import the new object under the name:"), QLineEdit::Normal,
-                QString::fromStdString(name + "-" + boost::lexical_cast<std::string>(
-                                                        planning_display_->getPlanningSceneRO()->getWorld()->size())),
-                &ok);
-            if (ok)
-            {
-              if (!text.isEmpty())
-              {
-                name = text.toStdString();
-                planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-                if (ps)
-                {
-                  if (ps->getWorld()->hasObject(name))
-                    QMessageBox::warning(
-                        this, "Name already exists",
-                        QString("The name '").append(name.c_str()).append("' already exists. Not importing object."));
-                  else
-                    addObject(ps->getWorldNonConst(), name, shape, pose);
-                }
-              }
-              else
-                QMessageBox::warning(this, "Object not imported", "Cannot use an empty name for an imported object");
-            }
-            break;
-          }
-          default:
-            // Pressed cancel, do nothing
-            break;
+          unsigned int i3 = i * 3;
+          mesh->vertices[i3] *= 0.001;
+          mesh->vertices[i3 + 1] *= 0.001;
+          mesh->vertices[i3 + 2] *= 0.001;
         }
       }
-      else
-      {
-        planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
-        if (ps)
-          addObject(ps->getWorldNonConst(), name, shape, pose);
-      }
-    }
-    else
-    {
-      QMessageBox::warning(this, QString("Import error"), QString("Unable to import object"));
-      return;
     }
+
+    return shapes::ShapePtr(mesh);
+  }
+  else
+  {
+    QMessageBox::warning(this, QString("Import error"), QString("Unable to import object"));
+    return shapes::ShapePtr();
   }
 }
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index fb8f9d20a2..a94a5408ac 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -75,14 +75,7 @@ namespace moveit_rviz_plugin
 {
 void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
 {
-  const std::string selected_shape = text.toStdString();
-  if (SHAPES_MAP.find(selected_shape) == SHAPES_MAP.end())
-  {
-    return;
-  }
-
-  shapes::ShapeType shape_type = SHAPES_MAP.at(selected_shape);
-  switch (shape_type)
+  switch (ui_->shapes_combo_box->currentData().toInt())  // fetch shape ID from current combobox item
   {
     case shapes::BOX:
       ui_->shape_size_x_spin_box->setEnabled(true);
@@ -94,42 +87,22 @@ void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
       ui_->shape_size_y_spin_box->setEnabled(false);
       ui_->shape_size_z_spin_box->setEnabled(false);
       break;
-    case shapes::CONE:
-      ui_->shape_size_x_spin_box->setEnabled(true);
-      ui_->shape_size_y_spin_box->setEnabled(false);
-      ui_->shape_size_z_spin_box->setEnabled(true);
-      break;
     case shapes::CYLINDER:
+    case shapes::CONE:
       ui_->shape_size_x_spin_box->setEnabled(true);
       ui_->shape_size_y_spin_box->setEnabled(false);
       ui_->shape_size_z_spin_box->setEnabled(true);
       break;
-    default:
+    case shapes::MESH:
       ui_->shape_size_x_spin_box->setEnabled(false);
       ui_->shape_size_y_spin_box->setEnabled(false);
       ui_->shape_size_z_spin_box->setEnabled(false);
-      QMessageBox::warning(this, QString("Unsupported shape"),
-                           QString("The '%1' is not supported.").arg(selected_shape.c_str()));
+      break;
+    default:
+      break;
   }
 }
 
-void MotionPlanningFrame::importObjectFromFileButtonClicked()
-{
-  QString path = QFileDialog::getOpenFileName(this, tr("Import Object Mesh"), QString(),
-                                              "CAD files (*.stl *.obj *.dae);;All files (*.*)");
-  if (!path.isEmpty())
-    importResource("file://" + path.toStdString());
-}
-
-void MotionPlanningFrame::importObjectFromUrlButtonClicked()
-{
-  bool ok = false;
-  QString url = QInputDialog::getText(this, tr("Import Object"), tr("URL for file to import:"), QLineEdit::Normal,
-                                      QString("http://"), &ok);
-  if (ok && !url.isEmpty())
-    importResource(url.toStdString());
-}
-
 void MotionPlanningFrame::clearSceneButtonClicked()
 {
   planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
@@ -733,20 +706,6 @@ void MotionPlanningFrame::computeLoadQueryButtonClicked()
   }
 }
 
-void MotionPlanningFrame::addObject(const collision_detection::WorldPtr& world, const std::string& id,
-                                    const shapes::ShapeConstPtr& shape, const Eigen::Isometry3d& pose)
-{
-  world->addToObject(id, shape, pose);
-
-  planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
-
-  // Automatically select the inserted object so that its IM is displayed
-  planning_display_->addMainLoopJob(
-      boost::bind(&MotionPlanningFrame::setItemSelectionInList, this, id, true, ui_->collision_objects_list));
-
-  planning_display_->queueRenderSceneGeometry();
-}
-
 visualization_msgs::InteractiveMarker
 MotionPlanningFrame::createObjectMarkerMsg(const collision_detection::CollisionEnv::ObjectConstPtr& obj)
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 586129bb7b..86e1905bf4 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>692</width>
-    <height>437</height>
+    <width>630</width>
+    <height>424</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -937,6 +937,255 @@
        <string>Scene Objects</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout_4">
+       <item row="3" column="1">
+        <widget class="QGroupBox" name="groupBox3">
+         <property name="title">
+          <string>Scene Geometry</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_14">
+          <item>
+           <widget class="QPushButton" name="publish_current_scene_button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>&amp;Publish Scene</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer_2">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QPushButton" name="export_scene_geometry_text_button">
+            <property name="toolTip">
+             <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
+            </property>
+            <property name="text">
+             <string>&amp;Export</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="import_scene_geometry_text_button">
+            <property name="toolTip">
+             <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
+            </property>
+            <property name="text">
+             <string>&amp;Import</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>Object Status</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_12">
+          <item>
+           <widget class="QLabel" name="object_status">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::NoFrame</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+            <property name="text">
+             <string>Status</string>
+            </property>
+            <property name="textFormat">
+             <enum>Qt::AutoText</enum>
+            </property>
+            <property name="WordWrap" stdset="0">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="0" column="0" rowspan="4">
+        <widget class="QGroupBox" name="groupBox_8">
+         <property name="title">
+          <string>Current Scene Objects</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_17">
+          <item>
+           <widget class="QListWidget" name="collision_objects_list">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Press Ctrl+C to duplicate an object</string>
+            </property>
+            <property name="editTriggers">
+             <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QFrame" name="frame_4">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <layout class="QVBoxLayout" name="verticalLayout_16">
+             <property name="leftMargin">
+              <number>0</number>
+             </property>
+             <property name="topMargin">
+              <number>0</number>
+             </property>
+             <property name="rightMargin">
+              <number>0</number>
+             </property>
+             <property name="bottomMargin">
+              <number>0</number>
+             </property>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_16">
+               <item>
+                <widget class="QLabel" name="label_5">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>Size:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
+                 <property name="singleStep">
+                  <double>0.050000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>0.200000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
+                 <property name="singleStep">
+                  <double>0.050000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>0.200000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
+                 <property name="singleStep">
+                  <double>0.050000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>0.200000000000000</double>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_13">
+               <item>
+                <widget class="QComboBox" name="shapes_combo_box"/>
+               </item>
+               <item>
+                <widget class="QToolButton" name="add_object_button">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>Add object at scene's origin</string>
+                 </property>
+                 <property name="text">
+                  <string>Add</string>
+                 </property>
+                 <property name="icon">
+                  <iconset theme="list-add">
+                   <normaloff>.</normaloff>.</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QToolButton" name="remove_object_button">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>Remove selected object</string>
+                 </property>
+                 <property name="text">
+                  <string>Del</string>
+                 </property>
+                 <property name="icon">
+                  <iconset theme="list-remove">
+                   <normaloff>.</normaloff>.</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QToolButton" name="clear_scene_button">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>Clear planning scene</string>
+                 </property>
+                 <property name="text">
+                  <string>...</string>
+                 </property>
+                 <property name="icon">
+                  <iconset theme="edit-clear">
+                   <normaloff>.</normaloff>.</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+            </layout>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
        <item row="0" column="1">
         <widget class="QGroupBox" name="pose_scale_group_box">
          <property name="title">
@@ -1102,121 +1351,7 @@
          </layout>
         </widget>
        </item>
-       <item row="0" column="0" rowspan="5">
-        <widget class="QGroupBox" name="groupBox_8">
-         <property name="toolTip">
-          <string>Press Ctrl+C to duplicate an object</string>
-         </property>
-         <property name="title">
-          <string>Current Scene Objects</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_8">
-          <item row="4" column="0">
-           <widget class="QPushButton" name="remove_object_button">
-            <property name="text">
-             <string>Remove</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QPushButton" name="clear_scene_button">
-            <property name="text">
-             <string>Clear</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QPushButton" name="import_object_file_button">
-            <property name="text">
-             <string>Import &amp;File</string>
-            </property>
-            <property name="toolTip">
-             <string>Import a mesh from file</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="0" colspan="2">
-           <widget class="QListWidget" name="collision_objects_list">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="editTriggers">
-             <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QPushButton" name="import_object_url_button">
-            <property name="text">
-             <string>Import &amp;URL</string>
-            </property>
-            <property name="toolTip">
-             <string>Import a mesh from URL</string>
-            </property>
-            </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
        <item row="2" column="1">
-        <widget class="QGroupBox" name="groupBox3">
-         <property name="title">
-          <string>Scene Geometry</string>
-         </property>
-         <layout class="QHBoxLayout" name="horizontalLayout_14">
-          <item>
-           <widget class="QPushButton" name="publish_current_scene_button">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>&amp;Publish Scene</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_2">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QPushButton" name="export_scene_geometry_text_button">
-            <property name="text">
-             <string>&amp;Export</string>
-            </property>
-            <property name="toolTip">
-             <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="import_scene_geometry_text_button">
-            <property name="text">
-             <string>&amp;Import</string>
-            </property>
-            <property name="toolTip">
-             <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="4" column="1">
         <spacer name="verticalSpacer_4">
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -1229,119 +1364,6 @@
          </property>
         </spacer>
        </item>
-       <item row="1" column="1">
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="title">
-          <string>Object Status</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_12">
-          <item>
-           <widget class="QLabel" name="object_status">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
-            <property name="frameShape">
-             <enum>QFrame::StyledPanel</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
-            <property name="text">
-             <string>Status</string>
-            </property>
-            <property name="textFormat">
-             <enum>Qt::AutoText</enum>
-            </property>
-            <property name="WordWrap" stdset="0">
-             <bool>true</bool>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="3" column="1">
-        <widget class="QGroupBox" name="groupBox_4">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="title">
-          <string>Primitive Shapes</string>
-         </property>
-         <layout class="QHBoxLayout" name="horizontalLayout_12">
-          <item>
-           <widget class="QComboBox" name="shapes_combo_box">
-            <item>
-             <property name="text">
-              <string>box</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>sphere</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>cone</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>cylinder</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item>
-           <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
-            <property name="singleStep">
-             <double>0.050000000000000</double>
-            </property>
-            <property name="value">
-             <double>0.200000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
-            <property name="singleStep">
-             <double>0.050000000000000</double>
-            </property>
-            <property name="value">
-             <double>0.200000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
-            <property name="singleStep">
-             <double>0.050000000000000</double>
-            </property>
-            <property name="value">
-             <double>0.200000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="add_shape_button">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Add</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="stored_plans">
@@ -1504,22 +1526,22 @@
            <layout class="QGridLayout" name="gridLayout_17">
             <item row="0" column="0">
              <widget class="QPushButton" name="load_state_button">
-              <property name="text">
-               <string>Load</string>
-              </property>
               <property name="toolTip">
                <string>Load a robot state</string>
               </property>
+              <property name="text">
+               <string>Load</string>
+              </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QPushButton" name="clear_states_button">
-              <property name="text">
-               <string>Clear</string>
-              </property>
               <property name="toolTip">
                <string>Clear robot states from list</string>
               </property>
+              <property name="text">
+               <string>Clear</string>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1563,22 +1585,22 @@
            <layout class="QGridLayout" name="gridLayout_16">
             <item row="0" column="0">
              <widget class="QPushButton" name="save_start_state_button">
-              <property name="text">
-               <string>Save Start</string>
-              </property>
               <property name="toolTip">
                <string>Save the current start state</string>
               </property>
+              <property name="text">
+               <string>Save Start</string>
+              </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QPushButton" name="save_goal_state_button">
-              <property name="text">
-               <string>Save Goal</string>
-              </property>
               <property name="toolTip">
                <string>Save the current goal state</string>
               </property>
+              <property name="text">
+               <string>Save Goal</string>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1770,10 +1792,6 @@
   <tabstop>roi_size_y</tabstop>
   <tabstop>roi_size_z</tabstop>
   <tabstop>collision_objects_list</tabstop>
-  <tabstop>import_object_file_button</tabstop>
-  <tabstop>import_object_url_button</tabstop>
-  <tabstop>remove_object_button</tabstop>
-  <tabstop>clear_scene_button</tabstop>
   <tabstop>object_x</tabstop>
   <tabstop>object_y</tabstop>
   <tabstop>object_z</tabstop>

From a22edb82ad4ce2b4f4efb03512556be27623a02b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 6 Jul 2020 20:36:58 +0200
Subject: [PATCH 385/612] MP plugin: Tweak GUI layout

- grid layout for object position/orientation spin boxes
  (to not rely on chance for their column-wise layout anymore)
- Limit position spin boxes to -999..999
  This essentially cancels one digit to be displayed, which significantly reduces the
  minimum width of the widget.
---
 .../ui/motion_planning_rviz_plugin_frame.ui   | 1185 +++++++++--------
 1 file changed, 620 insertions(+), 565 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 86e1905bf4..9adb5aaa9d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>630</width>
-    <height>424</height>
+    <width>532</width>
+    <height>389</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -355,6 +355,9 @@
       <layout class="QHBoxLayout" name="horizontalLayout_9">
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_11">
+         <property name="spacing">
+          <number>0</number>
+         </property>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_7">
            <property name="spacing">
@@ -369,6 +372,15 @@
               <property name="spacing">
                <number>4</number>
               </property>
+              <property name="leftMargin">
+               <number>6</number>
+              </property>
+              <property name="rightMargin">
+               <number>6</number>
+              </property>
+              <property name="bottomMargin">
+               <number>6</number>
+              </property>
               <item>
                <widget class="QPushButton" name="plan_button">
                 <property name="text">
@@ -419,6 +431,13 @@
                 </property>
                </widget>
               </item>
+              <item>
+               <widget class="QPushButton" name="clear_octomap_button">
+                <property name="text">
+                 <string>Clear octomap</string>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>
@@ -427,17 +446,17 @@
              <property name="title">
               <string>Query</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_6">
+             <layout class="QVBoxLayout" name="verticalLayout_6">
               <property name="leftMargin">
-               <number>4</number>
+               <number>6</number>
               </property>
               <property name="rightMargin">
-               <number>4</number>
+               <number>6</number>
               </property>
               <property name="bottomMargin">
-               <number>4</number>
+               <number>6</number>
               </property>
-              <item row="1" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_planning_group">
                 <item>
                  <widget class="QLabel" name="label_planning_group">
@@ -451,7 +470,7 @@
                 </item>
                </layout>
               </item>
-              <item row="2" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_start_state">
                 <item>
                  <widget class="QLabel" name="label_start_state">
@@ -465,7 +484,7 @@
                 </item>
                </layout>
               </item>
-              <item row="3" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_goal_state">
                 <item>
                  <widget class="QLabel" name="label_goal_state">
@@ -479,42 +498,44 @@
                 </item>
                </layout>
               </item>
-              <item row="4" column="0">
-               <widget class="QPushButton" name="clear_octomap_button">
-                <property name="text">
-                 <string>Clear octomap</string>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <spacer name="verticalSpacer">
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>40</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
              </layout>
             </widget>
            </item>
           </layout>
          </item>
+         <item>
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Fixed</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>6</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
          <item>
           <widget class="QGroupBox" name="groupBox_12">
            <property name="title">
             <string>Path Constraints</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_15">
+            <property name="leftMargin">
+             <number>6</number>
+            </property>
             <property name="topMargin">
              <number>4</number>
             </property>
+            <property name="rightMargin">
+             <number>6</number>
+            </property>
             <property name="bottomMargin">
-             <number>1</number>
+             <number>6</number>
             </property>
             <item>
              <widget class="QComboBox" name="path_constraints_combo_box"/>
@@ -552,200 +573,210 @@
         </layout>
        </item>
        <item>
-        <widget class="QGroupBox" name="groupBox_10">
-         <property name="title">
-          <string>Options</string>
+        <layout class="QVBoxLayout" name="verticalLayout_18">
+         <property name="spacing">
+          <number>0</number>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_10">
-          <property name="spacing">
-           <number>2</number>
-          </property>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QGroupBox" name="groupBox_10">
+           <property name="title">
+            <string>Options</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_10">
             <property name="spacing">
-             <number>1</number>
+             <number>2</number>
+            </property>
+            <property name="bottomMargin">
+             <number>4</number>
             </property>
             <item>
-             <widget class="QLabel" name="label_9">
-              <property name="text">
-               <string>Planning Time (s):</string>
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <property name="spacing">
+               <number>1</number>
               </property>
-             </widget>
+              <item>
+               <widget class="QLabel" name="label_9">
+                <property name="text">
+                 <string>Planning Time (s):</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="planning_time">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="maximum">
+                 <double>300.000000000000000</double>
+                </property>
+                <property name="value">
+                 <double>5.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
             </item>
             <item>
-             <widget class="QDoubleSpinBox" name="planning_time">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
+             <layout class="QHBoxLayout" name="horizontalLayout_15">
+              <property name="spacing">
+               <number>1</number>
               </property>
-              <property name="maximum">
-               <double>300.000000000000000</double>
+              <item>
+               <widget class="QLabel" name="label_10">
+                <property name="text">
+                 <string>Planning Attempts:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="planning_attempts">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>10</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_10">
+              <property name="spacing">
+               <number>1</number>
               </property>
-              <property name="value">
-               <double>5.000000000000000</double>
+              <item>
+               <widget class="QLabel" name="label_11">
+                <property name="text">
+                 <string>Velocity Scaling:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="velocity_scaling_factor">
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_20">
+              <property name="spacing">
+               <number>1</number>
               </property>
-             </widget>
+              <item>
+               <widget class="QLabel" name="label_20">
+                <property name="text">
+                 <string>Acceleration Scaling:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="acceleration_scaling_factor">
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
             </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_15">
-            <property name="spacing">
-             <number>1</number>
-            </property>
             <item>
-             <widget class="QLabel" name="label_10">
+             <widget class="QCheckBox" name="allow_replanning">
               <property name="text">
-               <string>Planning Attempts:</string>
+               <string>Allow Replanning</string>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QSpinBox" name="planning_attempts">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="maximum">
-               <number>1000</number>
+             <widget class="QCheckBox" name="allow_looking">
+              <property name="text">
+               <string>Allow Sensor Positioning</string>
               </property>
-              <property name="value">
-               <number>10</number>
+              <property name="checked">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_10">
-            <property name="spacing">
-             <number>1</number>
-            </property>
             <item>
-             <widget class="QLabel" name="label_11">
+             <widget class="QCheckBox" name="allow_external_program">
               <property name="text">
-               <string>Velocity Scaling:</string>
+               <string>Allow External Comm.</string>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QDoubleSpinBox" name="velocity_scaling_factor">
-              <property name="maximum">
-               <double>1.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.010000000000000</double>
+             <widget class="QCheckBox" name="use_cartesian_path">
+              <property name="text">
+               <string>Use Cartesian Path</string>
               </property>
-              <property name="value">
-               <double>1.000000000000000</double>
+              <property name="checked">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_20">
-            <property name="spacing">
-             <number>1</number>
-            </property>
             <item>
-             <widget class="QLabel" name="label_20">
+             <widget class="QCheckBox" name="collision_aware_ik">
               <property name="text">
-               <string>Acceleration Scaling:</string>
+               <string>Use Collision-Aware IK</string>
+              </property>
+              <property name="checked">
+               <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QDoubleSpinBox" name="acceleration_scaling_factor">
-              <property name="maximum">
-               <double>1.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.010000000000000</double>
-              </property>
-              <property name="value">
-               <double>1.000000000000000</double>
+             <widget class="QCheckBox" name="approximate_ik">
+              <property name="text">
+               <string>Allow Approx IK Solutions</string>
               </property>
              </widget>
             </item>
            </layout>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="allow_replanning">
-            <property name="text">
-             <string>Allow Replanning</string>
-            </property>
-            <property name="checked">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="allow_looking">
-            <property name="text">
-             <string>Allow Sensor Positioning</string>
-            </property>
-            <property name="checked">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="allow_external_program">
-            <property name="text">
-             <string>Allow External Comm.</string>
-            </property>
-            <property name="checked">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="use_cartesian_path">
-            <property name="text">
-             <string>Use Cartesian Path</string>
-            </property>
-            <property name="checked">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="collision_aware_ik">
-            <property name="text">
-             <string>Use Collision-Aware IK</string>
-            </property>
-            <property name="checked">
-             <bool>true</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QCheckBox" name="approximate_ik">
-            <property name="text">
-             <string>Allow Approx IK Solutions</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="verticalSpacer_2">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>40</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
        </item>
       </layout>
      </widget>
@@ -824,23 +855,6 @@
           <string>ROI</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_14">
-          <item row="1" column="2">
-           <widget class="QDoubleSpinBox" name="roi_size_y">
-            <property name="singleStep">
-             <double>0.010000000000000</double>
-            </property>
-            <property name="value">
-             <double>1.500000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_14">
-            <property name="text">
-             <string>Size (m): </string>
-            </property>
-           </widget>
-          </item>
           <item row="0" column="2">
            <widget class="QDoubleSpinBox" name="roi_center_y">
             <property name="minimum">
@@ -851,43 +865,40 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="3">
-           <widget class="QDoubleSpinBox" name="roi_size_z">
+          <item row="1" column="1">
+           <widget class="QDoubleSpinBox" name="roi_size_x">
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
-             <double>1.200000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_12">
-            <property name="text">
-             <string>Center (m): </string>
+             <double>4.000000000000000</double>
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
-           <widget class="QDoubleSpinBox" name="roi_size_x">
+          <item row="1" column="3">
+           <widget class="QDoubleSpinBox" name="roi_size_z">
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
-             <double>4.000000000000000</double>
+             <double>1.200000000000000</double>
             </property>
            </widget>
           </item>
-          <item row="0" column="3">
-           <widget class="QDoubleSpinBox" name="roi_center_z">
-            <property name="minimum">
-             <double>-99.000000000000000</double>
-            </property>
+          <item row="1" column="2">
+           <widget class="QDoubleSpinBox" name="roi_size_y">
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
-             <double>0.600000000000000</double>
+             <double>1.500000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_14">
+            <property name="text">
+             <string>Size (m): </string>
             </property>
            </widget>
           </item>
@@ -901,31 +912,25 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="4">
-           <spacer name="horizontalSpacer_5">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="text">
+             <string>Center (m): </string>
             </property>
-           </spacer>
+           </widget>
           </item>
-          <item row="1" column="4">
-           <spacer name="horizontalSpacer_6">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
+          <item row="0" column="3">
+           <widget class="QDoubleSpinBox" name="roi_center_z">
+            <property name="minimum">
+             <double>-99.000000000000000</double>
             </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
             </property>
-           </spacer>
+            <property name="value">
+             <double>0.600000000000000</double>
+            </property>
+           </widget>
           </item>
          </layout>
         </widget>
@@ -936,323 +941,263 @@
       <attribute name="title">
        <string>Scene Objects</string>
       </attribute>
-      <layout class="QGridLayout" name="gridLayout_4">
-       <item row="3" column="1">
-        <widget class="QGroupBox" name="groupBox3">
-         <property name="title">
-          <string>Scene Geometry</string>
-         </property>
-         <layout class="QHBoxLayout" name="horizontalLayout_14">
-          <item>
-           <widget class="QPushButton" name="publish_current_scene_button">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+      <layout class="QHBoxLayout" name="gridLayout_4">
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_19">
+         <item>
+          <widget class="QGroupBox" name="groupBox_8">
+           <property name="title">
+            <string>Current Scene Objects</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_17">
+            <property name="leftMargin">
+             <number>6</number>
             </property>
-            <property name="text">
-             <string>&amp;Publish Scene</string>
+            <property name="topMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_2">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
+            <property name="rightMargin">
+             <number>6</number>
             </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
+            <property name="bottomMargin">
+             <number>6</number>
             </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QPushButton" name="export_scene_geometry_text_button">
-            <property name="toolTip">
-             <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
+            <item>
+             <widget class="QListWidget" name="collision_objects_list">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="toolTip">
+               <string>Press Ctrl+C to duplicate an object</string>
+              </property>
+              <property name="editTriggers">
+               <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="groupBox_4">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="title">
+            <string>Add/Remove scene object(s)</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_16">
+            <property name="leftMargin">
+             <number>6</number>
             </property>
-            <property name="text">
-             <string>&amp;Export</string>
+            <property name="topMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="import_scene_geometry_text_button">
-            <property name="toolTip">
-             <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
+            <property name="rightMargin">
+             <number>6</number>
             </property>
-            <property name="text">
-             <string>&amp;Import</string>
+            <property name="bottomMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_16">
+              <item>
+               <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
+                <property name="toolTip">
+                 <string>x dimension</string>
+                </property>
+                <property name="singleStep">
+                 <double>0.050000000000000</double>
+                </property>
+                <property name="value">
+                 <double>0.200000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
+                <property name="toolTip">
+                 <string>y dimension</string>
+                </property>
+                <property name="singleStep">
+                 <double>0.050000000000000</double>
+                </property>
+                <property name="value">
+                 <double>0.200000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
+                <property name="toolTip">
+                 <string>z dimension</string>
+                </property>
+                <property name="singleStep">
+                 <double>0.050000000000000</double>
+                </property>
+                <property name="value">
+                 <double>0.200000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_13">
+              <item>
+               <widget class="QComboBox" name="shapes_combo_box"/>
+              </item>
+              <item>
+               <widget class="QToolButton" name="add_object_button">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Add object at scene's origin</string>
+                </property>
+                <property name="text">
+                 <string>Add</string>
+                </property>
+                <property name="icon">
+                 <iconset theme="list-add">
+                  <normaloff>.</normaloff>.</iconset>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QToolButton" name="remove_object_button">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Remove selected object</string>
+                </property>
+                <property name="text">
+                 <string>Del</string>
+                </property>
+                <property name="icon">
+                 <iconset theme="list-remove">
+                  <normaloff>.</normaloff>.</iconset>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QToolButton" name="clear_scene_button">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Clear planning scene</string>
+                </property>
+                <property name="text">
+                 <string>Clr</string>
+                </property>
+                <property name="icon">
+                 <iconset theme="edit-clear">
+                  <normaloff>.</normaloff>.</iconset>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
        </item>
-       <item row="1" column="1">
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="title">
-          <string>Object Status</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_12">
-          <item>
-           <widget class="QLabel" name="object_status">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
-            <property name="frameShape">
-             <enum>QFrame::NoFrame</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
-            <property name="text">
-             <string>Status</string>
-            </property>
-            <property name="textFormat">
-             <enum>Qt::AutoText</enum>
-            </property>
-            <property name="WordWrap" stdset="0">
-             <bool>true</bool>
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_20">
+         <item>
+          <widget class="QGroupBox" name="pose_scale_group_box">
+           <property name="title">
+            <string>Change pose and scale of selected object</string>
+           </property>
+           <layout class="QGridLayout" name="gridLayout">
+            <property name="leftMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="0" column="0" rowspan="4">
-        <widget class="QGroupBox" name="groupBox_8">
-         <property name="title">
-          <string>Current Scene Objects</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_17">
-          <item>
-           <widget class="QListWidget" name="collision_objects_list">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+            <property name="topMargin">
+             <number>6</number>
             </property>
-            <property name="toolTip">
-             <string>Press Ctrl+C to duplicate an object</string>
+            <property name="rightMargin">
+             <number>6</number>
             </property>
-            <property name="editTriggers">
-             <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+            <property name="bottomMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QFrame" name="frame_4">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+            <property name="verticalSpacing">
+             <number>6</number>
             </property>
-            <layout class="QVBoxLayout" name="verticalLayout_16">
-             <property name="leftMargin">
-              <number>0</number>
-             </property>
-             <property name="topMargin">
-              <number>0</number>
-             </property>
-             <property name="rightMargin">
-              <number>0</number>
-             </property>
-             <property name="bottomMargin">
-              <number>0</number>
-             </property>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_16">
-               <item>
-                <widget class="QLabel" name="label_5">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="text">
-                  <string>Size:</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
-                 <property name="singleStep">
-                  <double>0.050000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>0.200000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
-                 <property name="singleStep">
-                  <double>0.050000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>0.200000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
-                 <property name="singleStep">
-                  <double>0.050000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>0.200000000000000</double>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_13">
-               <item>
-                <widget class="QComboBox" name="shapes_combo_box"/>
-               </item>
-               <item>
-                <widget class="QToolButton" name="add_object_button">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="toolTip">
-                  <string>Add object at scene's origin</string>
-                 </property>
-                 <property name="text">
-                  <string>Add</string>
-                 </property>
-                 <property name="icon">
-                  <iconset theme="list-add">
-                   <normaloff>.</normaloff>.</iconset>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QToolButton" name="remove_object_button">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="toolTip">
-                  <string>Remove selected object</string>
-                 </property>
-                 <property name="text">
-                  <string>Del</string>
-                 </property>
-                 <property name="icon">
-                  <iconset theme="list-remove">
-                   <normaloff>.</normaloff>.</iconset>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QToolButton" name="clear_scene_button">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="toolTip">
-                  <string>Clear planning scene</string>
-                 </property>
-                 <property name="text">
-                  <string>...</string>
-                 </property>
-                 <property name="icon">
-                  <iconset theme="edit-clear">
-                   <normaloff>.</normaloff>.</iconset>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="0" column="1">
-        <widget class="QGroupBox" name="pose_scale_group_box">
-         <property name="title">
-          <string>Change Object Pose and Scale</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_6">
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_6">
-            <item>
+            <item row="1" column="0">
              <widget class="QLabel" name="label_4">
               <property name="text">
-               <string>Position (XYZ): </string>
+               <string>Position: </string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_13">
+              <property name="text">
+               <string>Rotation:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="object_x">
               <property name="minimum">
-               <double>-1000.000000000000000</double>
+               <double>-999.990000000000009</double>
               </property>
               <property name="maximum">
-               <double>1000.000000000000000</double>
+               <double>999.990000000000009</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_y">
+            <item row="2" column="3">
+             <widget class="QDoubleSpinBox" name="object_rz">
               <property name="minimum">
-               <double>-1000.000000000000000</double>
+               <double>-3.140000000000000</double>
               </property>
               <property name="maximum">
-               <double>1000.000000000000000</double>
+               <double>3.140000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_z">
+            <item row="2" column="1">
+             <widget class="QDoubleSpinBox" name="object_rx">
               <property name="minimum">
-               <double>-1000.000000000000000</double>
+               <double>-3.140000000000000</double>
               </property>
               <property name="maximum">
-               <double>1000.000000000000000</double>
+               <double>3.140000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_4">
-            <item>
-             <widget class="QLabel" name="label_13">
-              <property name="text">
-               <string>Rotation (RPY):</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_rx">
+            <item row="2" column="2">
+             <widget class="QDoubleSpinBox" name="object_ry">
               <property name="minimum">
                <double>-3.140000000000000</double>
               </property>
@@ -1264,26 +1209,82 @@
               </property>
              </widget>
             </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_ry">
+            <item row="1" column="2">
+             <widget class="QDoubleSpinBox" name="object_y">
               <property name="minimum">
-               <double>-3.140000000000000</double>
+               <double>-999.990000000000009</double>
               </property>
               <property name="maximum">
-               <double>3.140000000000000</double>
+               <double>999.990000000000009</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_rz">
+            <item row="3" column="0" colspan="4">
+             <layout class="QHBoxLayout" name="horizontalLayout_5">
+              <item>
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>Scale:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_17">
+                <property name="text">
+                 <string>0%</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSlider" name="scene_scale">
+                <property name="minimumSize">
+                 <size>
+                  <width>160</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximum">
+                 <number>200</number>
+                </property>
+                <property name="value">
+                 <number>100</number>
+                </property>
+                <property name="sliderPosition">
+                 <number>100</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>false</bool>
+                </property>
+                <property name="tickPosition">
+                 <enum>QSlider::NoTicks</enum>
+                </property>
+                <property name="tickInterval">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_18">
+                <property name="text">
+                 <string>200%</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item row="1" column="3">
+             <widget class="QDoubleSpinBox" name="object_z">
               <property name="minimum">
-               <double>-3.140000000000000</double>
+               <double>-999.990000000000009</double>
               </property>
               <property name="maximum">
-               <double>3.140000000000000</double>
+               <double>999.990000000000009</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
@@ -1291,78 +1292,132 @@
              </widget>
             </item>
            </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_5">
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="groupBox_5">
+           <property name="title">
+            <string>Status of selected object</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_12">
+            <property name="leftMargin">
+             <number>6</number>
+            </property>
+            <property name="topMargin">
+             <number>6</number>
+            </property>
+            <property name="rightMargin">
+             <number>6</number>
+            </property>
+            <property name="bottomMargin">
+             <number>6</number>
+            </property>
             <item>
-             <widget class="QLabel" name="label">
+             <widget class="QLabel" name="object_status">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::NoFrame</enum>
+              </property>
+              <property name="frameShadow">
+               <enum>QFrame::Raised</enum>
+              </property>
               <property name="text">
-               <string>Scale:</string>
+               <string>Status</string>
+              </property>
+              <property name="textFormat">
+               <enum>Qt::AutoText</enum>
+              </property>
+              <property name="WordWrap" stdset="0">
+               <bool>true</bool>
               </property>
              </widget>
             </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="groupBox3">
+           <property name="title">
+            <string>Scene Geometry</string>
+           </property>
+           <layout class="QHBoxLayout" name="horizontalLayout_14">
+            <property name="leftMargin">
+             <number>6</number>
+            </property>
+            <property name="topMargin">
+             <number>6</number>
+            </property>
+            <property name="rightMargin">
+             <number>6</number>
+            </property>
+            <property name="bottomMargin">
+             <number>6</number>
+            </property>
             <item>
-             <widget class="QLabel" name="label_17">
+             <widget class="QPushButton" name="publish_current_scene_button">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
               <property name="text">
-               <string>0%</string>
+               <string>&amp;Publish</string>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QSlider" name="scene_scale">
-              <property name="minimumSize">
-               <size>
-                <width>160</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="maximum">
-               <number>200</number>
-              </property>
-              <property name="value">
-               <number>100</number>
-              </property>
-              <property name="sliderPosition">
-               <number>100</number>
-              </property>
+             <spacer name="horizontalSpacer_2">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
-              <property name="invertedAppearance">
-               <bool>false</bool>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
               </property>
-              <property name="tickPosition">
-               <enum>QSlider::NoTicks</enum>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QPushButton" name="export_scene_geometry_text_button">
+              <property name="toolTip">
+               <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
               </property>
-              <property name="tickInterval">
-               <number>0</number>
+              <property name="text">
+               <string>&amp;Export</string>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QLabel" name="label_18">
+             <widget class="QPushButton" name="import_scene_geometry_text_button">
+              <property name="toolTip">
+               <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
+              </property>
               <property name="text">
-               <string>200%</string>
+               <string>&amp;Import</string>
               </property>
              </widget>
             </item>
            </layout>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item row="2" column="1">
-        <spacer name="verticalSpacer_4">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
+          </widget>
+         </item>
+        </layout>
        </item>
       </layout>
      </widget>

From 16a7df13abc5357256a4abf2bc17fd0b43c96f22 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 00:32:33 +0200
Subject: [PATCH 386/612] Update query states if a collision object was
 attached/detached

---
 .../motion_planning_display.h                         |  1 +
 .../src/motion_planning_display.cpp                   | 11 +++++++----
 .../src/motion_planning_frame_objects.cpp             |  4 ++++
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 7dc3db6e20..ca826c59f7 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -134,6 +134,7 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
   void setQueryStartState(const moveit::core::RobotState& start);
   void setQueryGoalState(const moveit::core::RobotState& goal);
 
+  void updateQueryStates(const moveit::core::RobotState &current_state);
   void updateQueryStartState();
   void updateQueryGoalState();
   void rememberPreviousStartState();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 28f7b3fbe4..83530a5112 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1212,11 +1212,8 @@ void MotionPlanningDisplay::updateStateExceptModified(moveit::core::RobotState&
   dest = src_copy;
 }
 
-void MotionPlanningDisplay::onSceneMonitorReceivedUpdate(
-    planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
+void MotionPlanningDisplay::updateQueryStates(const moveit::core::RobotState& current_state)
 {
-  PlanningSceneDisplay::onSceneMonitorReceivedUpdate(update_type);
-  moveit::core::RobotState current_state = getPlanningSceneRO()->getCurrentState();
   std::string group = planning_group_property_->getStdString();
 
   if (query_start_state_ && query_start_state_property_->getBool() && !group.empty())
@@ -1232,7 +1229,13 @@ void MotionPlanningDisplay::onSceneMonitorReceivedUpdate(
     updateStateExceptModified(goal, current_state);
     setQueryGoalState(goal);
   }
+}
 
+void MotionPlanningDisplay::onSceneMonitorReceivedUpdate(
+    planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
+{
+  PlanningSceneDisplay::onSceneMonitorReceivedUpdate(update_type);
+  updateQueryStates(getPlanningSceneRO()->getCurrentState());
   if (frame_)
     frame_->sceneUpdate(update_type);
 }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index a94a5408ac..ad8e3e0abe 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -852,6 +852,8 @@ void MotionPlanningFrame::attachDetachCollisionObject(QListWidgetItem* item)
       aco.object.operation = moveit_msgs::CollisionObject::REMOVE;
     }
   }
+
+  moveit::core::RobotState rs(planning_display_->getRobotModel());
   {
     planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
     // we loop through the list in case updates were received since the start of the function
@@ -862,9 +864,11 @@ void MotionPlanningFrame::attachDetachCollisionObject(QListWidgetItem* item)
         break;
       }
     ps->processAttachedCollisionObjectMsg(aco);
+    rs = ps->getCurrentState();
   }
 
   selectedCollisionObjectChanged();
+  planning_display_->updateQueryStates(rs);
   planning_display_->queueRenderSceneGeometry();
 }
 

From 157dd30cf70420b2a5fa21a2894cb12697aef1ec Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 00:47:03 +0200
Subject: [PATCH 387/612] Rename MotionPlanningFrame functions

clearSceneButtonClicked() -> clearScene()
removeObjectButtonClicked() -> removeSceneObject()
publishSceneButtonClicked()-> publishScene()
---
 .../motion_planning_frame.h                       | 10 +++++-----
 .../src/motion_planning_frame.cpp                 |  6 +++---
 .../src/motion_planning_frame_context.cpp         | 11 -----------
 .../src/motion_planning_frame_objects.cpp         | 15 +++++++++++++--
 4 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 3ce7cf7b9f..82e85d5ded 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -151,7 +151,6 @@ private Q_SLOTS:
 
   // Context tab
   void databaseConnectButtonClicked();
-  void publishSceneButtonClicked();
   void planningAlgorithmIndexChanged(int index);
   void resetDbButtonClicked();
   void approximateIKChanged(int state);
@@ -174,12 +173,14 @@ private Q_SLOTS:
   void onClearOctomapClicked();
 
   // Scene Objects tab
-  void shapesComboBoxChanged(const QString& text);
-  void clearSceneButtonClicked();
+  void clearScene();
+  void publishScene();
   void sceneScaleChanged(int value);
   void sceneScaleStartChange();
   void sceneScaleEndChange();
-  void removeObjectButtonClicked();
+  void shapesComboBoxChanged(const QString& text);
+  void addSceneObject();
+  void removeSceneObject();
   void selectedCollisionObjectChanged();
   void objectPoseValueChanged(double value);
   void collisionObjectChanged(QListWidgetItem* item);
@@ -303,7 +304,6 @@ private Q_SLOTS:
   ros::Subscriber update_custom_goal_state_subscriber_;
   // General
   void changePlanningGroupHelper();
-  void addSceneObject();
   shapes::ShapePtr loadMeshResource(const std::string& url);
   void loadStoredStates(const std::string& pattern);
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index e51ce34c51..4d408dfe1a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -114,18 +114,18 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
           SLOT(planningAlgorithmIndexChanged(int)));
   connect(ui_->planning_algorithm_combo_box, SIGNAL(currentIndexChanged(int)), this,
           SLOT(planningAlgorithmIndexChanged(int)));
-  connect(ui_->clear_scene_button, SIGNAL(clicked()), this, SLOT(clearSceneButtonClicked()));
+  connect(ui_->clear_scene_button, SIGNAL(clicked()), this, SLOT(clearScene()));
   connect(ui_->scene_scale, SIGNAL(valueChanged(int)), this, SLOT(sceneScaleChanged(int)));
   connect(ui_->scene_scale, SIGNAL(sliderPressed()), this, SLOT(sceneScaleStartChange()));
   connect(ui_->scene_scale, SIGNAL(sliderReleased()), this, SLOT(sceneScaleEndChange()));
-  connect(ui_->remove_object_button, SIGNAL(clicked()), this, SLOT(removeObjectButtonClicked()));
+  connect(ui_->remove_object_button, SIGNAL(clicked()), this, SLOT(removeSceneObject()));
   connect(ui_->object_x, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
   connect(ui_->object_y, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
   connect(ui_->object_z, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
   connect(ui_->object_rx, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
   connect(ui_->object_ry, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
   connect(ui_->object_rz, SIGNAL(valueChanged(double)), this, SLOT(objectPoseValueChanged(double)));
-  connect(ui_->publish_current_scene_button, SIGNAL(clicked()), this, SLOT(publishSceneButtonClicked()));
+  connect(ui_->publish_current_scene_button, SIGNAL(clicked()), this, SLOT(publishScene()));
   connect(ui_->collision_objects_list, SIGNAL(itemSelectionChanged()), this, SLOT(selectedCollisionObjectChanged()));
   connect(ui_->collision_objects_list, SIGNAL(itemChanged(QListWidgetItem*)), this,
           SLOT(collisionObjectChanged(QListWidgetItem*)));
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
index 87c1321723..b27d503181 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
@@ -57,17 +57,6 @@ void MotionPlanningFrame::databaseConnectButtonClicked()
                                       "connect to database");
 }
 
-void MotionPlanningFrame::publishSceneButtonClicked()
-{
-  const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
-  if (ps)
-  {
-    moveit_msgs::PlanningScene msg;
-    ps->getPlanningSceneMsg(msg);
-    planning_scene_publisher_.publish(msg);
-  }
-}
-
 void MotionPlanningFrame::planningAlgorithmIndexChanged(int index)
 {
   std::string planner_id = ui_->planning_algorithm_combo_box->itemText(index).toStdString();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index ad8e3e0abe..61248c4feb 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -103,7 +103,18 @@ void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
   }
 }
 
-void MotionPlanningFrame::clearSceneButtonClicked()
+void MotionPlanningFrame::publishScene()
+{
+  const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
+  if (ps)
+  {
+    moveit_msgs::PlanningScene msg;
+    ps->getPlanningSceneMsg(msg);
+    planning_scene_publisher_.publish(msg);
+  }
+}
+
+void MotionPlanningFrame::clearScene()
 {
   planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
   if (ps)
@@ -167,7 +178,7 @@ void MotionPlanningFrame::sceneScaleEndChange()
   ui_->scene_scale->setSliderPosition(100);
 }
 
-void MotionPlanningFrame::removeObjectButtonClicked()
+void MotionPlanningFrame::removeSceneObject()
 {
   QList<QListWidgetItem*> sel = ui_->collision_objects_list->selectedItems();
   if (sel.empty())

From fe59e1dcfa8c1f3b0a35ff46779b6068163cc550 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 01:35:55 +0200
Subject: [PATCH 388/612] Track local PS changes and publish them before
 planning

---
 .../motion_planning_display.h                 |  2 +-
 .../motion_planning_frame.h                   |  3 ++
 .../src/motion_planning_frame.cpp             |  2 ++
 .../src/motion_planning_frame_objects.cpp     | 28 +++++++++++++++++++
 .../src/motion_planning_frame_planning.cpp    |  2 ++
 5 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index ca826c59f7..0fd36a4088 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -134,7 +134,7 @@ class MotionPlanningDisplay : public PlanningSceneDisplay
   void setQueryStartState(const moveit::core::RobotState& start);
   void setQueryGoalState(const moveit::core::RobotState& goal);
 
-  void updateQueryStates(const moveit::core::RobotState &current_state);
+  void updateQueryStates(const moveit::core::RobotState& current_state);
   void updateQueryStartState();
   void updateQueryGoalState();
   void rememberPreviousStartState();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 82e85d5ded..59f25f464d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -175,6 +175,9 @@ private Q_SLOTS:
   // Scene Objects tab
   void clearScene();
   void publishScene();
+  void publishSceneIfNeeded();
+  void setLocalSceneEdited(bool dirty = true);
+  bool isLocalSceneDirty() const;
   void sceneScaleChanged(int value);
   void sceneScaleStartChange();
   void sceneScaleEndChange();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 4d408dfe1a..fc575f108d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -75,6 +75,7 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   ui_->shapes_combo_box->addItem("Cone", shapes::CONE);
   ui_->shapes_combo_box->addItem("Mesh from file", shapes::MESH);
   ui_->shapes_combo_box->addItem("Mesh from URL", shapes::MESH);
+  setLocalSceneEdited(false);
 
   // add more tabs
   joints_tab_ = new MotionPlanningFrameJointsWidget(planning_display_, ui_->tabWidget);
@@ -508,6 +509,7 @@ void MotionPlanningFrame::addSceneObject()
     planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
     ps->getWorldNonConst()->addToObject(shape_name, shape, Eigen::Isometry3d::Identity());
   }
+  setLocalSceneEdited();
 
   planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 61248c4feb..e1515e4d7e 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -103,6 +103,16 @@ void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
   }
 }
 
+void MotionPlanningFrame::setLocalSceneEdited(bool dirty)
+{
+  ui_->publish_current_scene_button->setEnabled(dirty);
+}
+
+bool MotionPlanningFrame::isLocalSceneDirty() const
+{
+  return ui_->publish_current_scene_button->isEnabled();
+}
+
 void MotionPlanningFrame::publishScene()
 {
   const planning_scene_monitor::LockedPlanningSceneRO& ps = planning_display_->getPlanningSceneRO();
@@ -111,9 +121,19 @@ void MotionPlanningFrame::publishScene()
     moveit_msgs::PlanningScene msg;
     ps->getPlanningSceneMsg(msg);
     planning_scene_publisher_.publish(msg);
+    setLocalSceneEdited(false);
   }
 }
 
+void MotionPlanningFrame::publishSceneIfNeeded()
+{
+  if (isLocalSceneDirty() &&
+      QMessageBox::question(this, "Update PlanningScene", "You have local changes to your planning scene.\n"
+                                                          "Publish them to the move_group node?",
+                            QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes) == QMessageBox::Yes)
+    publishScene();
+}
+
 void MotionPlanningFrame::clearScene()
 {
   planning_scene_monitor::LockedPlanningSceneRW ps = planning_display_->getPlanningSceneRW();
@@ -124,6 +144,7 @@ void MotionPlanningFrame::clearScene()
     moveit_msgs::PlanningScene msg;
     ps->getPlanningSceneMsg(msg);
     planning_scene_publisher_.publish(msg);
+    setLocalSceneEdited(false);
     planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
     planning_display_->queueRenderSceneGeometry();
   }
@@ -146,6 +167,7 @@ void MotionPlanningFrame::sceneScaleChanged(int value)
           ps->getWorldNonConst()->addToObject(scaled_object_->id_, shapes::ShapeConstPtr(s),
                                               scaled_object_->shape_poses_[i]);
         }
+        setLocalSceneEdited();
         scene_marker_->processMessage(createObjectMarkerMsg(ps->getWorld()->getObject(scaled_object_->id_)));
         planning_display_->queueRenderSceneGeometry();
       }
@@ -192,6 +214,7 @@ void MotionPlanningFrame::removeSceneObject()
       else
         ps->getCurrentStateNonConst().clearAttachedBody(sel[i]->text().toStdString());
     scene_marker_.reset();
+    setLocalSceneEdited();
     planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
     planning_display_->queueRenderSceneGeometry();
   }
@@ -367,6 +390,7 @@ void MotionPlanningFrame::updateCollisionObjectPose(bool update_marker_position)
 
       ps->getWorldNonConst()->moveShapeInObject(obj->id_, obj->shapes_[0], p);
       planning_display_->queueRenderSceneGeometry();
+      setLocalSceneEdited();
 
       // Update the interactive marker pose to match the manually introduced one
       if (update_marker_position && scene_marker_)
@@ -460,6 +484,7 @@ void MotionPlanningFrame::copySelectedCollisionObject()
     ps->getWorldNonConst()->addToObject(name, obj->shapes_, obj->shape_poses_);
     ROS_DEBUG("Copied collision object to '%s'", name.c_str());
   }
+  setLocalSceneEdited();
   planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
 }
 
@@ -824,6 +849,7 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
       cs.attachBody(new_ab);
     }
   }
+  setLocalSceneEdited();
 }
 
 void MotionPlanningFrame::attachDetachCollisionObject(QListWidgetItem* item)
@@ -879,6 +905,7 @@ void MotionPlanningFrame::attachDetachCollisionObject(QListWidgetItem* item)
   }
 
   selectedCollisionObjectChanged();
+  setLocalSceneEdited();
   planning_display_->updateQueryStates(rs);
   planning_display_->queueRenderSceneGeometry();
 }
@@ -979,6 +1006,7 @@ void MotionPlanningFrame::computeImportGeometryFromText(const std::string& path)
       ROS_INFO("Loaded scene geometry from '%s'", path.c_str());
       planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populateCollisionObjectsList, this));
       planning_display_->queueRenderSceneGeometry();
+      setLocalSceneEdited();
     }
     else
     {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 8f8ab01772..6ee3739253 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -52,6 +52,7 @@ namespace moveit_rviz_plugin
 {
 void MotionPlanningFrame::planButtonClicked()
 {
+  publishSceneIfNeeded();
   planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computePlanButtonClicked, this),
                                       "compute plan");
 }
@@ -65,6 +66,7 @@ void MotionPlanningFrame::executeButtonClicked()
 
 void MotionPlanningFrame::planAndExecuteButtonClicked()
 {
+  publishSceneIfNeeded();
   ui_->plan_and_execute_button->setEnabled(false);
   ui_->execute_button->setEnabled(false);
   // execution is done in a separate thread, to not block other background jobs by blocking for synchronous execution

From e69e0336674f66d96715905847d82c5665cf8817 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 19:27:58 +0200
Subject: [PATCH 389/612] Default to Planning tab initially

---
 .../motion_planning_rviz_plugin/src/motion_planning_frame.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index fc575f108d..36625508f5 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -192,7 +192,7 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   ui_->background_job_progress->hide();
   ui_->background_job_progress->setMaximum(0);
 
-  ui_->tabWidget->setCurrentIndex(0);
+  ui_->tabWidget->setCurrentIndex(1);
 
   known_collision_objects_version_ = 0;
 

From 85f62d8cf33f4ea544ae7438f54a6efc7af133b6 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 8 Jul 2020 14:19:44 +0200
Subject: [PATCH 390/612] Explicitly added icon resources

---
 moveit_ros/visualization/CMakeLists.txt           |   9 +++++----
 .../motion_planning_rviz_plugin/CMakeLists.txt    |   1 +
 .../src/icons/edit-clear.png                      | Bin 0 -> 343 bytes
 .../src/icons/icons.qrc                           |   7 +++++++
 .../src/icons/list-add.png                        | Bin 0 -> 517 bytes
 .../src/icons/list-remove.png                     | Bin 0 -> 228 bytes
 .../src/ui/motion_planning_rviz_plugin_frame.ui   |  12 ++++++------
 7 files changed, 19 insertions(+), 10 deletions(-)
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/edit-clear.png
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/icons.qrc
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-add.png
 create mode 100644 moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-remove.png

diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 51e5011804..eb67e2a861 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -48,14 +48,14 @@ find_package(Eigen3 REQUIRED)
 
 # Qt Stuff
 if(rviz_QT_VERSION VERSION_LESS "5")
-	find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
-	include(${QT_USE_FILE})
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
+  include(${QT_USE_FILE})
   macro(qt_wrap_ui)
     qt4_wrap_ui(${ARGN})
   endmacro()
 else()
-	find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
-	set(QT_LIBRARIES Qt5::Widgets)
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+  set(QT_LIBRARIES Qt5::Widgets)
   macro(qt_wrap_ui)
     qt5_wrap_ui(${ARGN})
   endmacro()
@@ -63,6 +63,7 @@ endif()
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
 add_definitions(-DQT_NO_KEYWORDS)
 
 catkin_package(
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index cfc3325fb5..3d029d2095 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -23,6 +23,7 @@ set(SOURCE_FILES
   src/motion_planning_display.cpp
   src/motion_planning_frame_manipulation.cpp
   src/motion_planning_param_widget.cpp
+  src/icons/icons.qrc
 )
 
 set(MOVEIT_LIB_NAME moveit_motion_planning_rviz_plugin)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/edit-clear.png b/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/edit-clear.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c309f6f06fa6af6ceca9fac45bdaeb5015e47ed
GIT binary patch
literal 343
zcmeAS@N?(olHy`uVBq!ia0vp^0wB!63?wyl`GbK}U4T!BE0F#V2EM+&KpH{@1O)i_
z_`G=W;^xhp5LqC3{P^+Bn>YLU`NhS>0m<<2aDRXQpr9b279ayiLKr~35C%{UkO3!G
zuU@@o&6;)V)~#Q^e&fcC&z?O4nz=(+e-h9IiX}mQ!3-=MTzn#8%4UAC35jXB^?T1>
zx%=$p$4{Ss{P^+n=kLFN`<Sez0Trivx;TbZ+?soiS&Z3GfZ@W*+}(vm|C#gFv?tY{
zk<3W1al9zmb5Srg&GyEA!AUZTdUxIOf14-=J83*KyT+d)xRj+xdiLtu3(}Z(_nv$g
zXaCZNfBmcA7kd7s5iiykC7Ew%`|N7c{N6-1Q*cfEgPhAiD;Ydp{an^LB{Ts5X;PLE

literal 0
HcmV?d00001

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/icons.qrc b/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/icons.qrc
new file mode 100644
index 0000000000..90fae4c9f1
--- /dev/null
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/icons.qrc
@@ -0,0 +1,7 @@
+<RCC>
+    <qresource prefix="/icons">
+        <file>list-add.png</file>
+        <file>list-remove.png</file>
+        <file>edit-clear.png</file>
+    </qresource>
+</RCC>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-add.png b/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-add.png
new file mode 100644
index 0000000000000000000000000000000000000000..818abbe146d2623207cc17386b10bc2d8c65429e
GIT binary patch
literal 517
zcmeAS@N?(olHy`uVBq!ia0vp^0wB!63?wyl`GbKJbFq_W2nPqp?T7vkfZWdkJ|V6^
z8U+3`=$7%T<a4MOahueLo770!wn*5wNjkJk8&vTc)e4x_37RzuTQ-SUHH+G`io0~m
zyLBmebSazG3!2pnnKcOMSMmDvs`>P(`S)pt%vN)oAXRnLu<?{x%Sp%9la3wdt-H^;
z^_>aryW-G)#bM$#r%9K6C*N?H0z@}mr(X4&dd+|8P1otS-Dlnint8`#)?Lrp_q=A`
z^PY1nY|ee}xz`is-VUFCBXQxa<VClV7vD);{3KxY^T;*Nk~Y1{-1Ite=bOS^K=eLy
z|NDvqA1Y71S#<jC;xq4-oPD?C-20^$J}kTNarwRP+wT3?_Ta~kQ*#|{fL@j>3GxeO
zU}T&*2MG4>-+urO4jw#s2ng=po9Z^N8>n)Mr;B5V#O2&`)?9}I1RO3}PoB>4bAiGR
z;llsDt=@vI62hkQ&65)+YTWx2B3>uN5EgxK9kT<&f?M2Wd(J%Ycb>y~MA9XAqK(w7
z{de4jW937(7;Y)rd|CHF>14H4M~)pk#93kP=BqgC=4H-`xK&&D^}ULVT@JaaXtQm~
zD_Fn$eCF2K9M6A0Iy~ox=`@uME&Euj{(WQne980N@0mxZf@06p)z4*}Q$iB}FevDJ

literal 0
HcmV?d00001

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-remove.png b/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-remove.png
new file mode 100644
index 0000000000000000000000000000000000000000..213b471c515afffc08d9a82d8b9bb1053973b15c
GIT binary patch
literal 228
zcmeAS@N?(olHy`uVBq!ia0vp^0wB!61|;P_|4#%`t36#DLn>}1FA$Po-M-e;{{FV0
z|NdNTFB_!`4tc!(|C{ylzy0wRfB*kJYW%N0g6WX)|N027V+v*-JSyx#%wgP@n9UPb
zPkZ-&`PQfZ^VzHZ>=$M@(imaj!ncHNjo1qI!~;&LfB%~wa{3>?X*+Y$?f=ss-r#F_
z_{TdThdqq@O0&TN|64EqbILCMukIKj-qt(O&?$y}5lEv$Z^zB&S&5hbFG-jnr*-t9
b1_Q&EnuDuTzo_v8oz39s>gTe~DWM4fHWglt

literal 0
HcmV?d00001

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 9adb5aaa9d..22154c05da 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -1068,8 +1068,8 @@
                  <string>Add</string>
                 </property>
                 <property name="icon">
-                 <iconset theme="list-add">
-                  <normaloff>.</normaloff>.</iconset>
+                 <iconset>
+                  <normaloff>:/icons/list-add.png</normaloff>:/icons/list-add.png</iconset>
                 </property>
                </widget>
               </item>
@@ -1088,8 +1088,8 @@
                  <string>Del</string>
                 </property>
                 <property name="icon">
-                 <iconset theme="list-remove">
-                  <normaloff>.</normaloff>.</iconset>
+                 <iconset>
+                  <normaloff>:/icons/list-remove.png</normaloff>:/icons/list-remove.png</iconset>
                 </property>
                </widget>
               </item>
@@ -1108,8 +1108,8 @@
                  <string>Clr</string>
                 </property>
                 <property name="icon">
-                 <iconset theme="edit-clear">
-                  <normaloff>.</normaloff>.</iconset>
+                 <iconset>
+                  <normaloff>:/icons/edit-clear.png</normaloff>:/icons/edit-clear.png</iconset>
                 </property>
                </widget>
               </item>

From edc9cf6e55ffcd2f3dbe18f2eb8602d913fdde48 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Mon, 13 Jul 2020 17:40:47 +0300
Subject: [PATCH 391/612] Remove urdf package as build_depend from package.xml
 (#2207)

---
 .../src/widgets/configuration_files_widget.cpp                   | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index fbb737ecd7..8bab6e4f4c 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -1099,7 +1099,6 @@ void ConfigurationFilesWidget::loadTemplateStrings()
   else
   {
     std::stringstream deps;
-    deps << "<build_depend>" << config_data_->urdf_pkg_name_ << "</build_depend>\n";
     deps << "  <run_depend>" << config_data_->urdf_pkg_name_ << "</run_depend>\n";
     addTemplateString("[OTHER_DEPENDENCIES]", deps.str());  // not relative to a ROS package
   }

From a8ee3cb11433716baaf9bc23d8aa2a64d799d5c0 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 29 Jun 2020 13:11:23 +0200
Subject: [PATCH 392/612] Fix warnings

---
 .../include/moveit/collision_detection/collision_matrix.h | 2 +-
 moveit_core/collision_detection/src/collision_matrix.cpp  | 8 --------
 moveit_core/macros/include/moveit/macros/diagnostics.h    | 2 +-
 moveit_core/robot_state/src/robot_state.cpp               | 2 +-
 moveit_ros/benchmarks/src/BenchmarkExecutor.cpp           | 3 +++
 .../src/tools/compute_default_collisions.cpp              | 2 +-
 6 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
index e83283688c..3438fcd469 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
@@ -92,7 +92,7 @@ class AllowedCollisionMatrix
   AllowedCollisionMatrix(const moveit_msgs::AllowedCollisionMatrix& msg);
 
   /** @brief Copy constructor */
-  AllowedCollisionMatrix(const AllowedCollisionMatrix& acm);
+  AllowedCollisionMatrix(const AllowedCollisionMatrix& acm) = default;
 
   /** @brief Get the type of the allowed collision between two elements. Return true if the entry is included in the
    * collision matrix.
diff --git a/moveit_core/collision_detection/src/collision_matrix.cpp b/moveit_core/collision_detection/src/collision_matrix.cpp
index 7d359abb3b..74a0c9543f 100644
--- a/moveit_core/collision_detection/src/collision_matrix.cpp
+++ b/moveit_core/collision_detection/src/collision_matrix.cpp
@@ -73,14 +73,6 @@ AllowedCollisionMatrix::AllowedCollisionMatrix(const moveit_msgs::AllowedCollisi
   }
 }
 
-AllowedCollisionMatrix::AllowedCollisionMatrix(const AllowedCollisionMatrix& acm)
-{
-  entries_ = acm.entries_;
-  allowed_contacts_ = acm.allowed_contacts_;
-  default_entries_ = acm.default_entries_;
-  default_allowed_contacts_ = acm.default_allowed_contacts_;
-}
-
 bool AllowedCollisionMatrix::getEntry(const std::string& name1, const std::string& name2, DecideContactFn& fn) const
 {
   auto it1 = allowed_contacts_.find(name1);
diff --git a/moveit_core/macros/include/moveit/macros/diagnostics.h b/moveit_core/macros/include/moveit/macros/diagnostics.h
index 6d3e78caa8..ff75b446b8 100644
--- a/moveit_core/macros/include/moveit/macros/diagnostics.h
+++ b/moveit_core/macros/include/moveit/macros/diagnostics.h
@@ -42,7 +42,7 @@
  *  DIAGNOSTIC_PUSH
  *  SILENT_UNUSED_PARAM
  *  #include <offender.h>
- *  DIAGNOSTIC_PUSH
+ *  DIAGNOSTIC_POP
  *
  *  The push and pop operations ensure that the old status is restored afterwards.
  */
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index ea54bea928..1c171487d7 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -163,7 +163,7 @@ void RobotState::copyFrom(const RobotState& other)
             (robot_model_->getVariableCount() * (1 + ((has_velocity_ || has_acceleration_ || has_effort_) ? 1 : 0) +
                                                  ((has_acceleration_ || has_effort_) ? 1 : 0)) +
              nr_doubles_for_dirty_joint_transforms);
-    memcpy(variable_joint_transforms_, other.variable_joint_transforms_, bytes);
+    memcpy((void*)variable_joint_transforms_, (void*)other.variable_joint_transforms_, bytes);
   }
 
   // copy attached bodies
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 3dd68f7b59..44925d4df8 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -40,7 +40,10 @@
 #include <tf2_eigen/tf2_eigen.h>
 
 #include <boost/regex.hpp>
+// TODO: Remove if boost >= 1.72 (https://github.com/boostorg/timer/issues/12)
+#define BOOST_ALLOW_DEPRECATED_HEADERS 1
 #include <boost/progress.hpp>
+#undef BOOST_ALLOW_DEPRECATED_HEADERS
 #include <boost/math/constants/constants.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
diff --git a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
index 5d534420a2..58421c7b40 100644
--- a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
+++ b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
@@ -667,7 +667,7 @@ DisabledReason disabledReasonFromString(const std::string& reason)
   {
     r = REASONS_FROM_STRING.at(reason);
   }
-  catch (std::out_of_range)
+  catch (const std::out_of_range&)
   {
     r = USER;
   }

From 7c0d067fef49498812947df5e2308691fc05dfb4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 30 Jun 2020 23:57:49 +0200
Subject: [PATCH 393/612] Travis: Enable Noetic build

---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index 740788cb87..cb79a380b8 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,6 +24,7 @@ jobs:
   include:
     - env: TEST="clang-format catkin_lint"
     - env: TEST=code-coverage
+    - env: ROS_DISTRO=noetic
     - env: ROS_DISTRO=melodic
     - env: ROS_DISTRO=kinetic
     - compiler: clang

From 9dd66f905c93b8c5ca86d6d4df531bfb66495973 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 1 Jul 2020 08:21:25 +0200
Subject: [PATCH 394/612] Remove moveit_noetic.rosinstall

---
 moveit_noetic.rosinstall | 75 ----------------------------------------
 1 file changed, 75 deletions(-)
 delete mode 100644 moveit_noetic.rosinstall

diff --git a/moveit_noetic.rosinstall b/moveit_noetic.rosinstall
deleted file mode 100644
index 532928a195..0000000000
--- a/moveit_noetic.rosinstall
+++ /dev/null
@@ -1,75 +0,0 @@
-#################################
-# Temporary Noetic ROS Install
-# Remove all the extra source builds once they are released
-#################################
-
-# This file is intended for users who want to build MoveIt from source.
-# Used with wstool, users can download source of all packages of MoveIt.
-- git:
-    local-name: moveit_msgs
-    uri: https://github.com/ros-planning/moveit_msgs.git
-    version: master
-- git:
-    local-name: geometric_shapes
-    uri: https://github.com/ros-planning/geometric_shapes.git
-    version: noetic-devel
-- git:
-    local-name: moveit
-    uri: https://github.com/ros-planning/moveit.git
-    version: master
-- git:
-    local-name: rviz_visual_tools
-    uri: https://github.com/PickNikRobotics/rviz_visual_tools
-    version: master
-- git:
-    local-name: moveit_visual_tools
-    uri: https://github.com/ros-planning/moveit_visual_tools.git
-    version: master
-- git:
-    local-name: moveit_tutorials
-    uri: https://github.com/ros-planning/moveit_tutorials.git
-    version: master
-- git:
-    local-name: panda_moveit_config
-    uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
-
-####################################
-# Remove the following once released
-####################################
-- git:
-    local-name: rosparam_shortcuts
-    uri: https://github.com/PickNikRobotics/rosparam_shortcuts.git
-    version: melodic-devel
-- git:
-    local-name: srdfdom
-    uri: https://github.com/ros-planning/srdfdom.git
-    version: melodic-devel
-- git:
-    local-name: ompl
-    uri: https://github.com/ompl/ompl.git
-    version: master
-- git:
-    local-name: ros_pytest
-    uri: https://github.com/machinekoder/ros_pytest.git
-    version: melodic-devel
-- git:
-    local-name: joystick_drivers
-    uri: https://github.com/ros-drivers/joystick_drivers.git
-    version: master
-- git:
-    local-name: teleop_tools
-    uri: https://github.com/ros-teleop/teleop_tools.git
-    version: kinetic-devel
-- git:
-    local-name: moveit_resources
-    uri: https://github.com/ros-planning/moveit_resources.git
-    version: master
-- git:
-    local-name: franka_ros
-    uri: https://github.com/frankaemika/franka_ros.git
-    version: kinetic-devel
-- git:
-    local-name: graph_msgs
-    uri: https://github.com/davetcoleman/graph_msgs.git
-    version: jade-devel
\ No newline at end of file

From e894d3892ba220746c3f4dca183ff655ba9e3d32 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 1 Jul 2020 10:57:00 +0200
Subject: [PATCH 395/612] Further increase acceptance threshold for mesh-filter
 test

Mesa OpenGL 20.x seems to have worsen the situation...
---
 moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
index 2fa4b7a146..e8c90782bc 100644
--- a/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
+++ b/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp
@@ -231,7 +231,7 @@ void MeshFilterTest<Type>::test()
     float sensor_depth = sensor_data_[idx] * FilterTraits<Type>::ToMetricScale;
     if (fabs(sensor_depth - distance_ - shadow_) > epsilon_ && fabs(sensor_depth - distance_) > epsilon_)
     {
-      ASSERT_NEAR(filtered_depth[idx], gt_depth[idx], 1e-6);
+      ASSERT_NEAR(filtered_depth[idx], gt_depth[idx], 1e-4);
       ASSERT_EQ(filtered_labels[idx], gt_labels[idx]);
     }
   }

From fe6498061103aaa299b0ef20d3e8a3dce39964d5 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Mon, 20 Jul 2020 17:45:26 +0200
Subject: [PATCH 396/612] Fix docstrings in robot_state.h (#2215)

---
 .../robot_state/include/moveit/robot_state/robot_state.h  | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index c2d968e773..9048a0d5ce 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1172,8 +1172,8 @@ class RobotState
 
   /** \brief Compute the Jacobian with reference to a particular point on a given link, for a specified group.
    * \param group The group to compute the Jacobian for
-   * \param link_name The name of the link
-   * \param reference_point_position The reference point position (with respect to the link specified in link_name)
+   * \param link The link model to compute the Jacobian for
+   * \param reference_point_position The reference point position (with respect to the link specified in link)
    * \param jacobian The resultant jacobian
    * \param use_quaternion_representation Flag indicating if the Jacobian should use a quaternion representation
    * (default is false)
@@ -1184,8 +1184,8 @@ class RobotState
 
   /** \brief Compute the Jacobian with reference to a particular point on a given link, for a specified group.
    * \param group The group to compute the Jacobian for
-   * \param link_name The name of the link
-   * \param reference_point_position The reference point position (with respect to the link specified in link_name)
+   * \param link The link model to compute the Jacobian for
+   * \param reference_point_position The reference point position (with respect to the link specified in link)
    * \param jacobian The resultant jacobian
    * \param use_quaternion_representation Flag indicating if the Jacobian should use a quaternion representation
    * (default is false)

From 6dbaf94610039ee3a53c2db74f8d244959096b20 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 21 Jul 2020 12:23:35 +0200
Subject: [PATCH 397/612] Travis: Update dist to Bionic (#2221)

... to fix issue https://github.com/moby/moby/pull/36417
---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index cb79a380b8..e8665fb8ff 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,6 +1,6 @@
 # This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
 os: linux
-dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
+dist: bionic  # distro used by Travis, moveit_ci uses the docker image's distro
 services:
   - docker
 language: cpp

From 89a6752133177557fd4419d9f784d0f9c737c5c2 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Tue, 21 Jul 2020 12:55:35 +0200
Subject: [PATCH 398/612] Add named logging with LOGNAME to OMPL interface
 (#2211)

* add named logging with LOGNAME to ompl interface

* clang-format
---
 .../scripts/generate_state_database.cpp       |  2 +-
 .../src/detail/constrained_goal_sampler.cpp   | 13 ++-
 .../constrained_valid_state_sampler.cpp       |  8 +-
 .../src/detail/constraints_library.cpp        | 74 ++++++++-------
 .../src/detail/state_validity_checker.cpp     | 77 ++++++++--------
 .../src/model_based_planning_context.cpp      | 92 +++++++++----------
 .../ompl_interface/src/ompl_interface.cpp     | 30 +++---
 .../src/ompl_planner_manager.cpp              |  6 +-
 .../model_based_state_space.cpp               | 77 ++++++++--------
 .../work_space/pose_model_state_space.cpp     | 73 ++++++++-------
 .../src/planning_context_manager.cpp          | 31 ++++---
 11 files changed, 255 insertions(+), 228 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
index d089536586..55548966ca 100644
--- a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
+++ b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
@@ -49,7 +49,7 @@
 #include <boost/math/constants/constants.hpp>
 #include <sstream>
 
-static const std::string LOGNAME = "generate_state_database";
+constexpr char LOGNAME[] = "generate_state_database";
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
index ce417e99c2..24a81ebe9f 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
@@ -41,6 +41,11 @@
 
 #include <utility>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "constrained_goal_sampler";
+}  // namespace ompl_interface
+
 ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler(const ModelBasedPlanningContext* pc,
                                                                kinematic_constraints::KinematicConstraintSetPtr ks,
                                                                constraint_samplers::ConstraintSamplerPtr cs)
@@ -58,7 +63,7 @@ ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler(const ModelBasedP
 {
   if (!constraint_sampler_)
     default_sampler_ = si_->allocStateSampler();
-  ROS_DEBUG_NAMED("constrained_goal_sampler", "Constructed a ConstrainedGoalSampler instance at address %p", this);
+  ROS_DEBUG_NAMED(LOGNAME, "Constructed a ConstrainedGoalSampler instance at address %p", this);
   startSampling();
 }
 
@@ -138,9 +143,9 @@ bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler(const
           if (!warned_invalid_samples_ && invalid_sampled_constraints_ >= (attempts_so_far * 8) / 10)
           {
             warned_invalid_samples_ = true;
-            ROS_WARN_NAMED("constrained_goal_sampler", "More than 80%% of the sampled goal states "
-                                                       "fail to satisfy the constraints imposed on the goal sampler. "
-                                                       "Is the constrained sampler working correctly?");
+            ROS_WARN_NAMED(LOGNAME, "More than 80%% of the sampled goal states "
+                                    "fail to satisfy the constraints imposed on the goal sampler. "
+                                    "Is the constrained sampler working correctly?");
           }
         }
       }
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constrained_valid_state_sampler.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constrained_valid_state_sampler.cpp
index 3ce0351928..db39b8ef33 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constrained_valid_state_sampler.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constrained_valid_state_sampler.cpp
@@ -40,6 +40,11 @@
 
 #include <utility>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "constrained_valid_state_sampler";
+}  // namespace ompl_interface
+
 ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler(const ModelBasedPlanningContext* pc,
                                                                  kinematic_constraints::KinematicConstraintSetPtr ks,
                                                                  constraint_samplers::ConstraintSamplerPtr cs)
@@ -52,8 +57,7 @@ ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler(const ModelBase
   if (!constraint_sampler_)
     default_sampler_ = si_->allocStateSampler();
   inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
-  ROS_DEBUG_NAMED("constrained_valid_state_sampler", "Constructed a ValidConstrainedSampler instance at address %p",
-                  this);
+  ROS_DEBUG_NAMED(LOGNAME, "Constructed a ValidConstrainedSampler instance at address %p", this);
 }
 
 bool ompl_interface::ValidConstrainedSampler::project(ompl::base::State* state)
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 96c6f7c92a..ddc6abc453 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -34,17 +34,19 @@
 
 /* Author: Ioan Sucan */
 
-#include <moveit/ompl_interface/detail/constraints_library.h>
-#include <moveit/ompl_interface/detail/constrained_sampler.h>
-#include <moveit/profiler/profiler.h>
-#include <ompl/tools/config/SelfConfig.h>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/filesystem.hpp>
 #include <fstream>
+#include <moveit/ompl_interface/detail/constrained_sampler.h>
+#include <moveit/ompl_interface/detail/constraints_library.h>
+#include <moveit/profiler/profiler.h>
+#include <ompl/tools/config/SelfConfig.h>
 #include <utility>
 
 namespace ompl_interface
 {
+constexpr char LOGNAME[] = "constraints_library";
+
 namespace
 {
 template <typename T>
@@ -227,7 +229,8 @@ ompl_interface::ConstraintApproximation::getStateSamplerAllocator(const moveit_m
                    milestones_);
 }
 /*
-void ompl_interface::ConstraintApproximation::visualizeDistribution(const std::string &link_name, unsigned int count,
+void ompl_interface::ConstraintApproximation::visualizeDistribution(const
+std::string &link_name, unsigned int count,
 visualization_msgs::MarkerArray &arr) const
 {
   moveit::core::RobotState robot_state(robot_model_);
@@ -246,7 +249,8 @@ visualization_msgs::MarkerArray &arr) const
   {
     state_storage_->getStateSpace()->as<ModelBasedStateSpace>()->copyToRobotState(robot_state,
 state_storage_->getState(rng.uniformInt(0, state_storage_->size() - 1)));
-    const Eigen::Vector3d &pos = robot_state.getLinkState(link_name)->getGlobalLinkTransform().translation();
+    const Eigen::Vector3d &pos =
+robot_state.getLinkState(link_name)->getGlobalLinkTransform().translation();
 
     visualization_msgs::Marker mk;
     mk.header.stamp = ros::Time::now();
@@ -273,12 +277,13 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
   std::ifstream fin((path + "/manifest").c_str());
   if (!fin.good())
   {
-    ROS_WARN_NAMED("constraints_library", "Manifest not found in folder '%s'. Not loading constraint approximations.",
+    ROS_WARN_NAMED(LOGNAME, "Manifest not found in folder '%s'. Not loading "
+                            "constraint approximations.",
                    path.c_str());
     return;
   }
 
-  ROS_INFO_NAMED("constraints_library", "Loading constrained space approximations from '%s'...", path.c_str());
+  ROS_INFO_NAMED(LOGNAME, "Loading constrained space approximations from '%s'...", path.c_str());
 
   while (fin.good() && !fin.eof())
   {
@@ -305,13 +310,14 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
     if (context_->getGroupName() != group &&
         context_->getOMPLStateSpace()->getParameterizationType() != state_space_parameterization)
     {
-      ROS_INFO_NAMED("constraints_library",
-                     "Ignoring constraint approximation of type '%s' for group '%s' from '%s'...",
+      ROS_INFO_NAMED(LOGNAME, "Ignoring constraint approximation of type '%s' "
+                              "for group '%s' from '%s'...",
                      state_space_parameterization.c_str(), group.c_str(), filename.c_str());
       continue;
     }
 
-    ROS_INFO_NAMED("constraints_library", "Loading constraint approximation of type '%s' for group '%s' from '%s'...",
+    ROS_INFO_NAMED(LOGNAME, "Loading constraint approximation of type '%s' for "
+                            "group '%s' from '%s'...",
                    state_space_parameterization.c_str(), group.c_str(), filename.c_str());
     moveit_msgs::Constraints msg;
     hexToMsg(serialization, msg);
@@ -321,22 +327,23 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
                                                                msg, filename, ompl::base::StateStoragePtr(cass),
                                                                milestones));
     if (constraint_approximations_.find(cap->getName()) != constraint_approximations_.end())
-      ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'", cap->getName().c_str());
+      ROS_WARN_NAMED(LOGNAME, "Overwriting constraint approximation named '%s'", cap->getName().c_str());
     constraint_approximations_[cap->getName()] = cap;
     std::size_t sum = 0;
     for (std::size_t i = 0; i < cass->size(); ++i)
       sum += cass->getMetadata(i).first.size();
-    ROS_INFO_NAMED("constraints_library", "Loaded %lu states (%lu milestones) and %lu connections (%0.1lf per state) "
-                                          "for constraint named '%s'%s",
+    ROS_INFO_NAMED(LOGNAME, "Loaded %lu states (%lu milestones) and %lu "
+                            "connections (%0.1lf per state) "
+                            "for constraint named '%s'%s",
                    cass->size(), cap->getMilestoneCount(), sum, (double)sum / (double)cap->getMilestoneCount(),
                    msg.name.c_str(), explicit_motions ? ". Explicit motions included." : "");
   }
-  ROS_INFO_NAMED("constraints_library", "Done loading constrained space approximations.");
+  ROS_INFO_NAMED(LOGNAME, "Done loading constrained space approximations.");
 }
 
 void ompl_interface::ConstraintsLibrary::saveConstraintApproximations(const std::string& path)
 {
-  ROS_INFO_NAMED("constraints_library", "Saving %u constrained space approximations to '%s'",
+  ROS_INFO_NAMED(LOGNAME, "Saving %u constrained space approximations to '%s'",
                  (unsigned int)constraint_approximations_.size(), path.c_str());
   try
   {
@@ -363,7 +370,7 @@ void ompl_interface::ConstraintsLibrary::saveConstraintApproximations(const std:
         it->second->getStateStorage()->store((path + "/" + it->second->getFilename()).c_str());
     }
   else
-    ROS_ERROR_NAMED("constraints_library", "Unable to save constraint approximation to '%s'", path.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Unable to save constraint approximation to '%s'", path.c_str());
   fout.close();
 }
 
@@ -415,7 +422,7 @@ ompl_interface::ConstraintsLibrary::addConstraintApproximation(
   if (context_->getGroupName() != group &&
       context_->getOMPLStateSpace()->getParameterizationType() != options.state_space_parameterization)
   {
-    ROS_INFO_NAMED("constraints_library", "Ignoring constraint approximation of type '%s' for group '%s'...",
+    ROS_INFO_NAMED(LOGNAME, "Ignoring constraint approximation of type '%s' for group '%s'...",
                    options.state_space_parameterization.c_str(), group.c_str());
     return res;
   }
@@ -427,8 +434,7 @@ ompl_interface::ConstraintsLibrary::addConstraintApproximation(
   ros::WallTime start = ros::WallTime::now();
   ompl::base::StateStoragePtr state_storage =
       constructConstraintApproximation(context_, constr_sampling, constr_hard, options, res);
-  ROS_INFO_NAMED("constraints_library", "Spent %lf seconds constructing the database",
-                 (ros::WallTime::now() - start).toSec());
+  ROS_INFO_NAMED(LOGNAME, "Spent %lf seconds constructing the database", (ros::WallTime::now() - start).toSec());
   if (state_storage)
   {
     ConstraintApproximationPtr constraint_approx(new ConstraintApproximation(
@@ -437,14 +443,12 @@ ompl_interface::ConstraintsLibrary::addConstraintApproximation(
             ".ompldb",
         state_storage, res.milestones));
     if (constraint_approximations_.find(constraint_approx->getName()) != constraint_approximations_.end())
-      ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'",
-                     constraint_approx->getName().c_str());
+      ROS_WARN_NAMED(LOGNAME, "Overwriting constraint approximation named '%s'", constraint_approx->getName().c_str());
     constraint_approximations_[constraint_approx->getName()] = constraint_approx;
     res.approx = constraint_approx;
   }
   else
-    ROS_ERROR_NAMED("constraints_library", "Unable to construct constraint approximation for group '%s'",
-                    group.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Unable to construct constraint approximation for group '%s'", group.c_str());
   return res;
 }
 
@@ -498,19 +502,19 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
     if (done != done_now)
     {
       done = done_now;
-      ROS_INFO_NAMED("constraints_library", "%d%% complete (kept %0.1lf%% sampled states)", done,
+      ROS_INFO_NAMED(LOGNAME, "%d%% complete (kept %0.1lf%% sampled states)", done,
                      100.0 * (double)state_storage->size() / (double)attempts);
     }
 
     if (!slow_warn && attempts > 10 && attempts > state_storage->size() * 100)
     {
       slow_warn = true;
-      ROS_WARN_NAMED("constraints_library", "Computation of valid state database is very slow...");
+      ROS_WARN_NAMED(LOGNAME, "Computation of valid state database is very slow...");
     }
 
     if (attempts > options.samples && state_storage->size() == 0)
     {
-      ROS_ERROR_NAMED("constraints_library", "Unable to generate any samples");
+      ROS_ERROR_NAMED(LOGNAME, "Unable to generate any samples");
       break;
     }
 
@@ -527,19 +531,18 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
   }
 
   result.state_sampling_time = ompl::time::seconds(ompl::time::now() - start);
-  ROS_INFO_NAMED("constraints_library", "Generated %u states in %lf seconds", (unsigned int)state_storage->size(),
+  ROS_INFO_NAMED(LOGNAME, "Generated %u states in %lf seconds", (unsigned int)state_storage->size(),
                  result.state_sampling_time);
   if (constrained_sampler)
   {
     result.sampling_success_rate = constrained_sampler->getConstrainedSamplingRate();
-    ROS_INFO_NAMED("constraints_library", "Constrained sampling rate: %lf", result.sampling_success_rate);
+    ROS_INFO_NAMED(LOGNAME, "Constrained sampling rate: %lf", result.sampling_success_rate);
   }
 
   result.milestones = state_storage->size();
   if (options.edges_per_sample > 0)
   {
-    ROS_INFO_NAMED("constraints_library", "Computing graph connections (max %u edges per sample) ...",
-                   options.edges_per_sample);
+    ROS_INFO_NAMED(LOGNAME, "Computing graph connections (max %u edges per sample) ...", options.edges_per_sample);
 
     // construct connexions
     const ob::StateSpacePtr& space = pcontext->getOMPLSimpleSetup()->getStateSpace();
@@ -557,7 +560,7 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
       if (done != done_now)
       {
         done = done_now;
-        ROS_INFO_NAMED("constraints_library", "%d%% complete", done);
+        ROS_INFO_NAMED(LOGNAME, "%d%% complete", done);
       }
       if (cass->getMetadata(j).first.size() >= options.edges_per_sample)
         continue;
@@ -613,15 +616,16 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
     }
 
     result.state_connection_time = ompl::time::seconds(ompl::time::now() - start);
-    ROS_INFO_NAMED("constraints_library", "Computed possible connexions in %lf seconds. Added %d connexions",
+    ROS_INFO_NAMED(LOGNAME, "Computed possible connexions in %lf seconds. Added %d connexions",
                    result.state_connection_time, good);
     pcontext->getOMPLSimpleSetup()->getSpaceInformation()->freeStates(int_states);
 
     return state_storage;
   }
 
-  // TODO(davetcoleman): this function did not originally return a value, causing compiler warnings in ROS Melodic
+  // TODO(davetcoleman): this function did not originally return a value,
+  // causing compiler warnings in ROS Melodic
   // Update with more intelligent logic as needed
-  ROS_ERROR_NAMED("constraints_library", "No StateStoragePtr found - implement better solution here.");
+  ROS_ERROR_NAMED(LOGNAME, "No StateStoragePtr found - implement better solution here.");
   return state_storage;
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
index 6205ce4dfd..5e03317aca 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -39,6 +39,11 @@
 #include <moveit/profiler/profiler.h>
 #include <ros/ros.h>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "state_validity_checker";
+}  // namespace ompl_interface
+
 ompl_interface::StateValidityChecker::StateValidityChecker(const ModelBasedPlanningContext* pc)
   : ompl::base::StateValidityChecker(pc->getOMPLSimpleSetup()->getSpaceInformation())
   , planning_context_(pc)
@@ -115,7 +120,7 @@ bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base:
   if (!si_->satisfiesBounds(state))
   {
     if (verbose)
-      ROS_INFO_NAMED("state_validity_checker", "State outside bounds");
+      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
     return false;
   }
 
@@ -145,7 +150,7 @@ bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base:
   if (!si_->satisfiesBounds(state))
   {
     if (verbose)
-      ROS_INFO_NAMED("state_validity_checker", "State outside bounds");
+      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
     return false;
   }
 
@@ -187,7 +192,7 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
   if (!si_->satisfiesBounds(state))
   {
     if (verbose)
-      ROS_INFO_NAMED("state_validity_checker", "State outside bounds");
+      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
     const_cast<ob::State*>(state)->as<ModelBasedStateSpace::StateType>()->markInvalid();
     return false;
   }
@@ -238,7 +243,7 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
   if (!si_->satisfiesBounds(state))
   {
     if (verbose)
-      ROS_INFO_NAMED("state_validity_checker", "State outside bounds");
+      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
     const_cast<ob::State*>(state)->as<ModelBasedStateSpace::StateType>()->markInvalid(0.0);
     return false;
   }
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 657374192a..98e8b6a98f 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -72,6 +72,11 @@
 #include "ompl/base/objectives/MaximizeMinClearanceObjective.h"
 #include <ompl/geometric/planners/prm/LazyPRM.h>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "model_based_planning_context";
+}  // namespace ompl_interface
+
 ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::string& name,
                                                                      const ModelBasedPlanningContextSpecification& spec)
   : planning_interface::PlanningContext(name, spec.state_space_->getJointModelGroup()->getName())
@@ -126,7 +131,7 @@ void ompl_interface::ModelBasedPlanningContext::configure(const ros::NodeHandle&
     if (constraint_approx)
     {
       getOMPLStateSpace()->setInterpolationFunction(constraint_approx->getInterpolationFunction());
-      ROS_INFO_NAMED("model_based_planning_context", "Using precomputed interpolation states");
+      ROS_INFO_NAMED(LOGNAME, "Using precomputed interpolation states");
     }
   }
 
@@ -139,7 +144,7 @@ void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator(const std
 {
   if (!spec_.state_space_)
   {
-    ROS_ERROR_NAMED("model_based_planning_context", "No state space is configured yet");
+    ROS_ERROR_NAMED(LOGNAME, "No state space is configured yet");
     return;
   }
   ob::ProjectionEvaluatorPtr projection_eval = getProjectionEvaluator(peval);
@@ -156,9 +161,8 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
     if (getRobotModel()->hasLinkModel(link_name))
       return ob::ProjectionEvaluatorPtr(new ProjectionEvaluatorLinkPose(this, link_name));
     else
-      ROS_ERROR_NAMED("model_based_planning_context",
-                      "Attempted to set projection evaluator with respect to position of link '%s', "
-                      "but that link is not known to the kinematic model.",
+      ROS_ERROR_NAMED(LOGNAME, "Attempted to set projection evaluator with respect to position of link '%s', "
+                               "but that link is not known to the kinematic model.",
                       link_name.c_str());
   }
   else if (peval.find_first_of("joints(") == 0 && peval[peval.length() - 1] == ')')
@@ -181,24 +185,21 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
             j.push_back(idx + q);
         }
         else
-          ROS_WARN_NAMED("model_based_planning_context", "%s: Ignoring joint '%s' in projection since it has 0 DOF",
-                         name_.c_str(), joint.c_str());
+          ROS_WARN_NAMED(LOGNAME, "%s: Ignoring joint '%s' in projection since it has 0 DOF", name_.c_str(),
+                         joint.c_str());
       }
       else
-        ROS_ERROR_NAMED("model_based_planning_context",
-                        "%s: Attempted to set projection evaluator with respect to value of joint "
-                        "'%s', but that joint is not known to the group '%s'.",
+        ROS_ERROR_NAMED(LOGNAME, "%s: Attempted to set projection evaluator with respect to value of joint "
+                                 "'%s', but that joint is not known to the group '%s'.",
                         name_.c_str(), joint.c_str(), getGroupName().c_str());
     }
     if (j.empty())
-      ROS_ERROR_NAMED("model_based_planning_context", "%s: No valid joints specified for joint projection",
-                      name_.c_str());
+      ROS_ERROR_NAMED(LOGNAME, "%s: No valid joints specified for joint projection", name_.c_str());
     else
       return ob::ProjectionEvaluatorPtr(new ProjectionEvaluatorJointValue(this, j));
   }
   else
-    ROS_ERROR_NAMED("model_based_planning_context",
-                    "Unable to allocate projection evaluator based on description: '%s'", peval.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Unable to allocate projection evaluator based on description: '%s'", peval.c_str());
   return ob::ProjectionEvaluatorPtr();
 }
 
@@ -207,13 +208,11 @@ ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const omp
 {
   if (spec_.state_space_.get() != state_space)
   {
-    ROS_ERROR_NAMED("model_based_planning_context",
-                    "%s: Attempted to allocate a state sampler for an unknown state space", name_.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "%s: Attempted to allocate a state sampler for an unknown state space", name_.c_str());
     return ompl::base::StateSamplerPtr();
   }
 
-  ROS_DEBUG_NAMED("model_based_planning_context",
-                  "%s: Allocating a new state sampler (attempts to use path constraints)", name_.c_str());
+  ROS_DEBUG_NAMED(LOGNAME, "%s: Allocating a new state sampler (attempts to use path constraints)", name_.c_str());
 
   if (path_constraints_)
   {
@@ -230,7 +229,7 @@ ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const omp
           ompl::base::StateSamplerPtr state_sampler = state_sampler_allocator(state_space);
           if (state_sampler)
           {
-            ROS_INFO_NAMED("model_based_planning_context",
+            ROS_INFO_NAMED(LOGNAME,
                            "%s: Using precomputed state sampler (approximated constraint space) for constraint '%s'",
                            name_.c_str(), path_constraints_msg_.name.c_str());
             return state_sampler;
@@ -246,13 +245,11 @@ ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler(const omp
 
     if (constraint_sampler)
     {
-      ROS_INFO_NAMED("model_based_planning_context", "%s: Allocating specialized state sampler for state space",
-                     name_.c_str());
+      ROS_INFO_NAMED(LOGNAME, "%s: Allocating specialized state sampler for state space", name_.c_str());
       return ob::StateSamplerPtr(new ConstrainedSampler(this, constraint_sampler));
     }
   }
-  ROS_DEBUG_NAMED("model_based_planning_context", "%s: Allocating default state sampler for state space",
-                  name_.c_str());
+  ROS_DEBUG_NAMED(LOGNAME, "%s: Allocating default state sampler for state space", name_.c_str());
   return state_space->allocDefaultStateSampler();
 }
 
@@ -361,8 +358,7 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
   if (it == cfg.end())
   {
     if (name_ != getGroupName())
-      ROS_WARN_NAMED("model_based_planning_context", "%s: Attribute 'type' not specified in planner configuration",
-                     name_.c_str());
+      ROS_WARN_NAMED(LOGNAME, "%s: Attribute 'type' not specified in planner configuration", name_.c_str());
   }
   else
   {
@@ -371,9 +367,8 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
     const std::string planner_name = getGroupName() + "/" + name_;
     ompl_simple_setup_->setPlannerAllocator(
         std::bind(spec_.planner_selector_(type), std::placeholders::_1, planner_name, std::cref(spec_)));
-    ROS_INFO_NAMED("model_based_planning_context",
-                   "Planner configuration '%s' will use planner '%s'. "
-                   "Additional configuration parameters will be set when the planner is constructed.",
+    ROS_INFO_NAMED(LOGNAME, "Planner configuration '%s' will use planner '%s'. "
+                            "Additional configuration parameters will be set when the planner is constructed.",
                    name_.c_str(), type.c_str());
   }
 
@@ -389,11 +384,10 @@ void ompl_interface::ModelBasedPlanningContext::setPlanningVolume(const moveit_m
   if (wparams.min_corner.x == wparams.max_corner.x && wparams.min_corner.x == 0.0 &&
       wparams.min_corner.y == wparams.max_corner.y && wparams.min_corner.y == 0.0 &&
       wparams.min_corner.z == wparams.max_corner.z && wparams.min_corner.z == 0.0)
-    ROS_WARN_NAMED("model_based_planning_context", "It looks like the planning volume was not specified.");
+    ROS_WARN_NAMED(LOGNAME, "It looks like the planning volume was not specified.");
 
-  ROS_DEBUG_NAMED("model_based_planning_context",
-                  "%s: Setting planning volume (affects SE2 & SE3 joints only) to x = [%f, %f], y = "
-                  "[%f, %f], z = [%f, %f]",
+  ROS_DEBUG_NAMED(LOGNAME, "%s: Setting planning volume (affects SE2 & SE3 joints only) to x = [%f, %f], y = "
+                           "[%f, %f], z = [%f, %f]",
                   name_.c_str(), wparams.min_corner.x, wparams.max_corner.x, wparams.min_corner.y, wparams.max_corner.y,
                   wparams.min_corner.z, wparams.max_corner.z);
 
@@ -481,7 +475,7 @@ ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal()
   if (!goals.empty())
     return goals.size() == 1 ? goals[0] : ompl::base::GoalPtr(new GoalSampleableRegionMux(goals));
   else
-    ROS_ERROR_NAMED("model_based_planning_context", "Unable to construct goal representation");
+    ROS_ERROR_NAMED(LOGNAME, "Unable to construct goal representation");
 
   return ob::GoalPtr();
 }
@@ -497,7 +491,7 @@ ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContex
   boost::split(termination_and_params, termination_string, boost::is_any_of("[ ,]"));
 
   if (termination_and_params.empty())
-    ROS_ERROR_NAMED("model_based_planning_context", "Termination condition not specified");
+    ROS_ERROR_NAMED(LOGNAME, "Termination condition not specified");
   // Terminate if a maximum number of iterations is exceeded or a timeout occurs.
   // The semantics of "iterations" are planner-specific, but typically it corresponds to the number of times
   // an attempt was made to grow a roadmap/tree.
@@ -508,7 +502,7 @@ ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContex
           ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
           ob::IterationTerminationCondition(std::stoul(termination_and_params[1])));
     else
-      ROS_ERROR_NAMED("model_based_planning_context", "Missing argument to Iteration termination condition");
+      ROS_ERROR_NAMED(LOGNAME, "Missing argument to Iteration termination condition");
   }
 // TODO: remove when ROS Melodic and older are no longer supported
 #if OMPL_VERSION_VALUE >= 1005000
@@ -539,7 +533,7 @@ ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContex
         ob::exactSolnPlannerTerminationCondition(ompl_simple_setup_->getProblemDefinition()));
   }
   else
-    ROS_ERROR_NAMED("model_based_planning_context", "Unknown planner termination condition");
+    ROS_ERROR_NAMED(LOGNAME, "Unknown planner termination condition");
 
   // return a planner termination condition to suppress compiler warning
   return ob::plannerAlwaysTerminatingCondition();
@@ -606,8 +600,7 @@ bool ompl_interface::ModelBasedPlanningContext::setGoalConstraints(
 
   if (goal_constraints_.empty())
   {
-    ROS_WARN_NAMED("model_based_planning_context", "%s: No goal constraints specified. There is no problem to solve.",
-                   name_.c_str());
+    ROS_WARN_NAMED(LOGNAME, "%s: No goal constraints specified. There is no problem to solve.", name_.c_str());
     if (error)
       error->val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
     return false;
@@ -672,10 +665,10 @@ void ompl_interface::ModelBasedPlanningContext::postSolve()
   stopSampling();
   int v = ompl_simple_setup_->getSpaceInformation()->getMotionValidator()->getValidMotionCount();
   int iv = ompl_simple_setup_->getSpaceInformation()->getMotionValidator()->getInvalidMotionCount();
-  ROS_DEBUG_NAMED("model_based_planning_context", "There were %d valid motions and %d invalid motions.", v, iv);
+  ROS_DEBUG_NAMED(LOGNAME, "There were %d valid motions and %d invalid motions.", v, iv);
 
   if (ompl_simple_setup_->getProblemDefinition()->hasApproximateSolution())
-    ROS_WARN_NAMED("model_based_planning_context", "Computed solution is approximate");
+    ROS_WARN_NAMED(LOGNAME, "Computed solution is approximate");
 }
 
 bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)
@@ -693,8 +686,8 @@ bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::Motion
       interpolateSolution();
 
     // fill the response
-    ROS_DEBUG_NAMED("model_based_planning_context", "%s: Returning successful solution with %lu states",
-                    getName().c_str(), getOMPLSimpleSetup()->getSolutionPath().getStateCount());
+    ROS_DEBUG_NAMED(LOGNAME, "%s: Returning successful solution with %lu states", getName().c_str(),
+                    getOMPLSimpleSetup()->getSolutionPath().getStateCount());
 
     res.trajectory_.reset(new robot_trajectory::RobotTrajectory(getRobotModel(), getGroupName()));
     getSolutionPath(*res.trajectory_);
@@ -703,7 +696,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::Motion
   }
   else
   {
-    ROS_INFO_NAMED("model_based_planning_context", "Unable to solve the planning problem");
+    ROS_INFO_NAMED(LOGNAME, "Unable to solve the planning problem");
     res.error_code_.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
     return false;
   }
@@ -746,13 +739,13 @@ bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::Motion
     }
 
     // fill the response
-    ROS_DEBUG_NAMED("model_based_planning_context", "%s: Returning successful solution with %lu states",
-                    getName().c_str(), getOMPLSimpleSetup()->getSolutionPath().getStateCount());
+    ROS_DEBUG_NAMED(LOGNAME, "%s: Returning successful solution with %lu states", getName().c_str(),
+                    getOMPLSimpleSetup()->getSolutionPath().getStateCount());
     return true;
   }
   else
   {
-    ROS_INFO_NAMED("model_based_planning_context", "Unable to solve the planning problem");
+    ROS_INFO_NAMED(LOGNAME, "Unable to solve the planning problem");
     res.error_code_.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
     return false;
   }
@@ -767,7 +760,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
   bool result = false;
   if (count <= 1 || multi_query_planning_enabled_)  // multi-query planners should always run in single instances
   {
-    ROS_DEBUG_NAMED("model_based_planning_context", "%s: Solving the planning problem once...", name_.c_str());
+    ROS_DEBUG_NAMED(LOGNAME, "%s: Solving the planning problem once...", name_.c_str());
     ob::PlannerTerminationCondition ptc = constructPlannerTerminationCondition(timeout, start);
     registerTerminationCondition(ptc);
     result = ompl_simple_setup_->solve(ptc) == ompl::base::PlannerStatus::EXACT_SOLUTION;
@@ -776,8 +769,7 @@ bool ompl_interface::ModelBasedPlanningContext::solve(double timeout, unsigned i
   }
   else
   {
-    ROS_DEBUG_NAMED("model_based_planning_context", "%s: Solving the planning problem %u times...", name_.c_str(),
-                    count);
+    ROS_DEBUG_NAMED(LOGNAME, "%s: Solving the planning problem %u times...", name_.c_str(), count);
     ompl_parallel_plan_.clearHybridizationPaths();
     if (count <= max_planning_threads_)
     {
@@ -864,7 +856,7 @@ bool ompl_interface::ModelBasedPlanningContext::saveConstraintApproximations(con
     constraints_library_->saveConstraintApproximations(constraint_path);
     return true;
   }
-  ROS_WARN("ROS param 'constraint_approximations' not found. Unable to save constraint approximations");
+  ROS_WARN_NAMED(LOGNAME, "ROS param 'constraint_approximations' not found. Unable to save constraint approximations");
   return false;
 }
 
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index f01b70e8d7..db37000d87 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -42,6 +42,11 @@
 #include <moveit/utils/lexical_casts.h>
 #include <fstream>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "ompl_interface";
+}  // namespace ompl_interface
+
 ompl_interface::OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
                                              const ros::NodeHandle& nh)
   : nh_(nh)
@@ -51,7 +56,7 @@ ompl_interface::OMPLInterface::OMPLInterface(const moveit::core::RobotModelConst
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
-  ROS_DEBUG("Initializing OMPL interface using ROS parameters");
+  ROS_DEBUG_NAMED(LOGNAME, "Initializing OMPL interface using ROS parameters");
   loadPlannerConfigurations();
   loadConstraintSamplers();
 }
@@ -66,7 +71,7 @@ ompl_interface::OMPLInterface::OMPLInterface(const moveit::core::RobotModelConst
   , use_constraints_approximations_(true)
   , simplify_solutions_(true)
 {
-  ROS_DEBUG("Initializing OMPL interface using specified configuration");
+  ROS_DEBUG_NAMED(LOGNAME, "Initializing OMPL interface using specified configuration");
   setPlannerConfigurations(pconfig);
   loadConstraintSamplers();
 }
@@ -129,14 +134,14 @@ bool ompl_interface::OMPLInterface::loadPlannerConfiguration(
   XmlRpc::XmlRpcValue xml_config;
   if (!nh_.getParam("planner_configs/" + planner_id, xml_config))
   {
-    ROS_ERROR("Could not find the planner configuration '%s' on the param server", planner_id.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Could not find the planner configuration '%s' on the param server", planner_id.c_str());
     return false;
   }
 
   if (xml_config.getType() != XmlRpc::XmlRpcValue::TypeStruct)
   {
-    ROS_ERROR("A planning configuration should be of type XmlRpc Struct type (for configuration '%s')",
-              planner_id.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "A planning configuration should be of type XmlRpc Struct type (for configuration '%s')",
+                    planner_id.c_str());
     return false;
   }
 
@@ -237,9 +242,9 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
     {
       if (config_names.getType() != XmlRpc::XmlRpcValue::TypeArray)
       {
-        ROS_ERROR("The planner_configs argument of a group configuration "
-                  "should be an array of strings (for group '%s')",
-                  group_name.c_str());
+        ROS_ERROR_NAMED(LOGNAME, "The planner_configs argument of a group configuration "
+                                 "should be an array of strings (for group '%s')",
+                        group_name.c_str());
         continue;
       }
 
@@ -247,7 +252,8 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
       {
         if (config_names[j].getType() != XmlRpc::XmlRpcValue::TypeString)
         {
-          ROS_ERROR("Planner configuration names must be of type string (for group '%s')", group_name.c_str());
+          ROS_ERROR_NAMED(LOGNAME, "Planner configuration names must be of type string (for group '%s')",
+                          group_name.c_str());
           continue;
         }
 
@@ -262,10 +268,10 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
 
   for (const std::pair<const std::string, planning_interface::PlannerConfigurationSettings>& config : pconfig)
   {
-    ROS_DEBUG_STREAM_NAMED("parameters", "Parameters for configuration '" << config.first << "'");
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, "Parameters for configuration '" << config.first << "'");
 
     for (const std::pair<const std::string, std::string>& parameters : config.second.config)
-      ROS_DEBUG_STREAM_NAMED("parameters", " - " << parameters.first << " = " << parameters.second);
+      ROS_DEBUG_STREAM_NAMED(LOGNAME, " - " << parameters.first << " = " << parameters.second);
   }
 
   setPlannerConfigurations(pconfig);
@@ -273,5 +279,5 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
 
 void ompl_interface::OMPLInterface::printStatus()
 {
-  ROS_INFO("OMPL ROS interface is running.");
+  ROS_INFO_NAMED(LOGNAME, "OMPL ROS interface is running.");
 }
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
index 8d284feb38..4e213d775f 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp
@@ -56,6 +56,8 @@ namespace ompl_interface
 {
 using namespace moveit_planners_ompl;
 
+constexpr char LOGNAME[] = "ompl_planner_manager";
+
 #define OMPL_ROS_LOG(ros_log_level)                                                                                    \
   {                                                                                                                    \
     ROSCONSOLE_DEFINE_LOCATION(true, ros_log_level, ROSCONSOLE_NAME_PREFIX ".ompl");                                   \
@@ -265,13 +267,13 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
     {
       pub_markers_.shutdown();
       planner_data_link_name_.clear();
-      ROS_INFO("Not displaying OMPL exploration data structures.");
+      ROS_INFO_NAMED(LOGNAME, "Not displaying OMPL exploration data structures.");
     }
     else if (!config.link_for_exploration_tree.empty() && planner_data_link_name_.empty())
     {
       pub_markers_ = nh_.advertise<visualization_msgs::MarkerArray>("ompl_planner_data_marker_array", 5);
       planner_data_link_name_ = config.link_for_exploration_tree;
-      ROS_INFO("Displaying OMPL exploration data structures for %s", planner_data_link_name_.c_str());
+      ROS_INFO_NAMED(LOGNAME, "Displaying OMPL exploration data structures for %s", planner_data_link_name_.c_str());
     }
 
     ompl_interface_->simplifySolutions(config.simplify_solutions);
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
index 5e359da1e4..201fe2e14a 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
@@ -1,42 +1,47 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
 #include <utility>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "model_based_state_space";
+}  // namespace ompl_interface
+
 ompl_interface::ModelBasedStateSpace::ModelBasedStateSpace(ModelBasedStateSpaceSpecification spec)
   : ompl::base::StateSpace(), spec_(std::move(spec))
 {
@@ -49,8 +54,7 @@ ompl_interface::ModelBasedStateSpace::ModelBasedStateSpace(ModelBasedStateSpaceS
   // make sure we have bounds for every joint stored within the spec (use default bounds if not specified)
   if (!spec_.joint_bounds_.empty() && spec_.joint_bounds_.size() != joint_model_vector_.size())
   {
-    ROS_ERROR_NAMED("model_based_state_space",
-                    "Joint group '%s' has incorrect bounds specified. Using the default bounds instead.",
+    ROS_ERROR_NAMED(LOGNAME, "Joint group '%s' has incorrect bounds specified. Using the default bounds instead.",
                     spec_.joint_model_group_->getName().c_str());
     spec_.joint_bounds_.clear();
   }
@@ -86,9 +90,8 @@ double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment() const
 void ompl_interface::ModelBasedStateSpace::setTagSnapToSegment(double snap)
 {
   if (snap < 0.0 || snap > 1.0)
-    ROS_WARN_NAMED("model_based_state_space",
-                   "Snap to segment for tags is a ratio. It's value must be between 0.0 and 1.0. "
-                   "Value remains as previously set (%lf)",
+    ROS_WARN_NAMED(LOGNAME, "Snap to segment for tags is a ratio. It's value must be between 0.0 and 1.0. "
+                            "Value remains as previously set (%lf)",
                    tag_snap_to_segment_);
   else
   {
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
index 97b27e0884..771dd5973c 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -40,6 +40,11 @@
 
 #include <utility>
 
+namespace ompl_interface
+{
+constexpr char LOGNAME[] = "pose_model_state_space";
+}  // namespace ompl_interface
+
 const std::string ompl_interface::PoseModelStateSpace::PARAMETERIZATION_TYPE = "PoseModel";
 
 ompl_interface::PoseModelStateSpace::PoseModelStateSpace(const ModelBasedStateSpaceSpecification& spec)
@@ -56,8 +61,8 @@ ompl_interface::PoseModelStateSpace::PoseModelStateSpace(const ModelBasedStateSp
       poses_.emplace_back(it.first, it.second);
   }
   if (poses_.empty())
-    ROS_ERROR_NAMED("pose_model_state_space", "No kinematics solvers specified. Unable to construct a "
-                                              "PoseModelStateSpace");
+    ROS_ERROR_NAMED(LOGNAME, "No kinematics solvers specified. Unable to construct a "
+                             "PoseModelStateSpace");
   else
     std::sort(poses_.begin(), poses_.end());
   setName(getName() + "_" + PARAMETERIZATION_TYPE);
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 8fb562fabf..fdcde4edbb 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -77,6 +77,8 @@ using namespace std::placeholders;
 
 namespace ompl_interface
 {
+constexpr char LOGNAME[] = "planning_context_manager";
+
 struct PlanningContextManager::CachedContexts
 {
   std::map<std::pair<std::string, std::string>, std::vector<ModelBasedPlanningContextPtr> > contexts_;
@@ -169,7 +171,7 @@ ompl::base::PlannerPtr ompl_interface::MultiQueryPlannerAllocator::allocatePlann
     storage_.load(file_path.c_str(), data);
     planner.reset(allocatePersistentPlanner<T>(data));
     if (!planner)
-      ROS_ERROR_NAMED("planning_context_manager",
+      ROS_ERROR_NAMED(LOGNAME,
                       "Creating a '%s' planner from persistent data is not supported. Going to create a new instance.",
                       new_name.c_str());
   }
@@ -249,7 +251,7 @@ ompl_interface::PlanningContextManager::plannerSelector(const std::string& plann
     return it->second;
   else
   {
-    ROS_ERROR_NAMED("planning_context_manager", "Unknown planner: '%s'", planner.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Unknown planner: '%s'", planner.c_str());
     return ConfiguredPlannerAllocator();
   }
 }
@@ -326,7 +328,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
       for (const ModelBasedPlanningContextPtr& cached_context : cached_contexts->second)
         if (cached_context.unique())
         {
-          ROS_DEBUG_NAMED("planning_context_manager", "Reusing cached planning context");
+          ROS_DEBUG_NAMED(LOGNAME, "Reusing cached planning context");
           context = cached_context;
           break;
         }
@@ -365,7 +367,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
       }
     }
 
-    ROS_DEBUG_NAMED("planning_context_manager", "Creating new planning context");
+    ROS_DEBUG_NAMED(LOGNAME, "Creating new planning context");
     context.reset(new ModelBasedPlanningContext(config.name, context_spec));
     context->useStateValidityCache(state_validity_cache);
     {
@@ -395,7 +397,7 @@ const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningCo
     return f->second;
   else
   {
-    ROS_ERROR_NAMED("planning_context_manager", "Factory of type '%s' was not found", factory_type.c_str());
+    ROS_ERROR_NAMED(LOGNAME, "Factory of type '%s' was not found", factory_type.c_str());
     static const ModelBasedStateSpaceFactoryPtr EMPTY;
     return EMPTY;
   }
@@ -419,14 +421,14 @@ const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningCo
 
   if (best == state_space_factories_.end())
   {
-    ROS_ERROR_NAMED("planning_context_manager", "There are no known state spaces that can represent the given planning "
-                                                "problem");
+    ROS_ERROR_NAMED(LOGNAME, "There are no known state spaces that can represent the given planning "
+                             "problem");
     static const ModelBasedStateSpaceFactoryPtr EMPTY;
     return EMPTY;
   }
   else
   {
-    ROS_DEBUG_NAMED("planning_context_manager", "Using '%s' parameterization for solving problem", best->first.c_str());
+    ROS_DEBUG_NAMED(LOGNAME, "Using '%s' parameterization for solving problem", best->first.c_str());
     return best->second;
   }
 }
@@ -437,7 +439,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
 {
   if (req.group_name.empty())
   {
-    ROS_ERROR_NAMED("planning_context_manager", "No group specified to plan for");
+    ROS_ERROR_NAMED(LOGNAME, "No group specified to plan for");
     error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
     return ModelBasedPlanningContextPtr();
   }
@@ -446,7 +448,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
 
   if (!planning_scene)
   {
-    ROS_ERROR_NAMED("planning_context_manager", "No planning scene supplied as input");
+    ROS_ERROR_NAMED(LOGNAME, "No planning scene supplied as input");
     return ModelBasedPlanningContextPtr();
   }
 
@@ -458,7 +460,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
                                    req.group_name + "[" + req.planner_id + "]" :
                                    req.planner_id);
     if (pc == planner_configs_.end())
-      ROS_WARN_NAMED("planning_context_manager",
+      ROS_WARN_NAMED(LOGNAME,
                      "Cannot find planning configuration for group '%s' using planner '%s'. Will use defaults instead.",
                      req.group_name.c_str(), req.planner_id.c_str());
   }
@@ -468,8 +470,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
     pc = planner_configs_.find(req.group_name);
     if (pc == planner_configs_.end())
     {
-      ROS_ERROR_NAMED("planning_context_manager", "Cannot find planning configuration for group '%s'",
-                      req.group_name.c_str());
+      ROS_ERROR_NAMED(LOGNAME, "Cannot find planning configuration for group '%s'", req.group_name.c_str());
       return ModelBasedPlanningContextPtr();
     }
   }
@@ -513,12 +514,12 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
     try
     {
       context->configure(nh, use_constraints_approximation);
-      ROS_DEBUG_NAMED("planning_context_manager", "%s: New planning context is set.", context->getName().c_str());
+      ROS_DEBUG_NAMED(LOGNAME, "%s: New planning context is set.", context->getName().c_str());
       error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
     }
     catch (ompl::Exception& ex)
     {
-      ROS_ERROR_NAMED("planning_context_manager", "OMPL encountered an error: %s", ex.what());
+      ROS_ERROR_NAMED(LOGNAME, "OMPL encountered an error: %s", ex.what());
       context.reset();
     }
   }

From dc909df5d2cf93868a1773db869e6767e339cf7a Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Mon, 27 Jul 2020 17:04:28 +0200
Subject: [PATCH 399/612] Remove dead code from ompl interface (related to
 subspaces) (#2214)

* remove unused subspaces option and code from ompl interface

* remove unused code from StateValidityChecker in ompl interface
---
 .../detail/state_validity_checker.h           |   6 -
 .../model_based_planning_context.h            |  13 --
 .../src/detail/state_validity_checker.cpp     | 143 ++++--------------
 .../src/model_based_planning_context.cpp      |   1 -
 .../src/planning_context_manager.cpp          |  20 ---
 5 files changed, 30 insertions(+), 153 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
index 0b462b25f6..3d3e31a92f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
@@ -70,12 +70,6 @@ class StateValidityChecker : public ompl::base::StateValidityChecker
   void setVerbose(bool flag);
 
 protected:
-  bool isValidWithoutCache(const ompl::base::State* state, bool verbose) const;
-  bool isValidWithoutCache(const ompl::base::State* state, double& dist, bool verbose) const;
-
-  bool isValidWithCache(const ompl::base::State* state, bool verbose) const;
-  bool isValidWithCache(const ompl::base::State* state, double& dist, bool verbose) const;
-
   const ModelBasedPlanningContext* planning_context_;
   std::string group_name_;
   TSStateStorage tss_;
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index d9792e506e..66600fe501 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -68,7 +68,6 @@ struct ModelBasedPlanningContextSpecification
   constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
   ModelBasedStateSpacePtr state_space_;
-  std::vector<ModelBasedStateSpacePtr> subspaces_;
   og::SimpleSetupPtr ompl_simple_setup_;  // pass in the correct simple setup type
 };
 
@@ -255,16 +254,6 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
     return constraints_library_;
   }
 
-  bool useStateValidityCache() const
-  {
-    return use_state_validity_cache_;
-  }
-
-  void useStateValidityCache(bool flag)
-  {
-    use_state_validity_cache_ = flag;
-  }
-
   bool simplifySolutions() const
   {
     return simplify_solutions_;
@@ -426,8 +415,6 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
   /// needed)
   unsigned int minimum_waypoint_count_;
 
-  bool use_state_validity_cache_;
-
   /// when false, clears planners before running solve()
   bool multi_query_planning_enabled_;
 
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
index 5e03317aca..e2b43f2d74 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp
@@ -75,117 +75,7 @@ void ompl_interface::StateValidityChecker::setVerbose(bool flag)
 
 bool ompl_interface::StateValidityChecker::isValid(const ompl::base::State* state, bool verbose) const
 {
-  //  moveit::Profiler::ScopedBlock sblock("isValid");
-  return planning_context_->useStateValidityCache() ? isValidWithCache(state, verbose) :
-                                                      isValidWithoutCache(state, verbose);
-}
-
-bool ompl_interface::StateValidityChecker::isValid(const ompl::base::State* state, double& dist, bool verbose) const
-{
-  //  moveit::Profiler::ScopedBlock sblock("isValid");
-  return planning_context_->useStateValidityCache() ? isValidWithCache(state, dist, verbose) :
-                                                      isValidWithoutCache(state, dist, verbose);
-}
-
-double ompl_interface::StateValidityChecker::cost(const ompl::base::State* state) const
-{
-  double cost = 0.0;
-
-  moveit::core::RobotState* robot_state = tss_.getStateStorage();
-  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
-
-  // Calculates cost from a summation of distance to obstacles times the size of the obstacle
-  collision_detection::CollisionResult res;
-  planning_context_->getPlanningScene()->checkCollision(collision_request_with_cost_, res, *robot_state);
-
-  for (const collision_detection::CostSource& cost_source : res.cost_sources)
-    cost += cost_source.cost * cost_source.getVolume();
-
-  return cost;
-}
-
-double ompl_interface::StateValidityChecker::clearance(const ompl::base::State* state) const
-{
-  moveit::core::RobotState* robot_state = tss_.getStateStorage();
-  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
-
-  collision_detection::CollisionResult res;
-  planning_context_->getPlanningScene()->checkCollision(collision_request_with_distance_, res, *robot_state);
-  return res.collision ? 0.0 : (res.distance < 0.0 ? std::numeric_limits<double>::infinity() : res.distance);
-}
-
-bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base::State* state, bool verbose) const
-{
-  // check bounds
-  if (!si_->satisfiesBounds(state))
-  {
-    if (verbose)
-      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
-    return false;
-  }
-
-  // convert ompl state to MoveIt robot state
-  moveit::core::RobotState* robot_state = tss_.getStateStorage();
-  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
-
-  // check path constraints
-  const kinematic_constraints::KinematicConstraintSetPtr& kset = planning_context_->getPathConstraints();
-  if (kset && !kset->decide(*robot_state, verbose).satisfied)
-    return false;
-
-  // check feasibility
-  if (!planning_context_->getPlanningScene()->isStateFeasible(*robot_state, verbose))
-    return false;
-
-  // check collision avoidance
-  collision_detection::CollisionResult res;
-  planning_context_->getPlanningScene()->checkCollision(
-      verbose ? collision_request_simple_verbose_ : collision_request_simple_, res, *robot_state);
-  return !res.collision;
-}
-
-bool ompl_interface::StateValidityChecker::isValidWithoutCache(const ompl::base::State* state, double& dist,
-                                                               bool verbose) const
-{
-  if (!si_->satisfiesBounds(state))
-  {
-    if (verbose)
-      ROS_INFO_NAMED(LOGNAME, "State outside bounds");
-    return false;
-  }
-
-  moveit::core::RobotState* robot_state = tss_.getStateStorage();
-  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
-
-  // check path constraints
-  const kinematic_constraints::KinematicConstraintSetPtr& kset = planning_context_->getPathConstraints();
-  if (kset)
-  {
-    kinematic_constraints::ConstraintEvaluationResult cer = kset->decide(*robot_state, verbose);
-    if (!cer.satisfied)
-    {
-      dist = cer.distance;
-      return false;
-    }
-  }
-
-  // check feasibility
-  if (!planning_context_->getPlanningScene()->isStateFeasible(*robot_state, verbose))
-  {
-    dist = 0.0;
-    return false;
-  }
-
-  // check collision avoidance
-  collision_detection::CollisionResult res;
-  planning_context_->getPlanningScene()->checkCollision(
-      verbose ? collision_request_with_distance_verbose_ : collision_request_with_distance_, res, *robot_state);
-  dist = res.distance;
-  return !res.collision;
-}
-
-bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::State* state, bool verbose) const
-{
+  // Use cached validity if it is available
   if (state->as<ModelBasedStateSpace::StateType>()->isValidityKnown())
     return state->as<ModelBasedStateSpace::StateType>()->isMarkedValid();
 
@@ -230,9 +120,9 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
   return !res.collision;
 }
 
-bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::State* state, double& dist,
-                                                            bool verbose) const
+bool ompl_interface::StateValidityChecker::isValid(const ompl::base::State* state, double& dist, bool verbose) const
 {
+  // Use cached validity and distance if they are available
   if (state->as<ModelBasedStateSpace::StateType>()->isValidityKnown() &&
       state->as<ModelBasedStateSpace::StateType>()->isGoalDistanceKnown())
   {
@@ -278,3 +168,30 @@ bool ompl_interface::StateValidityChecker::isValidWithCache(const ompl::base::St
   dist = res.distance;
   return !res.collision;
 }
+
+double ompl_interface::StateValidityChecker::cost(const ompl::base::State* state) const
+{
+  double cost = 0.0;
+
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
+  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
+
+  // Calculates cost from a summation of distance to obstacles times the size of the obstacle
+  collision_detection::CollisionResult res;
+  planning_context_->getPlanningScene()->checkCollision(collision_request_with_cost_, res, *robot_state);
+
+  for (const collision_detection::CostSource& cost_source : res.cost_sources)
+    cost += cost_source.cost * cost_source.getVolume();
+
+  return cost;
+}
+
+double ompl_interface::StateValidityChecker::clearance(const ompl::base::State* state) const
+{
+  moveit::core::RobotState* robot_state = tss_.getStateStorage();
+  planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);
+
+  collision_detection::CollisionResult res;
+  planning_context_->getPlanningScene()->checkCollision(collision_request_with_distance_, res, *robot_state);
+  return res.collision ? 0.0 : (res.distance < 0.0 ? std::numeric_limits<double>::infinity() : res.distance);
+}
\ No newline at end of file
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 98e8b6a98f..284e12773a 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -94,7 +94,6 @@ ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::
   , max_planning_threads_(0)
   , max_solution_segment_length_(0.0)
   , minimum_waypoint_count_(0)
-  , use_state_validity_cache_(true)
   , multi_query_planning_enabled_(false)  // maintain "old" behavior by default
   , simplify_solutions_(true)
   , interpolate_(true)
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index fdcde4edbb..bb8c835233 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -348,28 +348,8 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
     // Choose the correct simple setup type to load
     context_spec.ompl_simple_setup_.reset(new ompl::geometric::SimpleSetup(context_spec.state_space_));
 
-    bool state_validity_cache = true;
-    if (config.config.find("subspaces") != config.config.end())
-    {
-      context_spec.config_.erase("subspaces");
-      // if the planner operates at subspace level the cache may be unsafe
-      state_validity_cache = false;
-      boost::char_separator<char> sep(" ");
-      boost::tokenizer<boost::char_separator<char> > tok(config.config.at("subspaces"), sep);
-      for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin(); beg != tok.end(); ++beg)
-      {
-        const ompl_interface::ModelBasedStateSpaceFactoryPtr& sub_fact = factory_selector(*beg);
-        if (sub_fact)
-        {
-          ModelBasedStateSpaceSpecification sub_space_spec(robot_model_, *beg);
-          context_spec.subspaces_.push_back(sub_fact->getNewStateSpace(sub_space_spec));
-        }
-      }
-    }
-
     ROS_DEBUG_NAMED(LOGNAME, "Creating new planning context");
     context.reset(new ModelBasedPlanningContext(config.name, context_spec));
-    context->useStateValidityCache(state_validity_cache);
     {
       std::unique_lock<std::mutex> slock(cached_contexts_->lock_);
       cached_contexts_->contexts_[std::make_pair(config.name, factory->getType())].push_back(context);

From 2f0b5bb4998c958e4e7191ea7b17c4eb452139f0 Mon Sep 17 00:00:00 2001
From: Gerard Canal <gerard.canal@kcl.ac.uk>
Date: Tue, 28 Jul 2020 20:12:32 +0100
Subject: [PATCH 400/612] Exposed missing parameters from the MoveGroup Python
 interface (#2201)

* Exposed the wait_for_servers parameter in the Pyhton interface

* Add missing getPlannerId interface from MoveGroup PythonWrapper
---
 moveit_commander/src/moveit_commander/move_group.py       | 6 +++---
 .../move_group_interface/src/wrap_python_move_group.cpp   | 8 +++++++-
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index 8290e880ea..074c3a3922 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -48,9 +48,9 @@ class MoveGroupCommander(object):
     Execution of simple commands for a particular group
     """
 
-    def __init__(self, name, robot_description="robot_description", ns=""):
+    def __init__(self, name, robot_description="robot_description", ns="", wait_for_servers=5.0):
         """ Specify the group name for which to construct this commander instance. Throws an exception if there is an initialization error. """
-        self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns)
+        self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns, wait_for_servers)
 
     def get_name(self):
         """ Get the name of the group this instance was initialized for """
@@ -448,7 +448,7 @@ def set_planner_id(self, planner_id):
 
     def get_planner_id(self):
         """ Get the current planner_id """
-        self._g.get_planner_id()
+        return self._g.get_planner_id()
 
     def set_num_planning_attempts(self, num_planning_attempts):
         """ Set the number of times the motion plan is to be computed from scratch before the shortest solution is returned. The default value is 1. """
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 7b2e293c77..7d84ed7405 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -381,6 +381,11 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return getName().c_str();
   }
 
+  const char* getPlannerIdCStr() const
+  {
+    return getPlannerId().c_str();
+  }
+
   bp::dict getNamedTargetValuesPython(const std::string& name)
   {
     bp::dict output;
@@ -576,7 +581,7 @@ static void wrap_move_group_interface()
   eigenpy::enableEigenPy();
 
   bp::class_<MoveGroupInterfaceWrapper, boost::noncopyable> move_group_interface_class(
-      "MoveGroupInterface", bp::init<std::string, std::string, bp::optional<std::string>>());
+      "MoveGroupInterface", bp::init<std::string, std::string, bp::optional<std::string, double>>());
 
   move_group_interface_class.def("async_move", &MoveGroupInterfaceWrapper::asyncMovePython);
   move_group_interface_class.def("move", &MoveGroupInterfaceWrapper::movePython);
@@ -695,6 +700,7 @@ static void wrap_move_group_interface()
   move_group_interface_class.def("set_max_acceleration_scaling_factor",
                                  &MoveGroupInterfaceWrapper::setMaxAccelerationScalingFactor);
   move_group_interface_class.def("set_planner_id", &MoveGroupInterfaceWrapper::setPlannerId);
+  move_group_interface_class.def("get_planner_id", &MoveGroupInterfaceWrapper::getPlannerIdCStr);
   move_group_interface_class.def("set_num_planning_attempts", &MoveGroupInterfaceWrapper::setNumPlanningAttempts);
   move_group_interface_class.def("plan", &MoveGroupInterfaceWrapper::planPython);
   move_group_interface_class.def("compute_cartesian_path", &MoveGroupInterfaceWrapper::computeCartesianPathPython);

From 909371645c98197a56153c166c32c92ef14f4634 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Wed, 29 Jul 2020 16:54:41 +0200
Subject: [PATCH 401/612] Add documentation to ompl interface (#2226)

---
 .../moveit/ompl_interface/model_based_planning_context.h | 7 +++++++
 .../moveit/ompl_interface/planning_context_manager.h     | 9 +++++++++
 2 files changed, 16 insertions(+)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 66600fe501..e640fe71ce 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -320,6 +320,13 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
    * approximations to */
   bool saveConstraintApproximations(const ros::NodeHandle& nh);
 
+  /** \brief Configure ompl_simple_setup_ and optionally the constraints_library_.
+   *
+   * ompl_simple_setup_ gets a start state, state sampler, and state validity checker.
+   *
+   * \param nh ROS node handle used to load the constraint approximations.
+   * \param use_constraints_approximations Set to true if we want to load the constraint approximation.
+   * */
   virtual void configure(const ros::NodeHandle& nh, bool use_constraints_approximations);
 
 protected:
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index fc5c71b792..4b213c3409 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -170,6 +170,15 @@ class PlanningContextManager
     return robot_model_;
   }
 
+  /** \brief Returns a planning context to OMPLInterface, which in turn passes it to OMPLPlannerManager.
+   *
+   * This function checks the input and reads planner specific configurations.
+   * Then it creates the planning context with PlanningContextManager::createPlanningContext.
+   * Finally, it puts the context into a state appropriate for planning.
+   * This last step involves setting the start, goal, and state validity checker using the method
+   * ModelBasedPlanningContext::configure.
+   *
+   * */
   ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                   const planning_interface::MotionPlanRequest& req,
                                                   moveit_msgs::MoveItErrorCodes& error_code, const ros::NodeHandle& nh,

From 5136e394c357b55b87c011dda3b8d87f85fba1c2 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Wed, 29 Jul 2020 17:52:18 +0200
Subject: [PATCH 402/612] OMPL interface: fix / ignore clang-tidy warnings
 (#2227)

* fix / ignore clang-tidy warnings in ompl interface

* remove NOLINT and fix warning in ompl interface
---
 .../ompl_interface/model_based_planning_context.h  |  4 ++--
 .../src/detail/constraints_library.cpp             |  2 +-
 .../src/model_based_planning_context.cpp           |  6 +++---
 .../ompl/ompl_interface/src/ompl_interface.cpp     | 14 +++++++++-----
 4 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index e640fe71ce..64918929d7 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -351,8 +351,8 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
 
      * `Iteration[num]`: Terminate after `num` iterations. Here, `num` should be replaced
        with a positive integer.
-     * `CostConvergence[solutionsWindow,epsilon]`: Terminate after the cost (as specified
-       by an optimization objective) has converged. The parameter `solutionsWindow`
+     * `CostConvergence[solutions_window,epsilon]`: Terminate after the cost (as specified
+       by an optimization objective) has converged. The parameter `solutions_window`
        specifies the minimum number of solutions to use in deciding whether a planner has
        converged. The parameter `epsilon`	is the threshold to consider for convergence.
        This should be a positive number close to 0. If the cumulative moving average does
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index ddc6abc453..19bdc77dde 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -322,7 +322,7 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
     moveit_msgs::Constraints msg;
     hexToMsg(serialization, msg);
     auto* cass = new ConstraintApproximationStateStorage(context_->getOMPLSimpleSetup()->getStateSpace());
-    cass->load((path + "/" + filename).c_str());
+    cass->load((std::string{ path }.append("/").append(filename)).c_str());
     ConstraintApproximationPtr cap(new ConstraintApproximation(group, state_space_parameterization, explicit_motions,
                                                                msg, filename, ompl::base::StateStoragePtr(cass),
                                                                milestones));
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 284e12773a..8040d8de39 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -509,17 +509,17 @@ ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContex
   // Only useful for anytime/optimizing planners.
   else if (termination_and_params[0] == "CostConvergence")
   {
-    std::size_t solutionsWindow = 10u;
+    std::size_t solutions_window = 10u;
     double epsilon = 0.1;
     if (termination_and_params.size() > 1)
     {
-      solutionsWindow = std::stoul(termination_and_params[1]);
+      solutions_window = std::stoul(termination_and_params[1]);
       if (termination_and_params.size() > 2)
         epsilon = moveit::core::toDouble(termination_and_params[2]);
     }
     return ob::plannerOrTerminationCondition(
         ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
-        ob::CostConvergenceTerminationCondition(ompl_simple_setup_->getProblemDefinition(), solutionsWindow, epsilon));
+        ob::CostConvergenceTerminationCondition(ompl_simple_setup_->getProblemDefinition(), solutions_window, epsilon));
   }
 #endif
   // Terminate as soon as an exact solution is found or a timeout occurs.
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index db37000d87..242afc0f91 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -183,10 +183,14 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
     std::map<std::string, std::string> specific_group_params;
     for (const std::string& k : KNOWN_GROUP_PARAMS)
     {
-      if (nh_.hasParam(group_name + "/" + k))
+      std::string param_name{ group_name };
+      param_name += "/";
+      param_name += k;
+
+      if (nh_.hasParam(param_name))
       {
         std::string value;
-        if (nh_.getParam(group_name + "/" + k, value))
+        if (nh_.getParam(param_name, value))
         {
           if (!value.empty())
             specific_group_params[k] = value;
@@ -194,7 +198,7 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
         }
 
         double value_d;
-        if (nh_.getParam(group_name + "/" + k, value_d))
+        if (nh_.getParam(param_name, value_d))
         {
           // convert to string using no locale
           specific_group_params[k] = moveit::core::toString(value_d);
@@ -202,14 +206,14 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
         }
 
         int value_i;
-        if (nh_.getParam(group_name + "/" + k, value_i))
+        if (nh_.getParam(param_name, value_i))
         {
           specific_group_params[k] = std::to_string(value_i);
           continue;
         }
 
         bool value_b;
-        if (nh_.getParam(group_name + "/" + k, value_b))
+        if (nh_.getParam(param_name, value_b))
         {
           specific_group_params[k] = std::to_string(value_b);
           continue;

From ce67918e868b114b70a20e65b3a14cef9c91f26f Mon Sep 17 00:00:00 2001
From: Markus Vieth <39675748+mvieth@users.noreply.github.com>
Date: Fri, 31 Jul 2020 23:52:41 +0200
Subject: [PATCH 403/612] Optimize includes (#2229)

Remove most obvious unused includes, as recommended by include-what-you-use (see https://github.com/ros-planning/moveit/issues/2170)
---
 .../include/moveit/collision_detection/world.h      |  1 -
 .../include/moveit/collision_detection/world_diff.h |  2 --
 .../collision_distance_field_types.h                |  1 -
 .../src/collision_env_hybrid.cpp                    |  1 -
 .../src/default_constraint_samplers.cpp             |  1 -
 .../test/pr2_arm_kinematics_plugin.cpp              |  1 -
 .../include/moveit/distance_field/distance_field.h  |  2 --
 .../distance_field/propagation_distance_field.h     |  1 -
 moveit_core/dynamics_solver/src/dynamics_solver.cpp |  4 ----
 .../include/moveit/kinematic_constraints/utils.h    |  2 +-
 .../moveit/kinematics_base/kinematics_base.h        |  2 +-
 .../moveit/kinematics_metrics/kinematics_metrics.h  |  1 -
 moveit_core/profiler/src/profiler.cpp               |  1 -
 .../robot_model/src/revolute_joint_model.cpp        |  1 -
 moveit_core/robot_model/src/robot_model.cpp         |  1 -
 .../include/moveit/robot_state/conversions.h        |  1 -
 .../iterative_spline_parameterization.h             |  3 ---
 .../iterative_time_parameterization.h               |  3 ---
 .../src/iterative_spline_parameterization.cpp       |  1 -
 .../src/time_optimal_trajectory_generation.cpp      |  2 --
 .../include/moveit/transforms/transforms.h          |  1 -
 .../cached_ik_kinematics_plugin/src/ik_cache.cpp    |  2 --
 .../src/chainiksolver_vel_mimic_svd.cpp             |  1 -
 .../lma_kinematics_plugin/lma_kinematics_plugin.h   |  2 +-
 .../srv_kinematics_plugin/srv_kinematics_plugin.h   |  4 +---
 .../src/srv_kinematics_plugin.cpp                   |  1 +
 moveit_kinematics/test/benchmark_ik.cpp             |  1 -
 .../chomp/chomp_interface/src/chomp_plugin.cpp      |  1 -
 .../chomp_motion_planner/src/chomp_trajectory.cpp   |  1 -
 .../ompl_interface/planning_context_manager.h       |  1 -
 .../ompl_interface/src/planning_context_manager.cpp |  2 --
 .../src/moveit_fake_controller_manager.cpp          |  1 -
 .../include/moveit/benchmarks/BenchmarkExecutor.h   |  1 -
 .../manipulation/pick_place/src/pick_place.cpp      |  1 -
 .../include/moveit/mesh_filter/gl_mesh.h            |  3 +--
 .../include/moveit/mesh_filter/mesh_filter.h        |  1 -
 .../include/moveit/mesh_filter/mesh_filter_base.h   |  2 +-
 .../include/moveit/mesh_filter/sensor_model.h       |  2 +-
 .../mesh_filter/src/depth_self_filter_nodelet.cpp   |  1 -
 .../perception/mesh_filter/src/gl_renderer.cpp      |  1 -
 .../perception/mesh_filter/src/mesh_filter_base.cpp |  1 -
 .../perception/mesh_filter/src/sensor_model.cpp     |  1 -
 .../moveit/point_containment_filter/shape_mask.h    |  1 -
 .../src/visualize_robot_collision_volume.cpp        |  1 -
 .../moveit_cpp/src/moveit_cpp.cpp                   |  1 -
 .../moveit_cpp/src/planning_component.cpp           | 13 +------------
 .../moveit/robot_interaction/interaction_handler.h  |  1 +
 .../moveit/robot_interaction/robot_interaction.h    |  1 -
 .../robot_interaction/src/interaction_handler.cpp   |  1 -
 .../robot_interaction/src/kinematic_options_map.cpp |  2 --
 .../robot_state_rviz_plugin/robot_state_display.h   |  5 -----
 .../moveit/rviz_plugin_render_tools/render_shapes.h |  1 -
 52 files changed, 10 insertions(+), 81 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index 2aae8c9505..e27502427d 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -41,7 +41,6 @@
 #include <string>
 #include <vector>
 #include <map>
-#include <memory>
 #include <boost/function.hpp>
 #include <Eigen/Geometry>
 #include <eigen_stl_containers/eigen_stl_vector_container.h>
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 4838758b24..77f851e330 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -39,8 +39,6 @@
 #include <moveit/collision_detection/world.h>
 #include <moveit/macros/class_forward.h>
 
-#include <memory>
-
 namespace collision_detection
 {
 MOVEIT_CLASS_FORWARD(WorldDiff);
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index f38c57aa24..e66b9b0215 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -39,7 +39,6 @@
 #include <vector>
 #include <string>
 #include <algorithm>
-#include <sstream>
 #include <memory>
 #include <float.h>
 
diff --git a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
index 256ad6a9a7..f1abf3fb4c 100644
--- a/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_hybrid.cpp
@@ -36,7 +36,6 @@
 
 #include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
 #include <moveit/collision_distance_field/collision_env_hybrid.h>
-#include <utility>
 
 namespace collision_detection
 {
diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
index 4cdf1e1855..abc70021ad 100644
--- a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
+++ b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -35,7 +35,6 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/constraint_samplers/default_constraint_samplers.h>
-#include <set>
 #include <cassert>
 #include <boost/bind.hpp>
 
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
index 097e8b5951..a8292a4a0a 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -38,7 +38,6 @@
 #include <kdl_parser/kdl_parser.hpp>
 #include <tf2_kdl/tf2_kdl.h>
 #include <algorithm>
-#include <numeric>
 
 #include <moveit/robot_model/robot_model.h>
 #include "pr2_arm_kinematics_plugin.h"
diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index 56f0bc082e..dd36cc111b 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -38,8 +38,6 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/distance_field/voxel_grid.h>
-#include <vector>
-#include <list>
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
 #include <Eigen/Core>
diff --git a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
index 4b3ad13cd9..58f8de8e2d 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/propagation_distance_field.h
@@ -39,7 +39,6 @@
 #include <moveit/distance_field/voxel_grid.h>
 #include <moveit/distance_field/distance_field.h>
 #include <vector>
-#include <list>
 #include <Eigen/Core>
 #include <set>
 #include <octomap/octomap.h>
diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
index 1126d29cdf..9ada138e8d 100644
--- a/moveit_core/dynamics_solver/src/dynamics_solver.cpp
+++ b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -39,10 +39,6 @@
 // KDL
 #include <kdl/jntarray.hpp>
 #include <kdl_parser/kdl_parser.hpp>
-#include <kdl/chainiksolverpos_nr_jl.hpp>
-#include <kdl/chainiksolvervel_pinv.hpp>
-#include <kdl/chainfksolverpos_recursive.hpp>
-#include <kdl/chainjnttojacsolver.hpp>
 #include <kdl/tree.hpp>
 
 namespace dynamics_solver
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index 1828077063..f11a2eb20a 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <moveit_msgs/MotionPlanRequest.h>
+#include <moveit_msgs/Constraints.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/QuaternionStamped.h>
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index c3ad491745..41267eca70 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Pose.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
 #include <moveit/macros/class_forward.h>
 #include <ros/node_handle.h>
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index 5a8f61c32a..3d2b1e4381 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <moveit/robot_state/robot_state.h>
-#include <moveit/planning_scene/planning_scene.h>
 
 /** @brief Namespace for kinematics metrics */
 namespace kinematics_metrics
diff --git a/moveit_core/profiler/src/profiler.cpp b/moveit_core/profiler/src/profiler.cpp
index 04616951fb..50c190c53e 100644
--- a/moveit_core/profiler/src/profiler.cpp
+++ b/moveit_core/profiler/src/profiler.cpp
@@ -40,7 +40,6 @@
 #include <ros/console.h>
 #include <vector>
 #include <algorithm>
-#include <sstream>
 
 namespace moveit
 {
diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp
index 4a87291f38..eb59ff8506 100644
--- a/moveit_core/robot_model/src/revolute_joint_model.cpp
+++ b/moveit_core/robot_model/src/revolute_joint_model.cpp
@@ -39,7 +39,6 @@
 #include <geometric_shapes/check_isometry.h>
 #include <boost/math/constants/constants.hpp>
 #include <algorithm>
-#include <limits>
 #include <cmath>
 
 namespace moveit
diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index 5f06e8d626..68492fb917 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -41,7 +41,6 @@
 #include <moveit/profiler/profiler.h>
 #include <algorithm>
 #include <limits>
-#include <queue>
 #include <cmath>
 #include <memory>
 #include "order_robot_model_items.inc"
diff --git a/moveit_core/robot_state/include/moveit/robot_state/conversions.h b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
index 43968a2e83..61c45d1bce 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/conversions.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
@@ -39,7 +39,6 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/transforms/transforms.h>
 #include <moveit_msgs/RobotState.h>
-#include <moveit_msgs/RobotTrajectory.h>
 
 namespace moveit
 {
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
index 9ecf66e823..bee235d209 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
@@ -37,9 +37,6 @@
 
 #pragma once
 
-#include <trajectory_msgs/JointTrajectory.h>
-#include <moveit_msgs/JointLimits.h>
-#include <moveit_msgs/RobotState.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 
 namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
index a336c83b5b..7a298642fb 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
@@ -36,9 +36,6 @@
 
 #pragma once
 
-#include <trajectory_msgs/JointTrajectory.h>
-#include <moveit_msgs/JointLimits.h>
-#include <moveit_msgs/RobotState.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 
 namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
index 38938a01d2..5d5adf073e 100644
--- a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
@@ -35,7 +35,6 @@
 /* Author: Ken Anderson */
 
 #include <moveit/trajectory_processing/iterative_spline_parameterization.h>
-#include <moveit_msgs/JointLimits.h>
 #include <moveit/robot_state/conversions.h>
 #include <vector>
 
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 42a9108ea2..e0c0d3be41 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -44,8 +44,6 @@
 #include <ros/console.h>
 #include <vector>
 
-#include <iostream>
-
 namespace trajectory_processing
 {
 const std::string LOGNAME = "trajectory_processing.time_optimal_trajectory_generation";
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 4880e29c19..799dd8e9a5 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -37,7 +37,6 @@
 #pragma once
 
 #include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/Pose.h>
 #include <Eigen/Geometry>
 #include <boost/noncopyable.hpp>
 #include <moveit/macros/class_forward.h>
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp b/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
index ff9c922934..28240a060f 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp
@@ -35,8 +35,6 @@
 /* Author: Mark Moll */
 
 #include <boost/filesystem/fstream.hpp>
-#include <chrono>
-#include <cstdlib>
 #include <numeric>
 
 #include <moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h>
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_mimic_svd.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_mimic_svd.cpp
index 9162b505a6..3c3a1d234a 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_mimic_svd.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_mimic_svd.cpp
@@ -24,7 +24,6 @@
 // Copyright  (C)  2013  Sachin Chitta, Willow Garage
 
 #include <moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp>
-#include <ros/console.h>
 
 namespace
 {
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index a25d154d57..85bf238327 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -41,7 +41,7 @@
 #include <random_numbers/random_numbers.h>
 
 // ROS msgs
-#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Pose.h>
 #include <moveit_msgs/GetPositionFK.h>
 #include <moveit_msgs/GetPositionIK.h>
 #include <moveit_msgs/KinematicSolverInfo.h>
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index 4ae5dfb01e..8d49435417 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -48,9 +48,7 @@
 #include <memory>
 
 // ROS msgs
-#include <geometry_msgs/PoseStamped.h>
-#include <moveit_msgs/GetPositionFK.h>
-#include <moveit_msgs/GetPositionIK.h>
+#include <geometry_msgs/Pose.h>
 #include <moveit_msgs/KinematicSolverInfo.h>
 #include <moveit_msgs/MoveItErrorCodes.h>
 
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index 4c7695a471..f93ed4c202 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -34,6 +34,7 @@
 
 /* Author: Dave Coleman, Masaki Murooka */
 
+#include <moveit_msgs/GetPositionIK.h>
 #include <moveit/srv_kinematics_plugin/srv_kinematics_plugin.h>
 #include <class_loader/class_loader.hpp>
 #include <moveit/robot_state/conversions.h>
diff --git a/moveit_kinematics/test/benchmark_ik.cpp b/moveit_kinematics/test/benchmark_ik.cpp
index 72d7b8c78d..537df9e59d 100644
--- a/moveit_kinematics/test/benchmark_ik.cpp
+++ b/moveit_kinematics/test/benchmark_ik.cpp
@@ -34,7 +34,6 @@
 
 /* Author: Mark Moll */
 
-#include <cstring>
 #include <chrono>
 #include <ros/ros.h>
 #include <boost/program_options.hpp>
diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
index e73789f733..0a0a96bc9b 100644
--- a/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
+++ b/moveit_planners/chomp/chomp_interface/src/chomp_plugin.cpp
@@ -36,7 +36,6 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
-#include <moveit_msgs/GetMotionPlan.h>
 #include <chomp_interface/chomp_planning_context.h>
 
 #include <pluginlib/class_list_macros.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
index bb2e0f012a..4467dbfced 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
@@ -36,7 +36,6 @@
 
 #include <ros/ros.h>
 #include <chomp_motion_planner/chomp_trajectory.h>
-#include <iostream>
 
 namespace chomp
 {
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 4b213c3409..594d3ba9dc 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -43,7 +43,6 @@
 
 #include <ompl/base/PlannerDataStorage.h>
 
-#include <vector>
 #include <string>
 #include <map>
 
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index bb8c835233..44b15cee8b 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -37,8 +37,6 @@
 #include <moveit/ompl_interface/planning_context_manager.h>
 #include <moveit/robot_state/conversions.h>
 #include <moveit/profiler/profiler.h>
-#include <algorithm>
-#include <set>
 #include <utility>
 
 #include <ompl/geometric/planners/AnytimePathShortening.h>
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index d63a47d38f..826337d386 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -42,7 +42,6 @@
 #include <pluginlib/class_list_macros.hpp>
 #include <ros/console.h>
 #include <map>
-#include <iterator>
 
 namespace moveit_fake_controller_manager
 {
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index 6aac9db366..90d3a29f8e 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -57,7 +57,6 @@ DIAGNOSTIC_PUSH
 #include <vector>
 #include <string>
 #include <boost/function.hpp>
-#include <memory>
 
 namespace moveit_ros_benchmarks
 {
diff --git a/moveit_ros/manipulation/pick_place/src/pick_place.cpp b/moveit_ros/manipulation/pick_place/src/pick_place.cpp
index 8571f24d47..61fbcf68db 100644
--- a/moveit_ros/manipulation/pick_place/src/pick_place.cpp
+++ b/moveit_ros/manipulation/pick_place/src/pick_place.cpp
@@ -38,7 +38,6 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit_msgs/DisplayTrajectory.h>
 #include <visualization_msgs/MarkerArray.h>
-#include <ros/console.h>
 
 namespace pick_place
 {
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
index a605425870..969f4e268d 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_mesh.h
@@ -36,14 +36,13 @@
 
 #pragma once
 
-#include <Eigen/Eigen>
+#include <Eigen/Geometry>  // for Isometry3d
 #include <GL/glew.h>
 #ifdef __APPLE__
 #include <OpenGL/gl.h>
 #else
 #include <GL/gl.h>
 #endif
-#include <vector>
 
 namespace shapes
 {
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
index ed27f7b136..3872aac0f5 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter.h
@@ -41,7 +41,6 @@
 #include <moveit/mesh_filter/gl_renderer.h>
 #include <moveit/mesh_filter/mesh_filter_base.h>
 #include <boost/function.hpp>
-#include <Eigen/Eigen>
 
 // forward declarations
 namespace shapes
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
index 6fe3fb0745..df6e35e7da 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
@@ -42,7 +42,7 @@
 #include <moveit/mesh_filter/sensor_model.h>
 #include <boost/function.hpp>
 #include <boost/thread/mutex.hpp>
-#include <Eigen/Eigen>
+#include <Eigen/Geometry>  // for Isometry3d
 #include <queue>
 
 // forward declarations
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
index 8c76cdccef..40b831dc8e 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <Eigen/Eigen>
+#include <Eigen/Core>  // for Vector3f
 
 namespace mesh_filter
 {
diff --git a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
index c195c6ea03..ecd1830dff 100644
--- a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
+++ b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
@@ -42,7 +42,6 @@
 #include <sensor_msgs/image_encodings.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/robot_model/robot_model.h>
-#include <eigen3/Eigen/Eigen>
 #include <cv_bridge/cv_bridge.h>
 
 namespace enc = sensor_msgs::image_encodings;
diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
index 7e4092cff3..4f351b53e6 100644
--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -47,7 +47,6 @@
 #include <fstream>
 #include <stdexcept>
 #include <vector>
-#include <iostream>
 #include <boost/thread.hpp>
 #include <ros/console.h>
 
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
index 331dfe3780..58162afa22 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
@@ -43,7 +43,6 @@
 #include <Eigen/Eigen>
 #include <stdexcept>
 #include <sstream>
-#include <sensor_msgs/image_encodings.h>
 
 #include <ros/console.h>
 
diff --git a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
index 96ed1ae78c..df29ec2b21 100644
--- a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
+++ b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
@@ -35,7 +35,6 @@
 /* Author: Suat Gedikli */
 
 #include <moveit/mesh_filter/sensor_model.h>
-#include <stdint.h>
 #include <stdexcept>
 
 mesh_filter::SensorModel::~SensorModel() = default;
diff --git a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
index fdc238e891..f504acb9f5 100644
--- a/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
+++ b/moveit_ros/perception/point_containment_filter/include/moveit/point_containment_filter/shape_mask.h
@@ -39,7 +39,6 @@
 #include <sensor_msgs/PointCloud2.h>
 #include <geometric_shapes/bodies.h>
 #include <boost/function.hpp>
-#include <string>
 #include <vector>
 #include <set>
 #include <map>
diff --git a/moveit_ros/planning/planning_components_tools/src/visualize_robot_collision_volume.cpp b/moveit_ros/planning/planning_components_tools/src/visualize_robot_collision_volume.cpp
index 50d2941091..e162df1bbd 100644
--- a/moveit_ros/planning/planning_components_tools/src/visualize_robot_collision_volume.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/visualize_robot_collision_volume.cpp
@@ -35,7 +35,6 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <cstdlib>
 #include <tf2_ros/transform_listener.h>
 #include <memory>
 
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 8b5b494e7e..1db8d8f33c 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -39,7 +39,6 @@
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 #include <moveit/common_planning_interface_objects/common_objects.h>
 
-#include <std_msgs/String.h>
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <ros/console.h>
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
index 102489b269..8a910e7f63 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/planning_component.cpp
@@ -46,18 +46,7 @@
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
 #include <moveit/common_planning_interface_objects/common_objects.h>
 #include <moveit/robot_state/conversions.h>
-#include <moveit_msgs/PickupAction.h>
-#include <moveit_msgs/ExecuteTrajectoryAction.h>
-#include <moveit_msgs/PlaceAction.h>
-#include <moveit_msgs/ExecuteKnownTrajectory.h>
-#include <moveit_msgs/QueryPlannerInterfaces.h>
-#include <moveit_msgs/GetCartesianPath.h>
-#include <moveit_msgs/GraspPlanning.h>
-#include <moveit_msgs/GetPlannerParams.h>
-#include <moveit_msgs/SetPlannerParams.h>
-
-#include <std_msgs/String.h>
-#include <geometry_msgs/TransformStamped.h>
+
 #include <tf2/utils.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index 02b63a6e6c..b9914d437a 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -36,6 +36,7 @@
 
 #pragma once
 
+#include <geometry_msgs/PoseStamped.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_interaction/locked_robot_state.h>
 //#include <moveit/robot_interaction/robot_interaction.h>
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index e770293d55..ca0698af29 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -38,7 +38,6 @@
 
 #include <visualization_msgs/InteractiveMarkerFeedback.h>
 #include <visualization_msgs/InteractiveMarker.h>
-#include <geometry_msgs/PoseArray.h>
 #include <interactive_markers/menu_handler.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
diff --git a/moveit_ros/robot_interaction/src/interaction_handler.cpp b/moveit_ros/robot_interaction/src/interaction_handler.cpp
index 1b76f7a196..e26ccdc182 100644
--- a/moveit_ros/robot_interaction/src/interaction_handler.cpp
+++ b/moveit_ros/robot_interaction/src/interaction_handler.cpp
@@ -48,7 +48,6 @@
 #include <boost/lexical_cast.hpp>
 #include <boost/math/constants/constants.hpp>
 #include <algorithm>
-#include <limits>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
diff --git a/moveit_ros/robot_interaction/src/kinematic_options_map.cpp b/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
index c3460c0d8a..013a9c7a61 100644
--- a/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
+++ b/moveit_ros/robot_interaction/src/kinematic_options_map.cpp
@@ -35,8 +35,6 @@
 /* Author: Acorn Pooley */
 
 #include <moveit/robot_interaction/kinematic_options_map.h>
-#include <ros/console.h>
-#include <algorithm>
 
 // These strings have no content.  They are compared by address.
 const std::string robot_interaction::KinematicOptionsMap::DEFAULT = "";
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index 632692dde0..f8f308190f 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -45,11 +45,6 @@
 #include <ros/ros.h>
 #endif
 
-namespace Ogre
-{
-class SceneNode;
-}
-
 namespace rviz
 {
 class Robot;
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index 9e3e9222fe..87161aa639 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -41,7 +41,6 @@
 #include <geometric_shapes/shapes.h>
 #include <rviz/helpers/color.h>
 #include <Eigen/Geometry>
-#include <string>
 #include <memory>
 
 namespace Ogre

From b0391a73b3ae84dc5cc9c7035df46bf4c1f979fc Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 3 Aug 2020 04:50:24 -0500
Subject: [PATCH 404/612] Remove unused yaml param (#2232)

---
 moveit_ros/moveit_servo/config/ur_simulated_config.yaml | 1 -
 moveit_ros/moveit_servo/test/config/servo_settings.yaml | 1 -
 2 files changed, 2 deletions(-)

diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index ed3917f236..5c477ffb70 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -16,7 +16,6 @@ low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the
 
 ## Properties of outgoing commands
 publish_period: 0.008  # 1/Nominal publish rate [seconds]
-publish_delay: 0.005  # Delay between calculation and execution start of command
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
diff --git a/moveit_ros/moveit_servo/test/config/servo_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
index e98719f5f6..9a674425b6 100644
--- a/moveit_ros/moveit_servo/test/config/servo_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
@@ -16,7 +16,6 @@ low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the
 
 ## Properties of outgoing commands
 publish_period: 0.01  # 1/Nominal publish rate [seconds]
-publish_delay: 0.005  # Delay between calculation and execution start of command
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)

From a07cb8aff3d73cc15667b54a0254edf399798da7 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 3 Aug 2020 16:41:14 -0500
Subject: [PATCH 405/612] Check collisions during joint motions, too (#2204)

* Check collisions during joint motions, too.

Print colliding objects, for debugging.

* Small code simplification

* Use the argument to printCollisionPairs

* Clang format

* Fix misspelling

* Log all colliding pairs

* Adjustments to print formatting and log levels
---
 .../include/moveit_servo/collision_check.h    |  9 ++++++++
 .../moveit_servo/src/collision_check.cpp      | 22 +++++++++++++++++++
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 14 +++++++-----
 3 files changed, 40 insertions(+), 5 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 6b9610d6ce..484c2d5782 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <moveit/collision_detection/collision_common.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <sensor_msgs/JointState.h>
@@ -75,8 +76,16 @@ class CollisionCheck
   void setPaused(bool paused);
 
 private:
+  /** \brief Run one iteration of collision checking */
   void run(const ros::TimerEvent& timer_event);
+
+  /** \brief Print objects in collision. Useful for debugging.  */
+  void printCollisionPairs(collision_detection::CollisionResult::ContactMap& contact_map);
+
+  /** \brief Get a read-only copy of the planning scene */
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
+
+  /** \brief Callback for stopping time, from the thread that is aware of velocity and acceleration */
   void worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg);
 
   ros::NodeHandle nh_;
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 91adabf530..4c7535e620 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -64,6 +64,7 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoPar
   // Init collision request
   collision_request_.group_name = parameters_.move_group_name;
   collision_request_.distance = true;  // enable distance-based collision checking
+  collision_request_.contacts = true;  // Record the names of collision pairs
 
   if (parameters_.collision_check_rate < MIN_RECOMMENDED_COLLISION_RATE)
     ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
@@ -127,12 +128,15 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
                                                                      *current_state_);
   scene_collision_distance_ = collision_result_.distance;
   collision_detected_ |= collision_result_.collision;
+  printCollisionPairs(collision_result_.contacts);
 
   collision_result_.clear();
+  // Self-collisions and scene collisions are checked separately so different thresholds can be used
   getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision(collision_request_, collision_result_,
                                                                             *current_state_, acm_);
   self_collision_distance_ = collision_result_.distance;
   collision_detected_ |= collision_result_.collision;
+  printCollisionPairs(collision_result_.contacts);
 
   velocity_scale_ = 1;
   // If we're definitely in collision, stop immediately
@@ -203,6 +207,24 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
   }
 }
 
+void CollisionCheck::printCollisionPairs(collision_detection::CollisionResult::ContactMap& contact_map)
+{
+  if (!contact_map.empty())
+  {
+    // Throttled error message about the first contact in the list
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision (among others, possibly): "
+                                                                         << contact_map.begin()->first.first << ", "
+                                                                         << contact_map.begin()->first.second);
+    // Log all other contacts if in debug mode
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision:");
+    for (auto contact : contact_map)
+    {
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "\t" << contact.first.first << ", "
+                                                                             << contact.first.second);
+    }
+  }
+}
+
 void CollisionCheck::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
 {
   worst_case_stop_time_ = msg->data;
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 2753d22ae0..13684e42ca 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -452,11 +452,6 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
 
   // If close to a collision or a singularity, decelerate
   applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, pseudo_inverse));
-  if (status_ == StatusCode::HALT_FOR_COLLISION)
-  {
-    ROS_ERROR_STREAM_THROTTLE_NAMED(5, LOGNAME, "Halting for collision!");
-    delta_theta_.setZero();
-  }
 
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
@@ -481,6 +476,9 @@ bool ServoCalcs::jointServoCalcs(const control_msgs::JointJog& cmd, trajectory_m
 
   enforceSRDFAccelVelLimits(delta_theta_);
 
+  // If close to a collision, decelerate
+  applyVelocityScaling(delta_theta_, 1.0 /* scaling for singularities -- ignore for joint motions */);
+
   prev_joint_velocity_ = delta_theta_ / parameters_.publish_period;
 
   return convertDeltasToOutgoingCmd(joint_trajectory);
@@ -598,6 +596,12 @@ void ServoCalcs::applyVelocityScaling(Eigen::ArrayXd& delta_theta, double singul
   }
 
   delta_theta = collision_scale * singularity_scale * delta_theta;
+
+  if (status_ == StatusCode::HALT_FOR_COLLISION)
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(3, LOGNAME, "Halting for collision!");
+    delta_theta_.setZero();
+  }
 }
 
 // Possibly calculate a velocity scaling factor, due to proximity of singularity and direction of motion

From 7d40d82e8f6e1b2eba3253760c2699e9a49c2841 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Wed, 5 Aug 2020 05:03:29 +0900
Subject: [PATCH 406/612] Fix subframes disappearing when object is
 detached/scaled/renamed (#1866)

* Treat subframes when detaching objects

* reduce code complexity

- remove code duplication, when fetching attached bodies
- simplify function calls when detaching (attached) bodies

* Maintain subframes when scaling/renaming objects in Rviz

* clang-format

* Add review comments

* More review comments

* minor nits

* fixup: use STREAM logging

* Add TODO

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Co-authored-by: v4hn <me@v4hn.de>
---
 .../planning_scene/src/planning_scene.cpp     | 47 +++++++++----------
 .../moveit/robot_state/attached_body.h        |  6 +++
 .../src/motion_planning_frame_objects.cpp     |  6 +++
 3 files changed, 33 insertions(+), 26 deletions(-)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 7d5dec02e9..0adb7ad31d 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1593,43 +1593,36 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
   {
     // STEP 1: Get info about the object from the RobotState
     std::vector<const moveit::core::AttachedBody*> attached_bodies;
-    if (object.link_name.empty())
+    if (object.object.id.empty())
     {
-      if (object.object.id.empty())
-        robot_state_->getAttachedBodies(attached_bodies);
+      const moveit::core::LinkModel* link_model =
+          object.link_name.empty() ? nullptr : getRobotModel()->getLinkModel(object.link_name);
+      if (link_model)  // if we have a link model specified, only fetch bodies attached to this link
+        robot_state_->getAttachedBodies(attached_bodies, link_model);
       else
-      {
-        const moveit::core::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
-        if (body)
-          attached_bodies.push_back(body);
-      }
+        robot_state_->getAttachedBodies(attached_bodies);
     }
-    else
+    else  // A specific object id will be removed.
     {
-      const moveit::core::LinkModel* link_model = getRobotModel()->getLinkModel(object.link_name);
-      if (link_model)
+      const moveit::core::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
+      if (body)
       {
-        // If no specific object id is given, then we remove all objects attached to the link_name.
-        if (object.object.id.empty())
+        if (!object.link_name.empty() && (body->getAttachedLinkName() != object.link_name))
         {
-          robot_state_->getAttachedBodies(attached_bodies, link_model);
-        }
-        else  // A specific object id will be removed.
-        {
-          const moveit::core::AttachedBody* body = robot_state_->getAttachedBody(object.object.id);
-          if (body)
-            attached_bodies.push_back(body);
+          ROS_ERROR_STREAM_NAMED(LOGNAME, "The AttachedCollisionObject message states the object is attached to "
+                                              << object.link_name << ", but it is actually attached to "
+                                              << body->getAttachedLinkName()
+                                              << ". Leave the link_name empty or specify the correct link.");
+          return false;
         }
+        attached_bodies.push_back(body);
       }
     }
 
     // STEP 2+3: Remove the attached object(s) from the RobotState and put them in the world
     for (const moveit::core::AttachedBody* attached_body : attached_bodies)
     {
-      const std::vector<shapes::ShapeConstPtr>& shapes = attached_body->getShapes();
-      const EigenSTL::vector_Isometry3d& poses = attached_body->getGlobalCollisionBodyTransforms();
       const std::string& name = attached_body->getName();
-
       if (world_->hasObject(name))
         ROS_WARN_NAMED(LOGNAME,
                        "The collision world already has an object with the same name as the body about to be detached. "
@@ -1637,7 +1630,8 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
                        object.object.id.c_str());
       else
       {
-        world_->addToObject(name, shapes, poses);
+        world_->addToObject(name, attached_body->getShapes(), attached_body->getGlobalCollisionBodyTransforms());
+        world_->setSubframesOfObject(name, attached_body->getSubframeTransforms());
         ROS_DEBUG_NAMED(LOGNAME, "Detached object '%s' from link '%s' and added it back in the collision world",
                         name.c_str(), object.link_name.c_str());
       }
@@ -1772,8 +1766,8 @@ bool PlanningScene::processCollisionObjectAdd(const moveit_msgs::CollisionObject
   if (!object.type.key.empty() || !object.type.db.empty())
     setObjectType(object.id, object.type);
 
-  // Add subframes
-  moveit::core::FixedTransformsMap subframes;
+  // Add subframes to the newly created (or possibly modified) object
+  moveit::core::FixedTransformsMap subframes = world_->getObject(object.id)->subframe_poses_;
   Eigen::Isometry3d frame_pose;
   for (std::size_t i = 0; i < object.subframe_poses.size(); ++i)
   {
@@ -1830,6 +1824,7 @@ bool PlanningScene::processCollisionObjectMove(const moveit_msgs::CollisionObjec
     }
 
     collision_detection::World::ObjectConstPtr obj = world_->getObject(object.id);
+
     if (obj->shapes_.size() == new_poses.size())
     {
       std::vector<shapes::ShapeConstPtr> shapes = obj->shapes_;
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index 39cb58afa9..e9ed735251 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -120,6 +120,12 @@ class AttachedBody
     return subframe_poses_;
   }
 
+  /** \brief Get subframes of this object (in the world frame) */
+  const moveit::core::FixedTransformsMap& getGlobalSubframeTransforms() const
+  {
+    return global_subframe_poses_;
+  }
+
   /** \brief Set all subframes of this object.
    *
    * Use these to define points of interest on the object to plan with
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index e1515e4d7e..a8968549d7 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -159,6 +159,7 @@ void MotionPlanningFrame::sceneScaleChanged(int value)
     {
       if (ps->getWorld()->hasObject(scaled_object_->id_))
       {
+        const moveit::core::FixedTransformsMap subframes = scaled_object_->subframe_poses_;  // Keep subframes
         ps->getWorldNonConst()->removeObject(scaled_object_->id_);
         for (std::size_t i = 0; i < scaled_object_->shapes_.size(); ++i)
         {
@@ -167,6 +168,8 @@ void MotionPlanningFrame::sceneScaleChanged(int value)
           ps->getWorldNonConst()->addToObject(scaled_object_->id_, shapes::ShapeConstPtr(s),
                                               scaled_object_->shape_poses_[i]);
         }
+        // TODO(felixvd): Scale subframes too
+        ps->getWorldNonConst()->setSubframesOfObject(scaled_object_->id_, subframes);
         setLocalSceneEdited();
         scene_marker_->processMessage(createObjectMarkerMsg(ps->getWorld()->getObject(scaled_object_->id_)));
         planning_display_->queueRenderSceneGeometry();
@@ -823,9 +826,12 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
     if (obj)
     {
       known_collision_objects_[item->type()].first = item_text;
+      const moveit::core::FixedTransformsMap subframes = obj->subframe_poses_;  // Keep subframes
+      // TODO(felixvd): Scale the subframes with the object
       ps->getWorldNonConst()->removeObject(obj->id_);
       ps->getWorldNonConst()->addToObject(known_collision_objects_[item->type()].first, obj->shapes_,
                                           obj->shape_poses_);
+      ps->getWorldNonConst()->setSubframesOfObject(obj->id_, subframes);
       if (scene_marker_)
       {
         scene_marker_.reset();

From 3f2924ce07afbb0ebe51b31628ec49240b722fa5 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Fri, 7 Aug 2020 09:27:03 +0200
Subject: [PATCH 407/612] Fix memcpy bug in copyJointToOMPLState in ompl
 interface (#2239)

---
 .../model_based_state_space.cpp               |  2 +-
 .../ompl_interface/test/test_state_space.cpp  | 62 ++++++++++++++-----
 2 files changed, 49 insertions(+), 15 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
index 201fe2e14a..3500d4e18b 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
@@ -340,7 +340,7 @@ void ompl_interface::ModelBasedStateSpace::copyJointToOMPLState(ompl::base::Stat
 {
   // Copy one joint (multiple variables possibly)
   memcpy(getValueAddressAtIndex(state, ompl_state_joint_index),
-         robot_state.getVariablePositions() + joint_model->getFirstVariableIndex() * sizeof(double),
+         robot_state.getVariablePositions() + joint_model->getFirstVariableIndex(),
          joint_model->getVariableCount() * sizeof(double));
 
   // clear any cached info (such as validity known or not)
diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
index 90bbcc1d38..d1db71f973 100644
--- a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
@@ -34,6 +34,8 @@
 
 /* Author: Ioan Sucan */
 
+#include <limits>
+
 #include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
 #include <moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h>
 
@@ -46,6 +48,8 @@
 #include <boost/filesystem/path.hpp>
 #include <ros/package.h>
 
+constexpr double EPSILON = std::numeric_limits<double>::epsilon();
+
 class LoadPlanningModelsPr2 : public testing::Test
 {
 protected:
@@ -129,15 +133,15 @@ TEST_F(LoadPlanningModelsPr2, StateSpaces)
 TEST_F(LoadPlanningModelsPr2, StateSpaceCopy)
 {
   ompl_interface::ModelBasedStateSpaceSpecification spec(robot_model_, "right_arm");
-  ompl_interface::JointModelStateSpace ss(spec);
-  ss.setPlanningVolume(-1, 1, -1, 1, -1, 1);
-  ss.setup();
+  ompl_interface::JointModelStateSpace joint_model_state_space(spec);
+  joint_model_state_space.setPlanningVolume(-1, 1, -1, 1, -1, 1);
+  joint_model_state_space.setup();
   std::ofstream fout("ompl_interface_test_state_space_diagram1.dot");
-  ss.diagram(fout);
+  joint_model_state_space.diagram(fout);
   bool passed = false;
   try
   {
-    ss.sanityChecks();
+    joint_model_state_space.sanityChecks();
     passed = true;
   }
   catch (ompl::Exception& ex)
@@ -148,26 +152,56 @@ TEST_F(LoadPlanningModelsPr2, StateSpaceCopy)
 
   moveit::core::RobotState robot_state(robot_model_);
   robot_state.setToRandomPositions();
-  EXPECT_TRUE(robot_state.distance(robot_state) < 1e-12);
-  ompl::base::State* state = ss.allocState();
+  EXPECT_TRUE(robot_state.distance(robot_state) < EPSILON);
+  ompl::base::State* state = joint_model_state_space.allocState();
   for (int i = 0; i < 10; ++i)
   {
     moveit::core::RobotState robot_state2(robot_state);
-    EXPECT_TRUE(robot_state.distance(robot_state2) < 1e-12);
-    ss.copyToOMPLState(state, robot_state);
-    robot_state.setToRandomPositions(robot_state.getRobotModel()->getJointModelGroup(ss.getJointModelGroupName()));
+    EXPECT_TRUE(robot_state.distance(robot_state2) < EPSILON);
+    joint_model_state_space.copyToOMPLState(state, robot_state);
+    robot_state.setToRandomPositions(
+        robot_state.getRobotModel()->getJointModelGroup(joint_model_state_space.getJointModelGroupName()));
     std::cout << (robot_state.getGlobalLinkTransform("r_wrist_roll_link").translation() -
                   robot_state2.getGlobalLinkTransform("r_wrist_roll_link").translation())
               << std::endl;
-    EXPECT_TRUE(robot_state.distance(robot_state2) > 1e-12);
-    ss.copyToRobotState(robot_state, state);
+    EXPECT_TRUE(robot_state.distance(robot_state2) > EPSILON);
+    joint_model_state_space.copyToRobotState(robot_state, state);
     std::cout << (robot_state.getGlobalLinkTransform("r_wrist_roll_link").translation() -
                   robot_state2.getGlobalLinkTransform("r_wrist_roll_link").translation())
               << std::endl;
-    EXPECT_TRUE(robot_state.distance(robot_state2) < 1e-12);
+    EXPECT_TRUE(robot_state.distance(robot_state2) < EPSILON);
+  }
+
+  // repeat the above test with a different method to copy the state to OMPL
+  for (int i = 0; i < 10; ++i)
+  {
+    // create two equal states
+    moveit::core::RobotState robot_state2(robot_state);
+    EXPECT_LT(robot_state.distance(robot_state2), EPSILON);
+
+    // copy the first state to OMPL as backup (this is where the 'different' method comes into play)
+    const moveit::core::JointModelGroup* joint_model_group =
+        robot_state.getRobotModel()->getJointModelGroup(joint_model_state_space.getJointModelGroupName());
+    std::vector<std::string> joint_model_names = joint_model_group->getActiveJointModelNames();
+    for (std::size_t joint_index = 0; joint_index < joint_model_group->getVariableCount(); ++joint_index)
+    {
+      const moveit::core::JointModel* joint_model = joint_model_group->getJointModel(joint_model_names[joint_index]);
+      EXPECT_NE(joint_model, nullptr);
+      joint_model_state_space.copyJointToOMPLState(state, robot_state, joint_model, joint_index);
+    }
+
+    // and change the joint values of the moveit state, so it is different that robot_state2
+    robot_state.setToRandomPositions(
+        robot_state.getRobotModel()->getJointModelGroup(joint_model_state_space.getJointModelGroupName()));
+    EXPECT_GT(robot_state.distance(robot_state2), EPSILON);
+
+    // copy the backup values in the OMPL state back to the first state,
+    // and check if it is still equal to the second
+    joint_model_state_space.copyToRobotState(robot_state, state);
+    EXPECT_LT(robot_state.distance(robot_state2), EPSILON);
   }
 
-  ss.freeState(state);
+  joint_model_state_space.freeState(state);
 }
 
 int main(int argc, char** argv)

From 576c39c3d82744917123cab39dda99ba6e272a6d Mon Sep 17 00:00:00 2001
From: tnaka <tnaka@users.noreply.github.com>
Date: Mon, 10 Aug 2020 17:18:18 +0900
Subject: [PATCH 408/612] Add planning_adapters for chomp in setup assistant
 (#2242)

CHOMPPlanner doesn't fill velocity, acc or time.
We need AddTimeParameterization at least to use this planner with
ros_control.
---
 .../launch/chomp_planning_pipeline.launch.xml         | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
index 1f83008b8d..c9eb4e24c8 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
@@ -2,8 +2,19 @@
    <!-- CHOMP Plugin for MoveIt -->
    <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
    <arg name="start_state_max_bounds_error" value="0.1" />
+   <!-- The request adapters (plugins) used when planning.
+        ORDER MATTERS -->
+   <arg name="planning_adapters"
+        value="default_planner_request_adapters/AddTimeParameterization
+               default_planner_request_adapters/ResolveConstraintFrames
+               default_planner_request_adapters/FixWorkspaceBounds
+               default_planner_request_adapters/FixStartStateBounds
+               default_planner_request_adapters/FixStartStateCollision
+               default_planner_request_adapters/FixStartStatePathConstraints"
+               />
 
    <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="request_adapters" value="$(arg planning_adapters)" />
    <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/chomp_planning.yaml" />

From c8b9510420dda68c6b093b36e83f94af25942e73 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 10 Aug 2020 17:41:58 +0200
Subject: [PATCH 409/612] Revert "delay loading of robot model to avoid
 spurious warning"

This reverts commit 4e72ac5f96863e7c37a47706645c6634d7672f7b
as the delayed loading results in link properties NOT being loaded.
---
 .../robot_state_display.h                     |  1 -
 .../src/robot_state_display.cpp               | 20 +++++--------------
 .../trajectory_display.h                      |  1 -
 .../src/trajectory_display.cpp                | 11 +++-------
 4 files changed, 8 insertions(+), 25 deletions(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index f8f308190f..f2116748e7 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -129,7 +129,6 @@ private Q_SLOTS:
   moveit::core::RobotStatePtr robot_state_;
   std::map<std::string, std_msgs::ColorRGBA> highlights_;
   bool update_state_;
-  bool load_robot_model_;  // for delayed robot initialization
 
   rviz::StringProperty* robot_description_property_;
   rviz::StringProperty* root_link_name_property_;
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 20dd6f1f93..65acc44d52 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -63,7 +63,7 @@ namespace moveit_rviz_plugin
 // ******************************************************************************************
 // Base class contructor
 // ******************************************************************************************
-RobotStateDisplay::RobotStateDisplay() : Display(), update_state_(false), load_robot_model_(false)
+RobotStateDisplay::RobotStateDisplay() : Display(), update_state_(false)
 {
   robot_description_property_ = new rviz::StringProperty(
       "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
@@ -122,8 +122,8 @@ void RobotStateDisplay::reset()
   robot_->clear();
   rdf_loader_.reset();
   Display::reset();
-
-  loadRobotModel();
+  if (isEnabled())
+    onEnable();
 }
 
 void RobotStateDisplay::changedAllLinks()
@@ -373,7 +373,6 @@ void RobotStateDisplay::unsetLinkColor(rviz::Robot* robot, const std::string& li
 // ******************************************************************************************
 void RobotStateDisplay::loadRobotModel()
 {
-  load_robot_model_ = false;
   if (!rdf_loader_)
     rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
 
@@ -403,7 +402,8 @@ void RobotStateDisplay::loadRobotModel()
 void RobotStateDisplay::onEnable()
 {
   Display::onEnable();
-  load_robot_model_ = true;  // allow loading of robot model in update()
+  loadRobotModel();
+  changedRobotStateTopic();
   calculateOffsetPosition();
 }
 
@@ -421,16 +421,6 @@ void RobotStateDisplay::onDisable()
 void RobotStateDisplay::update(float wall_dt, float ros_dt)
 {
   Display::update(wall_dt, ros_dt);
-
-  if (load_robot_model_)
-  {
-    loadRobotModel();
-    // The following call to changedRobotStateTopic() should not change visibility
-    bool visible = robot_->isVisible();
-    changedRobotStateTopic();
-    robot_->setVisible(visible);
-  }
-
   calculateOffsetPosition();
   if (robot_ && update_state_ && robot_state_)
   {
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
index e0cbf22da6..e0338c3c49 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
@@ -88,7 +88,6 @@ private Q_SLOTS:
   rdf_loader::RDFLoaderPtr rdf_loader_;
   moveit::core::RobotModelConstPtr robot_model_;
   moveit::core::RobotStatePtr robot_state_;
-  bool load_robot_model_;  // for delayed robot initialization
 
   // Properties
   rviz::StringProperty* robot_description_property_;
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index 2128e624e6..c1a6a26062 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -41,7 +41,7 @@
 
 namespace moveit_rviz_plugin
 {
-TrajectoryDisplay::TrajectoryDisplay() : Display(), load_robot_model_(false)
+TrajectoryDisplay::TrajectoryDisplay() : Display()
 {
   // The robot description property is only needed when using the trajectory playback standalone (not within motion
   // planning plugin)
@@ -63,7 +63,6 @@ void TrajectoryDisplay::onInitialize()
 
 void TrajectoryDisplay::loadRobotModel()
 {
-  load_robot_model_ = false;
   rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
 
   if (!rdf_loader_->getURDF())
@@ -80,7 +79,6 @@ void TrajectoryDisplay::loadRobotModel()
 
   // Send to child class
   trajectory_visual_->onRobotModelLoaded(robot_model_);
-  trajectory_visual_->onEnable();
 }
 
 void TrajectoryDisplay::reset()
@@ -93,7 +91,8 @@ void TrajectoryDisplay::reset()
 void TrajectoryDisplay::onEnable()
 {
   Display::onEnable();
-  load_robot_model_ = true;  // allow loading of robot model in update()
+  loadRobotModel();
+  trajectory_visual_->onEnable();
 }
 
 void TrajectoryDisplay::onDisable()
@@ -105,10 +104,6 @@ void TrajectoryDisplay::onDisable()
 void TrajectoryDisplay::update(float wall_dt, float ros_dt)
 {
   Display::update(wall_dt, ros_dt);
-
-  if (load_robot_model_)
-    loadRobotModel();
-
   trajectory_visual_->update(wall_dt, ros_dt);
 }
 

From bf5dfea2cec60bbbd15101df18bc3235f3adb6f3 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Wed, 5 Aug 2020 21:29:04 +0200
Subject: [PATCH 410/612] RViz RS & Traj display: ensure robot_description is
 available onEnable

This is a (in my opinion) rather dirty workaround because RViz
enables Displays systematically *before* loading their properties.

So the patch loads the required property a second time *before* everything else.

Assuming this ever changes we can remove this code again.

A Display's "enabled" state is encoded in a boolean property the Display inherits from.
The way loading works (recursively running through the properties)
this special property is loaded first and triggers onEnable because
of the Property's changed() signal.

A second "Enabled" property exists in RViz's Displays but does not change behavior at all.
---
 .../moveit/robot_state_rviz_plugin/robot_state_display.h  | 1 +
 .../robot_state_rviz_plugin/src/robot_state_display.cpp   | 8 ++++++++
 .../moveit/trajectory_rviz_plugin/trajectory_display.h    | 1 +
 .../trajectory_rviz_plugin/src/trajectory_display.cpp     | 8 ++++++++
 4 files changed, 18 insertions(+)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index f2116748e7..8fded5f6b5 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -67,6 +67,7 @@ class RobotStateDisplay : public rviz::Display
   RobotStateDisplay();
   ~RobotStateDisplay() override;
 
+  void load(const rviz::Config& config) override;
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 65acc44d52..08cdec38a7 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -399,6 +399,14 @@ void RobotStateDisplay::loadRobotModel()
   highlights_.clear();
 }
 
+void RobotStateDisplay::load(const rviz::Config& config)
+{
+  // This property needs to be loaded in onEnable() below, which is triggered
+  // in the beginning of Display::load() before the other property would be available
+  robot_description_property_->load(config.mapGetChild("Robot Description"));
+  Display::load(config);
+}
+
 void RobotStateDisplay::onEnable()
 {
   Display::onEnable();
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
index e0338c3c49..a2de42443d 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h
@@ -65,6 +65,7 @@ class TrajectoryDisplay : public rviz::Display
 
   void loadRobotModel();
 
+  void load(const rviz::Config& config) override;
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index c1a6a26062..0de807b760 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -88,6 +88,14 @@ void TrajectoryDisplay::reset()
   trajectory_visual_->reset();
 }
 
+void TrajectoryDisplay::load(const rviz::Config& config)
+{
+  // This property needs to be loaded in onEnable() below, which is triggered
+  // in the beginning of Display::load() before the other property would be available
+  robot_description_property_->load(config.mapGetChild("Robot Description"));
+  Display::load(config);
+}
+
 void TrajectoryDisplay::onEnable()
 {
   Display::onEnable();

From 1a6c0b40ed9eeae5625234d0cfb4837ca07f645e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 10 Aug 2020 18:23:43 +0200
Subject: [PATCH 411/612] Only loadRobotModel() if not yet done

---
 .../robot_state_rviz_plugin/src/robot_state_display.cpp     | 6 +++---
 .../trajectory_rviz_plugin/src/trajectory_display.cpp       | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 08cdec38a7..a32363ef19 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -373,8 +373,7 @@ void RobotStateDisplay::unsetLinkColor(rviz::Robot* robot, const std::string& li
 // ******************************************************************************************
 void RobotStateDisplay::loadRobotModel()
 {
-  if (!rdf_loader_)
-    rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
+  rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
 
   if (rdf_loader_->getURDF())
   {
@@ -410,7 +409,8 @@ void RobotStateDisplay::load(const rviz::Config& config)
 void RobotStateDisplay::onEnable()
 {
   Display::onEnable();
-  loadRobotModel();
+  if (!rdf_loader_)
+    loadRobotModel();
   changedRobotStateTopic();
   calculateOffsetPosition();
 }
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index 0de807b760..74cb68ade4 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -99,7 +99,8 @@ void TrajectoryDisplay::load(const rviz::Config& config)
 void TrajectoryDisplay::onEnable()
 {
   Display::onEnable();
-  loadRobotModel();
+  if (!rdf_loader_)
+    loadRobotModel();
   trajectory_visual_->onEnable();
 }
 

From 4d0b3ec985493118a0aae6338bfac052403f6821 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 30 Jun 2020 15:59:18 +0200
Subject: [PATCH 412/612] reorder and group clang-format options

---
 .clang-format | 66 ++++++++++++++++++++++++++++-----------------------
 1 file changed, 36 insertions(+), 30 deletions(-)

diff --git a/.clang-format b/.clang-format
index bef3326796..81b58439e0 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,66 +1,72 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
+
+PenaltyExcessCharacter: 1000
 PenaltyBreakBeforeFirstCallParameter: 19
 PenaltyBreakComment: 60
-PenaltyBreakString: 100
 PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
+PenaltyBreakString: 100
 PenaltyReturnTypeOnItsOwnLine: 70
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
+BraceWrapping:
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...

From 45d0b7ef356c12abd75471c868cf1894c6b71a93 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 30 Jun 2020 16:04:33 +0200
Subject: [PATCH 413/612] add new config options

---
 .clang-format | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.clang-format b/.clang-format
index 81b58439e0..afc14cd19b 100644
--- a/.clang-format
+++ b/.clang-format
@@ -23,9 +23,11 @@ ExperimentalAutoDetectBinPacking: false
 ObjCSpaceBeforeProtocolList: true
 Cpp11BracedListStyle: false
 
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
 
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
@@ -59,6 +61,7 @@ BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping:
+    AfterCaseLabel: true
     AfterClass: true
     AfterControlStatement: true
     AfterEnum: true

From 56c4fe10064cec269d91421bf1a12915ce61ab5b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 30 Jun 2020 16:27:51 +0200
Subject: [PATCH 414/612] Tweak penalties

Allow some excess characters per line if that improves readability.
---
 .clang-format | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.clang-format b/.clang-format
index afc14cd19b..9a6ec509a4 100644
--- a/.clang-format
+++ b/.clang-format
@@ -40,12 +40,12 @@ ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
 
-PenaltyExcessCharacter: 1000
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
 PenaltyBreakString: 100
-PenaltyReturnTypeOnItsOwnLine: 70
+PenaltyReturnTypeOnItsOwnLine: 50
 
 SpacesBeforeTrailingComments: 2
 SpacesInParentheses: false

From 81ba724069d3d26b412d015832cbddf73b19413e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 11 Aug 2020 08:31:34 +0200
Subject: [PATCH 415/612] Switch docker image to clang-format-10

---
 .docker/ci/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index 830c8abd09..01021fea58 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -30,7 +30,7 @@ RUN \
         sudo \
         # Preferred build tools
         python-catkin-tools \
-        clang clang-format-3.9 clang-tidy clang-tools \
+        clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
     # Download all dependencies of MoveIt

From 70e0f83ae3f6a45eac601872602661f5cbc6ff46 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 11 Aug 2020 10:00:37 +0200
Subject: [PATCH 416/612] Run clang-format on Noetic image (with
 clang-format-10 installed)

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index e8665fb8ff..2830818ac4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,7 +22,7 @@ env:
 jobs:
   fast_finish: true
   include:
-    - env: TEST="clang-format catkin_lint"
+    - env: TEST="clang-format catkin_lint" ROS_DISTRO=noetic
     - env: TEST=code-coverage
     - env: ROS_DISTRO=noetic
     - env: ROS_DISTRO=melodic

From f69a324617a14dc5f90b897d8bf6ae9c995960fd Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 11 Aug 2020 08:34:28 +0200
Subject: [PATCH 417/612] apply changes

---
 .../collision_detector_allocator_allvalid.h   |   4 +-
 .../src/collision_matrix.cpp                  |   3 +-
 .../src/collision_tools.cpp                   |   3 +-
 .../bullet_discrete_bvh_manager.h             |   2 +-
 .../bullet_integration/bullet_utils.h         |  20 +--
 .../contact_checker_common.h                  |   8 +-
 .../bullet_integration/ros_bullet_utils.h     |   8 +-
 .../collision_detector_allocator_bullet.h     |   2 +-
 .../collision_detector_bullet_plugin_loader.h |   2 +-
 .../bullet_integration/bullet_bvh_manager.cpp |   6 +-
 .../bullet_cast_bvh_manager.cpp               |   9 +-
 .../bullet_discrete_bvh_manager.cpp           |  10 +-
 .../src/bullet_integration/bullet_utils.cpp   |   5 +-
 ...ollision_detector_bullet_plugin_loader.cpp |   2 +-
 .../src/collision_env_bullet.cpp              |   9 +-
 .../collision_common.h                        |  26 +--
 .../collision_detector_allocator_fcl.h        |   4 +-
 .../collision_detector_fcl_plugin_loader.h    |   2 +-
 .../collision_env_fcl.h                       |  40 ++---
 .../collision_detection_fcl/fcl_compat.h      |   2 +-
 .../src/collision_common.cpp                  |  43 +++--
 .../collision_detector_fcl_plugin_loader.cpp  |   2 +-
 ...lision_detector_allocator_distance_field.h |   4 +-
 .../collision_detector_allocator_hybrid.h     |   4 +-
 .../src/collision_env_distance_field.cpp      |  27 +--
 .../test/test_collision_distance_field.cpp    |  64 +++----
 .../src/constraint_sampler_manager.cpp        |  38 +++--
 .../constraint_samplers/test/pr2_arm_ik.cpp   |  12 +-
 .../test/pr2_arm_kinematics_plugin.h          |   8 +-
 .../moveit/distance_field/distance_field.h    |  28 +--
 .../test/test_distance_field.cpp              |  26 +--
 .../kinematic_constraint.h                    |   6 +-
 .../moveit/kinematic_constraints/utils.h      |   3 +-
 .../src/kinematic_constraint.cpp              |  47 +++---
 .../moveit/kinematics_base/kinematics_base.h  |   4 +-
 .../kinematics_base/src/kinematics_base.cpp   |   5 +-
 .../kinematics_metrics/kinematics_metrics.h   |  22 +--
 .../planning_interface/planning_request.h     |   2 +-
 .../moveit/planning_scene/planning_scene.h    |  12 +-
 .../planning_scene/src/planning_scene.cpp     |  38 +++--
 .../include/moveit/profiler/profiler.h        |   4 +-
 moveit_core/profiler/src/profiler.cpp         |   2 +-
 .../include/moveit/robot_model/aabb.h         |  66 ++++----
 .../moveit/robot_model/fixed_joint_model.h    |  64 +++----
 .../moveit/robot_model/floating_joint_model.h |  64 +++----
 .../moveit/robot_model/joint_model_group.h    |  66 ++++----
 .../include/moveit/robot_model/link_model.h   |  64 +++----
 .../moveit/robot_model/planar_joint_model.h   |  64 +++----
 .../robot_model/prismatic_joint_model.h       |  64 +++----
 .../moveit/robot_model/revolute_joint_model.h |  64 +++----
 .../include/moveit/robot_model/robot_model.h  |   3 +-
 moveit_core/robot_model/src/aabb.cpp          |  64 +++----
 .../robot_model/src/fixed_joint_model.cpp     |  64 +++----
 .../robot_model/src/floating_joint_model.cpp  |  66 ++++----
 moveit_core/robot_model/src/joint_model.cpp   |  66 ++++----
 .../robot_model/src/joint_model_group.cpp     | 101 +++++------
 moveit_core/robot_model/src/link_model.cpp    |  67 ++++----
 .../robot_model/src/planar_joint_model.cpp    |  66 ++++----
 .../robot_model/src/prismatic_joint_model.cpp |  64 +++----
 .../robot_model/src/revolute_joint_model.cpp  |  76 ++++-----
 moveit_core/robot_model/src/robot_model.cpp   |  22 ++-
 moveit_core/robot_model/test/test.cpp         |  64 +++----
 .../moveit/robot_state/attached_body.h        |  64 +++----
 .../robot_state/cartesian_interpolator.h      |  68 ++++----
 .../include/moveit/robot_state/conversions.h  |  64 +++----
 .../include/moveit/robot_state/robot_state.h  |  72 ++++----
 moveit_core/robot_state/src/attached_body.cpp |  67 ++++----
 .../src/cartesian_interpolator.cpp            |  78 ++++-----
 moveit_core/robot_state/src/conversions.cpp   |  81 ++++-----
 moveit_core/robot_state/src/robot_state.cpp   |  85 +++++-----
 .../test/robot_state_benchmark.cpp            |  64 +++----
 .../robot_state/test/robot_state_test.cpp     |  64 +++----
 moveit_core/robot_state/test/test_aabb.cpp    |  64 +++----
 .../test/test_cartesian_interpolator.cpp      |  64 +++----
 .../test/test_kinematic_complex.cpp           |  64 +++----
 .../robot_trajectory/src/robot_trajectory.cpp |   3 +-
 .../test/test_robot_trajectory.cpp            |  68 ++++----
 .../trajectory_processing/trajectory_tools.h  |   2 +-
 .../src/iterative_spline_parameterization.cpp |   6 +-
 .../time_optimal_trajectory_generation.cpp    |  10 +-
 .../utils/include/moveit/utils/xmlrpc_casts.h |   3 +-
 .../utils/src/robot_model_test_utils.cpp      |   3 +-
 .../collision_distance_field_ros_helpers.h    |   2 +-
 .../collision_robot_distance_field_ros.h      |   2 +-
 .../hybrid_collision_robot_ros.h              |   2 +-
 .../kinematics_cache/kinematics_cache.h       |  72 ++++----
 .../kinematics_cache/src/kinematics_cache.cpp |  72 ++++----
 .../kinematics_cache_ros.h                    |  72 ++++----
 .../v1/kinematics_cache_ros/src/example.cpp   |  70 ++++----
 .../src/kinematics_cache_ros.cpp              |  72 ++++----
 .../kinematics_cache/kinematics_cache.h       |  72 ++++----
 .../kinematics_cache/src/kinematics_cache.cpp |  72 ++++----
 .../kinematics_constraint_aware.h             |  72 ++++----
 .../kinematics_request_response.h             |  72 ++++----
 .../src/kinematics_constraint_aware.cpp       |  75 ++++-----
 .../cached_ik_kinematics_plugin.h             |   2 +-
 .../detail/NearestNeighborsGNAT.h             |   8 +-
 .../src/cached_ik_kinematics_plugin.cpp       |  10 +-
 .../templates/ikfast.h                        |   2 +-
 .../ikfast61_moveit_plugin_template.cpp       |  34 ++--
 .../kdl_kinematics_plugin.h                   |   8 +-
 .../src/kdl_kinematics_plugin.cpp             |  12 +-
 .../lma_kinematics_plugin.h                   |   8 +-
 .../src/lma_kinematics_plugin.cpp             |   4 +-
 .../srv_kinematics_plugin.h                   |   8 +-
 .../src/srv_kinematics_plugin.cpp             |   4 +-
 .../chomp_interface/chomp_planning_context.h  |   3 +-
 .../src/chomp_planner.cpp                     |   8 +-
 .../src/chomp_trajectory.cpp                  |   3 +-
 .../src/chomp_optimizer_adapter.cpp           |   3 +-
 .../OMPLDynamicReconfigureConfig.h            |   2 +-
 .../detail/constrained_goal_sampler.h         |  64 +++----
 .../detail/constrained_sampler.h              |  64 +++----
 .../detail/constrained_valid_state_sampler.h  |  64 +++----
 .../detail/constraint_approximations.h        |  66 ++++----
 .../detail/constraints_library.h              |  64 +++----
 .../moveit/ompl_interface/detail/goal_union.h |  64 +++----
 .../detail/projection_evaluators.h            |  64 +++----
 .../detail/state_validity_checker.h           |  64 +++----
 .../detail/threadsafe_state_storage.h         |  64 +++----
 .../model_based_planning_context.h            |  64 +++----
 .../moveit/ompl_interface/ompl_interface.h    |  64 +++----
 .../joint_model_state_space_factory.h         |  64 +++----
 .../work_space/pose_model_state_space.h       |  64 +++----
 .../pose_model_state_space_factory.h          |  64 +++----
 .../ompl_interface/planning_context_manager.h |  64 +++----
 .../src/detail/constraints_library.cpp        |  38 +++--
 .../src/model_based_planning_context.cpp      |  28 +--
 .../ompl_interface/src/ompl_interface.cpp     |  10 +-
 .../joint_space/joint_model_state_space.cpp   |  64 +++----
 .../joint_model_state_space_factory.cpp       |  64 +++----
 .../model_based_state_space.cpp               |   8 +-
 .../model_based_state_space_factory.cpp       |  64 +++----
 .../src/planning_context_manager.cpp          |  10 +-
 .../include/sbpl_interface/bfs3d/BFS_3D.h     |   2 +-
 .../sbpl_interface/environment_chain3d.h      |   2 +-
 .../environment_chain3d_types.h               |   2 +-
 .../include/sbpl_interface/sbpl_interface.h   |   2 +-
 .../sbpl_interface/sbpl_meta_interface.h      |   2 +-
 .../include/sbpl_interface/sbpl_params.h      |   2 +-
 .../core/sbpl_interface/src/bfs3d/BFS_3D.cpp  |   2 +-
 .../core/sbpl_interface/src/bfs3d/Search.cpp  |   2 +-
 .../core/sbpl_interface/src/bresenham.cpp     |  64 +++----
 .../src/environment_chain3d.cpp               |  66 ++++----
 .../sbpl_interface/src/sbpl_interface.cpp     |   2 +-
 .../src/sbpl_meta_interface.cpp               |   2 +-
 .../src/sbpl_meta_plugin.cpp                  |   2 +-
 .../sbpl_interface_ros/src/sbpl_plugin.cpp    |   2 +-
 .../trajopt_interface/trajopt_interface.h     |   2 +-
 .../trajopt/src/problem_description.cpp       |   8 +-
 .../src/moveit_fake_controller_manager.cpp    |   4 +-
 .../src/controller_manager_plugin.cpp         |   3 +-
 ...ollow_joint_trajectory_controller_handle.h |   2 +-
 ...low_joint_trajectory_controller_handle.cpp |   5 +-
 .../src/moveit_simple_controller_manager.cpp  |  12 +-
 .../benchmarks/src/benchmark_execution.cpp    |  32 ++--
 .../moveit/benchmarks/BenchmarkExecutor.h     |  67 ++++----
 .../moveit/benchmarks/BenchmarkOptions.h      |  64 +++----
 .../benchmarks/src/BenchmarkExecutor.cpp      |  68 ++++----
 .../benchmarks/src/BenchmarkOptions.cpp       |  64 +++----
 moveit_ros/benchmarks/src/RunBenchmark.cpp    |  64 +++----
 .../CombinePredefinedPosesBenchmark.cpp       |  64 +++----
 .../capability_names.h                        |   2 +-
 .../src/pick_place_action_capability.cpp      |   7 +-
 .../src/pick_place_action_capability.h        |   3 +-
 .../moveit/pick_place/manipulation_pipeline.h |  64 +++----
 .../include/moveit/pick_place/pick_place.h    |  64 +++----
 .../moveit/pick_place/pick_place_params.h     |  64 +++----
 .../pick_place/src/manipulation_pipeline.cpp  |  68 ++++----
 .../manipulation/pick_place/src/place.cpp     |   4 +-
 .../pick_place/src/plan_stage.cpp             |  10 +-
 .../moveit/move_group/move_group_context.h    |   2 +-
 .../cartesian_path_service_capability.cpp     |   5 +-
 .../get_planning_scene_service_capability.h   |   2 +-
 .../kinematics_service_capability.cpp         |   7 +-
 .../include/moveit_servo/collision_check.h    |   2 +-
 .../moveit_servo/joint_state_subscriber.h     |   2 +-
 .../include/moveit_servo/low_pass_filter.h    |   2 +-
 .../moveit_servo/make_shared_from_pool.h      |   2 +-
 .../moveit_servo/include/moveit_servo/servo.h |   2 +-
 .../include/moveit_servo/servo_calcs.h        |   6 +-
 .../include/moveit_servo/servo_parameters.h   |   2 +-
 .../include/moveit_servo/status_codes.h       |   2 +-
 .../moveit_servo/src/collision_check.cpp      |  13 +-
 .../cpp_interface_example.cpp                 |   2 +-
 .../src/joint_state_subscriber.cpp            |   2 +-
 .../moveit_servo/src/low_pass_filter.cpp      |  15 +-
 moveit_ros/moveit_servo/src/servo.cpp         |   2 +-
 moveit_ros/moveit_servo/src/servo_calcs.cpp   |  33 ++--
 moveit_ros/moveit_servo/src/servo_server.cpp  |   2 +-
 .../src/teleop_examples/spacenav_to_twist.cpp |   2 +-
 .../src/occupancy_map_monitor.cpp             |   3 +-
 .../src/depth_image_octomap_updater.cpp       |   6 +-
 .../src/updater_plugin.cpp                    |   3 +-
 .../src/lazy_free_space_updater.cpp           |   7 +-
 .../moveit/mesh_filter/transform_provider.h   |   2 +-
 .../mesh_filter/src/mesh_filter.cpp           |   5 +-
 .../mesh_filter/src/mesh_filter_base.cpp      |   3 +-
 .../src/shape_mask.cpp                        |   3 +-
 .../src/pointcloud_octomap_updater.cpp        |   6 +-
 .../src/constraint_sampler_manager_loader.cpp |   5 +-
 .../src/kinematics_plugin_loader.cpp          |  10 +-
 .../plan_execution/src/plan_execution.cpp     |   9 +-
 ...re_collision_speed_checking_fcl_bullet.cpp |  18 +-
 .../src/fix_start_state_bounds.cpp            |   4 +-
 .../src/fix_start_state_collision.cpp         |   4 +-
 .../current_state_monitor.h                   |   2 +-
 .../planning_scene_monitor.h                  |   4 +-
 .../src/planning_scene_monitor.cpp            |   3 +-
 .../src/robot_model_loader.cpp                |   7 +-
 .../trajectory_execution_manager.h            |   3 +-
 .../src/trajectory_execution_manager.cpp      |  19 ++-
 .../common_objects.h                          |   4 +-
 .../src/move_group_interface.cpp              |   4 +-
 .../src/wrap_python_move_group.cpp            |  12 +-
 .../src/planning_scene_interface.cpp          |   3 +-
 .../moveit/py_bindings_tools/serialize_msg.h  |   4 +-
 .../test/move_group_interface_cpp_test.cpp    |  66 ++++----
 .../test/move_group_pick_place_test.cpp       |  66 ++++----
 .../test/subframes_test.cpp                   |  66 ++++----
 .../moveit/robot_interaction/interaction.h    |   2 +-
 .../interactive_marker_helpers.h              |   5 +-
 .../src/interactive_marker_helpers.cpp        |   5 +-
 .../src/robot_interaction.cpp                 |  17 +-
 .../motion_planning_frame.h                   |   2 +-
 .../motion_planning_frame_joints_widget.h     |   2 +-
 .../motion_planning_param_widget.h            |   2 +-
 .../src/motion_planning_display.cpp           |  27 +--
 .../src/motion_planning_frame.cpp             |   3 +-
 .../src/motion_planning_frame_context.cpp     |   5 +-
 .../src/motion_planning_frame_objects.cpp     |  20 ++-
 .../src/motion_planning_frame_planning.cpp    |   6 +-
 .../src/motion_planning_frame_scenes.cpp      |  20 ++-
 .../src/motion_planning_frame_states.cpp      |   8 +-
 .../src/planning_scene_display.cpp            |  48 +++---
 .../robot_state_display.h                     |   2 +-
 .../src/robot_state_display.cpp               |  18 +-
 .../rviz_plugin_render_tools/render_shapes.h  |   2 +-
 .../src/trajectory_visualization.cpp          |  32 ++--
 .../src/trajectory_display.cpp                |   7 +-
 .../moveit/warehouse/constraints_storage.h    |   3 +-
 .../warehouse/warehouse/src/broadcast.cpp     |   9 +-
 .../warehouse/src/initialize_demo_db.cpp      |   7 +-
 .../warehouse/src/moveit_message_storage.cpp  |   3 +-
 .../warehouse/src/planning_scene_storage.cpp  |   5 +-
 .../warehouse/warehouse/src/save_as_text.cpp  |   7 +-
 .../warehouse/src/save_to_warehouse.cpp       |   7 +-
 .../src/trajectory_constraints_storage.cpp    |   3 +-
 .../src/tools/collision_linear_model.cpp      |   2 +-
 .../src/tools/moveit_config_data.cpp          | 159 +++++++++++-------
 .../widgets/configuration_files_widget.cpp    |  38 +++--
 .../src/widgets/default_collisions_widget.cpp |   7 +-
 .../src/widgets/default_collisions_widget.h   |   4 +-
 .../src/widgets/end_effectors_widget.cpp      |  12 +-
 .../src/widgets/group_edit_widget.cpp         |  12 +-
 .../src/widgets/passive_joints_widget.cpp     |   8 +-
 .../src/widgets/perception_widget.cpp         |   3 +-
 .../src/widgets/planning_groups_widget.cpp    |  45 ++---
 .../src/widgets/robot_poses_widget.cpp        |  18 +-
 .../src/widgets/ros_controllers_widget.cpp    |   3 +-
 .../src/widgets/setup_assistant_widget.h      |   2 +-
 .../src/widgets/simulation_widget.cpp         |  10 +-
 .../src/widgets/start_screen_widget.cpp       |  34 ++--
 .../src/widgets/virtual_joints_widget.cpp     |   8 +-
 .../test/moveit_config_data_test.cpp          |  64 +++----
 265 files changed, 3508 insertions(+), 3450 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
index 7782670035..fdc9aec03b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
@@ -43,9 +43,9 @@ namespace collision_detection
 {
 /** \brief An allocator for AllValid collision detectors */
 class CollisionDetectorAllocatorAllValid
-    : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:
   static const std::string NAME;  // defined in collision_env_allvalid.cpp
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection/src/collision_matrix.cpp b/moveit_core/collision_detection/src/collision_matrix.cpp
index 74a0c9543f..05ea5b66ba 100644
--- a/moveit_core/collision_detection/src/collision_matrix.cpp
+++ b/moveit_core/collision_detection/src/collision_matrix.cpp
@@ -183,8 +183,7 @@ void AllowedCollisionMatrix::removeEntry(const std::string& name1, const std::st
   }
 }
 
-void AllowedCollisionMatrix::setEntry(const std::string& name, const std::vector<std::string>& other_names,
-                                      bool allowed)
+void AllowedCollisionMatrix::setEntry(const std::string& name, const std::vector<std::string>& other_names, bool allowed)
 {
   for (const auto& other_name : other_names)
     if (other_name != name)
diff --git a/moveit_core/collision_detection/src/collision_tools.cpp b/moveit_core/collision_detection/src/collision_tools.cpp
index d1ba1f4b39..8071c6ddfa 100644
--- a/moveit_core/collision_detection/src/collision_tools.cpp
+++ b/moveit_core/collision_detection/src/collision_tools.cpp
@@ -168,8 +168,7 @@ void intersectCostSources(std::set<CostSource>& cost_sources, const std::set<Cos
       tmp.aabb_max[1] = std::min(source_a.aabb_max[1], source_b.aabb_max[1]);
       tmp.aabb_max[2] = std::min(source_a.aabb_max[2], source_b.aabb_max[2]);
 
-      if (tmp.aabb_min[0] >= tmp.aabb_max[0] || tmp.aabb_min[1] >= tmp.aabb_max[1] ||
-          tmp.aabb_min[2] >= tmp.aabb_max[2])
+      if (tmp.aabb_min[0] >= tmp.aabb_max[0] || tmp.aabb_min[1] >= tmp.aabb_max[1] || tmp.aabb_min[2] >= tmp.aabb_max[2])
         continue;
       tmp.cost = std::max(source_a.cost, source_b.cost);
       cost_sources.insert(tmp);
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
index ec1a451814..d749d5c209 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h
@@ -65,7 +65,7 @@ class BulletDiscreteBVHManager : public BulletBVHManager
                    const collision_detection::AllowedCollisionMatrix* acm, bool self) override;
 
   /**@brief Add a bullet collision object to the manager
-  *  @param cow The bullet collision object */
+   *  @param cow The bullet collision object */
   void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
 };
 }  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
index 252f8c3e51..26ed9e5928 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -82,15 +82,15 @@ inline bool acmCheck(const std::string& body_1, const std::string& body_2,
     }
     else
     {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No entry in ACM found, collision check between "
-                                                               << body_1 << " and " << body_2);
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                             "No entry in ACM found, collision check between " << body_1 << " and " << body_2);
       return false;
     }
   }
   else
   {
-    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "No ACM, collision check between " << body_1 << " and "
-                                                                                            << body_2);
+    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                           "No ACM, collision check between " << body_1 << " and " << body_2);
     return false;
   }
 }
@@ -717,8 +717,8 @@ class TesseractCollisionPairCallback : public btOverlapCallback
     std::pair<std::string, std::string> pair_names{ cow0->getName(), cow1->getName() };
     if (results_callback_.needsCollision(cow0, cow1))
     {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Processing " << cow0->getName() << " vs "
-                                                                         << cow1->getName());
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                             "Processing " << cow0->getName() << " vs " << cow1->getName());
       btCollisionObjectWrapper obj0_wrap(nullptr, cow0->getCollisionShape(), cow0, cow0->getWorldTransform(), -1, -1);
       btCollisionObjectWrapper obj1_wrap(nullptr, cow1->getCollisionShape(), cow1, cow1->getWorldTransform(), -1, -1);
 
@@ -740,8 +740,8 @@ class TesseractCollisionPairCallback : public btOverlapCallback
     }
     else
     {
-      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Not processing " << cow0->getName() << " vs "
-                                                                             << cow1->getName());
+      ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                             "Not processing " << cow0->getName() << " vs " << cow1->getName());
     }
     return false;
   }
@@ -961,8 +961,8 @@ struct BroadphaseFilterCallback : public btOverlapFilterCallback
       if (cow0->m_touch_links == cow1->m_touch_links)
         return false;
 
-    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Broadphase pass " << cow0->getName() << " vs "
-                                                                            << cow1->getName());
+    ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                           "Broadphase pass " << cow0->getName() << " vs " << cow1->getName());
     return true;
   }
 };
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
index d6e2861398..c77afce1b0 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h
@@ -53,8 +53,8 @@ inline bool isLinkActive(const std::vector<std::string>& active, const std::stri
 }
 
 /** \brief Stores a single contact result in the requested way.
-*   \param found Indicates if a contact for this pair of objects has already been found
-*   \return Pointer to the newly inserted contact */
+ *   \param found Indicates if a contact for this pair of objects has already been found
+ *   \return Pointer to the newly inserted contact */
 inline collision_detection::Contact* processResult(ContactTestData& cdata, collision_detection::Contact& contact,
                                                    const std::pair<std::string, std::string>& key, bool found)
 {
@@ -67,8 +67,8 @@ inline collision_detection::Contact* processResult(ContactTestData& cdata, colli
     }
   }
 
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Contact btw " << key.first << " and " << key.second
-                                                                      << " dist: " << contact.depth);
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                         "Contact btw " << key.first << " and " << key.second << " dist: " << contact.depth);
   // case if pair hasn't a contact yet
   if (!found)
   {
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
index 7eb2e43f5a..d518c09169 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h
@@ -31,10 +31,10 @@
 namespace collision_detection_bullet
 {
 /** \brief Recursively traverses robot from root to get all active links
-*
-*   \param active_links Stores the active links
-*   \param urdf_link The current urdf link representation
-*   \param active Indicates if link is considered active */
+ *
+ *   \param active_links Stores the active links
+ *   \param urdf_link The current urdf link representation
+ *   \param active Indicates if link is considered active */
 static inline void getActiveLinkNamesRecursive(std::vector<std::string>& active_links,
                                                const urdf::LinkConstSharedPtr& urdf_link, bool active)
 {
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
index fec946f357..8b3c11057e 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
@@ -43,7 +43,7 @@ namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
 class CollisionDetectorAllocatorBullet
-    : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
 {
 public:
   static const std::string NAME;  // defined in collision_env_bullet.cpp
diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
index 46c28ae63c..e8612f08fe 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
@@ -46,4 +46,4 @@ class CollisionDetectorBtPluginLoader : public CollisionPlugin
 public:
   bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
index 800fe90fd0..c59d8de93e 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp
@@ -41,9 +41,9 @@ BulletBVHManager::BulletBVHManager()
 {
   dispatcher_.reset(new btCollisionDispatcher(&coll_config_));
 
-  dispatcher_->registerCollisionCreateFunc(
-      BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
-      coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE));
+  dispatcher_->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE,
+                                           coll_config_.getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,
+                                                                                        CONVEX_SHAPE_PROXYTYPE));
 
   dispatcher_->setDispatcherFlags(dispatcher_->getDispatcherFlags() &
                                   ~btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD);
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
index e047be3324..64e9df962c 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp
@@ -117,9 +117,8 @@ void BulletCastBVHManager::setCastCollisionObjectsTransform(const std::string& n
       }
       else
       {
-        ROS_ERROR_NAMED(
-            "collision_detection.bullet",
-            "I can only continuous collision check convex shapes and compound shapes made of convex shapes");
+        ROS_ERROR_NAMED("collision_detection.bullet", "I can only continuous collision check convex shapes and "
+                                                      "compound shapes made of convex shapes");
         throw std::runtime_error(
             "I can only continuous collision check convex shapes and compound shapes made of convex shapes");
       }
@@ -138,8 +137,8 @@ void BulletCastBVHManager::contactTest(collision_detection::CollisionResult& col
   broadphase_->calculateOverlappingPairs(dispatcher_.get());
   btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
 
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Number overlapping candidates "
-                                                           << pair_cache->getNumOverlappingPairs());
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                         "Number overlapping candidates " << pair_cache->getNumOverlappingPairs());
 
   BroadphaseContactResultCallback cc(cdata, contact_distance_, acm, false, true);
   TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
index 68eda45091..df78daba46 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_discrete_bvh_manager.cpp
@@ -66,16 +66,16 @@ void BulletDiscreteBVHManager::contactTest(collision_detection::CollisionResult&
   broadphase_->calculateOverlappingPairs(dispatcher_.get());
   btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
 
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", "Num overlapping candidates "
-                                                           << pair_cache->getNumOverlappingPairs());
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet",
+                         "Num overlapping candidates " << pair_cache->getNumOverlappingPairs());
 
   BroadphaseContactResultCallback cc(cdata, contact_distance_, acm, self);
   TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
   pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
 
-  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", (collisions.collision ? "In" : "No") << " collision with "
-                                                                                            << collisions.contact_count
-                                                                                            << " collisions");
+  ROS_DEBUG_STREAM_NAMED("collision_detection.bullet", (collisions.collision ? "In" : "No")
+                                                           << " collision with " << collisions.contact_count
+                                                           << " collisions");
 }
 
 void BulletDiscreteBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
index 2617787cb4..2f2b771964 100644
--- a/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
+++ b/moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp
@@ -272,8 +272,9 @@ CollisionObjectWrapper::CollisionObjectWrapper(const std::string& name, const co
   , m_shape_poses(shape_poses)
   , m_collision_object_types(collision_object_types)
 {
-  if (shapes.empty() || shape_poses.empty() || (shapes.size() != shape_poses.size() || collision_object_types.empty() ||
-                                                shapes.size() != collision_object_types.size()))
+  if (shapes.empty() || shape_poses.empty() ||
+      (shapes.size() != shape_poses.size() || collision_object_types.empty() ||
+       shapes.size() != collision_object_types.size()))
   {
     throw std::exception();
   }
diff --git a/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp b/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
index 8279cf6d0d..2caee9406e 100644
--- a/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp
@@ -44,6 +44,6 @@ bool CollisionDetectorBtPluginLoader::initialize(const planning_scene::PlanningS
   scene->setActiveCollisionDetector(CollisionDetectorAllocatorBullet::create(), exclusive);
   return true;
 }
-}
+}  // namespace collision_detection
 
 PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorBtPluginLoader, collision_detection::CollisionPlugin)
diff --git a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
index 079943d03b..a9f2b57757 100644
--- a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
@@ -312,9 +312,8 @@ void CollisionEnvBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Ac
   }
 }
 
-void CollisionEnvBullet::addAttachedOjects(
-    const moveit::core::RobotState& state,
-    std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
+void CollisionEnvBullet::addAttachedOjects(const moveit::core::RobotState& state,
+                                           std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
 {
   std::vector<const moveit::core::AttachedBody*> attached_bodies;
   state.getAttachedBodies(attached_bodies);
@@ -335,8 +334,8 @@ void CollisionEnvBullet::addAttachedOjects(
     }
     catch (std::exception&)
     {
-      ROS_ERROR_STREAM_NAMED("collision_detetction.bullet", "Not adding " << body->getName()
-                                                                          << " due to bad arguments.");
+      ROS_ERROR_STREAM_NAMED("collision_detetction.bullet",
+                             "Not adding " << body->getName() << " due to bad arguments.");
     }
   }
 }
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 5ed83d7490..62db457a55 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -226,7 +226,7 @@ struct FCLGeometry
   }
 
   /** \brief Updates the \e collision_geometry_data_ with new data while also setting the \e collision_geometry_ to the
-  *   new data. */
+   *   new data. */
   template <typename T>
   void updateCollisionGeometryData(const T* data, int shape_index, bool newType)
   {
@@ -269,21 +269,21 @@ struct FCLManager
 };
 
 /** \brief Callback function used by the FCLManager used for each pair of collision objects to
-*   calculate object contact information.
-*
-*   \param o1 First FCL collision object
-*   \param o2 Second FCL collision object
-*   \data General pointer to arbitrary data which is used during the callback
-*   \return True terminates the distance check, false continues it to the next pair of objects */
+ *   calculate object contact information.
+ *
+ *   \param o1 First FCL collision object
+ *   \param o2 Second FCL collision object
+ *   \data General pointer to arbitrary data which is used during the callback
+ *   \return True terminates the distance check, false continues it to the next pair of objects */
 bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data);
 
 /** \brief Callback function used by the FCLManager used for each pair of collision objects to
-*   calculate collisions and distances.
-*
-*   \param o1 First FCL collision object
-*   \param o2 Second FCL collision object
-*   \data General pointer to arbitrary data which is used during the callback
-*   \return True terminates the collision check, false continues it to the next pair of objects */
+ *   calculate collisions and distances.
+ *
+ *   \param o1 First FCL collision object
+ *   \param o2 Second FCL collision object
+ *   \data General pointer to arbitrary data which is used during the callback
+ *   \return True terminates the collision check, false continues it to the next pair of objects */
 bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data, double& min_dist);
 
 /** \brief Create new FCLGeometry object out of robot link model. */
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
index 88bcfcddae..fde03c4cb5 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
@@ -43,9 +43,9 @@ namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
 class CollisionDetectorAllocatorFCL
-    : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:
   static const std::string NAME;  // defined in collision_env_fcl.cpp
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
index c18d059178..307130939c 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -46,4 +46,4 @@ class CollisionDetectorFCLPluginLoader : public CollisionPlugin
 public:
   bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
index 278071b3ce..c3e81354c3 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
@@ -92,12 +92,12 @@ class CollisionEnvFCL : public CollisionEnv
 
 protected:
   /** \brief Updates the FCL collision geometry and objects saved in the CollisionRobotFCL members to reflect a new
-  *   padding or scaling of the robot links.
-  *
-  *   It searches for the link through the pointed-to robot model of the CollisionRobot and then constructs new FCL
-  *   collision objects and geometries depending on the changed robot model.
-  *
-  *   \param links The names of the links which have been updated in the robot model */
+   *   padding or scaling of the robot links.
+   *
+   *   It searches for the link through the pointed-to robot model of the CollisionRobot and then constructs new FCL
+   *   collision objects and geometries depending on the changed robot model.
+   *
+   *   \param links The names of the links which have been updated in the robot model */
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
   /** \brief Bundles the different checkSelfCollision functions into a single function */
@@ -117,26 +117,26 @@ class CollisionEnvFCL : public CollisionEnv
   void updateFCLObject(const std::string& id);
 
   /** \brief Out of the current robot state and its attached bodies construct an FCLObject which can then be used to
-  *   check for collision.
-  *
-  *   The current state is used to recalculate the AABB of the FCL collision objects. However they are not computed from
-  *   scratch (which would require call to computeLocalAABB()) but are only transformed according to the joint states.
-  *
-  *   \param state The current robot state
-  *   \param fcl_obj The newly filled object */
+   *   check for collision.
+   *
+   *   The current state is used to recalculate the AABB of the FCL collision objects. However they are not computed from
+   *   scratch (which would require call to computeLocalAABB()) but are only transformed according to the joint states.
+   *
+   *   \param state The current robot state
+   *   \param fcl_obj The newly filled object */
   void constructFCLObjectRobot(const moveit::core::RobotState& state, FCLObject& fcl_obj) const;
 
   /** \brief Prepares for the collision check through constructing an FCL collision object out of the current robot
-  *   state and specifying a broadphase collision manager of FCL where the constructed object is registered to. */
+   *   state and specifying a broadphase collision manager of FCL where the constructed object is registered to. */
   void allocSelfCollisionBroadPhase(const moveit::core::RobotState& state, FCLManager& manager) const;
 
   /** \brief Converts all shapes which make up an atttached body into a vector of FCLGeometryConstPtr.
-  *
-  *   When they are converted, they can be added to the FCL representation of the robot for collision checking.
-  *
-  *   \param ab Pointer to the attached body
-  *   \param geoms Output vector of geometries
-  */
+   *
+   *   When they are converted, they can be added to the FCL representation of the robot for collision checking.
+   *
+   *   \param ab Pointer to the attached body
+   *   \param geoms Output vector of geometries
+   */
   void getAttachedBodyObjects(const moveit::core::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
 
   /** \brief Vector of shared pointers to the FCL geometry for the objects in fcl_objs_. */
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
index 7c0cc3334f..6d5c774a87 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/fcl_compat.h
@@ -80,7 +80,7 @@ namespace details
 struct sse_meta_f4;
 template <typename T>
 struct Vec3Data;
-}
+}  // namespace details
 template <typename T>
 class Vec3fX;
 #if FCL_HAVE_SSE
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 30aa876374..bc136f28f7 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -96,10 +96,11 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
       {
         always_allow_collision = true;
         if (cdata->req_->verbose)
-          ROS_DEBUG_NAMED(
-              "collision_detection.fcl", "Collision between '%s' (type '%s') and '%s' (type '%s') is always allowed. "
-                                         "No contacts are computed.",
-              cd1->getID().c_str(), cd1->getTypeString().c_str(), cd2->getID().c_str(), cd2->getTypeString().c_str());
+          ROS_DEBUG_NAMED("collision_detection.fcl",
+                          "Collision between '%s' (type '%s') and '%s' (type '%s') is always allowed. "
+                          "No contacts are computed.",
+                          cd1->getID().c_str(), cd1->getTypeString().c_str(), cd2->getID().c_str(),
+                          cd2->getTypeString().c_str());
       }
       else if (type == AllowedCollision::CONDITIONAL)
       {
@@ -179,8 +180,9 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
     std::size_t num_max_cost_sources = cdata->req_->max_cost_sources;
     bool enable_contact = true;
     fcl::CollisionResultd col_result;
-    int num_contacts = fcl::collide(o1, o2, fcl::CollisionRequestd(std::numeric_limits<size_t>::max(), enable_contact,
-                                                                   num_max_cost_sources, enable_cost),
+    int num_contacts = fcl::collide(o1, o2,
+                                    fcl::CollisionRequestd(std::numeric_limits<size_t>::max(), enable_contact,
+                                                           num_max_cost_sources, enable_cost),
                                     col_result);
     if (num_contacts > 0)
     {
@@ -211,8 +213,9 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
                              cd1->getID().c_str(), cd2->getID().c_str());
           }
           else if (cdata->req_->verbose)
-            ROS_INFO_NAMED("collision_detection.fcl", "Found unacceptable contact between '%s' (type '%s') and '%s' "
-                                                      "(type '%s'). Contact was stored.",
+            ROS_INFO_NAMED("collision_detection.fcl",
+                           "Found unacceptable contact between '%s' (type '%s') and '%s' "
+                           "(type '%s'). Contact was stored.",
                            cd1->getID().c_str(), cd1->getTypeString().c_str(), cd2->getID().c_str(),
                            cd2->getTypeString().c_str());
           cdata->res_->collision = true;
@@ -247,9 +250,10 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
       bool enable_contact = true;
 
       fcl::CollisionResultd col_result;
-      int num_contacts = fcl::collide(
-          o1, o2, fcl::CollisionRequestd(want_contact_count, enable_contact, num_max_cost_sources, enable_cost),
-          col_result);
+      int num_contacts =
+          fcl::collide(o1, o2,
+                       fcl::CollisionRequestd(want_contact_count, enable_contact, num_max_cost_sources, enable_cost),
+                       col_result);
       if (num_contacts > 0)
       {
         int num_contacts_initial = num_contacts;
@@ -264,8 +268,9 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
         }
 
         if (cdata->req_->verbose)
-          ROS_INFO_NAMED("collision_detection.fcl", "Found %d contacts between '%s' (type '%s') and '%s' (type '%s'), "
-                                                    "which constitute a collision. %d contacts will be stored",
+          ROS_INFO_NAMED("collision_detection.fcl",
+                         "Found %d contacts between '%s' (type '%s') and '%s' (type '%s'), "
+                         "which constitute a collision. %d contacts will be stored",
                          num_contacts_initial, cd1->getID().c_str(), cd1->getTypeString().c_str(), cd2->getID().c_str(),
                          cd2->getTypeString().c_str(), num_contacts);
 
@@ -309,9 +314,10 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
       {
         cdata->res_->collision = true;
         if (cdata->req_->verbose)
-          ROS_INFO_NAMED("collision_detection.fcl", "Found a contact between '%s' (type '%s') and '%s' (type '%s'), "
-                                                    "which constitutes a collision. "
-                                                    "Contact information is not stored.",
+          ROS_INFO_NAMED("collision_detection.fcl",
+                         "Found a contact between '%s' (type '%s') and '%s' (type '%s'), "
+                         "which constitutes a collision. "
+                         "Contact information is not stored.",
                          cd1->getID().c_str(), cd1->getTypeString().c_str(), cd2->getID().c_str(),
                          cd2->getTypeString().c_str());
       }
@@ -348,8 +354,9 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
   {
     cdata->done_ = cdata->req_->is_done(*cdata->res_);
     if (cdata->done_ && cdata->req_->verbose)
-      ROS_INFO_NAMED("collision_detection.fcl", "Collision checking is considered complete due to external callback. "
-                                                "%s was found. %u contacts are stored.",
+      ROS_INFO_NAMED("collision_detection.fcl",
+                     "Collision checking is considered complete due to external callback. "
+                     "%s was found. %u contacts are stored.",
                      cdata->res_->collision ? "Collision" : "No collision", (unsigned int)cdata->res_->contact_count);
   }
 
diff --git a/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp b/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
index f397a7ae94..9e3fbdf39a 100644
--- a/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
@@ -44,6 +44,6 @@ bool CollisionDetectorFCLPluginLoader::initialize(const planning_scene::Planning
   scene->setActiveCollisionDetector(CollisionDetectorAllocatorFCL::create(), exclusive);
   return true;
 }
-}
+}  // namespace collision_detection
 
 PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorFCLPluginLoader, collision_detection::CollisionPlugin)
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
index b699170892..188be97465 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_distance_field.h
@@ -43,9 +43,9 @@ namespace collision_detection
 {
 /** \brief An allocator for Distance Field collision detectors */
 class CollisionDetectorAllocatorDistanceField
-    : public CollisionDetectorAllocatorTemplate<CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField>
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField>
 {
 public:
   static const std::string NAME;  // defined in collision_env_distance_field.cpp
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
index efce4d7b11..0e35ad38ae 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
@@ -43,9 +43,9 @@ namespace collision_detection
 {
 /** \brief An allocator for Hybrid collision detectors */
 class CollisionDetectorAllocatorHybrid
-    : public CollisionDetectorAllocatorTemplate<CollisionEnvHybrid, CollisionDetectorAllocatorHybrid>
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvHybrid, CollisionDetectorAllocatorHybrid>
 {
 public:
   static const std::string NAME;  // defined in collision_env_hybrid.cpp
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
index d65dd91342..1340a8299e 100644
--- a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
+++ b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -288,9 +288,10 @@ bool CollisionEnvDistanceField::getSelfCollisions(const collision_detection::Col
     if (req.contacts)
     {
       std::vector<unsigned int> colls;
-      bool coll = getCollisionSphereCollision(
-          gsr->dfce_->distance_field_.get(), *collision_spheres_1, *sphere_centers_1, max_propogation_distance_,
-          collision_tolerance_, std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
+      bool coll =
+          getCollisionSphereCollision(gsr->dfce_->distance_field_.get(), *collision_spheres_1, *sphere_centers_1,
+                                      max_propogation_distance_, collision_tolerance_,
+                                      std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
       if (coll)
       {
         res.collision = true;
@@ -817,8 +818,7 @@ DistanceFieldCacheEntryPtr CollisionEnvDistanceField::generateDistanceFieldCache
           //           << " num " << attached_bodies[j]->getTouchLinks().size()
           //           << std::endl;
           // touch links take priority
-          if (link_attached_bodies[j]->getTouchLinks().find(link_name) !=
-              link_attached_bodies[j]->getTouchLinks().end())
+          if (link_attached_bodies[j]->getTouchLinks().find(link_name) != link_attached_bodies[j]->getTouchLinks().end())
           {
             dfce->intra_group_collision_enabled_[i][att_count + dfce->link_names_.size()] = false;
             // std::cerr << "Setting intra group for " << link_name << " and
@@ -1082,8 +1082,8 @@ void CollisionEnvDistanceField::addLinkBodyDecompositions(
   ROS_DEBUG_STREAM(__FUNCTION__ << " Finished ");
 }
 
-PosedBodySphereDecompositionPtr CollisionEnvDistanceField::getPosedLinkBodySphereDecomposition(
-    const moveit::core::LinkModel* ls, unsigned int ind) const
+PosedBodySphereDecompositionPtr
+CollisionEnvDistanceField::getPosedLinkBodySphereDecomposition(const moveit::core::LinkModel* ls, unsigned int ind) const
 {
   PosedBodySphereDecompositionPtr ret;
   ret.reset(new PosedBodySphereDecomposition(link_body_decomposition_vector_[ind]));
@@ -1566,9 +1566,9 @@ void CollisionEnvDistanceField::getAllCollisions(const CollisionRequest& req, Co
   (const_cast<CollisionEnvDistanceField*>(this))->last_gsr_ = gsr;
 }
 
-bool CollisionEnvDistanceField::getEnvironmentCollisions(
-    const CollisionRequest& req, CollisionResult& res, const distance_field::DistanceFieldConstPtr& env_distance_field,
-    GroupStateRepresentationPtr& gsr) const
+bool CollisionEnvDistanceField::getEnvironmentCollisions(const CollisionRequest& req, CollisionResult& res,
+                                                         const distance_field::DistanceFieldConstPtr& env_distance_field,
+                                                         GroupStateRepresentationPtr& gsr) const
 {
   for (unsigned int i = 0; i < gsr->dfce_->link_names_.size() + gsr->dfce_->attached_body_names_.size(); i++)
   {
@@ -1597,9 +1597,10 @@ bool CollisionEnvDistanceField::getEnvironmentCollisions(
     if (req.contacts)
     {
       std::vector<unsigned int> colls;
-      bool coll = getCollisionSphereCollision(
-          env_distance_field.get(), *collision_spheres_1, *sphere_centers_1, max_propogation_distance_,
-          collision_tolerance_, std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
+      bool coll =
+          getCollisionSphereCollision(env_distance_field.get(), *collision_spheres_1, *sphere_centers_1,
+                                      max_propogation_distance_, collision_tolerance_,
+                                      std::min(req.max_contacts_per_pair, req.max_contacts - res.contact_count), colls);
       if (coll)
       {
         res.collision = true;
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
index 56b0bc553c..55908d27c3 100644
--- a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
+++ b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /** \author E. Gil Jones */
 
diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
index 5b82d70ecf..f444d35054 100644
--- a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
+++ b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
@@ -70,8 +70,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
   // if there are joint constraints, we could possibly get a sampler from those
   if (!constr.joint_constraints.empty())
   {
-    ROS_DEBUG_NAMED("constraint_samplers", "There are joint constraints specified. "
-                                           "Attempting to construct a JointConstraintSampler for group '%s'",
+    ROS_DEBUG_NAMED("constraint_samplers",
+                    "There are joint constraints specified. "
+                    "Attempting to construct a JointConstraintSampler for group '%s'",
                     jmg->getName().c_str());
 
     std::map<std::string, bool> joint_coverage;
@@ -142,8 +143,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
   // should be used
   if (ik_alloc)
   {
-    ROS_DEBUG_NAMED("constraint_samplers", "There is an IK allocator for '%s'. "
-                                           "Checking for corresponding position and/or orientation constraints",
+    ROS_DEBUG_NAMED("constraint_samplers",
+                    "There is an IK allocator for '%s'. "
+                    "Checking for corresponding position and/or orientation constraints",
                     jmg->getName().c_str());
 
     // keep track of which links we constrained
@@ -177,8 +179,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
               {
                 // assign the link to a new constraint sampler
                 used_l[constr.position_constraints[p].link_name] = iks;
-                ROS_DEBUG_NAMED("constraint_samplers", "Allocated an IK-based sampler for group '%s' "
-                                                       "satisfying position and orientation constraints on link '%s'",
+                ROS_DEBUG_NAMED("constraint_samplers",
+                                "Allocated an IK-based sampler for group '%s' "
+                                "satisfying position and orientation constraints on link '%s'",
                                 jmg->getName().c_str(), constr.position_constraints[p].link_name.c_str());
               }
             }
@@ -209,8 +212,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
           if (use)
           {
             used_l[position_constraint.link_name] = iks;
-            ROS_DEBUG_NAMED("constraint_samplers", "Allocated an IK-based sampler for group '%s' "
-                                                   "satisfying position constraints on link '%s'",
+            ROS_DEBUG_NAMED("constraint_samplers",
+                            "Allocated an IK-based sampler for group '%s' "
+                            "satisfying position constraints on link '%s'",
                             jmg->getName().c_str(), position_constraint.link_name.c_str());
           }
         }
@@ -238,8 +242,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
           if (use)
           {
             used_l[orientation_constraint.link_name] = iks;
-            ROS_DEBUG_NAMED("constraint_samplers", "Allocated an IK-based sampler for group '%s' "
-                                                   "satisfying orientation constraints on link '%s'",
+            ROS_DEBUG_NAMED("constraint_samplers",
+                            "Allocated an IK-based sampler for group '%s' "
+                            "satisfying orientation constraints on link '%s'",
                             jmg->getName().c_str(), orientation_constraint.link_name.c_str());
           }
         }
@@ -264,8 +269,7 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
       // find the sampler with the smallest sampling volume; delete the rest
       IKConstraintSamplerPtr iks = used_l.begin()->second;
       double msv = iks->getSamplingVolume();
-      for (std::map<std::string, IKConstraintSamplerPtr>::const_iterator it = ++used_l.begin(); it != used_l.end();
-           ++it)
+      for (std::map<std::string, IKConstraintSamplerPtr>::const_iterator it = ++used_l.begin(); it != used_l.end(); ++it)
       {
         double v = it->second->getSamplingVolume();
         if (v < msv)
@@ -290,8 +294,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
   // we now check to see if we can use samplers from subgroups
   if (!ik_subgroup_alloc.empty())
   {
-    ROS_DEBUG_NAMED("constraint_samplers", "There are IK allocators for subgroups of group '%s'. "
-                                           "Checking for corresponding position and/or orientation constraints",
+    ROS_DEBUG_NAMED("constraint_samplers",
+                    "There are IK allocators for subgroups of group '%s'. "
+                    "Checking for corresponding position and/or orientation constraints",
                     jmg->getName().c_str());
 
     bool some_sampler_valid = false;
@@ -326,8 +331,9 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
         ConstraintSamplerPtr cs = selectDefaultSampler(scene, it->first->getName(), sub_constr);
         if (cs)
         {
-          ROS_DEBUG_NAMED("constraint_samplers", "Constructed a sampler for the joints corresponding to group '%s', "
-                                                 "but part of group '%s'",
+          ROS_DEBUG_NAMED("constraint_samplers",
+                          "Constructed a sampler for the joints corresponding to group '%s', "
+                          "but part of group '%s'",
                           it->first->getName().c_str(), jmg->getName().c_str());
           some_sampler_valid = true;
           samplers.push_back(cs);
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
index d73fafa9a6..f664f95867 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
@@ -298,11 +298,9 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
 
       at = sint1 * (shoulder_elbow_offset_ - shoulder_wrist_offset_) * sint2 * sint4;
       bt = (-shoulder_elbow_offset_ + shoulder_wrist_offset_) * cost1 * sint4;
-      ct = y -
-           (shoulder_upperarm_offset_ +
-            cost2 * (-shoulder_upperarm_offset_ + shoulder_elbow_offset_ +
-                     (-shoulder_elbow_offset_ + shoulder_wrist_offset_) * cos(t4))) *
-               sint1;
+      ct = y - (shoulder_upperarm_offset_ + cost2 * (-shoulder_upperarm_offset_ + shoulder_elbow_offset_ +
+                                                     (-shoulder_elbow_offset_ + shoulder_wrist_offset_) * cos(t4))) *
+                   sint1;
       if (!solveCosineEqn(at, bt, ct, theta3[0], theta3[1]))
         continue;
 
@@ -731,8 +729,8 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
             std::cout << "t5 " << t5 << std::endl;
             std::cout << "t7 " << t7 << std::endl;
 #endif
-//           if(fabs(sin(t6)*sin(t7)-grhs_local(0,1)) > IK_EPS || fabs(cos(t7)*sin(t6)-grhs_local(0,2)) > IK_EPS)
-//  continue;
+            //           if(fabs(sin(t6)*sin(t7)-grhs_local(0,1)) > IK_EPS || fabs(cos(t7)*sin(t6)-grhs_local(0,2)) > IK_EPS)
+            //  continue;
 
 #ifdef DEBUG
             std::cout << "theta1: " << t1 << std::endl;
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index f03c56525c..8255cfbd12 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -149,10 +149,10 @@ class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
    * @param ik_seed_state an initial guess solution for the inverse kinematics
    * @return True if a valid solution was found, false otherwise
    */
-  bool getPositionIK(
-      const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, std::vector<double>& solution,
-      moveit_msgs::MoveItErrorCodes& error_code,
-      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
+  bool
+  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
+                std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
+                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   /**
    * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index dd36cc111b..19af4573a8 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -74,20 +74,20 @@ enum PlaneVisualizationType
 MOVEIT_CLASS_FORWARD(DistanceField);
 
 /**
-* \brief DistanceField is an abstract base class for computing
-* distances from sets of 3D obstacle points.  The distance assigned to
-* a freespace cell should be the distance to the closest obstacle
-* cell.  Cells that are obstacle cells should either be marked as zero
-* distance, or may have a negative distance if a signed version of the
-* distance field is being used and an obstacle point is internal to an
-* obstacle volume.
-*
-* Inherited classes must contain methods for holding a dense set of 3D
-* voxels as well as methods for computing the required distances.  The
-* distance field parent class doesn't hold the data or have any way to
-* generate distances from that data.
-*
-*/
+ * \brief DistanceField is an abstract base class for computing
+ * distances from sets of 3D obstacle points.  The distance assigned to
+ * a freespace cell should be the distance to the closest obstacle
+ * cell.  Cells that are obstacle cells should either be marked as zero
+ * distance, or may have a negative distance if a signed version of the
+ * distance field is being used and an obstacle point is internal to an
+ * obstacle volume.
+ *
+ * Inherited classes must contain methods for holding a dense set of 3D
+ * voxels as well as methods for computing the required distances.  The
+ * distance field parent class doesn't hold the data or have any way to
+ * generate distances from that data.
+ *
+ */
 class DistanceField
 {
 public:
diff --git a/moveit_core/distance_field/test/test_distance_field.cpp b/moveit_core/distance_field/test/test_distance_field.cpp
index ad4a557a3b..a834b11de2 100644
--- a/moveit_core/distance_field/test/test_distance_field.cpp
+++ b/moveit_core/distance_field/test/test_distance_field.cpp
@@ -412,15 +412,15 @@ TEST(TestPropagationDistanceField, TestAddRemovePoints)
             std::cout << "Grad " << grad.x() << " " << grad.y() << " " << grad.z() << " comp " << comp_x << " "
                       << comp_y << " " << comp_z << std::endl;
           }
-          ASSERT_NEAR(comp_x, POINT1.x(), RESOLUTION) << dist << x << " " << y << " " << z << " " << grad.x() << " "
-                                                      << grad.y() << " " << grad.z() << " " << xscale << " " << yscale
-                                                      << " " << zscale << std::endl;
-          ASSERT_NEAR(comp_y, POINT1.y(), RESOLUTION) << x << " " << y << " " << z << " " << grad.x() << " " << grad.y()
-                                                      << " " << grad.z() << " " << xscale << " " << yscale << " "
-                                                      << zscale << std::endl;
-          ASSERT_NEAR(comp_z, POINT1.z(), RESOLUTION) << x << " " << y << " " << z << " " << grad.x() << " " << grad.y()
-                                                      << " " << grad.z() << " " << xscale << " " << yscale << " "
-                                                      << zscale << std::endl;
+          ASSERT_NEAR(comp_x, POINT1.x(), RESOLUTION)
+              << dist << x << " " << y << " " << z << " " << grad.x() << " " << grad.y() << " " << grad.z() << " "
+              << xscale << " " << yscale << " " << zscale << std::endl;
+          ASSERT_NEAR(comp_y, POINT1.y(), RESOLUTION)
+              << x << " " << y << " " << z << " " << grad.x() << " " << grad.y() << " " << grad.z() << " " << xscale
+              << " " << yscale << " " << zscale << std::endl;
+          ASSERT_NEAR(comp_z, POINT1.z(), RESOLUTION)
+              << x << " " << y << " " << z << " " << grad.x() << " " << grad.y() << " " << grad.z() << " " << xscale
+              << " " << yscale << " " << zscale << std::endl;
         }
       }
     }
@@ -588,10 +588,10 @@ TEST(TestSignedPropagationDistanceField, TestSignedAddRemovePoints)
           EXPECT_EQ(ncell_pos.z(), cell_z);
           EXPECT_EQ(ncell, cell);
 #endif
-          EXPECT_GE(cell->distance_square_, 1) << dist << " " << x << " " << y << " " << z << " " << grad.x() << " "
-                                               << grad.y() << " " << grad.z() << " " << xscale << " " << yscale << " "
-                                               << zscale << " cell " << comp_x << " " << comp_y << " " << comp_z
-                                               << std::endl;
+          EXPECT_GE(cell->distance_square_, 1)
+              << dist << " " << x << " " << y << " " << z << " " << grad.x() << " " << grad.y() << " " << grad.z()
+              << " " << xscale << " " << yscale << " " << zscale << " cell " << comp_x << " " << comp_y << " " << comp_z
+              << std::endl;
         }
       }
     }
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 86fb490d7b..314b1683ce 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -435,9 +435,9 @@ class OrientationConstraint : public KinematicConstraint
   /**
    * \brief The rotation target in the reference frame.
    *
-    * @return The target rotation.
-    *
-    * The returned matrix is always a valid rotation matrix.
+   * @return The target rotation.
+   *
+   * The returned matrix is always a valid rotation matrix.
    */
   const Eigen::Matrix3d& getDesiredRotationMatrix() const
   {
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
index f11a2eb20a..7f25af5a36 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
@@ -63,8 +63,7 @@ namespace kinematic_constraints
  *
  * @return The merged set of constraints
  */
-moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
-                                          const moveit_msgs::Constraints& second);
+moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first, const moveit_msgs::Constraints& second);
 
 /** \brief Check if any constraints were specified */
 [[deprecated("Use moveit/utils/message_checks.h instead")]] bool isEmpty(const moveit_msgs::Constraints& constr);
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 4bad75319c..f6f74656b3 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -107,8 +107,9 @@ bool JointConstraint::configure(const moveit_msgs::JointConstraint& jc)
       }
       else if (joint_model_->getVariableCount() > 1)
       {
-        ROS_ERROR_NAMED("kinematic_constraints", "Joint '%s' has more than one parameter to constrain. "
-                                                 "This type of constraint is not supported.",
+        ROS_ERROR_NAMED("kinematic_constraints",
+                        "Joint '%s' has more than one parameter to constrain. "
+                        "This type of constraint is not supported.",
                         jc.joint_name.c_str());
         joint_model_ = nullptr;
       }
@@ -167,16 +168,18 @@ bool JointConstraint::configure(const moveit_msgs::JointConstraint& jc)
       {
         joint_position_ = bounds.min_position_;
         joint_tolerance_above_ = std::numeric_limits<double>::epsilon();
-        ROS_WARN_NAMED("kinematic_constraints", "Joint %s is constrained to be below the minimum bounds. "
-                                                "Assuming minimum bounds instead.",
+        ROS_WARN_NAMED("kinematic_constraints",
+                       "Joint %s is constrained to be below the minimum bounds. "
+                       "Assuming minimum bounds instead.",
                        jc.joint_name.c_str());
       }
       else if (bounds.max_position_ < joint_position_ - joint_tolerance_below_)
       {
         joint_position_ = bounds.max_position_;
         joint_tolerance_below_ = std::numeric_limits<double>::epsilon();
-        ROS_WARN_NAMED("kinematic_constraints", "Joint %s is constrained to be above the maximum bounds. "
-                                                "Assuming maximum bounds instead.",
+        ROS_WARN_NAMED("kinematic_constraints",
+                       "Joint %s is constrained to be above the maximum bounds. "
+                       "Assuming maximum bounds instead.",
                        jc.joint_name.c_str());
       }
     }
@@ -231,8 +234,9 @@ ConstraintEvaluationResult JointConstraint::decide(const moveit::core::RobotStat
   bool result = dif <= (joint_tolerance_above_ + 2.0 * std::numeric_limits<double>::epsilon()) &&
                 dif >= (-joint_tolerance_below_ - 2.0 * std::numeric_limits<double>::epsilon());
   if (verbose)
-    ROS_INFO_NAMED("kinematic_constraints", "Constraint %s:: Joint name: '%s', actual value: %f, desired value: %f, "
-                                            "tolerance_above: %f, tolerance_below: %f",
+    ROS_INFO_NAMED("kinematic_constraints",
+                   "Constraint %s:: Joint name: '%s', actual value: %f, desired value: %f, "
+                   "tolerance_above: %f, tolerance_below: %f",
                    result ? "satisfied" : "violated", joint_variable_name_.c_str(), current_joint_position,
                    joint_position_, joint_tolerance_above_, joint_tolerance_below_);
   return ConstraintEvaluationResult(result, constraint_weight_ * fabs(dif));
@@ -425,9 +429,10 @@ static inline ConstraintEvaluationResult finishPositionConstraintDecision(const
   double dz = desired.z() - pt.z();
   if (verbose)
   {
-    ROS_INFO_NAMED(
-        "kinematic_constraints", "Position constraint %s on link '%s'. Desired: %f, %f, %f, current: %f, %f, %f",
-        result ? "satisfied" : "violated", name.c_str(), desired.x(), desired.y(), desired.z(), pt.x(), pt.y(), pt.z());
+    ROS_INFO_NAMED("kinematic_constraints",
+                   "Position constraint %s on link '%s'. Desired: %f, %f, %f, current: %f, %f, %f",
+                   result ? "satisfied" : "violated", name.c_str(), desired.x(), desired.y(), desired.z(), pt.x(),
+                   pt.y(), pt.z());
     ROS_INFO_NAMED("kinematic_constraints", "Differences %g %g %g", dx, dy, dz);
   }
   return ConstraintEvaluationResult(result, weight * sqrt(dx * dx + dy * dy + dz * dz));
@@ -508,8 +513,9 @@ bool OrientationConstraint::configure(const moveit_msgs::OrientationConstraint&
   tf2::fromMsg(oc.orientation, q);
   if (fabs(q.norm() - 1.0) > 1e-3)
   {
-    ROS_WARN_NAMED("kinematic_constraints", "Orientation constraint for link '%s' is probably incorrect: %f, %f, %f, "
-                                            "%f. Assuming identity instead.",
+    ROS_WARN_NAMED("kinematic_constraints",
+                   "Orientation constraint for link '%s' is probably incorrect: %f, %f, %f, "
+                   "%f. Assuming identity instead.",
                    oc.link_name.c_str(), oc.orientation.x, oc.orientation.y, oc.orientation.z, oc.orientation.w);
     q = Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0);
   }
@@ -681,8 +687,9 @@ bool VisibilityConstraint::configure(const moveit_msgs::VisibilityConstraint& vc
 
   if (vc.cone_sides < 3)
   {
-    ROS_WARN_NAMED("kinematic_constraints", "The number of sides for the visibility region must be 3 or more. "
-                                            "Assuming 3 sides instead of the specified %d",
+    ROS_WARN_NAMED("kinematic_constraints",
+                   "The number of sides for the visibility region must be 3 or more. "
+                   "Assuming 3 sides instead of the specified %d",
                    vc.cone_sides);
     cone_sides_ = 3;
   }
@@ -964,8 +971,9 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const moveit::core::Robo
       if (max_view_angle_ < ang)
       {
         if (verbose)
-          ROS_INFO_NAMED("kinematic_constraints", "Visibility constraint is violated because the view angle is %lf "
-                                                  "(above the maximum allowed of %lf)",
+          ROS_INFO_NAMED("kinematic_constraints",
+                         "Visibility constraint is violated because the view angle is %lf "
+                         "(above the maximum allowed of %lf)",
                          ang, max_view_angle_);
         return ConstraintEvaluationResult(false, 0.0);
       }
@@ -986,8 +994,9 @@ ConstraintEvaluationResult VisibilityConstraint::decide(const moveit::core::Robo
       if (max_range_angle_ < ang)
       {
         if (verbose)
-          ROS_INFO_NAMED("kinematic_constraints", "Visibility constraint is violated because the range angle is %lf "
-                                                  "(above the maximum allowed of %lf)",
+          ROS_INFO_NAMED("kinematic_constraints",
+                         "Visibility constraint is violated because the range angle is %lf "
+                         "(above the maximum allowed of %lf)",
                          ang, max_range_angle_);
         return ConstraintEvaluationResult(false, 0.0);
       }
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 41267eca70..5f46385b28 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -51,8 +51,8 @@ namespace core
 MOVEIT_CLASS_FORWARD(JointModelGroup)
 MOVEIT_CLASS_FORWARD(RobotState)
 MOVEIT_CLASS_FORWARD(RobotModel)
-}
-}
+}  // namespace core
+}  // namespace moveit
 
 /** @brief API for forward and inverse kinematics */
 namespace kinematics
diff --git a/moveit_core/kinematics_base/src/kinematics_base.cpp b/moveit_core/kinematics_base/src/kinematics_base.cpp
index 5454d3d469..fe26075128 100644
--- a/moveit_core/kinematics_base/src/kinematics_base.cpp
+++ b/moveit_core/kinematics_base/src/kinematics_base.cpp
@@ -120,8 +120,9 @@ bool KinematicsBase::initialize(const moveit::core::RobotModel& robot_model, con
                                 const std::string& base_frame, const std::vector<std::string>& tip_frames,
                                 double search_discretization)
 {
-  ROS_WARN_NAMED(LOGNAME, "IK plugin for group '%s' relies on deprecated API. "
-                          "Please implement initialize(RobotModel, ...).",
+  ROS_WARN_NAMED(LOGNAME,
+                 "IK plugin for group '%s' relies on deprecated API. "
+                 "Please implement initialize(RobotModel, ...).",
                  group_name.c_str());
   return false;
 }
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index 3d2b1e4381..26b584e054 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -139,17 +139,17 @@ class KinematicsMetrics
 
 private:
   /**
- * @brief Defines a multiplier for the manipulabilty
- * = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit *
- * distance_to_higher_limit/(joint_range*joint_range)))
- * where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with
- * finite bounds
- * are considered.
- * Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures.
- * See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis,
- * Ohio State University, 1986, for more details.
- * @return multiplier that is multiplied with every manipulability measure computed here
- */
+   * @brief Defines a multiplier for the manipulabilty
+   * = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit *
+   * distance_to_higher_limit/(joint_range*joint_range)))
+   * where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with
+   * finite bounds
+   * are considered.
+   * Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures.
+   * See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis,
+   * Ohio State University, 1986, for more details.
+   * @return multiplier that is multiplied with every manipulability measure computed here
+   */
   double getJointLimitsPenalty(const moveit::core::RobotState& state,
                                const moveit::core::JointModelGroup* joint_model_group) const;
 
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
index a738f0a0df..62214d71f8 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
@@ -44,4 +44,4 @@ namespace planning_interface
 
 typedef moveit_msgs::MotionPlanRequest MotionPlanRequest;
 
-}  // planning_interface
+}  // namespace planning_interface
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 942cbd3b07..4430d84250 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -72,8 +72,7 @@ typedef boost::function<bool(const moveit::core::RobotState&, bool)> StateFeasib
     The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the
    first state and end at the second state. The third argument indicates
     whether the check should be verbose or not. */
-typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)>
-    MotionFeasibilityFn;
+typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)> MotionFeasibilityFn;
 
 /** \brief A map from object names (e.g., attached bodies, collision objects) to their colors */
 typedef std::map<std::string, std_msgs::ColorRGBA> ObjectColorMap;
@@ -371,8 +370,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a given state is in collision (with the environment or self collision)
       If a group name is specified, collision checking is done for that group only. */
-  bool isStateColliding(const moveit_msgs::RobotState& state, const std::string& group = "",
-                        bool verbose = false) const;
+  bool isStateColliding(const moveit_msgs::RobotState& state, const std::string& group = "", bool verbose = false) const;
 
   /** \brief Check whether the current state is in collision, and if needed, updates the collision transforms of the
    * current state before the computation. */
@@ -482,8 +480,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
                           moveit::core::RobotState& robot_state) const
   {
     robot_state.updateCollisionBodyTransforms();
-    checkSelfCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state),
-                       getAllowedCollisionMatrix());
+    checkSelfCollision(req, res, static_cast<const moveit::core::RobotState&>(robot_state), getAllowedCollisionMatrix());
   }
 
   /** \brief Check whether a specified state (\e robot_state) is in self collision */
@@ -943,8 +940,7 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
 
   /** \brief Check if a message includes any information about a planning scene, or it is just a default, empty message.
    */
-  [[deprecated("Use moveit/utils/message_checks.h instead")]] static bool
-  isEmpty(const moveit_msgs::PlanningScene& msg);
+  [[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::PlanningScene& msg);
 
   /** \brief Check if a message includes any information about a planning scene world, or it is just a default, empty
    * message. */
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 0adb7ad31d..a8a05ccb6f 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -323,8 +323,9 @@ bool PlanningScene::setActiveCollisionDetector(const std::string& collision_dete
   }
   else
   {
-    ROS_ERROR_NAMED(LOGNAME, "Cannot setActiveCollisionDetector to '%s' -- it has been added to PlanningScene. "
-                             "Keeping existing active collision detector '%s'",
+    ROS_ERROR_NAMED(LOGNAME,
+                    "Cannot setActiveCollisionDetector to '%s' -- it has been added to PlanningScene. "
+                    "Keeping existing active collision detector '%s'",
                     collision_detector_name.c_str(), active_collision_->alloc_->getName().c_str());
     return false;
   }
@@ -358,8 +359,9 @@ PlanningScene::getCollisionEnvUnpadded(const std::string& collision_detector_nam
   CollisionDetectorConstIterator it = collision_.find(collision_detector_name);
   if (it == collision_.end())
   {
-    ROS_ERROR_NAMED(LOGNAME, "Could not get CollisionRobotUnpadded named '%s'. "
-                             "Returning active CollisionRobotUnpadded '%s' instead",
+    ROS_ERROR_NAMED(LOGNAME,
+                    "Could not get CollisionRobotUnpadded named '%s'. "
+                    "Returning active CollisionRobotUnpadded '%s' instead",
                     collision_detector_name.c_str(), active_collision_->alloc_->getName().c_str());
     return active_collision_->getCollisionEnvUnpadded();
   }
@@ -1095,8 +1097,9 @@ void PlanningScene::setCurrentState(const moveit_msgs::RobotState& state)
   {
     if (!state.is_diff && state.attached_collision_objects[i].object.operation != moveit_msgs::CollisionObject::ADD)
     {
-      ROS_ERROR_NAMED(LOGNAME, "The specified RobotState is not marked as is_diff. "
-                               "The request to modify the object '%s' is not supported. Object is ignored.",
+      ROS_ERROR_NAMED(LOGNAME,
+                      "The specified RobotState is not marked as is_diff. "
+                      "The request to modify the object '%s' is not supported. Object is ignored.",
                       state.attached_collision_objects[i].object.id.c_str());
       continue;
     }
@@ -1450,8 +1453,9 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         }
         else
         {
-          ROS_ERROR_NAMED(LOGNAME, "Attempting to attach object '%s' to link '%s' but no geometry specified "
-                                   "and such an object does not exist in the collision world",
+          ROS_ERROR_NAMED(LOGNAME,
+                          "Attempting to attach object '%s' to link '%s' but no geometry specified "
+                          "and such an object does not exist in the collision world",
                           object.object.id.c_str(), object.link_name.c_str());
           return false;
         }
@@ -1546,8 +1550,9 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
           ROS_DEBUG_NAMED(LOGNAME, "Removing world object with the same name as newly attached object: '%s'",
                           object.object.id.c_str());
         else
-          ROS_WARN_NAMED(LOGNAME, "You tried to append geometry to an attached object "
-                                  "that is actually a world object ('%s'). World geometry is ignored.",
+          ROS_WARN_NAMED(LOGNAME,
+                         "You tried to append geometry to an attached object "
+                         "that is actually a world object ('%s'). World geometry is ignored.",
                          object.object.id.c_str());
       }
 
@@ -1556,8 +1561,9 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
           !robot_state_->hasAttachedBody(object.object.id))
       {
         if (robot_state_->clearAttachedBody(object.object.id))
-          ROS_DEBUG_NAMED(LOGNAME, "The robot state already had an object named '%s' attached to link '%s'. "
-                                   "The object was replaced.",
+          ROS_DEBUG_NAMED(LOGNAME,
+                          "The robot state already had an object named '%s' attached to link '%s'. "
+                          "The object was replaced.",
                           object.object.id.c_str(), object.link_name.c_str());
 
         robot_state_->attachBody(object.object.id, shapes, poses, object.touch_links, object.link_name,
@@ -1834,8 +1840,9 @@ bool PlanningScene::processCollisionObjectMove(const moveit_msgs::CollisionObjec
     }
     else
     {
-      ROS_ERROR_NAMED(LOGNAME, "Number of supplied poses (%zu) for object '%s' does not match number of shapes (%zu). "
-                               "Not moving.",
+      ROS_ERROR_NAMED(LOGNAME,
+                      "Number of supplied poses (%zu) for object '%s' does not match number of shapes (%zu). "
+                      "Not moving.",
                       new_poses.size(), object.id.c_str(), obj->shapes_.size());
       return false;
     }
@@ -2008,8 +2015,7 @@ bool PlanningScene::isStateColliding(const std::string& group, bool verbose)
     return isStateColliding(getCurrentState(), group, verbose);
 }
 
-bool PlanningScene::isStateColliding(const moveit::core::RobotState& state, const std::string& group,
-                                     bool verbose) const
+bool PlanningScene::isStateColliding(const moveit::core::RobotState& state, const std::string& group, bool verbose) const
 {
   collision_detection::CollisionRequest req;
   req.verbose = verbose;
diff --git a/moveit_core/profiler/include/moveit/profiler/profiler.h b/moveit_core/profiler/include/moveit/profiler/profiler.h
index 1224016d07..3ea38f58fe 100644
--- a/moveit_core/profiler/include/moveit/profiler/profiler.h
+++ b/moveit_core/profiler/include/moveit/profiler/profiler.h
@@ -443,7 +443,7 @@ class Profiler
     return false;
   }
 };
-}
-}
+}  // namespace tools
+}  // namespace moveit
 
 #endif
diff --git a/moveit_core/profiler/src/profiler.cpp b/moveit_core/profiler/src/profiler.cpp
index 50c190c53e..c70e0fb27b 100644
--- a/moveit_core/profiler/src/profiler.cpp
+++ b/moveit_core/profiler/src/profiler.cpp
@@ -120,7 +120,7 @@ inline double to_seconds(const boost::posix_time::time_duration& d)
 {
   return (double)d.total_microseconds() / 1000000.0;
 }
-}
+}  // namespace
 
 void Profiler::status(std::ostream& out, bool merge)
 {
diff --git a/moveit_core/robot_model/include/moveit/robot_model/aabb.h b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
index 997399675e..ce0315fdd2 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/aabb.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/aabb.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Martin Pecka */
 
@@ -49,5 +49,5 @@ class AABB : public Eigen::AlignedBox3d
   /** \brief Extend with a box transformed by the given transform. */
   void extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box);
 };
-}
+}  // namespace core
 }  // namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
index bf80d6a1a1..855cbec6c7 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/fixed_joint_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
index 73cd5b7a6c..0d0e0a60cc 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/floating_joint_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
index e2f1978f94..64ea874bda 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2008-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2008-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index 682e6580ce..0c00369a48 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
index 747cc2c2ff..af71e44f4e 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/planar_joint_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
index c3c5d0ac81..ece60ffe9c 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/prismatic_joint_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
index 6d3b080408..9d70cf0628 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 3018008ea2..434afe842e 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -429,8 +429,7 @@ class RobotModel
       return b;
     if (!b)
       return a;
-    return joint_model_vector_[common_joint_roots_[a->getJointIndex() * joint_model_vector_.size() +
-                                                   b->getJointIndex()]];
+    return joint_model_vector_[common_joint_roots_[a->getJointIndex() * joint_model_vector_.size() + b->getJointIndex()]];
   }
 
   /// A map of known kinematics solvers (associated to their group name)
diff --git a/moveit_core/robot_model/src/aabb.cpp b/moveit_core/robot_model/src/aabb.cpp
index 1b115cfefc..91552b0fa2 100644
--- a/moveit_core/robot_model/src/aabb.cpp
+++ b/moveit_core/robot_model/src/aabb.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Martin Pecka */
 
diff --git a/moveit_core/robot_model/src/fixed_joint_model.cpp b/moveit_core/robot_model/src/fixed_joint_model.cpp
index 2b514b503a..a5c8d288c3 100644
--- a/moveit_core/robot_model/src/fixed_joint_model.cpp
+++ b/moveit_core/robot_model/src/fixed_joint_model.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
index 913d517c98..37d5826ee0 100644
--- a/moveit_core/robot_model/src/floating_joint_model.cpp
+++ b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2008-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2008-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/src/joint_model.cpp b/moveit_core/robot_model/src/joint_model.cpp
index d93cec59cc..323a9e53af 100644
--- a/moveit_core/robot_model/src/joint_model.cpp
+++ b/moveit_core/robot_model/src/joint_model.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2008-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2008-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
index 21998d8880..b9c6685a9c 100644
--- a/moveit_core/robot_model/src/joint_model_group.cpp
+++ b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Dave Coleman */
 
@@ -327,15 +327,16 @@ void JointModelGroup::getVariableRandomPositionsNearBy(random_numbers::RandomNum
 {
   assert(active_joint_bounds.size() == active_joint_model_vector_.size());
   for (std::size_t i = 0; i < active_joint_model_vector_.size(); ++i)
-    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(
-        rng, values + active_joint_model_start_index_[i], *active_joint_bounds[i],
-        near + active_joint_model_start_index_[i], distance);
+    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(rng, values + active_joint_model_start_index_[i],
+                                                                    *active_joint_bounds[i],
+                                                                    near + active_joint_model_start_index_[i],
+                                                                    distance);
   updateMimicJoints(values);
 }
 
-void JointModelGroup::getVariableRandomPositionsNearBy(
-    random_numbers::RandomNumberGenerator& rng, double* values, const JointBoundsVector& active_joint_bounds,
-    const double* near, const std::map<JointModel::JointType, double>& distance_map) const
+void JointModelGroup::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
+                                                       const JointBoundsVector& active_joint_bounds, const double* near,
+                                                       const std::map<JointModel::JointType, double>& distance_map) const
 {
   assert(active_joint_bounds.size() == active_joint_model_vector_.size());
   for (std::size_t i = 0; i < active_joint_model_vector_.size(); ++i)
@@ -347,9 +348,10 @@ void JointModelGroup::getVariableRandomPositionsNearBy(
       distance = iter->second;
     else
       ROS_WARN_NAMED(LOGNAME, "Did not pass in distance for '%s'", active_joint_model_vector_[i]->getName().c_str());
-    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(
-        rng, values + active_joint_model_start_index_[i], *active_joint_bounds[i],
-        near + active_joint_model_start_index_[i], distance);
+    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(rng, values + active_joint_model_start_index_[i],
+                                                                    *active_joint_bounds[i],
+                                                                    near + active_joint_model_start_index_[i],
+                                                                    distance);
   }
   updateMimicJoints(values);
 }
@@ -360,14 +362,14 @@ void JointModelGroup::getVariableRandomPositionsNearBy(random_numbers::RandomNum
 {
   assert(active_joint_bounds.size() == active_joint_model_vector_.size());
   if (distances.size() != active_joint_model_vector_.size())
-    throw Exception("When sampling random values nearby for group '" + name_ +
-                    "', distances vector should be of size " +
+    throw Exception("When sampling random values nearby for group '" + name_ + "', distances vector should be of size " +
                     boost::lexical_cast<std::string>(active_joint_model_vector_.size()) + ", but it is of size " +
                     boost::lexical_cast<std::string>(distances.size()));
   for (std::size_t i = 0; i < active_joint_model_vector_.size(); ++i)
-    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(
-        rng, values + active_joint_model_start_index_[i], *active_joint_bounds[i],
-        near + active_joint_model_start_index_[i], distances[i]);
+    active_joint_model_vector_[i]->getVariableRandomPositionsNearBy(rng, values + active_joint_model_start_index_[i],
+                                                                    *active_joint_bounds[i],
+                                                                    near + active_joint_model_start_index_[i],
+                                                                    distances[i]);
   updateMimicJoints(values);
 }
 
@@ -566,8 +568,9 @@ bool JointModelGroup::computeIKIndexBijection(const std::vector<std::string>& ik
       // skip reported fixed joints
       if (hasJointModel(ik_jname) && getJointModel(ik_jname)->getType() == JointModel::FIXED)
         continue;
-      ROS_ERROR_NAMED(LOGNAME, "IK solver computes joint values for joint '%s' "
-                               "but group '%s' does not contain such a joint.",
+      ROS_ERROR_NAMED(LOGNAME,
+                      "IK solver computes joint values for joint '%s' "
+                      "but group '%s' does not contain such a joint.",
                       ik_jname.c_str(), getName().c_str());
       return false;
     }
diff --git a/moveit_core/robot_model/src/link_model.cpp b/moveit_core/robot_model/src/link_model.cpp
index 76f45e3bb6..f0d8ceb3b6 100644
--- a/moveit_core/robot_model/src/link_model.cpp
+++ b/moveit_core/robot_model/src/link_model.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -73,8 +73,7 @@ void LinkModel::setParentJointModel(const JointModel* joint)
   is_parent_joint_fixed_ = joint->getType() == JointModel::FIXED;
 }
 
-void LinkModel::setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes,
-                            const EigenSTL::vector_Isometry3d& origins)
+void LinkModel::setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Isometry3d& origins)
 {
   shapes_ = shapes;
   collision_origin_transform_ = origins;
diff --git a/moveit_core/robot_model/src/planar_joint_model.cpp b/moveit_core/robot_model/src/planar_joint_model.cpp
index 2727ccd48e..301edd3d65 100644
--- a/moveit_core/robot_model/src/planar_joint_model.cpp
+++ b/moveit_core/robot_model/src/planar_joint_model.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2008-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2008-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/src/prismatic_joint_model.cpp b/moveit_core/robot_model/src/prismatic_joint_model.cpp
index fd5897905e..2f2166edb5 100644
--- a/moveit_core/robot_model/src/prismatic_joint_model.cpp
+++ b/moveit_core/robot_model/src/prismatic_joint_model.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp
index eb59ff8506..f3c066e0ba 100644
--- a/moveit_core/robot_model/src/revolute_joint_model.cpp
+++ b/moveit_core/robot_model/src/revolute_joint_model.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2008-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2008-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -46,15 +46,7 @@ namespace moveit
 namespace core
 {
 RevoluteJointModel::RevoluteJointModel(const std::string& name)
-  : JointModel(name)
-  , axis_(0.0, 0.0, 0.0)
-  , continuous_(false)
-  , x2_(0.0)
-  , y2_(0.0)
-  , z2_(0.0)
-  , xy_(0.0)
-  , xz_(0.0)
-  , yz_(0.0)
+  : JointModel(name), axis_(0.0, 0.0, 0.0), continuous_(false), x2_(0.0), y2_(0.0), z2_(0.0), xy_(0.0), xz_(0.0), yz_(0.0)
 {
   type_ = REVOLUTE;
   variable_names_.push_back(name_);
diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index 68492fb917..b00a1a25e4 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -343,14 +343,16 @@ void RobotModel::buildGroupStates(const srdf::Model& srdf_model)
             for (std::size_t j = 0; j < vn.size(); ++j)
               state[vn[j]] = jt->second[j];
           else
-            ROS_ERROR_NAMED(LOGNAME, "The model for joint '%s' requires %d variable values, "
-                                     "but only %d variable values were supplied in default state '%s' for group '%s'",
+            ROS_ERROR_NAMED(LOGNAME,
+                            "The model for joint '%s' requires %d variable values, "
+                            "but only %d variable values were supplied in default state '%s' for group '%s'",
                             jt->first.c_str(), (int)vn.size(), (int)jt->second.size(), group_state.name_.c_str(),
                             jmg->getName().c_str());
         }
         else
-          ROS_ERROR_NAMED(LOGNAME, "Group state '%s' specifies value for joint '%s', "
-                                   "but that joint is not part of group '%s'",
+          ROS_ERROR_NAMED(LOGNAME,
+                          "Group state '%s' specifies value for joint '%s', "
+                          "but that joint is not part of group '%s'",
                           group_state.name_.c_str(), jt->first.c_str(), jmg->getName().c_str());
       }
       if (!remaining_joints.empty())
@@ -620,8 +622,9 @@ void RobotModel::buildGroupsInfoEndEffectors(const srdf::Model& srdf_model)
                                 eef.parent_group_.c_str(), eef.name_.c_str());
             }
             else
-              ROS_ERROR_NAMED(LOGNAME, "Group '%s' was specified as parent group for end-effector '%s' "
-                                       "but it does not include the parent link '%s'",
+              ROS_ERROR_NAMED(LOGNAME,
+                              "Group '%s' was specified as parent group for end-effector '%s' "
+                              "but it does not include the parent link '%s'",
                               eef.parent_group_.c_str(), eef.name_.c_str(), eef.parent_link_.c_str());
           }
           else
@@ -915,8 +918,9 @@ JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const
     {
       if (virtual_joint.child_link_ != child_link->name)
       {
-        ROS_WARN_NAMED(LOGNAME, "Skipping virtual joint '%s' because its child frame '%s' "
-                                "does not match the URDF frame '%s'",
+        ROS_WARN_NAMED(LOGNAME,
+                       "Skipping virtual joint '%s' because its child frame '%s' "
+                       "does not match the URDF frame '%s'",
                        virtual_joint.name_.c_str(), virtual_joint.child_link_.c_str(), child_link->name.c_str());
       }
       else if (virtual_joint.parent_frame_.empty())
@@ -975,7 +979,7 @@ static inline Eigen::Isometry3d urdfPose2Isometry3d(const urdf::Pose& pose)
   Eigen::Isometry3d af(Eigen::Translation3d(pose.position.x, pose.position.y, pose.position.z) * q);
   return af;
 }
-}
+}  // namespace
 
 LinkModel* RobotModel::constructLinkModel(const urdf::Link* urdf_link)
 {
diff --git a/moveit_core/robot_model/test/test.cpp b/moveit_core/robot_model/test/test.cpp
index 45c56e1c63..e170e3ea60 100644
--- a/moveit_core/robot_model/test/test.cpp
+++ b/moveit_core/robot_model/test/test.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
index e9ed735251..7cd9bd0dce 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/attached_body.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
index 95fa387d4e..2eb2c1aaf1 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
@@ -1,38 +1,38 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  Copyright (c) 2019, PickNik LLC.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  Copyright (c) 2019, PickNik LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Mike Lautman */
 
diff --git a/moveit_core/robot_state/include/moveit/robot_state/conversions.h b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
index 61c45d1bce..51b79b2a0b 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/conversions.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/conversions.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Dave Coleman */
 
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 9048a0d5ce..968509fe4b 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -462,8 +462,7 @@ class RobotState
 
   /** \brief Set the effort of a set of variables. If unknown variable names are specified, an exception is thrown.
       Additionally, \e missing_variables is filled with the names of the variables that are not set. */
-  void setVariableEffort(const std::map<std::string, double>& variable_map,
-                         std::vector<std::string>& missing_variables);
+  void setVariableEffort(const std::map<std::string, double>& variable_map, std::vector<std::string>& missing_variables);
 
   /** \brief Set the effort of a set of variables. If unknown variable names are specified, an exception is thrown. */
   void setVariableEffort(const std::vector<std::string>& variable_names,
@@ -1741,8 +1740,7 @@ class RobotState
   void printStatePositions(std::ostream& out = std::cout) const;
 
   /** \brief Output to console the current state of the robot's joint limits */
-  void printStatePositionsWithJointLimits(const moveit::core::JointModelGroup* jmg,
-                                          std::ostream& out = std::cout) const;
+  void printStatePositionsWithJointLimits(const moveit::core::JointModelGroup* jmg, std::ostream& out = std::cout) const;
 
   void printStateInfo(std::ostream& out = std::cout) const;
 
diff --git a/moveit_core/robot_state/src/attached_body.cpp b/moveit_core/robot_state/src/attached_body.cpp
index ff3fbaa3fb..c5be22ab27 100644
--- a/moveit_core/robot_state/src/attached_body.cpp
+++ b/moveit_core/robot_state/src/attached_body.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -98,8 +98,7 @@ void AttachedBody::computeTransform(const Eigen::Isometry3d& parent_link_global_
     global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];  // valid isometry
 
   // update subframe transforms
-  for (auto global = global_subframe_poses_.begin(), end = global_subframe_poses_.end(),
-            local = subframe_poses_.begin();
+  for (auto global = global_subframe_poses_.begin(), end = global_subframe_poses_.end(), local = subframe_poses_.begin();
        global != end; ++global, ++local)
     global->second = parent_link_global_transform * local->second;  // valid isometry
 }
diff --git a/moveit_core/robot_state/src/cartesian_interpolator.cpp b/moveit_core/robot_state/src/cartesian_interpolator.cpp
index 5431b490af..3dc237d563 100644
--- a/moveit_core/robot_state/src/cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/src/cartesian_interpolator.cpp
@@ -1,38 +1,38 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  Copyright (c) 2019, PickNik LLC.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  Copyright (c) 2019, PickNik LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Sachin Chitta, Acorn Pooley, Mario Prats, Dave Coleman */
 
@@ -236,8 +236,9 @@ double CartesianInterpolator::checkRelativeJointSpaceJump(const JointModelGroup*
 {
   if (traj.size() < MIN_STEPS_FOR_JUMP_THRESH)
   {
-    ROS_WARN_NAMED(LOGNAME, "The computed trajectory is too short to detect jumps in joint-space "
-                            "Need at least %zu steps, only got %zu. Try a lower max_step.",
+    ROS_WARN_NAMED(LOGNAME,
+                   "The computed trajectory is too short to detect jumps in joint-space "
+                   "Need at least %zu steps, only got %zu. Try a lower max_step.",
                    MIN_STEPS_FOR_JUMP_THRESH, traj.size());
   }
 
@@ -292,8 +293,9 @@ double CartesianInterpolator::checkAbsoluteJointSpaceJump(const JointModelGroup*
           joint_threshold = prismatic_threshold;
           break;
         default:
-          ROS_WARN_NAMED(LOGNAME, "Joint %s has not supported type %s. \n"
-                                  "checkAbsoluteJointSpaceJump only supports prismatic and revolute joints.",
+          ROS_WARN_NAMED(LOGNAME,
+                         "Joint %s has not supported type %s. \n"
+                         "checkAbsoluteJointSpaceJump only supports prismatic and revolute joints.",
                          joint->getName().c_str(), joint->getTypeName().c_str());
           continue;
       }
diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
index 6bdcea49c3..1a2722caf1 100644
--- a/moveit_core/robot_state/src/conversions.cpp
+++ b/moveit_core/robot_state/src/conversions.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2011-2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2011-2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Dave Coleman */
 
@@ -101,8 +101,9 @@ static bool _multiDOFJointsToRobotState(const sensor_msgs::MultiDOFJointState& m
       error = true;
 
     if (error)
-      ROS_WARN_NAMED(LOGNAME, "The transform for multi-dof joints was specified in frame '%s' "
-                              "but it was not possible to transform that to frame '%s'",
+      ROS_WARN_NAMED(LOGNAME,
+                     "The transform for multi-dof joints was specified in frame '%s' "
+                     "but it was not possible to transform that to frame '%s'",
                      mjs.header.frame_id.c_str(), state.getRobotModel()->getModelFrame().c_str());
   }
 
@@ -321,8 +322,9 @@ static void _msgToAttachedBody(const Transforms* tf, const moveit_msgs::Attached
             else
             {
               t0.setIdentity();
-              ROS_ERROR_NAMED(LOGNAME, "Cannot properly transform from frame '%s'. "
-                                       "The pose of the attached body may be incorrect",
+              ROS_ERROR_NAMED(LOGNAME,
+                              "Cannot properly transform from frame '%s'. "
+                              "The pose of the attached body may be incorrect",
                               aco.object.header.frame_id.c_str());
             }
           }
@@ -339,8 +341,9 @@ static void _msgToAttachedBody(const Transforms* tf, const moveit_msgs::Attached
         else
         {
           if (state.clearAttachedBody(aco.object.id))
-            ROS_DEBUG_NAMED(LOGNAME, "The robot state already had an object named '%s' attached to link '%s'. "
-                                     "The object was replaced.",
+            ROS_DEBUG_NAMED(LOGNAME,
+                            "The robot state already had an object named '%s' attached to link '%s'. "
+                            "The object was replaced.",
                             aco.object.id.c_str(), aco.link_name.c_str());
           state.attachBody(aco.object.id, shapes, poses, aco.touch_links, aco.link_name, aco.detach_posture,
                            subframe_poses);
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 1c171487d7..010820cdbc 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Ioan A. Sucan
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Ioan A. Sucan
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan, Sachin Chitta, Acorn Pooley, Mario Prats, Dave Coleman */
 
@@ -83,8 +83,7 @@ RobotState::~RobotState()
 
 void RobotState::allocMemory()
 {
-  static_assert((sizeof(Eigen::Isometry3d) / EIGEN_MAX_ALIGN_BYTES) * EIGEN_MAX_ALIGN_BYTES ==
-                    sizeof(Eigen::Isometry3d),
+  static_assert((sizeof(Eigen::Isometry3d) / EIGEN_MAX_ALIGN_BYTES) * EIGEN_MAX_ALIGN_BYTES == sizeof(Eigen::Isometry3d),
                 "sizeof(Eigen::Isometry3d) should be a multiple of EIGEN_MAX_ALIGN_BYTES");
 
   constexpr unsigned int extra_alignment_bytes = EIGEN_MAX_ALIGN_BYTES - 1;
@@ -885,8 +884,7 @@ void RobotState::interpolate(const RobotState& to, double t, RobotState& state)
   state.dirty_link_transforms_ = state.robot_model_->getRootJoint();
 }
 
-void RobotState::interpolate(const RobotState& to, double t, RobotState& state,
-                             const JointModelGroup* joint_group) const
+void RobotState::interpolate(const RobotState& to, double t, RobotState& state, const JointModelGroup* joint_group) const
 {
   const std::vector<const JointModel*>& jm = joint_group->getActiveJointModels();
   for (const JointModel* joint : jm)
@@ -947,8 +945,7 @@ void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bo
     attached_bodies.push_back(it.second);
 }
 
-void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies,
-                                   const JointModelGroup* group) const
+void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const JointModelGroup* group) const
 {
   attached_bodies.clear();
   for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
@@ -1081,8 +1078,9 @@ const Eigen::Isometry3d& RobotState::getFrameInfo(const std::string& frame_id, c
       return IDENTITY_TRANSFORM;
     }
     if (tf.size() > 1)
-      ROS_DEBUG_NAMED(LOGNAME, "There are multiple geometries associated to attached body '%s'. "
-                               "Returning the transform for the first one.",
+      ROS_DEBUG_NAMED(LOGNAME,
+                      "There are multiple geometries associated to attached body '%s'. "
+                      "Returning the transform for the first one.",
                       frame_id.c_str());
     robot_link = jt->second->getAttachedLink();
     frame_found = true;
@@ -1571,8 +1569,9 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is
   std::vector<double> consistency_limits;
   if (consistency_limit_sets.size() > 1)
   {
-    ROS_ERROR_NAMED(LOGNAME, "Invalid number (%zu) of sets of consistency limits for a setFromIK request "
-                             "that is being solved by a single IK solver",
+    ROS_ERROR_NAMED(LOGNAME,
+                    "Invalid number (%zu) of sets of consistency limits for a setFromIK request "
+                    "that is being solved by a single IK solver",
                     consistency_limit_sets.size());
     return false;
   }
diff --git a/moveit_core/robot_state/test/robot_state_benchmark.cpp b/moveit_core/robot_state/test/robot_state_benchmark.cpp
index 871c0cc524..3a1f8a8b48 100644
--- a/moveit_core/robot_state/test/robot_state_benchmark.cpp
+++ b/moveit_core/robot_state/test/robot_state_benchmark.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2018, CITEC Bielefeld
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, CITEC Bielefeld
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Robert Haschke */
 #include <moveit/robot_model/robot_model.h>
diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
index 5c1d4f5559..50b703fdaa 100644
--- a/moveit_core/robot_state/test/robot_state_test.cpp
+++ b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 #include <moveit/robot_model/robot_model.h>
diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
index d41129ef28..8ec7a20eb3 100644
--- a/moveit_core/robot_state/test/test_aabb.cpp
+++ b/moveit_core/robot_state/test/test_aabb.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Martin Pecka */
 
diff --git a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
index 5c84fce441..ca771677de 100644
--- a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2019, PickNik LLC.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Michael Lautman */
 
diff --git a/moveit_core/robot_state/test/test_kinematic_complex.cpp b/moveit_core/robot_state/test/test_kinematic_complex.cpp
index d0db3f5be9..cc8df316bc 100644
--- a/moveit_core/robot_state/test/test_kinematic_complex.cpp
+++ b/moveit_core/robot_state/test/test_kinematic_complex.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
index 4fa428de01..4130f412be 100644
--- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -397,8 +397,7 @@ void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& refe
     moveit::core::RobotStatePtr st(new moveit::core::RobotState(copy));
     if (trajectory.joint_trajectory.points.size() > i)
     {
-      st->setVariablePositions(trajectory.joint_trajectory.joint_names,
-                               trajectory.joint_trajectory.points[i].positions);
+      st->setVariablePositions(trajectory.joint_trajectory.joint_names, trajectory.joint_trajectory.points[i].positions);
       if (!trajectory.joint_trajectory.points[i].velocities.empty())
         st->setVariableVelocities(trajectory.joint_trajectory.joint_names,
                                   trajectory.joint_trajectory.points[i].velocities);
diff --git a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
index 208b16e813..092c9a54f4 100644
--- a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2013, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -64,8 +64,8 @@ class RobotTrajectoryTestFixture : public testing::Test
   void initTestTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
   {
     // Init a traj
-    ASSERT_TRUE(robot_model_->hasJointModelGroup(arm_jmg_name_)) << "Robot model does not have group: "
-                                                                 << arm_jmg_name_;
+    ASSERT_TRUE(robot_model_->hasJointModelGroup(arm_jmg_name_))
+        << "Robot model does not have group: " << arm_jmg_name_;
 
     trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, arm_jmg_name_);
 
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
index 4c818af3e8..bd49dee3c4 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
@@ -42,4 +42,4 @@ namespace trajectory_processing
 {
 bool isTrajectoryEmpty(const moveit_msgs::RobotTrajectory& trajectory);
 std::size_t trajectoryWaypointCount(const moveit_msgs::RobotTrajectory& trajectory);
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
index 5d5adf073e..f12d01314d 100644
--- a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
@@ -46,8 +46,7 @@ namespace trajectory_processing
 static void fit_cubic_spline(const int n, const double dt[], const double x[], double x1[], double x2[]);
 static void adjust_two_positions(const int n, const double dt[], double x[], double x1[], double x2[],
                                  const double x2_i, const double x2_f);
-static void init_times(const int n, double dt[], const double x[], const double max_velocity,
-                       const double min_velocity);
+static void init_times(const int n, double dt[], const double x[], const double max_velocity, const double min_velocity);
 static int fit_spline_and_adjust_times(const int n, double dt[], const double x[], double x1[], double x2[],
                                        const double max_velocity, const double min_velocity,
                                        const double max_acceleration, const double min_acceleration,
@@ -300,8 +299,7 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
                              &t2[j].accelerations_[0], t2[j].initial_acceleration_, t2[j].final_acceleration_);
       }
 
-      fit_cubic_spline(num_points, &time_diff[0], &t2[j].positions_[0], &t2[j].velocities_[0],
-                       &t2[j].accelerations_[0]);
+      fit_cubic_spline(num_points, &time_diff[0], &t2[j].positions_[0], &t2[j].velocities_[0], &t2[j].accelerations_[0]);
       for (unsigned i = 0; i < num_points; i++)
       {
         const double acc = t2[j].accelerations_[i];
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index e0c0d3be41..a873becbbb 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -435,9 +435,8 @@ bool Trajectory::getNextAccelerationSwitchingPoint(double path_pos, TrajectorySt
       if ((before_path_vel > after_path_vel ||
            getMinMaxPhaseSlope(switching_path_pos - EPS, switching_path_vel, false) >
                getAccelerationMaxPathVelocityDeriv(switching_path_pos - 2.0 * EPS)) &&
-          (before_path_vel < after_path_vel ||
-           getMinMaxPhaseSlope(switching_path_pos + EPS, switching_path_vel, true) <
-               getAccelerationMaxPathVelocityDeriv(switching_path_pos + 2.0 * EPS)))
+          (before_path_vel < after_path_vel || getMinMaxPhaseSlope(switching_path_pos + EPS, switching_path_vel, true) <
+                                                   getAccelerationMaxPathVelocityDeriv(switching_path_pos + 2.0 * EPS)))
       {
         break;
       }
@@ -477,9 +476,8 @@ bool Trajectory::getNextVelocitySwitchingPoint(double path_pos, TrajectoryStep&
     {
       start = true;
     }
-  } while ((!start ||
-            getMinMaxPhaseSlope(path_pos, getVelocityMaxPathVelocity(path_pos), false) >
-                getVelocityMaxPathVelocityDeriv(path_pos)) &&
+  } while ((!start || getMinMaxPhaseSlope(path_pos, getVelocityMaxPathVelocity(path_pos), false) >
+                          getVelocityMaxPathVelocityDeriv(path_pos)) &&
            path_pos < path_.getLength());
 
   if (path_pos >= path_.getLength())
diff --git a/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h b/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
index 839256bfb2..5b9c161a4d 100644
--- a/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
+++ b/moveit_core/utils/include/moveit/utils/xmlrpc_casts.h
@@ -51,8 +51,7 @@ double parseDouble(XmlRpc::XmlRpcValue& v);
  * @param name: if non-empty, print a warning message "name is not an array[size]"
  * @param description: if non-empty, serves as a descriptor for array items
  */
-bool isArray(XmlRpc::XmlRpcValue& v, size_t size = 0, const std::string& name = "",
-             const std::string& description = "");
+bool isArray(XmlRpc::XmlRpcValue& v, size_t size = 0, const std::string& name = "", const std::string& description = "");
 
 /** check that v is a struct with given keys
  *
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index e8bf5d3407..8f988e14f0 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -320,8 +320,7 @@ void RobotModelBuilder::addVirtualJoint(const std::string& parent_frame, const s
   srdf_writer_->virtual_joints_.push_back(new_virtual_joint);
 }
 
-void RobotModelBuilder::addGroupChain(const std::string& base_link, const std::string& tip_link,
-                                      const std::string& name)
+void RobotModelBuilder::addGroupChain(const std::string& base_link, const std::string& tip_link, const std::string& name)
 {
   srdf::Model::Group new_group;
   if (name.empty())
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
index 0495d74d2a..8de0d3970d 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_distance_field_ros_helpers.h
@@ -124,4 +124,4 @@ static inline bool loadLinkBodySphereDecompositions(
   }
   return true;
 }
-}
+}  // namespace collision_detection
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
index 1fb7a58e56..9167d98d62 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/collision_robot_distance_field_ros.h
@@ -61,4 +61,4 @@ class CollisionRobotDistanceFieldROS : public CollisionRobotDistanceField
                max_propogation_distance);
   }
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
index 8cb1c75f98..ccedfc2027 100644
--- a/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
+++ b/moveit_experimental/collision_distance_field_ros/include/collision_distance_field_ros/hybrid_collision_robot_ros.h
@@ -61,4 +61,4 @@ class CollisionRobotHybridROS : public CollisionRobotHybrid
                                  collision_tolerance, max_propogation_distance);
   }
 };
-}
+}  // namespace collision_detection
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h b/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
index 952965a57e..763b738ab3 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #pragma once
 
@@ -182,4 +182,4 @@ class KinematicsCache
 };
 
 typedef std::shared_ptr<KinematicsCache> KinematicsCachePtr;
-}
+}  // namespace kinematics_cache
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache/src/kinematics_cache.cpp b/moveit_experimental/kinematics_cache/v1/kinematics_cache/src/kinematics_cache.cpp
index 68c443c62a..f6950a1f4e 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache/src/kinematics_cache.cpp
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache/src/kinematics_cache.cpp
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #include <kinematics_cache/kinematics_cache.h>
 #include <fstream>
@@ -372,4 +372,4 @@ void KinematicsCache::updateDistances(const geometry_msgs::Pose& pose)
   min_squared_distance_ = std::min<double>(distance_squared, min_squared_distance_);
   max_squared_distance_ = std::max<double>(distance_squared, max_squared_distance_);
 }
-}
+}  // namespace kinematics_cache
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
index 187c133f40..bf8e35b420 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/include/kinematics_cache_ros/kinematics_cache_ros.h
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #pragma once
 
@@ -68,4 +68,4 @@ class KinematicsCacheROS : public kinematics_cache::KinematicsCache
 
   planning_models::RobotModelPtr kinematic_model_; /** A kinematics model */
 };
-}
+}  // namespace kinematics_cache_ros
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/example.cpp b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/example.cpp
index 98d4573c27..089ad3fd0f 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/example.cpp
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/example.cpp
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #include <kinematics_cache_ros/kinematics_cache_ros.h>
 #include <ros/ros.h>
diff --git a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
index edc2f0cb64..7179b6c4cf 100644
--- a/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
+++ b/moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/src/kinematics_cache_ros.cpp
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #include <kinematics_cache_ros/kinematics_cache_ros.h>
 
@@ -85,4 +85,4 @@ bool KinematicsCacheROS::init(const kinematics_cache::KinematicsCache::Options&
 
   return true;
 }
-}
+}  // namespace kinematics_cache_ros
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
index 5a5f72579d..c6b4b6116e 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #pragma once
 
@@ -180,4 +180,4 @@ class KinematicsCache
 };
 
 typedef std::shared_ptr<KinematicsCache> KinematicsCachePtr;
-}
+}  // namespace kinematics_cache
diff --git a/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp b/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
index a332d31b2b..7f30439919 100644
--- a/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
+++ b/moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #include <moveit/kinematics_cache/kinematics_cache.h>
 #include <fstream>
@@ -380,4 +380,4 @@ void KinematicsCache::updateDistances(const geometry_msgs::Pose& pose)
   min_squared_distance_ = std::min<double>(distance_squared, min_squared_distance_);
   max_squared_distance_ = std::max<double>(distance_squared, max_squared_distance_);
 }
-}
+}  // namespace kinematics_cache
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
index 5117918b15..d64788df59 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #pragma once
 
@@ -139,4 +139,4 @@ class KinematicsConstraintAware
 
   unsigned int ik_attempts_;
 };
-}
+}  // namespace kinematics_constraint_aware
diff --git a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
index 87be80bcf5..3ca0c75c7e 100644
--- a/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
+++ b/moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_request_response.h
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 #pragma once
 
@@ -103,4 +103,4 @@ class KinematicsResponse
 
   bool result_;
 };
-}
+}  // namespace kinematics_constraint_aware
diff --git a/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp b/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
index 5e25a7def2..141df0748a 100644
--- a/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
+++ b/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Sachin Chitta
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Sachin Chitta
+ *********************************************************************/
 
 // // ROS msgs
 #include <moveit/kinematics_constraint_aware/kinematics_constraint_aware.h>
@@ -147,8 +147,7 @@ bool KinematicsConstraintAware::getIK(const planning_scene::PlanningSceneConstPt
         ik_link_names[i] =
             kinematic_model_->getJointModelGroup(sub_groups_names_[i])->getSolverInstance()->getTipFrame();
       }
-      else if (!kinematic_model_->getJointModelGroup(sub_groups_names_[i])
-                    ->canSetStateFromIK(request.ik_link_names_[i]))
+      else if (!kinematic_model_->getJointModelGroup(sub_groups_names_[i])->canSetStateFromIK(request.ik_link_names_[i]))
       {
         ROS_ERROR_NAMED("kinematics_constraint_aware", "Could not find IK solver for link %s for group %s",
                         request.ik_link_names_[i].c_str(), sub_groups_names_[i].c_str());
@@ -372,4 +371,4 @@ geometry_msgs::Pose KinematicsConstraintAware::getTipFramePose(
   result = tf2::toMsg(eigen_pose_in, result);
   return result;
 }
-}
+}  // namespace kinematics_constraint_aware
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
index 9038da5a55..5f09634dcd 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
@@ -200,7 +200,7 @@ template <typename KinematicsPlugin>
 struct HasRobotDescApi<KinematicsPlugin,
                        decltype(std::declval<KinematicsPlugin&>().KinematicsPlugin::initialize(
                            std::string(), std::string(), std::string(), std::vector<std::string>(), 0.0))>
-    : std::true_type
+  : std::true_type
 {
 };
 
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
index 090c50057f..927554efad 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
@@ -352,8 +352,7 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
     {
       node_dist = node_queue.top();
       node_queue.pop();
-      if (node_dist.second > node_dist.first->maxRadius_ + dist ||
-          node_dist.second < node_dist.first->minRadius_ - dist)
+      if (node_dist.second > node_dist.first->maxRadius_ + dist || node_dist.second < node_dist.first->minRadius_ - dist)
         continue;
       node_dist.first->nearestR(*this, data, radius, nbhQueue, node_queue);
     }
@@ -615,8 +614,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
             dist_to_pivot[i] = gnat.distFun_(data, child->pivot_);
             insertNeighborR(nbh, r, child->pivot_, dist_to_pivot[i]);
             for (unsigned int j = 0; j < children_.size(); ++j)
-              if (permutation[j] >= 0 && i != j && (dist_to_pivot[i] - dist > child->maxRange_[permutation[j]] ||
-                                                    dist_to_pivot[i] + dist < child->minRange_[permutation[j]]))
+              if (permutation[j] >= 0 && i != j &&
+                  (dist_to_pivot[i] - dist > child->maxRange_[permutation[j]] ||
+                   dist_to_pivot[i] + dist < child->minRange_[permutation[j]]))
                 permutation[j] = -1;
           }
 
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp b/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp
index 1f75dc5fa3..d565018280 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp
@@ -42,18 +42,16 @@
 
 #include <pluginlib/class_list_macros.hpp>
 // register CachedIKKinematicsPlugin<KDLKinematicsPlugin> as a KinematicsBase implementation
-PLUGINLIB_EXPORT_CLASS(
-    cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>,
-    kinematics::KinematicsBase);
+PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>,
+                       kinematics::KinematicsBase);
 
 // register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
 // PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<lma_kinematics_plugin::LMAKinematicsPlugin>,
 // kinematics::KinematicsBase);
 
 // register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
-PLUGINLIB_EXPORT_CLASS(
-    cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>,
-    kinematics::KinematicsBase);
+PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>,
+                       kinematics::KinematicsBase);
 
 #ifdef CACHED_IK_KINEMATICS_TRAC_IK
 #include <trac_ik/trac_ik_kinematics_plugin.hpp>
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h
index e672c974af..0728329205 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h
@@ -304,7 +304,7 @@ class IkSolutionList : public IkSolutionListBase<T>
 protected:
   std::list<IkSolution<T> > _listsolutions;
 };
-}
+}  // namespace ikfast
 
 #endif  // OPENRAVE_IKFAST_HEADER
 
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index c2745fe788..5b7370c832 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -215,10 +215,10 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase
    */
 
   // Returns the IK solution that is within joint limits closest to ik_seed_state
-  bool getPositionIK(
-      const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, std::vector<double>& solution,
-      moveit_msgs::MoveItErrorCodes& error_code,
-      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
+  bool
+  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
+                std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
+                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   /**
    * @brief Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.
@@ -354,22 +354,22 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase
   bool getCount(int& count, const int& max_count, const int& min_count) const;
 
   /**
-  * @brief samples the designated redundant joint using the chosen discretization method
-  * @param  method              An enumeration flag indicating the discretization method to be used
-  * @param  sampled_joint_vals  Sampled joint values for the redundant joint
-  * @return True if sampling succeeded.
-  */
+   * @brief samples the designated redundant joint using the chosen discretization method
+   * @param  method              An enumeration flag indicating the discretization method to be used
+   * @param  sampled_joint_vals  Sampled joint values for the redundant joint
+   * @return True if sampling succeeded.
+   */
   bool sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const;
 
   /// Validate that we can compute a fixed transform between from and to links.
   bool computeRelativeTransform(const std::string& from, const std::string& to, Eigen::Isometry3d& transform,
                                 bool& differs_from_identity);
   /**
-  * @brief  Transforms the input pose to the correct frame for the solver. This assumes that the group includes the
-  * entire solver chain and that any joints outside of the solver chain within the group are are fixed.
-  * @param  ik_pose             The pose to be transformed which should be in the correct frame for the group.
-  * @param  ik_pose_chain       The ik_pose to be populated with the apropriate pose for the solver
-  */
+   * @brief  Transforms the input pose to the correct frame for the solver. This assumes that the group includes the
+   * entire solver chain and that any joints outside of the solver chain within the group are are fixed.
+   * @param  ik_pose             The pose to be transformed which should be in the correct frame for the group.
+   * @param  ik_pose_chain       The ik_pose to be populated with the apropriate pose for the solver
+   */
   void transformToChainFrame(const geometry_msgs::Pose& ik_pose, KDL::Frame& ik_pose_chain) const;
 };  // end class
 
@@ -925,8 +925,8 @@ bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose
 
   if (ik_seed_state.size() != num_joints_)
   {
-    ROS_ERROR_STREAM_NAMED(name_, "Seed state must have size " << num_joints_ << " instead of size "
-                                                               << ik_seed_state.size());
+    ROS_ERROR_STREAM_NAMED(name_,
+                           "Seed state must have size " << num_joints_ << " instead of size " << ik_seed_state.size());
     error_code.val = error_code.NO_IK_SOLUTION;
     return false;
   }
@@ -1395,7 +1395,7 @@ void IKFastKinematicsPlugin::transformToChainFrame(const geometry_msgs::Pose& ik
   }
 }
 
-}  // end namespace
+}  // namespace _NAMESPACE_
 
 // register IKFastKinematicsPlugin as a KinematicsBase implementation
 #include <pluginlib/class_list_macros.hpp>
diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index a94944a989..14d1f4b6fb 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -77,10 +77,10 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
    */
   KDLKinematicsPlugin();
 
-  bool getPositionIK(
-      const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, std::vector<double>& solution,
-      moveit_msgs::MoveItErrorCodes& error_code,
-      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
+  bool
+  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
+                std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
+                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   bool searchPositionIK(
       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index a0bafdd4af..e35e535fb3 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -128,10 +128,10 @@ void KDLKinematicsPlugin::getJointWeights()
     else
       joint_weights_[it - active_names.begin()] = weights[i];
   }
-  ROS_INFO_STREAM_NAMED("kdl", "Joint weights for group '"
-                                   << getGroupName() << "': \n"
-                                   << Eigen::Map<const Eigen::VectorXd>(joint_weights_.data(), joint_weights_.size())
-                                          .transpose());
+  ROS_INFO_STREAM_NAMED(
+      "kdl", "Joint weights for group '"
+                 << getGroupName() << "': \n"
+                 << Eigen::Map<const Eigen::VectorXd>(joint_weights_.data(), joint_weights_.size()).transpose());
 }
 
 bool KDLKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model, const std::string& group_name,
@@ -329,8 +329,8 @@ bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 
   if (ik_seed_state.size() != dimension_)
   {
-    ROS_ERROR_STREAM_NAMED("kdl", "Seed state must have size " << dimension_ << " instead of size "
-                                                               << ik_seed_state.size());
+    ROS_ERROR_STREAM_NAMED("kdl",
+                           "Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
     error_code.val = error_code.NO_IK_SOLUTION;
     return false;
   }
diff --git a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
index 85bf238327..84787e93be 100644
--- a/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
+++ b/moveit_kinematics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
@@ -71,10 +71,10 @@ class LMAKinematicsPlugin : public kinematics::KinematicsBase
    */
   LMAKinematicsPlugin();
 
-  bool getPositionIK(
-      const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, std::vector<double>& solution,
-      moveit_msgs::MoveItErrorCodes& error_code,
-      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
+  bool
+  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
+                std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
+                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   bool searchPositionIK(
       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
diff --git a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
index dd0fd88e9f..a55eb7dd36 100644
--- a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
+++ b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
@@ -221,8 +221,8 @@ bool LMAKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, c
 
   if (ik_seed_state.size() != dimension_)
   {
-    ROS_ERROR_STREAM_NAMED("lma", "Seed state must have size " << dimension_ << " instead of size "
-                                                               << ik_seed_state.size());
+    ROS_ERROR_STREAM_NAMED("lma",
+                           "Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
     error_code.val = error_code.NO_IK_SOLUTION;
     return false;
   }
diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
index 8d49435417..4c1005c42b 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
@@ -70,10 +70,10 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
    */
   SrvKinematicsPlugin();
 
-  bool getPositionIK(
-      const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, std::vector<double>& solution,
-      moveit_msgs::MoveItErrorCodes& error_code,
-      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
+  bool
+  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
+                std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
+                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   bool searchPositionIK(
       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index f93ed4c202..a563048a51 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -241,8 +241,8 @@ bool SrvKinematicsPlugin::searchPositionIK(const std::vector<geometry_msgs::Pose
   // Check if seed state correct
   if (ik_seed_state.size() != dimension_)
   {
-    ROS_ERROR_STREAM_NAMED("srv", "Seed state must have size " << dimension_ << " instead of size "
-                                                               << ik_seed_state.size());
+    ROS_ERROR_STREAM_NAMED("srv",
+                           "Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
     error_code.val = error_code.NO_IK_SOLUTION;
     return false;
   }
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
index 893d69ff62..124a83f333 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
@@ -52,8 +52,7 @@ class CHOMPPlanningContext : public planning_interface::PlanningContext
   void clear() override;
   bool terminate() override;
 
-  CHOMPPlanningContext(const std::string& name, const std::string& group,
-                       const moveit::core::RobotModelConstPtr& model);
+  CHOMPPlanningContext(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model);
 
   ~CHOMPPlanningContext() override = default;
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
index 990c11e62b..80986bf63c 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -179,16 +179,16 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
       return false;
     }
 
-    ROS_DEBUG_NAMED("chomp_planner", "Optimization took %f sec to create",
-                    (ros::WallTime::now() - create_time).toSec());
+    ROS_DEBUG_NAMED("chomp_planner", "Optimization took %f sec to create", (ros::WallTime::now() - create_time).toSec());
 
     bool optimization_result = optimizer->optimize();
 
     // replan with updated parameters if no solution is found
     if (params_nonconst.enable_failure_recovery_)
     {
-      ROS_INFO_NAMED("chomp_planner", "Planned with Chomp Parameters (learning_rate, ridge_factor, "
-                                      "planning_time_limit, max_iterations), attempt: # %d ",
+      ROS_INFO_NAMED("chomp_planner",
+                     "Planned with Chomp Parameters (learning_rate, ridge_factor, "
+                     "planning_time_limit, max_iterations), attempt: # %d ",
                      (replan_count + 1));
       ROS_INFO_NAMED("chomp_planner", "Learning rate: %f ridge factor: %f planning time limit: %f max_iterations %d ",
                      params_nonconst.learning_rate_, params_nonconst.ridge_factor_,
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
index 4467dbfced..af2c9c9c04 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
@@ -59,8 +59,7 @@ ChompTrajectory::ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_m
   init();
 }
 
-ChompTrajectory::ChompTrajectory(const ChompTrajectory& source_traj, const std::string& group_name,
-                                 int diff_rule_length)
+ChompTrajectory::ChompTrajectory(const ChompTrajectory& source_traj, const std::string& group_name, int diff_rule_length)
   : planning_group_name_(group_name), discretization_(source_traj.discretization_)
 {
   num_joints_ = source_traj.getNumJoints();
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp b/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
index f57e080bf2..5a9a9d5405 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
@@ -111,8 +111,7 @@ class OptimizerAdapter : public planning_request_adapter::PlanningRequestAdapter
     if (!nh.getParam("smoothness_cost_jerk", params_.smoothness_cost_jerk_))
     {
       params_.smoothness_cost_jerk_ = 0.0;
-      ROS_INFO_STREAM(
-          "Param smoothness_cost_jerk_ was not set. Using default value: " << params_.smoothness_cost_jerk_);
+      ROS_INFO_STREAM("Param smoothness_cost_jerk_ was not set. Using default value: " << params_.smoothness_cost_jerk_);
     }
     if (!nh.getParam("ridge_factor", params_.ridge_factor_))
     {
diff --git a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
index 4e85adddb2..3814d0356f 100644
--- a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
+++ b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
@@ -530,4 +530,4 @@ inline const OMPLDynamicReconfigureConfigStatics* OMPLDynamicReconfigureConfig::
 
   return statics;
 }
-}
+}  // namespace ompl_interface_ros
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
index be711c991f..8dea8329f3 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
index 884b82e4e9..d0f1d4951d 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
index 7b73f60e0a..e9b4413028 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
index ccf47358ae..132e45b778 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -73,4 +73,4 @@ struct ConstraintApproximation
 };
 
 MOVEIT_DECLARE_PTR(ConstraintApproximations, std::vector<ConstraintApproximation>)
-}
+}  // namespace ompl_interface
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
index 46b97ba692..85c278bff5 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
index a0daa1cf6b..62f1529c35 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/goal_union.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
index c612d22454..aad7b06f76 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/projection_evaluators.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
index 3d3e31a92f..54259e9d8e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
index e0a5e6dc7c..ab6d38fc66 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/threadsafe_state_storage.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 64918929d7..8f6522026f 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index 5677eea4a0..0bbfb4a562 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2011, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
index 7386856fc6..d0e3830294 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
index 071a3f262d..5adb82bb44 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
index e6c34ebba9..82b5f48ee6 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
index 594d3ba9dc..3912b8a3a3 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 19bdc77dde..2e8b51547c 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -277,8 +277,9 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
   std::ifstream fin((path + "/manifest").c_str());
   if (!fin.good())
   {
-    ROS_WARN_NAMED(LOGNAME, "Manifest not found in folder '%s'. Not loading "
-                            "constraint approximations.",
+    ROS_WARN_NAMED(LOGNAME,
+                   "Manifest not found in folder '%s'. Not loading "
+                   "constraint approximations.",
                    path.c_str());
     return;
   }
@@ -310,14 +311,16 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
     if (context_->getGroupName() != group &&
         context_->getOMPLStateSpace()->getParameterizationType() != state_space_parameterization)
     {
-      ROS_INFO_NAMED(LOGNAME, "Ignoring constraint approximation of type '%s' "
-                              "for group '%s' from '%s'...",
+      ROS_INFO_NAMED(LOGNAME,
+                     "Ignoring constraint approximation of type '%s' "
+                     "for group '%s' from '%s'...",
                      state_space_parameterization.c_str(), group.c_str(), filename.c_str());
       continue;
     }
 
-    ROS_INFO_NAMED(LOGNAME, "Loading constraint approximation of type '%s' for "
-                            "group '%s' from '%s'...",
+    ROS_INFO_NAMED(LOGNAME,
+                   "Loading constraint approximation of type '%s' for "
+                   "group '%s' from '%s'...",
                    state_space_parameterization.c_str(), group.c_str(), filename.c_str());
     moveit_msgs::Constraints msg;
     hexToMsg(serialization, msg);
@@ -332,9 +335,10 @@ void ompl_interface::ConstraintsLibrary::loadConstraintApproximations(const std:
     std::size_t sum = 0;
     for (std::size_t i = 0; i < cass->size(); ++i)
       sum += cass->getMetadata(i).first.size();
-    ROS_INFO_NAMED(LOGNAME, "Loaded %lu states (%lu milestones) and %lu "
-                            "connections (%0.1lf per state) "
-                            "for constraint named '%s'%s",
+    ROS_INFO_NAMED(LOGNAME,
+                   "Loaded %lu states (%lu milestones) and %lu "
+                   "connections (%0.1lf per state) "
+                   "for constraint named '%s'%s",
                    cass->size(), cap->getMilestoneCount(), sum, (double)sum / (double)cap->getMilestoneCount(),
                    msg.name.c_str(), explicit_motions ? ". Explicit motions included." : "");
   }
@@ -405,18 +409,20 @@ ompl_interface::ConstraintsLibrary::getConstraintApproximation(const moveit_msgs
 }
 
 ompl_interface::ConstraintApproximationConstructionResults
-ompl_interface::ConstraintsLibrary::addConstraintApproximation(
-    const moveit_msgs::Constraints& constr, const std::string& group,
-    const planning_scene::PlanningSceneConstPtr& scene, const ConstraintApproximationConstructionOptions& options)
+ompl_interface::ConstraintsLibrary::addConstraintApproximation(const moveit_msgs::Constraints& constr,
+                                                               const std::string& group,
+                                                               const planning_scene::PlanningSceneConstPtr& scene,
+                                                               const ConstraintApproximationConstructionOptions& options)
 {
   return addConstraintApproximation(constr, constr, group, scene, options);
 }
 
 ompl_interface::ConstraintApproximationConstructionResults
-ompl_interface::ConstraintsLibrary::addConstraintApproximation(
-    const moveit_msgs::Constraints& constr_sampling, const moveit_msgs::Constraints& constr_hard,
-    const std::string& group, const planning_scene::PlanningSceneConstPtr& scene,
-    const ConstraintApproximationConstructionOptions& options)
+ompl_interface::ConstraintsLibrary::addConstraintApproximation(const moveit_msgs::Constraints& constr_sampling,
+                                                               const moveit_msgs::Constraints& constr_hard,
+                                                               const std::string& group,
+                                                               const planning_scene::PlanningSceneConstPtr& scene,
+                                                               const ConstraintApproximationConstructionOptions& options)
 {
   ConstraintApproximationConstructionResults res;
   if (context_->getGroupName() != group &&
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
index 8040d8de39..1a37096d9f 100644
--- a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -104,8 +104,7 @@ ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::
   constraints_library_ = std::make_shared<ConstraintsLibrary>(this);
 }
 
-void ompl_interface::ModelBasedPlanningContext::configure(const ros::NodeHandle& nh,
-                                                          bool use_constraints_approximations)
+void ompl_interface::ModelBasedPlanningContext::configure(const ros::NodeHandle& nh, bool use_constraints_approximations)
 {
   loadConstraintApproximations(nh);
   if (!use_constraints_approximations)
@@ -160,8 +159,9 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
     if (getRobotModel()->hasLinkModel(link_name))
       return ob::ProjectionEvaluatorPtr(new ProjectionEvaluatorLinkPose(this, link_name));
     else
-      ROS_ERROR_NAMED(LOGNAME, "Attempted to set projection evaluator with respect to position of link '%s', "
-                               "but that link is not known to the kinematic model.",
+      ROS_ERROR_NAMED(LOGNAME,
+                      "Attempted to set projection evaluator with respect to position of link '%s', "
+                      "but that link is not known to the kinematic model.",
                       link_name.c_str());
   }
   else if (peval.find_first_of("joints(") == 0 && peval[peval.length() - 1] == ')')
@@ -188,8 +188,9 @@ ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator(const std::str
                          joint.c_str());
       }
       else
-        ROS_ERROR_NAMED(LOGNAME, "%s: Attempted to set projection evaluator with respect to value of joint "
-                                 "'%s', but that joint is not known to the group '%s'.",
+        ROS_ERROR_NAMED(LOGNAME,
+                        "%s: Attempted to set projection evaluator with respect to value of joint "
+                        "'%s', but that joint is not known to the group '%s'.",
                         name_.c_str(), joint.c_str(), getGroupName().c_str());
     }
     if (j.empty())
@@ -366,8 +367,9 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
     const std::string planner_name = getGroupName() + "/" + name_;
     ompl_simple_setup_->setPlannerAllocator(
         std::bind(spec_.planner_selector_(type), std::placeholders::_1, planner_name, std::cref(spec_)));
-    ROS_INFO_NAMED(LOGNAME, "Planner configuration '%s' will use planner '%s'. "
-                            "Additional configuration parameters will be set when the planner is constructed.",
+    ROS_INFO_NAMED(LOGNAME,
+                   "Planner configuration '%s' will use planner '%s'. "
+                   "Additional configuration parameters will be set when the planner is constructed.",
                    name_.c_str(), type.c_str());
   }
 
@@ -385,8 +387,9 @@ void ompl_interface::ModelBasedPlanningContext::setPlanningVolume(const moveit_m
       wparams.min_corner.z == wparams.max_corner.z && wparams.min_corner.z == 0.0)
     ROS_WARN_NAMED(LOGNAME, "It looks like the planning volume was not specified.");
 
-  ROS_DEBUG_NAMED(LOGNAME, "%s: Setting planning volume (affects SE2 & SE3 joints only) to x = [%f, %f], y = "
-                           "[%f, %f], z = [%f, %f]",
+  ROS_DEBUG_NAMED(LOGNAME,
+                  "%s: Setting planning volume (affects SE2 & SE3 joints only) to x = [%f, %f], y = "
+                  "[%f, %f], z = [%f, %f]",
                   name_.c_str(), wparams.min_corner.x, wparams.max_corner.x, wparams.min_corner.y, wparams.max_corner.y,
                   wparams.min_corner.z, wparams.max_corner.z);
 
@@ -479,8 +482,9 @@ ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal()
   return ob::GoalPtr();
 }
 
-ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition(
-    double timeout, const ompl::time::point& start)
+ompl::base::PlannerTerminationCondition
+ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition(double timeout,
+                                                                                const ompl::time::point& start)
 {
   auto it = spec_.config_.find("termination_condition");
   if (it == spec_.config_.end())
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index 242afc0f91..97d239af3f 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -96,8 +96,9 @@ void ompl_interface::OMPLInterface::setPlannerConfigurations(const planning_inte
   context_manager_.setPlannerConfigurations(pconfig2);
 }
 
-ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext(
-    const planning_scene::PlanningSceneConstPtr& planning_scene, const planning_interface::MotionPlanRequest& req) const
+ompl_interface::ModelBasedPlanningContextPtr
+ompl_interface::OMPLInterface::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                                  const planning_interface::MotionPlanRequest& req) const
 {
   moveit_msgs::MoveItErrorCodes dummy;
   return getPlanningContext(planning_scene, req, dummy);
@@ -246,8 +247,9 @@ void ompl_interface::OMPLInterface::loadPlannerConfigurations()
     {
       if (config_names.getType() != XmlRpc::XmlRpcValue::TypeArray)
       {
-        ROS_ERROR_NAMED(LOGNAME, "The planner_configs argument of a group configuration "
-                                 "should be an array of strings (for group '%s')",
+        ROS_ERROR_NAMED(LOGNAME,
+                        "The planner_configs argument of a group configuration "
+                        "should be an array of strings (for group '%s')",
                         group_name.c_str());
         continue;
       }
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp
index 476a90684d..8182da68f5 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
index 2c5952640c..a351fcdf65 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space_factory.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
index 3500d4e18b..7c19e05029 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp
@@ -90,8 +90,9 @@ double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment() const
 void ompl_interface::ModelBasedStateSpace::setTagSnapToSegment(double snap)
 {
   if (snap < 0.0 || snap > 1.0)
-    ROS_WARN_NAMED(LOGNAME, "Snap to segment for tags is a ratio. It's value must be between 0.0 and 1.0. "
-                            "Value remains as previously set (%lf)",
+    ROS_WARN_NAMED(LOGNAME,
+                   "Snap to segment for tags is a ratio. It's value must be between 0.0 and 1.0. "
+                   "Value remains as previously set (%lf)",
                    tag_snap_to_segment_);
   else
   {
@@ -136,8 +137,7 @@ void ompl_interface::ModelBasedStateSpace::serialize(void* serialization, const
 void ompl_interface::ModelBasedStateSpace::deserialize(ompl::base::State* state, const void* serialization) const
 {
   state->as<StateType>()->tag = *reinterpret_cast<const int*>(serialization);
-  memcpy(state->as<StateType>()->values, reinterpret_cast<const char*>(serialization) + sizeof(int),
-         state_values_size_);
+  memcpy(state->as<StateType>()->values, reinterpret_cast<const char*>(serialization) + sizeof(int), state_values_size_);
 }
 
 unsigned int ompl_interface::ModelBasedStateSpace::getDimension() const
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space_factory.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space_factory.cpp
index de23960b62..1a3158654b 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space_factory.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space_factory.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index 44b15cee8b..75f870a493 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -367,8 +367,9 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
   return context;
 }
 
-const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningContextManager::getStateSpaceFactory1(
-    const std::string& /* dummy */, const std::string& factory_type) const
+const ompl_interface::ModelBasedStateSpaceFactoryPtr&
+ompl_interface::PlanningContextManager::getStateSpaceFactory1(const std::string& /* dummy */,
+                                                              const std::string& factory_type) const
 {
   auto f = factory_type.empty() ? state_space_factories_.begin() : state_space_factories_.find(factory_type);
   if (f != state_space_factories_.end())
@@ -381,8 +382,9 @@ const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningCo
   }
 }
 
-const ompl_interface::ModelBasedStateSpaceFactoryPtr& ompl_interface::PlanningContextManager::getStateSpaceFactory2(
-    const std::string& group, const moveit_msgs::MotionPlanRequest& req) const
+const ompl_interface::ModelBasedStateSpaceFactoryPtr&
+ompl_interface::PlanningContextManager::getStateSpaceFactory2(const std::string& group,
+                                                              const moveit_msgs::MotionPlanRequest& req) const
 {
   // find the problem representation to use
   auto best = state_space_factories_.end();
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
index cf5700adf4..d37da370c1 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/bfs3d/BFS_3D.h
@@ -75,4 +75,4 @@ class BFS_3D
 
   int getDistance(int, int, int);
 };
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
index 53b258ced3..b27e3a7617 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
@@ -330,4 +330,4 @@ inline void EnvironmentChain3D::convertJointAnglesToCoord(const std::vector<doub
 //   return sqrt((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) + (z1-z2)*(z1-z2));
 // }
 
-}  // namespace
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
index c125eba38c..3c94add6ba 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
@@ -316,4 +316,4 @@ class SingleJointMotionPrimitive : public JointMotionPrimitive
   unsigned int ind_;
   double delta_;
 };
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
index 61f5c91d80..7c07d7fbd4 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
@@ -66,4 +66,4 @@ class SBPLInterface
   // DummyEnvironment* dummy_env_;
   // SBPLPlanner *planner_;
 };
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
index dc41e7037f..66a4a4c36c 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
@@ -75,4 +75,4 @@ class SBPLMetaInterface
 
   PlanningStatistics last_planning_statistics_;
 };
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
index 4c9ac11009..74b0acb25d 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
+++ b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_params.h
@@ -201,4 +201,4 @@ class SBPLParams
 
   std::vector<std::string> motion_primitive_type_names_;
 };
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
index 29f81140c1..e8b7ab9113 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/BFS_3D.cpp
@@ -145,4 +145,4 @@ int BFS_3D::getDistance(int x, int y, int z)
     ;
   return distance_grid[node];
 }
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
index 9acff406cf..e485e5bf13 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/bfs3d/Search.cpp
@@ -83,4 +83,4 @@ void BFS_3D::search(int width, int planeSize, int volatile* distance_grid, int*
   // std::cerr << "Search thread done" << std::endl;
   running = false;
 }
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/bresenham.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/bresenham.cpp
index 7d67420b2f..37712556ed 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/bresenham.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/bresenham.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2010, Maxim Likhachev
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Maxim Likhachev nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Maxim Likhachev
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Maxim Likhachev nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Benjamin Cohen */
 
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
index 5ff2829e1f..0db1d39420 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2010, Maxim Likhachev
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Maxim Likhachev nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Maxim Likhachev
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Maxim Likhachev nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Benjamin Cohen, E. Gil Jones */
 
@@ -1214,4 +1214,4 @@ void EnvironmentChain3D::attemptShortcut(const trajectory_msgs::JointTrajectory&
     }
   }
 }
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp
index 134e816f99..e82bad8793 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp
@@ -117,4 +117,4 @@ bool SBPLInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_
   (const_cast<SBPLInterface*>(this))->last_planning_statistics_ = stats;
   return true;
 }
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_meta_interface.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_meta_interface.cpp
index 31cc629039..e4411ea367 100644
--- a/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_meta_interface.cpp
+++ b/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_meta_interface.cpp
@@ -170,4 +170,4 @@ void SBPLMetaInterface::runSolver(bool use_first, const planning_scene::Planning
     std::cerr << "Interruption requested\n";
   }
 }
-}
+}  // namespace sbpl_interface
diff --git a/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_meta_plugin.cpp b/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_meta_plugin.cpp
index d522429d71..3cd3444134 100644
--- a/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_meta_plugin.cpp
+++ b/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_meta_plugin.cpp
@@ -106,6 +106,6 @@ class SBPLMetaPlanner : public planning_interface::Planner
   boost::shared_ptr<sbpl_interface::SBPLMetaInterface> sbpl_meta_interface_;
 };
 
-}  // ompl_interface_ros
+}  // namespace sbpl_interface_ros
 
 PLUGINLIB_EXPORT_CLASS(sbpl_interface_ros::SBPLMetaPlanner, planning_interface::Planner);
diff --git a/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_plugin.cpp b/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_plugin.cpp
index e74d4fcdb4..d7e8de4de3 100644
--- a/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_plugin.cpp
+++ b/moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_plugin.cpp
@@ -111,6 +111,6 @@ class SBPLPlanner : public planning_interface::Planner
   boost::shared_ptr<sbpl_interface::SBPLInterface> sbpl_interface_;
 };
 
-}  // ompl_interface_ros
+}  // namespace sbpl_interface_ros
 
 PLUGINLIB_EXPORT_CLASS(sbpl_interface_ros::SBPLPlanner, planning_interface::Planner);
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index 74432fa83c..a6a1c18631 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -74,4 +74,4 @@ class TrajOptInterface
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
-}
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/src/problem_description.cpp
index 59c5de2198..c5d263bd99 100644
--- a/moveit_planners/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/src/problem_description.cpp
@@ -247,9 +247,9 @@ TrajOptProblemPtr ConstructProblem(const ProblemInfo& pci)
       for (int i = 1; i < prob->GetNumSteps(); ++i)
       {
         matrix_traj_vars_temp = prob->GetVars();
-        prob->addLinearConstraint(
-            sco::exprSub(sco::AffExpr(matrix_traj_vars_temp(i, dof_ind)), sco::AffExpr(init_traj(0, dof_ind))),
-            sco::EQ);
+        prob->addLinearConstraint(sco::exprSub(sco::AffExpr(matrix_traj_vars_temp(i, dof_ind)),
+                                               sco::AffExpr(init_traj(0, dof_ind))),
+                                  sco::EQ);
       }
     }
   }
@@ -596,4 +596,4 @@ void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>
         Eigen::VectorXd::Constant(init_traj.rows(), init_info.dt);
   }
 }
-}
+}  // namespace trajopt_interface
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
index 826337d386..9dc5217946 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controller_manager.cpp
@@ -95,8 +95,8 @@ class MoveItFakeControllerManager : public moveit_controller_manager::MoveItCont
 
         if (controller_list[i]["joints"].getType() != XmlRpc::XmlRpcValue::TypeArray)
         {
-          ROS_ERROR_STREAM_NAMED("MoveItFakeControllerManager", "The list of joints for controller "
-                                                                    << name << " is not specified as an array");
+          ROS_ERROR_STREAM_NAMED("MoveItFakeControllerManager",
+                                 "The list of joints for controller " << name << " is not specified as an array");
           continue;
         }
         std::vector<std::string> joints;
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
index e1e0232e5d..b32583b11b 100644
--- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
+++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -308,8 +308,7 @@ class MoveItControllerManager : public moveit_controller_manager::MoveItControll
     resources_bimap claimed_resources;
 
     // fill bimap with active controllers and their resources
-    for (std::pair<const std::string, controller_manager_msgs::ControllerState>& active_controller :
-         active_controllers_)
+    for (std::pair<const std::string, controller_manager_msgs::ControllerState>& active_controller : active_controllers_)
     {
       for (std::vector<controller_manager_msgs::HardwareInterfaceResources>::iterator hir =
                active_controller.second.claimed_resources.begin();
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
index 4675b1c332..c6bc9e0f74 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
@@ -47,7 +47,7 @@ namespace moveit_simple_controller_manager
  * or anything using a control_mgs/FollowJointTrajectoryAction.
  */
 class FollowJointTrajectoryControllerHandle
-    : public ActionBasedControllerHandle<control_msgs::FollowJointTrajectoryAction>
+  : public ActionBasedControllerHandle<control_msgs::FollowJointTrajectoryAction>
 {
 public:
   FollowJointTrajectoryControllerHandle(const std::string& name, const std::string& action_ns)
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
index d5acff96b5..31cf634780 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
@@ -179,8 +179,9 @@ void FollowJointTrajectoryControllerHandle::configure(XmlRpc::XmlRpcValue& confi
     ROS_WARN_STREAM_NAMED(LOGNAME, "Invalid " << config_name);
 }
 
-control_msgs::JointTolerance& FollowJointTrajectoryControllerHandle::getTolerance(
-    std::vector<control_msgs::JointTolerance>& tolerances, const std::string& name)
+control_msgs::JointTolerance&
+FollowJointTrajectoryControllerHandle::getTolerance(std::vector<control_msgs::JointTolerance>& tolerances,
+                                                    const std::string& name)
 {
   auto it =
       std::lower_bound(tolerances.begin(), tolerances.end(), name,
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
index 83d8a6f7b3..67d600dd16 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
@@ -86,8 +86,8 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
 
         if (!isArray(controller_list[i]["joints"]))
         {
-          ROS_ERROR_STREAM_NAMED(LOGNAME, "The list of joints for controller " << name
-                                                                               << " is not specified as an array");
+          ROS_ERROR_STREAM_NAMED(LOGNAME,
+                                 "The list of joints for controller " << name << " is not specified as an array");
           continue;
         }
 
@@ -113,8 +113,7 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
                 static_cast<GripperControllerHandle*>(new_handle.get())
                     ->setCommandJoint(controller_list[i]["command_joint"]);
               else
-                static_cast<GripperControllerHandle*>(new_handle.get())
-                    ->setCommandJoint(controller_list[i]["joints"][0]);
+                static_cast<GripperControllerHandle*>(new_handle.get())->setCommandJoint(controller_list[i]["joints"][0]);
             }
 
             if (controller_list[i].hasMember("allow_failure"))
@@ -219,8 +218,9 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
     }
     else
     {
-      ROS_WARN_NAMED(LOGNAME, "The joints for controller '%s' are not known. Perhaps the controller configuration is "
-                              "not loaded on the param server?",
+      ROS_WARN_NAMED(LOGNAME,
+                     "The joints for controller '%s' are not known. Perhaps the controller configuration is "
+                     "not loaded on the param server?",
                      name.c_str());
       joints.clear();
     }
diff --git a/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp b/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
index 1a412ae7b8..43916a8f69 100644
--- a/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
+++ b/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
@@ -88,8 +88,8 @@ void checkHeader(moveit_msgs::Constraints& c, const std::string& header_frame)
       c.orientation_constraints[i].header.stamp = ros::Time::now();
     }
 }
-}
-}
+}  // namespace
+}  // namespace moveit_benchmarks
 
 moveit_benchmarks::BenchmarkExecution::BenchmarkExecution(const planning_scene::PlanningScenePtr& scene,
                                                           warehouse_ros::DatabaseConnection::Ptr conn)
@@ -894,7 +894,7 @@ bool isIKSolutionCollisionFree(const planning_scene::PlanningScene* scene, movei
   else
     return true;
 }
-}
+}  // namespace
 
 void moveit_benchmarks::BenchmarkExecution::runPlanningBenchmark(BenchmarkRequest& req)
 {
@@ -1001,8 +1001,9 @@ void moveit_benchmarks::BenchmarkExecution::runPlanningBenchmark(BenchmarkReques
         ROS_ERROR("Planning interface '%s' has no planners defined", it->first.c_str());
     }
     else
-      ROS_WARN_STREAM("Planning interface '" << it->second->getDescription() << "' is not able to solve the specified "
-                                                                                "benchmark problem.");
+      ROS_WARN_STREAM("Planning interface '" << it->second->getDescription()
+                                             << "' is not able to solve the specified "
+                                                "benchmark problem.");
   }
 
   // error check
@@ -1247,8 +1248,7 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
   bool reachable = false;
   if (req.motion_plan_request.goal_constraints.size() > 0 &&
       req.motion_plan_request.goal_constraints[0].position_constraints.size() > 0 &&
-      req.motion_plan_request.goal_constraints[0].position_constraints[0].constraint_region.primitive_poses.size() >
-          0 &&
+      req.motion_plan_request.goal_constraints[0].position_constraints[0].constraint_region.primitive_poses.size() > 0 &&
       req.motion_plan_request.goal_constraints[0].orientation_constraints.size() > 0)
   {
     // Compute IK on goal constraints
@@ -1276,10 +1276,11 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
     // Compute IK
     ROS_INFO_STREAM("Processing goal " << req.motion_plan_request.goal_constraints[0].name << " ...");
     ros::WallTime startTime = ros::WallTime::now();
-    success = robot_state.setFromIK(
-        robot_state.getJointModelGroup(req.motion_plan_request.group_name), ik_pose,
-        req.motion_plan_request.num_planning_attempts, req.motion_plan_request.allowed_planning_time,
-        boost::bind(&isIKSolutionCollisionFree, planning_scene_.get(), _1, _2, _3, &reachable));
+    success =
+        robot_state.setFromIK(robot_state.getJointModelGroup(req.motion_plan_request.group_name), ik_pose,
+                              req.motion_plan_request.num_planning_attempts,
+                              req.motion_plan_request.allowed_planning_time,
+                              boost::bind(&isIKSolutionCollisionFree, planning_scene_.get(), _1, _2, _3, &reachable));
     if (success)
     {
       ROS_INFO("  Success!");
@@ -1365,10 +1366,11 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
       ROS_INFO_STREAM("Processing trajectory waypoint "
                       << req.motion_plan_request.trajectory_constraints.constraints[tc].name << " ...");
       startTime = ros::WallTime::now();
-      success = robot_state.setFromIK(
-          robot_state.getJointModelGroup(req.motion_plan_request.group_name), ik_pose,
-          req.motion_plan_request.num_planning_attempts, req.motion_plan_request.allowed_planning_time,
-          boost::bind(&isIKSolutionCollisionFree, planning_scene_.get(), _1, _2, _3, &reachable));
+      success =
+          robot_state.setFromIK(robot_state.getJointModelGroup(req.motion_plan_request.group_name), ik_pose,
+                                req.motion_plan_request.num_planning_attempts,
+                                req.motion_plan_request.allowed_planning_time,
+                                boost::bind(&isIKSolutionCollisionFree, planning_scene_.get(), _1, _2, _3, &reachable));
       double duration = (ros::WallTime::now() - startTime).toSec();
 
       if (success)
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index 90d3a29f8e..c6ed75b396 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015, Rice University
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Rice University nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Rice University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Rice University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ryan Luna */
 
@@ -93,8 +93,7 @@ class BenchmarkExecutor
 
   /// Definition of a post-run benchmark event function.  Invoked immediately after each planner calls solve().
   typedef boost::function<void(const moveit_msgs::MotionPlanRequest& request,
-                               const planning_interface::MotionPlanDetailedResponse& response,
-                               PlannerRunData& run_data)>
+                               const planning_interface::MotionPlanDetailedResponse& response, PlannerRunData& run_data)>
       PostRunEventFunction;
 
   BenchmarkExecutor(const std::string& robot_description_param = "robot_description");
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
index 88caedb796..e90a5076ac 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015, Rice University
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Rice University nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Rice University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Rice University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ryan Luna */
 
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 44925d4df8..35e7e98a18 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015, Rice University
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Rice University nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Rice University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Rice University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ryan Luna */
 
@@ -244,8 +244,8 @@ bool BenchmarkExecutor::runBenchmarks(const BenchmarkOptions& opts)
   return false;
 }
 
-bool BenchmarkExecutor::queriesAndPlannersCompatible(
-    const std::vector<BenchmarkRequest>& requests, const std::map<std::string, std::vector<std::string>>& /*planners*/)
+bool BenchmarkExecutor::queriesAndPlannersCompatible(const std::vector<BenchmarkRequest>& requests,
+                                                     const std::map<std::string, std::vector<std::string>>& /*planners*/)
 {
   // Make sure that the planner interfaces can service the desired queries
   for (const std::pair<const std::string, planning_pipeline::PlanningPipelinePtr>& pipeline_entry : planning_pipelines_)
diff --git a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
index 96dd820afb..567eac3d5c 100644
--- a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015, Rice University
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Rice University nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Rice University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Rice University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ryan Luna */
 
diff --git a/moveit_ros/benchmarks/src/RunBenchmark.cpp b/moveit_ros/benchmarks/src/RunBenchmark.cpp
index 19496e54e6..4a512c5c21 100644
--- a/moveit_ros/benchmarks/src/RunBenchmark.cpp
+++ b/moveit_ros/benchmarks/src/RunBenchmark.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015, Rice University
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Rice University nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Rice University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Rice University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ryan Luna */
 
diff --git a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
index 1bd9818579..914b189d03 100644
--- a/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
+++ b/moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2019, PickNik LLC
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the PickNik LLC nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Henning Kayser */
 /* Description: A simple benchmark that plans trajectories for all combinations of specified predefined poses */
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h b/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
index 95afa9e2b0..5feaa87575 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/include/moveit/move_group_pick_place_capability/capability_names.h
@@ -42,4 +42,4 @@ namespace move_group
 {
 static const std::string PICKUP_ACTION = "pickup";  // name of 'pickup' action
 static const std::string PLACE_ACTION = "place";    // name of 'place' action
-}
+}  // namespace move_group
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.cpp b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.cpp
index 4d413e1c9b..8e2d0c9409 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.cpp
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.cpp
@@ -54,8 +54,7 @@ void move_group::MoveGroupPickPlaceAction::initialize()
 
   // start the pickup action server
   pickup_action_server_.reset(new actionlib::SimpleActionServer<moveit_msgs::PickupAction>(
-      root_node_handle_, PICKUP_ACTION, boost::bind(&MoveGroupPickPlaceAction::executePickupCallback, this, _1),
-      false));
+      root_node_handle_, PICKUP_ACTION, boost::bind(&MoveGroupPickPlaceAction::executePickupCallback, this, _1), false));
   pickup_action_server_->registerPreemptCallback(boost::bind(&MoveGroupPickPlaceAction::preemptPickupCallback, this));
   pickup_action_server_->start();
 
@@ -283,8 +282,8 @@ void move_group::MoveGroupPickPlaceAction::executePickupCallbackPlanAndExecute(
   action_res.error_code = plan.error_code_;
 }
 
-void move_group::MoveGroupPickPlaceAction::executePlaceCallbackPlanAndExecute(
-    const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult& action_res)
+void move_group::MoveGroupPickPlaceAction::executePlaceCallbackPlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal,
+                                                                              moveit_msgs::PlaceResult& action_res)
 {
   plan_execution::PlanExecution::Options opt;
 
diff --git a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
index 5987597bc9..5945235850 100644
--- a/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
+++ b/moveit_ros/manipulation/move_group_pick_place_capability/src/pick_place_action_capability.h
@@ -56,8 +56,7 @@ class MoveGroupPickPlaceAction : public MoveGroupCapability
   void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal);
   void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal);
 
-  void executePickupCallbackPlanOnly(const moveit_msgs::PickupGoalConstPtr& goal,
-                                     moveit_msgs::PickupResult& action_res);
+  void executePickupCallbackPlanOnly(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult& action_res);
   void executePickupCallbackPlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal,
                                            moveit_msgs::PickupResult& action_res);
 
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
index f341abf45b..942e8aca59 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_pipeline.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
index ab26f50dae..6c2118562a 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
index 32ef5d4277..38be2ba658 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place_params.h
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
diff --git a/moveit_ros/manipulation/pick_place/src/manipulation_pipeline.cpp b/moveit_ros/manipulation/pick_place/src/manipulation_pipeline.cpp
index 1a3a6aab6b..29cab837f5 100644
--- a/moveit_ros/manipulation/pick_place/src/manipulation_pipeline.cpp
+++ b/moveit_ros/manipulation/pick_place/src/manipulation_pipeline.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2012, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Ioan Sucan */
 
@@ -209,8 +209,8 @@ void ManipulationPipeline::push(const ManipulationPlanPtr& plan)
 {
   boost::mutex::scoped_lock slock(queue_access_lock_);
   queue_.push_back(plan);
-  ROS_INFO_STREAM_NAMED("manipulation", "Added plan for pipeline '" << name_ << "'. Queue is now of size "
-                                                                    << queue_.size());
+  ROS_INFO_STREAM_NAMED("manipulation",
+                        "Added plan for pipeline '" << name_ << "'. Queue is now of size " << queue_.size());
   queue_access_cond_.notify_all();
 }
 
diff --git a/moveit_ros/manipulation/pick_place/src/place.cpp b/moveit_ros/manipulation/pick_place/src/place.cpp
index 2bf053a06c..92eb153a37 100644
--- a/moveit_ros/manipulation/pick_place/src/place.cpp
+++ b/moveit_ros/manipulation/pick_place/src/place.cpp
@@ -104,8 +104,8 @@ bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr& planning_scene
       const std::vector<std::string>& eef_names = jmg->getAttachedEndEffectorNames();
       if (eef_names.empty())
       {
-        ROS_ERROR_STREAM_NAMED("manipulation", "There are no end-effectors specified for group '" << goal.group_name
-                                                                                                  << "'");
+        ROS_ERROR_STREAM_NAMED("manipulation",
+                               "There are no end-effectors specified for group '" << goal.group_name << "'");
         error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
         return false;
       }
diff --git a/moveit_ros/manipulation/pick_place/src/plan_stage.cpp b/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
index 3646c94a0f..c704cd3ede 100644
--- a/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
+++ b/moveit_ros/manipulation/pick_place/src/plan_stage.cpp
@@ -65,8 +65,8 @@ bool PlanStage::evaluate(const ManipulationPlanPtr& plan) const
   req.planner_id = plan->shared_data_->planner_id_;
   req.start_state.is_diff = true;
 
-  req.goal_constraints.resize(
-      1, kinematic_constraints::constructGoalConstraints(*plan->approach_state_, plan->shared_data_->planning_group_));
+  req.goal_constraints.resize(1, kinematic_constraints::constructGoalConstraints(*plan->approach_state_,
+                                                                                 plan->shared_data_->planning_group_));
   unsigned int attempts = 0;
   do  // give the planner two chances
   {
@@ -77,8 +77,7 @@ bool PlanStage::evaluate(const ManipulationPlanPtr& plan) const
       // We have a valid motion plan, now apply pre-approach end effector posture (open gripper) if applicable
       if (!plan->approach_posture_.joint_names.empty())
       {
-        moveit::core::RobotStatePtr pre_approach_state(
-            new moveit::core::RobotState(res.trajectory_->getLastWayPoint()));
+        moveit::core::RobotStatePtr pre_approach_state(new moveit::core::RobotState(res.trajectory_->getLastWayPoint()));
         robot_trajectory::RobotTrajectoryPtr pre_approach_traj(new robot_trajectory::RobotTrajectory(
             pre_approach_state->getRobotModel(), plan->shared_data_->end_effector_group_->getName()));
         pre_approach_traj->setRobotTrajectoryMsg(*pre_approach_state, plan->approach_posture_);
@@ -96,8 +95,7 @@ bool PlanStage::evaluate(const ManipulationPlanPtr& plan) const
           ROS_INFO_STREAM("Adding default duration of " << PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION
                                                         << " seconds to the grasp closure time. Assign time_from_start "
                                                         << "to your trajectory to avoid this.");
-          pre_approach_traj->addPrefixWayPoint(pre_approach_state,
-                                               PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION);
+          pre_approach_traj->addPrefixWayPoint(pre_approach_state, PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION);
         }
 
         // Add the open gripper trajectory to the plan
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
index daeeb838a6..97c1ddf881 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
@@ -52,7 +52,7 @@ namespace plan_execution
 {
 MOVEIT_CLASS_FORWARD(PlanExecution);
 MOVEIT_CLASS_FORWARD(PlanWithSensing);
-}
+}  // namespace plan_execution
 
 namespace trajectory_execution_manager
 {
diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
index 321a5ad3dc..e2b939dadc 100644
--- a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
@@ -142,8 +142,9 @@ bool MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath
                 kset->empty() ? nullptr : kset.get(), _1, _2, _3);
           }
           bool global_frame = !moveit::core::Transforms::sameFrame(link_name, req.header.frame_id);
-          ROS_INFO_NAMED(getName(), "Attempting to follow %u waypoints for link '%s' using a step of %lf m "
-                                    "and jump threshold %lf (in %s reference frame)",
+          ROS_INFO_NAMED(getName(),
+                         "Attempting to follow %u waypoints for link '%s' using a step of %lf m "
+                         "and jump threshold %lf (in %s reference frame)",
                          (unsigned int)waypoints.size(), link_name.c_str(), req.max_step, req.jump_threshold,
                          global_frame ? "global" : "link");
           std::vector<moveit::core::RobotStatePtr> traj;
diff --git a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
index 9ce1b3bb19..96962faf68 100644
--- a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
+++ b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
@@ -47,4 +47,4 @@ class MoveGroupGetPlanningSceneService : public MoveGroupCapability
 
   void initialize() override;
 };
-}
+}  // namespace move_group
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
index 849ea5251a..d977ace075 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
@@ -155,9 +155,10 @@ bool MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPositionIK::Re
     moveit::core::RobotState rs = ls->getCurrentState();
     kset.add(req.ik_request.constraints, ls->getTransforms());
     computeIK(req.ik_request, res.solution, res.error_code, rs,
-              boost::bind(&isIKSolutionValid, req.ik_request.avoid_collisions ?
-                                                  static_cast<const planning_scene::PlanningSceneConstPtr&>(ls).get() :
-                                                  nullptr,
+              boost::bind(&isIKSolutionValid,
+                          req.ik_request.avoid_collisions ?
+                              static_cast<const planning_scene::PlanningSceneConstPtr&>(ls).get() :
+                              nullptr,
                           kset.empty() ? nullptr : &kset, _1, _2, _3));
   }
   else
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 484c2d5782..30ddaff162 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
index 8300134bab..64c55367bc 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
index 9108626617..b3418e3d7a 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/low_pass_filter.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
index 73fd73df8d..a593da6127 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 6a3a29d4bd..5e9f26fe64 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index a8f676033a..d991aee0e5 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
@@ -145,8 +145,8 @@ class ServoCalcs
   void calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta);
 
   /** \brief Convert joint deltas to an outgoing JointTrajectory command.
-    * This happens for joint commands and Cartesian commands.
-    */
+   * This happens for joint commands and Cartesian commands.
+   */
   bool convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Gazebo simulations have very strict message timestamp requirements.
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
index 2fcdea7c5c..ad0deec16f 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
index f6e9ddcb54..97e92210cc 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #pragma once
 
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 4c7535e620..18bdb06294 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : collision_check.cpp
  *      Project   : moveit_servo
@@ -212,15 +212,16 @@ void CollisionCheck::printCollisionPairs(collision_detection::CollisionResult::C
   if (!contact_map.empty())
   {
     // Throttled error message about the first contact in the list
-    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision (among others, possibly): "
-                                                                         << contact_map.begin()->first.first << ", "
-                                                                         << contact_map.begin()->first.second);
+    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "Objects in collision (among others, possibly): "
+                                       << contact_map.begin()->first.first << ", "
+                                       << contact_map.begin()->first.second);
     // Log all other contacts if in debug mode
     ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision:");
     for (auto contact : contact_map)
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "\t" << contact.first.first << ", "
-                                                                             << contact.first.second);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                      "\t" << contact.first.first << ", " << contact.first.second);
     }
   }
 }
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 6db053e4be..53e919ee33 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #include <std_msgs/Int8.h>
 
diff --git a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
index 2ed780b650..c60b331119 100644
--- a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
+++ b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : joint_state_subscriber.cpp
  *      Project   : moveit_servo
diff --git a/moveit_ros/moveit_servo/src/low_pass_filter.cpp b/moveit_ros/moveit_servo/src/low_pass_filter.cpp
index 7013b3b4c9..da04cd2716 100644
--- a/moveit_ros/moveit_servo/src/low_pass_filter.cpp
+++ b/moveit_ros/moveit_servo/src/low_pass_filter.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : low_pass_filter.cpp
  *      Project   : moveit_servo
@@ -48,7 +48,7 @@ namespace
 {
 constexpr char LOGNAME[] = "low_pass_filter";
 constexpr double EPSILON = 1e-9;
-}
+}  // namespace
 
 LowPassFilter::LowPassFilter(double low_pass_filter_coeff)
   : previous_measurements_{ 0., 0. }
@@ -67,12 +67,11 @@ LowPassFilter::LowPassFilter(double low_pass_filter_coeff)
 
   if (std::abs(feedback_term_) < EPSILON)
   {
-    ROS_WARN_STREAM_NAMED(
-        LOGNAME, "Filter coefficient value of "
-                     << low_pass_filter_coeff
-                     << " resulted in feedback term of 0. "
-                        " This results in a window averaging Finite Impulse Response (FIR) filter with a gain of "
-                     << scale_term_ * LowPassFilter::FILTER_LENGTH);
+    ROS_WARN_STREAM_NAMED(LOGNAME, "Filter coefficient value of " << low_pass_filter_coeff
+                                                                  << " resulted in feedback term of 0. "
+                                                                     " This results in a window averaging Finite "
+                                                                     "Impulse Response (FIR) filter with a gain of "
+                                                                  << scale_term_ * LowPassFilter::FILTER_LENGTH);
   }
 }
 
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index d8db2630df..ee567f8bb3 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : servo.cpp
  *      Project   : moveit_servo
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 13684e42ca..b6d4fd774e 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : servo_calcs.cpp
  *      Project   : moveit_servo
@@ -287,8 +287,9 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   // Print a warning to the user if both are stale
   if (!twist_command_is_stale_ || !joint_command_is_stale_)
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
-                                                "Try a larger 'incoming_command_timeout' parameter?");
+    ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME,
+                                   "Stale command. "
+                                   "Try a larger 'incoming_command_timeout' parameter?");
   }
 
   // If we should halt
@@ -515,8 +516,7 @@ bool ServoCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& jo
 // Spam several redundant points into the trajectory. The first few may be skipped if the
 // time stamp is in the past when it reaches the client. Needed for gazebo simulation.
 // Start from 2 because the first point's timestamp is already 1*parameters_.publish_period
-void ServoCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory,
-                                                     int count) const
+void ServoCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& joint_trajectory, int count) const
 {
   joint_trajectory.points.resize(count);
   auto point = joint_trajectory.points[0];
@@ -653,9 +653,8 @@ double ServoCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& co
     if ((ini_condition > parameters_.lower_singularity_threshold) &&
         (ini_condition < parameters_.hard_stop_singularity_threshold))
     {
-      velocity_scale = 1. -
-                       (ini_condition - parameters_.lower_singularity_threshold) /
-                           (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
+      velocity_scale = 1. - (ini_condition - parameters_.lower_singularity_threshold) /
+                                (parameters_.hard_stop_singularity_threshold - parameters_.lower_singularity_threshold);
       status_ = StatusCode::DECELERATE_FOR_SINGULARITY;
       ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, SERVO_STATUS_CODE_MAP.at(status_));
     }
@@ -774,10 +773,10 @@ bool ServoCalcs::enforceSRDFPositionLimits()
             (kinematic_state_->getJointVelocities(joint)[0] > 0 &&
              (joint_angle > (limits[0].max_position - parameters_.joint_limit_margin))))
         {
-          ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, ros::this_node::getName()
-                                                                               << " " << joint->getName()
-                                                                               << " close to a "
-                                                                                  " position limit. Halting.");
+          ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                         ros::this_node::getName() << " " << joint->getName()
+                                                                   << " close to a "
+                                                                      " position limit. Halting.");
           halting = true;
         }
       }
@@ -828,8 +827,8 @@ bool ServoCalcs::updateJoints()
     }
     catch (const std::out_of_range& e)
     {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint "
-                                                                            << latest_joint_state->name[m]);
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                      "Ignoring joint " << latest_joint_state->name[m]);
       continue;
     }
 
@@ -962,9 +961,9 @@ bool ServoCalcs::addJointIncrements(sensor_msgs::JointState& output, const Eigen
     }
     catch (const std::out_of_range& e)
     {
-      ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, ros::this_node::getName()
-                                                                            << " Lengths of output and "
-                                                                               "increments do not match.");
+      ROS_ERROR_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                      ros::this_node::getName() << " Lengths of output and "
+                                                                   "increments do not match.");
       return false;
     }
   }
diff --git a/moveit_ros/moveit_servo/src/servo_server.cpp b/moveit_ros/moveit_servo/src/servo_server.cpp
index ef67b50277..590061609f 100644
--- a/moveit_ros/moveit_servo/src/servo_server.cpp
+++ b/moveit_ros/moveit_servo/src/servo_server.cpp
@@ -29,7 +29,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 /*      Title     : servo_server.cpp
  *      Project   : moveit_servo
diff --git a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
index 8294ba897b..cec304711a 100644
--- a/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
+++ b/moveit_ros/moveit_servo/src/teleop_examples/spacenav_to_twist.cpp
@@ -34,7 +34,7 @@
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ *******************************************************************************/
 
 #include "geometry_msgs/TwistStamped.h"
 #include "control_msgs/JointJog.h"
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
index c87ee47189..79ec097a8a 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -83,8 +83,7 @@ void OccupancyMapMonitor::initialize()
     if (!nh_.getParam("octomap_resolution", map_resolution_))
     {
       map_resolution_ = 0.1;
-      ROS_WARN_NAMED(LOGNAME, "Resolution not specified for Octomap. Assuming resolution = %g instead",
-                     map_resolution_);
+      ROS_WARN_NAMED(LOGNAME, "Resolution not specified for Octomap. Assuming resolution = %g instead", map_resolution_);
     }
   }
   ROS_DEBUG_NAMED(LOGNAME, "Using resolution = %lf m for building octomap", map_resolution_);
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index b57d9e5418..4ae40c00a8 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -264,9 +264,9 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
       for (int t = 0; t < nt; ++t)
         try
         {
-          tf2::fromMsg(
-              tf_buffer_->lookupTransform(monitor_->getMapFrame(), depth_msg->header.frame_id, depth_msg->header.stamp),
-              map_h_sensor);
+          tf2::fromMsg(tf_buffer_->lookupTransform(monitor_->getMapFrame(), depth_msg->header.frame_id,
+                                                   depth_msg->header.stamp),
+                       map_h_sensor);
           found = true;
           break;
         }
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/updater_plugin.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/updater_plugin.cpp
index ab76ac2076..83d955c803 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/updater_plugin.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/updater_plugin.cpp
@@ -37,5 +37,4 @@
 #include <class_loader/class_loader.hpp>
 #include <moveit/depth_image_octomap_updater/depth_image_octomap_updater.h>
 
-CLASS_LOADER_REGISTER_CLASS(occupancy_map_monitor::DepthImageOctomapUpdater,
-                            occupancy_map_monitor::OccupancyMapUpdater);
+CLASS_LOADER_REGISTER_CLASS(occupancy_map_monitor::DepthImageOctomapUpdater, occupancy_map_monitor::OccupancyMapUpdater);
diff --git a/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp b/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
index cc033993ae..300da502fb 100644
--- a/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
+++ b/moveit_ros/perception/lazy_free_space_updater/src/lazy_free_space_updater.cpp
@@ -122,9 +122,10 @@ void LazyFreeSpaceUpdater::processThread()
     if (!running_)
       break;
 
-    ROS_DEBUG_NAMED(
-        LOGNAME, "Begin processing batched update: marking free cells due to %lu occupied cells and %lu model cells",
-        (long unsigned int)process_occupied_cells_set_->size(), (long unsigned int)process_model_cells_set_->size());
+    ROS_DEBUG_NAMED(LOGNAME,
+                    "Begin processing batched update: marking free cells due to %lu occupied cells and %lu model cells",
+                    (long unsigned int)process_occupied_cells_set_->size(),
+                    (long unsigned int)process_model_cells_set_->size());
 
     ros::WallTime start = ros::WallTime::now();
     tree_->lockRead();
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
index eb03286787..247f1ae009 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
@@ -48,7 +48,7 @@ namespace tf2_ros
 {
 class TransformListener;
 class Buffer;
-}
+}  // namespace tf2_ros
 
 /**
  * \brief Class that caches and updates transformations for given frames.
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp
index 4dd045381d..98ed797ae4 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp
@@ -52,8 +52,7 @@ using namespace std;
 using namespace Eigen;
 using shapes::Mesh;
 
-mesh_filter::MeshFilter::MeshFilter(
-    const boost::function<bool(MeshFilter::MeshHandle, Isometry3d&)>& transform_callback)
+mesh_filter::MeshFilter::MeshFilter(const boost::function<bool(MeshFilter::MeshHandle, Isometry3d&)>& transform_callback)
   : mesh_renderer_(640, 480, 0.3, 10)  // some default values for buffer sizes and clipping planes
   , depth_filter_(640, 480, 0.3, 10)
   , next_handle_(FirstLabel)  // 0 and 1 are reserved!
@@ -163,7 +162,7 @@ inline bool isAligned16(const void* pointer)
 {
   return (((uintptr_t)pointer & 15) == 0);
 }
-}
+}  // namespace
 
 void mesh_filter::MeshFilter::getModelDepth(float* depth) const
 {
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
index 58162afa22..27d5627f2c 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
@@ -255,8 +255,7 @@ void mesh_filter::MeshFilterBase::getFilteredDepth(float* depth) const
 
 void mesh_filter::MeshFilterBase::getFilteredLabels(LabelType* labels) const
 {
-  JobPtr job(
-      new FilterJob<void>(boost::bind(&GLRenderer::getColorBuffer, depth_filter_.get(), (unsigned char*)labels)));
+  JobPtr job(new FilterJob<void>(boost::bind(&GLRenderer::getColorBuffer, depth_filter_.get(), (unsigned char*)labels)));
   addJob(job);
   job->wait();
 }
diff --git a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
index 5440274826..2d9da2b231 100644
--- a/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
+++ b/moveit_ros/perception/point_containment_filter/src/shape_mask.cpp
@@ -135,8 +135,7 @@ void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::Poi
       if (!transform_callback_(it->handle, tmp))
       {
         if (!it->body)
-          ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape with handle " << it->handle
-                                                                                     << " without a body");
+          ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape with handle " << it->handle << " without a body");
         else
           ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape " << it->body->getType() << " with handle "
                                                                          << it->handle);
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 2c92ae43b9..38953339ca 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -194,9 +194,9 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
     {
       try
       {
-        tf2::fromMsg(
-            tf_buffer_->lookupTransform(monitor_->getMapFrame(), cloud_msg->header.frame_id, cloud_msg->header.stamp),
-            map_h_sensor);
+        tf2::fromMsg(tf_buffer_->lookupTransform(monitor_->getMapFrame(), cloud_msg->header.frame_id,
+                                                 cloud_msg->header.stamp),
+                     map_h_sensor);
       }
       catch (tf2::TransformException& ex)
       {
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/src/constraint_sampler_manager_loader.cpp b/moveit_ros/planning/constraint_sampler_manager_loader/src/constraint_sampler_manager_loader.cpp
index a03d06eff7..d3a12b0b6c 100644
--- a/moveit_ros/planning/constraint_sampler_manager_loader/src/constraint_sampler_manager_loader.cpp
+++ b/moveit_ros/planning/constraint_sampler_manager_loader/src/constraint_sampler_manager_loader.cpp
@@ -88,8 +88,9 @@ class ConstraintSamplerManagerLoader::Helper
 
 ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(
     const constraint_samplers::ConstraintSamplerManagerPtr& csm)
-  : constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(
-                                                new constraint_samplers::ConstraintSamplerManager()))
+  : constraint_sampler_manager_(
+        csm ? csm :
+              constraint_samplers::ConstraintSamplerManagerPtr(new constraint_samplers::ConstraintSamplerManager()))
   , impl_(new Helper(constraint_sampler_manager_))
 {
 }
diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
index 286896c521..a5c75bc2a4 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
+++ b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -349,8 +349,9 @@ moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const
           if (nh.searchParam(base_param_name + "/kinematics_solver_attempts", ksolver_attempts_param_name) &&
               nh.hasParam(ksolver_attempts_param_name))
           {
-            ROS_WARN_ONCE_NAMED(LOGNAME, "Kinematics solver doesn't support #attempts anymore, but only a timeout.\n"
-                                         "Please remove the parameter '%s' from your configuration.",
+            ROS_WARN_ONCE_NAMED(LOGNAME,
+                                "Kinematics solver doesn't support #attempts anymore, but only a timeout.\n"
+                                "Please remove the parameter '%s' from your configuration.",
                                 ksolver_attempts_param_name.c_str());
           }
 
@@ -406,8 +407,9 @@ moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const
             {
               if (ksolver_ik_links.getType() != XmlRpc::XmlRpcValue::TypeArray)
               {
-                ROS_WARN_STREAM_NAMED(LOGNAME, "rosparam '" << ksolver_ik_links_param_name << "' should be an XmlRpc "
-                                                                                              "value type 'Array'");
+                ROS_WARN_STREAM_NAMED(LOGNAME, "rosparam '" << ksolver_ik_links_param_name
+                                                            << "' should be an XmlRpc "
+                                                               "value type 'Array'");
               }
               else
               {
diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index b282a34a9d..e7657122d9 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -198,8 +198,7 @@ void plan_execution::PlanExecution::planAndExecuteHelper(ExecutableMotionPlan& p
         plan.error_code_.val == moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN ||
         plan.error_code_.val == moveit_msgs::MoveItErrorCodes::UNABLE_TO_AQUIRE_SENSOR_DATA)
     {
-      if (plan.error_code_.val == moveit_msgs::MoveItErrorCodes::UNABLE_TO_AQUIRE_SENSOR_DATA &&
-          opt.replan_delay_ > 0.0)
+      if (plan.error_code_.val == moveit_msgs::MoveItErrorCodes::UNABLE_TO_AQUIRE_SENSOR_DATA && opt.replan_delay_ > 0.0)
       {
         ros::WallDuration d(opt.replan_delay_);
         d.sleep();
@@ -394,9 +393,9 @@ moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor(E
     trajectory_monitor_->startTrajectoryMonitor();
 
   // start a trajectory execution thread
-  trajectory_execution_manager_->execute(
-      boost::bind(&PlanExecution::doneWithTrajectoryExecution, this, _1),
-      boost::bind(&PlanExecution::successfulTrajectorySegmentExecution, this, &plan, _1));
+  trajectory_execution_manager_->execute(boost::bind(&PlanExecution::doneWithTrajectoryExecution, this, _1),
+                                         boost::bind(&PlanExecution::successfulTrajectorySegmentExecution, this, &plan,
+                                                     _1));
   // wait for path to be done, while checking that the path does not become invalid
   ros::Rate r(100);
   path_became_invalid_ = false;
diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
index a913b5e976..2f0f13edaa 100644
--- a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
@@ -76,10 +76,10 @@ enum class CollisionObjectType
 
 /** \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added
  *  objects are not in collision with the robot.
-*
-*   \param planning_scene The planning scene
-*   \param num_objects The number of objects to be cluttered
-*   \param CollisionObjectType Type of object to clutter (mesh or box) */
+ *
+ *   \param planning_scene The planning scene
+ *   \param num_objects The number of objects to be cluttered
+ *   \param CollisionObjectType Type of object to clutter (mesh or box) */
 void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const size_t num_objects,
                   CollisionObjectType type)
 {
@@ -164,11 +164,11 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const
 }
 
 /** \brief Runs a collision detection benchmark and measures the time.
-*
-*   \param trials The number of repeated collision checks for each state
-*   \param scene The planning scene
-*   \param CollisionDetector The type of collision detector
-*   \param only_self Flag for only self collision check performed */
+ *
+ *   \param trials The number of repeated collision checks for each state
+ *   \param scene The planning scene
+ *   \param CollisionDetector The type of collision detector
+ *   \param only_self Flag for only self collision check performed */
 void runCollisionDetection(unsigned int trials, const planning_scene::PlanningScenePtr& scene,
                            const std::vector<moveit::core::RobotState>& states, const CollisionDetector col_detector,
                            bool only_self, bool distance = false)
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
index d3e4fb1617..6fe04103fa 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
@@ -192,8 +192,8 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
     {
       // heuristically decide a duration offset for the trajectory (induced by the additional point added as a prefix to
       // the computed trajectory)
-      res.trajectory_->setWayPointDurationFromPrevious(
-          0, std::min(max_dt_offset_, res.trajectory_->getAverageSegmentDuration()));
+      res.trajectory_->setWayPointDurationFromPrevious(0, std::min(max_dt_offset_,
+                                                                   res.trajectory_->getAverageSegmentDuration()));
       res.trajectory_->addPrefixWayPoint(prefix_state, 0.0);
       // we add a prefix point, so we need to bump any previously added index positions
       for (std::size_t& added_index : added_path_index)
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
index 8a3c72431e..754d521260 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_collision.cpp
@@ -157,8 +157,8 @@ class FixStartStateCollision : public planning_request_adapter::PlanningRequestA
         {
           // heuristically decide a duration offset for the trajectory (induced by the additional point added as a
           // prefix to the computed trajectory)
-          res.trajectory_->setWayPointDurationFromPrevious(
-              0, std::min(max_dt_offset_, res.trajectory_->getAverageSegmentDuration()));
+          res.trajectory_->setWayPointDurationFromPrevious(0, std::min(max_dt_offset_,
+                                                                       res.trajectory_->getAverageSegmentDuration()));
           res.trajectory_->addPrefixWayPoint(prefix_state, 0.0);
           // we add a prefix point, so we need to bump any previously added index positions
           for (std::size_t& added_index : added_path_index)
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index 95292a3634..1df0a8a1af 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -138,7 +138,7 @@ class CurrentStateMonitor
 
   /** @brief Wait for at most \e wait_time seconds (default 1s) for a robot state more recent than t
    *  @return true on success, false if up-to-date robot state wasn't received within \e wait_time
-  */
+   */
   bool waitForCurrentState(const ros::Time t = ros::Time::now(), double wait_time = 1.0) const;
 
   /** @brief Wait for at most \e wait_time seconds until the complete robot state is known.
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index c7549056b5..b0716f346f 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -628,7 +628,7 @@ class LockedPlanningSceneRO
     return planning_scene_monitor_ && planning_scene_monitor_->getPlanningScene();
   }
 
-  operator const planning_scene::PlanningSceneConstPtr&() const
+  operator const planning_scene::PlanningSceneConstPtr &() const
   {
     return static_cast<const PlanningSceneMonitor*>(planning_scene_monitor_.get())->getPlanningScene();
   }
@@ -709,7 +709,7 @@ class LockedPlanningSceneRW : public LockedPlanningSceneRO
   {
   }
 
-  operator const planning_scene::PlanningScenePtr&()
+  operator const planning_scene::PlanningScenePtr &()
   {
     return planning_scene_monitor_->getPlanningScene();
   }
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index 6d896254eb..aa43572346 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -763,8 +763,7 @@ void PlanningSceneMonitor::includeWorldObjectsInOctree()
   boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
 
   // clear information about any attached object
-  for (std::pair<const std::string,
-                 std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>>>&
+  for (std::pair<const std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>>>&
            collision_body_shape_handle : collision_body_shape_handles_)
     for (std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>& it :
          collision_body_shape_handle.second)
diff --git a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
index d5bc34ca5d..50e9667a28 100644
--- a/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
+++ b/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp
@@ -160,8 +160,8 @@ void RobotModelLoader::configure(const Options& opt)
   if (model_ && opt.load_kinematics_solvers_)
     loadKinematicsSolvers();
 
-  ROS_DEBUG_STREAM_NAMED("robot_model_loader", "Loaded kinematic model in " << (ros::WallTime::now() - start).toSec()
-                                                                            << " seconds");
+  ROS_DEBUG_STREAM_NAMED("robot_model_loader",
+                         "Loaded kinematic model in " << (ros::WallTime::now() - start).toSec() << " seconds");
 }
 
 void RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr& kloader)
@@ -175,8 +175,7 @@ void RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::Kin
     if (kloader)
       kinematics_loader_ = kloader;
     else
-      kinematics_loader_.reset(
-          new kinematics_plugin_loader::KinematicsPluginLoader(rdf_loader_->getRobotDescription()));
+      kinematics_loader_.reset(new kinematics_plugin_loader::KinematicsPluginLoader(rdf_loader_->getRobotDescription()));
     moveit::core::SolverAllocatorFn kinematics_allocator =
         kinematics_loader_->getLoaderFunction(rdf_loader_->getSRDF());
     const std::vector<std::string>& groups = kinematics_loader_->getKnownGroups();
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 269422c203..22a7ee9eea 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -339,8 +339,7 @@ class TrajectoryExecutionManager
   std::vector<TrajectoryExecutionContext*> trajectories_;
   std::deque<TrajectoryExecutionContext*> continuous_execution_queue_;
 
-  std::unique_ptr<pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> >
-      controller_manager_loader_;
+  std::unique_ptr<pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> > controller_manager_loader_;
   moveit_controller_manager::MoveItControllerManagerPtr controller_manager_;
 
   bool verbose_;
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index a7920194f7..63fd9b5ee7 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -144,8 +144,9 @@ void TrajectoryExecutionManager::initialize()
       if (classes.size() == 1)
       {
         controller = classes[0];
-        ROS_WARN_NAMED(name_, "Parameter '~moveit_controller_manager' is not specified but only one "
-                              "matching plugin was found: '%s'. Using that one.",
+        ROS_WARN_NAMED(name_,
+                       "Parameter '~moveit_controller_manager' is not specified but only one "
+                       "matching plugin was found: '%s'. Using that one.",
                        controller.c_str());
       }
       else
@@ -161,8 +162,8 @@ void TrajectoryExecutionManager::initialize()
       }
       catch (pluginlib::PluginlibException& ex)
       {
-        ROS_FATAL_STREAM_NAMED(name_, "Exception while loading controller manager '" << controller
-                                                                                     << "': " << ex.what());
+        ROS_FATAL_STREAM_NAMED(name_,
+                               "Exception while loading controller manager '" << controller << "': " << ex.what());
       }
   }
 
@@ -974,8 +975,9 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont
         jm->enforcePositionBounds(&traj_position);
         if (jm->distance(&cur_position, &traj_position) > allowed_start_tolerance_)
         {
-          ROS_ERROR_NAMED(name_, "\nInvalid Trajectory: start point deviates from current robot state more than %g"
-                                 "\njoint '%s': expected: %g, current: %g",
+          ROS_ERROR_NAMED(name_,
+                          "\nInvalid Trajectory: start point deviates from current robot state more than %g"
+                          "\njoint '%s': expected: %g, current: %g",
                           allowed_start_tolerance_, joint_names[i].c_str(), traj_position, cur_position);
           return false;
         }
@@ -1478,8 +1480,9 @@ bool TrajectoryExecutionManager::executePart(std::size_t part_index)
         if (!handle->waitForExecution(expected_trajectory_duration))
           if (!execution_complete_ && ros::Time::now() - current_time > expected_trajectory_duration)
           {
-            ROS_ERROR_NAMED(name_, "Controller is taking too long to execute trajectory (the expected upper "
-                                   "bound for the trajectory execution was %lf seconds). Stopping trajectory.",
+            ROS_ERROR_NAMED(name_,
+                            "Controller is taking too long to execute trajectory (the expected upper "
+                            "bound for the trajectory execution was %lf seconds). Stopping trajectory.",
                             expected_trajectory_duration.toSec());
             {
               boost::mutex::scoped_lock slock(execution_state_mutex_);
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
index d457714c84..0359fe677b 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.h
@@ -55,8 +55,8 @@ moveit::core::RobotModelConstPtr getSharedRobotModel(const std::string& robot_de
   @param tf_buffer
   @return
  */
-planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(
-    const moveit::core::RobotModelConstPtr& robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
+planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
+                                                                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
 /**
   @brief getSharedStateMonitor
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 55a1a47bf5..e524e17e2e 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -706,8 +706,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
     if (objects.empty())
     {
-      ROS_ERROR_STREAM_NAMED(LOGNAME, "Asked for grasps for the object '" << object
-                                                                          << "', but the object could not be found");
+      ROS_ERROR_STREAM_NAMED(LOGNAME,
+                             "Asked for grasps for the object '" << object << "', but the object could not be found");
       return MoveItErrorCode(moveit_msgs::MoveItErrorCodes::INVALID_OBJECT_NAME);
     }
 
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 7d84ed7405..24fb87e984 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -554,8 +554,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     }
   }
 
-  Eigen::MatrixXd getJacobianMatrixPython(const bp::list& joint_values,
-                                          const bp::object& reference_point = bp::object())
+  Eigen::MatrixXd getJacobianMatrixPython(const bp::list& joint_values, const bp::object& reference_point = bp::object())
   {
     const std::vector<double> v = py_bindings_tools::doubleFromList(joint_values);
     std::vector<double> ref;
@@ -599,8 +598,7 @@ static void wrap_move_group_interface()
 
   move_group_interface_class.def("get_name", &MoveGroupInterfaceWrapper::getNameCStr);
   move_group_interface_class.def("get_planning_frame", &MoveGroupInterfaceWrapper::getPlanningFrameCStr);
-  move_group_interface_class.def("get_interface_description",
-                                 &MoveGroupInterfaceWrapper::getInterfaceDescriptionPython);
+  move_group_interface_class.def("get_interface_description", &MoveGroupInterfaceWrapper::getInterfaceDescriptionPython);
 
   move_group_interface_class.def("get_active_joints", &MoveGroupInterfaceWrapper::getActiveJointsList);
   move_group_interface_class.def("get_joints", &MoveGroupInterfaceWrapper::getJointsList);
@@ -657,8 +655,7 @@ static void wrap_move_group_interface()
       &MoveGroupInterfaceWrapper::rememberJointValues;
   move_group_interface_class.def("remember_joint_values", remember_joint_values_2);
 
-  move_group_interface_class.def("remember_joint_values",
-                                 &MoveGroupInterfaceWrapper::rememberJointValuesFromPythonList);
+  move_group_interface_class.def("remember_joint_values", &MoveGroupInterfaceWrapper::rememberJointValuesFromPythonList);
 
   move_group_interface_class.def("start_state_monitor", &MoveGroupInterfaceWrapper::startStateMonitor);
   move_group_interface_class.def("get_current_joint_values", &MoveGroupInterfaceWrapper::getCurrentJointValuesList);
@@ -686,8 +683,7 @@ static void wrap_move_group_interface()
   bool (MoveGroupInterfaceWrapper::*set_path_constraints_1)(const std::string&) =
       &MoveGroupInterfaceWrapper::setPathConstraints;
   move_group_interface_class.def("set_path_constraints", set_path_constraints_1);
-  move_group_interface_class.def("set_path_constraints_from_msg",
-                                 &MoveGroupInterfaceWrapper::setPathConstraintsFromMsg);
+  move_group_interface_class.def("set_path_constraints_from_msg", &MoveGroupInterfaceWrapper::setPathConstraintsFromMsg);
   move_group_interface_class.def("get_path_constraints", &MoveGroupInterfaceWrapper::getPathConstraintsPython);
   move_group_interface_class.def("clear_path_constraints", &MoveGroupInterfaceWrapper::clearPathConstraints);
   move_group_interface_class.def("get_known_constraints", &MoveGroupInterfaceWrapper::getKnownConstraintsList);
diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index 3a86a62f22..3c2b4a6db2 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -181,8 +181,7 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
 
     for (const moveit_msgs::CollisionObject& collision_object : response.scene.world.collision_objects)
     {
-      if (object_ids.empty() ||
-          std::find(object_ids.begin(), object_ids.end(), collision_object.id) != object_ids.end())
+      if (object_ids.empty() || std::find(object_ids.begin(), object_ids.end(), collision_object.id) != object_ids.end())
       {
         result[collision_object.id] = collision_object;
       }
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
index 9ca48182db..7f72363231 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/serialize_msg.h
@@ -125,9 +125,9 @@ namespace converter
 template <>
 struct object_manager_traits<moveit::py_bindings_tools::ByteString>
 #if PY_VERSION_HEX >= 0x03000000
-    : pytype_object_manager_traits<&PyBytes_Type, moveit::py_bindings_tools::ByteString>
+  : pytype_object_manager_traits<&PyBytes_Type, moveit::py_bindings_tools::ByteString>
 #else
-    : pytype_object_manager_traits<&PyString_Type, moveit::py_bindings_tools::ByteString>
+  : pytype_object_manager_traits<&PyString_Type, moveit::py_bindings_tools::ByteString>
 #endif
 
 {
diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
index bb2666f24b..ceae107b73 100644
--- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2020, Tyler Weaver
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of PickNik Robotics nor the
-*     names of its contributors may be used to endorse or promote
-*     products derived from this software without specific prior
-*     written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, Tyler Weaver
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Robotics nor the
+ *     names of its contributors may be used to endorse or promote
+ *     products derived from this software without specific prior
+ *     written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Tyler Weaver */
 
diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
index a7dbffd210..4b2d906448 100644
--- a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
+++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2020, Tyler Weaver
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of PickNik Robotics nor the
-*     names of its contributors may be used to endorse or promote
-*     products derived from this software without specific prior
-*     written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, Tyler Weaver
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Robotics nor the
+ *     names of its contributors may be used to endorse or promote
+ *     products derived from this software without specific prior
+ *     written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Tyler Weaver */
 
diff --git a/moveit_ros/planning_interface/test/subframes_test.cpp b/moveit_ros/planning_interface/test/subframes_test.cpp
index 757fce094b..f38be9ea73 100644
--- a/moveit_ros/planning_interface/test/subframes_test.cpp
+++ b/moveit_ros/planning_interface/test/subframes_test.cpp
@@ -1,37 +1,37 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2019, Felix von Drigalski, Jacob Aas, Tyler Weaver
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of OMRON SINIC X or PickNik Robotics nor the
-*     names of its contributors may be used to endorse or promote
-*     products derived from this software without specific prior
-*     written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Felix von Drigalski, Jacob Aas, Tyler Weaver
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of OMRON SINIC X or PickNik Robotics nor the
+ *     names of its contributors may be used to endorse or promote
+ *     products derived from this software without specific prior
+ *     written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver */
 
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
index fc1dafc8d2..95121439e0 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction.h
@@ -49,7 +49,7 @@ namespace core
 {
 class RobotState;
 }
-}
+}  // namespace moveit
 
 namespace robot_interaction
 {
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
index 9404d5dc0b..6673198820 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interactive_marker_helpers.h
@@ -42,9 +42,8 @@
 
 namespace robot_interaction
 {
-visualization_msgs::InteractiveMarker makeEmptyInteractiveMarker(const std::string& name,
-                                                                 const geometry_msgs::PoseStamped& stamped,
-                                                                 double scale);
+visualization_msgs::InteractiveMarker
+makeEmptyInteractiveMarker(const std::string& name, const geometry_msgs::PoseStamped& stamped, double scale);
 
 visualization_msgs::InteractiveMarker make6DOFMarker(const std::string& name, const geometry_msgs::PoseStamped& stamped,
                                                      double scale, bool orientation_fixed = false);
diff --git a/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp b/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
index 9fcc48abc0..5dbcd93191 100644
--- a/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
+++ b/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
@@ -42,9 +42,8 @@
 
 namespace robot_interaction
 {
-visualization_msgs::InteractiveMarker makeEmptyInteractiveMarker(const std::string& name,
-                                                                 const geometry_msgs::PoseStamped& stamped,
-                                                                 double scale)
+visualization_msgs::InteractiveMarker
+makeEmptyInteractiveMarker(const std::string& name, const geometry_msgs::PoseStamped& stamped, double scale)
 {
   visualization_msgs::InteractiveMarker int_marker;
   int_marker.header = stamped.header;
diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index 9483f9c4cb..f2ebf2a4a1 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -93,8 +93,9 @@ void RobotInteraction::decideActiveComponents(const std::string& group, Interact
   decideActiveEndEffectors(group, style);
   decideActiveJoints(group);
   if (!group.empty() && active_eef_.empty() && active_vj_.empty() && active_generic_.empty())
-    ROS_INFO_NAMED("robot_interaction", "No active joints or end effectors found for group '%s'. "
-                                        "Make sure that kinematics.yaml is loaded in this node's namespace.",
+    ROS_INFO_NAMED("robot_interaction",
+                   "No active joints or end effectors found for group '%s'. "
+                   "Make sure that kinematics.yaml is loaded in this node's namespace.",
                    group.c_str());
 }
 
@@ -460,8 +461,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
         im.name = getMarkerName(handler, active_generic_[i]);
         shown_markers_[im.name] = i;
         ims.push_back(im);
-        ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", im.name.c_str(),
-                        im.scale);
+        ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", im.name.c_str(), im.scale);
       }
     }
 
@@ -504,8 +504,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
                               active_eef_[i].interaction & InteractionStyle::ORIENTATION_EEF);
       ims.push_back(im);
       registerMoveInteractiveMarkerTopic(marker_name, handler->getName() + "_" + active_eef_[i].parent_link);
-      ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", marker_name.c_str(),
-                      mscale);
+      ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", marker_name.c_str(), mscale);
     }
     for (std::size_t i = 0; i < active_vj_.size(); ++i)
     {
@@ -529,8 +528,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
       }
       ims.push_back(im);
       registerMoveInteractiveMarkerTopic(marker_name, handler->getName() + "_" + active_vj_[i].connecting_link);
-      ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", marker_name.c_str(),
-                      mscale);
+      ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", marker_name.c_str(), mscale);
     }
     handlers_[handler->getName()] = handler;
   }
@@ -541,8 +539,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
   for (const visualization_msgs::InteractiveMarker& im : ims)
   {
     int_marker_server_->insert(im);
-    int_marker_server_->setCallback(im.name,
-                                    boost::bind(&RobotInteraction::processInteractiveMarkerFeedback, this, _1));
+    int_marker_server_->setCallback(im.name, boost::bind(&RobotInteraction::processInteractiveMarkerFeedback, this, _1));
 
     // Add menu handler to all markers that this interaction handler creates.
     if (std::shared_ptr<interactive_markers::MenuHandler> mh = handler->getMenuHandler())
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 59f25f464d..0f87a8ca43 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -80,7 +80,7 @@ namespace moveit_warehouse
 MOVEIT_CLASS_FORWARD(PlanningSceneStorage);
 MOVEIT_CLASS_FORWARD(ConstraintsStorage);
 MOVEIT_CLASS_FORWARD(RobotStateStorage);
-}
+}  // namespace moveit_warehouse
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index 8ae1258030..02a1fbc769 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -244,8 +244,8 @@ class JogSlider : public QSlider
   void mouseReleaseEvent(QMouseEvent* event) override;
 
 private:
-  using QSlider::setMinimum;
   using QSlider::setMaximum;
+  using QSlider::setMinimum;
   using QSlider::setRange;
 
 Q_SIGNALS:
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index e423dc8272..0f273a527a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -49,7 +49,7 @@ namespace planning_interface
 {
 MOVEIT_CLASS_FORWARD(MoveGroupInterface);
 }
-}
+}  // namespace moveit
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 83530a5112..28fdb4b4a2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -98,9 +98,10 @@ MotionPlanningDisplay::MotionPlanningDisplay()
   path_category_ = new rviz::Property("Planned Path", QVariant(), "", this);
 
   // Metrics category -----------------------------------------------------------------------------------------
-  compute_weight_limit_property_ = new rviz::BoolProperty(
-      "Show Weight Limit", false, "Shows the weight limit at a particular pose for an end-effector", metrics_category_,
-      SLOT(changedShowWeightLimit()), this);
+  compute_weight_limit_property_ =
+      new rviz::BoolProperty("Show Weight Limit", false,
+                             "Shows the weight limit at a particular pose for an end-effector", metrics_category_,
+                             SLOT(changedShowWeightLimit()), this);
 
   show_manipulability_index_property_ =
       new rviz::BoolProperty("Show Manipulability Index", false, "Shows the manipulability index for an end-effector",
@@ -125,11 +126,13 @@ MotionPlanningDisplay::MotionPlanningDisplay()
 
   // Planning request category -----------------------------------------------------------------------------------------
 
-  planning_group_property_ = new rviz::EditableEnumProperty(
-      "Planning Group", "", "The name of the group of links to plan for (from the ones defined in the SRDF)",
-      plan_category_, SLOT(changedPlanningGroup()), this);
-  show_workspace_property_ = new rviz::BoolProperty("Show Workspace", false, "Shows the axis-aligned bounding box for "
-                                                                             "the workspace allowed for planning",
+  planning_group_property_ =
+      new rviz::EditableEnumProperty("Planning Group", "",
+                                     "The name of the group of links to plan for (from the ones defined in the SRDF)",
+                                     plan_category_, SLOT(changedPlanningGroup()), this);
+  show_workspace_property_ = new rviz::BoolProperty("Show Workspace", false,
+                                                    "Shows the axis-aligned bounding box for "
+                                                    "the workspace allowed for planning",
                                                     plan_category_, SLOT(changedWorkspace()), this);
   query_start_state_property_ =
       new rviz::BoolProperty("Query Start State", false, "Set a custom start state for the motion planning query",
@@ -217,8 +220,7 @@ void MotionPlanningDisplay::onInitialize()
   color.a = 1.0f;
   query_robot_start_->setDefaultAttachedObjectColor(color);
 
-  query_robot_goal_.reset(
-      new RobotStateVisualization(planning_scene_node_, context_, "Planning Request Goal", nullptr));
+  query_robot_goal_.reset(new RobotStateVisualization(planning_scene_node_, context_, "Planning Request Goal", nullptr));
   query_robot_goal_->setCollisionVisible(false);
   query_robot_goal_->setVisualVisible(true);
   query_robot_goal_->setVisible(query_goal_state_property_->getBool());
@@ -553,7 +555,7 @@ inline void copyItemIfExists(const std::map<std::string, double>& source, std::m
   if (it != source.end())
     dest[key] = it->second;
 }
-}
+}  // namespace
 
 void MotionPlanningDisplay::displayMetrics(bool start)
 {
@@ -1444,8 +1446,7 @@ void MotionPlanningDisplay::visualizePlaceLocations(const std::vector<geometry_m
   {
     place_locations_display_[i].reset(new rviz::Shape(rviz::Shape::Sphere, context_->getSceneManager()));
     place_locations_display_[i]->setColor(1.0f, 0.0f, 0.0f, 0.3f);
-    Ogre::Vector3 center(place_poses[i].pose.position.x, place_poses[i].pose.position.y,
-                         place_poses[i].pose.position.z);
+    Ogre::Vector3 center(place_poses[i].pose.position.x, place_poses[i].pose.position.y, place_poses[i].pose.position.z);
     Ogre::Vector3 extents(0.02, 0.02, 0.02);
     place_locations_display_[i]->setScale(extents);
     place_locations_display_[i]->setPosition(center);
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 36625508f5..697f3698e6 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -58,8 +58,7 @@
 
 namespace moveit_rviz_plugin
 {
-MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::DisplayContext* context,
-                                         QWidget* parent)
+MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::DisplayContext* context, QWidget* parent)
   : QWidget(parent)
   , planning_display_(pdisplay)
   , context_(context)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
index b27d503181..038a0ef72d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
@@ -70,8 +70,9 @@ void MotionPlanningFrame::planningAlgorithmIndexChanged(int index)
 
 void MotionPlanningFrame::resetDbButtonClicked()
 {
-  if (QMessageBox::warning(this, "Data about to be deleted", "The following dialog will allow you to drop a MoveIt "
-                                                             "Warehouse database. Are you sure you want to continue?",
+  if (QMessageBox::warning(this, "Data about to be deleted",
+                           "The following dialog will allow you to drop a MoveIt "
+                           "Warehouse database. Are you sure you want to continue?",
                            QMessageBox::Yes | QMessageBox::No) == QMessageBox::No)
     return;
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index a8968549d7..00f0f09a70 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -128,8 +128,9 @@ void MotionPlanningFrame::publishScene()
 void MotionPlanningFrame::publishSceneIfNeeded()
 {
   if (isLocalSceneDirty() &&
-      QMessageBox::question(this, "Update PlanningScene", "You have local changes to your planning scene.\n"
-                                                          "Publish them to the move_group node?",
+      QMessageBox::question(this, "Update PlanningScene",
+                            "You have local changes to your planning scene.\n"
+                            "Publish them to the move_group node?",
                             QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes) == QMessageBox::Yes)
     publishScene();
 }
@@ -829,8 +830,7 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
       const moveit::core::FixedTransformsMap subframes = obj->subframe_poses_;  // Keep subframes
       // TODO(felixvd): Scale the subframes with the object
       ps->getWorldNonConst()->removeObject(obj->id_);
-      ps->getWorldNonConst()->addToObject(known_collision_objects_[item->type()].first, obj->shapes_,
-                                          obj->shape_poses_);
+      ps->getWorldNonConst()->addToObject(known_collision_objects_[item->type()].first, obj->shapes_, obj->shape_poses_);
       ps->getWorldNonConst()->setSubframesOfObject(obj->id_, subframes);
       if (scene_marker_)
       {
@@ -848,9 +848,10 @@ void MotionPlanningFrame::renameCollisionObject(QListWidgetItem* item)
     if (ab)
     {
       known_collision_objects_[item->type()].first = item_text;
-      moveit::core::AttachedBody* new_ab = new moveit::core::AttachedBody(
-          ab->getAttachedLink(), known_collision_objects_[item->type()].first, ab->getShapes(),
-          ab->getFixedTransforms(), ab->getTouchLinks(), ab->getDetachPosture(), ab->getSubframeTransforms());
+      moveit::core::AttachedBody* new_ab =
+          new moveit::core::AttachedBody(ab->getAttachedLink(), known_collision_objects_[item->type()].first,
+                                         ab->getShapes(), ab->getFixedTransforms(), ab->getTouchLinks(),
+                                         ab->getDetachPosture(), ab->getSubframeTransforms());
       cs.clearAttachedBody(ab->getName());
       cs.attachBody(new_ab);
     }
@@ -1016,8 +1017,9 @@ void MotionPlanningFrame::computeImportGeometryFromText(const std::string& path)
     }
     else
     {
-      QMessageBox::warning(nullptr, "Loading scene geometry", "Failed to load scene geometry.\n"
-                                                              "See console output for more details.");
+      QMessageBox::warning(nullptr, "Loading scene geometry",
+                           "Failed to load scene geometry.\n"
+                           "See console output for more details.");
     }
   }
 }
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 6ee3739253..b847da57b4 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -268,9 +268,9 @@ void MotionPlanningFrame::onNewPlanningSceneState()
 void MotionPlanningFrame::startStateTextChanged(const QString& start_state)
 {
   // use background job: fetching the current state might take up to a second
-  planning_display_->addBackgroundJob(
-      boost::bind(&MotionPlanningFrame::startStateTextChangedExec, this, start_state.toStdString()),
-      "update start state");
+  planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::startStateTextChangedExec, this,
+                                                  start_state.toStdString()),
+                                      "update start state");
 }
 
 void MotionPlanningFrame::startStateTextChangedExec(const std::string& start_state)
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
index d2ab420ee3..e4a39f442f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
@@ -86,8 +86,9 @@ void MotionPlanningFrame::saveSceneButtonClicked()
         if (q->clickedButton() == rename.get())
         {
           bool ok = false;
-          QString new_name = QInputDialog::getText(this, "Rename Planning Scene", "New name for the planning scene:",
-                                                   QLineEdit::Normal, QString::fromStdString(name), &ok);
+          QString new_name = QInputDialog::getText(this, "Rename Planning Scene",
+                                                   "New name for the planning scene:", QLineEdit::Normal,
+                                                   QString::fromStdString(name), &ok);
           if (ok)
           {
             planning_display_->getPlanningSceneRW()->setName(new_name.toStdString());
@@ -161,9 +162,9 @@ void MotionPlanningFrame::saveQueryButtonClicked()
             if (q->clickedButton() == rename.get())
             {
               bool ok = false;
-              QString new_name =
-                  QInputDialog::getText(this, "Rename Planning Query", "New name for the planning query:",
-                                        QLineEdit::Normal, QString::fromStdString(query_name), &ok);
+              QString new_name = QInputDialog::getText(this, "Rename Planning Query",
+                                                       "New name for the planning query:", QLineEdit::Normal,
+                                                       QString::fromStdString(query_name), &ok);
               if (ok)
                 query_name = new_name.toStdString();
               else
@@ -237,10 +238,11 @@ void MotionPlanningFrame::warehouseItemNameChanged(QTreeWidgetItem* item, int co
     if (planning_scene_storage->hasPlanningQuery(scene, new_name))
     {
       planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populatePlanningSceneTreeView, this));
-      QMessageBox::warning(this, "Query not renamed", QString("The query name '")
-                                                          .append(item->text(column))
-                                                          .append("' already exists for scene ")
-                                                          .append(item->parent()->text(0)));
+      QMessageBox::warning(this, "Query not renamed",
+                           QString("The query name '")
+                               .append(item->text(column))
+                               .append("' already exists for scene ")
+                               .append(item->parent()->text(0)));
       return;
     }
     else
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
index 3e554c6b9f..b8b47752a9 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
@@ -137,9 +137,8 @@ void MotionPlanningFrame::saveRobotStateButtonClicked(const moveit::core::RobotS
     {
       name = text.toStdString();
       if (robot_states_.find(name) != robot_states_.end())
-        QMessageBox::warning(
-            this, "Name already exists",
-            QString("The name '").append(name.c_str()).append("' already exists. Not creating state."));
+        QMessageBox::warning(this, "Name already exists",
+                             QString("The name '").append(name.c_str()).append("' already exists. Not creating state."));
       else
       {
         // Store the current start state
@@ -161,8 +160,7 @@ void MotionPlanningFrame::saveRobotStateButtonClicked(const moveit::core::RobotS
         }
         else
         {
-          QMessageBox::warning(this, "Warning",
-                               "Not connected to a database. The state will be created but not stored");
+          QMessageBox::warning(this, "Warning", "Not connected to a database. The state will be created but not stored");
         }
       }
     }
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 5be08a27d2..862e41ba63 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -66,12 +66,14 @@ namespace moveit_rviz_plugin
 PlanningSceneDisplay::PlanningSceneDisplay(bool listen_to_planning_scene, bool show_scene_robot)
   : Display(), model_is_loading_(false), planning_scene_needs_render_(true), current_scene_time_(0.0f)
 {
-  move_group_ns_property_ = new rviz::StringProperty("Move Group Namespace", "", "The name of the ROS namespace in "
-                                                                                 "which the move_group node is running",
+  move_group_ns_property_ = new rviz::StringProperty("Move Group Namespace", "",
+                                                     "The name of the ROS namespace in "
+                                                     "which the move_group node is running",
                                                      this, SLOT(changedMoveGroupNS()), this);
-  robot_description_property_ = new rviz::StringProperty(
-      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
-      this, SLOT(changedRobotDescription()), this);
+  robot_description_property_ =
+      new rviz::StringProperty("Robot Description", "robot_description",
+                               "The name of the ROS parameter where the URDF for the robot is loaded", this,
+                               SLOT(changedRobotDescription()), this);
 
   if (listen_to_planning_scene)
     planning_scene_topic_property_ =
@@ -97,9 +99,10 @@ PlanningSceneDisplay::PlanningSceneDisplay(bool listen_to_planning_scene, bool s
   scene_alpha_property_->setMin(0.0);
   scene_alpha_property_->setMax(1.0);
 
-  scene_color_property_ = new rviz::ColorProperty(
-      "Scene Color", QColor(50, 230, 50), "The color for the planning scene obstacles (if a color is not defined)",
-      scene_category_, SLOT(changedSceneColor()), this);
+  scene_color_property_ =
+      new rviz::ColorProperty("Scene Color", QColor(50, 230, 50),
+                              "The color for the planning scene obstacles (if a color is not defined)", scene_category_,
+                              SLOT(changedSceneColor()), this);
 
   octree_render_property_ = new rviz::EnumProperty("Voxel Rendering", "Occupied Voxels", "Select voxel type.",
                                                    scene_category_, SLOT(changedOctreeRenderMode()), this);
@@ -114,25 +117,27 @@ PlanningSceneDisplay::PlanningSceneDisplay(bool listen_to_planning_scene, bool s
   octree_coloring_property_->addOption("Z-Axis", OCTOMAP_Z_AXIS_COLOR);
   octree_coloring_property_->addOption("Cell Probability", OCTOMAP_PROBABLILTY_COLOR);
 
-  scene_display_time_property_ =
-      new rviz::FloatProperty("Scene Display Time", 0.01f, "The amount of wall-time to wait in between rendering "
-                                                           "updates to the planning scene (if any)",
-                              scene_category_, SLOT(changedSceneDisplayTime()), this);
+  scene_display_time_property_ = new rviz::FloatProperty("Scene Display Time", 0.01f,
+                                                         "The amount of wall-time to wait in between rendering "
+                                                         "updates to the planning scene (if any)",
+                                                         scene_category_, SLOT(changedSceneDisplayTime()), this);
   scene_display_time_property_->setMin(0.0001);
 
   if (show_scene_robot)
   {
     robot_category_ = new rviz::Property("Scene Robot", QVariant(), "", this);
 
-    scene_robot_visual_enabled_property_ = new rviz::BoolProperty(
-        "Show Robot Visual", true, "Indicates whether the robot state specified by the planning scene should be "
-                                   "displayed as defined for visualisation purposes.",
-        robot_category_, SLOT(changedSceneRobotVisualEnabled()), this);
+    scene_robot_visual_enabled_property_ =
+        new rviz::BoolProperty("Show Robot Visual", true,
+                               "Indicates whether the robot state specified by the planning scene should be "
+                               "displayed as defined for visualisation purposes.",
+                               robot_category_, SLOT(changedSceneRobotVisualEnabled()), this);
 
-    scene_robot_collision_enabled_property_ = new rviz::BoolProperty(
-        "Show Robot Collision", false, "Indicates whether the robot state specified by the planning scene should be "
-                                       "displayed as defined for collision detection purposes.",
-        robot_category_, SLOT(changedSceneRobotCollisionEnabled()), this);
+    scene_robot_collision_enabled_property_ =
+        new rviz::BoolProperty("Show Robot Collision", false,
+                               "Indicates whether the robot state specified by the planning scene should be "
+                               "displayed as defined for collision detection purposes.",
+                               robot_category_, SLOT(changedSceneRobotCollisionEnabled()), this);
 
     robot_alpha_property_ = new rviz::FloatProperty("Robot Alpha", 1.0f, "Specifies the alpha for the robot links",
                                                     robot_category_, SLOT(changedRobotSceneAlpha()), this);
@@ -531,8 +536,7 @@ void PlanningSceneDisplay::loadRobotModel()
   if (psm->getPlanningScene())
   {
     planning_scene_monitor_.swap(psm);
-    planning_scene_monitor_->addUpdateCallback(
-        boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
+    planning_scene_monitor_->addUpdateCallback(boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
     addMainLoopJob(boost::bind(&PlanningSceneDisplay::onRobotModelLoaded, this));
     setStatus(rviz::StatusProperty::Ok, "PlanningScene", "Planning Scene Loaded Successfully");
     waitForAllMainLoopJobs();
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
index f8f308190f..1ba9bdaca8 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.h
@@ -53,7 +53,7 @@ class BoolProperty;
 class FloatProperty;
 class RosTopicProperty;
 class ColorProperty;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 20dd6f1f93..5ea133cbc5 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -65,14 +65,16 @@ namespace moveit_rviz_plugin
 // ******************************************************************************************
 RobotStateDisplay::RobotStateDisplay() : Display(), update_state_(false), load_robot_model_(false)
 {
-  robot_description_property_ = new rviz::StringProperty(
-      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
-      this, SLOT(changedRobotDescription()), this);
-
-  robot_state_topic_property_ = new rviz::RosTopicProperty(
-      "Robot State Topic", "display_robot_state", ros::message_traits::datatype<moveit_msgs::DisplayRobotState>(),
-      "The topic on which the moveit_msgs::DisplayRobotState messages are received", this,
-      SLOT(changedRobotStateTopic()), this);
+  robot_description_property_ =
+      new rviz::StringProperty("Robot Description", "robot_description",
+                               "The name of the ROS parameter where the URDF for the robot is loaded", this,
+                               SLOT(changedRobotDescription()), this);
+
+  robot_state_topic_property_ =
+      new rviz::RosTopicProperty("Robot State Topic", "display_robot_state",
+                                 ros::message_traits::datatype<moveit_msgs::DisplayRobotState>(),
+                                 "The topic on which the moveit_msgs::DisplayRobotState messages are received", this,
+                                 SLOT(changedRobotStateTopic()), this);
 
   // Planning scene category -------------------------------------------------------------------------------------------
   root_link_name_property_ =
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index 87161aa639..7fcf9c2f0d 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -52,7 +52,7 @@ namespace rviz
 {
 class DisplayContext;
 class Shape;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 04d946e4a6..b8a62aabba 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -74,13 +74,15 @@ TrajectoryVisualization::TrajectoryVisualization(rviz::Property* widget, rviz::D
                                  SLOT(changedTrajectoryTopic()), this);
 
   display_path_visual_enabled_property_ =
-      new rviz::BoolProperty("Show Robot Visual", true, "Indicates whether the geometry of the robot as defined for "
-                                                        "visualisation purposes should be displayed",
+      new rviz::BoolProperty("Show Robot Visual", true,
+                             "Indicates whether the geometry of the robot as defined for "
+                             "visualisation purposes should be displayed",
                              widget, SLOT(changedDisplayPathVisualEnabled()), this);
 
   display_path_collision_enabled_property_ =
-      new rviz::BoolProperty("Show Robot Collision", false, "Indicates whether the geometry of the robot as defined "
-                                                            "for collision detection purposes should be displayed",
+      new rviz::BoolProperty("Show Robot Collision", false,
+                             "Indicates whether the geometry of the robot as defined "
+                             "for collision detection purposes should be displayed",
                              widget, SLOT(changedDisplayPathCollisionEnabled()), this);
 
   robot_path_alpha_property_ = new rviz::FloatProperty("Robot Alpha", 0.5f, "Specifies the alpha for the robot links",
@@ -97,21 +99,24 @@ TrajectoryVisualization::TrajectoryVisualization(rviz::Property* widget, rviz::D
   state_display_time_property_->addOptionStd("0.1 s");
   state_display_time_property_->addOptionStd("0.5 s");
 
-  loop_display_property_ = new rviz::BoolProperty("Loop Animation", false, "Indicates whether the last received path "
-                                                                           "is to be animated in a loop",
+  loop_display_property_ = new rviz::BoolProperty("Loop Animation", false,
+                                                  "Indicates whether the last received path "
+                                                  "is to be animated in a loop",
                                                   widget, SLOT(changedLoopDisplay()), this);
 
   trail_display_property_ =
       new rviz::BoolProperty("Show Trail", false, "Show a path trail", widget, SLOT(changedShowTrail()), this);
 
-  trail_step_size_property_ = new rviz::IntProperty("Trail Step Size", 1, "Specifies the step size of the samples "
-                                                                          "shown in the trajectory trail.",
+  trail_step_size_property_ = new rviz::IntProperty("Trail Step Size", 1,
+                                                    "Specifies the step size of the samples "
+                                                    "shown in the trajectory trail.",
                                                     widget, SLOT(changedTrailStepSize()), this);
   trail_step_size_property_->setMin(1);
 
-  interrupt_display_property_ = new rviz::BoolProperty(
-      "Interrupt Display", false,
-      "Immediately show newly planned trajectory, interrupting the currently displayed one.", widget);
+  interrupt_display_property_ =
+      new rviz::BoolProperty("Interrupt Display", false,
+                             "Immediately show newly planned trajectory, interrupting the currently displayed one.",
+                             widget);
 
   robot_color_property_ = new rviz::ColorProperty(
       "Robot Color", QColor(150, 50, 150), "The color of the animated robot", widget, SLOT(changedRobotColor()), this);
@@ -422,9 +427,8 @@ void TrajectoryVisualization::update(float wall_dt, float /*ros_dt*/)
     }
     else if (tm < 0.0)
     {  // using realtime: skip to next waypoint based on elapsed display time
-      while (current_state_ < waypoint_count &&
-             (tm = displaying_trajectory_message_->getWayPointDurationFromPrevious(current_state_ + 1)) <
-                 current_state_time_)
+      while (current_state_ < waypoint_count && (tm = displaying_trajectory_message_->getWayPointDurationFromPrevious(
+                                                     current_state_ + 1)) < current_state_time_)
       {
         current_state_time_ -= tm;
         if (tm < current_state_time_)  // if we are stuck in the while loop we should
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index 2128e624e6..4b48d7ccac 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -45,9 +45,10 @@ TrajectoryDisplay::TrajectoryDisplay() : Display(), load_robot_model_(false)
 {
   // The robot description property is only needed when using the trajectory playback standalone (not within motion
   // planning plugin)
-  robot_description_property_ = new rviz::StringProperty(
-      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
-      this, SLOT(changedRobotDescription()), this);
+  robot_description_property_ =
+      new rviz::StringProperty("Robot Description", "robot_description",
+                               "The name of the ROS parameter where the URDF for the robot is loaded", this,
+                               SLOT(changedRobotDescription()), this);
 
   trajectory_visual_.reset(new TrajectoryVisualization(this, this));
 }
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
index cc08a95d79..337a57dc52 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
@@ -58,8 +58,7 @@ class ConstraintsStorage : public MoveItMessageStorage
 
   ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
-  void addConstraints(const moveit_msgs::Constraints& msg, const std::string& robot = "",
-                      const std::string& group = "");
+  void addConstraints(const moveit_msgs::Constraints& msg, const std::string& robot = "", const std::string& group = "");
   bool hasConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "") const;
   void getKnownConstraints(std::vector<std::string>& names, const std::string& robot = "",
                            const std::string& group = "") const;
diff --git a/moveit_ros/warehouse/warehouse/src/broadcast.cpp b/moveit_ros/warehouse/warehouse/src/broadcast.cpp
index 53f8241a91..51954964b6 100644
--- a/moveit_ros/warehouse/warehouse/src/broadcast.cpp
+++ b/moveit_ros/warehouse/warehouse/src/broadcast.cpp
@@ -61,10 +61,11 @@ int main(int argc, char** argv)
   double delay = 0.001;
 
   boost::program_options::options_description desc;
-  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
-                                                                                                        "DB.")(
-      "port", boost::program_options::value<std::size_t>(),
-      "Port for the DB.")("scene", boost::program_options::value<std::string>(), "Name of scene to publish.")(
+  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
+                                                  "Host for the "
+                                                  "DB.")("port", boost::program_options::value<std::size_t>(),
+                                                         "Port for the DB.")(
+      "scene", boost::program_options::value<std::string>(), "Name of scene to publish.")(
       "planning_requests", "Also publish the planning requests that correspond to the scene")(
       "planning_results", "Also publish the planning results that correspond to the scene")(
       "constraint", boost::program_options::value<std::string>(), "Name of constraint to publish.")(
diff --git a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
index e357870b33..8dab206f3e 100644
--- a/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
+++ b/moveit_ros/warehouse/warehouse/src/initialize_demo_db.cpp
@@ -55,9 +55,10 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "initialize_demo_db", ros::init_options::AnonymousName);
 
   boost::program_options::options_description desc;
-  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
-                                                                                                        "DB.")(
-      "port", boost::program_options::value<std::size_t>(), "Port for the DB.");
+  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
+                                                  "Host for the "
+                                                  "DB.")("port", boost::program_options::value<std::size_t>(),
+                                                         "Port for the DB.");
 
   boost::program_options::variables_map vm;
   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
diff --git a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
index 3511f8e8b6..a7ff64e064 100644
--- a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
+++ b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
@@ -49,8 +49,7 @@ moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::Data
 {
 }
 
-void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex,
-                                                         std::vector<std::string>& names) const
+void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex, std::vector<std::string>& names) const
 {
   if (!regex.empty())
   {
diff --git a/moveit_ros/warehouse/warehouse/src/planning_scene_storage.cpp b/moveit_ros/warehouse/warehouse/src/planning_scene_storage.cpp
index 18bffebbf1..4010ee5b00 100644
--- a/moveit_ros/warehouse/warehouse/src/planning_scene_storage.cpp
+++ b/moveit_ros/warehouse/warehouse/src/planning_scene_storage.cpp
@@ -92,8 +92,9 @@ bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene(const std::string&
   return !planning_scenes.empty();
 }
 
-std::string moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName(
-    const moveit_msgs::MotionPlanRequest& planning_query, const std::string& scene_name) const
+std::string
+moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName(const moveit_msgs::MotionPlanRequest& planning_query,
+                                                                 const std::string& scene_name) const
 {
   // get all existing motion planning requests for this planning scene
   Query::Ptr q = motion_plan_request_collection_->createQuery();
diff --git a/moveit_ros/warehouse/warehouse/src/save_as_text.cpp b/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
index 1154fbd7f8..eb5df51ca1 100644
--- a/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
+++ b/moveit_ros/warehouse/warehouse/src/save_as_text.cpp
@@ -79,9 +79,10 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "save_warehouse_as_text", ros::init_options::AnonymousName);
 
   boost::program_options::options_description desc;
-  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
-                                                                                                        "DB.")(
-      "port", boost::program_options::value<std::size_t>(), "Port for the DB.");
+  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
+                                                  "Host for the "
+                                                  "DB.")("port", boost::program_options::value<std::size_t>(),
+                                                         "Port for the DB.");
 
   boost::program_options::variables_map vm;
   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
diff --git a/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp b/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp
index fe5b2e8713..4b1afa32a3 100644
--- a/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp
+++ b/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp
@@ -117,9 +117,10 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "save_to_warehouse", ros::init_options::AnonymousName);
 
   boost::program_options::options_description desc;
-  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
-                                                                                                        "DB.")(
-      "port", boost::program_options::value<std::size_t>(), "Port for the DB.");
+  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
+                                                  "Host for the "
+                                                  "DB.")("port", boost::program_options::value<std::size_t>(),
+                                                         "Port for the DB.");
 
   boost::program_options::variables_map vm;
   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
diff --git a/moveit_ros/warehouse/warehouse/src/trajectory_constraints_storage.cpp b/moveit_ros/warehouse/warehouse/src/trajectory_constraints_storage.cpp
index e2983b22ab..49bc25504b 100644
--- a/moveit_ros/warehouse/warehouse/src/trajectory_constraints_storage.cpp
+++ b/moveit_ros/warehouse/warehouse/src/trajectory_constraints_storage.cpp
@@ -47,8 +47,7 @@ const std::string moveit_warehouse::TrajectoryConstraintsStorage::ROBOT_NAME = "
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
-moveit_warehouse::TrajectoryConstraintsStorage::TrajectoryConstraintsStorage(
-    warehouse_ros::DatabaseConnection::Ptr conn)
+moveit_warehouse::TrajectoryConstraintsStorage::TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
   : MoveItMessageStorage(std::move(conn))
 {
   createCollections();
diff --git a/moveit_setup_assistant/src/tools/collision_linear_model.cpp b/moveit_setup_assistant/src/tools/collision_linear_model.cpp
index 66fd858872..f28bd9390a 100644
--- a/moveit_setup_assistant/src/tools/collision_linear_model.cpp
+++ b/moveit_setup_assistant/src/tools/collision_linear_model.cpp
@@ -262,7 +262,7 @@ bool operator<(const QVariant& left, const QVariant& right)
   else
     return left.toString() < right.toString();
 }
-}
+}  // namespace
 #endif
 
 bool SortFilterProxyModel::lessThan(const QModelIndex& src_left, const QModelIndex& src_right) const
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index c1b7f324a5..ff2e3aa276 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -598,9 +598,10 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
 // TODO: remove when ROS Melodic and older are no longer supported
 #if OMPL_VERSION_VALUE >= 1005000
   // This parameter was added in OMPL 1.5.0
-  aps.addParameter("planners", "", "A comma-separated list of planner types (e.g., \"PRM,EST,RRTConnect\""
-                                   "Optionally, planner parameters can be passed to change the default:"
-                                   "\"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]\"");
+  aps.addParameter("planners", "",
+                   "A comma-separated list of planner types (e.g., \"PRM,EST,RRTConnect\""
+                   "Optionally, planner parameters can be passed to change the default:"
+                   "\"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]\"");
 #endif
   planner_des.push_back(aps);
 
@@ -614,28 +615,33 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   planner_des.push_back(est);
 
   OMPLPlannerDescription lbkpiece("LBKPIECE", "geometric");
-  lbkpiece.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                        "setup()");
+  lbkpiece.addParameter("range", "0.0",
+                        "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                        "setup()");
   lbkpiece.addParameter("border_fraction", "0.9", "Fraction of time focused on boarder default: 0.9");
   lbkpiece.addParameter("min_valid_path_fraction", "0.5", "Accept partially valid moves above fraction. default: 0.5");
   planner_des.push_back(lbkpiece);
 
   OMPLPlannerDescription bkpiece("BKPIECE", "geometric");
-  bkpiece.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                       "setup()");
+  bkpiece.addParameter("range", "0.0",
+                       "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                       "setup()");
   bkpiece.addParameter("border_fraction", "0.9", "Fraction of time focused on boarder default: 0.9");
-  bkpiece.addParameter("failed_expansion_score_factor", "0.5", "When extending motion fails, scale score by factor. "
-                                                               "default: 0.5");
+  bkpiece.addParameter("failed_expansion_score_factor", "0.5",
+                       "When extending motion fails, scale score by factor. "
+                       "default: 0.5");
   bkpiece.addParameter("min_valid_path_fraction", "0.5", "Accept partially valid moves above fraction. default: 0.5");
   planner_des.push_back(bkpiece);
 
   OMPLPlannerDescription kpiece("KPIECE", "geometric");
-  kpiece.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                      "setup()");
+  kpiece.addParameter("range", "0.0",
+                      "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                      "setup()");
   kpiece.addParameter("goal_bias", "0.05", "When close to goal select goal, with this probability. default: 0.05");
   kpiece.addParameter("border_fraction", "0.9", "Fraction of time focused on boarder default: 0.9 (0.0,1.]");
-  kpiece.addParameter("failed_expansion_score_factor", "0.5", "When extending motion fails, scale score by factor. "
-                                                              "default: 0.5");
+  kpiece.addParameter("failed_expansion_score_factor", "0.5",
+                      "When extending motion fails, scale score by factor. "
+                      "default: 0.5");
   kpiece.addParameter("min_valid_path_fraction", "0.5", "Accept partially valid moves above fraction. default: 0.5");
   planner_des.push_back(kpiece);
 
@@ -645,16 +651,19 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   planner_des.push_back(rrt);
 
   OMPLPlannerDescription rrt_connect("RRTConnect", "geometric");
-  rrt_connect.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                           "setup()");
+  rrt_connect.addParameter("range", "0.0",
+                           "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                           "setup()");
   planner_des.push_back(rrt_connect);
 
   OMPLPlannerDescription rr_tstar("RRTstar", "geometric");
-  rr_tstar.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                        "setup()");
+  rr_tstar.addParameter("range", "0.0",
+                        "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                        "setup()");
   rr_tstar.addParameter("goal_bias", "0.05", "When close to goal select goal, with this probability? default: 0.05");
-  rr_tstar.addParameter("delay_collision_checking", "1", "Stop collision checking as soon as C-free parent found. "
-                                                         "default 1");
+  rr_tstar.addParameter("delay_collision_checking", "1",
+                        "Stop collision checking as soon as C-free parent found. "
+                        "default 1");
   planner_des.push_back(rr_tstar);
 
   OMPLPlannerDescription trrt("TRRT", "geometric");
@@ -664,8 +673,9 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   trrt.addParameter("temp_change_factor", "2.0", "how much to increase or decrease temp. default: 2.0");
   trrt.addParameter("min_temperature", "10e-10", "lower limit of temp change. default: 10e-10");
   trrt.addParameter("init_temperature", "10e-6", "initial temperature. default: 10e-6");
-  trrt.addParameter("frountier_threshold", "0.0", "dist new state to nearest neighbor to disqualify as frontier. "
-                                                  "default: 0.0 set in setup()");
+  trrt.addParameter("frountier_threshold", "0.0",
+                    "dist new state to nearest neighbor to disqualify as frontier. "
+                    "default: 0.0 set in setup()");
   trrt.addParameter("frountierNodeRatio", "0.1", "1/10, or 1 nonfrontier for every 10 frontier. default: 0.1");
   trrt.addParameter("k_constant", "0.0", "value used to normalize expresssion. default: 0.0 set in setup()");
   planner_des.push_back(trrt);
@@ -683,24 +693,29 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   fmt.addParameter("nearest_k", "1", "use Knearest strategy. default: 1");
   fmt.addParameter("cache_cc", "1", "use collision checking cache. default: 1");
   fmt.addParameter("heuristics", "0", "activate cost to go heuristics. default: 0");
-  fmt.addParameter("extended_fmt", "1", "activate the extended FMT*: adding new samples if planner does not finish "
-                                        "successfully. default: 1");
+  fmt.addParameter("extended_fmt", "1",
+                   "activate the extended FMT*: adding new samples if planner does not finish "
+                   "successfully. default: 1");
   planner_des.push_back(fmt);
 
   OMPLPlannerDescription bfmt("BFMT", "geometric");
   bfmt.addParameter("num_samples", "1000", "number of states that the planner should sample. default: 1000");
-  bfmt.addParameter("radius_multiplier", "1.0", "multiplier used for the nearest neighbors search radius. default: "
-                                                "1.0");
+  bfmt.addParameter("radius_multiplier", "1.0",
+                    "multiplier used for the nearest neighbors search radius. default: "
+                    "1.0");
   bfmt.addParameter("nearest_k", "1", "use the Knearest strategy. default: 1");
-  bfmt.addParameter("balanced", "0", "exploration strategy: balanced true expands one tree every iteration. False will "
-                                     "select the tree with lowest maximum cost to go. default: 1");
-  bfmt.addParameter("optimality", "1", "termination strategy: optimality true finishes when the best possible path is "
-                                       "found. Otherwise, the algorithm will finish when the first feasible path is "
-                                       "found. default: 1");
+  bfmt.addParameter("balanced", "0",
+                    "exploration strategy: balanced true expands one tree every iteration. False will "
+                    "select the tree with lowest maximum cost to go. default: 1");
+  bfmt.addParameter("optimality", "1",
+                    "termination strategy: optimality true finishes when the best possible path is "
+                    "found. Otherwise, the algorithm will finish when the first feasible path is "
+                    "found. default: 1");
   bfmt.addParameter("heuristics", "1", "activates cost to go heuristics. default: 1");
   bfmt.addParameter("cache_cc", "1", "use the collision checking cache. default: 1");
-  bfmt.addParameter("extended_fmt", "1", "Activates the extended FMT*: adding new samples if planner does not finish "
-                                         "successfully. default: 1");
+  bfmt.addParameter("extended_fmt", "1",
+                    "Activates the extended FMT*: adding new samples if planner does not finish "
+                    "successfully. default: 1");
   planner_des.push_back(bfmt);
 
   OMPLPlannerDescription pdst("PDST", "geometric");
@@ -708,14 +723,17 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   planner_des.push_back(pdst);
 
   OMPLPlannerDescription stride("STRIDE", "geometric");
-  stride.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                      "setup()");
+  stride.addParameter("range", "0.0",
+                      "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                      "setup()");
   stride.addParameter("goal_bias", "0.05", "When close to goal select goal, with this probability. default: 0.05");
-  stride.addParameter("use_projected_distance", "0", "whether nearest neighbors are computed based on distances in a "
-                                                     "projection of the state rather distances in the state space "
-                                                     "itself. default: 0");
-  stride.addParameter("degree", "16", "desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). "
-                                      "default: 16");
+  stride.addParameter("use_projected_distance", "0",
+                      "whether nearest neighbors are computed based on distances in a "
+                      "projection of the state rather distances in the state space "
+                      "itself. default: 0");
+  stride.addParameter("degree", "16",
+                      "desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). "
+                      "default: 16");
   stride.addParameter("max_degree", "18", "max degree of a node in the GNAT. default: 12");
   stride.addParameter("min_degree", "12", "min degree of a node in the GNAT. default: 12");
   stride.addParameter("max_pts_per_leaf", "6", "max points per leaf in the GNAT. default: 6");
@@ -724,57 +742,67 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners()
   planner_des.push_back(stride);
 
   OMPLPlannerDescription bi_trrt("BiTRRT", "geometric");
-  bi_trrt.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                       "setup()");
+  bi_trrt.addParameter("range", "0.0",
+                       "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                       "setup()");
   bi_trrt.addParameter("temp_change_factor", "0.1", "how much to increase or decrease temp. default: 0.1");
   bi_trrt.addParameter("init_temperature", "100", "initial temperature. default: 100");
-  bi_trrt.addParameter("frountier_threshold", "0.0", "dist new state to nearest neighbor to disqualify as frontier. "
-                                                     "default: 0.0 set in setup()");
+  bi_trrt.addParameter("frountier_threshold", "0.0",
+                       "dist new state to nearest neighbor to disqualify as frontier. "
+                       "default: 0.0 set in setup()");
   bi_trrt.addParameter("frountier_node_ratio", "0.1", "1/10, or 1 nonfrontier for every 10 frontier. default: 0.1");
-  bi_trrt.addParameter("cost_threshold", "1e300", "the cost threshold. Any motion cost that is not better will not be "
-                                                  "expanded. default: inf");
+  bi_trrt.addParameter("cost_threshold", "1e300",
+                       "the cost threshold. Any motion cost that is not better will not be "
+                       "expanded. default: inf");
   planner_des.push_back(bi_trrt);
 
   OMPLPlannerDescription lbtrrt("LBTRRT", "geometric");
-  lbtrrt.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                      "setup()");
+  lbtrrt.addParameter("range", "0.0",
+                      "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                      "setup()");
   lbtrrt.addParameter("goal_bias", "0.05", "When close to goal select goal, with this probability. default: 0.05");
   lbtrrt.addParameter("epsilon", "0.4", "optimality approximation factor. default: 0.4");
   planner_des.push_back(lbtrrt);
 
   OMPLPlannerDescription bi_est("BiEST", "geometric");
-  bi_est.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                      "setup()");
+  bi_est.addParameter("range", "0.0",
+                      "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                      "setup()");
   planner_des.push_back(bi_est);
 
   OMPLPlannerDescription proj_est("ProjEST", "geometric");
-  proj_est.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                        "setup()");
+  proj_est.addParameter("range", "0.0",
+                        "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                        "setup()");
   proj_est.addParameter("goal_bias", "0.05", "When close to goal select goal, with this probability. default: 0.05");
   planner_des.push_back(proj_est);
 
   OMPLPlannerDescription lazy_prm("LazyPRM", "geometric");
-  lazy_prm.addParameter("range", "0.0", "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
-                                        "setup()");
+  lazy_prm.addParameter("range", "0.0",
+                        "Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on "
+                        "setup()");
   planner_des.push_back(lazy_prm);
 
   OMPLPlannerDescription lazy_pr_mstar("LazyPRMstar", "geometric");  // no declares in code
   planner_des.push_back(lazy_pr_mstar);
 
   OMPLPlannerDescription spars("SPARS", "geometric");
-  spars.addParameter("stretch_factor", "3.0", "roadmap spanner stretch factor. multiplicative upper bound on path "
-                                              "quality. It does not make sense to make this parameter more than 3. "
-                                              "default: 3.0");
-  spars.addParameter("sparse_delta_fraction", "0.25", "delta fraction for connection distance. This value represents "
-                                                      "the visibility range of sparse samples. default: 0.25");
+  spars.addParameter("stretch_factor", "3.0",
+                     "roadmap spanner stretch factor. multiplicative upper bound on path "
+                     "quality. It does not make sense to make this parameter more than 3. "
+                     "default: 3.0");
+  spars.addParameter("sparse_delta_fraction", "0.25",
+                     "delta fraction for connection distance. This value represents "
+                     "the visibility range of sparse samples. default: 0.25");
   spars.addParameter("dense_delta_fraction", "0.001", "delta fraction for interface detection. default: 0.001");
   spars.addParameter("max_failures", "1000", "maximum consecutive failure limit. default: 1000");
   planner_des.push_back(spars);
 
   OMPLPlannerDescription spar_stwo("SPARStwo", "geometric");
-  spar_stwo.addParameter("stretch_factor", "3.0", "roadmap spanner stretch factor. multiplicative upper bound on path "
-                                                  "quality. It does not make sense to make this parameter more than 3. "
-                                                  "default: 3.0");
+  spar_stwo.addParameter("stretch_factor", "3.0",
+                         "roadmap spanner stretch factor. multiplicative upper bound on path "
+                         "quality. It does not make sense to make this parameter more than 3. "
+                         "default: 3.0");
   spar_stwo.addParameter("sparse_delta_fraction", "0.25",
                          "delta fraction for connection distance. This value represents "
                          "the visibility range of sparse samples. default: 0.25");
@@ -853,7 +881,7 @@ srdf::Model::GroupState MoveItConfigData::getDefaultStartPose()
   if (!srdf_->group_states_.empty())
     return srdf_->group_states_[0];
   else
-    return srdf::Model::GroupState{.name_ = "todo_state_name", .group_ = "todo_group_name", .joint_values_ = {} };
+    return srdf::Model::GroupState{ .name_ = "todo_state_name", .group_ = "todo_group_name", .joint_values_ = {} };
 }
 
 // ******************************************************************************************
@@ -1185,7 +1213,7 @@ class SortableDisabledCollision
     : dc_(dc), key_(dc.link1_ < dc.link2_ ? (dc.link1_ + "|" + dc.link2_) : (dc.link2_ + "|" + dc.link1_))
   {
   }
-  operator const srdf::Model::DisabledCollision&() const
+  operator const srdf::Model::DisabledCollision &() const
   {
     return dc_;
   }
@@ -1875,8 +1903,9 @@ srdf::Model::Group* MoveItConfigData::findGroupByName(const std::string& name)
 
   // Check if subgroup was found
   if (searched_group == nullptr)  // not found
-    ROS_FATAL_STREAM("An internal error has occured while searching for groups. Group '" << name << "' was not found "
-                                                                                                    "in the SRDF.");
+    ROS_FATAL_STREAM("An internal error has occured while searching for groups. Group '" << name
+                                                                                         << "' was not found "
+                                                                                            "in the SRDF.");
 
   return searched_group;
 }
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 8bab6e4f4c..38ce197bd8 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -687,8 +687,9 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item)
 
   if (!generate && (gen_files_[index].write_on_changes & config_data_->changes))
   {
-    QMessageBox::warning(this, "Package Generation", "You should generate this file to ensure your changes will take "
-                                                     "effect.");
+    QMessageBox::warning(this, "Package Generation",
+                         "You should generate this file to ensure your changes will take "
+                         "effect.");
   }
 
   // Enable/disable file
@@ -883,8 +884,9 @@ bool ConfigurationFilesWidget::generatePackage()
   // Check that a valid stack package name has been given
   if (new_package_path.empty())
   {
-    QMessageBox::warning(this, "Error Generating", "No package path provided. Please choose a directory location to "
-                                                   "generate the MoveIt configuration files.");
+    QMessageBox::warning(this, "Error Generating",
+                         "No package path provided. Please choose a directory location to "
+                         "generate the MoveIt configuration files.");
     return false;
   }
 
@@ -920,12 +922,12 @@ bool ConfigurationFilesWidget::generatePackage()
     }
 
     // Confirm overwrite
-    if (QMessageBox::question(
-            this, "Confirm Package Update",
-            QString("Are you sure you want to overwrite this existing package with updated configurations?<br /><i>")
-                .append(new_package_path.c_str())
-                .append("</i>"),
-            QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
+    if (QMessageBox::question(this, "Confirm Package Update",
+                              QString("Are you sure you want to overwrite this existing package with updated "
+                                      "configurations?<br /><i>")
+                                  .append(new_package_path.c_str())
+                                  .append("</i>"),
+                              QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
     {
       return false;  // abort
     }
@@ -969,10 +971,11 @@ bool ConfigurationFilesWidget::generatePackage()
     if (!file->gen_func_(absolute_path))
     {
       // Error occured
-      QMessageBox::critical(this, "Error Generating File", QString("Failed to generate folder or file: '")
-                                                               .append(file->rel_path_.c_str())
-                                                               .append("' at location:\n")
-                                                               .append(absolute_path.c_str()));
+      QMessageBox::critical(this, "Error Generating File",
+                            QString("Failed to generate folder or file: '")
+                                .append(file->rel_path_.c_str())
+                                .append("' at location:\n")
+                                .append(absolute_path.c_str()));
       return false;
     }
     updateProgress();  // Increment and update GUI
@@ -986,10 +989,9 @@ bool ConfigurationFilesWidget::generatePackage()
 // ******************************************************************************************
 void ConfigurationFilesWidget::exitSetupAssistant()
 {
-  if (has_generated_pkg_ ||
-      QMessageBox::question(this, "Exit Setup Assistant",
-                            QString("Are you sure you want to exit the MoveIt Setup Assistant?"),
-                            QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Ok)
+  if (has_generated_pkg_ || QMessageBox::question(this, "Exit Setup Assistant",
+                                                  QString("Are you sure you want to exit the MoveIt Setup Assistant?"),
+                                                  QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Ok)
   {
     QApplication::quit();
   }
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
index 9f8bdeb1b3..d6b2a05c98 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
@@ -379,10 +379,9 @@ void DefaultCollisionsWidget::collisionsChanged(const QModelIndex& index)
   // Hm. For some reason, QTableView doesn't change selection if we click a checkbox
   bool linear_mode = (view_mode_buttons_->checkedId() == LINEAR_MODE);
   const QItemSelection& selection = selection_model_->selection();
-  if ((linear_mode && !selection.contains(index)) ||  // in linear mode: index not in selection
-      (!linear_mode &&
-       !(selection.contains(index) ||  // in matrix mode: index or symmetric index not in selection
-         selection.contains(model_->index(index.column(), index.row())))))
+  if ((linear_mode && !selection.contains(index)) ||   // in linear mode: index not in selection
+      (!linear_mode && !(selection.contains(index) ||  // in matrix mode: index or symmetric index not in selection
+                         selection.contains(model_->index(index.column(), index.row())))))
   {
     QItemSelectionModel::SelectionFlags flags = QItemSelectionModel::Select | QItemSelectionModel::Current;
     if (linear_mode)
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index 105dcb754c..b78ecd61ad 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -139,8 +139,8 @@ private Q_SLOTS:
   void revertChanges();
 
   /**
-  * \brief Called when current row has changed
-  */
+   * \brief Called when current row has changed
+   */
   void previewSelectedMatrix(const QModelIndex& index);
   void previewSelectedLinear(const QModelIndex& index);
 
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index 602469a32c..effbe5a7ce 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -54,12 +54,12 @@ EndEffectorsWidget::EndEffectorsWidget(QWidget* parent, const MoveItConfigDataPt
 
   // Top Header Area ------------------------------------------------
 
-  HeaderWidget* header =
-      new HeaderWidget("Define End Effectors", "Setup your robot's end effectors. These are planning groups "
-                                               "corresponding to grippers or tools, attached to a parent "
-                                               "planning group (an arm). The specified parent link is used as the "
-                                               "reference frame for IK attempts.",
-                       this);
+  HeaderWidget* header = new HeaderWidget("Define End Effectors",
+                                          "Setup your robot's end effectors. These are planning groups "
+                                          "corresponding to grippers or tools, attached to a parent "
+                                          "planning group (an arm). The specified parent link is used as the "
+                                          "reference frame for IK attempts.",
+                                          this);
   layout->addWidget(header);
 
   // Create contents screens ---------------------------------------
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index 3ecd04a16c..c89c5c77c5 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -324,8 +324,9 @@ void GroupEditWidget::loadKinematicPlannersComboBox()
   }
   catch (pluginlib::PluginlibException& ex)
   {
-    QMessageBox::warning(this, "Missing Kinematic Solvers", "Exception while creating class loader for kinematic "
-                                                            "solver plugins");
+    QMessageBox::warning(this, "Missing Kinematic Solvers",
+                         "Exception while creating class loader for kinematic "
+                         "solver plugins");
     ROS_ERROR_STREAM(ex.what());
     return;
   }
@@ -336,9 +337,10 @@ void GroupEditWidget::loadKinematicPlannersComboBox()
   // Warn if no plugins are found
   if (classes.empty())
   {
-    QMessageBox::warning(this, "Missing Kinematic Solvers", "No MoveIt-compatible kinematics solvers found. Try "
-                                                            "installing moveit_kinematics (sudo apt-get install "
-                                                            "ros-${ROS_DISTRO}-moveit-kinematics)");
+    QMessageBox::warning(this, "Missing Kinematic Solvers",
+                         "No MoveIt-compatible kinematics solvers found. Try "
+                         "installing moveit_kinematics (sudo apt-get install "
+                         "ros-${ROS_DISTRO}-moveit-kinematics)");
     return;
   }
 
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
index f586963da9..7ca2d4275e 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
@@ -53,10 +53,10 @@ PassiveJointsWidget::PassiveJointsWidget(QWidget* parent, const MoveItConfigData
 
   // Top Header Area ------------------------------------------------
 
-  HeaderWidget* header =
-      new HeaderWidget("Define Passive Joints", "Specify the set of passive joints (not actuated). Joint "
-                                                "state is not expected to be published for these joints.",
-                       this);
+  HeaderWidget* header = new HeaderWidget("Define Passive Joints",
+                                          "Specify the set of passive joints (not actuated). Joint "
+                                          "state is not expected to be published for these joints.",
+                                          this);
   layout->addWidget(header);
 
   // Joints edit widget
diff --git a/moveit_setup_assistant/src/widgets/perception_widget.cpp b/moveit_setup_assistant/src/widgets/perception_widget.cpp
index 6af5bc8dfe..11662d4722 100644
--- a/moveit_setup_assistant/src/widgets/perception_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/perception_widget.cpp
@@ -208,8 +208,7 @@ bool PerceptionWidget::focusLost()
                                                                            "PointCloudOctomapUpdater");
     config_data_->addGenericParameterToSensorPluginConfig("point_cloud_topic",
                                                           point_cloud_topic_field_->text().trimmed().toStdString());
-    config_data_->addGenericParameterToSensorPluginConfig("max_range",
-                                                          max_range_field_->text().trimmed().toStdString());
+    config_data_->addGenericParameterToSensorPluginConfig("max_range", max_range_field_->text().trimmed().toStdString());
     config_data_->addGenericParameterToSensorPluginConfig("point_subsample",
                                                           point_subsample_field_->text().trimmed().toStdString());
     config_data_->addGenericParameterToSensorPluginConfig("padding_offset",
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index e3da0c9ec4..304b53becc 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -416,11 +416,12 @@ void PlanningGroupsWidget::loadGroupsTreeRecursive(srdf::Model::Group& group_it,
     // Check if subgroup was found
     if (searched_group == nullptr)  // not found
     {
-      QMessageBox::critical(this, "Error Loading SRDF", QString("Subgroup '")
-                                                            .append(subgroup_it->c_str())
-                                                            .append("' of group '")
-                                                            .append(group_it.name_.c_str())
-                                                            .append("' not found. Your SRDF is invalid"));
+      QMessageBox::critical(this, "Error Loading SRDF",
+                            QString("Subgroup '")
+                                .append(subgroup_it->c_str())
+                                .append("' of group '")
+                                .append(group_it.name_.c_str())
+                                .append("' not found. Your SRDF is invalid"));
       return;  // TODO: something better for error handling?
     }
 
@@ -589,10 +590,11 @@ void PlanningGroupsWidget::loadChainScreen(srdf::Model::Group* this_group)
   // Make sure there isn't more than 1 chain pair
   if (this_group->chains_.size() > 1)
   {
-    QMessageBox::warning(this, "Multiple Kinematic Chains", "Warning: This setup assistant is only designed to handle "
-                                                            "one kinematic chain per group. The loaded SRDF has more "
-                                                            "than one kinematic chain for a group. A possible loss of "
-                                                            "data may occur.");
+    QMessageBox::warning(this, "Multiple Kinematic Chains",
+                         "Warning: This setup assistant is only designed to handle "
+                         "one kinematic chain per group. The loaded SRDF has more "
+                         "than one kinematic chain for a group. A possible loss of "
+                         "data may occur.");
   }
 
   // Set the selected tip and base of chain if one exists
@@ -702,12 +704,12 @@ void PlanningGroupsWidget::deleteGroup()
   srdf::Model::Group* searched_group = config_data_->findGroupByName(group);
 
   // Confirm user wants to delete group
-  if (QMessageBox::question(
-          this, "Confirm Group Deletion",
-          QString("Are you sure you want to delete the planning group '")
-              .append(searched_group->name_.c_str())
-              .append("'? This will also delete all references in subgroups, robot poses and end effectors."),
-          QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
+  if (QMessageBox::question(this, "Confirm Group Deletion",
+                            QString("Are you sure you want to delete the planning group '")
+                                .append(searched_group->name_.c_str())
+                                .append("'? This will also delete all references in subgroups, robot poses and end "
+                                        "effectors."),
+                            QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
   {
     return;
   }
@@ -918,8 +920,9 @@ void PlanningGroupsWidget::saveChainScreen()
   // Check that box the tip and base, or neither, have text
   if ((!tip.empty() && base.empty()) || (tip.empty() && !base.empty()))
   {
-    QMessageBox::warning(this, "Error Saving", "You must specify a link for both the base and tip, or leave both "
-                                               "blank.");
+    QMessageBox::warning(this, "Error Saving",
+                         "You must specify a link for both the base and tip, or leave both "
+                         "blank.");
     return;
   }
 
@@ -1197,8 +1200,8 @@ bool PlanningGroupsWidget::saveGroupScreen()
       // Check if this eef's parent group references old group name. if so, update it
       if (eef_it->parent_group_.compare(old_group_name) == 0)  // same name
       {
-        ROS_DEBUG_STREAM_NAMED("setup_assistant", "Changed eef '" << eef_it->name_ << "' to new parent group name "
-                                                                  << group_name);
+        ROS_DEBUG_STREAM_NAMED("setup_assistant",
+                               "Changed eef '" << eef_it->name_ << "' to new parent group name " << group_name);
         eef_it->parent_group_ = group_name;  // updated
         config_data_->changes |= MoveItConfigData::END_EFFECTORS;
       }
@@ -1206,8 +1209,8 @@ bool PlanningGroupsWidget::saveGroupScreen()
       // Check if this eef's group references old group name. if so, update it
       if (eef_it->component_group_.compare(old_group_name) == 0)  // same name
       {
-        ROS_DEBUG_STREAM_NAMED("setup_assistant", "Changed eef '" << eef_it->name_ << "' to new group name "
-                                                                  << group_name);
+        ROS_DEBUG_STREAM_NAMED("setup_assistant",
+                               "Changed eef '" << eef_it->name_ << "' to new group name " << group_name);
         eef_it->component_group_ = group_name;  // updated
         config_data_->changes |= MoveItConfigData::END_EFFECTORS;
       }
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index e68b132194..d89889fd9c 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -62,11 +62,12 @@ RobotPosesWidget::RobotPosesWidget(QWidget* parent, const MoveItConfigDataPtr& c
 
   // Top Header Area ------------------------------------------------
 
-  HeaderWidget* header = new HeaderWidget(
-      "Define Robot Poses", "Create poses for the robot. Poses are defined as sets of joint values for "
-                            "particular planning groups. This is useful for things like <i>home position</i>."
-                            "The first pose for each robot will be its initial pose in simulation.",
-      this);
+  HeaderWidget* header =
+      new HeaderWidget("Define Robot Poses",
+                       "Create poses for the robot. Poses are defined as sets of joint values for "
+                       "particular planning groups. This is useful for things like <i>home position</i>."
+                       "The first pose for each robot will be its initial pose in simulation.",
+                       this);
   layout->addWidget(header);
 
   // Create contents screens ---------------------------------------
@@ -488,9 +489,10 @@ void RobotPosesWidget::loadJointSliders(const QString& selected)
   // Check that joint model exist
   if (!config_data_->getRobotModel()->hasJointModelGroup(group_name))
   {
-    QMessageBox::critical(this, "Error Loading", QString("Unable to find joint model group for group: ")
-                                                     .append(group_name.c_str())
-                                                     .append(" Are you sure this group has associated joints/links?"));
+    QMessageBox::critical(this, "Error Loading",
+                          QString("Unable to find joint model group for group: ")
+                              .append(group_name.c_str())
+                              .append(" Are you sure this group has associated joints/links?"));
     return;
   }
 
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index ff61771a14..edd152495c 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -426,8 +426,7 @@ void ROSControllersWidget::loadControllerScreen(moveit_setup_assistant::ROSContr
   else  // load the controller name into the widget
   {
     current_edit_controller_ = this_controller->name_;
-    controller_edit_widget_->setTitle(
-        QString("Edit Controller '").append(current_edit_controller_.c_str()).append("'"));
+    controller_edit_widget_->setTitle(QString("Edit Controller '").append(current_edit_controller_.c_str()).append("'"));
     controller_edit_widget_->showDelete();
     controller_edit_widget_->hideNewButtonsWidget();  // not necessary for existing controllers
     controller_edit_widget_->showSave();              // this is only for edit mode
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
index 20ab7cc114..45dd02b684 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
@@ -78,7 +78,7 @@ namespace rviz
 class GridDisplay;
 class RenderPanel;
 class VisualizationManager;
-}
+}  // namespace rviz
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.cpp b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
index 14b9d5a805..0f917a7f87 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
@@ -61,11 +61,11 @@ SimulationWidget::SimulationWidget(QWidget* parent, const MoveItConfigDataPtr& c
 
   // Top Header Area ------------------------------------------------
 
-  HeaderWidget* header =
-      new HeaderWidget("Simulate With Gazebo", "The following tool will auto-generate the URDF changes needed "
-                                               "for Gazebo compatibility with ROSControl and MoveIt. The "
-                                               "needed changes are shown in green.",
-                       this);
+  HeaderWidget* header = new HeaderWidget("Simulate With Gazebo",
+                                          "The following tool will auto-generate the URDF changes needed "
+                                          "for Gazebo compatibility with ROSControl and MoveIt. The "
+                                          "needed changes are shown in green.",
+                                          this);
   layout->addWidget(header);
 
   // Spacing
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 6910917c35..96af347714 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -110,11 +110,11 @@ StartScreenWidget::StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr&
   right_layout->setAlignment(right_image_label_, Qt::AlignRight | Qt::AlignTop);
 
   // Top Label Area ---------------------------------------------------
-  HeaderWidget* header =
-      new HeaderWidget("MoveIt Setup Assistant", "These tools will assist you in creating a Semantic Robot "
-                                                 "Description Format (SRDF) file, various yaml configuration and many "
-                                                 "roslaunch files for utilizing all aspects of MoveIt functionality.",
-                       this);
+  HeaderWidget* header = new HeaderWidget("MoveIt Setup Assistant",
+                                          "These tools will assist you in creating a Semantic Robot "
+                                          "Description Format (SRDF) file, various yaml configuration and many "
+                                          "roslaunch files for utilizing all aspects of MoveIt functionality.",
+                                          this);
   layout->addWidget(header);
 
   // Select Mode Area -------------------------------------------------
@@ -337,11 +337,11 @@ bool StartScreenWidget::loadPackageSettings(bool show_warnings)
   if (!config_data_->getSetupAssistantYAMLPath(setup_assistant_path))
   {
     if (show_warnings)
-      QMessageBox::warning(
-          this, "Incorrect Directory/Package",
-          QString("The chosen package location exists but was not created using MoveIt Setup Assistant. "
-                  "If this is a mistake, provide the missing file: ")
-              .append(setup_assistant_path.c_str()));
+      QMessageBox::warning(this, "Incorrect Directory/Package",
+                           QString(
+                               "The chosen package location exists but was not created using MoveIt Setup Assistant. "
+                               "If this is a mistake, provide the missing file: ")
+                               .append(setup_assistant_path.c_str()));
     return false;
   }
 
@@ -502,8 +502,9 @@ bool StartScreenWidget::loadNewFiles()
   QApplication::processEvents();
 
   // Create blank SRDF file
-  const std::string blank_srdf = "<?xml version='1.0'?><robot name='" + config_data_->urdf_model_->getName() + "'></"
-                                                                                                               "robot>";
+  const std::string blank_srdf = "<?xml version='1.0'?><robot name='" + config_data_->urdf_model_->getName() +
+                                 "'></"
+                                 "robot>";
 
   // Load a blank SRDF file to the parameter server
   if (!setSRDFFile(blank_srdf))
@@ -687,10 +688,11 @@ bool StartScreenWidget::createFullURDFPath()
   {
     if (config_data_->urdf_path_.empty())  // no path could be resolved
     {
-      QMessageBox::warning(this, "Error Loading Files", QString("ROS was unable to find the package name '")
-                                                            .append(config_data_->urdf_pkg_name_.c_str())
-                                                            .append("'. Verify this package is inside your ROS "
-                                                                    "workspace and is a proper ROS package."));
+      QMessageBox::warning(this, "Error Loading Files",
+                           QString("ROS was unable to find the package name '")
+                               .append(config_data_->urdf_pkg_name_.c_str())
+                               .append("'. Verify this package is inside your ROS "
+                                       "workspace and is a proper ROS package."));
     }
     else
     {
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index 7203ee29fd..4227d6a984 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -54,10 +54,10 @@ VirtualJointsWidget::VirtualJointsWidget(QWidget* parent, const MoveItConfigData
 
   // Top Header Area ------------------------------------------------
 
-  HeaderWidget* header =
-      new HeaderWidget("Define Virtual Joints", "Create a virtual joint between a robot link and an external frame of "
-                                                "reference (considered fixed with respect to the robot).",
-                       this);
+  HeaderWidget* header = new HeaderWidget("Define Virtual Joints",
+                                          "Create a virtual joint between a robot link and an external frame of "
+                                          "reference (considered fixed with respect to the robot).",
+                                          this);
   layout->addWidget(header);
 
   // Create contents screens ---------------------------------------
diff --git a/moveit_setup_assistant/test/moveit_config_data_test.cpp b/moveit_setup_assistant/test/moveit_config_data_test.cpp
index 9cd489015d..c776a50a9c 100644
--- a/moveit_setup_assistant/test/moveit_config_data_test.cpp
+++ b/moveit_setup_assistant/test/moveit_config_data_test.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2018, Mohamad Ayman.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Mohamad Ayman.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Mohamad Ayman */
 #include <gtest/gtest.h>

From 3e4d3ac3f0bad99f4321978c0775f66459723cbf Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 11 Aug 2020 12:56:09 -0500
Subject: [PATCH 418/612] A ROS service to reset the Servo status (#2246)

---
 moveit_ros/moveit_servo/CMakeLists.txt                |  2 ++
 .../moveit_servo/include/moveit_servo/servo_calcs.h   |  7 ++++++-
 moveit_ros/moveit_servo/package.xml                   |  1 +
 moveit_ros/moveit_servo/src/servo_calcs.cpp           | 11 +++++++++++
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 93bc20ba88..6540e55da0 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
   rosparam_shortcuts
   sensor_msgs
   std_msgs
+  std_srvs
   trajectory_msgs
 )
 find_package(Eigen3 REQUIRED)
@@ -40,6 +41,7 @@ catkin_package(
     rosparam_shortcuts
     sensor_msgs
     std_msgs
+    std_srvs
     trajectory_msgs
   DEPENDS
     EIGEN3
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index d991aee0e5..c67afb6e0c 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -44,8 +44,9 @@
 #include <moveit_msgs/ChangeDriftDimensions.h>
 #include <moveit_msgs/ChangeControlDimensions.h>
 #include <sensor_msgs/JointState.h>
-#include <std_msgs/Int8.h>
 #include <std_msgs/Float64.h>
+#include <std_msgs/Int8.h>
+#include <std_srvs/Empty.h>
 #include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <trajectory_msgs/JointTrajectory.h>
@@ -186,6 +187,9 @@ class ServoCalcs
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);
 
+  /** \brief Service callback to reset Servo status, e.g. so the arm can move again after a collision */
+  bool resetServoStatus(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
+
   ros::NodeHandle nh_;
 
   // Parameters from yaml
@@ -244,6 +248,7 @@ class ServoCalcs
   ros::Publisher outgoing_cmd_pub_;
   ros::ServiceServer drift_dimensions_server_;
   ros::ServiceServer control_dimensions_server_;
+  ros::ServiceServer reset_servo_status_;
 
   // Status
   StatusCode status_ = StatusCode::NO_WARNING;
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index bb7824858f..7b7ccea44e 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -24,6 +24,7 @@
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>trajectory_msgs</depend>
   <depend>moveit_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index b6d4fd774e..8dd7f08844 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -108,6 +108,11 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
       nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
                            &ServoCalcs::changeControlDimensions, this);
 
+  // ROS Server to reset the status, e.g. so the arm can move again after a collision
+  reset_servo_status_ =
+      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/reset_servo_status",
+                           &ServoCalcs::resetServoStatus, this);
+
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
   collision_velocity_scale_sub_ =
@@ -1049,6 +1054,12 @@ bool ServoCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::R
   return true;
 }
 
+bool ServoCalcs::resetServoStatus(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
+{
+  status_ = StatusCode::NO_WARNING;
+  return true;
+}
+
 void ServoCalcs::setPaused(bool paused)
 {
   paused_ = paused;

From 9f28498ee0c3e9afeb5e4ecd19e214c432a360bc Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Tue, 7 Jul 2020 10:39:16 +0200
Subject: [PATCH 419/612] Remove moveit_resources from CMakeLists.txt

There is no reason to include them from cmake anymore.
The resources are not in a single path anymore and there is no C header exposed anymore.
---
 moveit_commander/package.xml                                 | 2 +-
 moveit_commander/test/CMakeLists.txt                         | 1 -
 moveit_core/collision_detection_bullet/CMakeLists.txt        | 3 ---
 moveit_core/collision_detection_fcl/CMakeLists.txt           | 3 ---
 moveit_core/collision_distance_field/CMakeLists.txt          | 3 ---
 moveit_core/constraint_samplers/CMakeLists.txt               | 3 +--
 moveit_core/kinematic_constraints/CMakeLists.txt             | 3 ---
 moveit_core/package.xml                                      | 3 ++-
 moveit_core/planning_scene/CMakeLists.txt                    | 3 ---
 moveit_core/robot_model/CMakeLists.txt                       | 3 ---
 moveit_core/robot_state/CMakeLists.txt                       | 3 ---
 moveit_core/robot_state/test/test_cartesian_interpolator.cpp | 1 -
 moveit_core/robot_trajectory/CMakeLists.txt                  | 3 ---
 moveit_core/trajectory_processing/CMakeLists.txt             | 2 --
 moveit_kinematics/package.xml                                | 5 ++++-
 moveit_kinematics/test/CMakeLists.txt                        | 1 -
 moveit_planners/ompl/ompl_interface/CMakeLists.txt           | 3 ---
 moveit_planners/ompl/package.xml                             | 2 +-
 moveit_ros/move_group/package.xml                            | 2 +-
 moveit_ros/moveit_servo/package.xml                          | 2 +-
 moveit_ros/planning_interface/package.xml                    | 3 ++-
 moveit_ros/planning_interface/test/CMakeLists.txt            | 1 -
 moveit_setup_assistant/CMakeLists.txt                        | 2 --
 moveit_setup_assistant/package.xml                           | 2 +-
 24 files changed, 14 insertions(+), 45 deletions(-)

diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
index 6e6b7fb51d..8b277c578d 100644
--- a/moveit_commander/package.xml
+++ b/moveit_commander/package.xml
@@ -34,5 +34,5 @@
   <exec_depend>tf</exec_depend>
 
   <test_depend>rostest</test_depend>
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_fanuc_moveit_config</test_depend>
 </package>
diff --git a/moveit_commander/test/CMakeLists.txt b/moveit_commander/test/CMakeLists.txt
index 157406a545..b097091a89 100644
--- a/moveit_commander/test/CMakeLists.txt
+++ b/moveit_commander/test/CMakeLists.txt
@@ -1,5 +1,4 @@
 if (CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
   find_package(rostest REQUIRED)
 
   add_rostest(python_moveit_commander.test)
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 799fead00d..66a1e09e4b 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -28,9 +28,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 install(FILES ../collision_detector_bullet_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 3889763ac4..90f260c8aa 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -24,9 +24,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 install(FILES ../collision_detector_fcl_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
 
diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
index 063a1331a3..25c7292649 100644
--- a/moveit_core/collision_distance_field/CMakeLists.txt
+++ b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -18,9 +18,6 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_collision_distance_field test/test_collision_distance_field.cpp)
   target_link_libraries(test_collision_distance_field  ${MOVEIT_LIB_NAME})
 endif()
diff --git a/moveit_core/constraint_samplers/CMakeLists.txt b/moveit_core/constraint_samplers/CMakeLists.txt
index 0cb5fab70e..1c3d645c85 100644
--- a/moveit_core/constraint_samplers/CMakeLists.txt
+++ b/moveit_core/constraint_samplers/CMakeLists.txt
@@ -28,9 +28,8 @@ if(CATKIN_ENABLE_TESTING)
   find_package(orocos_kdl REQUIRED)
   find_package(angles REQUIRED)
   find_package(tf2_kdl REQUIRED)
-  find_package(moveit_resources REQUIRED)
 
-  include_directories(SYSTEM ${orocos_kdl_INCLUDE_DIRS} ${angles_INCLUDE_DIRS} ${tf2_kdl_INCLUDE_DIRS} ${moveit_resources_INCLUDE_DIRS})
+  include_directories(SYSTEM ${orocos_kdl_INCLUDE_DIRS} ${angles_INCLUDE_DIRS} ${tf2_kdl_INCLUDE_DIRS})
 
   catkin_add_gtest(test_constraint_samplers
     test/test_constraint_samplers.cpp
diff --git a/moveit_core/kinematic_constraints/CMakeLists.txt b/moveit_core/kinematic_constraints/CMakeLists.txt
index 18ff796f70..619f7a4229 100644
--- a/moveit_core/kinematic_constraints/CMakeLists.txt
+++ b/moveit_core/kinematic_constraints/CMakeLists.txt
@@ -18,9 +18,6 @@ install(TARGETS ${MOVEIT_LIB_NAME}
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_constraints test/test_constraints.cpp)
   target_link_libraries(test_constraints moveit_test_utils ${MOVEIT_LIB_NAME})
 endif()
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 1ddc19cb5f..6703fe348f 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -51,7 +51,8 @@
   <depend>visualization_msgs</depend>
   <depend>xmlrpcpp</depend>
 
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
+  <test_depend>moveit_resources_pr2_description</test_depend>
   <test_depend>angles</test_depend>
   <test_depend>tf2_kdl</test_depend>
   <test_depend condition="$ROS_DISTRO != noetic">orocos_kdl</test_depend>
diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
index 3ecfc4831a..0c132f21b7 100644
--- a/moveit_core/planning_scene/CMakeLists.txt
+++ b/moveit_core/planning_scene/CMakeLists.txt
@@ -23,9 +23,6 @@ install(TARGETS ${MOVEIT_LIB_NAME}
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp)
   target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME})
 
diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt
index 40a6199da4..fbd4162f04 100644
--- a/moveit_core/robot_model/CMakeLists.txt
+++ b/moveit_core/robot_model/CMakeLists.txt
@@ -18,9 +18,6 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_profiler moveit_exceptions movei
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_robot_model test/test.cpp)
   target_link_libraries(test_robot_model moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
 endif()
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index 90b30c9db7..fa3c36b45f 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -25,9 +25,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 # Unit tests
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_robot_state test/robot_state_test.cpp)
   target_link_libraries(test_robot_state moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
 
diff --git a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
index ca771677de..57c0ac22c0 100644
--- a/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
+++ b/moveit_core/robot_state/test/test_cartesian_interpolator.cpp
@@ -34,7 +34,6 @@
 
 /* Author: Michael Lautman */
 
-#include <moveit_resources/config.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/robot_state/cartesian_interpolator.h>
diff --git a/moveit_core/robot_trajectory/CMakeLists.txt b/moveit_core/robot_trajectory/CMakeLists.txt
index 4f2a069d91..078572677c 100644
--- a/moveit_core/robot_trajectory/CMakeLists.txt
+++ b/moveit_core/robot_trajectory/CMakeLists.txt
@@ -14,9 +14,6 @@ install(TARGETS ${MOVEIT_LIB_NAME}
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_robot_trajectory test/test_robot_trajectory.cpp)
   target_link_libraries(test_robot_trajectory moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
 endif()
diff --git a/moveit_core/trajectory_processing/CMakeLists.txt b/moveit_core/trajectory_processing/CMakeLists.txt
index 7c51bfbec5..e595724de0 100644
--- a/moveit_core/trajectory_processing/CMakeLists.txt
+++ b/moveit_core/trajectory_processing/CMakeLists.txt
@@ -19,8 +19,6 @@ install(TARGETS ${MOVEIT_LIB_NAME}
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
   catkin_add_gtest(test_time_parameterization test/test_time_parameterization.cpp)
   target_link_libraries(test_time_parameterization moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
   catkin_add_gtest(test_time_optimal_trajectory_generation test/test_time_optimal_trajectory_generation.cpp)
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index a6bf3b78bd..99ab7c3324 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -35,7 +35,10 @@
 
   <test_depend>rostest</test_depend>
   <test_depend>moveit_ros_planning</test_depend>
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_fanuc_description</test_depend>
+  <test_depend>moveit_resources_fanuc_moveit_config</test_depend>
+  <test_depend>moveit_resources_panda_description</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
   <test_depend>xmlrpcpp</test_depend>
 
   <export>
diff --git a/moveit_kinematics/test/CMakeLists.txt b/moveit_kinematics/test/CMakeLists.txt
index 1b8dc7139e..e99ce09920 100644
--- a/moveit_kinematics/test/CMakeLists.txt
+++ b/moveit_kinematics/test/CMakeLists.txt
@@ -1,5 +1,4 @@
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
   find_package(rostest REQUIRED)
   find_package(xmlrpcpp REQUIRED)
   find_package(moveit_ros_planning REQUIRED)
diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 9e9bc57664..81b82b9cc5 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -45,9 +45,6 @@ install(TARGETS moveit_generate_state_database
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
-
   catkin_add_gtest(test_state_space test/test_state_space.cpp)
   target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
   set_target_properties(test_state_space PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
index 1efad63a75..937ad51a10 100644
--- a/moveit_planners/ompl/package.xml
+++ b/moveit_planners/ompl/package.xml
@@ -25,7 +25,7 @@
   <depend>tf2_ros</depend>
   <depend version_gte="1.11.2">pluginlib</depend>
 
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_pr2_description</test_depend>
   <test_depend>rosunit</test_depend>
 
   <export>
diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml
index 39fdfe514a..3a70092778 100644
--- a/moveit_ros/move_group/package.xml
+++ b/moveit_ros/move_group/package.xml
@@ -30,7 +30,7 @@
   <exec_depend>moveit_kinematics</exec_depend>
 
   <test_depend>rostest</test_depend>
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_fanuc_moveit_config</test_depend>
 
   <export>
     <moveit_ros_move_group plugin="${prefix}/default_capabilities_plugin_description.xml"/>
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index bb7824858f..8186c03e21 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -33,7 +33,7 @@
   <exec_depend>spacenav_node</exec_depend>
 
   <test_depend>rostest</test_depend>
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
 
   <export>
   </export>
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 5a864a72c8..ad49898100 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -40,7 +40,8 @@
 
   <build_depend>eigen</build_depend>
 
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_fanuc_moveit_config</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
   <test_depend>eigen_conversions</test_depend>
   <test_depend>rostest</test_depend>
   <test_depend>eigen_conversions</test_depend>
diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 8cb31d6004..1a616bdd88 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -1,5 +1,4 @@
 if (CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
   find_package(rostest REQUIRED)
   find_package(eigen_conversions REQUIRED)
 
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index fbac89054f..8ffbe601c9 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -163,8 +163,6 @@ install(DIRECTORY templates DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 # Unit tests
 if(CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources REQUIRED)
-  include_directories(${moveit_resources_INCLUDE_DIRS})
   catkin_add_gtest(test_reading_writing_config test/moveit_config_data_test.cpp)
   target_link_libraries(test_reading_writing_config
     ${PROJECT_NAME}_tools ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${MOVEIT_LIB_NAME})
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 9b73230f22..30ea4d9812 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -36,6 +36,6 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>rviz</exec_depend>
 
-  <test_depend>moveit_resources</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
   <test_depend>rosunit</test_depend>
 </package>

From 21ff2e28bca8641decf149c975cd1f751c6f865f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 15:42:43 +0200
Subject: [PATCH 420/612] Replace moveit_resources/<folder> with
 moveit_resources_<package>

---
 moveit_commander/test/python_moveit_commander.test    |  2 +-
 moveit_commander/test/python_moveit_commander_ns.test |  2 +-
 .../test/python_time_parameterization.test            |  2 +-
 .../collision_detection/test_collision_common_pr2.h   |  2 +-
 .../test_bullet_continuous_collision_checking.cpp     |  2 +-
 .../test/test_collision_distance_field.cpp            |  4 ++--
 moveit_core/robot_state/test/test_aabb.cpp            |  2 +-
 .../include/moveit/utils/robot_model_test_utils.h     |  2 +-
 moveit_kinematics/test/fanuc-ikfast.test              |  2 +-
 moveit_kinematics/test/fanuc-kdl.test                 |  2 +-
 moveit_kinematics/test/panda-ikfast.test              |  2 +-
 moveit_kinematics/test/panda-kdl.test                 |  2 +-
 moveit_planners/trajopt/test/trajectory_test.test     |  2 +-
 moveit_ros/benchmarks/examples/demo_fanuc.launch      |  6 +++---
 moveit_ros/benchmarks/examples/demo_panda.launch      |  6 +++---
 .../examples/demo_panda_all_planners.launch           | 10 +++++-----
 .../examples/demo_panda_all_planners_obstacles.launch | 10 +++++-----
 .../examples/demo_panda_predefined_poses.launch       | 11 +++++------
 .../test/test_cancel_before_plan_execution.test       |  4 ++--
 .../moveit_servo/test/servo_cpp_interface_test.test   |  2 +-
 .../planning/launch/collision_checker_compare.launch  |  8 ++++----
 .../compare_collision_speed_checking_fcl_bullet.cpp   |  2 +-
 moveit_ros/planning_interface/test/cleanup.test       |  2 +-
 .../test/move_group_interface_cpp_test.test           |  4 ++--
 .../test/move_group_pick_place_test.test              |  4 ++--
 .../planning_interface/test/moveit_cpp_test.test      |  8 ++++----
 .../planning_interface/test/python_move_group.test    |  2 +-
 .../planning_interface/test/python_move_group_ns.test |  2 +-
 .../planning_interface/test/robot_state_update.test   |  2 +-
 .../launch/run_benchmark_trajopt.launch               |  8 ++++----
 .../test/moveit_config_data_test.cpp                  |  7 ++++---
 31 files changed, 63 insertions(+), 63 deletions(-)

diff --git a/moveit_commander/test/python_moveit_commander.test b/moveit_commander/test/python_moveit_commander.test
index c97a74198c..eb99c5935d 100644
--- a/moveit_commander/test/python_moveit_commander.test
+++ b/moveit_commander/test/python_moveit_commander.test
@@ -1,5 +1,5 @@
 <launch>
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
   <test pkg="moveit_commander" type="python_moveit_commander.py" test-name="python_moveit_commander"
         time-limit="300" args=""/>
 </launch>
diff --git a/moveit_commander/test/python_moveit_commander_ns.test b/moveit_commander/test/python_moveit_commander_ns.test
index feda452a7e..eefed9aec6 100644
--- a/moveit_commander/test/python_moveit_commander_ns.test
+++ b/moveit_commander/test/python_moveit_commander_ns.test
@@ -1,5 +1,5 @@
 <launch>
-  <include ns="test_ns" file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include ns="test_ns" file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
   <test pkg="moveit_commander" type="python_moveit_commander_ns.py" test-name="python_moveit_commander_ns"
         time-limit="300" args=""/>
 </launch>
diff --git a/moveit_commander/test/python_time_parameterization.test b/moveit_commander/test/python_time_parameterization.test
index 61c5fa50fd..3a83385699 100644
--- a/moveit_commander/test/python_time_parameterization.test
+++ b/moveit_commander/test/python_time_parameterization.test
@@ -1,5 +1,5 @@
 <launch>
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
   <test pkg="moveit_commander" type="python_time_parameterization.py" test-name="python_time_parameterization"
         time-limit="300" args=""/>
 </launch>
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
index b8f3f8e22e..75030d8a56 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h
@@ -65,7 +65,7 @@ class CollisionDetectorTest : public ::testing::Test
     value_.reset(new CollisionAllocatorType);
     robot_model_ = moveit::core::loadTestingRobotModel("pr2");
     robot_model_ok_ = static_cast<bool>(robot_model_);
-    kinect_dae_resource_ = "package://moveit_resources/pr2_description/urdf/meshes/sensors/kinect_v0/kinect.dae";
+    kinect_dae_resource_ = "package://moveit_resources_pr2_description/urdf/meshes/sensors/kinect_v0/kinect.dae";
 
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
index 3e9d99cef7..8af1398cc6 100644
--- a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
+++ b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -183,7 +183,7 @@ void addCollisionObjectsMesh(cb::BulletCastBVHManager& checker)
   Eigen::Isometry3d s_pose;
   s_pose.setIdentity();
 
-  std::string kinect = "package://moveit_resources/panda_description/meshes/collision/hand.stl";
+  std::string kinect = "package://moveit_resources_panda_description/meshes/collision/hand.stl";
   shapes::ShapeConstPtr s;
   s.reset(shapes::createMeshFromResource(kinect));
   obj2_shapes.push_back(s);
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
index 55908d27c3..31ec0bb15f 100644
--- a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
+++ b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -61,7 +61,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
   {
     srdf_model_.reset(new srdf::Model());
     std::string xml_string;
-    std::fstream xml_file(ros::package::getPath("moveit_resources") + "/pr2_description/urdf/robot.xml",
+    std::fstream xml_file(ros::package::getPath("moveit_resources_pr2_description") + "/urdf/robot.xml",
                           std::fstream::in);
     if (xml_file.is_open())
     {
@@ -78,7 +78,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
     else
       urdf_ok_ = false;
     srdf_ok_ = srdf_model_->initFile(*urdf_model_,
-                                     ros::package::getPath("moveit_resources") + "/pr2_description/srdf/robot.xml");
+                                     ros::package::getPath("moveit_resources_pr2_description") + "/srdf/robot.xml");
 
     robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
 
diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
index 8ec7a20eb3..97d89b46a1 100644
--- a/moveit_core/robot_state/test/test_aabb.cpp
+++ b/moveit_core/robot_state/test/test_aabb.cpp
@@ -278,7 +278,7 @@ TEST_F(TestAABB, TestSimple)
   builder.addChain("base_footprint->base_link", "fixed", { origin });
 
   tf2::toMsg(tf2::Vector3(0, 0, 0), origin.position);
-  builder.addCollisionMesh("base_link", "package://moveit_resources/pr2_description/urdf/meshes/base_v0/base_L.stl",
+  builder.addCollisionMesh("base_link", "package://moveit_resources_pr2_description/urdf/meshes/base_v0/base_L.stl",
                            origin);
 
   tf2::toMsg(tf2::Vector3(0, 0, 0.071), origin.position);
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index a22d6c635a..22ec072354 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -113,7 +113,7 @@ class RobotModelBuilder
   /** \brief Adds a collision mesh to a specific link.
    *  \param[in] link_name The name of the link to which the mesh will be added. Must already be in the builder
    *  \param[in] filename The path to the mesh file, e.g.
-   * "package://moveit_resources/pr2_description/urdf/meshes/base_v0/base_L.stl"
+   * "package://moveit_resources_pr2_description/urdf/meshes/base_v0/base_L.stl"
    *  \param[in] origin The origin pose of this collision mesh relative to the link origin
    */
   void addCollisionMesh(const std::string& link_name, const std::string& filename, geometry_msgs::Pose origin);
diff --git a/moveit_kinematics/test/fanuc-ikfast.test b/moveit_kinematics/test/fanuc-ikfast.test
index a5d09f891c..9de03483d5 100644
--- a/moveit_kinematics/test/fanuc-ikfast.test
+++ b/moveit_kinematics/test/fanuc-ikfast.test
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<group ns="fanuc">
-		<include file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_context.launch">
+		<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
 			<arg name="load_robot_description" value="true"/>
 		</include>
 
diff --git a/moveit_kinematics/test/fanuc-kdl.test b/moveit_kinematics/test/fanuc-kdl.test
index 6b44ced4d1..9b4fccb953 100644
--- a/moveit_kinematics/test/fanuc-kdl.test
+++ b/moveit_kinematics/test/fanuc-kdl.test
@@ -6,7 +6,7 @@
 	<arg name="name" value="$(eval 'fanuc_' + arg('ik_plugin')[0:3])"/>
 
 	<group ns="fanuc">
-		<include file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_context.launch">
+		<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
 			<arg name="load_robot_description" value="true"/>
 		</include>
 
diff --git a/moveit_kinematics/test/panda-ikfast.test b/moveit_kinematics/test/panda-ikfast.test
index 2094d88ddc..0359d5d096 100644
--- a/moveit_kinematics/test/panda-ikfast.test
+++ b/moveit_kinematics/test/panda-ikfast.test
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<group ns="panda">
-		<include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+		<include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
 			<arg name="load_robot_description" value="true"/>
 		</include>
 
diff --git a/moveit_kinematics/test/panda-kdl.test b/moveit_kinematics/test/panda-kdl.test
index b7b52de74c..95a331cff8 100644
--- a/moveit_kinematics/test/panda-kdl.test
+++ b/moveit_kinematics/test/panda-kdl.test
@@ -6,7 +6,7 @@
 	<arg name="name" value="$(eval 'panda_' + arg('ik_plugin')[0:3])"/>
 
 	<group ns="panda">
-		<include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+		<include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
 			<arg name="load_robot_description" value="true"/>
 		</include>
 
diff --git a/moveit_planners/trajopt/test/trajectory_test.test b/moveit_planners/trajopt/test/trajectory_test.test
index 347b97a1d9..bec08fda3d 100644
--- a/moveit_planners/trajopt/test/trajectory_test.test
+++ b/moveit_planners/trajopt/test/trajectory_test.test
@@ -3,7 +3,7 @@
 
   <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
 
-    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/trajopt_planning.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
 
   </test>
 
diff --git a/moveit_ros/benchmarks/examples/demo_fanuc.launch b/moveit_ros/benchmarks/examples/demo_fanuc.launch
index cfecc6f5c5..7fa8f55c94 100644
--- a/moveit_ros/benchmarks/examples/demo_fanuc.launch
+++ b/moveit_ros/benchmarks/examples/demo_fanuc.launch
@@ -3,17 +3,17 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo1.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/default_warehouse_db.launch" />
 
   <!-- Launch benchmark node -->
   <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
diff --git a/moveit_ros/benchmarks/examples/demo_panda.launch b/moveit_ros/benchmarks/examples/demo_panda.launch
index 07ab802d6f..08a1c33c9d 100644
--- a/moveit_ros/benchmarks/examples/demo_panda.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda.launch
@@ -3,17 +3,17 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo1.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load all planning pipelines that will be benchmarked -->
-  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+  <include ns="moveit_run_benchmark/ompl" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/default_warehouse_db.launch" />
 
   <!-- Launch benchmark node -->
   <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
index adbbed130f..6cb02f534b 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_panda_all_planners.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
diff --git a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
index 1ae08adebf..46f3e1a5c5 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_all_planners_obstacles.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_obstacles.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
diff --git a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
index 91fb0448c5..1f04aedd5e 100644
--- a/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
+++ b/moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch
@@ -3,24 +3,24 @@
   <arg name="bench_opts" default="$(find moveit_ros_benchmarks)/examples/demo_panda_predefined_poses.yaml"/>
 
   <!-- Load robot settings -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Load warehouse containing scenes and queries to benchmark -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/default_warehouse_db.launch" />
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/default_warehouse_db.launch" />
 
   <!-- Load all planning pipelines that will be benchmarked -->
   <group ns="moveit_run_benchmark">
-    <include ns="ompl" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="ompl" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="ompl" />
     </include>
 
-    <include ns="chomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="chomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <include ns="stomp" file="$(find moveit_resources)/panda_moveit_config/launch/planning_pipeline.launch.xml">
+    <include ns="stomp" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
       <arg name="pipeline" value="stomp" />
     </include>
   </group>
@@ -30,4 +30,3 @@
     <rosparam command="load" file="$(arg bench_opts)"/>
   </node>
 </launch>
-
diff --git a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
index edf4699d93..ef3c39eb55 100644
--- a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
+++ b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
@@ -1,6 +1,6 @@
 <launch>
 	<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-	<include file="$(find moveit_resources)/fanuc_moveit_config/launch/planning_context.launch">
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
 		<arg name="load_robot_description" value="true"/>
 	</include>
 
@@ -14,7 +14,7 @@
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
 	<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-	<include file="$(find moveit_resources)/fanuc_moveit_config/launch/move_group.launch">
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/move_group.launch">
 		<arg name="allow_trajectory_execution" value="true"/>
 		<arg name="fake_execution" value="true"/>
 		<arg name="info" value="true"/>
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
index f34d8503da..f165250d82 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Load URDF, SRDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch" >
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch" >
     <arg name="load_robot_description" value="true"/>
   </include>
 
diff --git a/moveit_ros/planning/launch/collision_checker_compare.launch b/moveit_ros/planning/launch/collision_checker_compare.launch
index 5208ade9cd..1c180c13e6 100644
--- a/moveit_ros/planning/launch/collision_checker_compare.launch
+++ b/moveit_ros/planning/launch/collision_checker_compare.launch
@@ -2,15 +2,15 @@
   <arg name="visualization" default="false" doc="turns on and off visualization with rviz"/>
 
   <!-- send Panda urdf to parameter server -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
+  <param name="robot_description" textfile="$(find moveit_resources_panda_description)/urdf/panda.urdf" />
 
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch"/>
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch"/>
 
   <node name="compare_collision_checking_speed" pkg="moveit_ros_planning" type="moveit_compare_collision_checking_speed_fcl_bullet" respawn="false" output="screen">
-    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/kinematics.yaml"/>
     <param name="visualization" value="$(arg visualization)" type="bool"/>
   </node>
 
-  <include if="$(arg visualization)" file="$(find moveit_resources)/panda_moveit_config/launch/demo.launch"/>
+  <include if="$(arg visualization)" file="$(find moveit_resources_panda_moveit_config)/launch/demo.launch"/>
 
 </launch>
diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
index 2f0f13edaa..c658792d55 100644
--- a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
+++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
@@ -100,7 +100,7 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const
   // load panda link5 as world collision object
   std::string name;
   shapes::ShapeConstPtr shape;
-  std::string kinect = "package://moveit_resources/panda_description/meshes/collision/link5.stl";
+  std::string kinect = "package://moveit_resources_panda_description/meshes/collision/link5.stl";
 
   Eigen::Quaterniond quat;
   Eigen::Isometry3d pos{ Eigen::Isometry3d::Identity() };
diff --git a/moveit_ros/planning_interface/test/cleanup.test b/moveit_ros/planning_interface/test/cleanup.test
index b1a2064369..775ea18666 100644
--- a/moveit_ros/planning_interface/test/cleanup.test
+++ b/moveit_ros/planning_interface/test/cleanup.test
@@ -1,5 +1,5 @@
 <launch>
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
   <test pkg="moveit_ros_planning_interface" type="cleanup.py" test-name="cleanup_tests"
         time-limit="300" args=""/>
 </launch>
diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
index b1612e213d..9975f257d2 100644
--- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
@@ -1,6 +1,6 @@
 <launch>
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -17,7 +17,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Run the main MoveIt executable with fake trajectory execution -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/move_group.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.test b/moveit_ros/planning_interface/test/move_group_pick_place_test.test
index 17dd3c179b..9dd7dbdcc3 100644
--- a/moveit_ros/planning_interface/test/move_group_pick_place_test.test
+++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.test
@@ -1,6 +1,6 @@
 <launch>
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -17,7 +17,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Run the main MoveIt executable with fake trajectory execution -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/move_group.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
diff --git a/moveit_ros/planning_interface/test/moveit_cpp_test.test b/moveit_ros/planning_interface/test/moveit_cpp_test.test
index b6e5f894ef..306d97553c 100644
--- a/moveit_ros/planning_interface/test/moveit_cpp_test.test
+++ b/moveit_ros/planning_interface/test/moveit_cpp_test.test
@@ -3,18 +3,18 @@
     <rosparam ns="moveit_cpp_test" command="load" file="$(find moveit_ros_planning_interface)/test/moveit_cpp.yaml" />
 
     <!-- Planning Pipeline -->
-    <include ns="/moveit_cpp_test/ompl" file="$(find moveit_resources)/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml"/>
+    <include ns="/moveit_cpp_test/ompl" file="$(find moveit_resources_panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml"/>
 
     <!-- Trajectory execution  -->
-    <!--include ns="moveit_cpp_test" file="$(find moveit_resources)/panda_moveit_config/launch/trajectory_execution.launch.xml">
+    <!--include ns="moveit_cpp_test" file="$(find moveit_resources_panda_moveit_config)/launch/trajectory_execution.launch.xml">
       <arg name="moveit_controller_manager" value="fake"/>
     </include-->
 
     <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
-    <include ns="moveit_cpp_test" file="$(find moveit_resources)/panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml" />
+    <include ns="moveit_cpp_test" file="$(find moveit_resources_panda_moveit_config)/launch/fake_moveit_controller_manager.launch.xml" />
 
     <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-    <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+    <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
       <arg name="load_robot_description" value="true"/>
     </include>
 
diff --git a/moveit_ros/planning_interface/test/python_move_group.test b/moveit_ros/planning_interface/test/python_move_group.test
index 01c6651892..4367da03ed 100644
--- a/moveit_ros/planning_interface/test/python_move_group.test
+++ b/moveit_ros/planning_interface/test/python_move_group.test
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Start joint_state_publisher, robot_state_publisher, and MoveGroup -->
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
 
   <!-- Test MoveGroupInterface for Python -->
   <test pkg="moveit_ros_planning_interface" type="python_move_group.py" test-name="python_move_group"
diff --git a/moveit_ros/planning_interface/test/python_move_group_ns.test b/moveit_ros/planning_interface/test/python_move_group_ns.test
index b9293ac105..082779ac94 100644
--- a/moveit_ros/planning_interface/test/python_move_group_ns.test
+++ b/moveit_ros/planning_interface/test/python_move_group_ns.test
@@ -1,6 +1,6 @@
 <launch>
   <group  ns="test_ns">
-    <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+    <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
     <test pkg="moveit_ros_planning_interface" type="python_move_group.py" test-name="python_move_group"
           time-limit="300" args=""/>
   </group>
diff --git a/moveit_ros/planning_interface/test/robot_state_update.test b/moveit_ros/planning_interface/test/robot_state_update.test
index e282f0ab22..f7849d7d7c 100644
--- a/moveit_ros/planning_interface/test/robot_state_update.test
+++ b/moveit_ros/planning_interface/test/robot_state_update.test
@@ -1,5 +1,5 @@
 <launch>
-  <include file="$(find moveit_resources)/fanuc_moveit_config/launch/test_environment.launch"/>
+  <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
   <test pkg="moveit_ros_planning_interface" type="robot_state_update.py" test-name="robot_state_update"
         time-limit="300" args=""/>
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
index d411006e39..50631869af 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
@@ -4,19 +4,19 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find moveit_resources)/panda_moveit_config/launch/warehouse.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
   </include>
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
-    <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/trajopt_planning.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
   </node>
 
 </launch>
diff --git a/moveit_setup_assistant/test/moveit_config_data_test.cpp b/moveit_setup_assistant/test/moveit_config_data_test.cpp
index c776a50a9c..ac03cc86c5 100644
--- a/moveit_setup_assistant/test/moveit_config_data_test.cpp
+++ b/moveit_setup_assistant/test/moveit_config_data_test.cpp
@@ -51,11 +51,11 @@ class MoveItConfigData : public testing::Test
 protected:
   void SetUp() override
   {
-    boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
+    boost::filesystem::path res_path(ros::package::getPath("moveit_resources_panda_description"));
 
     srdf_model.reset(new srdf::Model());
     std::string xml_string;
-    std::fstream xml_file((res_path / "panda_description/urdf/panda.urdf").string().c_str(), std::fstream::in);
+    std::fstream xml_file((res_path / "urdf/panda.urdf").string().c_str(), std::fstream::in);
     if (xml_file.is_open())
     {
       while (xml_file.good())
@@ -67,7 +67,8 @@ class MoveItConfigData : public testing::Test
       xml_file.close();
       urdf_model = urdf::parseURDF(xml_string);
     }
-    srdf_model->initFile(*urdf_model, (res_path / "panda_moveit_config/config/panda.srdf").string());
+    res_path = ros::package::getPath("moveit_resources_panda_moveit_config");
+    srdf_model->initFile(*urdf_model, (res_path / "config/panda.srdf").string());
     robot_model.reset(new moveit::core::RobotModel(urdf_model, srdf_model));
   };
 

From e8728c44af55e3a4387b0dfbb1c86c1be9918020 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 7 Jul 2020 21:49:04 +0200
Subject: [PATCH 421/612] Fix loading of test resources

- Convert code to use robot_model_test_utils
- Fixup loading in robot_model_test_utils
---
 .../collision_distance_field/CMakeLists.txt   |  2 +-
 .../test/test_collision_distance_field.cpp    | 32 +--------
 moveit_core/planning_scene/CMakeLists.txt     |  4 +-
 .../test/test_planning_scene.cpp              | 67 ++++---------------
 moveit_core/robot_state/CMakeLists.txt        | 10 +--
 .../test/test_kinematic_complex.cpp           | 25 ++-----
 .../moveit/utils/robot_model_test_utils.h     |  5 --
 .../utils/src/robot_model_test_utils.cpp      | 15 +++--
 .../ompl/ompl_interface/CMakeLists.txt        |  2 +-
 .../ompl_interface/test/test_state_space.cpp  | 24 +------
 moveit_setup_assistant/CMakeLists.txt         |  3 +-
 .../test/moveit_config_data_test.cpp          | 36 +++-------
 12 files changed, 50 insertions(+), 175 deletions(-)

diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
index 25c7292649..2c7696896d 100644
--- a/moveit_core/collision_distance_field/CMakeLists.txt
+++ b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -19,7 +19,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_collision_distance_field test/test_collision_distance_field.cpp)
-  target_link_libraries(test_collision_distance_field  ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_collision_distance_field ${MOVEIT_LIB_NAME} moveit_test_utils)
 endif()
 
 install(TARGETS ${MOVEIT_LIB_NAME}
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
index 31ec0bb15f..affec2291e 100644
--- a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
+++ b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -39,6 +39,7 @@
 #include <moveit/transforms/transforms.h>
 #include <moveit/collision_distance_field/collision_distance_field_types.h>
 #include <moveit/collision_distance_field/collision_env_distance_field.h>
+#include <moveit/utils/robot_model_test_utils.h>
 
 #include <geometric_shapes/shape_operations.h>
 #include <urdf_parser/urdf_parser.h>
@@ -59,28 +60,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
 protected:
   void SetUp() override
   {
-    srdf_model_.reset(new srdf::Model());
-    std::string xml_string;
-    std::fstream xml_file(ros::package::getPath("moveit_resources_pr2_description") + "/urdf/robot.xml",
-                          std::fstream::in);
-    if (xml_file.is_open())
-    {
-      while (xml_file.good())
-      {
-        std::string line;
-        std::getline(xml_file, line);
-        xml_string += (line + "\n");
-      }
-      xml_file.close();
-      urdf_model_ = urdf::parseURDF(xml_string);
-      urdf_ok_ = static_cast<bool>(urdf_model_);
-    }
-    else
-      urdf_ok_ = false;
-    srdf_ok_ = srdf_model_->initFile(*urdf_model_,
-                                     ros::package::getPath("moveit_resources_pr2_description") + "/srdf/robot.xml");
-
-    robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
+    robot_model_ = moveit::core::loadTestingRobotModel("pr2");
 
     acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true));
 
@@ -93,12 +73,6 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
   }
 
 protected:
-  bool urdf_ok_;
-  bool srdf_ok_;
-
-  urdf::ModelInterfaceSharedPtr urdf_model_;
-  srdf::ModelSharedPtr srdf_model_;
-
   moveit::core::RobotModelPtr robot_model_;
 
   moveit::core::TransformsPtr ftf_;
@@ -115,8 +89,6 @@ TEST_F(DistanceFieldCollisionDetectionTester, DefaultNotInCollision)
   robot_state.setToDefaultValues();
   robot_state.update();
 
-  ASSERT_TRUE(urdf_ok_ && srdf_ok_);
-
   collision_detection::CollisionRequest req;
   collision_detection::CollisionResult res;
   req.group_name = "whole_body";
diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
index 0c132f21b7..3f233fb98e 100644
--- a/moveit_core/planning_scene/CMakeLists.txt
+++ b/moveit_core/planning_scene/CMakeLists.txt
@@ -24,8 +24,8 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp)
-  target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME} moveit_test_utils)
 
   catkin_add_gtest(test_multi_threaded test/test_multi_threaded.cpp)
-  target_link_libraries(test_multi_threaded moveit_planning_scene moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES})
+  target_link_libraries(test_multi_threaded ${MOVEIT_LIB_NAME} moveit_test_utils)
 endif()
diff --git a/moveit_core/planning_scene/test/test_planning_scene.cpp b/moveit_core/planning_scene/test/test_planning_scene.cpp
index 37cddc3296..28dece6b9a 100644
--- a/moveit_core/planning_scene/test/test_planning_scene.cpp
+++ b/moveit_core/planning_scene/test/test_planning_scene.cpp
@@ -37,6 +37,7 @@
 #include <gtest/gtest.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/utils/message_checks.h>
+#include <moveit/utils/robot_model_test_utils.h>
 #include <urdf_parser/urdf_parser.h>
 #include <fstream>
 #include <sstream>
@@ -44,42 +45,9 @@
 #include <boost/filesystem/path.hpp>
 #include <ros/package.h>
 
-// This function needs to return void so the gtest FAIL() macro inside
-// it works right.
-void loadModelFile(std::string filename, std::string& file_content)
-{
-  boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
-  std::string xml_string;
-  std::fstream xml_file((res_path / filename).string().c_str(), std::fstream::in);
-  EXPECT_TRUE(xml_file.is_open());
-  while (xml_file.good())
-  {
-    std::string line;
-    std::getline(xml_file, line);
-    xml_string += (line + "\n");
-  }
-  xml_file.close();
-  file_content = xml_string;
-}
-
-void loadRobotModel(urdf::ModelInterfaceSharedPtr& robot_model_out)
-{
-  std::string xml_string;
-  loadModelFile("pr2_description/urdf/robot.xml", xml_string);
-  robot_model_out = urdf::parseURDF(xml_string);
-}
-void loadRobotModels(urdf::ModelInterfaceSharedPtr& robot_model_out, srdf::ModelSharedPtr& srdf_model_out)
-{
-  loadRobotModel(robot_model_out);
-  std::string xml_string;
-  loadModelFile("pr2_description/srdf/robot.xml", xml_string);
-  srdf_model_out->initString(*robot_model_out, xml_string);
-}
-
 TEST(PlanningScene, LoadRestore)
 {
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModel(urdf_model);
+  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
   srdf::ModelSharedPtr srdf_model(new srdf::Model());
   planning_scene::PlanningScene ps(urdf_model, srdf_model);
   moveit_msgs::PlanningScene ps_msg;
@@ -93,11 +61,9 @@ TEST(PlanningScene, LoadRestore)
 
 TEST(PlanningScene, LoadRestoreDiff)
 {
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModel(urdf_model);
+  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
   srdf::ModelSharedPtr srdf_model(new srdf::Model());
-
-  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
+  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
   collision_detection::World& world = *ps->getWorldNonConst();
 
@@ -155,11 +121,9 @@ TEST(PlanningScene, LoadRestoreDiff)
 
 TEST(PlanningScene, MakeAttachedDiff)
 {
+  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
   srdf::ModelSharedPtr srdf_model(new srdf::Model());
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModel(urdf_model);
-
-  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
+  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
   /* add a single object to ps's world */
   collision_detection::World& world = *ps->getWorldNonConst();
@@ -188,11 +152,8 @@ TEST(PlanningScene, MakeAttachedDiff)
 
 TEST(PlanningScene, isStateValid)
 {
-  srdf::ModelSharedPtr srdf_model(new srdf::Model());
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModels(urdf_model, srdf_model);
-
-  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
+  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
+  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
   moveit::core::RobotState current_state = ps->getCurrentState();
   if (ps->isStateColliding(current_state, "left_arm"))
   {
@@ -202,10 +163,8 @@ TEST(PlanningScene, isStateValid)
 
 TEST(PlanningScene, loadGoodSceneGeometry)
 {
-  srdf::ModelSharedPtr srdf_model(new srdf::Model());
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModels(urdf_model, srdf_model);
-  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
+  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
+  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
 
   std::istringstream good_scene_geometry;
   good_scene_geometry.str("foobar_scene\n"
@@ -233,10 +192,8 @@ TEST(PlanningScene, loadGoodSceneGeometry)
 
 TEST(PlanningScene, loadBadSceneGeometry)
 {
-  srdf::ModelSharedPtr srdf_model(new srdf::Model());
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  loadRobotModels(urdf_model, srdf_model);
-  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
+  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
+  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
   std::istringstream empty_scene_geometry;
 
   // This should fail since there is no planning scene name and no end of geometry marker.
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index fa3c36b45f..aaef8c7c41 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -26,18 +26,18 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 # Unit tests
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_robot_state test/robot_state_test.cpp)
-  target_link_libraries(test_robot_state moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_robot_state ${MOVEIT_LIB_NAME} moveit_test_utils)
 
   # As an executable, this benchmark is not run as a test by default
   add_executable(robot_state_benchmark test/robot_state_benchmark.cpp)
-  target_link_libraries(robot_state_benchmark moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME} ${GTEST_LIBRARIES})
+  target_link_libraries(robot_state_benchmark ${MOVEIT_LIB_NAME} moveit_test_utils ${GTEST_LIBRARIES})
 
   catkin_add_gtest(test_cartesian_interpolator test/test_cartesian_interpolator.cpp)
-  target_link_libraries(test_cartesian_interpolator moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_cartesian_interpolator ${MOVEIT_LIB_NAME} moveit_test_utils)
 
   catkin_add_gtest(test_robot_state_complex test/test_kinematic_complex.cpp)
-  target_link_libraries(test_robot_state_complex moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_robot_state_complex ${MOVEIT_LIB_NAME} moveit_test_utils)
 
   catkin_add_gtest(test_aabb test/test_aabb.cpp)
-  target_link_libraries(test_aabb moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_aabb ${MOVEIT_LIB_NAME} moveit_test_utils)
 endif()
diff --git a/moveit_core/robot_state/test/test_kinematic_complex.cpp b/moveit_core/robot_state/test/test_kinematic_complex.cpp
index cc8df316bc..c09cc6907c 100644
--- a/moveit_core/robot_state/test/test_kinematic_complex.cpp
+++ b/moveit_core/robot_state/test/test_kinematic_complex.cpp
@@ -43,6 +43,7 @@
 #include <boost/filesystem/path.hpp>
 #include <geometric_shapes/shapes.h>
 #include <moveit/profiler/profiler.h>
+#include <moveit/utils/robot_model_test_utils.h>
 #include <ros/package.h>
 
 class LoadPlanningModelsPr2 : public testing::Test
@@ -50,24 +51,10 @@ class LoadPlanningModelsPr2 : public testing::Test
 protected:
   void SetUp() override
   {
-    boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
-
-    srdf_model_.reset(new srdf::Model());
-    std::string xml_string;
-    std::fstream xml_file((res_path / "pr2_description/urdf/robot.xml").string().c_str(), std::fstream::in);
-    if (xml_file.is_open())
-    {
-      while (xml_file.good())
-      {
-        std::string line;
-        std::getline(xml_file, line);
-        xml_string += (line + "\n");
-      }
-      xml_file.close();
-      urdf_model_ = urdf::parseURDF(xml_string);
-    }
-    srdf_model_->initFile(*urdf_model_, (res_path / "pr2_description/srdf/robot.xml").string());
-    robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
+    std::string robot_name = "pr2";
+    urdf_model_ = moveit::core::loadModelInterface(robot_name);
+    srdf_model_ = moveit::core::loadSRDFModel(robot_name);
+    robot_model_ = std::make_shared<moveit::core::RobotModel>(urdf_model_, srdf_model_);
   };
 
   void TearDown() override
@@ -77,7 +64,7 @@ class LoadPlanningModelsPr2 : public testing::Test
 protected:
   urdf::ModelInterfaceSharedPtr urdf_model_;
   srdf::ModelSharedPtr srdf_model_;
-  moveit::core::RobotModelConstPtr robot_model_;
+  moveit::core::RobotModelPtr robot_model_;
 };
 
 TEST_F(LoadPlanningModelsPr2, InitOK)
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 22ec072354..ad6246dc37 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -37,13 +37,8 @@
 
 #pragma once
 
-#include <urdf_parser/urdf_parser.h>
-#include <urdf_model/model.h>
-#include <urdf_model/joint.h>
 #include <srdfdom/srdf_writer.h>
 #include <urdf/model.h>
-#include <fstream>
-#include <boost/filesystem/path.hpp>
 #include <moveit/robot_model/robot_model.h>
 #include <geometry_msgs/Pose.h>
 
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index 8f988e14f0..eabeb14af1 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -39,7 +39,8 @@
 #include <boost/math/constants/constants.hpp>
 #include <geometry_msgs/Pose.h>
 
-#include "moveit/utils/robot_model_test_utils.h"
+#include <urdf_parser/urdf_parser.h>
+#include <moveit/utils/robot_model_test_utils.h>
 #include <ros/package.h>
 
 namespace moveit
@@ -58,15 +59,15 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name)
 
 urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name)
 {
-  boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
   std::string urdf_path;
   if (robot_name == "pr2")
   {
-    urdf_path = (res_path / "pr2_description/urdf/robot.xml").string();
+    urdf_path = ros::package::getPath("moveit_resources_pr2_description") + "/urdf/robot.xml";
   }
   else
   {
-    urdf_path = (res_path / (robot_name + "_description") / "urdf" / (robot_name + ".urdf")).string();
+    urdf_path =
+        ros::package::getPath("moveit_resources_" + robot_name + "_description") + "/urdf/" + robot_name + ".urdf";
   }
   urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDFFile(urdf_path);
   if (urdf_model == nullptr)
@@ -79,17 +80,17 @@ urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name)
 
 srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name)
 {
-  boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
   urdf::ModelInterfaceSharedPtr urdf_model = loadModelInterface(robot_name);
   srdf::ModelSharedPtr srdf_model(new srdf::Model());
   std::string srdf_path;
   if (robot_name == "pr2")
   {
-    srdf_path = (res_path / "pr2_description/srdf/robot.xml").string();
+    srdf_path = ros::package::getPath("moveit_resources_pr2_description") + "/srdf/robot.xml";
   }
   else
   {
-    srdf_path = (res_path / (robot_name + "_moveit_config") / "config" / (robot_name + ".srdf")).string();
+    srdf_path =
+        ros::package::getPath("moveit_resources_" + robot_name + "_moveit_config") + "/config/" + robot_name + ".srdf";
   }
   srdf_model->initFile(*urdf_model, srdf_path);
   return srdf_model;
diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 81b82b9cc5..e44e0ecb1b 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -46,6 +46,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_state_space test/test_state_space.cpp)
-  target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES})
   set_target_properties(test_state_space PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 endif()
diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
index d1db71f973..879c7330d3 100644
--- a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
@@ -43,6 +43,7 @@
 
 #include <ompl/util/Exception.h>
 #include <moveit/robot_state/conversions.h>
+#include <moveit/utils/robot_model_test_utils.h>
 #include <gtest/gtest.h>
 #include <fstream>
 #include <boost/filesystem/path.hpp>
@@ -55,24 +56,7 @@ class LoadPlanningModelsPr2 : public testing::Test
 protected:
   void SetUp() override
   {
-    boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
-
-    srdf_model_.reset(new srdf::Model());
-    std::string xml_string;
-    std::fstream xml_file((res_path / "pr2_description/urdf/robot.xml").string().c_str(), std::fstream::in);
-    if (xml_file.is_open())
-    {
-      while (xml_file.good())
-      {
-        std::string line;
-        std::getline(xml_file, line);
-        xml_string += (line + "\n");
-      }
-      xml_file.close();
-      urdf_model_ = urdf::parseURDF(xml_string);
-    }
-    srdf_model_->initFile(*urdf_model_, (res_path / "pr2_description/srdf/robot.xml").string());
-    robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
+    robot_model_ = moveit::core::loadTestingRobotModel("pr2");
   };
 
   void TearDown() override
@@ -81,10 +65,6 @@ class LoadPlanningModelsPr2 : public testing::Test
 
 protected:
   moveit::core::RobotModelPtr robot_model_;
-  urdf::ModelInterfaceSharedPtr urdf_model_;
-  srdf::ModelSharedPtr srdf_model_;
-  bool urdf_ok_;
-  bool srdf_ok_;
 };
 
 TEST_F(LoadPlanningModelsPr2, StateSpace)
diff --git a/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/CMakeLists.txt
index 8ffbe601c9..c39d7cfe23 100644
--- a/moveit_setup_assistant/CMakeLists.txt
+++ b/moveit_setup_assistant/CMakeLists.txt
@@ -164,6 +164,5 @@ install(DIRECTORY templates DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 # Unit tests
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_reading_writing_config test/moveit_config_data_test.cpp)
-  target_link_libraries(test_reading_writing_config
-    ${PROJECT_NAME}_tools ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${MOVEIT_LIB_NAME})
+  target_link_libraries(test_reading_writing_config ${PROJECT_NAME}_tools)
 endif()
diff --git a/moveit_setup_assistant/test/moveit_config_data_test.cpp b/moveit_setup_assistant/test/moveit_config_data_test.cpp
index ac03cc86c5..658b22f785 100644
--- a/moveit_setup_assistant/test/moveit_config_data_test.cpp
+++ b/moveit_setup_assistant/test/moveit_config_data_test.cpp
@@ -43,6 +43,7 @@
 #include <boost/filesystem/path.hpp>
 #include <boost/filesystem/operations.hpp>
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
+#include <moveit/utils/robot_model_test_utils.h>
 #include <ros/package.h>
 
 // This tests writing/parsing of ros_controller.yaml
@@ -51,43 +52,26 @@ class MoveItConfigData : public testing::Test
 protected:
   void SetUp() override
   {
-    boost::filesystem::path res_path(ros::package::getPath("moveit_resources_panda_description"));
-
-    srdf_model.reset(new srdf::Model());
-    std::string xml_string;
-    std::fstream xml_file((res_path / "urdf/panda.urdf").string().c_str(), std::fstream::in);
-    if (xml_file.is_open())
-    {
-      while (xml_file.good())
-      {
-        std::string line;
-        std::getline(xml_file, line);
-        xml_string += (line + "\n");
-      }
-      xml_file.close();
-      urdf_model = urdf::parseURDF(xml_string);
-    }
-    res_path = ros::package::getPath("moveit_resources_panda_moveit_config");
-    srdf_model->initFile(*urdf_model, (res_path / "config/panda.srdf").string());
-    robot_model.reset(new moveit::core::RobotModel(urdf_model, srdf_model));
+    std::string robot_name = "panda";
+    urdf_model_ = moveit::core::loadModelInterface(robot_name);
+    srdf_model_ = moveit::core::loadSRDFModel(robot_name);
+    robot_model_ = std::make_shared<moveit::core::RobotModel>(urdf_model_, srdf_model_);
   };
 
 protected:
-  urdf::ModelInterfaceSharedPtr urdf_model;
-  srdf::ModelSharedPtr srdf_model;
-  moveit::core::RobotModelPtr robot_model;
+  urdf::ModelInterfaceSharedPtr urdf_model_;
+  srdf::ModelSharedPtr srdf_model_;
+  moveit::core::RobotModelPtr robot_model_;
 };
 
 TEST_F(MoveItConfigData, ReadingControllers)
 {
-  boost::filesystem::path res_path(ros::package::getPath("moveit_resources"));
-
   // Contains all the configuration data for the setup assistant
   moveit_setup_assistant::MoveItConfigDataPtr config_data;
 
   config_data.reset(new moveit_setup_assistant::MoveItConfigData());
-  config_data->srdf_->srdf_model_ = srdf_model;
-  config_data->setRobotModel(robot_model);
+  config_data->srdf_->srdf_model_ = srdf_model_;
+  config_data->setRobotModel(robot_model_);
 
   // Initially no controllers
   EXPECT_EQ(config_data->getROSControllers().size(), 0u);

From f0e75b519d49397e2dde3f11ca51ab8c80049a7c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 8 Jul 2020 06:13:11 +0200
Subject: [PATCH 422/612] Adapt expected self-collision distance

---
 .../moveit/collision_detection/test_collision_common_panda.h    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
index 4a42c65924..35d8002977 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -233,7 +233,7 @@ TYPED_TEST_P(CollisionDetectorPandaTest, DistanceSelf)
   collision_detection::CollisionResult res;
   this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_);
   ASSERT_FALSE(res.collision);
-  EXPECT_NEAR(res.distance, 0.13, 0.01);
+  EXPECT_NEAR(res.distance, 0.022, 0.001);
 }
 
 TYPED_TEST_P(CollisionDetectorPandaTest, DistanceWorld)

From 88712bb7f5ab2c4153440c5c55f915798ca83dd3 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 13 Aug 2020 01:04:19 +0200
Subject: [PATCH 423/612] Temporarily add moveit_resources to moveit.rosinstall

... as long as moveit_resources is not yet released
---
 moveit.rosinstall | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit.rosinstall b/moveit.rosinstall
index 19c6e7546b..5b2a6c27bd 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -4,6 +4,10 @@
     local-name: moveit_msgs
     uri: https://github.com/ros-planning/moveit_msgs.git
     version: master
+- git:
+    local-name: moveit_resources
+    uri: https://github.com/ros-planning/moveit_resources.git
+    version: master
 - git:
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git

From 589f83a132da174991b233931d3ca7f31ab1cba4 Mon Sep 17 00:00:00 2001
From: Ruofan Xu <12582927+rfn123@users.noreply.github.com>
Date: Thu, 13 Aug 2020 15:30:25 +0200
Subject: [PATCH 424/612] Correctly set velocities to zero when stale (#2255)

---
 moveit_ros/moveit_servo/src/servo_calcs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 8dd7f08844..f2282ef69c 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -283,7 +283,7 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   {
     // Joint trajectory is not populated with anything, so set it to the last positions and 0 velocity
     *joint_trajectory = *last_sent_command_;
-    for (auto point : joint_trajectory->points)
+    for (auto& point : joint_trajectory->points)
     {
       point.velocities.assign(point.velocities.size(), 0);
     }

From ed3e196d28d670fb154af3cb2866227448b3ad32 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 18 Aug 2020 18:58:08 +0200
Subject: [PATCH 425/612] MP display: add units to joints tab (#2264)

---
 .../src/motion_planning_frame_joints_widget.cpp  | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
index 7b9d683c75..7f4782f66c 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -383,8 +383,20 @@ void ProgressBarDelegate::paint(QPainter* painter, const QStyleOptionViewItem& o
   {
     QVariant joint_type = index.data(JointTypeRole);
     double value = index.data().toDouble();
-    bool is_revolute = joint_type.isValid() && joint_type.toInt() == moveit::core::JointModel::REVOLUTE;
-    style_option.text = option.locale.toString(is_revolute ? value * 180 / M_PI : value, 'f', is_revolute ? 0 : 3);
+    if (joint_type.isValid())
+    {
+      switch (joint_type.toInt())
+      {
+        case moveit::core::JointModel::REVOLUTE:
+          style_option.text = option.locale.toString(value * 180 / M_PI, 'f', 0).append("°");
+          break;
+        case moveit::core::JointModel::PRISMATIC:
+          style_option.text = option.locale.toString(value, 'f', 3).append("m");
+          break;
+        default:
+          break;
+      }
+    }
 
     QVariant vbounds = index.data(VariableBoundsRole);
     if (vbounds.isValid())

From 787a9e9711392b02b42316bf8f56f51723241f63 Mon Sep 17 00:00:00 2001
From: Yoan Mollard <ymollard@users.noreply.github.com>
Date: Wed, 19 Aug 2020 15:21:16 +0200
Subject: [PATCH 426/612] Start new joint_state_publisher_gui on param use_gui
 (#2257)

---
 .../chomp/chomp_interface/test/rrbot_move_group.launch    | 8 +++++---
 .../test/test_cancel_before_plan_execution.test           | 1 -
 .../moveit_config_pkg_template/launch/demo.launch         | 6 ++++--
 .../moveit_config_pkg_template/launch/demo_gazebo.launch  | 8 ++++++--
 .../moveit_config_pkg_template/package.xml.template       | 1 +
 5 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch b/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
index 2bdfe3c0b5..782b702447 100644
--- a/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
+++ b/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
@@ -1,6 +1,6 @@
 <launch>
 
-   <arg name="use_gui" default="false" />
+  <arg name="use_gui" default="false" />
 
   <!-- The name of the parameter under which the URDF is loaded -->
   <arg name="robot_description" default="robot_description"/>
@@ -17,8 +17,10 @@
   </group>
 
   <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
     <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
   </node>
 
diff --git a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
index ef3c39eb55..4acb89e476 100644
--- a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
+++ b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
@@ -6,7 +6,6 @@
 
 	<!-- We do not have a robot connected, so publish fake joint states -->
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-		<param name="use_gui" value="false"/>
 		<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
 	</node>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
index d7512b437a..4ebe898ffb 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
@@ -31,8 +31,10 @@
   [VIRTUAL_JOINT_BROADCASTER]
 
   <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
     <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
   </node>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
index f258075a65..059ef752df 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
@@ -40,8 +40,12 @@
   [VIRTUAL_JOINT_BROADCASTER]
 
   <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    <rosparam param="source_list">[/joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
     <rosparam param="source_list">[/joint_states]</rosparam>
   </node>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
index bf69cdf642..a4d4c40b2c 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
@@ -23,6 +23,7 @@
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>tf2_ros</run_depend>
   <run_depend>xacro</run_depend>

From 162b9a9eaf853f0758f0e7d1405239e2f3373287 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 19 Aug 2020 11:19:06 -0600
Subject: [PATCH 427/612] add soname version to moveit_servo (#2266)

---
 moveit_ros/moveit_servo/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 6540e55da0..8f9f5bd57e 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -65,6 +65,7 @@ add_library(${LIBRARY_NAME} SHARED
   src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
 )
+set_target_properties(${LIBRARY_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 add_dependencies(${LIBRARY_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${LIBRARY_NAME}
   ${catkin_LIBRARIES}

From a1ebe89dc6f4b6dcc0e74d81d641ec7ab5b17f78 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 19 Aug 2020 14:16:00 -0600
Subject: [PATCH 428/612] Move constraint representation dox to
 moveit_tutorials (#2147)

---
 .../dox/constraint_representation.dox          |  17 -----------------
 .../dox/img/exact_opposites.png                | Bin 3079 -> 0 bytes
 .../dox/img/fingertip_collision.png            | Bin 77053 -> 0 bytes
 .../dox/img/fingertip_cone.jpg                 | Bin 26612 -> 0 bytes
 .../dox/img/fingertip_cone.png                 | Bin 80571 -> 0 bytes
 .../dox/img/fourty_five.png                    | Bin 2897 -> 0 bytes
 .../dox/img/other_side.png                     | Bin 2771 -> 0 bytes
 .../dox/img/perpindicular.png                  | Bin 1699 -> 0 bytes
 .../dox/img/range_angle.png                    | Bin 5697 -> 0 bytes
 9 files changed, 17 deletions(-)
 delete mode 100644 moveit_core/kinematic_constraints/dox/constraint_representation.dox
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/exact_opposites.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/fingertip_collision.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/fingertip_cone.jpg
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/fingertip_cone.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/fourty_five.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/other_side.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/perpindicular.png
 delete mode 100644 moveit_core/kinematic_constraints/dox/img/range_angle.png

diff --git a/moveit_core/kinematic_constraints/dox/constraint_representation.dox b/moveit_core/kinematic_constraints/dox/constraint_representation.dox
deleted file mode 100644
index d786835f0c..0000000000
--- a/moveit_core/kinematic_constraints/dox/constraint_representation.dox
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
-\page constraint_representation Representation and Evaluation of Constraints
-
-Constraints are integral component of MoveIt and they are used both to constrain robot motion as well as to define planning goals. There following set of constraints are defined in the kinematic_constraints namespace:
-- kinematic_constraints::JointConstraint
-- kinematic_constraints::OrientationConstraint
-- kinematic_constraints::PositionConstraint
-- kinematic_constraints::VisibilityConstraint
-.
-
-All of these constraints inherit from the kinematic_constraints::KinematicConstraint base class and thus more constraint types can be added by the user by providing their own derived classes. The main operation each constraint implements is the KinematicConstraint::decide() function, which decides whether a constraint is satisfied, and optionally returns a distance (an error) when a constraint is not satisfied.
-
-Often multiple constraints need to be imposed on a particular motion plan or for a particular goal. The class kinematic_constraints::KinematicConstraintSet facilitates operating with sets of constraints.
-
-A related functionality to representing and evaluating constraints is \ref constraint_sampling "generating samples" that satisfy those constraints.
-
-*/
diff --git a/moveit_core/kinematic_constraints/dox/img/exact_opposites.png b/moveit_core/kinematic_constraints/dox/img/exact_opposites.png
deleted file mode 100644
index 64e2470d9cadbb66267962fcc48d85c153e6b716..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3079
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From d015f6509d442f33de4b5683c48b3f6d4aa297b4 Mon Sep 17 00:00:00 2001
From: Gerard Canal <grar.knal@gmail.com>
Date: Fri, 21 Aug 2020 11:44:55 +0100
Subject: [PATCH 429/612] Add missing variants of place from list of
 PlaceLocations and Poses in the python interface (#2231)

---
 .../src/moveit_commander/move_group.py        | 12 +++++++++--
 .../src/wrap_python_move_group.cpp            | 20 +++++++++++++++++++
 2 files changed, 30 insertions(+), 2 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index 074c3a3922..bd17ea9f50 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -571,7 +571,7 @@ def pick(self, object_name, grasp=[], plan_only=False):
     def place(self, object_name, location=None, plan_only=False):
         """Place the named object at a particular location in the environment or somewhere safe in the world if location is not provided"""
         result = False
-        if location is None:
+        if not location:
             result = self._g.place(object_name, plan_only)
         elif type(location) is PoseStamped:
             old = self.get_pose_reference_frame()
@@ -582,8 +582,16 @@ def place(self, object_name, location=None, plan_only=False):
             result = self._g.place(object_name, conversions.pose_to_list(location), plan_only)
         elif type(location) is PlaceLocation:
             result = self._g.place(object_name, conversions.msg_to_string(location), plan_only)
+        elif type(location) is list:
+            if location:
+                if type(location[0]) is PlaceLocation:
+                    result = self._g.place_locations_list(object_name, [conversions.msg_to_string(x) for x in location], plan_only)
+                elif type(location[0]) is PoseStamped:
+                    result = self._g.place_poses_list(object_name, [conversions.msg_to_string(x) for x in location], plan_only)
+                else:
+                    raise MoveItCommanderException("Parameter location must be a Pose, PoseStamped, PlaceLocation, list of PoseStamped or list of PlaceLocation object")
         else:
-            raise MoveItCommanderException("Parameter location must be a Pose, PoseStamped or PlaceLocation object")
+            raise MoveItCommanderException("Parameter location must be a Pose, PoseStamped, PlaceLocation, list of PoseStamped or list of PlaceLocation object")
         return result
 
     def set_support_surface_name(self, value):
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 24fb87e984..8513c003a2 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -265,6 +265,15 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return place(object_name, msg, plan_only) == MoveItErrorCode::SUCCESS;
   }
 
+  bool placePoses(const std::string& object_name, const bp::list& poses_list, bool plan_only = false)
+  {
+    int l = bp::len(poses_list);
+    std::vector<geometry_msgs::PoseStamped> poses(l);
+    for (int i = 0; i < l; ++i)
+      py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(poses_list[i]), poses[i]);
+    return place(object_name, poses, plan_only) == MoveItErrorCode::SUCCESS;
+  }
+
   bool placeLocation(const std::string& object_name, const py_bindings_tools::ByteString& location_str,
                      bool plan_only = false)
   {
@@ -273,6 +282,15 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return place(object_name, std::move(locations), plan_only) == MoveItErrorCode::SUCCESS;
   }
 
+  bool placeLocations(const std::string& object_name, const bp::list& location_list, bool plan_only = false)
+  {
+    int l = bp::len(location_list);
+    std::vector<moveit_msgs::PlaceLocation> locations(l);
+    for (int i = 0; i < l; ++i)
+      py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(location_list[i]), locations[i]);
+    return place(object_name, std::move(locations), plan_only) == MoveItErrorCode::SUCCESS;
+  }
+
   bool placeAnywhere(const std::string& object_name, bool plan_only = false)
   {
     return place(object_name, plan_only) == MoveItErrorCode::SUCCESS;
@@ -592,7 +610,9 @@ static void wrap_move_group_interface()
   move_group_interface_class.def("pick", &MoveGroupInterfaceWrapper::pickGrasp);
   move_group_interface_class.def("pick", &MoveGroupInterfaceWrapper::pickGrasps);
   move_group_interface_class.def("place", &MoveGroupInterfaceWrapper::placePose);
+  move_group_interface_class.def("place_poses_list", &MoveGroupInterfaceWrapper::placePoses);
   move_group_interface_class.def("place", &MoveGroupInterfaceWrapper::placeLocation);
+  move_group_interface_class.def("place_locations_list", &MoveGroupInterfaceWrapper::placeLocations);
   move_group_interface_class.def("place", &MoveGroupInterfaceWrapper::placeAnywhere);
   move_group_interface_class.def("stop", &MoveGroupInterfaceWrapper::stop);
 

From ab68828e546ac6b9fdecb2c3d38fe07311a863d2 Mon Sep 17 00:00:00 2001
From: Gerard Canal <grar.knal@gmail.com>
Date: Fri, 21 Aug 2020 13:35:55 +0100
Subject: [PATCH 430/612] Added GILRelease to pick and place (#2272)

---
 .../move_group_interface/src/wrap_python_move_group.cpp    | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 8513c003a2..89e500c64c 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -262,6 +262,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     convertListToPose(pose, msg.pose);
     msg.header.frame_id = getPoseReferenceFrame();
     msg.header.stamp = ros::Time::now();
+    GILReleaser gr;
     return place(object_name, msg, plan_only) == MoveItErrorCode::SUCCESS;
   }
 
@@ -271,6 +272,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     std::vector<geometry_msgs::PoseStamped> poses(l);
     for (int i = 0; i < l; ++i)
       py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(poses_list[i]), poses[i]);
+    GILReleaser gr;
     return place(object_name, poses, plan_only) == MoveItErrorCode::SUCCESS;
   }
 
@@ -279,6 +281,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
   {
     std::vector<moveit_msgs::PlaceLocation> locations(1);
     py_bindings_tools::deserializeMsg(location_str, locations[0]);
+    GILReleaser gr;
     return place(object_name, std::move(locations), plan_only) == MoveItErrorCode::SUCCESS;
   }
 
@@ -288,11 +291,13 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     std::vector<moveit_msgs::PlaceLocation> locations(l);
     for (int i = 0; i < l; ++i)
       py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(location_list[i]), locations[i]);
+    GILReleaser gr;
     return place(object_name, std::move(locations), plan_only) == MoveItErrorCode::SUCCESS;
   }
 
   bool placeAnywhere(const std::string& object_name, bool plan_only = false)
   {
+    GILReleaser gr;
     return place(object_name, plan_only) == MoveItErrorCode::SUCCESS;
   }
 
@@ -494,6 +499,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
   {
     moveit_msgs::Grasp grasp;
     py_bindings_tools::deserializeMsg(grasp_str, grasp);
+    GILReleaser gr;
     return pick(object, grasp, plan_only).val;
   }
 
@@ -503,6 +509,7 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     std::vector<moveit_msgs::Grasp> grasps(l);
     for (int i = 0; i < l; ++i)
       py_bindings_tools::deserializeMsg(py_bindings_tools::ByteString(grasp_list[i]), grasps[i]);
+    GILReleaser gr;
     return pick(object, std::move(grasps), plan_only).val;
   }
 

From bc6ac4e3809ff792a03b1185e2da35bcb8219771 Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Wed, 26 Aug 2020 10:50:10 -0500
Subject: [PATCH 431/612] Update last_sent_command_ at ServoCalcs start (#2249)

* Move last_sent_command_ update from constructor to start
* Tweak demo configs
* Add install folders to CMakeLists
* Add clarity to parameter warning
---
 moveit_ros/moveit_servo/CMakeLists.txt        |  3 ++
 .../config/ur_simulated_config.yaml           |  2 +-
 moveit_ros/moveit_servo/src/servo.cpp         |  2 +-
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 36 ++++++++++---------
 4 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 8f9f5bd57e..0b06a77205 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -128,6 +128,9 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## TESTING ##
 #############
diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index 5c477ffb70..21fd7cbb36 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -55,7 +55,7 @@ collision_check_rate: 50 # [Hz] Collision-checking can easily bog down a CPU if
 # Two collision check algorithms are available:
 # "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
 # "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
-collision_check_type: stop_distance
+collision_check_type: threshold_distance
 # Parameters for "threshold_distance"-type collision checking
 self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.05 # Start decelerating when a scene collision is this far [m]
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index ee567f8bb3..8cc834a047 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -196,7 +196,7 @@ bool Servo::readParameters()
   if (parameters_.joint_limit_margin < 0.)
   {
     ROS_WARN_NAMED(LOGNAME, "Parameter 'joint_limit_margin' should be "
-                            "greater than zero. Check yaml file.");
+                            "greater than or equal to zero. Check yaml file.");
     return false;
   }
   if (parameters_.command_in_type != "unitless" && parameters_.command_in_type != "speed_units")
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index f2282ef69c..5e756697f5 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -134,14 +134,31 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
   internal_joint_state_.position.resize(num_joints_);
   internal_joint_state_.velocity.resize(num_joints_);
 
-  // Set up the "last" published message, in case we need to send it first
+  // A map for the indices of incoming joint commands
+  for (std::size_t i = 0; i < num_joints_; ++i)
+  {
+    joint_state_name_map_[internal_joint_state_.name[i]] = i;
+  }
+
+  // Low-pass filters for the joint positions
+  for (size_t i = 0; i < num_joints_; ++i)
+  {
+    position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
+  }
+}
+
+void ServoCalcs::start()
+{
+  // We will update last_sent_command_ every time we start servo
   auto initial_joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
-  auto latest_joints = joint_state_subscriber_->getLatest();
+
   initial_joint_trajectory->header.frame_id = parameters_.planning_frame;
   initial_joint_trajectory->header.stamp = ros::Time::now();
   initial_joint_trajectory->joint_names = internal_joint_state_.name;
   trajectory_msgs::JointTrajectoryPoint point;
   point.time_from_start = ros::Duration(parameters_.publish_period);
+
+  auto latest_joints = joint_state_subscriber_->getLatest();
   if (parameters_.publish_joint_positions)
     point.positions = latest_joints->position;
   if (parameters_.publish_joint_velocities)
@@ -160,21 +177,6 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
   initial_joint_trajectory->points.push_back(point);
   last_sent_command_ = initial_joint_trajectory;
 
-  // A map for the indices of incoming joint commands
-  for (std::size_t i = 0; i < num_joints_; ++i)
-  {
-    joint_state_name_map_[internal_joint_state_.name[i]] = i;
-  }
-
-  // Low-pass filters for the joint positions
-  for (size_t i = 0; i < num_joints_; ++i)
-  {
-    position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
-  }
-}
-
-void ServoCalcs::start()
-{
   stop_requested_ = false;
   timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
 }

From a9d3c979863050bc3cb92c73faad83343423ac13 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 26 Aug 2020 15:22:43 -0500
Subject: [PATCH 432/612] Add a utility to print collision pairs (#2275)

* Add a utility for logging collision pairs
* Update printing style, rename function, move constants into the struct
---
 .../collision_detection/collision_common.h    | 33 ++++++++++++++++++-
 .../include/moveit_servo/collision_check.h    |  3 --
 .../moveit_servo/src/collision_check.cpp      | 23 ++-----------
 3 files changed, 34 insertions(+), 25 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 35ceecc200..5255032609 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -144,7 +144,12 @@ struct CostSource
 /** \brief Representation of a collision checking result */
 struct CollisionResult
 {
-  CollisionResult() : collision(false), distance(std::numeric_limits<double>::max()), contact_count(0)
+  CollisionResult()
+    : collision(false)
+    , distance(std::numeric_limits<double>::max())
+    , contact_count(0)
+    , collision_log_period(5)
+    , collision_log_name("collision_common")
   {
   }
   typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > ContactMap;
@@ -161,6 +166,26 @@ struct CollisionResult
     cost_sources.clear();
   }
 
+  /** \brief Throttled warning of the first collision pair, if any. Other collisions are logged at the DEBUG level */
+  void print()
+  {
+    if (!contacts.empty())
+    {
+      ROS_WARN_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name,
+                                     "Objects in collision (printing first collision pair of "
+                                         << contacts.size() << "): " << contacts.begin()->first.first << ", "
+                                         << contacts.begin()->first.second);
+
+      // Log all collisions at the debug level
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name, "Objects in collision:");
+      for (auto contact : contacts)
+      {
+        ROS_DEBUG_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name,
+                                        "\t" << contact.first.first << ", " << contact.first.second);
+      }
+    }
+  }
+
   /** \brief True if collision was found, false otherwise */
   bool collision;
 
@@ -175,6 +200,12 @@ struct CollisionResult
 
   /** \brief These are the individual cost sources when costs are computed */
   std::set<CostSource> cost_sources;
+
+  /** \brief Period for logging collisions */
+  double collision_log_period;
+
+  /** Log name, for printed messages */
+  std::string collision_log_name;
 };
 
 /** \brief Representation of a collision checking request */
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 30ddaff162..a02fe4750a 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -79,9 +79,6 @@ class CollisionCheck
   /** \brief Run one iteration of collision checking */
   void run(const ros::TimerEvent& timer_event);
 
-  /** \brief Print objects in collision. Useful for debugging.  */
-  void printCollisionPairs(collision_detection::CollisionResult::ContactMap& contact_map);
-
   /** \brief Get a read-only copy of the planning scene */
   planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;
 
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 18bdb06294..162a9f5831 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -128,7 +128,7 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
                                                                      *current_state_);
   scene_collision_distance_ = collision_result_.distance;
   collision_detected_ |= collision_result_.collision;
-  printCollisionPairs(collision_result_.contacts);
+  collision_result_.print();
 
   collision_result_.clear();
   // Self-collisions and scene collisions are checked separately so different thresholds can be used
@@ -136,7 +136,7 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
                                                                             *current_state_, acm_);
   self_collision_distance_ = collision_result_.distance;
   collision_detected_ |= collision_result_.collision;
-  printCollisionPairs(collision_result_.contacts);
+  collision_result_.print();
 
   velocity_scale_ = 1;
   // If we're definitely in collision, stop immediately
@@ -207,25 +207,6 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
   }
 }
 
-void CollisionCheck::printCollisionPairs(collision_detection::CollisionResult::ContactMap& contact_map)
-{
-  if (!contact_map.empty())
-  {
-    // Throttled error message about the first contact in the list
-    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                   "Objects in collision (among others, possibly): "
-                                       << contact_map.begin()->first.first << ", "
-                                       << contact_map.begin()->first.second);
-    // Log all other contacts if in debug mode
-    ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision:");
-    for (auto contact : contact_map)
-    {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                      "\t" << contact.first.first << ", " << contact.first.second);
-    }
-  }
-}
-
 void CollisionCheck::worstCaseStopTimeCB(const std_msgs::Float64ConstPtr& msg)
 {
   worst_case_stop_time_ = msg->data;

From 0e209abb43498502795366c3e8f92443bd562667 Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Thu, 27 Aug 2020 12:27:09 +0200
Subject: [PATCH 433/612] fix some spelling errors in the ompl interface
 (#2279)

---
 .../moveit/ompl_interface/model_based_planning_context.h      | 2 +-
 .../ompl/ompl_interface/src/detail/constraints_library.cpp    | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 8f6522026f..7391024b66 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -280,7 +280,7 @@ class ModelBasedPlanningContext : public planning_interface::PlanningContext
   */
   bool solve(double timeout, unsigned int count);
 
-  /* @brief Benchmark the planning problem. Return true on succesful saving of benchmark results
+  /* @brief Benchmark the planning problem. Return true on successful saving of benchmark results
      @param timeout The time to spend on solving
      @param count The number of runs to average in the computation of the benchmark
      @param filename The name of the file to which the benchmark results are to be saved (automatic names can be
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
index 2e8b51547c..475f34ca14 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -550,7 +550,7 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
   {
     ROS_INFO_NAMED(LOGNAME, "Computing graph connections (max %u edges per sample) ...", options.edges_per_sample);
 
-    // construct connexions
+    // construct connections
     const ob::StateSpacePtr& space = pcontext->getOMPLSimpleSetup()->getStateSpace();
     unsigned int milestones = state_storage->size();
     std::vector<ob::State*> int_states(options.max_explicit_points, nullptr);
@@ -622,7 +622,7 @@ ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstra
     }
 
     result.state_connection_time = ompl::time::seconds(ompl::time::now() - start);
-    ROS_INFO_NAMED(LOGNAME, "Computed possible connexions in %lf seconds. Added %d connexions",
+    ROS_INFO_NAMED(LOGNAME, "Computed possible connections in %lf seconds. Added %d connections",
                    result.state_connection_time, good);
     pcontext->getOMPLSimpleSetup()->getSpaceInformation()->freeStates(int_states);
 

From 1f0e8db08da7b9371f57b6d7055b2c4b0ca71170 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 27 Aug 2020 19:51:41 +0200
Subject: [PATCH 434/612] Cleanup: Add a utility to print collision pairs
 (#2278)

---
 .../collision_detection/CMakeLists.txt        |  1 +
 .../collision_detection/collision_common.h    | 34 +----------
 .../src/collision_common.cpp                  | 61 +++++++++++++++++++
 3 files changed, 65 insertions(+), 31 deletions(-)
 create mode 100644 moveit_core/collision_detection/src/collision_common.cpp

diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index 262db3780d..f263ec9a08 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -2,6 +2,7 @@ set(MOVEIT_LIB_NAME moveit_collision_detection)
 
 add_library(${MOVEIT_LIB_NAME}
   src/allvalid/collision_env_allvalid.cpp
+  src/collision_common.cpp
   src/collision_matrix.cpp
   src/collision_octomap_filter.cpp
   src/collision_tools.cpp
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 5255032609..b10ce1a479 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -144,12 +144,7 @@ struct CostSource
 /** \brief Representation of a collision checking result */
 struct CollisionResult
 {
-  CollisionResult()
-    : collision(false)
-    , distance(std::numeric_limits<double>::max())
-    , contact_count(0)
-    , collision_log_period(5)
-    , collision_log_name("collision_common")
+  CollisionResult() : collision(false), distance(std::numeric_limits<double>::max()), contact_count(0)
   {
   }
   typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > ContactMap;
@@ -166,25 +161,8 @@ struct CollisionResult
     cost_sources.clear();
   }
 
-  /** \brief Throttled warning of the first collision pair, if any. Other collisions are logged at the DEBUG level */
-  void print()
-  {
-    if (!contacts.empty())
-    {
-      ROS_WARN_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name,
-                                     "Objects in collision (printing first collision pair of "
-                                         << contacts.size() << "): " << contacts.begin()->first.first << ", "
-                                         << contacts.begin()->first.second);
-
-      // Log all collisions at the debug level
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name, "Objects in collision:");
-      for (auto contact : contacts)
-      {
-        ROS_DEBUG_STREAM_THROTTLE_NAMED(collision_log_period, collision_log_name,
-                                        "\t" << contact.first.first << ", " << contact.first.second);
-      }
-    }
-  }
+  /** \brief Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level */
+  void print() const;
 
   /** \brief True if collision was found, false otherwise */
   bool collision;
@@ -200,12 +178,6 @@ struct CollisionResult
 
   /** \brief These are the individual cost sources when costs are computed */
   std::set<CostSource> cost_sources;
-
-  /** \brief Period for logging collisions */
-  double collision_log_period;
-
-  /** Log name, for printed messages */
-  std::string collision_log_name;
 };
 
 /** \brief Representation of a collision checking request */
diff --git a/moveit_core/collision_detection/src/collision_common.cpp b/moveit_core/collision_detection/src/collision_common.cpp
new file mode 100644
index 0000000000..0f54dfdfd3
--- /dev/null
+++ b/moveit_core/collision_detection/src/collision_common.cpp
@@ -0,0 +1,61 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <moveit/collision_detection/collision_common.h>
+
+static const char LOGNAME[] = "collision_common";
+constexpr size_t LOG_THROTTLE_PERIOD = 5;
+
+namespace collision_detection
+{
+void CollisionResult::print() const
+{
+  if (!contacts.empty())
+  {
+    ROS_WARN_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME,
+                                   "Objects in collision (printing 1st of "
+                                       << contacts.size() << " pairs): " << contacts.begin()->first.first << ", "
+                                       << contacts.begin()->first.second);
+
+    // Log all collisions at the debug level
+    ROS_DEBUG_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision:");
+    for (const auto& contact : contacts)
+    {
+      ROS_DEBUG_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME,
+                                      "\t" << contact.first.first << ", " << contact.first.second);
+    }
+  }
+}
+
+}  // namespace collision_detection

From 49737f898406b2b523ccb3eb0506980849fa5c7c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Fri, 28 Aug 2020 10:28:18 +0200
Subject: [PATCH 435/612] Replace $(find xacro)/xacro -> xacro (#2282)

---
 .../chomp/chomp_interface/test/rrbot_move_group.launch          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch b/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
index 782b702447..ab54cf53fc 100644
--- a/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
+++ b/moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param name="$(arg robot_description)" command="$(find xacro)/xacro '$(find moveit_planners_chomp)/test/rrbot.xacro'"/>
+  <param name="$(arg robot_description)" command="xacro '$(find moveit_planners_chomp)/test/rrbot.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" />

From fc1465e4d2fb881327729651796d1912a3af1bb6 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 28 Aug 2020 15:09:11 -0600
Subject: [PATCH 436/612] adjust code coverage yaml to make it more forgiving
 (#2283)

---
 codecov.yaml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/codecov.yaml b/codecov.yaml
index 9cf0fb0e1e..91bb43379c 100644
--- a/codecov.yaml
+++ b/codecov.yaml
@@ -1,13 +1,13 @@
 coverage:
+  precision: 2
+  round: up
+  range: "45...70"
   status:
     project:
       default:
         target: auto
-        # allow coverage to drop by this amount and still post success
-        threshold: 0.5%
-        base: auto
-        branches:
-          - master
-        if_not_found: success
-        if_ci_failed: error
-        only_pulls: false
+        threshold: 5%
+    patch:
+      default:
+        target: auto
+        threshold: 5%

From 2ac4db94ffee73933deda961a71262d3a893acb1 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 3 Sep 2020 16:28:44 -0400
Subject: [PATCH 437/612] [maint] Remove kinetic from Travis CI testing (#2295)

---
 .travis.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 2830818ac4..d0da1ee5bc 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -26,7 +26,6 @@ jobs:
     - env: TEST=code-coverage
     - env: ROS_DISTRO=noetic
     - env: ROS_DISTRO=melodic
-    - env: ROS_DISTRO=kinetic
     - compiler: clang
       # test_ikfast_plugins takes ~10 minutes: include here to keep the main jobs shorter
       env: TEST=clang-tidy-fix

From 4db7ccb795ca8efa8de9646efa01b72bf1ff62ad Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 6 Sep 2020 21:16:23 +0200
Subject: [PATCH 438/612] Temporarily add srdfdom to moveit.rosinstall

... until it is released.
---
 moveit.rosinstall | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit.rosinstall b/moveit.rosinstall
index 5b2a6c27bd..17153bb67e 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -32,3 +32,7 @@
     local-name: panda_moveit_config
     uri: https://github.com/ros-planning/panda_moveit_config.git
     version: melodic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ros-planning/srdfdom.git
+    version: noetic-devel

From d4d1f66717e313c9a4e5d0ecb28e31ddad2c8ac8 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 7 Sep 2020 08:36:09 +0200
Subject: [PATCH 439/612] Revert "Temporarily add srdfdom to moveit.rosinstall"

This reverts commit 4db7ccb795ca8efa8de9646efa01b72bf1ff62ad.
Instead, use ros-testing repo.
---
 .travis.yml       | 4 ++--
 moveit.rosinstall | 4 ----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index d0da1ee5bc..a2a03182fd 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,9 +22,9 @@ env:
 jobs:
   fast_finish: true
   include:
-    - env: TEST="clang-format catkin_lint" ROS_DISTRO=noetic
+    - env: TEST="clang-format catkin_lint"
     - env: TEST=code-coverage
-    - env: ROS_DISTRO=noetic
+    - env: ROS_DISTRO=noetic ROS_REPO=ros-testing
     - env: ROS_DISTRO=melodic
     - compiler: clang
       # test_ikfast_plugins takes ~10 minutes: include here to keep the main jobs shorter
diff --git a/moveit.rosinstall b/moveit.rosinstall
index 17153bb67e..5b2a6c27bd 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -32,7 +32,3 @@
     local-name: panda_moveit_config
     uri: https://github.com/ros-planning/panda_moveit_config.git
     version: melodic-devel
-- git:
-    local-name: srdfdom
-    uri: https://github.com/ros-planning/srdfdom.git
-    version: noetic-devel

From 5a7b067390d9b845a56ec27c2da7076549ed448c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 29 Jun 2020 09:05:04 +0200
Subject: [PATCH 440/612] Noetic docker files

---
 .docker/ci-shadow-fixed/Dockerfile |  4 +--
 .docker/ci/Dockerfile              | 39 +++++++++++++++---------------
 .docker/release/Dockerfile         |  2 +-
 .docker/source/Dockerfile          |  9 ++++---
 4 files changed, 29 insertions(+), 25 deletions(-)

diff --git a/.docker/ci-shadow-fixed/Dockerfile b/.docker/ci-shadow-fixed/Dockerfile
index fb053bb6c0..8b824de580 100644
--- a/.docker/ci-shadow-fixed/Dockerfile
+++ b/.docker/ci-shadow-fixed/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci-shadow-fixed
+# moveit/moveit:noetic-ci-shadow-fixed
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM moveit/moveit:master-ci
+FROM moveit/moveit:noetic-ci
 MAINTAINER Dave Coleman dave@picknik.ai
 
 # Switch to ros-shadow-fixed
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index 01021fea58..ad22f50ce6 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci
+# moveit/moveit:noetic-ci
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman dave@picknik.ai
 
 ENV TERM xterm
@@ -12,35 +12,36 @@ WORKDIR /root/ws_moveit
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
-    mkdir src && \
-    cd src && \
-    #
-    # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
-    #
     # Update apt package list as previous containers clear the cache
     apt-get -qq update && \
     apt-get -qq dist-upgrade && \
     #
     # Install some base dependencies
-    apt-get -qq install -y \
-        # Some source builds require a package.xml be downloaded via wget from an external location
-        wget \
-        # Required for rosdep command
-        sudo \
+    apt-get -qq install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
         # Preferred build tools
-        python-catkin-tools \
+        python3-catkin-tools python3-osrf-pycommon \
         clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
+    # Build and install franka_description from https://github.com/frankaemika/franka_ros.git
+    git clone --depth 1 --branch 0.6.0 https://github.com/frankaemika/franka_ros.git src/franka_ros && \
+    mv src/franka_ros/franka_description src/ && rm -rf src/franka_ros && \
+    catkin config --extend /opt/ros/noetic --install --install-space /opt/ros/noetic && \
+    catkin build && \
+    # Cleanup temporary workspace
+    rm -rf logs build devel .catkin_tools && \
+    #
+    # Download MoveIt source, so that we can fetch all necessary dependencies
+    wstool init --shallow src https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    #
     # Download all dependencies of MoveIt
     rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
-    #
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     # Remove the source code from this container
-    # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
-    rm -rf src/ && \
+    rm -rf src && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*
diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
index 4611c98b20..79d673f1b6 100644
--- a/.docker/release/Dockerfile
+++ b/.docker/release/Dockerfile
@@ -1,7 +1,7 @@
 # moveit/moveit:melodic-release
 # Full debian-based install of MoveIt using apt-get
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman dave@picknik.ai
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
index 1021b4db18..c9bfae3078 100644
--- a/.docker/source/Dockerfile
+++ b/.docker/source/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-source
+# moveit/moveit:noetic-source
 # Downloads the moveit source code and install remaining debian dependencies
 
-FROM moveit/moveit:master-ci-shadow-fixed
+FROM moveit/moveit:noetic-ci-shadow-fixed
 MAINTAINER Dave Coleman dave@picknik.ai
 
 ENV ROS_UNDERLAY /root/ws_moveit/install
@@ -11,7 +11,10 @@ WORKDIR $ROS_UNDERLAY/../src
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
     # Download moveit source so that we can get necessary dependencies
-    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
+    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    # We only depend on franka_description (TODO: remove if released)
+    git clone --depth 1 --branch 0.6.0 https://github.com/frankaemika/franka_ros.git src/franka_ros && \
+    mv src/franka_ros/franka_description src/ && rm -rf src/franka_ros && \
     #
     # Update apt package list as cache is cleared in previous container
     # Usually upgrading involves a few packages only (if container builds became out-of-sync)

From 3cc363372a6e52d378e6907096979ccff49cdccf Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 7 Sep 2020 01:46:07 -0600
Subject: [PATCH 441/612] 1.1.0

---
 moveit/CHANGELOG.rst                          |  17 +-
 moveit_commander/CHANGELOG.rst                |  49 ++++-
 moveit_core/CHANGELOG.rst                     | 130 +++++++++++-
 moveit_experimental/CHANGELOG.rst             |   4 +-
 moveit_kinematics/CHANGELOG.rst               |  55 ++++-
 .../chomp/chomp_interface/CHANGELOG.rst       |  41 ++++
 .../chomp/chomp_motion_planner/CHANGELOG.rst  |  44 ++++
 .../chomp_optimizer_adapter/CHANGELOG.rst     |  33 +++
 moveit_planners/moveit_planners/CHANGELOG.rst |  18 ++
 moveit_planners/ompl/CHANGELOG.rst            |  34 +++-
 moveit_planners/trajopt/package.xml           |   4 +-
 .../CHANGELOG.rst                             |  31 ++-
 moveit_plugins/moveit_plugins/CHANGELOG.rst   |  22 ++
 .../CHANGELOG.rst                             |  32 +++
 .../CHANGELOG.rst                             |  42 +++-
 moveit_ros/benchmarks/CHANGELOG.rst           |  55 ++++-
 moveit_ros/manipulation/CHANGELOG.rst         |  28 ++-
 moveit_ros/move_group/CHANGELOG.rst           |  45 ++++-
 moveit_ros/moveit_ros/CHANGELOG.rst           |  22 ++
 moveit_ros/moveit_servo/CHANGELOG.rst         | 190 ++++++++++++++++++
 .../occupancy_map_monitor/CHANGELOG.rst       |  29 +++
 moveit_ros/perception/CHANGELOG.rst           |  54 ++++-
 moveit_ros/planning/CHANGELOG.rst             |  80 +++++++-
 moveit_ros/planning_interface/CHANGELOG.rst   |  88 +++++++-
 moveit_ros/robot_interaction/CHANGELOG.rst    |  36 +++-
 moveit_ros/visualization/CHANGELOG.rst        |  64 +++++-
 moveit_ros/warehouse/CHANGELOG.rst            |  37 +++-
 moveit_runtime/CHANGELOG.rst                  |   7 +
 moveit_setup_assistant/CHANGELOG.rst          |  74 ++++++-
 .../trajopt_planning_pipeline.launch.xml      |   2 +-
 30 files changed, 1336 insertions(+), 31 deletions(-)
 create mode 100644 moveit_ros/moveit_servo/CHANGELOG.rst
 create mode 100644 moveit_ros/occupancy_map_monitor/CHANGELOG.rst

diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
index 482cd91835..673950a486 100644
--- a/moveit/CHANGELOG.rst
+++ b/moveit/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [maint] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Jonathan Binney, Robert Haschke, Sean Yen
+
 1.0.1 (2019-03-08)
 ------------------
 * [fix] segfault in chomp adapter (`#1377 <https://github.com/ros-planning/moveit/issues/1377>`_)
@@ -28,7 +35,7 @@ Changelog for package moveit
 * [improve][moveit_kinematics] KDL IK solver improvements (`#1321 <https://github.com/ros-planning/moveit/issues/1321>`_)
 * [improve][moveit_setup_assistant] support dark themes (`#1173 <https://github.com/ros-planning/moveit/issues/1173>`_)
 * [improve][moveit_ros_robot_interaction] cleanup RobotInteraction (`#1287 <https://github.com/ros-planning/moveit/issues/1287>`_)
-* [improve][moveit_ros_robot_interaction] limit IK timeout to 0.1s for a responsive interaction behaviour (`#1291 <https://github.com/ros-planning/moveit/issues/1291>`_)  
+* [improve][moveit_ros_robot_interaction] limit IK timeout to 0.1s for a responsive interaction behaviour (`#1291 <https://github.com/ros-planning/moveit/issues/1291>`_)
 * [maintenance] cleanup SimpleControllerManager https://github.com/ros-planning/moveit/pull/1352
 * [maintenance][moveit_core]  Add coverage analysis for moveit_core (`#1133 <https://github.com/ros-planning/moveit/issues/1133>`_)
 * Contributors: Alexander Gutenkunst, Dave Coleman, Jonathan Binney, Keerthana Subramanian Manivannan, Martin Oehler, Michael Görner, Mike Lautman, Robert Haschke, Simon Schmeisser
@@ -162,7 +169,7 @@ Changelog for package moveit
   * [fix][moveit_ros_visualization] RobotStateVisualization: clear before load to avoid segfault `#572 <https://github.com/ros-planning/moveit/pull/572>`_
   * [fix][setup_assistant] Fix for lunar (`#542 <https://github.com/ros-planning/moveit/issues/542>`_) (fix `#506 <https://github.com/ros-planning/moveit/issues/506>`_)
   * [fix][moveit_core] segfault due to missing string format parameter. (`#547 <https://github.com/ros-planning/moveit/issues/547>`_)
-  * [fix][moveit_core] doc-comment for robot_state::computeAABB (`#516 <https://github.com/ros-planning/moveit/issues/516>`_) 
+  * [fix][moveit_core] doc-comment for robot_state::computeAABB (`#516 <https://github.com/ros-planning/moveit/issues/516>`_)
 * Improvement in the contained packages:
 
   * [improve][moveit_ros_planning] Chomp use PlanningScene (`#546 <https://github.com/ros-planning/moveit/issues/546>`_) to partially address `#305 <https://github.com/ros-planning/moveit/issues/305>`_
@@ -216,12 +223,12 @@ Changelog for package moveit
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix] correct "simplify widget handling" `#452 <https://github.com/ros-planning/moveit/pull/452>`_ This reverts "simplify widget handling (`#442 <https://github.com/ros-planning/moveit/issues/442>`_)" 
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix] correct "simplify widget handling" `#452 <https://github.com/ros-planning/moveit/pull/452>`_ This reverts "simplify widget handling (`#442 <https://github.com/ros-planning/moveit/issues/442>`_)"
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [fix] Regression on Ubuntu Xenial; numpy.ndarray indices bug (from `#86 <https://github.com/ros-planning/moveit/issues/86>`_) (`#450 <https://github.com/ros-planning/moveit/issues/450>`_).
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * [enhancement][MoveGroup] Add getLinkNames function (`#440 <https://github.com/ros-planning/moveit/issues/440>`_)
-* [doc][moveit_commander] added description for set_start_state (`#447 <https://github.com/ros-planning/moveit/issues/447>`_) 
+* [doc][moveit_commander] added description for set_start_state (`#447 <https://github.com/ros-planning/moveit/issues/447>`_)
 * Contributors: Adam Allevato, Dave Coleman, Bence Magyar, Dave Coleman, Isaac I.Y. Saito, Yannick Jonetzko, Ravi Prakash Joshi
 
 0.9.4 (2017-02-06)
diff --git a/moveit_commander/CHANGELOG.rst b/moveit_commander/CHANGELOG.rst
index 4184e8de90..547a0dfd0f 100644
--- a/moveit_commander/CHANGELOG.rst
+++ b/moveit_commander/CHANGELOG.rst
@@ -2,6 +2,51 @@
 Changelog for package moveit_commander
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Add missing variants of place from list of PlaceLocations and Poses in the python interface (`#2231 <https://github.com/ros-planning/moveit/issues/2231>`_)
+* [fix]     Add default velocity/acceleration scaling factors (`#1890 <https://github.com/ros-planning/moveit/issues/1890>`_)
+* [fix]     Handle the updated plan() function of MoveGroupCommander (`#1640 <https://github.com/ros-planning/moveit/issues/1640>`_)
+* [fix]     Fix `failing tutorial <https://github.com/ros-planning/moveit_tutorials/issues/301>`_ (`#1459 <https://github.com/ros-planning/moveit/issues/1459>`_)
+* [maint]   Update dependencies for python3 in noetic (`#2131 <https://github.com/ros-planning/moveit/issues/2131>`_)
+* [maint]   Better align MoveGroupInterface.plan() with C++ MoveGroup::plan() (`#790 <https://github.com/ros-planning/moveit/issues/790>`_)
+* Contributors: Bence Magyar, Bjar Ne, Dave Coleman, Felix von Drigalski, Gerard Canal, Jafar Abdi, Masaki Murooka, Michael Ferguson, Michael Görner, Pavel-P, Raphael Druon, Robert Haschke, Ryodo Tanaka, Ryosuke Tajima, Sean Yen, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint]   Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [feature] Exposed parameter wait_for_servers and getPlannerId() API in MoveGroup's Python API (`#2201 <https://github.com/ros-planning/moveit/issues/2201>`_)
+* Contributors: Gerard Canal, Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [fix]   Python 3 fix (`#2030 <https://github.com/ros-planning/moveit/issues/2030>`_)
+* Contributors: Henning Kayser, Michael Görner, Robert Haschke
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] Expose reference_point_position parameter in getJacobian() (`#1595 <https://github.com/ros-planning/moveit/issues/1595>`_)
+* [maint]   Improve Python 3 compatibility (`#1870 <https://github.com/ros-planning/moveit/issues/1870>`_)
+  * Replaced StringIO with BytesIO for python msg serialization
+  * Use py_bindings_tools::ByteString as byte-based serialization buffer on C++ side
+* [fix]     Fix service call to utilize original name space (`#1959 <https://github.com/ros-planning/moveit/issues/1959>`_)
+* [maint]   Windows compatibility: fallback to using `pyreadline` (`#1635 <https://github.com/ros-planning/moveit/issues/1635>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]     Fix planning scene interface not respecting custom namespace (`#1815 <https://github.com/ros-planning/moveit/issues/1815>`_)
+* [maint]   moveit_commander: python3 import fixes (`#1786 <https://github.com/ros-planning/moveit/issues/1786>`_)
+* [fix]     python planning_scene_interface: fix attaching objects (`#1624 <https://github.com/ros-planning/moveit/issues/1624>`_)
+* [feature] Select time parametrization algorithm in retime_trajectory (`#1508 <https://github.com/ros-planning/moveit/issues/1508>`_)
+* Contributors: Bjar Ne, Felix von Drigalski, Masaki Murooka, Pavel-P, Raphael Druon, Robert Haschke, Ryodo Tanaka, Sean Yen, v4hn
+
+1.0.2 (2019-06-28)
+------------------
+* [feature]     Add get_jacobian_matrix to moveit_commander (`#1501 <https://github.com/ros-planning/moveit/issues/1501>`_)
+* [maintanance] Cleanup Python PlanningSceneInterface (`#1405 <https://github.com/ros-planning/moveit/issues/1405>`_, `#789 <https://github.com/ros-planning/moveit/issues/789>`_)
+* Contributors: Bence Magyar, Robert Haschke, Ryosuke Tajima
+
 1.0.1 (2019-03-08)
 ------------------
 * [capability] python PlanningSceneInterface.add_cylinder() (`#1372 <https://github.com/ros-planning/moveit/issues/1372>`_)
@@ -70,7 +115,7 @@ Changelog for package moveit_commander
 0.9.5 (2017-03-08)
 ------------------
 * [fix] Regression on Ubuntu Xenial; numpy.ndarray indices bug (from `#86 <https://github.com/ros-planning/moveit/issues/86>`_) (`#450 <https://github.com/ros-planning/moveit/issues/450>`_).
-* [doc][moveit_commander] added description for set_start_state (`#447 <https://github.com/ros-planning/moveit/issues/447>`_) 
+* [doc][moveit_commander] added description for set_start_state (`#447 <https://github.com/ros-planning/moveit/issues/447>`_)
 * Contributors: Adam Allevato, Ravi Prakash Joshi
 
 0.9.4 (2017-02-06)
@@ -126,7 +171,7 @@ Changelog for package moveit_commander
 
 0.5.6 (2014-03-24)
 ------------------
-* Added the calls necessary to manage path constraints. 
+* Added the calls necessary to manage path constraints.
 * fix joint and link acces on __getattr__  when trying to acces a joint and its paramaters throught
 * Contributors: Acorn, Emili Boronat, Sachin Chitta
 
diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst
index b9990334d2..cf05521604 100644
--- a/moveit_core/CHANGELOG.rst
+++ b/moveit_core/CHANGELOG.rst
@@ -2,6 +2,130 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Add a utility to print collision pairs (`#2275 <https://github.com/ros-planning/moveit/issues/2275>`_)
+* [feature] Fix subframes disappearing when object is detached/scaled/renamed (`#1866 <https://github.com/ros-planning/moveit/issues/1866>`_)
+* [feature] Use Eigen::Transform::linear() instead of rotation() (`#1964 <https://github.com/ros-planning/moveit/issues/1964>`_)
+* [feature] Utilize new geometric_shapes functions to improve performance (`#2038 <https://github.com/ros-planning/moveit/issues/2038>`_)
+* [feature] move_group pick place test (`#2031 <https://github.com/ros-planning/moveit/issues/2031>`_)
+* [feature] Split collision proximity threshold (`#2008 <https://github.com/ros-planning/moveit/issues/2008>`_)
+* [feature] Integration test to defend subframe tutorial (`#1757 <https://github.com/ros-planning/moveit/issues/1757>`_)
+* [feature] List missing joints in group states (`#1935 <https://github.com/ros-planning/moveit/issues/1935>`_)
+* [feature] Improve documentation for setJointPositions() (`#1921 <https://github.com/ros-planning/moveit/issues/1921>`_)
+* [feature] Installs an empty plugin description xml file if bullet is not found (`#1898 <https://github.com/ros-planning/moveit/issues/1898>`_)
+* [feature] Bullet collision detection (`#1839 <https://github.com/ros-planning/moveit/issues/1839>`_)
+* [feature] Improve RobotState documentation (`#1846 <https://github.com/ros-planning/moveit/issues/1846>`_)
+* [feature] Adapt cmake for Bullet (`#1744 <https://github.com/ros-planning/moveit/issues/1744>`_)
+* [feature] Unified Collision Environment Bullet (`#1572 <https://github.com/ros-planning/moveit/issues/1572>`_)
+* [feature] Adding continuous collision detection to Bullet (`#1551 <https://github.com/ros-planning/moveit/issues/1551>`_)
+* [feature] Bullet Collision Detection (`#1504 <https://github.com/ros-planning/moveit/issues/1504>`_)
+* [feature] Generic collision detection test suite (`#1543 <https://github.com/ros-planning/moveit/issues/1543>`_)
+* [feature] Empty collision checker template for usage with tesseract and bullet (`#1499 <https://github.com/ros-planning/moveit/issues/1499>`_)
+* [feature] Add deepcopy option for RobotTrajectory's copy constructor (`#1760 <https://github.com/ros-planning/moveit/issues/1760>`_)
+* [feature] Enable code-coverage test (`#1776 <https://github.com/ros-planning/moveit/issues/1776>`_)
+* [feature] Provide UniquePtr macros (`#1771 <https://github.com/ros-planning/moveit/issues/1771>`_)
+* [feature] Improve variable name in RobotModel (`#1752 <https://github.com/ros-planning/moveit/issues/1752>`_)
+* [feature] Adding documentation to collision detection (`#1645 <https://github.com/ros-planning/moveit/issues/1645>`_)
+* [feature] Unified Collision Environment Integration (`#1584 <https://github.com/ros-planning/moveit/issues/1584>`_)
+* [feature] Document discretization behavior in KinematicsBase (`#1602 <https://github.com/ros-planning/moveit/issues/1602>`_)
+* [feature] Rename lm to link_model (`#1592 <https://github.com/ros-planning/moveit/issues/1592>`_)
+* [feature] Allow ROS namespaces for planning request adapters (`#1530 <https://github.com/ros-planning/moveit/issues/1530>`_)
+* [feature] Add named frames to CollisionObjects (`#1439 <https://github.com/ros-planning/moveit/issues/1439>`_)
+* [feature] More verbose "id" argument in PlanningScene, RobotState & CollisionWorld functions (`#1450 <https://github.com/ros-planning/moveit/issues/1450>`_)
+* [feature] Separate source file for CartesianInterpolator (`#1149 <https://github.com/ros-planning/moveit/issues/1149>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Change FloatingJointModel::getStateSpaceDimension return value to 7
+* [fix] collision world: check for empty shapes vector before access (`#2026 <https://github.com/ros-planning/moveit/issues/2026>`_)
+* [fix] Fix Condition for Adding current DistanceResultData to DistanceMap for DistanceRequestType::SINGLE (`#1963 <https://github.com/ros-planning/moveit/issues/1963>`_)
+* [fix] Do not override empty URDF link collision geometry (`#1952 <https://github.com/ros-planning/moveit/issues/1952>`_)
+* [fix] Fix issue in unpadded collision checking (`#1899 <https://github.com/ros-planning/moveit/issues/1899>`_)
+* [fix] Remove object from collision world only once (`#1900 <https://github.com/ros-planning/moveit/issues/1900>`_)
+* [fix] Initialize zero dynamics in CurrentStateMonitor (`#1883 <https://github.com/ros-planning/moveit/issues/1883>`_)
+* [fix] getFrameInfo(): Avoid double search for link name (`#1853 <https://github.com/ros-planning/moveit/issues/1853>`_)
+* [fix] Fix RobotTrajectory's copy constructor (`#1834 <https://github.com/ros-planning/moveit/issues/1834>`_)
+* [fix] Fix flaky moveit_cpp test (`#1781 <https://github.com/ros-planning/moveit/issues/1781>`_)
+* [fix] Fix doc string OrientationConstraint (`#1793 <https://github.com/ros-planning/moveit/issues/1793>`_)
+* [fix] Move ASSERT() into test setup (`#1657 <https://github.com/ros-planning/moveit/issues/1657>`_)
+* [fix] Add missing dependencies to library (`#1746 <https://github.com/ros-planning/moveit/issues/1746>`_)
+* [fix] Fix clang-tidy for unified collision environment (`#1638 <https://github.com/ros-planning/moveit/issues/1638>`_)
+* [fix] PlanningRequestAdapter::initialize() = 0 (`#1621 <https://github.com/ros-planning/moveit/issues/1621>`_)
+* [fix] Fix World::getTransform (`#1553 <https://github.com/ros-planning/moveit/issues/1553>`_)
+* [fix] Link moveit_robot_model from moveit_test_utils (`#1534 <https://github.com/ros-planning/moveit/issues/1534>`_)
+* [maint] Move constraint representation dox to moveit_tutorials (`#2147 <https://github.com/ros-planning/moveit/issues/2147>`_)
+* [maint] Update dependencies for python3 in noetic (`#2131 <https://github.com/ros-planning/moveit/issues/2131>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Rename PR2-related collision test files (`#1856 <https://github.com/ros-planning/moveit/issues/1856>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Add missing licenses (`#1716 <https://github.com/ros-planning/moveit/issues/1716>`_) (`#1720 <https://github.com/ros-planning/moveit/issues/1720>`_)
+* [maint] Move isEmpty() test functions to moveit_core/utils (`#1627 <https://github.com/ros-planning/moveit/issues/1627>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: AndyZe, Aris Synodinos, Ayush Garg, Bryce Willey, Dale Koenig, Dave Coleman, Felix von Drigalski, Henning Kayser, Jafar Abdi, Jens P, Jere Liukkonen, Jeroen, John Stechschulte, Jonas Wittmann, Jonathan Binney, Markus Vieth, Martin Pecka, Michael Ferguson, Michael Görner, Mike Lautman, Niklas Fiedler, Patrick Beeson, Robert Haschke, Sean Yen, Shivang Patel, Tyler Weaver, Wolfgang Merkt, Yu, Yan, tsijs, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10, Fix warnings
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* [maint] Fix docs in robot_state.h (`#2215 <https://github.com/ros-planning/moveit/issues/2215>`_)
+* Contributors: Jeroen, Markus Vieth, Michael Görner, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+* [fix]     Fix memory leaks related to geometric shapes usage (`#2138 <https://github.com/ros-planning/moveit/issues/2138>`_)
+* [fix]     Prevent collision checking segfault if octomap has NULL root pointer (`#2104 <https://github.com/ros-planning/moveit/issues/2104>`_)
+* [feature] Allow to parameterize input trajectory density of Time Optimal trajectory generation (`#2185 <https://github.com/ros-planning/moveit/issues/2185>`_)
+* [maint]   Optional C++ version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint]   Added missing boost::regex dependency (`#2163 <https://github.com/ros-planning/moveit/issues/2163>`_)
+* [maint]   PropagationDistanceField: Replace eucDistSq with squaredNorm (`#2101 <https://github.com/ros-planning/moveit/issues/2101>`_)
+* [fix]     Fix getTransform() (`#2113 <https://github.com/ros-planning/moveit/issues/2113>`_)
+  - PlanningScene::getTransforms().getTransform() -> PlanningScene::getFrameTransform()
+  - PlanningScene::getTransforms().canTransform() -> PlanningScene::knowsFrameTransform()
+* [fix]     Change FloatingJointModel::getStateSpaceDimension return value to 7 (`#2106 <https://github.com/ros-planning/moveit/issues/2106>`_)
+* [fix]     Check for empty quaternion message (`#2089 <https://github.com/ros-planning/moveit/issues/2089>`_)
+* [fix]     TOTG: Fix parameterization for single-waypoint trajectories (`#2054 <https://github.com/ros-planning/moveit/issues/2054>`_)
+  - RobotState: Added interfaces to zero and remove dynamics
+* [maint]   Remove unused angles.h includes (`#1985 <https://github.com/ros-planning/moveit/issues/1985>`_)
+* Contributors: Felix von Drigalski, Henning Kayser, Michael Görner, Jere Liukkonen, John Stechschulte, Patrick Beeson, Robert Haschke, Tyler Weaver, Wolfgang Merkt
+
+1.0.4 (2020-05-30)
+------------------
+* Fix broken IKFast generator (`#2116 <https://github.com/ros-planning/moveit/issues/2116>`_)
+* Contributors: Robert Haschke
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] Allow to filter for joint when creating a RobotTrajectory message (`#1927 <https://github.com/ros-planning/moveit/issues/1927>`_)
+* [fix]     Fix RobotState::copyFrom()
+* [fix]     Fix segfault in totg (`#1861 <https://github.com/ros-planning/moveit/issues/1861>`_)
+* [fix]     Handle incomplete group states
+* [fix]     Fix issue in totg giving invalid accelerations (`#1729 <https://github.com/ros-planning/moveit/issues/1729>`_)
+* [feature] New isValidVelocityMove() for checking time between two waypoints given velocity (`#684 <https://github.com/ros-planning/moveit/issues/684>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [fix]     Fix Condition for adding current DistanceResultData to DistanceMap (`#1968 <https://github.com/ros-planning/moveit/issues/1968>`_)
+* [maint]   Fix various build issues on Windows (`#1880 <https://github.com/ros-planning/moveit/issues/1880>`_)
+  * remove GCC extensions (`#1583 <https://github.com/ros-planning/moveit/issues/1583>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]     Delete attached body before adding a new one with same id (`#1821 <https://github.com/ros-planning/moveit/issues/1821>`_)
+* [maint]   Provide UniquePtr macros (`#1771 <https://github.com/ros-planning/moveit/issues/1771>`_)
+* [maint]   Updated deprecation method: MOVEIT_DEPRECATED -> [[deprecated]] (`#1748 <https://github.com/ros-planning/moveit/issues/1748>`_)
+* [feature] Add RobotTrajectory::getDuration() (`#1554 <https://github.com/ros-planning/moveit/issues/1554>`_)
+* Contributors: Ayush Garg, Dale Koenig, Dave Coleman, Felix von Drigalski, Jafar Abdi, Jeroen, Michael Görner, Mike Lautman, Niklas Fiedler, Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] Removed MessageFilter for /collision_object messages (`#1406 <https://github.com/ros-planning/moveit/issues/1406>`_)
+* [fix] Update robot state transforms when initializing a planning scene (`#1474 <https://github.com/ros-planning/moveit/issues/1474>`_)
+* [fix] Fix segfault when detaching attached collision object (`#1438 <https://github.com/ros-planning/moveit/issues/1438>`_)
+* [fix] Normalize quaternions when adding new or moving collision objects (`#1420 <https://github.com/ros-planning/moveit/issues/1420>`_)
+* [fix] Minor bug fixes in (collision) distance field (`#1392 <https://github.com/ros-planning/moveit/issues/1392>`_)
+* [fix] Remove obsolete moveit_resources/config.h ()
+* [fix] Fix test utilities in moveit_core (`#1391 <https://github.com/ros-planning/moveit/issues/1391>`_, `#1409 <https://github.com/ros-planning/moveit/issues/1409>`_, `#1412 <https://github.com/ros-planning/moveit/issues/1412>`_)
+* Contributors: Bryce Willey, Henning Kayser, Mike Lautman, Robert Haschke, tsijs
+
 1.0.1 (2019-03-08)
 ------------------
 * [capability] Graphically print current robot joint states with joint limits (`#1358 <https://github.com/ros-planning/moveit/issues/1358>`_)
@@ -122,7 +246,7 @@ Changelog for package moveit_core
 0.9.9 (2017-08-06)
 ------------------
 * [fix][moveit_core] segfault due to missing string format parameter. (`#547 <https://github.com/ros-planning/moveit/issues/547>`_)
-* [fix][moveit_core] doc-comment for robot_state::computeAABB (`#516 <https://github.com/ros-planning/moveit/issues/516>`_) 
+* [fix][moveit_core] doc-comment for robot_state::computeAABB (`#516 <https://github.com/ros-planning/moveit/issues/516>`_)
 * Contributors: Martin Pecka, henhenhen
 
 0.9.8 (2017-06-21)
@@ -140,7 +264,7 @@ Changelog for package moveit_core
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
@@ -198,7 +322,7 @@ Changelog for package moveit_core
 * [fix] New getOnlyOneEndEffectorTip() function `#262 <https://github.com/ros-planning/moveit_core/issues/262>`_
 * [fix] issue `#258 <https://github.com/ros-planning/moveit_core/issues/258>`_ in jade-devel `#266 <https://github.com/ros-planning/moveit_core/issues/266>`_
 * [fix] Segfault in parenthesis operator `#254 <https://github.com/ros-planning/moveit_core/issues/254>`_
-* [fix] API Change of shape_tools `#242 <https://github.com/ros-planning/moveit_core/issues/242>`_  
+* [fix] API Change of shape_tools `#242 <https://github.com/ros-planning/moveit_core/issues/242>`_
 * [fix] Fixed bug in KinematicConstraintSet::decide that makes it evaluate only joint_constraints. `#250 <https://github.com/ros-planning/moveit_core/issues/250>`_
 * [fix] Prevent divide by zero `#246 <https://github.com/ros-planning/moveit_core/issues/246>`_
 * [fix] removed the 'f' float specifiers and corrected misspelled method name
diff --git a/moveit_experimental/CHANGELOG.rst b/moveit_experimental/CHANGELOG.rst
index 813d8a2015..8f5c956f25 100644
--- a/moveit_experimental/CHANGELOG.rst
+++ b/moveit_experimental/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package moveit_experimental
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.0.1 (2019-03-08)
+1.1.0 (2020-09-04)
 ------------------
 
 1.0.0 (2019-02-24)
@@ -69,7 +69,7 @@ Changelog for package moveit_experimental
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * Contributors: Dave Coleman
 
 0.9.4 (2017-02-06)
diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst
index b827103069..364acfb3a8 100644
--- a/moveit_kinematics/CHANGELOG.rst
+++ b/moveit_kinematics/CHANGELOG.rst
@@ -2,6 +2,59 @@
 Changelog for package moveit_kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Implementation of parameter TranslationXY2D IKFast (`#1949 <https://github.com/ros-planning/moveit/issues/1949>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Delete IKCache copy constructor (`#1750 <https://github.com/ros-planning/moveit/issues/1750>`_)
+* [maint] Move NOLINT instructions to intended positions (`#2058 <https://github.com/ros-planning/moveit/issues/2058>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_) (`#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Fix various build issues on Windows (`#1880 <https://github.com/ros-planning/moveit/issues/1880>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* [maint] Relax dependencies of moveit_kinematics (`#1529 <https://github.com/ros-planning/moveit/issues/1529>`_)
+* Contributors: Ayush Garg, Christian Henkel, Dave Coleman, Henning Kayser, Immanuel Martini, Jonathan Binney, Markus Vieth, Martin Günther, Michael Ferguson, Michael Görner, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan, edetleon, jschleicher, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+* Fix broken IKFast generator (`#2116 <https://github.com/ros-planning/moveit/issues/2116>`_)
+* Contributors: Robert Haschke
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] KDL IK: constrain wiggled joints to limits (`#1953 <https://github.com/ros-planning/moveit/issues/1953>`_)
+* [feature] IKFast: optional prefix for link names (`#1599 <https://github.com/ros-planning/moveit/issues/1599>`_)
+  If you pass a `link_prefix` parameter in your `kinematics.yaml`, this string is prepended to the base and tip links.
+  It allows multi-robot setups (e.g. dual-arm) and still instantiate the same solver for both manipulators.
+* [feature] IKFast: increase verbosity of generated script (`#1434 <https://github.com/ros-planning/moveit/issues/1434>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [feature] IKFast: implement `Translation*AxisAngle4D` IK type (`#1823 <https://github.com/ros-planning/moveit/issues/1823>`_)
+* [fix]     Fix possible division-by-zero (`#1809 <https://github.com/ros-planning/moveit/issues/1809>`_)
+* Contributors: Christian Henkel, Martin Günther, Max Krichenbauer, Michael Görner, Robert Haschke, Sean Yen, Yu, Yan, jschleicher
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] KDL IK solver: fix handling of mimic joints (`#1490 <https://github.com/ros-planning/moveit/issues/1490>`_)
+* [fix] Fix ROS apt-key in OpenRAVE docker image (`#1503 <https://github.com/ros-planning/moveit/issues/1503>`_)
+* [fix] Fix ikfast plugin-generator script (`#1492 <https://github.com/ros-planning/moveit/issues/1492>`_, `#1449 <https://github.com/ros-planning/moveit/issues/1449>`_)
+* Contributors: Immanuel Martini, Michael Görner, Robert Haschke
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -97,7 +150,7 @@ Changelog for package moveit_kinematics
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * Contributors: Dave Coleman
 
 0.9.4 (2017-02-06)
diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
index 7184007695..c44a1ee598 100644
--- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
@@ -2,6 +2,47 @@
 Changelog for package chomp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Replace $(find xacro)/xacro -> xacro (`#2282 <https://github.com/ros-planning/moveit/issues/2282>`_)
+* [feature] Start new joint_state_publisher_gui on param use_gui (`#2257 <https://github.com/ros-planning/moveit/issues/2257>`_)
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Change API of ChompPlanner::solve() to not use message
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [fix] Small fixes to chomp planner (`#1407 <https://github.com/ros-planning/moveit/issues/1407>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Add Missing License (`#1779 <https://github.com/ros-planning/moveit/issues/1779>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Chittaranjan Srinivas Swaminathan, Dave Coleman, Jonathan Binney, Markus Vieth, Robert Haschke, Sean Yen, Tyler Weaver, Yoan Mollard
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] Fix chomp planner (`#1512 <https://github.com/ros-planning/moveit/issues/1512>`_)
+  * Fix start-state handling
+  * remove time parameterization from planning code
+* Contributors: Robert Haschke
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
index d32082addf..949974baea 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
@@ -2,6 +2,50 @@
 Changelog for package chomp_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Unified Collision Environment Integration (`#1584 <https://github.com/ros-planning/moveit/issues/1584>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [fix] Fix calculation of potential (`#1651 <https://github.com/ros-planning/moveit/issues/1651>`_)
+* [fix] Fix Chomp planning adapter (`#1525 <https://github.com/ros-planning/moveit/issues/1525>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Bence Magyar, Dave Coleman, Jens P, Jonathan Binney, Markus Vieth, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Remove GCC extensions (`#1583 <https://github.com/ros-planning/moveit/issues/1583>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]   Fix possible division-by-zero (`#1809 <https://github.com/ros-planning/moveit/issues/1809>`_)
+* Contributors: Max Krichenbauer, Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] Fix chomp planner (`#1512 <https://github.com/ros-planning/moveit/issues/1512>`_)
+  * Fix start-state handling
+  * remove time parameterization from planning code
+* Contributors: Robert Haschke
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
index 5ac9064e2d..b63344237c 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package moveit_chomp_optimizer_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Allow ROS namespaces for planning request adapters (`#1530 <https://github.com/ros-planning/moveit/issues/1530>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [fix] Fix Chomp planning adapter (`#1525 <https://github.com/ros-planning/moveit/issues/1525>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Henning Kayser, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* Contributors: Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] Chomp planning adapter: Fix spurious error message Fix "Found empty JointState message"
+* Contributors: Robert Haschke
+
 1.0.1 (2019-03-08)
 ------------------
 * [fix] segfault in chomp adapter (`#1377 <https://github.com/ros-planning/moveit/issues/1377>`_)
diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst
index 68168623d7..aa34f794f2 100644
--- a/moveit_planners/moveit_planners/CHANGELOG.rst
+++ b/moveit_planners/moveit_planners/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package moveit_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 
diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst
index 37a663ac0b..ab987682bf 100644
--- a/moveit_planners/ompl/CHANGELOG.rst
+++ b/moveit_planners/ompl/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package moveit_planners_ompl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* [fix]   Fix memcpy bug in copyJointToOMPLState in ompl interface (`#2239 <https://github.com/ros-planning/moveit/issues/2239>`_)
+* Contributors: Jeroen, Markus Vieth, Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [feature] Added support for hybridize/interpolate flags in ModelBasedPlanningContext via ompl_planning.yaml (`#2171 <https://github.com/ros-planning/moveit/issues/2171>`_, `#2172 <https://github.com/ros-planning/moveit/issues/2172>`_)
+* Contributors: Constantinos, Mark Moll
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Cleanup OMPL dynamic reconfigure config (`#1649 <https://github.com/ros-planning/moveit/issues/1649>`_)
+  * Reduce minimum number of waypoints in solution to 2
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Michael Görner, Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -79,7 +111,7 @@ Changelog for package moveit_planners_ompl
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * Contributors: Dave Coleman
 
 0.9.4 (2017-02-06)
diff --git a/moveit_planners/trajopt/package.xml b/moveit_planners/trajopt/package.xml
index 050d71b5d4..87ea353d90 100644
--- a/moveit_planners/trajopt/package.xml
+++ b/moveit_planners/trajopt/package.xml
@@ -1,12 +1,12 @@
 <package format="2">
   <name>moveit_planners_trajopt</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>TrajOpt planning plugin, an optimization based motion planner </description>
 
   <author email="omid.github@gmail.com">Omid Heidari</author>
 
   <maintainer email="omid.github@gmail.com">Omid Heidari</maintainer>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt! Release Team</maintainer>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 
   <license>BSD</license>
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
index 887619d6ee..a60906cd38 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
+++ b/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package moveit_fake_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [fix]   Handle "default" parameter in MoveitControllerManagers
+  MoveIt{Fake|Simple}ControllerManager::getControllerState() now correctly returns current state
+* [fix]   Handle incomplete group states
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen, Yu, Yan, Luca Lach
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -63,7 +92,7 @@ Changelog for package moveit_fake_controller_manager
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst
index 4905296463..95539d4b24 100644
--- a/moveit_plugins/moveit_plugins/CHANGELOG.rst
+++ b/moveit_plugins/moveit_plugins/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package moveit_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
+* [feature] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Jonathan Binney, Robert Haschke, Sean Yen, Tyler Weaver
+
+1.0.6 (2020-08-19)
+------------------
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 
diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
index d6312849f9..0e26cf41e0 100644
--- a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
+++ b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package moveit_ros_control_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Remove support for Indigo's ros_control (`#2128 <https://github.com/ros-planning/moveit/issues/2128>`_)
+* [feature] Add support for pos_vel_controllers and pos_vel_acc_controllers (`#1806 <https://github.com/ros-planning/moveit/issues/1806>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] clang-tidy-fix `modernize-loop-convert` to entire code base (`#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Henning Kayser, Jonathan Binney, Robert Haschke, Sandro Magalhães, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [feature] Add support for pos_vel_controllers and pos_vel_acc_controllers (`#1806 <https://github.com/ros-planning/moveit/issues/1806>`_)
+* Contributors: Robert Haschke, Sandro Magalhães, Sean Yen
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 
diff --git a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
index 1f699681e5..01fddb343d 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
+++ b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
@@ -2,6 +2,46 @@
 Changelog for package moveit_simple_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Allow different controllers for execution `#1832 <https://github.com/ros-planning/moveit/issues/1832>`_)
+* [feature] ControllerManager: wait for done-callback (`#1783 <https://github.com/ros-planning/moveit/issues/1783>`_)
+* [feature] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [fix] Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [fix] add missing space to log (`#1477 <https://github.com/ros-planning/moveit/issues/1477>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Henning Kayser, Jonathan Binney, Leroy Rügemer, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan, llach
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* Contributors: Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [fix]   Handle "default" parameter in MoveitControllerManagers
+  MoveIt{Fake|Simple}ControllerManager::getControllerState() now correctly returns current state
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]   `ControllerManager`: wait for done-callback (`#1783 <https://github.com/ros-planning/moveit/issues/1783>`_)
+* Contributors: Robert Haschke, Sean Yen, Luca Lach
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -67,7 +107,7 @@ Changelog for package moveit_simple_controller_manager
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/benchmarks/CHANGELOG.rst b/moveit_ros/benchmarks/CHANGELOG.rst
index 0bfdc8ef5a..c2f0f772f9 100644
--- a/moveit_ros/benchmarks/CHANGELOG.rst
+++ b/moveit_ros/benchmarks/CHANGELOG.rst
@@ -2,6 +2,59 @@
 Changelog for package moveit_ros_benchmarks
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Benchmark combinations of predefined poses (`#1548 <https://github.com/ros-planning/moveit/issues/1548>`_)
+* [feature] Support benchmarking of full planning pipelines (`#1531 <https://github.com/ros-planning/moveit/issues/1531>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix plot details, correcting xlabels positions and cleaning the graph (`#1658 <https://github.com/ros-planning/moveit/issues/1658>`_) (`#1668 <https://github.com/ros-planning/moveit/issues/1668>`_)
+* [maint] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Fix usage of panda_moveit_config (`#1904 <https://github.com/ros-planning/moveit/issues/1904>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Do not install helper scripts in global bin destination (`#1704 <https://github.com/ros-planning/moveit/issues/1704>`_)
+* [maint] Cleanup launch + config files (`#1631 <https://github.com/ros-planning/moveit/issues/1631>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Dave Coleman, Henning Kayser, Jonathan Binney, Mahmoud Ahmed Selim, Markus Vieth, Michael Görner, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10, Fix warnings
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] MoveIt benchmark improvements (`#1510 <https://github.com/ros-planning/moveit/issues/1510>`_)
+  * Add pseudo experiment all_experiments to allow comparing all entries
+  * Expose loadBenchmarkQueryData() for setting up custom queries
+  * Add benchmark entry for comparing the 'final' result trajectory
+  * Add trajectory similarity function to measure repeatability
+  * Address requested changes
+  * Fill empty fields in all_experiments
+  * Improve variable and function names
+  * Add helper function computeTrajectoryDistance()
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Henning Kayser, Michael Görner, Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+* [maintenance] Removed unnecessary null pointer checks on deletion (`#1410 <https://github.com/ros-planning/moveit/issues/1410>`_)
+* Contributors: Mahmoud Ahmed Selim
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -69,7 +122,7 @@ Changelog for package moveit_ros_benchmarks
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/manipulation/CHANGELOG.rst b/moveit_ros/manipulation/CHANGELOG.rst
index 3a939ead3b..a2af617046 100644
--- a/moveit_ros/manipulation/CHANGELOG.rst
+++ b/moveit_ros/manipulation/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package moveit_ros_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-15)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -70,7 +96,7 @@ Changelog for package moveit_ros_manipulation
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/move_group/CHANGELOG.rst b/moveit_ros/move_group/CHANGELOG.rst
index b2aa5af725..24e59df9d5 100644
--- a/moveit_ros/move_group/CHANGELOG.rst
+++ b/moveit_ros/move_group/CHANGELOG.rst
@@ -2,6 +2,49 @@
 Changelog for package moveit_ros_move_group
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Start new joint_state_publisher_gui on param use_gui (`#2257 <https://github.com/ros-planning/moveit/issues/2257>`_)
+* [feature] TfPublisher: fixup and add attached collsion objects (`#1792 <https://github.com/ros-planning/moveit/issues/1792>`_)
+* [feature] move_group capability for publishing planning scene frames to the tf system (`#1761 <https://github.com/ros-planning/moveit/issues/1761>`_)
+* [feature] get_planning_scene_service: return full scene when nothing was requested (`#1424 <https://github.com/ros-planning/moveit/issues/1424>`_)
+* [feature] Separate source file for CartesianInterpolator (`#1149 <https://github.com/ros-planning/moveit/issues/1149>`_)
+* [fix]   Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix]   Fix TfPublisher subframe publishing (`#2002 <https://github.com/ros-planning/moveit/issues/2002>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_) (`#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Move isEmpty() test functions to moveit_core/utils (`#1627 <https://github.com/ros-planning/moveit/issues/1627>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Mike Lautman, Robert Haschke, Felix von Drigalski, Jens P, Jonathan Binney, JonasTietz, Michael Görner, Tyler Weaver, Yoan Mollard, Yu, Yan, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10
+* Contributors: Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Move `get_planning_scene` service into `PlanningSceneMonitor` for reusability (`#1854 <https://github.com/ros-planning/moveit/issues/1854>`_)
+* [maint] Cleanup move_group capabilities (`#1515 <https://github.com/ros-planning/moveit/issues/1515>`_)
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -66,7 +109,7 @@ Changelog for package moveit_ros_move_group
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst
index be0815f44c..42f711f6af 100644
--- a/moveit_ros/moveit_ros/CHANGELOG.rst
+++ b/moveit_ros/moveit_ros/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package moveit_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [maint] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Jonathan Binney, Robert Haschke, Sean Yen
+
+1.0.6 (2020-08-19)
+------------------
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 
diff --git a/moveit_ros/moveit_servo/CHANGELOG.rst b/moveit_ros/moveit_servo/CHANGELOG.rst
new file mode 100644
index 0000000000..b14a65d9eb
--- /dev/null
+++ b/moveit_ros/moveit_servo/CHANGELOG.rst
@@ -0,0 +1,190 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_servo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.0 (2020-09-04)
+------------------
+* [feature] Update last_sent_command\_ at ServoCalcs start (`#2249 <https://github.com/ros-planning/moveit/issues/2249>`_)
+* [feature] Add a utility to print collision pairs (`#2275 <https://github.com/ros-planning/moveit/issues/2275>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [maint] add soname version to moveit_servo (`#2266 <https://github.com/ros-planning/moveit/issues/2266>`_)
+* [maint] delete python integration tests (`#2186 <https://github.com/ros-planning/moveit/issues/2186>`_)
+* Contributors: AdamPettinger, AndyZe, Robert Haschke, Ruofan Xu, Tyler Weaver, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [feature] A ROS service to reset the Servo status (`#2246 <https://github.com/ros-planning/moveit/issues/2246>`_)
+* [feature] Check collisions during joint motions, too (`#2204 <https://github.com/ros-planning/moveit/issues/2204>`_)
+* [fix]     Correctly set velocities to zero when stale (`#2255 <https://github.com/ros-planning/moveit/issues/2255>`_)
+* [maint]   Remove unused yaml param (`#2232 <https://github.com/ros-planning/moveit/issues/2232>`_)
+* [maint]   Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint]   Migrate to clang-format-10
+* Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [maint]   Minor moveit_servo header cleanup (`#2173 <https://github.com/ros-planning/moveit/issues/2173>`_)
+* [maint]   Move and rename to moveit_ros/moveit_servo (`#2165 <https://github.com/ros-planning/moveit/issues/2165>`_)
+* [maint]   Changes before porting to ROS2 (`#2151 <https://github.com/ros-planning/moveit/issues/2151>`_)
+  * throttle warning logs
+  * ROS1 Basic improvements and changes
+  * Fixes to drift dimensions, singularity velocity scaling
+  * tf name changes, const fixes, slight logic changes
+  * Move ROS_LOG_THROTTLE_PERIOD to cpp files
+  * Track staleness of joint and twist seperately
+  * Ensure joint_trajectory output is always populated with something, even when no jog
+  * Fix joint trajectory redundant points for gazebo pub
+  * Fix crazy joint jog from bad Eigen init
+  * Fix variable type in addJointIncrements()
+  * Initialize last sent command in constructor
+  * More explicit joint_jog_cmd\ and twist_stamped_cmd\ names
+  * Add comment clarying transform calculation / use
+* [fix]     Fix access past end of array bug (`#2155 <https://github.com/ros-planning/moveit/issues/2155>`_)
+* [maint]   Remove duplicate line (`#2154 <https://github.com/ros-planning/moveit/issues/2154>`_)
+* [maint]   pragma once in jog_arm.h (`#2152 <https://github.com/ros-planning/moveit/issues/2152>`_)
+* [feature] Simplify communication between threads (`#2103 <https://github.com/ros-planning/moveit/issues/2103>`_)
+  * get latest joint state c++ api
+  * throttle warning logs
+  * publish from jog calcs timer, removing redundant timer and internal messaging to main timer
+  * outgoing message as pool allocated shared pointer for zero copy
+  * replace jog_arm shared variables with ros pub/sub
+  * use built in zero copy message passing instead of spsc_queues
+  * use ros timers instead of threads in jog_arm
+* [feature] Added throttle to jogarm accel limit warning (`#2141 <https://github.com/ros-planning/moveit/issues/2141>`_)
+* [feature] Time-based collision avoidance (`#2100 <https://github.com/ros-planning/moveit/issues/2100>`_)
+* [fix]     Fix crash on empty jog msgs (`#2094 <https://github.com/ros-planning/moveit/issues/2094>`_)
+* [feature] Jog arm dimensions (`#1724 <https://github.com/ros-planning/moveit/issues/1724>`_)
+* [maint]   Clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_)
+* [feature] Keep updating joints, even while waiting for a valid command (`#2027 <https://github.com/ros-planning/moveit/issues/2027>`_)
+* [fix]     Fix param logic bug for self- and scene-collision proximity thresholds (`#2022 <https://github.com/ros-planning/moveit/issues/2022>`_)
+* [feature] Split collision proximity threshold (`#2008 <https://github.com/ros-planning/moveit/issues/2008>`_)
+  * separate proximity threshold values for self-collisions and scene collisions
+  * increase default value of scene collision proximity threshold
+  * deprecate old parameters
+* [fix]     Fix valid command flags (`#2013 <https://github.com/ros-planning/moveit/issues/2013>`_)
+  * Rename the 'zero command flag' variables for readability
+  * Reset flags when incoming commands timeout
+  * Remove debug line, clang format
+* [maint]   Use default move constructor + assignment operators for MoveItCpp. (`#2004 <https://github.com/ros-planning/moveit/issues/2004>`_)
+* [fix]     Fix low-pass filter initialization (`#1982 <https://github.com/ros-planning/moveit/issues/1982>`_)
+  * Pause/stop JogArm threads using shared atomic bool variables
+  * Add pause/unpause flags for jog thread
+  * Verify valid joints by filtering for active joint models only
+  * Remove redundant joint state increments
+  * Wait for initial jog commands in main loop
+* [fix]     Remove duplicate collision check in JogArm (`#1986 <https://github.com/ros-planning/moveit/issues/1986>`_)
+* [feature] Add a binary collision check (`#1978 <https://github.com/ros-planning/moveit/issues/1978>`_)
+* [feature] Publish more detailed warnings (`#1915 <https://github.com/ros-planning/moveit/issues/1915>`_)
+* [feature] Use wait_for_service() to fix flaky tests (`#1946 <https://github.com/ros-planning/moveit/issues/1946>`_)
+* [maint]   Fix versioning (`#1948 <https://github.com/ros-planning/moveit/issues/1948>`_)
+* [feature] SRDF velocity and acceleration limit enforcement (`#1863 <https://github.com/ros-planning/moveit/issues/1863>`_)
+* [maint]   Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [fix]     JogArm C++ API fixes (`#1911 <https://github.com/ros-planning/moveit/issues/1911>`_)
+* [feature] A ROS service to enable task redundancy (`#1855 <https://github.com/ros-planning/moveit/issues/1855>`_)
+* [fix]     Fix segfault with uninitialized JogArm thread (`#1882 <https://github.com/ros-planning/moveit/issues/1882>`_)
+* [feature] Add warnings to moveit_jog_arm low pass filter (`#1872 <https://github.com/ros-planning/moveit/issues/1872>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]     Fix initial end effector transform jump (`#1871 <https://github.com/ros-planning/moveit/issues/1871>`_)
+* [feature] Rework the halt msg functionality (`#1868 <https://github.com/ros-planning/moveit/issues/1868>`_)
+* [fix]     Various small fixes (`#1859 <https://github.com/ros-planning/moveit/issues/1859>`_)
+* [maint]   Improve formatting in comments
+* [fix]     Prevent a crash at velocity limit (`#1837 <https://github.com/ros-planning/moveit/issues/1837>`_)
+* [feature] Remove scale/joint parameter (`#1838 <https://github.com/ros-planning/moveit/issues/1838>`_)
+* [feature] Pass planning scene monitor into cpp interface (`#1849 <https://github.com/ros-planning/moveit/issues/1849>`_)
+* [maint]   Move attribution below license file, standardize with MoveIt (`#1847 <https://github.com/ros-planning/moveit/issues/1847>`_)
+* [maint]   Reduce console output warnings (`#1845 <https://github.com/ros-planning/moveit/issues/1845>`_)
+* [fix]     Fix command frame transform computation (`#1842 <https://github.com/ros-planning/moveit/issues/1842>`_)
+* [maint]   Fix dependencies + catkin_lint issues
+* [feature] Update link transforms before calling checkCollision on robot state in jog_arm (`#1825 <https://github.com/ros-planning/moveit/issues/1825>`_)
+* [feature] Add atomic bool flags for terminating JogArm threads gracefully (`#1816 <https://github.com/ros-planning/moveit/issues/1816>`_)
+* [feature] Get transforms from RobotState instead of TF (`#1803 <https://github.com/ros-planning/moveit/issues/1803>`_)
+* [feature] Add a C++ API (`#1763 <https://github.com/ros-planning/moveit/issues/1763>`_)
+* [maint]   Fix unused parameter warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint]   Update license formatting (`#1764 <https://github.com/ros-planning/moveit/issues/1764>`_)
+* [maint]   Unify jog_arm package to be C++14 (`#1762 <https://github.com/ros-planning/moveit/issues/1762>`_)
+* [fix]     Fix jog_arm segfault (`#1692 <https://github.com/ros-planning/moveit/issues/1692>`_)
+* [fix]     Fix double mutex unlock (`#1672 <https://github.com/ros-planning/moveit/issues/1672>`_)
+* [maint]   Rename jog_arm->moveit_jog_arm (`#1663 <https://github.com/ros-planning/moveit/issues/1663>`_)
+* [feature] Do not wait for command msg to start spinning (`#1603 <https://github.com/ros-planning/moveit/issues/1603>`_)
+* [maint]   Update jog_arm README with rviz config (`#1614 <https://github.com/ros-planning/moveit/issues/1614>`_)
+* [maint]   Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint]   Separate moveit_experimental packages (`#1606 <https://github.com/ros-planning/moveit/issues/1606>`_)
+* [feature] Use UR5 example (`#1605 <https://github.com/ros-planning/moveit/issues/1605>`_)
+* [feature] Sudden stop for critical issues, filtered deceleration otherwise (`#1468 <https://github.com/ros-planning/moveit/issues/1468>`_)
+* [feature] Change 2nd order Butterworth low pass filter to 1st order (`#1483 <https://github.com/ros-planning/moveit/issues/1483>`_)
+* [maint]   Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* [feature] JogArm: Remove dependency on move_group node (`#1569 <https://github.com/ros-planning/moveit/issues/1569>`_)
+* [fix]     Fix jog arm CI integration test (`#1466 <https://github.com/ros-planning/moveit/issues/1466>`_)
+* [feature] A jogging PR for Melodic. (`#1360 <https://github.com/ros-planning/moveit/issues/1360>`_)
+  * Allow for joints in the msg that are not part of the MoveGroup.
+  * Switching to the Panda robot model for tests.
+  * Blacklist the test as I can't get it to pass Travis (fine locally).
+  * Throttling all warnings. Fix build warning re. unit vs int comparison.
+  * Continue to publish commands even if stationary
+  * Scale for 'unitless' commands is not tied to publish_period.
+  * New function name for checkIfJointsWithinBounds()
+  * Configure the number of msgs to publish when stationary.
+  * Run jog_calcs at the same rate as the publishing thread.
+  * Better comments in config file, add spacenav_node dependency
+  * Add spacenav_node to CMakeLists.
+* Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer
+
+1.0.1 (2019-03-08)
+------------------
+
+1.0.0 (2019-02-24)
+------------------
+
+0.10.8 (2018-12-24)
+-------------------
+
+0.10.5 (2018-11-01)
+-------------------
+
+0.10.4 (2018-10-29 19:44)
+-------------------------
+
+0.10.3 (2018-10-29 04:12)
+-------------------------
+
+0.10.2 (2018-10-24)
+-------------------
+
+0.10.1 (2018-05-25)
+-------------------
+
+0.10.0 (2018-05-22)
+-------------------
+
+0.9.11 (2017-12-25)
+-------------------
+
+0.9.10 (2017-12-09)
+-------------------
+
+0.9.9 (2017-08-06)
+------------------
+
+0.9.8 (2017-06-21)
+------------------
+
+0.9.7 (2017-06-05)
+------------------
+
+0.9.6 (2017-04-12)
+------------------
+
+0.9.5 (2017-03-08)
+------------------
+
+0.9.4 (2017-02-06)
+------------------
+
+0.9.3 (2016-11-16)
+------------------
+
+0.9.2 (2016-11-05)
+------------------
+
+0.9.1 (2016-10-21)
+------------------
diff --git a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst
new file mode 100644
index 0000000000..69b65519c8
--- /dev/null
+++ b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst
@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_ros_occupancy_map_monitor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* Contributors: Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [fix]   Add error message on failure to initialize occupancy map monitor (`#1873 <https://github.com/ros-planning/moveit/issues/1873>`_)
+* [fix]   Update occupancy grid when loaded from file (`#1594 <https://github.com/ros-planning/moveit/issues/1594>`_)
+* [maint] Apply clang-tidy fix (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] move occupancy_map_monitor into its own package (`#1533 <https://github.com/ros-planning/moveit/issues/1533>`_)
+* Contributors: Bjar Ne, Dale Koenig, Raphael Druon, Robert Haschke, Sean Yen, Simon Schmeisser, Yu, Yan, jschleicher
diff --git a/moveit_ros/perception/CHANGELOG.rst b/moveit_ros/perception/CHANGELOG.rst
index 9df15123be..bdcd077d93 100644
--- a/moveit_ros/perception/CHANGELOG.rst
+++ b/moveit_ros/perception/CHANGELOG.rst
@@ -2,6 +2,58 @@
 Changelog for package moveit_ros_perception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Utilize new geometric_shapes functions to improve performance (`#2038 <https://github.com/ros-planning/moveit/issues/2038>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix getTransform() (`#2113 <https://github.com/ros-planning/moveit/issues/2113>`_)
+* [fix] depth_image_octomap_updater: correctly set properties of debug images (`#1653 <https://github.com/ros-planning/moveit/issues/1653>`_)
+* [maint] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] NAMED logging for moveit_ros_perception (`#1897 <https://github.com/ros-planning/moveit/issues/1897>`_)
+* [maint] Fix various build issues on Windows (`#1880 <https://github.com/ros-planning/moveit/issues/1880>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Bjar Ne, Dale Koenig, Dave Coleman, Henning Kayser, Jonathan Binney, Mahmoud Ahmed Selim, Markus Vieth, Martin Pecka, Matthias Nieuwenhuisen, Michael Görner, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan, jschleicher
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* [maint] Further increase acceptance threshold for mesh-filter test
+* [maint] Prefer vendor-specific OpenGL library
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+* [maint] Fix mesh_filter test (`#2044 <https://github.com/ros-planning/moveit/issues/2044>`_)
+* Contributors: Bjar Ne
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Allow subclassing of point_containment_filter::ShapeMask. (`#1457 <https://github.com/ros-planning/moveit/issues/1457>`_)
+* [fix]   `depth_image_octomap_updater`: reset depth transfer function to standard values (`#1661 <https://github.com/ros-planning/moveit/issues/1661>`_)
+* [fix]   `depth_image_octomap_updater`: correctly set properties of debug images (`#1652 <https://github.com/ros-planning/moveit/issues/1652>`_)
+* [maint] Move `occupancy_map_monitor` into its own package (`#1533 <https://github.com/ros-planning/moveit/issues/1533>`_)
+* Contributors: Martin Pecka, Matthias Nieuwenhuisen, Robert Haschke, Sean Yen, Yu, Yan, jschleicher
+
+1.0.2 (2019-06-28)
+------------------
+* [maintenance] Removed unnecessary null pointer checks on deletion (`#1410 <https://github.com/ros-planning/moveit/issues/1410>`_)
+* Contributors: Mahmoud Ahmed Selim
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -79,7 +131,7 @@ Changelog for package moveit_ros_perception
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/planning/CHANGELOG.rst b/moveit_ros/planning/CHANGELOG.rst
index e2bd85fd4d..1fffce8d1a 100644
--- a/moveit_ros/planning/CHANGELOG.rst
+++ b/moveit_ros/planning/CHANGELOG.rst
@@ -2,6 +2,84 @@
 Changelog for package moveit_ros_planning
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Use Eigen::Transform::linear() instead of rotation() (`#1964 <https://github.com/ros-planning/moveit/issues/1964>`_)
+* [feature] Bullet collision detection (`#1839 <https://github.com/ros-planning/moveit/issues/1839>`_) (`#1504 <https://github.com/ros-planning/moveit/issues/1504>`_)
+* [feature] Allow different controllers for execution (`#1832 <https://github.com/ros-planning/moveit/issues/1832>`_)
+* [feature] Adding continuous collision detection to Bullet (`#1551 <https://github.com/ros-planning/moveit/issues/1551>`_)
+* [feature] plan_execution: refine logging for invalid paths (`#1705 <https://github.com/ros-planning/moveit/issues/1705>`_)
+* [feature] Unified Collision Environment Integration (`#1584 <https://github.com/ros-planning/moveit/issues/1584>`_)
+* [feature] Allow ROS namespaces for planning request adapters (`#1530 <https://github.com/ros-planning/moveit/issues/1530>`_)
+* [feature] Add named frames to CollisionObjects (`#1439 <https://github.com/ros-planning/moveit/issues/1439>`_)
+* [feature] get_planning_scene_service: return full scene when nothing was requested (`#1424 <https://github.com/ros-planning/moveit/issues/1424>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Initialize zero dynamics in CurrentStateMonitor (`#1883 <https://github.com/ros-planning/moveit/issues/1883>`_)
+* [fix] memory leak (`#1526 <https://github.com/ros-planning/moveit/issues/1526>`_)
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] partially transition unused test bin to rostest (`#2158 <https://github.com/ros-planning/moveit/issues/2158>`_)
+* [maint] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#2004 <https://github.com/ros-planning/moveit/issues/2004>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Fix usage of panda_moveit_config (`#1904 <https://github.com/ros-planning/moveit/issues/1904>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Adapt cmake for Bullet (`#1744 <https://github.com/ros-planning/moveit/issues/1744>`_)
+* [maint] Readme for speed benchmark (`#1648 <https://github.com/ros-planning/moveit/issues/1648>`_)
+* [maint] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Improve variable naming in RobotModelLoader (`#1759 <https://github.com/ros-planning/moveit/issues/1759>`_)
+* [maint] Move isEmpty() test functions to moveit_core/utils (`#1627 <https://github.com/ros-planning/moveit/issues/1627>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Bianca Homberg, Dave Coleman, Felix von Drigalski, Henning Kayser, Jens P, Jonathan Binney, Markus Vieth, Martin Pecka, Max Krichenbauer, Michael Görner, Robert Haschke, Sean Yen, Simon Schmeisser, Tyler Weaver, Yu, Yan, jschleicher, livanov93, llach
+
+1.0.6 (2020-08-19)
+------------------
+* [fix]   Fix segfault in PSM::clearOctomap() (`#2193 <https://github.com/ros-planning/moveit/issues/2193>`_)
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Henning Kayser, Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+* [feature] Trajectory Execution: fix check for start state position (`#2157 <https://github.com/ros-planning/moveit/issues/2157>`_)
+* [feature] Improve responsiveness of PlanningSceneDisplay (`#2049 <https://github.com/ros-planning/moveit/issues/2049>`_)
+  - PlanningSceneMonitor: increate update frequency from 10Hz to 30Hz
+  - send RobotState diff if only position changed
+* Contributors: Michael Görner, Robert Haschke, Simon Schmeisser
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [fix]     `CurrentStateMonitor`: Initialize velocity/effort with unset dynamics
+* [fix]     Fix spurious warning message (# IK attempts) (`#1876 <https://github.com/ros-planning/moveit/issues/1876>`_)
+* [maint]   Move `get_planning_scene` service into `PlanningSceneMonitor` for reusability (`#1854 <https://github.com/ros-planning/moveit/issues/1854>`_)
+* [feature] Forward controller names to TrajectoryExecutionManager
+* [fix]     Always copy dynamics if enabled in CurrentStateMonitor (`#1676 <https://github.com/ros-planning/moveit/issues/1676>`_)
+* [feature] TrajectoryMonitor: zero sampling frequency disables trajectory recording (`#1542 <https://github.com/ros-planning/moveit/issues/1542>`_)
+* [feature] Add user warning when planning fails with multiple constraints (`#1443 <https://github.com/ros-planning/moveit/issues/1443>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+  * Favor ros::Duration.sleep over sleep. (`#1634 <https://github.com/ros-planning/moveit/issues/1634>`_)
+  * Remove GCC extensions (`#1583 <https://github.com/ros-planning/moveit/issues/1583>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]     Fix potential memory leak in `RDFLoader` (`#1828 <https://github.com/ros-planning/moveit/issues/1828>`_)
+  [maint]   Use smart pointers to avoid explicit new/delete
+* [fix]     `TrajectoryExecutionManager`: fix race condition (`#1709 <https://github.com/ros-planning/moveit/issues/1709>`_)
+* [fix]     Correctly propagate error if time parameterization fails (`#1562 <https://github.com/ros-planning/moveit/issues/1562>`_)
+* [maint]   move `occupancy_map_monitor` into its own package (`#1533 <https://github.com/ros-planning/moveit/issues/1533>`_)
+* [feature] `PlanExecution`: return executed trajectory (`#1538 <https://github.com/ros-planning/moveit/issues/1538>`_)
+* Contributors: Felix von Drigalski, Henning Kayser, Max Krichenbauer, Michael Görner, Robert Haschke, Sean Yen, Yu, Yan, jschleicher, livanov93, Luca Lach
+
+1.0.2 (2019-06-28)
+------------------
+* [fix] Removed MessageFilter for /collision_object messages (`#1406 <https://github.com/ros-planning/moveit/issues/1406>`_)
+* Contributors: Robert Haschke
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -91,7 +169,7 @@ Changelog for package moveit_ros_planning
 0.9.9 (2017-08-06)
 ------------------
 * [fix] Change getCurrentExpectedTrajectory index so collision detection is still performed even if the path timing is not known (`#550 <https://github.com/ros-planning/moveit/issues/550>`_)
-* [fix] Support for MultiDoF only trajectories `#553 <https://github.com/ros-planning/moveit/pull/553>`_ 
+* [fix] Support for MultiDoF only trajectories `#553 <https://github.com/ros-planning/moveit/pull/553>`_
 * [fix] ros_error macro name (`#544 <https://github.com/ros-planning/moveit/issues/544>`_)
 * [fix] check plan size for plan length=0 `#535 <https://github.com/ros-planning/moveit/issues/535>`_
 * Contributors: Cyrille Morin, Michael Görner, Mikael Arguedas, Notou, Unknown
diff --git a/moveit_ros/planning_interface/CHANGELOG.rst b/moveit_ros/planning_interface/CHANGELOG.rst
index 2e0e72f5f1..d72c3b44a2 100644
--- a/moveit_ros/planning_interface/CHANGELOG.rst
+++ b/moveit_ros/planning_interface/CHANGELOG.rst
@@ -2,6 +2,92 @@
 Changelog for package moveit_ros_planning_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Use Eigen::Transform::linear() instead of rotation() (`#1964 <https://github.com/ros-planning/moveit/issues/1964>`_)
+* [feature] move_group pick place test (`#2031 <https://github.com/ros-planning/moveit/issues/2031>`_)
+* [feature] Check for grasp service - general cleanup MGI (`#2077 <https://github.com/ros-planning/moveit/issues/2077>`_)
+* [feature] Integration test to defend subframe tutorial (`#1757 <https://github.com/ros-planning/moveit/issues/1757>`_)
+* [feature] Release Python GIL for C++ calls (`#1947 <https://github.com/ros-planning/moveit/issues/1947>`_)
+* [feature] Add default velocity/acceleration scaling factors (`#1890 <https://github.com/ros-planning/moveit/issues/1890>`_)
+* [feature] Improve move_group_interface's const correctness (`#1715 <https://github.com/ros-planning/moveit/issues/1715>`_)
+* [feature] Add get_jacobian_matrix to moveit_commander (`#1501 <https://github.com/ros-planning/moveit/issues/1501>`_)
+* [feature] Add named frames to CollisionObjects (`#1439 <https://github.com/ros-planning/moveit/issues/1439>`_)
+* [feature] Added GILRelease to pick and place (`#2272 <https://github.com/ros-planning/moveit/issues/2272>`_)
+* [feature] Add missing variants of place from list of PlaceLocations and Poses in the python interface (`#2231 <https://github.com/ros-planning/moveit/issues/2231>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Resolve PSI lock-up in RViz display (`#1951 <https://github.com/ros-planning/moveit/issues/1951>`_)
+* [fix] Fix flaky moveit_cpp test (`#1781 <https://github.com/ros-planning/moveit/issues/1781>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] Fix a parameter mix-up in moveit_cpp loading (`#2187 <https://github.com/ros-planning/moveit/issues/2187>`_)
+* [maint] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [maint] update dependencies for python3 in noetic (`#2131 <https://github.com/ros-planning/moveit/issues/2131>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1586 <https://github.com/ros-planning/moveit/issues/1586>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Fix some clang tidy issues (`#2004 <https://github.com/ros-planning/moveit/issues/2004>`_)
+* [maint] export  moveit_py_bindings_tools library (`#1970 <https://github.com/ros-planning/moveit/issues/1970>`_)
+* [maint] Fix usage of panda_moveit_config (`#1904 <https://github.com/ros-planning/moveit/issues/1904>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Fix typo in cmake file (`#1857 <https://github.com/ros-planning/moveit/issues/1857>`_)
+* [maint] Reduce console output warnings (`#1845 <https://github.com/ros-planning/moveit/issues/1845>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* [maint] improve [get|set]JointValueTarget in python wrapper (`#858 <https://github.com/ros-planning/moveit/issues/858>`_)
+* [maint] moveit_commander.MoveGroupInterface.plan() to better align with C++ MoveGroup::plan() (`#790 <https://github.com/ros-planning/moveit/issues/790>`_)
+* Contributors: AndyZe, Ayush Garg, Bence Magyar, Bjar Ne, Dave Coleman, Felix von Drigalski, Gerard Canal, Guilhem Saurel, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Jonathan Binney, Kunal Tyagi, Luca Rinelli, Mahmoud Ahmed Selim, Markus Vieth, Martin Pecka, Masaki Murooka, Michael Ferguson, Michael Görner, Niklas Fiedler, Robert Haschke, Ryosuke Tajima, Sean Yen, Tyler Weaver, Yeshwanth, Yu, Yan, mvieth, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint]   Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint]   Migrate to clang-format-10, Fix warnings
+* [maint]   Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* [feature] Exposed parameter wait_for_servers and getPlannerId() API in MoveGroup's Python API (`#2201 <https://github.com/ros-planning/moveit/issues/2201>`_)
+* Contributors: Gerard Canal, Markus Vieth, Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [maint]   Remove dependency on panda_moveit_config (#2194 <https://github.com/ros-planning/moveit/issues/2194>`_, #2197 <https://github.com/ros-planning/moveit/issues/2197>`_)
+* [maint]   Adapt linking to eigenpy (`#2118 <https://github.com/ros-planning/moveit/issues/2118>`_)
+* [maint]   Replace robot_model and robot_state namespaces with moveit::core (`#2135 <https://github.com/ros-planning/moveit/issues/2135>`_)
+* [feature] PlanningComponent: Load plan_request_params (`#2033 <https://github.com/ros-planning/moveit/issues/2033>`_)
+* [feature] MoveItCpp: a high-level C++ planning API (`#1656 <https://github.com/ros-planning/moveit/issues/1656>`_)
+* [fix]     Validate action client pointer before access
+* [fix]     Wait and check for the grasp service
+* [maint]   Add tests for move_group interface (`#1995 <https://github.com/ros-planning/moveit/issues/1995>`_)
+* Contributors: AndyZe, Henning Kayser, Jafar Abdi, Michael Görner, Robert Haschke, Tyler Weaver, Yeshwanth
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] `MoveGroupInterface`: Add execution methods for moveit_msgs::RobotTrajectory (`#1955 <https://github.com/ros-planning/moveit/issues/1955>`_)
+* [feature] Allow to instantiate a `PlanningSceneInterface` w/ and w/o a running `move_group` node
+* [fix]     Release Python `GIL` for C++ calls (`#1947 <https://github.com/ros-planning/moveit/issues/1947>`_)
+* [feature] Expose reference_point_position parameter in getJacobian() (`#1595 <https://github.com/ros-planning/moveit/issues/1595>`_)
+* [feature] `MoveGroupInterface`: Expose `constructPickGoal` and `constructPlaceGoal` (`#1498 <https://github.com/ros-planning/moveit/issues/1498>`_)
+* [feature] `python MoveGroupInterface`: Added custom time limit for `wait_for_servers()` (`#1444 <https://github.com/ros-planning/moveit/issues/1444>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Improve Python 3 compatibility (`#1870 <https://github.com/ros-planning/moveit/issues/1870>`_)
+  * Replaced StringIO with BytesIO for python msg serialization
+  * Use py_bindings_tools::ByteString as byte-based serialization buffer on C++ side
+* [feature] Export moveit_py_bindings_tools library
+* [maint]   Fix various build issues on Windows
+  * Use `.pyd` as the output suffix for Python module on Windows. (`#1637 <https://github.com/ros-planning/moveit/issues/1637>`_)
+  * Favor ros::Duration.sleep over sleep. (`#1634 <https://github.com/ros-planning/moveit/issues/1634>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint]   Updated deprecation method: MOVEIT_DEPRECATED -> [[deprecated]] (`#1748 <https://github.com/ros-planning/moveit/issues/1748>`_)
+* [maint]   `eigenpy`: switched to system package (`#1737 <https://github.com/ros-planning/moveit/issues/1737>`_)
+* [featue]  `PlanningSceneInterface`: wait for its two services
+* [feature] Select time parametrization algorithm in retime_trajectory (`#1508 <https://github.com/ros-planning/moveit/issues/1508>`_)
+* Contributors: Bjar Ne, Felix von Drigalski, Kunal Tyagi, Luca Rinelli, Masaki Murooka, Michael Görner, Niklas Fiedler, Robert Haschke, Sean Yen, Yu, Yan, mvieth, v4hn
+
+1.0.2 (2019-06-28)
+------------------
+* [maintenance] Removed unnecessary null pointer checks on deletion (`#1410 <https://github.com/ros-planning/moveit/issues/1410>`_)
+* Contributors: Mahmoud Ahmed Selim
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -91,7 +177,7 @@ Changelog for package moveit_ros_planning_interface
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * [enhancement][MoveGroup] Add getLinkNames function (`#440 <https://github.com/ros-planning/moveit/issues/440>`_)
 * Contributors: Bence Magyar, Dave Coleman
diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst
index 9851f4f460..927f105b7e 100644
--- a/moveit_ros/robot_interaction/CHANGELOG.rst
+++ b/moveit_ros/robot_interaction/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package moveit_ros_robot_interaction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [fix] Various fixes for upcoming Noetic release `#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Dave Coleman, Henning Kayser, Jonathan Binney, Markus Vieth, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* [maint] Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Markus Vieth, Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* Contributors: Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -80,7 +114,7 @@ Changelog for package moveit_ros_robot_interaction
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman
 
diff --git a/moveit_ros/visualization/CHANGELOG.rst b/moveit_ros/visualization/CHANGELOG.rst
index 4e24d61666..9257a6de63 100644
--- a/moveit_ros/visualization/CHANGELOG.rst
+++ b/moveit_ros/visualization/CHANGELOG.rst
@@ -2,6 +2,66 @@
 Changelog for package moveit_ros_visualization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+
+1.0.6 (2020-08-19)
+------------------
+* [feature] MP display: add units to joints tab (`#2264 <https://github.com/ros-planning/moveit/issues/2264>`_)
+* [feature] Allow adding planning scene shapes from rviz panel (`#2198 <https://github.com/ros-planning/moveit/issues/2198>`_)
+* [feature] Default to Planning tab initially (`#2061 <https://github.com/ros-planning/moveit/issues/2061>`_)
+* [fix]     Fix deferred robot model loading (`#2245 <https://github.com/ros-planning/moveit/issues/2245>`_)
+* [maint]   Migrate to clang-format-10
+* [maint]   Optimize includes (`#2229 <https://github.com/ros-planning/moveit/issues/2229>`_)
+* Contributors: Jorge Nicho, Markus Vieth, Michael Görner, Robert Haschke, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [feature] Improve rviz GUI to add PlanningScene objects. Ask for scaling large meshes. (`#2142 <https://github.com/ros-planning/moveit/issues/2142>`_)
+* [maint]   Replace robot_model and robot_state namespaces with moveit::core (`#2135 <https://github.com/ros-planning/moveit/issues/2135>`_)
+* [maint]   Fix catkin_lint issues (`#2120 <https://github.com/ros-planning/moveit/issues/2120>`_)
+* [feature] PlanningSceneDisplay speedup (`#2049 <https://github.com/ros-planning/moveit/issues/2049>`_)
+* [feature] Added support for PS4 joystick (`#2060 <https://github.com/ros-planning/moveit/issues/2060>`_)
+* [fix]     MP display: planning attempts are natural numbers (`#2076 <https://github.com/ros-planning/moveit/issues/2076>`_, `#2082 <https://github.com/ros-planning/moveit/issues/2082>`_)
+* Contributors: Felix von Drigalski, Henning Kayser, Jafar Abdi, Michael Görner, Robert Haschke, Simon Schmeisser, TrippleBender
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [fix]     `MotionPlanningDisplay`: change internal shortcut Ctrl+R to Ctrl+I (`#1967 <https://github.com/ros-planning/moveit/issues/1967>`_)
+* [fix]     Remove `PlanningSceneInterface` from rviz display, but use its `PlanningSceneMonitor` instead
+* [fix]     Fix segfault in `RobotStateVisualization` (`#1941 <https://github.com/ros-planning/moveit/issues/1941>`_)
+* [feature] Provide visual feedback on success of requestPlanningSceneState()
+* [feature] Wait for `get_planning_scene` in background (`#1934 <https://github.com/ros-planning/moveit/issues/1934>`_)
+* [feature] Reduce step size for pose-adapting widgets
+* [fix]     Reset `scene_marker` when disabling motion planning panel
+* [fix]     Enable/disable motion planning panel with display
+* [fix]     Enable/disable pose+scale group box when collision object is selected/deselected
+* [fix]     Correctly populate the list of scene objects in the motion planning panel
+* [feature] Resize scene marker with collision object
+* [feature] Show attached bodies in trajectory trail (`#1766 <https://github.com/ros-planning/moveit/issues/1766>`_)
+* [fix]     Fix `REALTIME` trajectory playback (`#1683 <https://github.com/ros-planning/moveit/issues/1683>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Notice changes in rviz planning panel requiring saving (`#1991 <https://github.com/ros-planning/moveit/issues/1991>`_)
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Improve Python 3 compatibility (`#1870 <https://github.com/ros-planning/moveit/issues/1870>`_)
+  * Replaced StringIO with BytesIO for python msg serialization
+  * Use py_bindings_tools::ByteString as byte-based serialization buffer on C++ side
+* [maint]   Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]     Fix pruning of enclosed nodes when rendering octomap in RViz (`#1685 <https://github.com/ros-planning/moveit/issues/1685>`_)
+* [fix]     Fix missing `scene_manager` initialization in OcTreeRender's  constructor (`#1817 <https://github.com/ros-planning/moveit/issues/1817>`_)
+* [feature] new `Joints` tab in RViz motion panel (`#1308 <https://github.com/ros-planning/moveit/issues/1308>`_)
+* [feature] Add `<previous>` robot state to RViz motion panel (`#1742 <https://github.com/ros-planning/moveit/issues/1742>`_)
+* Contributors: Bjar Ne, Dale Koenig, MarqRazz, Max Krichenbauer, Michael Görner, Robert Haschke, RyodoTanaka, Sean Yen, Takara Kasai, Yannick Jonetzko, Yu, Yan, v4hn
+
+1.0.2 (2019-06-28)
+------------------
+* [maintenance] Removed unnecessary null pointer checks on deletion (`#1410 <https://github.com/ros-planning/moveit/issues/1410>`_)
+* Contributors: Mahmoud Ahmed Selim
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -113,8 +173,8 @@ Changelog for package moveit_ros_visualization
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix] correct "simplify widget handling" `#452 <https://github.com/ros-planning/moveit/pull/452>`_ This reverts "simplify widget handling (`#442 <https://github.com/ros-planning/moveit/issues/442>`_)" 
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix] correct "simplify widget handling" `#452 <https://github.com/ros-planning/moveit/pull/452>`_ This reverts "simplify widget handling (`#442 <https://github.com/ros-planning/moveit/issues/442>`_)"
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (`#445 <https://github.com/ros-planning/moveit/issues/445>`_)
 * Contributors: Bence Magyar, Dave Coleman, Isaac I.Y. Saito, Yannick Jonetzko
 
diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst
index ee636c4c9d..c3d94b7f33 100644
--- a/moveit_ros/warehouse/CHANGELOG.rst
+++ b/moveit_ros/warehouse/CHANGELOG.rst
@@ -2,6 +2,41 @@
 Changelog for package moveit_ros_warehouse
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Ayush Garg, Dave Coleman, Henning Kayser, Jonathan Binney, Max Krichenbauer, Robert Haschke, Sean Yen, Tyler Weaver, Yu, Yan
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Migrate to clang-format-10
+* Contributors: Robert Haschke
+
+1.0.5 (2020-07-08)
+------------------
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [maint] Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint] Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint] Windows build: Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [fix]   Fix potential use of uninitialized variable (`#1818 <https://github.com/ros-planning/moveit/issues/1818>`_)
+* Contributors: Max Krichenbauer, Robert Haschke, Sean Yen, Yu, Yan
+
+1.0.2 (2019-06-28)
+------------------
+
 1.0.1 (2019-03-08)
 ------------------
 * [improve] Apply clang tidy fix to entire code base (Part 1) (`#1366 <https://github.com/ros-planning/moveit/issues/1366>`_)
@@ -65,7 +100,7 @@ Changelog for package moveit_ros_warehouse
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * Contributors: Dave Coleman
 
 0.9.4 (2017-02-06)
diff --git a/moveit_runtime/CHANGELOG.rst b/moveit_runtime/CHANGELOG.rst
index bb959b1866..ad382bb465 100644
--- a/moveit_runtime/CHANGELOG.rst
+++ b/moveit_runtime/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package moveit_runtime
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
+* [feature] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* Contributors: Dave Coleman, Jonathan Binney, Robert Haschke, Sean Yen, Tyler Weaver
+
 1.0.1 (2019-03-08)
 ------------------
 
diff --git a/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/CHANGELOG.rst
index dba4173b1f..a38e7f88a7 100644
--- a/moveit_setup_assistant/CHANGELOG.rst
+++ b/moveit_setup_assistant/CHANGELOG.rst
@@ -2,6 +2,76 @@
 Changelog for package moveit_setup_assistant
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2020-09-04)
+------------------
+* [feature] Start new joint_state_publisher_gui on param use_gui (`#2257 <https://github.com/ros-planning/moveit/issues/2257>`_)
+* [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
+* [feature] Add default velocity/acceleration scaling factors (`#1890 <https://github.com/ros-planning/moveit/issues/1890>`_)
+* [feature] MSA: use matching group/state name for default controller state (`#1936 <https://github.com/ros-planning/moveit/issues/1936>`_)
+* [feature] MSA: Restore display of current directory (`#1932 <https://github.com/ros-planning/moveit/issues/1932>`_)
+* [feature] Cleanup: use range-based for-loop (`#1830 <https://github.com/ros-planning/moveit/issues/1830>`_)
+* [feature] Add delete process to the doneEditing() function in end_effectors_widgets (`#1829 <https://github.com/ros-planning/moveit/issues/1829>`_)
+* [feature] Fix Rviz argument in demo_gazebo.launch (`#1797 <https://github.com/ros-planning/moveit/issues/1797>`_)
+* [feature] Allow user to specify planner termination condition. (`#1695 <https://github.com/ros-planning/moveit/issues/1695>`_)
+* [feature] Add OMPL planner 'AnytimePathShortening' (`#1686 <https://github.com/ros-planning/moveit/issues/1686>`_)
+* [feature] MVP TrajOpt Planner Plugin (`#1593 <https://github.com/ros-planning/moveit/issues/1593>`_)
+* [feature] Use QDir::currentPath() rather than getenv("PWD") (`#1618 <https://github.com/ros-planning/moveit/issues/1618>`_)
+* [feature] Add named frames to CollisionObjects (`#1439 <https://github.com/ros-planning/moveit/issues/1439>`_)
+* [fix] Various fixes for upcoming Noetic release (`#2180 <https://github.com/ros-planning/moveit/issues/2180>`_)
+* [fix] Fix ordering of request adapters (`#2053 <https://github.com/ros-planning/moveit/issues/2053>`_)
+* [fix] Fix some clang tidy issues (`#2004 <https://github.com/ros-planning/moveit/issues/2004>`_)
+* [fix] Fix usage of panda_moveit_config (`#1904 <https://github.com/ros-planning/moveit/issues/1904>`_)
+* [fix] Fix compiler warnings (`#1773 <https://github.com/ros-planning/moveit/issues/1773>`_)
+* [fix] Use portable string() on filesystem::path. (`#1571 <https://github.com/ros-planning/moveit/issues/1571>`_)
+* [fix] Fix test utilities in moveit core (`#1409 <https://github.com/ros-planning/moveit/issues/1409>`_)
+* [maint] clang-tidy fixes (`#2050 <https://github.com/ros-planning/moveit/issues/2050>`_, `#1419 <https://github.com/ros-planning/moveit/issues/1419>`_)
+* [maint] Replace namespaces robot_state and robot_model with moveit::core (`#1924 <https://github.com/ros-planning/moveit/issues/1924>`_)
+* [maint] Switch from include guards to pragma once (`#1615 <https://github.com/ros-planning/moveit/issues/1615>`_)
+* [maint] Remove ! from MoveIt name (`#1590 <https://github.com/ros-planning/moveit/issues/1590>`_)
+* [maint] remove obsolete moveit_resources/config.h (`#1412 <https://github.com/ros-planning/moveit/issues/1412>`_)
+* Contributors: AndyZe, Ayush Garg, Daniel Wang, Dave Coleman, Felix von Drigalski, Henning Kayser, Jafar Abdi, Jonathan Binney, Mark Moll, Max Krichenbauer, Michael Görner, Mike Lautman, Mohmmad Ayman, Omid Heidari, Robert Haschke, Sandro Magalhães, Sean Yen, Simon Schmeisser, Tejas Kumar Shastha, Tyler Weaver, Yoan Mollard, Yu, Yan, jschleicher, tnaka, v4hn
+
+1.0.6 (2020-08-19)
+------------------
+* [maint] Adapt repository for splitted moveit_resources layout (`#2199 <https://github.com/ros-planning/moveit/issues/2199>`_)
+* [maint] Migrate to clang-format-10, fix warnings
+* [fix]   Define planning adapters for chomp planning pipeline (`#2242 <https://github.com/ros-planning/moveit/issues/2242>`_)
+* [maint] Remove urdf package as build_depend from package.xml (`#2207 <https://github.com/ros-planning/moveit/issues/2207>`_)
+* Contributors: Jafar Abdi, Robert Haschke, tnaka, Michael Görner
+
+1.0.5 (2020-07-08)
+------------------
+* [fix]     Fix catkin_lint issues (`#2120 <https://github.com/ros-planning/moveit/issues/2120>`_)
+* [feature] Add use_rviz to demo.launch in setup_assistant (`#2019 <https://github.com/ros-planning/moveit/issues/2019>`_)
+* Contributors: Henning Kayser, Jafar Abdi, Michael Görner, Robert Haschke, Tyler Weaver
+
+1.0.4 (2020-05-30)
+------------------
+
+1.0.3 (2020-04-26)
+------------------
+* [feature] Allow loading of additional kinematics parameters file (`#1997 <https://github.com/ros-planning/moveit/issues/1997>`_)
+* [feature] Allow adding initial poses to fake_controllers.yaml (`#1892 <https://github.com/ros-planning/moveit/issues/1892>`_)
+* [feature] Display robot poses on selection, not only on click (`#1930 <https://github.com/ros-planning/moveit/issues/1930>`_)
+* [fix]     Fix invalid iterator (`#1623 <https://github.com/ros-planning/moveit/issues/1623>`_)
+* [maint]   Apply clang-tidy fix to entire code base (`#1394 <https://github.com/ros-planning/moveit/issues/1394>`_)
+* [maint]   Fix errors: catkin_lint 1.6.7 (`#1987 <https://github.com/ros-planning/moveit/issues/1987>`_)
+* [maint]   Windows build fixes
+  * Fix header inclusion and other MSVC build errors (`#1636 <https://github.com/ros-planning/moveit/issues/1636>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+  * Favor ros::Duration.sleep over sleep. (`#1634 <https://github.com/ros-planning/moveit/issues/1634>`_)
+  * Fix binary artifact install locations. (`#1575 <https://github.com/ros-planning/moveit/issues/1575>`_)
+* [maint]   Use CMAKE_CXX_STANDARD to enforce c++14 (`#1607 <https://github.com/ros-planning/moveit/issues/1607>`_)
+* [feature] Add support for pos_vel_controllers and pos_vel_acc_controllers (`#1806 <https://github.com/ros-planning/moveit/issues/1806>`_)
+* [feature] Add joint state controller config by default (`#1024 <https://github.com/ros-planning/moveit/issues/1024>`_)
+* Contributors: AndyZe, Daniel Wang, Felix von Drigalski, Jafar Abdi, Max Krichenbauer, Michael Görner, Mohmmad Ayman, Robert Haschke, Sandro Magalhães, Sean Yen, Simon Schmeisser, Tejas Kumar Shastha, Yu, Yan, v4hn
+
+1.0.2 (2019-06-28)
+------------------
+* [fix]     static transform publisher does not take a rate (`#1494 <https://github.com/ros-planning/moveit/issues/1494>`_)
+* [feature] Add arguments `load_robot_description`, `pipeline`, `rviz config_file`  to launch file templates (`#1397 <https://github.com/ros-planning/moveit/issues/1397>`_)
+* Contributors: Mike Lautman, Robert Haschke, jschleicher
+
 1.0.1 (2019-03-08)
 ------------------
 * [fix] re-add required build dependencies (`#1373 <https://github.com/ros-planning/moveit/issues/1373>`_)
@@ -105,7 +175,7 @@ Changelog for package moveit_setup_assistant
 
 0.9.5 (2017-03-08)
 ------------------
-* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_ 
+* [fix][moveit_ros_warehouse] gcc6 build error `#423 <https://github.com/ros-planning/moveit/pull/423>`_
 * Contributors: Dave Coleman
 
 0.9.4 (2017-02-06)
@@ -131,7 +201,7 @@ Changelog for package moveit_setup_assistant
 
 0.7.1 (2016-06-24)
 ------------------
-* [sys] Qt adjustment. 
+* [sys] Qt adjustment.
   * relax Qt-version requirement.  Minor Qt version updates are ABI-compatible with each other:  https://wiki.qt.io/Qt-Version-Compatibility
   * auto-select Qt version matching the one from rviz `#114 <https://github.com/ros-planning/moveit_setup_assistant/issues/114>`_
   * Allow to conditionally compile against Qt5 by setting -DUseQt5=On
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
index 3bba189470..e298058e5a 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
@@ -1,6 +1,6 @@
 <launch>
 
-  <!-- TrajOpt Plugin for MoveIt! -->
+  <!-- TrajOpt Plugin for MoveIt -->
   <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
 
   <!-- The request adapters (plugins) used when planning with TrajOpt.

From 0f2b88ee4e68fc3665bbd53eeb1383c2ac4b55bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 7 Sep 2020 18:33:16 +0200
Subject: [PATCH 442/612] MSA: only write default_planner_config field if any
 is selected (#2293)

Otherwise, we get entries like this in ompl_planning.yaml, where "None", of course, is not a valid planner config:

arm:
    default_planner_config: None
---
 moveit_setup_assistant/src/tools/moveit_config_data.cpp      | 5 +++--
 .../src/widgets/planning_groups_widget.cpp                   | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index ff2e3aa276..f32c11dbda 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -242,7 +242,8 @@ bool MoveItConfigData::outputOMPLPlanningYAML(const std::string& file_path)
     emitter << YAML::Key << group.name_;
     emitter << YAML::Value << YAML::BeginMap;
     // Output associated planners
-    emitter << YAML::Key << "default_planner_config" << YAML::Value << group_meta_data_[group.name_].default_planner_;
+    if (!group_meta_data_[group.name_].default_planner_.empty())
+      emitter << YAML::Key << "default_planner_config" << YAML::Value << group_meta_data_[group.name_].default_planner_;
     emitter << YAML::Key << "planner_configs";
     emitter << YAML::Value << YAML::BeginSeq;
     for (const std::string& pconfig : pconfigs)
@@ -272,7 +273,7 @@ bool MoveItConfigData::outputOMPLPlanningYAML(const std::string& file_path)
     return false;
   }
 
-  output_stream << emitter.c_str();
+  output_stream << emitter.c_str() << std::endl;
   output_stream.close();
 
   return true;  // file created successfully
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 304b53becc..1f9aabd730 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -1240,7 +1240,7 @@ bool PlanningGroupsWidget::saveGroupScreen()
   config_data_->group_meta_data_[group_name].kinematics_solver_search_resolution_ = kinematics_resolution_double;
   config_data_->group_meta_data_[group_name].kinematics_solver_timeout_ = kinematics_timeout_double;
   config_data_->group_meta_data_[group_name].kinematics_parameters_file_ = kinematics_parameters_file;
-  config_data_->group_meta_data_[group_name].default_planner_ = default_planner;
+  config_data_->group_meta_data_[group_name].default_planner_ = (default_planner == "None" ? "" : default_planner);
   config_data_->changes |= MoveItConfigData::GROUP_KINEMATICS;
 
   // Reload main screen table

From 8771af6b276fab7b77bc852f9f968945fcafcca1 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 8 Sep 2020 15:12:53 +0200
Subject: [PATCH 443/612] Replace panda_moveit_config ->
 moveit_resources_panda_moveit_config (#2300)

This fixes a failing test on the ROS buildfarm: http://build.ros.org/job/Ndev__moveit__ubuntu_focal_amd64/1
---
 moveit_ros/planning_interface/test/subframes_test.test | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/test/subframes_test.test b/moveit_ros/planning_interface/test/subframes_test.test
index 64d3bef441..761b8210ad 100644
--- a/moveit_ros/planning_interface/test/subframes_test.test
+++ b/moveit_ros/planning_interface/test/subframes_test.test
@@ -1,6 +1,6 @@
 <launch>
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -17,7 +17,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Run the main MoveIt executable with fake trajectory execution -->
-  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>

From 736bb83d94489c1a5cbb4d0a71baf2384c60e2b9 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sat, 12 Sep 2020 04:27:34 -0600
Subject: [PATCH 444/612] [maint] Remove patch status from codecov (#2306)

---
 codecov.yaml | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/codecov.yaml b/codecov.yaml
index 91bb43379c..3999cdb452 100644
--- a/codecov.yaml
+++ b/codecov.yaml
@@ -7,7 +7,4 @@ coverage:
       default:
         target: auto
         threshold: 5%
-    patch:
-      default:
-        target: auto
-        threshold: 5%
+    patch: off

From 089f983de9ab4903f40c12e4a199a253e1e43e4c Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Mon, 14 Sep 2020 04:06:02 +0900
Subject: [PATCH 445/612] Update codeowners file (#2309)

---
 .github/CODEOWNERS | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index f67b645235..3ccad28aee 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -51,12 +51,12 @@
 /moveit_core/kinematics_base/                               @rhaschke @mlautman
 /moveit_core/kinematics_metrics/                            @gavanderhoorn
 /moveit_core/macros/                                        @tylerjw
-/moveit_core/planning_interface/                            @rhaschke
-/moveit_core/planning_request_adapter/                      @rhaschke
-/moveit_core/planning_scene/                                @rhaschke
+/moveit_core/planning_interface/                            @rhaschke @felixvd
+/moveit_core/planning_request_adapter/                      @rhaschke 
+/moveit_core/planning_scene/                                @rhaschke @felixvd
 /moveit_core/profiler/                                      @tylerjw
 /moveit_core/robot_model/                                   @tylerjw
-/moveit_core/robot_state/                                   @rhaschke @mlautman
+/moveit_core/robot_state/                                   @rhaschke @mlautman @felixvd
 /moveit_core/robot_trajectory/                              @mlautman
 /moveit_core/sensor_manager/                                @mlautman
 /moveit_core/trajectory_processing/                         @mlautman
@@ -75,11 +75,11 @@
 /moveit_ros/perception/	                                    @jliukkonen @RoboticsYY
 /moveit_ros/manipulation/	                            @v4hn @felixvd
 /moveit_ros/benchmarks/	                                    @henningkayser @MohmadAyman
-/moveit_ros/planning_interface/	                            @mintar @rhaschke
+/moveit_ros/planning_interface/	                            @mintar @rhaschke @felixvd
 /moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
 /moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
 /moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @tylerjw @RoboticsYY
+/moveit_ros/visualization/	                            @rhaschke @tylerjw @RoboticsYY @felixvd
 
 /moveit_ros/planning/collision_plugin_loader/               @j-petit
 /moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks

From a3516e6ebcdb5b27c18945c7928dc1284d09fbf3 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Sun, 13 Sep 2020 14:02:14 -0600
Subject: [PATCH 446/612] [fix] Servo heap-buffer-overflow bug (#2307)

---
 moveit_ros/moveit_servo/src/servo_calcs.cpp | 22 +++++++++++++--------
 1 file changed, 14 insertions(+), 8 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 5e756697f5..c28a36fd0b 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -37,6 +37,8 @@
  *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
  */
 
+#include <cassert>
+
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
@@ -796,22 +798,26 @@ bool ServoCalcs::enforceSRDFPositionLimits()
 // Is handled differently for position vs. velocity control.
 void ServoCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 {
-  if (joint_trajectory.points.empty())
-  {
-    joint_trajectory.points.push_back(trajectory_msgs::JointTrajectoryPoint());
-    joint_trajectory.points[0].positions.resize(num_joints_);
-    joint_trajectory.points[0].velocities.resize(num_joints_);
-  }
+  // Prepare the joint trajectory message to stop the robot
+  joint_trajectory.points.clear();
+  joint_trajectory.points.emplace_back();
+  trajectory_msgs::JointTrajectoryPoint& point = joint_trajectory.points.front();
+  point.positions.resize(num_joints_);
+  point.velocities.resize(num_joints_);
+
+  // Assert the following loop is safe to execute
+  assert(original_joint_state_.position.size() >= num_joints_);
 
+  // Set the positions and velocities vectors
   for (std::size_t i = 0; i < num_joints_; ++i)
   {
     // For position-controlled robots, can reset the joints to a known, good state
     if (parameters_.publish_joint_positions)
-      joint_trajectory.points[0].positions[i] = original_joint_state_.position[i];
+      point.positions[i] = original_joint_state_.position[i];
 
     // For velocity-controlled robots, stop
     if (parameters_.publish_joint_velocities)
-      joint_trajectory.points[0].velocities[i] = 0;
+      point.velocities[i] = 0;
   }
 }
 

From 802e596a2283b64f4582d802c5f79e1f3d57def0 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Tue, 15 Sep 2020 15:36:06 +0900
Subject: [PATCH 447/612] Add comment to MOVEIT_CLASS_FORWARD (#2315)

---
 .../moveit/collision_detection/collision_common.h    |  2 +-
 .../collision_detector_allocator.h                   |  2 +-
 .../moveit/collision_detection/collision_env.h       |  2 +-
 .../moveit/collision_detection/collision_matrix.h    |  2 +-
 .../moveit/collision_detection/collision_plugin.h    |  2 +-
 .../include/moveit/collision_detection/world.h       |  4 ++--
 .../include/moveit/collision_detection/world_diff.h  |  2 +-
 .../collision_distance_field_types.h                 |  2 +-
 .../collision_env_distance_field.h                   |  2 +-
 .../moveit/constraint_samplers/constraint_sampler.h  |  2 +-
 .../constraint_sampler_allocator.h                   |  2 +-
 .../constraint_samplers/constraint_sampler_manager.h |  2 +-
 .../default_constraint_samplers.h                    |  4 ++--
 .../moveit/controller_manager/controller_manager.h   |  4 ++--
 .../include/moveit/distance_field/distance_field.h   |  4 ++--
 .../include/moveit/dynamics_solver/dynamics_solver.h |  2 +-
 .../kinematic_constraints/kinematic_constraint.h     | 12 ++++++------
 .../include/moveit/kinematics_base/kinematics_base.h |  2 +-
 .../moveit/kinematics_metrics/kinematics_metrics.h   |  2 +-
 .../moveit/planning_interface/planning_interface.h   |  6 +++---
 .../planning_request_adapter.h                       |  2 +-
 .../include/moveit/planning_scene/planning_scene.h   |  2 +-
 .../include/moveit/robot_model/link_model.h          |  2 +-
 .../include/moveit/robot_model/robot_model.h         |  2 +-
 .../include/moveit/robot_state/robot_state.h         |  2 +-
 .../moveit/robot_trajectory/robot_trajectory.h       |  2 +-
 .../include/moveit/sensor_manager/sensor_manager.h   |  2 +-
 .../include/moveit/transforms/transforms.h           |  2 +-
 .../include/chomp_interface/chomp_interface.h        |  2 +-
 .../include/chomp_interface/chomp_planning_context.h |  2 +-
 .../OMPLDynamicReconfigureConfig.h                   |  4 ++--
 .../detail/constrained_valid_state_sampler.h         |  2 +-
 .../ompl_interface/detail/constraints_library.h      |  2 +-
 .../ompl_interface/model_based_planning_context.h    |  4 ++--
 .../model_based_state_space_factory.h                |  2 +-
 .../include/trajopt_interface/problem_description.h  | 10 +++++-----
 .../include/trajopt_interface/trajopt_interface.h    |  2 +-
 .../trajopt_interface/trajopt_planning_context.h     |  2 +-
 .../src/moveit_fake_controllers.h                    |  2 +-
 .../moveit_ros_control_interface/ControllerHandle.h  |  2 +-
 .../src/controller_manager_plugin.cpp                |  2 +-
 .../action_based_controller_handle.h                 |  3 ++-
 .../include/moveit/pick_place/manipulation_stage.h   |  2 +-
 .../include/moveit/pick_place/pick_place.h           |  6 +++---
 .../moveit/move_group/move_group_capability.h        |  2 +-
 .../include/moveit/move_group/move_group_context.h   | 10 +++++-----
 .../occupancy_map_monitor/occupancy_map_updater.h    |  2 +-
 .../include/moveit/mesh_filter/filter_job.h          |  2 +-
 .../include/moveit/mesh_filter/gl_renderer.h         |  2 +-
 .../include/moveit/mesh_filter/mesh_filter_base.h    |  4 ++--
 .../include/moveit/mesh_filter/sensor_model.h        |  2 +-
 .../include/moveit/mesh_filter/transform_provider.h  |  2 +-
 .../include/moveit/semantic_world/semantic_world.h   |  4 ++--
 .../collision_plugin_loader.h                        |  2 +-
 .../constraint_sampler_manager_loader.h              |  3 ++-
 .../kinematics_plugin_loader.h                       |  4 ++--
 .../include/moveit/plan_execution/plan_execution.h   |  2 +-
 .../moveit/plan_execution/plan_with_sensing.h        |  2 +-
 .../moveit/planning_pipeline/planning_pipeline.h     |  2 +-
 .../planning_scene_monitor/current_state_monitor.h   |  2 +-
 .../planning_scene_monitor/planning_scene_monitor.h  |  2 +-
 .../planning_scene_monitor/trajectory_monitor.h      |  2 +-
 .../include/moveit/rdf_loader/rdf_loader.h           |  2 +-
 .../moveit/robot_model_loader/robot_model_loader.h   |  2 +-
 .../trajectory_execution_manager.h                   |  2 +-
 .../move_group_interface/move_group_interface.h      |  2 +-
 .../include/moveit/moveit_cpp/moveit_cpp.h           |  2 +-
 .../include/moveit/moveit_cpp/planning_component.h   |  2 +-
 .../planning_scene_interface.h                       |  2 +-
 .../moveit/robot_interaction/interaction_handler.h   |  6 +++---
 .../moveit/robot_interaction/locked_robot_state.h    |  2 +-
 .../moveit/robot_interaction/robot_interaction.h     |  6 +++---
 .../motion_planning_frame.h                          |  6 +++---
 .../motion_planning_param_widget.h                   |  2 +-
 .../rviz_plugin_render_tools/planning_scene_render.h |  6 +++---
 .../moveit/rviz_plugin_render_tools/render_shapes.h  |  4 ++--
 .../robot_state_visualization.h                      |  4 ++--
 .../trajectory_visualization.h                       |  2 +-
 .../include/moveit/warehouse/constraints_storage.h   |  2 +-
 .../moveit/warehouse/planning_scene_storage.h        |  2 +-
 .../include/moveit/warehouse/state_storage.h         |  2 +-
 .../warehouse/trajectory_constraints_storage.h       |  2 +-
 .../tools/compute_default_collisions.h               |  2 +-
 .../setup_assistant/tools/moveit_config_data.h       |  2 +-
 84 files changed, 122 insertions(+), 120 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index b10ce1a479..93d594de29 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -47,7 +47,7 @@
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);
+MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);  // Defines AllowedCollisionMatrixPtr, ConstPtr, WeakPtr... etc
 
 /** \brief The types of bodies that are considered for collision */
 namespace BodyTypes
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
index f428066b42..05df2799a0 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.h
@@ -41,7 +41,7 @@
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);
+MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);  // Defines CollisionDetectorAllocatorPtr, ConstPtr, WeakPtr... etc
 
 /** \brief An allocator for a compatible CollisionWorld/CollisionRobot pair. */
 class CollisionDetectorAllocator
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
index 0b76908fac..0dc01a5a10 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
@@ -45,7 +45,7 @@
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(CollisionEnv);
+MOVEIT_CLASS_FORWARD(CollisionEnv);  // Defines CollisionEnvPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Provides the interface to the individual collision checking libraries. */
 class CollisionEnv
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
index 3438fcd469..3072591919 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
@@ -71,7 +71,7 @@ enum Type
  * CONDITIONAL) */
 typedef boost::function<bool(collision_detection::Contact&)> DecideContactFn;
 
-MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);
+MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);  // Defines AllowedCollisionMatrixPtr, ConstPtr, WeakPtr... etc
 
 /** @class AllowedCollisionMatrix
  *  @brief Definition of a structure for the allowed collision matrix. All elements in the collision world are referred
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
index 320265eb6b..0873e6a816 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h
@@ -40,7 +40,7 @@
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(CollisionPlugin);
+MOVEIT_CLASS_FORWARD(CollisionPlugin);  // Defines CollisionPluginPtr, ConstPtr, WeakPtr... etc
 
 /**
  * @brief Plugin API for loading a custom collision detection robot/world.
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index e27502427d..6113dd6172 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -48,12 +48,12 @@
 
 namespace shapes
 {
-MOVEIT_CLASS_FORWARD(Shape);
+MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
 }
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(World);
+MOVEIT_CLASS_FORWARD(World);  // Defines WorldPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Maintain a representation of the environment */
 class World
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 77f851e330..9660d2dbce 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -41,7 +41,7 @@
 
 namespace collision_detection
 {
-MOVEIT_CLASS_FORWARD(WorldDiff);
+MOVEIT_CLASS_FORWARD(WorldDiff);  // Defines WorldDiffPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Maintain a diff list of changes that have happened to a World. */
 class WorldDiff
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index e66b9b0215..65601df003 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -109,7 +109,7 @@ struct GradientInfo
 };
 
 MOVEIT_CLASS_FORWARD(PosedDistanceField)
-MOVEIT_CLASS_FORWARD(BodyDecomposition);
+MOVEIT_CLASS_FORWARD(BodyDecomposition);  // Defines BodyDecompositionPtr, ConstPtr, WeakPtr... etc
 MOVEIT_CLASS_FORWARD(PosedBodySphereDecomposition)
 MOVEIT_CLASS_FORWARD(PosedBodyPointDecomposition)
 MOVEIT_CLASS_FORWARD(PosedBodySphereDecompositionVector)
diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
index a1f910d359..fc395a7463 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.h
@@ -53,7 +53,7 @@ static const double DEFAULT_RESOLUTION = .02;
 static const double DEFAULT_COLLISION_TOLERANCE = 0.0;
 static const double DEFAULT_MAX_PROPOGATION_DISTANCE = .25;
 
-MOVEIT_CLASS_FORWARD(CollisionEnvDistanceField);
+MOVEIT_CLASS_FORWARD(CollisionEnvDistanceField);  // Defines CollisionEnvDistanceFieldPtr, ConstPtr, WeakPtr... etc
 
 class CollisionEnvDistanceField : public CollisionEnv
 {
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
index c7d24b3741..40821f395e 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
@@ -50,7 +50,7 @@
  */
 namespace constraint_samplers
 {
-MOVEIT_CLASS_FORWARD(ConstraintSampler);
+MOVEIT_CLASS_FORWARD(ConstraintSampler);  // Defines ConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief ConstraintSampler is an abstract base class that allows the
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
index eb3d07fa07..8f992ed9d4 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h
@@ -41,7 +41,7 @@
 
 namespace constraint_samplers
 {
-MOVEIT_CLASS_FORWARD(ConstraintSamplerAllocator);
+MOVEIT_CLASS_FORWARD(ConstraintSamplerAllocator);  // Defines ConstraintSamplerAllocatorPtr, ConstPtr, WeakPtr... etc
 
 class ConstraintSamplerAllocator
 {
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
index cfcd2f2ffe..24f4334410 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h
@@ -41,7 +41,7 @@
 
 namespace constraint_samplers
 {
-MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);
+MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);  // Defines ConstraintSamplerManagerPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief This class assists in the generation of a ConstraintSampler for a
diff --git a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
index 2969c3f95a..062c98587c 100644
--- a/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
+++ b/moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
@@ -42,7 +42,7 @@
 
 namespace constraint_samplers
 {
-MOVEIT_CLASS_FORWARD(JointConstraintSampler);
+MOVEIT_CLASS_FORWARD(JointConstraintSampler);  // Defines JointConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief JointConstraintSampler is a class that allows the sampling
@@ -279,7 +279,7 @@ struct IKSamplingPose
       orientation_constraint_; /**< \brief Holds the orientation constraint for sampling */
 };
 
-MOVEIT_CLASS_FORWARD(IKConstraintSampler);
+MOVEIT_CLASS_FORWARD(IKConstraintSampler);  // Defines IKConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief A class that allows the sampling of IK constraints.
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index 18490b75d8..48abe31adb 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -98,7 +98,7 @@ struct ExecutionStatus
   Value status_;
 };
 
-MOVEIT_CLASS_FORWARD(MoveItControllerHandle);
+MOVEIT_CLASS_FORWARD(MoveItControllerHandle);  // Defines MoveItControllerHandlePtr, ConstPtr, WeakPtr... etc
 
 /** \brief MoveIt sends commands to a controller via a handle that satisfies this interface. */
 class MoveItControllerHandle
@@ -146,7 +146,7 @@ class MoveItControllerHandle
   std::string name_;
 };
 
-MOVEIT_CLASS_FORWARD(MoveItControllerManager);
+MOVEIT_CLASS_FORWARD(MoveItControllerManager);  // Defines MoveItControllerManagerPtr, ConstPtr, WeakPtr... etc
 
 /** @brief MoveIt does not enforce how controllers are implemented.
     To make your controllers usable by MoveIt, this interface needs to be implemented.
diff --git a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
index 19af4573a8..b5f516c0bf 100644
--- a/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
+++ b/moveit_core/distance_field/include/moveit/distance_field/distance_field.h
@@ -47,7 +47,7 @@
 
 namespace shapes
 {
-MOVEIT_CLASS_FORWARD(Shape);
+MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
 }
 namespace octomap
 {
@@ -71,7 +71,7 @@ enum PlaneVisualizationType
   YZ_PLANE
 };
 
-MOVEIT_CLASS_FORWARD(DistanceField);
+MOVEIT_CLASS_FORWARD(DistanceField);  // Defines DistanceFieldPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief DistanceField is an abstract base class for computing
diff --git a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
index 6e46a929c5..a2db344a52 100644
--- a/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
+++ b/moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
@@ -49,7 +49,7 @@
 /** \brief This namespace includes the dynamics_solver library */
 namespace dynamics_solver
 {
-MOVEIT_CLASS_FORWARD(DynamicsSolver);
+MOVEIT_CLASS_FORWARD(DynamicsSolver);  // Defines DynamicsSolverPtr, ConstPtr, WeakPtr... etc
 
 /**
  * This solver currently computes the required torques given a
diff --git a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
index 314b1683ce..cc634c4019 100644
--- a/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
+++ b/moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -71,7 +71,7 @@ struct ConstraintEvaluationResult
   double distance; /**< \brief The distance evaluation from the constraint or constraints */
 };
 
-MOVEIT_CLASS_FORWARD(KinematicConstraint);
+MOVEIT_CLASS_FORWARD(KinematicConstraint);  // Defines KinematicConstraintPtr, ConstPtr, WeakPtr... etc
 
 /// \brief Base class for representing a kinematic constraint
 class KinematicConstraint
@@ -178,7 +178,7 @@ class KinematicConstraint
                                 distance computed by the decide() function  */
 };
 
-MOVEIT_CLASS_FORWARD(JointConstraint);
+MOVEIT_CLASS_FORWARD(JointConstraint);  // Defines JointConstraintPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief Class for handling single DOF joint constraints.
@@ -331,7 +331,7 @@ class JointConstraint : public KinematicConstraint
   double joint_position_, joint_tolerance_above_, joint_tolerance_below_; /**< \brief Position and tolerance values*/
 };
 
-MOVEIT_CLASS_FORWARD(OrientationConstraint);
+MOVEIT_CLASS_FORWARD(OrientationConstraint);  // Defines OrientationConstraintPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief Class for constraints on the orientation of a link
@@ -490,7 +490,7 @@ class OrientationConstraint : public KinematicConstraint
       absolute_z_axis_tolerance_; /**< \brief Storage for the tolerances */
 };
 
-MOVEIT_CLASS_FORWARD(PositionConstraint);
+MOVEIT_CLASS_FORWARD(PositionConstraint);  // Defines PositionConstraintPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief Class for constraints on the XYZ position of a link
@@ -652,7 +652,7 @@ class PositionConstraint : public KinematicConstraint
   const moveit::core::LinkModel* link_model_; /**< \brief The link model constraint subject */
 };
 
-MOVEIT_CLASS_FORWARD(VisibilityConstraint);
+MOVEIT_CLASS_FORWARD(VisibilityConstraint);  // Defines VisibilityConstraintPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief Class for constraints on the visibility relationship between
@@ -852,7 +852,7 @@ class VisibilityConstraint : public KinematicConstraint
   double max_range_angle_;           /**< \brief Storage for the max range angle */
 };
 
-MOVEIT_CLASS_FORWARD(KinematicConstraintSet);
+MOVEIT_CLASS_FORWARD(KinematicConstraintSet);  // Defines KinematicConstraintSetPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief A class that contains many different constraints, and can
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 5f46385b28..1a9b3c9b69 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -135,7 +135,7 @@ struct KinematicsResult
                                        of solutions explored. */
 };
 
-MOVEIT_CLASS_FORWARD(KinematicsBase);
+MOVEIT_CLASS_FORWARD(KinematicsBase);  // Defines KinematicsBasePtr, ConstPtr, WeakPtr... etc
 
 /**
  * @class KinematicsBase
diff --git a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
index 26b584e054..ab532a166f 100644
--- a/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
+++ b/moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
@@ -41,7 +41,7 @@
 /** @brief Namespace for kinematics metrics */
 namespace kinematics_metrics
 {
-MOVEIT_CLASS_FORWARD(KinematicsMetrics);
+MOVEIT_CLASS_FORWARD(KinematicsMetrics);  // Defines KinematicsMetricsPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief Compute different kinds of metrics for kinematics evaluation. Currently includes
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
index 5d785abc96..b180d653ed 100644
--- a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
+++ b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -44,7 +44,7 @@
 
 namespace planning_scene
 {
-MOVEIT_CLASS_FORWARD(PlanningScene);
+MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
 }
 
 /** \brief This namespace includes the base class for MoveIt planners */
@@ -73,7 +73,7 @@ struct PlannerConfigurationSettings
 /** \brief Map from PlannerConfigurationSettings.name to PlannerConfigurationSettings */
 typedef std::map<std::string, PlannerConfigurationSettings> PlannerConfigurationMap;
 
-MOVEIT_CLASS_FORWARD(PlanningContext);
+MOVEIT_CLASS_FORWARD(PlanningContext);  // Defines PlanningContextPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Representation of a particular planning context -- the planning scene and the request are known,
     solution is not yet computed. */
@@ -144,7 +144,7 @@ class PlanningContext
   MotionPlanRequest request_;
 };
 
-MOVEIT_CLASS_FORWARD(PlannerManager);
+MOVEIT_CLASS_FORWARD(PlannerManager);  // Defines PlannerManagerPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Base class for a MoveIt planner */
 class PlannerManager
diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index ab7f69b8c9..1f834b71ea 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -44,7 +44,7 @@
 /** \brief Generic interface to adapting motion planning requests */
 namespace planning_request_adapter
 {
-MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);
+MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
 
 class PlanningRequestAdapter
 {
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 4430d84250..74c6532847 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -59,7 +59,7 @@
 /** \brief This namespace includes the central class for representing planning contexts */
 namespace planning_scene
 {
-MOVEIT_CLASS_FORWARD(PlanningScene);
+MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
 
 /** \brief This is the function signature for additional feasibility checks to be imposed on states (in addition to
    respecting constraints and collision avoidance).
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index 0c00369a48..ce799745da 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -47,7 +47,7 @@
 
 namespace shapes
 {
-MOVEIT_CLASS_FORWARD(Shape);
+MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
 }
 
 namespace moveit
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 434afe842e..a53bdb1af7 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -59,7 +59,7 @@ namespace moveit
 /** \brief Core components of MoveIt */
 namespace core
 {
-MOVEIT_CLASS_FORWARD(RobotModel);
+MOVEIT_CLASS_FORWARD(RobotModel);  // Defines RobotModelPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Definition of a kinematic model. This class is not thread
     safe, however multiple instances can be created */
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 968509fe4b..a762528935 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -59,7 +59,7 @@ namespace moveit
 {
 namespace core
 {
-MOVEIT_CLASS_FORWARD(RobotState);
+MOVEIT_CLASS_FORWARD(RobotState);  // Defines RobotStatePtr, ConstPtr, WeakPtr... etc
 
 /** \brief Signature for functions that can verify that if the group \e joint_group in \e robot_state is set to \e
    joint_group_variable_values
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index 6961c1c6c0..f595570b7d 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -44,7 +44,7 @@
 
 namespace robot_trajectory
 {
-MOVEIT_CLASS_FORWARD(RobotTrajectory);
+MOVEIT_CLASS_FORWARD(RobotTrajectory);  // Defines RobotTrajectoryPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Maintain a sequence of waypoints and the time durations
     between these waypoints */
diff --git a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
index 34dc28fb0e..99f50e55a1 100644
--- a/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
+++ b/moveit_core/sensor_manager/include/moveit/sensor_manager/sensor_manager.h
@@ -70,7 +70,7 @@ struct SensorInfo
   double y_angle;
 };
 
-MOVEIT_CLASS_FORWARD(MoveItSensorManager);
+MOVEIT_CLASS_FORWARD(MoveItSensorManager);  // Defines MoveItSensorManagerPtr, ConstPtr, WeakPtr... etc
 
 class MoveItSensorManager
 {
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 799dd8e9a5..0a13c7b85e 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -45,7 +45,7 @@ namespace moveit
 {
 namespace core
 {
-MOVEIT_CLASS_FORWARD(Transforms);
+MOVEIT_CLASS_FORWARD(Transforms);  // Defines TransformsPtr, ConstPtr, WeakPtr... etc
 
 /// @brief Map frame names to the transformation matrix that can transform objects from the frame name to the planning
 /// frame
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
index e742d0455b..11778c1951 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.h
@@ -42,7 +42,7 @@
 
 namespace chomp_interface
 {
-MOVEIT_CLASS_FORWARD(CHOMPInterface);
+MOVEIT_CLASS_FORWARD(CHOMPInterface);  // Defines CHOMPInterfacePtr, ConstPtr, WeakPtr... etc
 
 class CHOMPInterface : public chomp::ChompPlanner
 {
diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
index 124a83f333..31bdc0100f 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
@@ -41,7 +41,7 @@
 
 namespace chomp_interface
 {
-MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);
+MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);  // Defines CHOMPPlanningContextPtr, ConstPtr, WeakPtr... etc
 
 class CHOMPPlanningContext : public planning_interface::PlanningContext
 {
diff --git a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
index 3814d0356f..ce7a56b432 100644
--- a/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
+++ b/moveit_planners/ompl/ompl_interface/cfg/cpp/ompl_interface_ros/OMPLDynamicReconfigureConfig.h
@@ -62,7 +62,7 @@ class OMPLDynamicReconfigureConfigStatics;
 class OMPLDynamicReconfigureConfig
 {
 public:
-  MOVEIT_CLASS_FORWARD(AbstractParamDescription);
+  MOVEIT_CLASS_FORWARD(AbstractParamDescription);  // Defines AbstractParamDescriptionPtr, ConstPtr, WeakPtr... etc
   class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
   {
   public:
@@ -141,7 +141,7 @@ class OMPLDynamicReconfigureConfig
     }
   };
 
-  MOVEIT_CLASS_FORWARD(AbstractGroupDescription);
+  MOVEIT_CLASS_FORWARD(AbstractGroupDescription);  // Defines AbstractGroupDescriptionPtr, ConstPtr, WeakPtr... etc
   class AbstractGroupDescription : public dynamic_reconfigure::Group
   {
   public:
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
index e9b4413028..8dbcd93a5e 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_valid_state_sampler.h
@@ -45,7 +45,7 @@ namespace ompl_interface
 {
 class ModelBasedPlanningContext;
 
-MOVEIT_CLASS_FORWARD(ValidStateSampler);
+MOVEIT_CLASS_FORWARD(ValidStateSampler);  // Defines ValidStateSamplerPtr, ConstPtr, WeakPtr... etc
 
 /** @class ValidConstrainedSampler
  *  This class defines a sampler that tries to find a valid sample that satisfies the specified constraints */
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
index 85c278bff5..2b4c8c759c 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
@@ -155,7 +155,7 @@ struct ConstraintApproximationConstructionResults
   double sampling_success_rate;
 };
 
-MOVEIT_CLASS_FORWARD(ConstraintsLibrary);
+MOVEIT_CLASS_FORWARD(ConstraintsLibrary);  // Defines ConstraintsLibraryPtr, ConstPtr, WeakPtr... etc
 
 class ConstraintsLibrary
 {
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
index 7391024b66..288439e6e9 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -52,8 +52,8 @@ namespace ob = ompl::base;
 namespace og = ompl::geometric;
 namespace ot = ompl::tools;
 
-MOVEIT_CLASS_FORWARD(ModelBasedPlanningContext);
-MOVEIT_CLASS_FORWARD(ConstraintsLibrary);
+MOVEIT_CLASS_FORWARD(ModelBasedPlanningContext);  // Defines ModelBasedPlanningContextPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(ConstraintsLibrary);         // Defines ConstraintsLibraryPtr, ConstPtr, WeakPtr... etc
 
 struct ModelBasedPlanningContextSpecification;
 typedef std::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name,
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
index 4b71b32e0f..e511f7590c 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
@@ -42,7 +42,7 @@
 
 namespace ompl_interface
 {
-MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory);
+MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory);  // Defines ModelBasedStateSpaceFactoryPtr, ConstPtr, WeakPtr... etc
 
 class ModelBasedStateSpaceFactory
 {
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 825c82262d..6ad995e4ff 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -38,19 +38,19 @@ where j indexes over DOF, and \f$c_j\f$ are the coeffs.
 */
 
 struct TermInfo;
-MOVEIT_CLASS_FORWARD(TermInfo);
+MOVEIT_CLASS_FORWARD(TermInfo);  // Defines TermInfoPtr, ConstPtr, WeakPtr... etc
 
 class TrajOptProblem;
-MOVEIT_CLASS_FORWARD(TrajOptProblem);
+MOVEIT_CLASS_FORWARD(TrajOptProblem);  // Defines TrajOptProblemPtr, ConstPtr, WeakPtr... etc
 
 struct JointPoseTermInfo;
-MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
+MOVEIT_CLASS_FORWARD(JointPoseTermInfo);  // Defines JointPoseTermInfoPtr, ConstPtr, WeakPtr... etc
 
 struct CartPoseTermInfo;
-MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
+MOVEIT_CLASS_FORWARD(CartPoseTermInfo);  // Defines CartPoseTermInfoPtr, ConstPtr, WeakPtr... etc
 
 struct JointVelTermInfo;
-MOVEIT_CLASS_FORWARD(JointVelTermInfo);
+MOVEIT_CLASS_FORWARD(JointVelTermInfo);  // Defines JointVelTermInfoPtr, ConstPtr, WeakPtr... etc
 
 struct ProblemInfo;
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index a6a1c18631..bb48692b88 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -42,7 +42,7 @@
 
 namespace trajopt_interface
 {
-MOVEIT_CLASS_FORWARD(TrajOptInterface);
+MOVEIT_CLASS_FORWARD(TrajOptInterface);  // Defines TrajOptInterfacePtr, ConstPtr, WeakPtr... etc
 
 class TrajOptInterface
 {
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index c3d6390164..9c06eb0f5e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -7,7 +7,7 @@
 
 namespace trajopt_interface
 {
-MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
+MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);  // Defines TrajOptPlanningContextPtr, ConstPtr, WeakPtr... etc
 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
diff --git a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
index 35ae72ec86..24e08d9712 100644
--- a/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
+++ b/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.h
@@ -46,7 +46,7 @@
 
 namespace moveit_fake_controller_manager
 {
-MOVEIT_CLASS_FORWARD(BaseFakeController);
+MOVEIT_CLASS_FORWARD(BaseFakeController);  // Defines BaseFakeControllerPtr, ConstPtr, WeakPtr... etc
 
 // common base class to all fake controllers in this package
 class BaseFakeController : public moveit_controller_manager::MoveItControllerHandle
diff --git a/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h b/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
index 9d39837d79..6bc78f7aac 100644
--- a/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
+++ b/moveit_plugins/moveit_ros_control_interface/include/moveit_ros_control_interface/ControllerHandle.h
@@ -41,7 +41,7 @@
 
 namespace moveit_ros_control_interface
 {
-MOVEIT_CLASS_FORWARD(ControllerHandleAllocator);
+MOVEIT_CLASS_FORWARD(ControllerHandleAllocator);  // Defines ControllerHandleAllocatorPtr, ConstPtr, WeakPtr... etc
 
 /**
  * Base class for MoveItControllerHandle allocators
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
index b32583b11b..c40ade2940 100644
--- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
+++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -73,7 +73,7 @@ bool checkTimeout(ros::Time& t, double timeout, bool force = false)
   return false;
 }
 
-MOVEIT_CLASS_FORWARD(MoveItControllerManager);
+MOVEIT_CLASS_FORWARD(MoveItControllerManager);  // Defines MoveItControllerManagerPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief moveit_controller_manager::MoveItControllerManager sub class that interfaces one ros_control
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
index 5e093e68a7..bc93e429da 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -61,7 +61,8 @@ class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveIt
   }
 };
 
-MOVEIT_CLASS_FORWARD(ActionBasedControllerHandleBase);
+MOVEIT_CLASS_FORWARD(
+    ActionBasedControllerHandleBase);  // Defines ActionBasedControllerHandleBasePtr, ConstPtr, WeakPtr... etc
 
 /*
  * This is a simple base class, which handles all of the action creation/etc
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
index d71b930040..14636fe688 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/manipulation_stage.h
@@ -42,7 +42,7 @@
 
 namespace pick_place
 {
-MOVEIT_CLASS_FORWARD(ManipulationStage);
+MOVEIT_CLASS_FORWARD(ManipulationStage);  // Defines ManipulationStagePtr, ConstPtr, WeakPtr... etc
 
 class ManipulationStage
 {
diff --git a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
index 6c2118562a..7781179ddf 100644
--- a/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
+++ b/moveit_ros/manipulation/pick_place/include/moveit/pick_place/pick_place.h
@@ -48,7 +48,7 @@
 
 namespace pick_place
 {
-MOVEIT_CLASS_FORWARD(PickPlace);
+MOVEIT_CLASS_FORWARD(PickPlace);  // Defines PickPlacePtr, ConstPtr, WeakPtr... etc
 
 class PickPlacePlanBase
 {
@@ -92,7 +92,7 @@ class PickPlacePlanBase
   moveit_msgs::MoveItErrorCodes error_code_;
 };
 
-MOVEIT_CLASS_FORWARD(PickPlan);
+MOVEIT_CLASS_FORWARD(PickPlan);  // Defines PickPlanPtr, ConstPtr, WeakPtr... etc
 
 class PickPlan : public PickPlacePlanBase
 {
@@ -101,7 +101,7 @@ class PickPlan : public PickPlacePlanBase
   bool plan(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::PickupGoal& goal);
 };
 
-MOVEIT_CLASS_FORWARD(PlacePlan);
+MOVEIT_CLASS_FORWARD(PlacePlan);  // Defines PlacePlanPtr, ConstPtr, WeakPtr... etc
 
 class PlacePlan : public PickPlacePlanBase
 {
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
index 633b19be12..cf3798738b 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
@@ -52,7 +52,7 @@ enum MoveGroupState
   LOOK
 };
 
-MOVEIT_CLASS_FORWARD(MoveGroupCapability);
+MOVEIT_CLASS_FORWARD(MoveGroupCapability);  // Defines MoveGroupCapabilityPtr, ConstPtr, WeakPtr... etc
 
 class MoveGroupCapability
 {
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
index 97c1ddf881..4648c0fc5b 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_context.h
@@ -40,23 +40,23 @@
 
 namespace planning_scene_monitor
 {
-MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
+MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);  // Defines PlanningSceneMonitorPtr, ConstPtr, WeakPtr... etc
 }
 
 namespace planning_pipeline
 {
-MOVEIT_CLASS_FORWARD(PlanningPipeline);
+MOVEIT_CLASS_FORWARD(PlanningPipeline);  // Defines PlanningPipelinePtr, ConstPtr, WeakPtr... etc
 }
 
 namespace plan_execution
 {
-MOVEIT_CLASS_FORWARD(PlanExecution);
-MOVEIT_CLASS_FORWARD(PlanWithSensing);
+MOVEIT_CLASS_FORWARD(PlanExecution);    // Defines PlanExecutionPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(PlanWithSensing);  // Defines PlanWithSensingPtr, ConstPtr, WeakPtr... etc
 }  // namespace plan_execution
 
 namespace trajectory_execution_manager
 {
-MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
+MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);  // Defines TrajectoryExecutionManagerPtr, ConstPtr, WeakPtr... etc
 }
 
 namespace move_group
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
index edd896ddeb..902246a2a4 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
@@ -53,7 +53,7 @@ typedef boost::function<bool(const std::string& target_frame, const ros::Time& t
 
 class OccupancyMapMonitor;
 
-MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);
+MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);  // Defines OccupancyMapUpdaterPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Base class for classes which update the occupancy map.
  */
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
index f3331e809c..eb97306f79 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/filter_job.h
@@ -43,7 +43,7 @@
 
 namespace mesh_filter
 {
-MOVEIT_CLASS_FORWARD(Job);
+MOVEIT_CLASS_FORWARD(Job);  // Defines JobPtr, ConstPtr, WeakPtr... etc
 
 /**
  * \brief This class is used to execute functions within the thread that holds the OpenGL context.
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
index 8ae3ee9f55..2c280c9e13 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
@@ -48,7 +48,7 @@
 
 namespace mesh_filter
 {
-MOVEIT_CLASS_FORWARD(GLRenderer);
+MOVEIT_CLASS_FORWARD(GLRenderer);  // Defines GLRendererPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Abstracts the OpenGL frame buffer objects, and provides an interface to render meshes, and retrieve the color
  * and depth ap from opengl.
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
index df6e35e7da..5c02d52cec 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
@@ -53,8 +53,8 @@ class Mesh;
 
 namespace mesh_filter
 {
-MOVEIT_CLASS_FORWARD(Job);
-MOVEIT_CLASS_FORWARD(GLMesh);
+MOVEIT_CLASS_FORWARD(Job);     // Defines JobPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(GLMesh);  // Defines GLMeshPtr, ConstPtr, WeakPtr... etc
 
 typedef unsigned int MeshHandle;
 typedef uint32_t LabelType;
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
index 40b831dc8e..607fb663c0 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
@@ -51,7 +51,7 @@ class GLRenderer;
 class SensorModel
 {
 public:
-  MOVEIT_CLASS_FORWARD(Parameters);
+  MOVEIT_CLASS_FORWARD(Parameters);  // Defines ParametersPtr, ConstPtr, WeakPtr... etc
 
   /**
    * \brief Abstract Interface defining Sensor Parameters.
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
index 247f1ae009..8f23a34970 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
@@ -120,7 +120,7 @@ class TransformProvider
    */
   void updateTransforms();
 
-  MOVEIT_CLASS_FORWARD(TransformContext);
+  MOVEIT_CLASS_FORWARD(TransformContext);  // Defines TransformContextPtr, ConstPtr, WeakPtr... etc
 
   /**
    * \brief Context Object for registered frames
diff --git a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
index 102780606d..a87c6ccb74 100644
--- a/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
+++ b/moveit_ros/perception/semantic_world/include/moveit/semantic_world/semantic_world.h
@@ -46,14 +46,14 @@
 
 namespace shapes
 {
-MOVEIT_CLASS_FORWARD(Shape);
+MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
 }
 
 namespace moveit
 {
 namespace semantic_world
 {
-MOVEIT_CLASS_FORWARD(SemanticWorld);
+MOVEIT_CLASS_FORWARD(SemanticWorld);  // Defines SemanticWorldPtr, ConstPtr, WeakPtr... etc
 
 /**
  * @brief A (simple) semantic world representation for pick and place and other tasks.
diff --git a/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h b/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
index b5709e824a..d498bac512 100644
--- a/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
+++ b/moveit_ros/planning/collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
@@ -62,7 +62,7 @@ class CollisionPluginLoader
   bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive);
 
 private:
-  MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl);
+  MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl);  // Defines CollisionPluginLoaderImplPtr, ConstPtr, WeakPtr... etc
   CollisionPluginLoaderImplPtr loader_;
 };
 
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
index f7f0f45dbb..74d808b59d 100644
--- a/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
+++ b/moveit_ros/planning/constraint_sampler_manager_loader/include/moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h
@@ -41,7 +41,8 @@
 
 namespace constraint_sampler_manager_loader
 {
-MOVEIT_CLASS_FORWARD(ConstraintSamplerManagerLoader);
+MOVEIT_CLASS_FORWARD(
+    ConstraintSamplerManagerLoader);  // Defines ConstraintSamplerManagerLoaderPtr, ConstPtr, WeakPtr... etc
 
 class ConstraintSamplerManagerLoader
 {
diff --git a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
index f0377b80ba..c3e47affc6 100644
--- a/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
+++ b/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
@@ -43,7 +43,7 @@
 
 namespace kinematics_plugin_loader
 {
-MOVEIT_CLASS_FORWARD(KinematicsPluginLoader);
+MOVEIT_CLASS_FORWARD(KinematicsPluginLoader);  // Defines KinematicsPluginLoaderPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Helper class for loading kinematics solvers */
 class KinematicsPluginLoader
@@ -103,7 +103,7 @@ class KinematicsPluginLoader
   std::string robot_description_;
   double default_search_resolution_;
 
-  MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl);
+  MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl);  // Defines KinematicsLoaderImplPtr, ConstPtr, WeakPtr... etc
   KinematicsLoaderImplPtr loader_;
 
   std::vector<std::string> groups_;
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
index 274a3ca022..c428071beb 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
@@ -47,7 +47,7 @@
 /** \brief This namespace includes functionality specific to the execution and monitoring of motion plans */
 namespace plan_execution
 {
-MOVEIT_CLASS_FORWARD(PlanExecution);
+MOVEIT_CLASS_FORWARD(PlanExecution);  // Defines PlanExecutionPtr, ConstPtr, WeakPtr... etc
 
 class PlanExecution
 {
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
index 5741e2e223..d05760afa0 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_with_sensing.h
@@ -48,7 +48,7 @@
 
 namespace plan_execution
 {
-MOVEIT_CLASS_FORWARD(PlanWithSensing);
+MOVEIT_CLASS_FORWARD(PlanWithSensing);  // Defines PlanWithSensingPtr, ConstPtr, WeakPtr... etc
 
 class PlanWithSensing
 {
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
index e7514f6702..543ea0f5b2 100644
--- a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -194,5 +194,5 @@ class PlanningPipeline
   ros::Publisher contacts_publisher_;
 };
 
-MOVEIT_CLASS_FORWARD(PlanningPipeline);
+MOVEIT_CLASS_FORWARD(PlanningPipeline);  // Defines PlanningPipelinePtr, ConstPtr, WeakPtr... etc
 }  // namespace planning_pipeline
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index 1df0a8a1af..7203eaa3eb 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -210,5 +210,5 @@ class CurrentStateMonitor
   std::shared_ptr<TFConnection> tf_connection_;
 };
 
-MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
+MOVEIT_CLASS_FORWARD(CurrentStateMonitor);  // Defines CurrentStateMonitorPtr, ConstPtr, WeakPtr... etc
 }  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index b0716f346f..941bb266c6 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -53,7 +53,7 @@
 
 namespace planning_scene_monitor
 {
-MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
+MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);  // Defines PlanningSceneMonitorPtr, ConstPtr, WeakPtr... etc
 
 /**
  * @brief PlanningSceneMonitor
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index 429d0163d8..c5aa8142b2 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -47,7 +47,7 @@ namespace planning_scene_monitor
 typedef boost::function<void(const moveit::core::RobotStateConstPtr& state, const ros::Time& stamp)>
     TrajectoryStateAddedCallback;
 
-MOVEIT_CLASS_FORWARD(TrajectoryMonitor);
+MOVEIT_CLASS_FORWARD(TrajectoryMonitor);  // Defines TrajectoryMonitorPtr, ConstPtr, WeakPtr... etc
 
 /** @class TrajectoryMonitor
     @brief Monitors the joint_states topic and tf to record the trajectory of the robot. */
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index d365ac8169..40e41a415b 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -42,7 +42,7 @@
 
 namespace rdf_loader
 {
-MOVEIT_CLASS_FORWARD(RDFLoader);
+MOVEIT_CLASS_FORWARD(RDFLoader);  // Defines RDFLoaderPtr, ConstPtr, WeakPtr... etc
 
 /** @class RDFLoader
  *  @brief Default constructor
diff --git a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
index c3b136d2ea..5eb084341f 100644
--- a/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
+++ b/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h
@@ -43,7 +43,7 @@
 
 namespace robot_model_loader
 {
-MOVEIT_CLASS_FORWARD(RobotModelLoader);
+MOVEIT_CLASS_FORWARD(RobotModelLoader);  // Defines RobotModelLoaderPtr, ConstPtr, WeakPtr... etc
 
 /** @class RobotModelLoader */
 class RobotModelLoader
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 22a7ee9eea..1506513902 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -51,7 +51,7 @@
 
 namespace trajectory_execution_manager
 {
-MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
+MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);  // Defines TrajectoryExecutionManagerPtr, ConstPtr, WeakPtr... etc
 
 // Two modes:
 // Managed controllers
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index ec8d70f0b4..862f6d7dd2 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -89,7 +89,7 @@ class MoveItErrorCode : public moveit_msgs::MoveItErrorCodes
   }
 };
 
-MOVEIT_CLASS_FORWARD(MoveGroupInterface);
+MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, ConstPtr, WeakPtr... etc
 
 /** \class MoveGroupInterface move_group_interface.h moveit/planning_interface/move_group_interface.h
 
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index 2f6e09caad..4badc68fdf 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -50,7 +50,7 @@ namespace moveit
 {
 namespace planning_interface
 {
-MOVEIT_CLASS_FORWARD(MoveItCpp);
+MOVEIT_CLASS_FORWARD(MoveItCpp);  // Defines MoveItCppPtr, ConstPtr, WeakPtr... etc
 
 class MoveItCpp
 {
diff --git a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index 6aa2d0ca7d..94d4a896fe 100644
--- a/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -49,7 +49,7 @@ namespace moveit
 {
 namespace planning_interface
 {
-MOVEIT_CLASS_FORWARD(PlanningComponent);
+MOVEIT_CLASS_FORWARD(PlanningComponent);  // Defines PlanningComponentPtr, ConstPtr, WeakPtr... etc
 
 class PlanningComponent
 {
diff --git a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
index 6d872eb116..6a468ddbf1 100644
--- a/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
+++ b/moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
@@ -47,7 +47,7 @@ namespace moveit
 {
 namespace planning_interface
 {
-MOVEIT_CLASS_FORWARD(PlanningSceneInterface);
+MOVEIT_CLASS_FORWARD(PlanningSceneInterface);  // Defines PlanningSceneInterfacePtr, ConstPtr, WeakPtr... etc
 
 class PlanningSceneInterface
 {
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
index b9914d437a..487d1dd79d 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
@@ -46,9 +46,9 @@
 
 namespace robot_interaction
 {
-MOVEIT_CLASS_FORWARD(InteractionHandler);
-MOVEIT_CLASS_FORWARD(RobotInteraction);
-MOVEIT_CLASS_FORWARD(KinematicOptionsMap);
+MOVEIT_CLASS_FORWARD(InteractionHandler);   // Defines InteractionHandlerPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RobotInteraction);     // Defines RobotInteractionPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(KinematicOptionsMap);  // Defines KinematicOptionsMapPtr, ConstPtr, WeakPtr... etc
 
 struct EndEffectorInteraction;
 struct JointInteraction;
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
index f10ddb99af..ebd2f72de1 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/locked_robot_state.h
@@ -44,7 +44,7 @@
 
 namespace robot_interaction
 {
-MOVEIT_CLASS_FORWARD(LockedRobotState);
+MOVEIT_CLASS_FORWARD(LockedRobotState);  // Defines LockedRobotStatePtr, ConstPtr, WeakPtr... etc
 
 /// Maintain a RobotState in a multithreaded environment.
 //
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
index ca0698af29..6c3eadbfb5 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h
@@ -57,9 +57,9 @@ class InteractiveMarkerServer;
 
 namespace robot_interaction
 {
-MOVEIT_CLASS_FORWARD(InteractionHandler);
-MOVEIT_CLASS_FORWARD(KinematicOptionsMap);
-MOVEIT_CLASS_FORWARD(RobotInteraction);
+MOVEIT_CLASS_FORWARD(InteractionHandler);   // Defines InteractionHandlerPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(KinematicOptionsMap);  // Defines KinematicOptionsMapPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RobotInteraction);     // Defines RobotInteractionPtr, ConstPtr, WeakPtr... etc
 
 // Manage interactive markers for controlling a robot state.
 //
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 0f87a8ca43..56f199c39f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -77,9 +77,9 @@ class MotionPlanningUI;
 
 namespace moveit_warehouse
 {
-MOVEIT_CLASS_FORWARD(PlanningSceneStorage);
-MOVEIT_CLASS_FORWARD(ConstraintsStorage);
-MOVEIT_CLASS_FORWARD(RobotStateStorage);
+MOVEIT_CLASS_FORWARD(PlanningSceneStorage);  // Defines PlanningSceneStoragePtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(ConstraintsStorage);    // Defines ConstraintsStoragePtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RobotStateStorage);     // Defines RobotStateStoragePtr, ConstPtr, WeakPtr... etc
 }  // namespace moveit_warehouse
 
 namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 0f273a527a..855556953c 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -47,7 +47,7 @@ namespace moveit
 {
 namespace planning_interface
 {
-MOVEIT_CLASS_FORWARD(MoveGroupInterface);
+MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, ConstPtr, WeakPtr... etc
 }
 }  // namespace moveit
 
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
index ba49862429..3f673c24ed 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -54,9 +54,9 @@ class DisplayContext;
 
 namespace moveit_rviz_plugin
 {
-MOVEIT_CLASS_FORWARD(RobotStateVisualization);
-MOVEIT_CLASS_FORWARD(RenderShapes);
-MOVEIT_CLASS_FORWARD(PlanningSceneRender);
+MOVEIT_CLASS_FORWARD(RobotStateVisualization);  // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RenderShapes);             // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(PlanningSceneRender);      // Defines PlanningSceneRenderPtr, ConstPtr, WeakPtr... etc
 
 class PlanningSceneRender
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index 7fcf9c2f0d..194d4d2faa 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -56,8 +56,8 @@ class Shape;
 
 namespace moveit_rviz_plugin
 {
-MOVEIT_CLASS_FORWARD(OcTreeRender);
-MOVEIT_CLASS_FORWARD(RenderShapes);
+MOVEIT_CLASS_FORWARD(OcTreeRender);  // Defines OcTreeRenderPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RenderShapes);  // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
 
 class RenderShapes
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index 1f3d90c4b3..d210edef5e 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -47,8 +47,8 @@ DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
-MOVEIT_CLASS_FORWARD(RenderShapes);
-MOVEIT_CLASS_FORWARD(RobotStateVisualization);
+MOVEIT_CLASS_FORWARD(RenderShapes);             // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
+MOVEIT_CLASS_FORWARD(RobotStateVisualization);  // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
 
 /** \brief Update the links of an rviz::Robot using a moveit::core::RobotState */
 class RobotStateVisualization
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 3c6d92307b..2af227f429 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -68,7 +68,7 @@ class MovableText;
 
 namespace moveit_rviz_plugin
 {
-MOVEIT_CLASS_FORWARD(TrajectoryVisualization);
+MOVEIT_CLASS_FORWARD(TrajectoryVisualization);  // Defines TrajectoryVisualizationPtr, ConstPtr, WeakPtr... etc
 
 class TrajectoryVisualization : public QObject
 {
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
index 337a57dc52..4b3be06f82 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/constraints_storage.h
@@ -45,7 +45,7 @@ namespace moveit_warehouse
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
 typedef warehouse_ros::MessageCollection<moveit_msgs::Constraints>::Ptr ConstraintsCollection;
 
-MOVEIT_CLASS_FORWARD(ConstraintsStorage);
+MOVEIT_CLASS_FORWARD(ConstraintsStorage);  // Defines ConstraintsStoragePtr, ConstPtr, WeakPtr... etc
 
 class ConstraintsStorage : public MoveItMessageStorage
 {
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
index e7899729ac..bb1e24a07a 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/planning_scene_storage.h
@@ -52,7 +52,7 @@ typedef warehouse_ros::MessageCollection<moveit_msgs::PlanningScene>::Ptr Planni
 typedef warehouse_ros::MessageCollection<moveit_msgs::MotionPlanRequest>::Ptr MotionPlanRequestCollection;
 typedef warehouse_ros::MessageCollection<moveit_msgs::RobotTrajectory>::Ptr RobotTrajectoryCollection;
 
-MOVEIT_CLASS_FORWARD(PlanningSceneStorage);
+MOVEIT_CLASS_FORWARD(PlanningSceneStorage);  // Defines PlanningSceneStoragePtr, ConstPtr, WeakPtr... etc
 
 class PlanningSceneStorage : public MoveItMessageStorage
 {
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
index e008a5fbd2..3651cb1144 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h
@@ -45,7 +45,7 @@ namespace moveit_warehouse
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
 typedef warehouse_ros::MessageCollection<moveit_msgs::RobotState>::Ptr RobotStateCollection;
 
-MOVEIT_CLASS_FORWARD(RobotStateStorage);
+MOVEIT_CLASS_FORWARD(RobotStateStorage);  // Defines RobotStateStoragePtr, ConstPtr, WeakPtr... etc
 
 class RobotStateStorage : public MoveItMessageStorage
 {
diff --git a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
index c7e6964a23..934f510a36 100644
--- a/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
+++ b/moveit_ros/warehouse/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h
@@ -46,7 +46,7 @@ typedef warehouse_ros::MessageWithMetadata<moveit_msgs::TrajectoryConstraints>::
     TrajectoryConstraintsWithMetadata;
 typedef warehouse_ros::MessageCollection<moveit_msgs::TrajectoryConstraints>::Ptr TrajectoryConstraintsCollection;
 
-MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage);
+MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage);  // Defines TrajectoryConstraintsStoragePtr, ConstPtr, WeakPtr... etc
 
 class TrajectoryConstraintsStorage : public MoveItMessageStorage
 {
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
index fc3ef90160..f7f41b1b66 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/compute_default_collisions.h
@@ -40,7 +40,7 @@
 #include <moveit/macros/class_forward.h>
 namespace planning_scene
 {
-MOVEIT_CLASS_FORWARD(PlanningScene);
+MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
 }
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
index 99e58e9ece..4601e24d65 100644
--- a/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
+++ b/moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h
@@ -174,7 +174,7 @@ class GenericParameter
   std::string comment_;  // comment briefly describing what this parameter does
 };
 
-MOVEIT_CLASS_FORWARD(MoveItConfigData);
+MOVEIT_CLASS_FORWARD(MoveItConfigData);  // Defines MoveItConfigDataPtr, ConstPtr, WeakPtr... etc
 
 /** \brief This class is shared with all widgets and contains the common configuration data
     needed for generating each robot's MoveIt configuration package.

From a1acf2e1be8258ba39a89cb385a16b6352e0a180 Mon Sep 17 00:00:00 2001
From: Yoan Mollard <ymollard@users.noreply.github.com>
Date: Tue, 15 Sep 2020 08:52:47 +0200
Subject: [PATCH 448/612] robot_description is already loaded in
 move_group.launch (#2313)

---
 .../moveit_config_pkg_template/launch/demo.launch        | 9 ++++-----
 .../moveit_config_pkg_template/launch/demo_gazebo.launch | 9 ++++-----
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
index 4ebe898ffb..85451710c8 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
@@ -11,6 +11,9 @@
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
   <!--
   By default, hide joint_state_publisher's GUI
 
@@ -22,11 +25,6 @@
   <arg name="use_gui" default="false" />
   <arg name="use_rviz" default="true" />
 
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
   <!-- If needed, broadcast static tf for robot root -->
   [VIRTUAL_JOINT_BROADCASTER]
 
@@ -48,6 +46,7 @@
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
     <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
index 059ef752df..6d2427b16e 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo_gazebo.launch
@@ -8,6 +8,9 @@
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
+  <!-- By default, we won't load or override the robot_description -->
+  <arg name="load_robot_description" default="false"/>
+
   <!--
   By default, hide joint_state_publisher's GUI
 
@@ -31,11 +34,6 @@
     <arg name="urdf_path" value="$(arg urdf_path)"/>
   </include>
 
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_context.launch">
-    <arg name="load_robot_description" value="false"/>
-  </include>
-
   <!-- If needed, broadcast static tf for robot root -->
   [VIRTUAL_JOINT_BROADCASTER]
 
@@ -58,6 +56,7 @@
     <arg name="fake_execution" value="false"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>  
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->

From 964ed5c2db624175e7fa758a5a8eb35ec3dd55cc Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 15 Sep 2020 11:02:11 -0500
Subject: [PATCH 449/612] Refactor velocity limit enforcement and add a unit
 test (#2260)

* Rework velocity limit enforcement, add unit test

* Test every command out of Servo

* Minor variable renaming

* Clang format & clang tidy

* Delete unused acceleration variable
---
 .../include/moveit_servo/servo_calcs.h        |  4 +-
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 68 +++++++----------
 .../test/config/servo_settings.yaml           |  2 +-
 .../test/servo_cpp_interface_test.cpp         | 73 ++++++++++++++++++-
 4 files changed, 98 insertions(+), 49 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index c67afb6e0c..69ad46cf27 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -113,10 +113,10 @@ class ServoCalcs
   void suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief  Scale the delta theta to match joint velocity/acceleration limits */
-  void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);
+  void enforceVelLimits(Eigen::ArrayXd& delta_theta);
 
   /** \brief Avoid overshooting joint limits */
-  bool enforceSRDFPositionLimits();
+  bool enforcePositionLimits();
 
   /** \brief Possibly calculate a velocity scaling factor, due to proximity of
    * singularity and direction of motion
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index c28a36fd0b..ac56a6216d 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -458,7 +458,7 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
 
   delta_theta_ = pseudo_inverse * delta_x;
 
-  enforceSRDFAccelVelLimits(delta_theta_);
+  enforceVelLimits(delta_theta_);
 
   // If close to a collision or a singularity, decelerate
   applyVelocityScaling(delta_theta_, velocityScalingFactorForSingularity(delta_x, svd, pseudo_inverse));
@@ -484,7 +484,7 @@ bool ServoCalcs::jointServoCalcs(const control_msgs::JointJog& cmd, trajectory_m
   // Apply user-defined scaling
   delta_theta_ = scaleJointCommand(cmd);
 
-  enforceSRDFAccelVelLimits(delta_theta_);
+  enforceVelLimits(delta_theta_);
 
   // If close to a collision, decelerate
   applyVelocityScaling(delta_theta_, 1.0 /* scaling for singularities -- ignore for joint motions */);
@@ -507,7 +507,7 @@ bool ServoCalcs::convertDeltasToOutgoingCmd(trajectory_msgs::JointTrajectory& jo
 
   composeJointTrajMessage(internal_joint_state_, joint_trajectory);
 
-  if (!enforceSRDFPositionLimits())
+  if (!enforcePositionLimits())
   {
     suddenHalt(joint_trajectory);
     status_ = StatusCode::JOINT_BOUND;
@@ -680,45 +680,18 @@ double ServoCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& co
   return velocity_scale;
 }
 
-void ServoCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
+void ServoCalcs::enforceVelLimits(Eigen::ArrayXd& delta_theta)
 {
   Eigen::ArrayXd velocity = delta_theta / parameters_.publish_period;
-  const Eigen::ArrayXd acceleration = (velocity - prev_joint_velocity_) / parameters_.publish_period;
 
   std::size_t joint_delta_index = 0;
+  // Track the smallest velocity scaling factor required, across all joints
+  double velocity_limit_scaling_factor = 1;
+
   for (auto joint : joint_model_group_->getActiveJointModels())
   {
     // Some joints do not have bounds defined
     const auto bounds = joint->getVariableBounds(joint->getName());
-    if (bounds.acceleration_bounded_)
-    {
-      bool clip_acceleration = false;
-      double acceleration_limit = 0.0;
-      if (acceleration(joint_delta_index) < bounds.min_acceleration_)
-      {
-        clip_acceleration = true;
-        acceleration_limit = bounds.min_acceleration_;
-      }
-      else if (acceleration(joint_delta_index) > bounds.max_acceleration_)
-      {
-        clip_acceleration = true;
-        acceleration_limit = bounds.max_acceleration_;
-      }
-
-      // Apply acceleration bounds
-      if (clip_acceleration)
-      {
-        // accel = (vel - vel_prev) / delta_t = ((delta_theta / delta_t) - vel_prev) / delta_t
-        // --> delta_theta = (accel * delta_t _ + vel_prev) * delta_t
-        const double relative_change =
-            ((acceleration_limit * parameters_.publish_period + prev_joint_velocity_(joint_delta_index)) *
-             parameters_.publish_period) /
-            delta_theta(joint_delta_index);
-        // Avoid nan
-        if (fabs(relative_change) < 1)
-          delta_theta(joint_delta_index) = relative_change * delta_theta(joint_delta_index);
-      }
-    }
 
     if (bounds.velocity_bounded_)
     {
@@ -740,21 +713,30 @@ void ServoCalcs::enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta)
       // Apply velocity bounds
       if (clip_velocity)
       {
-        // delta_theta = joint_velocity * delta_t
-        const double relative_change = (velocity_limit * parameters_.publish_period) / delta_theta(joint_delta_index);
-        // Avoid nan
-        if (fabs(relative_change) < 1)
-        {
-          delta_theta(joint_delta_index) = relative_change * delta_theta(joint_delta_index);
-          velocity(joint_delta_index) = relative_change * velocity(joint_delta_index);
-        }
+        const double scaling_factor =
+            fabs(velocity_limit * parameters_.publish_period) / fabs(delta_theta(joint_delta_index));
+
+        // Store the scaling factor if it's the smallest yet
+        if (scaling_factor < velocity_limit_scaling_factor)
+          velocity_limit_scaling_factor = scaling_factor;
       }
     }
     ++joint_delta_index;
   }
+
+  // Apply the velocity scaling to all joints
+  if (velocity_limit_scaling_factor < 1)
+  {
+    for (joint_delta_index = 0; joint_delta_index < joint_model_group_->getActiveJointModels().size();
+         ++joint_delta_index)
+    {
+      delta_theta(joint_delta_index) = velocity_limit_scaling_factor * delta_theta(joint_delta_index);
+      velocity(joint_delta_index) = velocity_limit_scaling_factor * velocity(joint_delta_index);
+    }
+  }
 }
 
-bool ServoCalcs::enforceSRDFPositionLimits()
+bool ServoCalcs::enforcePositionLimits()
 {
   bool halting = false;
 
diff --git a/moveit_ros/moveit_servo/test/config/servo_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
index 9a674425b6..30e4cb59d2 100644
--- a/moveit_ros/moveit_servo/test/config/servo_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
@@ -5,7 +5,7 @@ use_gazebo: false # Whether the robot is started in a Gazebo simulation environm
 
 ## Properties of incoming commands
 robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
-command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
   linear:  0.003  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index 4fd01fc73e..c565894e0b 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -46,10 +46,11 @@
 #include <gtest/gtest.h>
 
 // Servo
-#include <moveit_servo/servo.h>
 #include <moveit_servo/make_shared_from_pool.h>
+#include <moveit_servo/servo.h>
 
 static const std::string LOGNAME = "servo_cpp_interface_test";
+static constexpr double LARGEST_ALLOWABLE_PANDA_VEL = 2.8710;  // to test joint velocity limit enforcement
 
 namespace moveit_servo
 {
@@ -110,7 +111,7 @@ TEST_F(ServoFixture, SendTwistStampedTest)
   // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
-      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { ++received_count; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
   // Create publisher to send servo commands
@@ -136,6 +137,7 @@ TEST_F(ServoFixture, SendTwistStampedTest)
   }
 
   EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_GT(received_count, (unsigned)0);
   EXPECT_LT(received_count, num_commands + 20);
   servo_->stop();
 }
@@ -150,7 +152,7 @@ TEST_F(ServoFixture, SendJointServoTest)
   // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
-      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { received_count++; };
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { ++received_count; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
   // Create publisher to send servo commands
@@ -180,6 +182,71 @@ TEST_F(ServoFixture, SendJointServoTest)
   servo_->stop();
 }
 
+TEST_F(ServoFixture, JointVelocityEnforcementTest)
+{
+  servo_->start();
+  EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
+
+  auto parameters = servo_->getParameters();
+  double publish_period = parameters.publish_period;
+
+  // count trajectory messages sent by servo
+  size_t received_count = 0;
+  trajectory_msgs::JointTrajectory joint_command_from_servo;
+  trajectory_msgs::JointTrajectory prev_joint_command_from_servo;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&](const trajectory_msgs::JointTrajectoryConstPtr& msg) {
+        ++received_count;
+        // Store a series of two commands so we can calculate velocities
+        // from positions
+        prev_joint_command_from_servo = joint_command_from_servo;
+        joint_command_from_servo = *msg;
+
+        // Start running checks when we have at least two datapoints
+        if (received_count > 1)
+        {
+          // Need a sequence of two commands to calculate a velocity
+          EXPECT_GT(joint_command_from_servo.points.size(), (unsigned)0);
+          EXPECT_GT(prev_joint_command_from_servo.points.size(), (unsigned)0);
+          EXPECT_EQ(prev_joint_command_from_servo.points.size(), joint_command_from_servo.points.size());
+          // No velocities larger than the largest allowable Panda velocity
+          for (size_t joint_index = 0; joint_index < joint_command_from_servo.points[0].positions.size(); ++joint_index)
+          {
+            double joint_velocity = (joint_command_from_servo.points[0].positions[joint_index] -
+                                     prev_joint_command_from_servo.points[0].positions[joint_index]) /
+                                    publish_period;
+            EXPECT_LE(joint_velocity, LARGEST_ALLOWABLE_PANDA_VEL);
+          }
+        }
+      };
+  auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
+
+  // Create publisher to send servo commands
+  auto twist_stamped_pub = nh_.advertise<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic, 1);
+
+  constexpr double test_duration = 1.0;
+  const size_t num_commands = static_cast<size_t>(test_duration / publish_period);
+
+  ros::Rate publish_rate(1. / publish_period);
+
+  // Send a few Cartesian commands with very high velocity
+  for (size_t i = 0; i < num_commands && ros::ok(); ++i)
+  {
+    auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "panda_link0";
+    msg->twist.linear.x = 10.0;
+    msg->twist.angular.y = 5 * LARGEST_ALLOWABLE_PANDA_VEL;
+
+    // Send the message
+    twist_stamped_pub.publish(msg);
+    publish_rate.sleep();
+  }
+
+  EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_LT(received_count, num_commands + 20);
+  servo_->stop();
+}
 }  // namespace moveit_servo
 
 int main(int argc, char** argv)

From 6a5754bf527c78af69ec49459221939cf77fc1ab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 16 Sep 2020 13:10:06 +0200
Subject: [PATCH 450/612] Noetic was released (#2304)

---
 MIGRATION.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/MIGRATION.md b/MIGRATION.md
index 5b2462012c..4dbbf006a2 100644
--- a/MIGRATION.md
+++ b/MIGRATION.md
@@ -2,7 +2,7 @@
 
 API changes in MoveIt releases
 
-## ROS Noetic (upcoming changes in master)
+## ROS Noetic
 - RobotModel no longer overrides empty URDF collision geometry by matching the visual geometry of the link.
 - Planned trajectories are *slow* by default.
   The default values of the `velocity_scaling_factor` and `acceleration_scaling_factor` can now be customized and default to 0.1 instead of 1.0.

From 336e13be44ad68adad80923cfd87cf6864b71d8c Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Thu, 17 Sep 2020 12:57:01 -0500
Subject: [PATCH 451/612] Fix Servo thread interruption (#2314)

---
 .../include/moveit_servo/collision_check.h         |  8 ++++++--
 .../moveit_servo/include/moveit_servo/servo.h      |  3 ---
 .../include/moveit_servo/servo_calcs.h             |  9 ++++++---
 moveit_ros/moveit_servo/src/collision_check.cpp    |  5 -----
 .../cpp_interface_example.cpp                      |  2 +-
 moveit_ros/moveit_servo/src/servo.cpp              |  8 +-------
 moveit_ros/moveit_servo/src/servo_calcs.cpp        | 11 +----------
 moveit_ros/moveit_servo/src/servo_server.cpp       |  2 +-
 .../moveit_servo/test/servo_cpp_interface_test.cpp | 14 +++++++-------
 9 files changed, 23 insertions(+), 39 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index a02fe4750a..9accf79484 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -68,9 +68,13 @@ class CollisionCheck
                  const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                  const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
-  /** \brief start and stop the Timer */
+  ~CollisionCheck()
+  {
+    timer_.stop();
+  }
+
+  /** \brief start the Timer that regulates collision check rate */
   void start();
-  void stop();
 
   /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 5e9f26fe64..139c11b44b 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -60,9 +60,6 @@ class Servo
   /** \brief start servo node */
   void start();
 
-  /** \brief stop servo node */
-  void stop();
-
   /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 69ad46cf27..fa477eaabc 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -66,9 +66,13 @@ class ServoCalcs
              const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
              const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
-  /** \brief Start and stop the timer where we do work and publish outputs */
+  ~ServoCalcs()
+  {
+    timer_.stop();
+  }
+
+  /** \brief Start the timer where we do work and publish outputs */
   void start();
-  void stop();
 
   /**
    * Get the MoveIt planning link transform.
@@ -252,7 +256,6 @@ class ServoCalcs
 
   // Status
   StatusCode status_ = StatusCode::NO_WARNING;
-  bool stop_requested_ = false;
   bool paused_ = false;
   bool twist_command_is_stale_ = false;
   bool joint_command_is_stale_ = false;
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 162a9f5831..ec047c9953 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -94,11 +94,6 @@ void CollisionCheck::start()
   timer_ = nh_.createTimer(period_, &CollisionCheck::run, this);
 }
 
-void CollisionCheck::stop()
-{
-  timer_.stop();
-}
-
 void CollisionCheck::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index 53e919ee33..c1170d10a9 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -150,6 +150,6 @@ int main(int argc, char** argv)
     ++num_commands;
   }
 
-  servo.stop();
+  servo.setPaused(true);
   return 0;
 }
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index 8cc834a047..761be5903e 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -286,15 +286,9 @@ void Servo::start()
     collision_checker_->start();
 }
 
-void Servo::stop()
-{
-  servo_calcs_->stop();
-  collision_checker_->stop();
-}
-
 Servo::~Servo()
 {
-  stop();
+  setPaused(true);
 }
 
 void Servo::setPaused(bool paused)
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index ac56a6216d..dd39f569c1 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -179,16 +179,9 @@ void ServoCalcs::start()
   initial_joint_trajectory->points.push_back(point);
   last_sent_command_ = initial_joint_trajectory;
 
-  stop_requested_ = false;
   timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
 }
 
-void ServoCalcs::stop()
-{
-  stop_requested_ = true;
-  timer_.stop();
-}
-
 void ServoCalcs::run(const ros::TimerEvent& timer_event)
 {
   // Log warning when the last loop duration was longer than the period
@@ -209,8 +202,6 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   // 2) so the low-pass filters are up to date and don't cause a jump
   while (!updateJoints() && ros::ok())
   {
-    if (stop_requested_)
-      return;
     default_sleep_rate_.sleep();
   }
 
@@ -335,7 +326,7 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
     zero_velocity_count_ = 0;
   }
 
-  if (ok_to_publish_)
+  if (ok_to_publish_ && !paused_)
   {
     // Put the outgoing msg in the right format
     // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
diff --git a/moveit_ros/moveit_servo/src/servo_server.cpp b/moveit_ros/moveit_servo/src/servo_server.cpp
index 590061609f..31e477c837 100644
--- a/moveit_ros/moveit_servo/src/servo_server.cpp
+++ b/moveit_ros/moveit_servo/src/servo_server.cpp
@@ -80,7 +80,7 @@ int main(int argc, char** argv)
   ros::waitForShutdown();
 
   // Stop the servo server
-  servo.stop();
+  servo.setPaused(true);
 
   return 0;
 }
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index c565894e0b..a5637a6eda 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -77,7 +77,7 @@ class ServoFixture : public ::testing::Test
 
   bool waitForFirstStatus()
   {
-    auto msg = ros::topic::waitForMessage<std_msgs::Int8>(servo_->getParameters().status_topic, nh_, ros::Duration(15));
+    auto msg = ros::topic::waitForMessage<std_msgs::Int8>(servo_->getParameters().status_topic, nh_, ros::Duration(1));
     return static_cast<bool>(msg);
   }
 
@@ -91,14 +91,14 @@ TEST_F(ServoFixture, StartStopTest)
 {
   servo_->start();
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
-  servo_->stop();
+  servo_->setPaused(true);
 
   ros::Duration(1.0).sleep();
 
   // Start and stop again
-  servo_->start();
+  servo_->setPaused(false);
   EXPECT_TRUE(waitForFirstStatus()) << "Timeout waiting for Status message";
-  servo_->stop();
+  servo_->setPaused(true);
 }
 
 TEST_F(ServoFixture, SendTwistStampedTest)
@@ -139,7 +139,7 @@ TEST_F(ServoFixture, SendTwistStampedTest)
   EXPECT_GT(received_count, num_commands - 20);
   EXPECT_GT(received_count, (unsigned)0);
   EXPECT_LT(received_count, num_commands + 20);
-  servo_->stop();
+  servo_->setPaused(true);
 }
 
 TEST_F(ServoFixture, SendJointServoTest)
@@ -179,7 +179,7 @@ TEST_F(ServoFixture, SendJointServoTest)
 
   EXPECT_GT(received_count, num_commands - 20);
   EXPECT_LT(received_count, num_commands + 20);
-  servo_->stop();
+  servo_->setPaused(true);
 }
 
 TEST_F(ServoFixture, JointVelocityEnforcementTest)
@@ -245,7 +245,7 @@ TEST_F(ServoFixture, JointVelocityEnforcementTest)
 
   EXPECT_GT(received_count, num_commands - 20);
   EXPECT_LT(received_count, num_commands + 20);
-  servo_->stop();
+  servo_->setPaused(true);
 }
 }  // namespace moveit_servo
 

From 91e1f095c2e68187e19f975951011c20f0d8b51e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 18 Sep 2020 07:58:09 +0200
Subject: [PATCH 452/612] MGC: Improve exception messages (#2318)

---
 moveit_commander/src/moveit_commander/move_group.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index bd17ea9f50..e0128e6eb4 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -83,7 +83,7 @@ def get_end_effector_link(self):
     def set_end_effector_link(self, link_name):
         """ Set the name of the link to be considered as an end effector """
         if not self._g.set_end_effector_link(link_name):
-            raise MoveItCommanderException("Unable to set end efector link")
+            raise MoveItCommanderException("Unable to set end effector link")
 
     def get_interface_description(self):
         """ Get the description of the planner interface (list of planner ids) """
@@ -219,7 +219,7 @@ def set_joint_value_target(self, arg1, arg2=None, arg3=None):
                 if approx:
                     raise MoveItCommanderException("Error setting joint target. Does your IK solver support approximate IK?")
                 else:
-                    raise MoveItCommanderException("Error setting joint target. Is IK running?")
+                    raise MoveItCommanderException("Error setting joint target. Is the IK solver functional?")
 
         elif (hasattr(arg1, '__iter__')):
             if (arg2 is not None or arg3 is not None):

From 1825936b5f212e9ea72ff78e293ff6f5a2fc7b4b Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Wed, 23 Sep 2020 07:17:42 +0900
Subject: [PATCH 453/612] Clean up Rviz Motion Planning plugin, add tooltips
 (#2310)

- better use of space / overall smaller panel

- remove goal constraints field, it's not used and not intuitive in the GUI either

- reorder check boxes by subjective usefulness

- Add better tooltips

- Remove autoScroll from Planning Parameters field

- Fix tabstop order

- Align columns of Planning tab

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
---
 .../src/motion_planning_display.cpp           |   4 -
 .../src/motion_planning_frame.cpp             |   2 -
 .../ui/motion_planning_rviz_plugin_frame.ui   | 510 +++++++++++++++---
 3 files changed, 422 insertions(+), 94 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 28fdb4b4a2..41a0a471dc 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1335,8 +1335,6 @@ void MotionPlanningDisplay::load(const rviz::Config& config)
       frame_->ui_->velocity_scaling_factor->setValue(d);
     if (config.mapGetFloat("Acceleration_Scaling_Factor", &d))
       frame_->ui_->acceleration_scaling_factor->setValue(d);
-    if (config.mapGetFloat("MoveIt_Goal_Tolerance", &d))
-      frame_->ui_->goal_tolerance->setValue(d);
 
     bool b;
     if (config.mapGetBool("MoveIt_Allow_Replanning", &b))
@@ -1395,8 +1393,6 @@ void MotionPlanningDisplay::save(rviz::Config config) const
     config.mapSetValue("MoveIt_Warehouse_Host", frame_->ui_->database_host->text());
     config.mapSetValue("MoveIt_Warehouse_Port", frame_->ui_->database_port->value());
 
-    config.mapSetValue("MoveIt_Goal_Tolerance", frame_->ui_->goal_tolerance->value());
-
     // "Options" Section
     config.mapSetValue("MoveIt_Planning_Time", frame_->ui_->planning_time->value());
     config.mapSetValue("MoveIt_Planning_Attempts", frame_->ui_->planning_attempts->value());
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 697f3698e6..9568527651 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -163,8 +163,6 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
   connect(ui_->database_host, SIGNAL(textChanged(QString)), this, SIGNAL(configChanged()));
   connect(ui_->database_port, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 
-  connect(ui_->goal_tolerance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
-
   connect(ui_->planning_time, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
   connect(ui_->planning_attempts, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
   connect(ui_->velocity_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 22154c05da..acde5aa80d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>532</width>
-    <height>389</height>
+    <width>507</width>
+    <height>380</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,7 +26,7 @@
       <bool>false</bool>
      </property>
      <property name="currentIndex">
-      <number>3</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="context">
       <attribute name="title">
@@ -96,6 +96,9 @@
             </item>
             <item>
              <widget class="moveit_rviz_plugin::MotionPlanningParamWidget" name="planner_param_treeview">
+              <property name="autoScroll">
+               <bool>false</bool>
+              </property>
               <property name="indentation">
                <number>0</number>
               </property>
@@ -157,6 +160,12 @@
           </item>
           <item>
            <widget class="QPushButton" name="reset_db_button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="styleSheet">
              <string notr="true">color:red</string>
             </property>
@@ -401,7 +410,7 @@
               <item>
                <widget class="QPushButton" name="plan_and_execute_button">
                 <property name="text">
-                 <string>Plan and E&amp;xecute</string>
+                 <string>Plan &amp;&amp; E&amp;xecute</string>
                 </property>
                </widget>
               </item>
@@ -410,6 +419,9 @@
                 <property name="enabled">
                  <bool>false</bool>
                 </property>
+                <property name="toolTip">
+                 <string>Stop execution by sending a stop command to the move_group.</string>
+                </property>
                 <property name="text">
                  <string>&amp;Stop</string>
                 </property>
@@ -509,12 +521,12 @@
             <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeType">
-            <enum>QSizePolicy::Fixed</enum>
+            <enum>QSizePolicy::Expanding</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
-             <height>6</height>
+             <height>32</height>
             </size>
            </property>
           </spacer>
@@ -538,38 +550,15 @@
              <number>6</number>
             </property>
             <item>
-             <widget class="QComboBox" name="path_constraints_combo_box"/>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_11">
-              <item>
-               <widget class="QLabel" name="label_6">
-                <property name="text">
-                 <string>Goal Tolerance:</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSpinBox" name="goal_tolerance"/>
-              </item>
-             </layout>
+             <widget class="QComboBox" name="path_constraints_combo_box">
+              <property name="toolTip">
+               <string>Select path constraints from the database. </string>
+              </property>
+             </widget>
             </item>
            </layout>
           </widget>
          </item>
-         <item>
-          <spacer name="verticalSpacer_3">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
         </layout>
        </item>
        <item>
@@ -584,7 +573,7 @@
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_10">
             <property name="spacing">
-             <number>2</number>
+             <number>1</number>
             </property>
             <property name="bottomMargin">
              <number>4</number>
@@ -596,6 +585,9 @@
               </property>
               <item>
                <widget class="QLabel" name="label_9">
+                <property name="toolTip">
+                 <string>Total time allowed for planning.  Planning stops if time or number of attempts is exceeded, or goal is reached.</string>
+                </property>
                 <property name="text">
                  <string>Planning Time (s):</string>
                 </property>
@@ -609,6 +601,18 @@
                   <verstretch>0</verstretch>
                  </sizepolicy>
                 </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>40</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Total time allowed for planning.  Planning stops if time or number of attempts is exceeded, or goal is reached.</string>
+                </property>
+                <property name="decimals">
+                 <number>1</number>
+                </property>
                 <property name="maximum">
                  <double>300.000000000000000</double>
                 </property>
@@ -626,6 +630,9 @@
               </property>
               <item>
                <widget class="QLabel" name="label_10">
+                <property name="toolTip">
+                 <string>Allowed number of planning attempts. Planning stops if time or number of attempts is exceeded, or goal is reached.</string>
+                </property>
                 <property name="text">
                  <string>Planning Attempts:</string>
                 </property>
@@ -639,6 +646,15 @@
                   <verstretch>0</verstretch>
                  </sizepolicy>
                 </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>40</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Allowed number of planning attempts. Planning stops if time or number of attempts is exceeded, or goal is reached.</string>
+                </property>
                 <property name="maximum">
                  <number>1000</number>
                 </property>
@@ -656,6 +672,9 @@
               </property>
               <item>
                <widget class="QLabel" name="label_11">
+                <property name="toolTip">
+                 <string>Factor (between 0 and 1) to scale down maximum joint velocities</string>
+                </property>
                 <property name="text">
                  <string>Velocity Scaling:</string>
                 </property>
@@ -663,11 +682,20 @@
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="velocity_scaling_factor">
+                <property name="minimumSize">
+                 <size>
+                  <width>40</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Factor (between 0 and 1) to scale down maximum joint velocities</string>
+                </property>
                 <property name="maximum">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="singleStep">
-                 <double>0.010000000000000</double>
+                 <double>0.100000000000000</double>
                 </property>
                 <property name="value">
                  <double>1.000000000000000</double>
@@ -683,18 +711,30 @@
               </property>
               <item>
                <widget class="QLabel" name="label_20">
+                <property name="toolTip">
+                 <string>Factor (between 0 and 1) to scale down maximum joint accelerations</string>
+                </property>
                 <property name="text">
-                 <string>Acceleration Scaling:</string>
+                 <string>Accel. Scaling:</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="acceleration_scaling_factor">
+                <property name="minimumSize">
+                 <size>
+                  <width>40</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Factor (between 0 and 1) to scale down maximum joint accelerations</string>
+                </property>
                 <property name="maximum">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="singleStep">
-                 <double>0.010000000000000</double>
+                 <double>0.100000000000000</double>
                 </property>
                 <property name="value">
                  <double>1.000000000000000</double>
@@ -704,9 +744,39 @@
              </layout>
             </item>
             <item>
-             <widget class="QCheckBox" name="allow_replanning">
+             <spacer name="verticalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>20</width>
+                <height>40</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QCheckBox" name="use_cartesian_path">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>Check this to generate a linear path in Cartesian (3D) space.
+
+ This does not plan around obstacles. </string>
+              </property>
               <property name="text">
-               <string>Allow Replanning</string>
+               <string>Use Cartesian Path</string>
               </property>
               <property name="checked">
                <bool>false</bool>
@@ -714,9 +784,26 @@
              </widget>
             </item>
             <item>
-             <widget class="QCheckBox" name="allow_looking">
+             <widget class="QCheckBox" name="collision_aware_ik">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>If checked, the IK solver tries to avoid collisions when searching for a start/end state set via the interactive marker.
+
+This is usually achieved by random seeding, which can flip the robot configuration (e.g. elbow up/down). Note that motion planning is always collision-aware, regardless of this checkbox.</string>
+              </property>
               <property name="text">
-               <string>Allow Sensor Positioning</string>
+               <string>Collision-aware IK</string>
               </property>
               <property name="checked">
                <bool>false</bool>
@@ -724,19 +811,46 @@
              </widget>
             </item>
             <item>
-             <widget class="QCheckBox" name="allow_external_program">
-              <property name="text">
-               <string>Allow External Comm.</string>
+             <widget class="QCheckBox" name="approximate_ik">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
               </property>
-              <property name="checked">
-               <bool>false</bool>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>Allow approximate IK solutions, which deviate from the target pose. Useful when an exact solution cannot be found, e.g. for underactuated arms or when trying to reach an unreachable target.</string>
+              </property>
+              <property name="text">
+               <string>Approx IK Solutions</string>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QCheckBox" name="use_cartesian_path">
+             <widget class="QCheckBox" name="allow_external_program">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>Allow other nodes to control start and end poses as well as planning and execution, using ROS topics (/rviz/moveit/ ).</string>
+              </property>
               <property name="text">
-               <string>Use Cartesian Path</string>
+               <string>External Comm.</string>
               </property>
               <property name="checked">
                <bool>false</bool>
@@ -744,38 +858,61 @@
              </widget>
             </item>
             <item>
-             <widget class="QCheckBox" name="collision_aware_ik">
+             <widget class="QCheckBox" name="allow_replanning">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>EXPERIMENTAL: Trigger replanning if new collisions are detected during plan execution. Only works for the &quot;Plan &amp; Execute&quot; button. </string>
+              </property>
+              <property name="autoFillBackground">
+               <bool>false</bool>
+              </property>
               <property name="text">
-               <string>Use Collision-Aware IK</string>
+               <string>Replanning</string>
               </property>
               <property name="checked">
-               <bool>true</bool>
+               <bool>false</bool>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QCheckBox" name="approximate_ik">
+             <widget class="QCheckBox" name="allow_looking">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>30</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>EXPERIMENTAL: Allows the robot to reposition its sensor to look around to resolve apparent collisions. A sensor needs to be set up and the new measurements have to affect the collision scene, otherwise it has no effect. See tutorial.</string>
+              </property>
               <property name="text">
-               <string>Allow Approx IK Solutions</string>
+               <string>Sensor Positioning</string>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
-         <item>
-          <spacer name="verticalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
         </layout>
        </item>
       </layout>
@@ -857,6 +994,18 @@
          <layout class="QGridLayout" name="gridLayout_14">
           <item row="0" column="2">
            <widget class="QDoubleSpinBox" name="roi_center_y">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="minimum">
              <double>-99.000000000000000</double>
             </property>
@@ -867,6 +1016,18 @@
           </item>
           <item row="1" column="1">
            <widget class="QDoubleSpinBox" name="roi_size_x">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
@@ -877,6 +1038,18 @@
           </item>
           <item row="1" column="3">
            <widget class="QDoubleSpinBox" name="roi_size_z">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
@@ -887,6 +1060,18 @@
           </item>
           <item row="1" column="2">
            <widget class="QDoubleSpinBox" name="roi_size_y">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
@@ -904,6 +1089,18 @@
           </item>
           <item row="0" column="1">
            <widget class="QDoubleSpinBox" name="roi_center_x">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="minimum">
              <double>-99.000000000000000</double>
             </property>
@@ -921,6 +1118,18 @@
           </item>
           <item row="0" column="3">
            <widget class="QDoubleSpinBox" name="roi_center_z">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>40</width>
+              <height>0</height>
+             </size>
+            </property>
             <property name="minimum">
              <double>-99.000000000000000</double>
             </property>
@@ -1009,6 +1218,18 @@
              <layout class="QHBoxLayout" name="horizontalLayout_16">
               <item>
                <widget class="QDoubleSpinBox" name="shape_size_x_spin_box">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>20</width>
+                  <height>0</height>
+                 </size>
+                </property>
                 <property name="toolTip">
                  <string>x dimension</string>
                 </property>
@@ -1022,6 +1243,18 @@
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="shape_size_z_spin_box">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>20</width>
+                  <height>0</height>
+                 </size>
+                </property>
                 <property name="toolTip">
                  <string>y dimension</string>
                 </property>
@@ -1035,6 +1268,18 @@
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="shape_size_y_spin_box">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>20</width>
+                  <height>0</height>
+                 </size>
+                </property>
                 <property name="toolTip">
                  <string>z dimension</string>
                 </property>
@@ -1051,7 +1296,14 @@
             <item>
              <layout class="QHBoxLayout" name="horizontalLayout_13">
               <item>
-               <widget class="QComboBox" name="shapes_combo_box"/>
+               <widget class="QComboBox" name="shapes_combo_box">
+                <property name="minimumSize">
+                 <size>
+                  <width>30</width>
+                  <height>0</height>
+                 </size>
+                </property>
+               </widget>
               </item>
               <item>
                <widget class="QToolButton" name="add_object_button">
@@ -1124,8 +1376,11 @@
         <layout class="QVBoxLayout" name="verticalLayout_20">
          <item>
           <widget class="QGroupBox" name="pose_scale_group_box">
+           <property name="toolTip">
+            <string>Change the pose and scale of the selected object</string>
+           </property>
            <property name="title">
-            <string>Change pose and scale of selected object</string>
+            <string>Change object pose/scale</string>
            </property>
            <layout class="QGridLayout" name="gridLayout">
             <property name="leftMargin">
@@ -1159,6 +1414,12 @@
             </item>
             <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="object_x">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-999.990000000000009</double>
               </property>
@@ -1172,6 +1433,12 @@
             </item>
             <item row="2" column="3">
              <widget class="QDoubleSpinBox" name="object_rz">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-3.140000000000000</double>
               </property>
@@ -1185,6 +1452,12 @@
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="object_rx">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-3.140000000000000</double>
               </property>
@@ -1198,6 +1471,12 @@
             </item>
             <item row="2" column="2">
              <widget class="QDoubleSpinBox" name="object_ry">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-3.140000000000000</double>
               </property>
@@ -1211,6 +1490,12 @@
             </item>
             <item row="1" column="2">
              <widget class="QDoubleSpinBox" name="object_y">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-999.990000000000009</double>
               </property>
@@ -1242,7 +1527,7 @@
                <widget class="QSlider" name="scene_scale">
                 <property name="minimumSize">
                  <size>
-                  <width>160</width>
+                  <width>40</width>
                   <height>0</height>
                  </size>
                 </property>
@@ -1280,6 +1565,12 @@
             </item>
             <item row="1" column="3">
              <widget class="QDoubleSpinBox" name="object_z">
+              <property name="minimumSize">
+               <size>
+                <width>20</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="minimum">
                <double>-999.990000000000009</double>
               </property>
@@ -1296,8 +1587,11 @@
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_5">
+           <property name="toolTip">
+            <string>Describes the selected object's pose, geometry and subframes.</string>
+           </property>
            <property name="title">
-            <string>Status of selected object</string>
+            <string>Object status</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_12">
             <property name="leftMargin">
@@ -1329,6 +1623,9 @@
               <property name="textFormat">
                <enum>Qt::AutoText</enum>
               </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
               <property name="WordWrap" stdset="0">
                <bool>true</bool>
               </property>
@@ -1371,11 +1668,17 @@
             <item>
              <widget class="QPushButton" name="publish_current_scene_button">
               <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+               <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>40</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="text">
                <string>&amp;Publish</string>
               </property>
@@ -1396,6 +1699,18 @@
             </item>
             <item>
              <widget class="QPushButton" name="export_scene_geometry_text_button">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>40</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="toolTip">
                <string>Export scene geometry to a .scene file (only geometry information is preserved)</string>
               </property>
@@ -1406,6 +1721,18 @@
             </item>
             <item>
              <widget class="QPushButton" name="import_scene_geometry_text_button">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>40</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="toolTip">
                <string>Import scene geometry from a .scene file (only geometry information is preserved)</string>
               </property>
@@ -1820,25 +2147,35 @@
   <tabstop>database_port</tabstop>
   <tabstop>reset_db_button</tabstop>
   <tabstop>database_connect_button</tabstop>
+  <tabstop>wcenter_x</tabstop>
+  <tabstop>wcenter_y</tabstop>
+  <tabstop>wcenter_z</tabstop>
+  <tabstop>wsize_x</tabstop>
+  <tabstop>wsize_y</tabstop>
+  <tabstop>wsize_z</tabstop>
   <tabstop>plan_button</tabstop>
   <tabstop>execute_button</tabstop>
   <tabstop>plan_and_execute_button</tabstop>
   <tabstop>stop_button</tabstop>
+  <tabstop>clear_octomap_button</tabstop>
   <tabstop>planning_group_combo_box</tabstop>
   <tabstop>start_state_combo_box</tabstop>
   <tabstop>goal_state_combo_box</tabstop>
-  <tabstop>clear_octomap_button</tabstop>
+  <tabstop>path_constraints_combo_box</tabstop>
   <tabstop>planning_time</tabstop>
   <tabstop>planning_attempts</tabstop>
   <tabstop>velocity_scaling_factor</tabstop>
   <tabstop>acceleration_scaling_factor</tabstop>
-  <tabstop>allow_replanning</tabstop>
-  <tabstop>allow_looking</tabstop>
-  <tabstop>allow_external_program</tabstop>
+  <tabstop>use_cartesian_path</tabstop>
   <tabstop>collision_aware_ik</tabstop>
   <tabstop>approximate_ik</tabstop>
-  <tabstop>path_constraints_combo_box</tabstop>
-  <tabstop>goal_tolerance</tabstop>
+  <tabstop>allow_external_program</tabstop>
+  <tabstop>allow_replanning</tabstop>
+  <tabstop>allow_looking</tabstop>
+  <tabstop>detected_objects_list</tabstop>
+  <tabstop>detect_objects_button</tabstop>
+  <tabstop>support_surfaces_list</tabstop>
+  <tabstop>pick_button</tabstop>
   <tabstop>place_button</tabstop>
   <tabstop>roi_center_x</tabstop>
   <tabstop>roi_center_y</tabstop>
@@ -1847,6 +2184,13 @@
   <tabstop>roi_size_y</tabstop>
   <tabstop>roi_size_z</tabstop>
   <tabstop>collision_objects_list</tabstop>
+  <tabstop>shape_size_x_spin_box</tabstop>
+  <tabstop>shape_size_z_spin_box</tabstop>
+  <tabstop>shape_size_y_spin_box</tabstop>
+  <tabstop>shapes_combo_box</tabstop>
+  <tabstop>add_object_button</tabstop>
+  <tabstop>remove_object_button</tabstop>
+  <tabstop>clear_scene_button</tabstop>
   <tabstop>object_x</tabstop>
   <tabstop>object_y</tabstop>
   <tabstop>object_z</tabstop>
@@ -1874,16 +2218,6 @@
   <tabstop>save_goal_state_button</tabstop>
   <tabstop>status_text</tabstop>
   <tabstop>tabWidget</tabstop>
-  <tabstop>wcenter_x</tabstop>
-  <tabstop>wcenter_y</tabstop>
-  <tabstop>wcenter_z</tabstop>
-  <tabstop>wsize_x</tabstop>
-  <tabstop>wsize_y</tabstop>
-  <tabstop>wsize_z</tabstop>
-  <tabstop>pick_button</tabstop>
-  <tabstop>support_surfaces_list</tabstop>
-  <tabstop>detected_objects_list</tabstop>
-  <tabstop>detect_objects_button</tabstop>
  </tabstops>
  <resources/>
  <connections/>

From 75094667dc07ce47255cef1b91ab8b20f0b33996 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 24 Sep 2020 18:30:58 +0200
Subject: [PATCH 454/612] ikfast: add missing python dependencies

---
 moveit_kinematics/package.xml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 99ab7c3324..8adef0388f 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -30,8 +30,12 @@
   <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
   <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
 
-  <exec_depend>python-lxml</exec_depend>
-  <exec_depend>liburdfdom-tools</exec_depend> <!-- provides check_urdf required by ikfast scripts -->
+  <!-- some requirements of ikfast scripts -->
+  <exec_depend>liburdfdom-tools</exec_depend> <!-- provides check_urdf -->
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>moveit_ros_planning</test_depend>

From 6cd2d7ac186ea66c31fb8d1047fc1c076e6f1bb4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 24 Sep 2020 18:47:55 +0200
Subject: [PATCH 455/612] Install python scripts via catkin_install_python()

... to correctly rewrite shebang
---
 moveit_commander/CMakeLists.txt                           | 5 +++--
 moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt | 6 ++++++
 moveit_ros/benchmarks/CMakeLists.txt                      | 5 +++--
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/moveit_commander/CMakeLists.txt b/moveit_commander/CMakeLists.txt
index 74a0c315af..cb0618035e 100644
--- a/moveit_commander/CMakeLists.txt
+++ b/moveit_commander/CMakeLists.txt
@@ -7,7 +7,8 @@ catkin_python_setup()
 
 catkin_package()
 
-install(PROGRAMS bin/${PROJECT_NAME}_cmdline.py
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+catkin_install_python(
+  PROGRAMS bin/${PROJECT_NAME}_cmdline.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 add_subdirectory(test)
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt
index 49c1a345ec..1d5f8399cd 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt
@@ -7,6 +7,12 @@ set(MOVEIT_LIB_NAME moveit_ikfast_kinematics_plugin)
 install(
   PROGRAMS
     scripts/auto_create_ikfast_moveit_plugin.sh
+  DESTINATION
+    ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+catkin_install_python(
+  PROGRAMS
     scripts/create_ikfast_moveit_plugin.py
     scripts/round_collada_numbers.py
   DESTINATION
diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
index 0eb7714e85..f64a99da75 100644
--- a/moveit_ros/benchmarks/CMakeLists.txt
+++ b/moveit_ros/benchmarks/CMakeLists.txt
@@ -62,7 +62,8 @@ install(
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
-install(PROGRAMS scripts/moveit_benchmark_statistics.py
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+catkin_install_python(
+  PROGRAMS scripts/moveit_benchmark_statistics.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY examples/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples)

From e009acf335d5e960b38919072eb134b727b0bf83 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 24 Sep 2020 18:52:43 +0200
Subject: [PATCH 456/612] Remove shebang line from moveitjoy_module.py

---
 .../src/moveit_ros_visualization/moveitjoy_module.py             | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
index 1b2408fb34..1bb5e7da7a 100644
--- a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
+++ b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python
 # ********************************************************************
 # Software License Agreement (BSD License)
 #

From 1d8d51e295cd74d3b37ceab8c012ff0fe73003c1 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sat, 26 Sep 2020 02:39:18 +0200
Subject: [PATCH 457/612] Adapt to API changes in geometric_shapes (#2324)

https://github.com/ros-planning/geometric_shapes/pull/161 introduced a syntax simplification employing C++14 features (constexpr).
---
 moveit_core/kinematic_constraints/src/utils.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 088fff83db..11ef55a56c 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -167,7 +167,7 @@ moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
   pcm.constraint_region.primitives.resize(1);
   shape_msgs::SolidPrimitive& bv = pcm.constraint_region.primitives[0];
   bv.type = shape_msgs::SolidPrimitive::SPHERE;
-  bv.dimensions.resize(geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>::value);
+  bv.dimensions.resize(geometric_shapes::solidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>());
   bv.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] = tolerance_pos;
 
   pcm.header = pose.header;
@@ -203,7 +203,7 @@ moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
   {
     shape_msgs::SolidPrimitive& bv = goal.position_constraints[0].constraint_region.primitives[0];
     bv.type = shape_msgs::SolidPrimitive::BOX;
-    bv.dimensions.resize(geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>::value);
+    bv.dimensions.resize(geometric_shapes::solidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>());
     bv.dimensions[shape_msgs::SolidPrimitive::BOX_X] = tolerance_pos[0];
     bv.dimensions[shape_msgs::SolidPrimitive::BOX_Y] = tolerance_pos[1];
     bv.dimensions[shape_msgs::SolidPrimitive::BOX_Z] = tolerance_pos[2];
@@ -258,7 +258,7 @@ moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
   pcm.constraint_region.primitives.resize(1);
   pcm.constraint_region.primitives[0].type = shape_msgs::SolidPrimitive::SPHERE;
   pcm.constraint_region.primitives[0].dimensions.resize(
-      geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>::value);
+      geometric_shapes::solidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>());
   pcm.constraint_region.primitives[0].dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] = tolerance;
 
   pcm.header = goal_point.header;

From 1af047c83a2d8051375aa2230a6bad8cebb873b2 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 29 Sep 2020 21:43:07 +0200
Subject: [PATCH 458/612] Workaround python3 issue with
 lxml.ElementTree.write()

Fixes https://github.com/ros-planning/moveit/issues/2322
---
 .../scripts/create_ikfast_moveit_plugin.py               | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
index e9ce8770d7..b71977adaa 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -182,8 +182,7 @@ def create_ikfast_package(args):
     user_name = getuser()
     root.append(xmlElement("maintainer", email="%s@todo.todo" % user_name, text=user_name))
     root.append(xmlElement("buildtool_depend", text="catkin"))
-    with open(pkg_xml_path, 'w') as f:
-      etree.ElementTree(root).write(f, xml_declaration=True, pretty_print=True, encoding="UTF-8")
+    etree.ElementTree(root).write(pkg_xml_path, xml_declaration=True, pretty_print=True, encoding="UTF-8")
     print("Created package.xml at: '%s'" % pkg_xml_path)
 
 
@@ -247,8 +246,7 @@ def update_ikfast_package(args):
   # Write plugin definition to file
   plugin_file_name = ik_library_name + "_description.xml"
   plugin_file_path = args.ikfast_plugin_pkg_path + "/" + plugin_file_name
-  with open(plugin_file_path, 'w') as f:
-    etree.ElementTree(plugin_def).write(f, xml_declaration=True, pretty_print=True, encoding="UTF-8")
+  etree.ElementTree(plugin_def).write(plugin_file_path, xml_declaration=True, pretty_print=True, encoding="UTF-8")
   print("Created plugin definition at  '%s'" % plugin_file_path)
 
   # Create CMakeLists file
@@ -286,8 +284,7 @@ def update_ikfast_package(args):
 
   # Always write the package xml file, even if there are no changes, to ensure
   # proper encodings are used in the future (UTF-8)
-  with open(package_file_name, "w") as f:
-    etree.ElementTree(package_xml).write(f, xml_declaration=True, pretty_print=True, encoding="UTF-8")
+  etree.ElementTree(package_xml).write(package_file_name, xml_declaration=True, pretty_print=True, encoding="UTF-8")
   print("Wrote package.xml at  '%s'" % package_file_name)
 
   # Create a script for easily updating the plugin in the future in case the plugin needs to be updated

From 26c2bf6a9e3a6d5fd30a09157fcf6d2eede7006b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 29 Sep 2020 22:01:56 +0200
Subject: [PATCH 459/612] Fix some more issues with
 create_ikfast_moveit_plugin.sh

- require python-lxml and python-yaml to be installed
- use str() to print Exception
---
 .../scripts/auto_create_ikfast_moveit_plugin.sh       |  2 ++
 .../scripts/create_ikfast_moveit_plugin.py            |  4 ++--
 moveit_kinematics/test/test_ikfast_plugins.sh         | 11 +++++++++++
 3 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh b/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh
index 8d506f1091..a04e2077c7 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh
@@ -8,6 +8,8 @@
 
 # TODO: Would be nice to integrate this functionality directly into create_ikfast_moveit_plugin.py
 
+set -e  # fail on error
+
 function print_help {
    echo "$(basename $0) [--help|-h] [--quiet|-q] [--keep] [--name|-n] [--pkg|-p] [--iktype|-t] <input> <group> <base> <eef>"
    echo "  input          .urdf, .dae, or .cpp input file"
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
index b71977adaa..bfa5785947 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -61,7 +61,7 @@
   class InvalidROSPkgException(Exception):
     pass
   def get_pkg_dir(pkg_name):
-    raise InvalidROSPkgException
+    raise InvalidROSPkgException('Failed to locate ROS package {}'.format(pkg_name))
 
 # Package containing this file
 plugin_gen_pkg = 'moveit_kinematics'
@@ -389,7 +389,7 @@ def main():
   try:
     update_moveit_package(args)
   except Exception as e:
-    print("Failed to update MoveIt package:\n" + e.message)
+    print("Failed to update MoveIt package:\n" + str(e))
 
 
 if __name__ == '__main__':
diff --git a/moveit_kinematics/test/test_ikfast_plugins.sh b/moveit_kinematics/test/test_ikfast_plugins.sh
index c023161a16..d96c9e19f8 100755
--- a/moveit_kinematics/test/test_ikfast_plugins.sh
+++ b/moveit_kinematics/test/test_ikfast_plugins.sh
@@ -7,6 +7,17 @@
 # We will create ikfast plugins for fanuc and panda from moveit_resources
 # using the script auto_create_ikfast_moveit_plugin.sh
 
+sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 1
+sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 2
+
+if [ "$ROS_DISTRO" == "noetic" ]; then
+	sudo update-alternatives --set python /usr/bin/python3
+	travis_run sudo apt-get -qq install python3-lxml python3-yaml
+else
+	sudo update-alternatives --set python /usr/bin/python2
+	travis_run sudo apt-get -qq install python-lxml python-yaml
+fi
+
 # Clone moveit_resources for URDFs. They are not available before running docker.
 travis_run git clone -q --depth=1 https://github.com/ros-planning/moveit_resources /tmp/resources
 fanuc=/tmp/resources/fanuc_description/urdf/fanuc.urdf

From a9e2fbc8b5af86340d03fbec237d3dfc40e8a187 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 29 Sep 2020 22:03:14 +0200
Subject: [PATCH 460/612] Travis: default to Noetic

---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index a2a03182fd..7b038728a7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,7 +13,7 @@ notifications:
 env:
   global:
     - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min
-    - ROS_DISTRO=melodic
+    - ROS_DISTRO=noetic
     - ROS_REPO=ros
     - UPSTREAM_WORKSPACE=moveit.rosinstall
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
@@ -25,7 +25,7 @@ jobs:
     - env: TEST="clang-format catkin_lint"
     - env: TEST=code-coverage
     - env: ROS_DISTRO=noetic ROS_REPO=ros-testing
-    - env: ROS_DISTRO=melodic
+    - env: ROS_DISTRO=melodic BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
     - compiler: clang
       # test_ikfast_plugins takes ~10 minutes: include here to keep the main jobs shorter
       env: TEST=clang-tidy-fix

From d120f5d5418ab6110fcb270cbe63239a53439407 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 30 Sep 2020 07:56:52 +0200
Subject: [PATCH 461/612] IKFast: suppress unused-parameter warnings

---
 .../ikfast_kinematics_plugin/templates/CMakeLists.txt           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index 9c19bba37a..9f874d8071 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -26,7 +26,7 @@ set(IKFAST_LIBRARY_NAME _LIBRARY_NAME_)
 add_library(${IKFAST_LIBRARY_NAME} src/_ROBOT_NAME___GROUP_NAME__ikfast_moveit_plugin.cpp)
 target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})
 # suppress warnings about unused variables in OpenRave's solver code
-target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable)
+target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable -Wno-unused-parameter)
 
 install(TARGETS
   ${IKFAST_LIBRARY_NAME}

From 2954fa2c5f493c7ae2b83892153a2507e23db8b7 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 30 Sep 2020 07:52:20 +0200
Subject: [PATCH 462/612] Remove custom copy-assignment operator for
 DistanceResultsData

It was just performing the operations of the default operator. Newer clang requires either both or none of copy constructor and assignment operator to be defined.

warning: definition of implicit copy constructor for 'DistanceResultsData' is deprecated because it has a user-declared copy assignment operator [-Wdeprecated-copy]
---
 .../moveit/collision_detection/collision_common.h   | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 93d594de29..53eff3c7a7 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -342,19 +342,6 @@ struct DistanceResultsData
     normal.setZero();
   }
 
-  /// Update structure data given DistanceResultsData object
-  void operator=(const DistanceResultsData& other)
-  {
-    distance = other.distance;
-    nearest_points[0] = other.nearest_points[0];
-    nearest_points[1] = other.nearest_points[1];
-    link_names[0] = other.link_names[0];
-    link_names[1] = other.link_names[1];
-    body_types[0] = other.body_types[0];
-    body_types[1] = other.body_types[1];
-    normal = other.normal;
-  }
-
   /// Compare if the distance is less than another
   bool operator<(const DistanceResultsData& other)
   {

From 99ceb7e50b202e95480f491a8d60847bdd1c1c78 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 30 Sep 2020 08:01:52 +0200
Subject: [PATCH 463/612] perception: add missing dependency to OpenMP

---
 moveit_ros/perception/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml
index 19e72c6bd2..f6e6dc57dd 100644
--- a/moveit_ros/perception/package.xml
+++ b/moveit_ros/perception/package.xml
@@ -27,6 +27,7 @@
   <depend>image_transport</depend>
   <depend>glut</depend>
   <depend>libglew-dev</depend>
+  <depend>libomp-dev</depend>
   <depend>opengl</depend>
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>

From c2e3f27f83b0c9f3fcd38a6b8aebab5bfee54de9 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 30 Sep 2020 09:23:45 +0200
Subject: [PATCH 464/612] Silent deprecation warnings of gtest's typed test
 suites

---
 moveit_core/collision_detection_bullet/CMakeLists.txt | 4 ++++
 moveit_core/collision_detection_fcl/CMakeLists.txt    | 4 ++++
 moveit_ros/perception/mesh_filter/CMakeLists.txt      | 2 ++
 3 files changed, 10 insertions(+)

diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 66a1e09e4b..775fba1bd3 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -30,9 +30,13 @@ install(FILES ../collision_detector_bullet_description.xml DESTINATION ${CATKIN_
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+  target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
 
   catkin_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+  target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
 
   catkin_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 90f260c8aa..48bb00e6e6 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -26,7 +26,11 @@ install(FILES ../collision_detector_fcl_description.xml DESTINATION ${CATKIN_PAC
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+  target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
 
   catkin_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
   target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+  target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
 endif()
diff --git a/moveit_ros/perception/mesh_filter/CMakeLists.txt b/moveit_ros/perception/mesh_filter/CMakeLists.txt
index 8d8a00743b..100350e472 100644
--- a/moveit_ros/perception/mesh_filter/CMakeLists.txt
+++ b/moveit_ros/perception/mesh_filter/CMakeLists.txt
@@ -17,6 +17,8 @@ if (CATKIN_ENABLE_TESTING)
   if (DEFINED ENV{DISPLAY} AND NOT $ENV{DISPLAY} STREQUAL "")
     catkin_add_gtest(mesh_filter_test test/mesh_filter_test.cpp)
     target_link_libraries(mesh_filter_test ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_mesh_filter)
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(mesh_filter_test PRIVATE -Wno-deprecated-declarations)
   else()
     message("No display, will not configure tests for moveit_ros_perception/mesh_filter")
   endif()

From 76ea533961ab98aa3a9b486e41b2b1b8290b3323 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 30 Sep 2020 11:46:37 +0200
Subject: [PATCH 465/612] Handle multiple link libraries for FCL (#2325)

---
 moveit_core/CMakeLists.txt | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 05c127fcde..1aa2450ff0 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -48,10 +48,13 @@ endif()
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL_PC REQUIRED fcl)
-# find *absolute* paths to LIBFCL_INCLUDE_DIRS and LIBFCL_LIBRARIES
-find_path(LIBFCL_INCLUDE_DIRS fcl/config.h HINTS ${LIBFCL_PC_INCLUDE_DIR} ${LIBFCL_PC_INCLUDE_DIRS})
-find_library(LIBFCL_LIBRARIES fcl HINTS ${LIBFCL_PC_LIBRARY_DIRS})
-
+set(LIBFCL_INCLUDE_DIRS ${LIBFCL_PC_INCLUDE_DIRS})
+# find *absolute* paths to LIBFCL_LIBRARIES
+set(LIBFCL_LIBRARIES)
+foreach(_lib ${LIBFCL_PC_LIBRARIES})
+  find_library(_lib_${_lib} ${_lib} HINTS ${LIBFCL_PC_LIBRARY_DIRS})
+  list(APPEND LIBFCL_LIBRARIES ${_lib_${_lib}})
+endforeach()
 
 find_package(octomap REQUIRED)
 find_package(urdfdom REQUIRED)

From 89d63e83ad5e7f319aef65aeecc2e3adf97596be Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 1 Oct 2020 11:06:37 +0200
Subject: [PATCH 466/612] Fix clang-tidy warning (#2334)

---
 .../src/motion_planning_frame_objects.cpp                       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index 00f0f09a70..bdbe36e17a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -61,7 +61,7 @@ namespace
 QString subframe_poses_to_qstring(const moveit::core::FixedTransformsMap& subframes)
 {
   QString status_text = "\nIt has the subframes '";
-  for (auto subframe : subframes)
+  for (const auto& subframe : subframes)
   {
     status_text += QString::fromStdString(subframe.first) + "', '";
   }

From 67a37cd08020645a35cf3f684f302a33c01bdd6d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 1 Oct 2020 17:20:06 +0200
Subject: [PATCH 467/612] MSA: Fix disappearing robot on change of reference
 frame (#2335)

- set visibility of robot-state-display to true after reset()
- correctly update reference frame also on deletion of virtual joint
---
 moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp | 1 +
 moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 61fd9145c9..6b32e381cf 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -187,6 +187,7 @@ void SetupAssistantWidget::virtualJointReferenceFrameChanged()
   {
     rviz_manager_->setFixedFrame(QString::fromStdString(config_data_->getRobotModel()->getModelFrame()));
     robot_state_display_->reset();
+    robot_state_display_->setVisible(true);
   }
 }
 
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index 4227d6a984..ef7f1a137d 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -436,6 +436,7 @@ void VirtualJointsWidget::deleteSelected()
   // Reload main screen table
   loadDataTable();
   config_data_->changes |= MoveItConfigData::VIRTUAL_JOINTS;
+  Q_EMIT referenceFrameChanged();
 }
 
 // ******************************************************************************************

From a29a30caaecbd130d85056d959d4eb1c30d4088f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 1 Oct 2020 22:30:05 +0200
Subject: [PATCH 468/612] Fix some clang-tidy issues on Travis (#2337)

* Replace typedefs with using declarations
* Move default destructor definitions to headers
* Silent spurious clang-tidy warning
* Move variable definitions to their usage location
---
 .../moveit/collision_detection/collision_common.h     | 10 +++++-----
 .../moveit/collision_detection/collision_env.h        |  4 ++--
 .../moveit/collision_detection/collision_matrix.h     |  2 +-
 .../include/moveit/collision_detection/world.h        |  4 ++--
 .../include/moveit/collision_detection/world_diff.h   |  2 +-
 .../collision_detection_fcl/src/collision_common.cpp  |  4 ++--
 .../include/moveit/kinematics_base/kinematics_base.h  |  9 ++++-----
 .../planning_request_adapter.h                        |  7 +++----
 .../include/moveit/planning_scene/planning_scene.h    | 11 ++++++-----
 .../include/moveit/robot_model/joint_model.h          |  8 ++++----
 .../include/moveit/robot_model/joint_model_group.h    | 10 +++++-----
 .../include/moveit/robot_model/link_model.h           |  7 +++----
 .../iterative_spline_parameterization.h               |  2 +-
 .../iterative_time_parameterization.h                 |  2 +-
 .../src/iterative_spline_parameterization.cpp         |  2 --
 .../src/iterative_time_parameterization.cpp           |  2 --
 .../transforms/include/moveit/transforms/transforms.h |  5 ++---
 .../moveit/occupancy_map_monitor/occupancy_map.h      |  8 ++++----
 .../occupancy_map_monitor/occupancy_map_updater.h     | 10 ++++------
 .../moveit/plan_execution/plan_representation.h       |  2 +-
 .../planning_scene_monitor/current_state_monitor.h    |  4 ++--
 .../planning_scene_monitor/planning_scene_monitor.h   |  9 ++++-----
 .../planning_scene_monitor/trajectory_monitor.h       |  3 +--
 .../trajectory_execution_manager.h                    |  2 +-
 24 files changed, 59 insertions(+), 70 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 53eff3c7a7..fcda6e9efc 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -67,7 +67,7 @@ enum Type
 }  // namespace BodyTypes
 
 /** \brief The types of bodies that are considered for collision */
-typedef BodyTypes::Type BodyType;
+using BodyType = BodyTypes::Type;
 
 /** \brief Definition of a contact point */
 struct Contact
@@ -147,7 +147,7 @@ struct CollisionResult
   CollisionResult() : collision(false), distance(std::numeric_limits<double>::max()), contact_count(0)
   {
   }
-  typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > ContactMap;
+  using ContactMap = std::map<std::pair<std::string, std::string>, std::vector<Contact> >;
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
@@ -240,7 +240,7 @@ enum DistanceRequestType
   ALL       ///< Find all the contacts for a given pair
 };
 }
-typedef DistanceRequestTypes::DistanceRequestType DistanceRequestType;
+using DistanceRequestType = DistanceRequestTypes::DistanceRequestType;
 
 /** \brief Representation of a distance-reporting request */
 struct DistanceRequest
@@ -303,7 +303,7 @@ struct DistanceRequest
 };
 
 /** \brief Generic representation of the distance information for a pair of objects */
-struct DistanceResultsData
+struct DistanceResultsData  // NOLINT(readability-identifier-naming) - suppress spurious clang-tidy warning
 {
   DistanceResultsData()
   {
@@ -356,7 +356,7 @@ struct DistanceResultsData
 };
 
 /** \brief Mapping between the names of the collision objects and the DistanceResultData. */
-typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> > DistanceMap;
+using DistanceMap = std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> >;
 
 /** \brief Result of a distance request. */
 struct DistanceResult
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
index 0dc01a5a10..9177fae307 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h
@@ -248,8 +248,8 @@ class CollisionEnv
     return world_const_;
   }
 
-  typedef World::ObjectPtr ObjectPtr;
-  typedef World::ObjectConstPtr ObjectConstPtr;
+  using ObjectPtr = World::ObjectPtr;
+  using ObjectConstPtr = World::ObjectConstPtr;
 
   /** @brief The kinematic model corresponding to this collision model*/
   const moveit::core::RobotModelConstPtr& getRobotModel() const
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
index 3072591919..4b7a72910b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
@@ -69,7 +69,7 @@ enum Type
 
 /** \brief Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is
  * CONDITIONAL) */
-typedef boost::function<bool(collision_detection::Contact&)> DecideContactFn;
+using DecideContactFn = boost::function<bool(collision_detection::Contact&)>;
 
 MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);  // Defines AllowedCollisionMatrixPtr, ConstPtr, WeakPtr... etc
 
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.h b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
index 6113dd6172..c9a52c3e6b 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.h
@@ -119,7 +119,7 @@ class World
   ObjectConstPtr getObject(const std::string& object_id) const;
 
   /** iterator over the objects in the world. */
-  typedef std::map<std::string, ObjectPtr>::const_iterator const_iterator;
+  using const_iterator = std::map<std::string, ObjectPtr>::const_iterator;
   /** iterator pointing to first change */
   const_iterator begin() const
   {
@@ -254,7 +254,7 @@ class World
     friend class World;
   };
 
-  typedef boost::function<void(const ObjectConstPtr&, Action)> ObserverCallbackFn;
+  using ObserverCallbackFn = boost::function<void(const ObjectConstPtr&, Action)>;
 
   /** \brief register a callback function for notification of changes.
    * \e callback will be called right after any change occurs to any Object.
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
index 9660d2dbce..1ffbceafda 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world_diff.h
@@ -76,7 +76,7 @@ class WorldDiff
     return changes_;
   }
 
-  typedef std::map<std::string, World::Action>::const_iterator const_iterator;
+  using const_iterator = std::map<std::string, World::Action>::const_iterator;
   /** iterator pointing to first change */
   const_iterator begin() const
   {
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index bc136f28f7..4e12a5610e 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -493,8 +493,6 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
     ROS_DEBUG_NAMED("collision_detection.fcl", "Actually checking collisions between %s and %s", cd1->getID().c_str(),
                     cd2->getID().c_str());
 
-  fcl::DistanceResultd fcl_result;
-  DistanceResultsData dist_result;
   double dist_threshold = cdata->req->distance_threshold;
 
   const std::pair<std::string, std::string>& pc = cd1->getID() < cd2->getID() ?
@@ -523,6 +521,7 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
     }
   }
 
+  fcl::DistanceResultd fcl_result;
   fcl_result.min_distance = dist_threshold;
   // fcl::distance segfaults when given an octree with a null root pointer (using FCL 0.6.1)
   if ((o1->getObjectType() == fcl::OT_OCTREE &&
@@ -539,6 +538,7 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
   // one and add the new distance information.
   if (d < dist_threshold)
   {
+    DistanceResultsData dist_result;
     dist_result.distance = fcl_result.min_distance;
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
     dist_result.nearest_points[0] = fcl_result.nearest_points[0];
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 1a9b3c9b69..0c62197dbd 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -76,7 +76,7 @@ enum DiscretizationMethod
                            The unused redundant joints will be fixed at their current value. */
 };
 }  // namespace DiscretizationMethods
-typedef DiscretizationMethods::DiscretizationMethod DiscretizationMethod;
+using DiscretizationMethod = DiscretizationMethods::DiscretizationMethod;
 
 /*
  * @enum KinematicErrors
@@ -98,7 +98,7 @@ enum KinematicError
 
 };
 }  // namespace KinematicErrors
-typedef KinematicErrors::KinematicError KinematicError;
+using KinematicError = KinematicErrors::KinematicError;
 
 /**
  * @struct KinematicsQueryOptions
@@ -148,9 +148,8 @@ class KinematicsBase
   static const double DEFAULT_TIMEOUT;               /* = 1.0 */
 
   /** @brief Signature for a callback to validate an IK solution. Typically used for collision checking. */
-  typedef boost::function<void(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_solution,
-                               moveit_msgs::MoveItErrorCodes& error_code)>
-      IKCallbackFn;
+  using IKCallbackFn =
+      boost::function<void(const geometry_msgs::Pose&, const std::vector<double>&, moveit_msgs::MoveItErrorCodes&)>;
 
   /**
    * @brief Given a desired pose of the end-effector, compute the joint angles to reach it
diff --git a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
index 1f834b71ea..c721b45134 100644
--- a/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
+++ b/moveit_core/planning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -49,10 +49,9 @@ MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapter
 class PlanningRequestAdapter
 {
 public:
-  typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
-                               const planning_interface::MotionPlanRequest& req,
-                               planning_interface::MotionPlanResponse& res)>
-      PlannerFn;
+  using PlannerFn =
+      boost::function<bool(const planning_scene::PlanningSceneConstPtr&, const planning_interface::MotionPlanRequest&,
+                           planning_interface::MotionPlanResponse&)>;
 
   PlanningRequestAdapter()
   {
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 74c6532847..c4f648959e 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -72,13 +72,14 @@ typedef boost::function<bool(const moveit::core::RobotState&, bool)> StateFeasib
     The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the
    first state and end at the second state. The third argument indicates
     whether the check should be verbose or not. */
-typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)> MotionFeasibilityFn;
+using MotionFeasibilityFn =
+    boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)>;
 
 /** \brief A map from object names (e.g., attached bodies, collision objects) to their colors */
-typedef std::map<std::string, std_msgs::ColorRGBA> ObjectColorMap;
+using ObjectColorMap = std::map<std::string, std_msgs::ColorRGBA>;
 
 /** \brief A map from object names (e.g., attached bodies, collision objects) to their types */
-typedef std::map<std::string, object_recognition_msgs::ObjectType> ObjectTypeMap;
+using ObjectTypeMap = std::map<std::string, object_recognition_msgs::ObjectType>;
 
 /** \brief This class maintains the representation of the
     environment as seen by a planning instance. The environment
@@ -1000,8 +1001,8 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   };
   friend struct CollisionDetector;
 
-  typedef std::map<std::string, CollisionDetectorPtr>::iterator CollisionDetectorIterator;
-  typedef std::map<std::string, CollisionDetectorPtr>::const_iterator CollisionDetectorConstIterator;
+  using CollisionDetectorIterator = std::map<std::string, CollisionDetectorPtr>::iterator;
+  using CollisionDetectorConstIterator = std::map<std::string, CollisionDetectorPtr>::const_iterator;
 
   void allocateCollisionDetectors();
   void allocateCollisionDetectors(CollisionDetector& detector);
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
index c0d37829e2..928a19d1ff 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model.h
@@ -84,13 +84,13 @@ class JointModel;
 typedef std::map<std::string, int> VariableIndexMap;
 
 /** \brief Data type for holding mappings from variable names to their bounds */
-typedef std::map<std::string, VariableBounds> VariableBoundsMap;
+using VariableBoundsMap = std::map<std::string, VariableBounds>;
 
 /** \brief Map of names to instances for JointModel */
-typedef std::map<std::string, JointModel*> JointModelMap;
+using JointModelMap = std::map<std::string, JointModel*>;
 
 /** \brief Map of names to const instances for JointModel */
-typedef std::map<std::string, const JointModel*> JointModelMapConst;
+using JointModelMapConst = std::map<std::string, const JointModel*>;
 
 /** \brief A joint from the robot. Models the transform that
     this joint applies in the kinematic chain. A joint
@@ -119,7 +119,7 @@ class JointModel
   };
 
   /** \brief The datatype for the joint bounds */
-  typedef std::vector<VariableBounds> Bounds;
+  using Bounds = std::vector<VariableBounds>;
 
   /** \brief Construct a joint named \e name */
   JointModel(const std::string& name);
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
index 64ea874bda..7626306b6d 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -55,15 +55,15 @@ class JointModelGroup;
 typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> SolverAllocatorFn;
 
 /** \brief Map from group instances to allocator functions & bijections */
-typedef std::map<const JointModelGroup*, SolverAllocatorFn> SolverAllocatorMapFn;
+using SolverAllocatorMapFn = std::map<const JointModelGroup*, SolverAllocatorFn>;
 
 /** \brief Map of names to instances for JointModelGroup */
-typedef std::map<std::string, JointModelGroup*> JointModelGroupMap;
+using JointModelGroupMap = std::map<std::string, JointModelGroup*>;
 
 /** \brief Map of names to const instances for JointModelGroup */
-typedef std::map<std::string, const JointModelGroup*> JointModelGroupMapConst;
+using JointModelGroupMapConst = std::map<std::string, const JointModelGroup*>;
 
-typedef std::vector<const JointModel::Bounds*> JointBoundsVector;
+using JointBoundsVector = std::vector<const JointModel::Bounds*>;
 
 class JointModelGroup
 {
@@ -102,7 +102,7 @@ class JointModelGroup
   };
 
   /// Map from group instances to allocator functions & bijections
-  typedef std::map<const JointModelGroup*, KinematicsSolver> KinematicsSolverMap;
+  using KinematicsSolverMap = std::map<const JointModelGroup*, KinematicsSolver>;
 
   JointModelGroup(const std::string& name, const srdf::Model::Group& config,
                   const std::vector<const JointModel*>& joint_vector, const RobotModel* parent_model);
diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
index ce799745da..3bd2dfbe00 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/link_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -61,12 +61,11 @@ class LinkModel;
 typedef std::map<std::string, LinkModel*> LinkModelMap;
 
 /** \brief Map of names to const instances for LinkModel */
-typedef std::map<std::string, const LinkModel*> LinkModelMapConst;
+using LinkModelMapConst = std::map<std::string, const LinkModel*>;
 
 /** \brief Map from link model instances to Eigen transforms */
-typedef std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>,
-                 Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >
-    LinkTransformMap;
+using LinkTransformMap = std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>,
+                                  Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >;
 
 /** \brief A link from the robot. Contains the constant transform applied to the link and its geometry */
 class LinkModel
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
index bee235d209..92f14befdb 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
@@ -71,7 +71,7 @@ class IterativeSplineParameterization
 {
 public:
   IterativeSplineParameterization(bool add_points = true);
-  ~IterativeSplineParameterization();
+  ~IterativeSplineParameterization() = default;
 
   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                          const double max_acceleration_scaling_factor = 1.0) const;
diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
index 7a298642fb..b142f987a5 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
@@ -46,7 +46,7 @@ class IterativeParabolicTimeParameterization
 {
 public:
   IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
-  ~IterativeParabolicTimeParameterization();
+  ~IterativeParabolicTimeParameterization() = default;
 
   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                          const double max_acceleration_scaling_factor = 1.0) const;
diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
index f12d01314d..855c3a7929 100644
--- a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
@@ -76,8 +76,6 @@ IterativeSplineParameterization::IterativeSplineParameterization(bool add_points
 {
 }
 
-IterativeSplineParameterization::~IterativeSplineParameterization() = default;
-
 bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                                                         const double max_velocity_scaling_factor,
                                                         const double max_acceleration_scaling_factor) const
diff --git a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
index e739158fcb..afef388e49 100644
--- a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
+++ b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
@@ -50,8 +50,6 @@ IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization(u
 {
 }
 
-IterativeParabolicTimeParameterization::~IterativeParabolicTimeParameterization() = default;
-
 namespace
 {
 void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, std::size_t i)
diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
index 0a13c7b85e..e5a26c4c5f 100644
--- a/moveit_core/transforms/include/moveit/transforms/transforms.h
+++ b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -49,9 +49,8 @@ MOVEIT_CLASS_FORWARD(Transforms);  // Defines TransformsPtr, ConstPtr, WeakPtr..
 
 /// @brief Map frame names to the transformation matrix that can transform objects from the frame name to the planning
 /// frame
-typedef std::map<std::string, Eigen::Isometry3d, std::less<std::string>,
-                 Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >
-    FixedTransformsMap;
+using FixedTransformsMap = std::map<std::string, Eigen::Isometry3d, std::less<std::string>,
+                                    Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >;
 
 /** @brief Provides an implementation of a snapshot of a transform tree that can be easily queried for
     transforming different quantities. Transforms are maintained as a list of transforms to a particular frame.
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index 875f3cab22..9ea4815e8e 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -87,8 +87,8 @@ class OccMapTree : public octomap::OcTree
     tree_mutex_.unlock();
   }
 
-  typedef boost::shared_lock<boost::shared_mutex> ReadLock;
-  typedef boost::unique_lock<boost::shared_mutex> WriteLock;
+  using ReadLock = boost::shared_lock<boost::shared_mutex>;
+  using WriteLock = boost::unique_lock<boost::shared_mutex>;
 
   ReadLock reading()
   {
@@ -117,6 +117,6 @@ class OccMapTree : public octomap::OcTree
   boost::function<void()> update_callback_;
 };
 
-typedef std::shared_ptr<OccMapTree> OccMapTreePtr;
-typedef std::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
+using OccMapTreePtr = std::shared_ptr<OccMapTree>;
+using OccMapTreeConstPtr = std::shared_ptr<const OccMapTree>;
 }  // namespace occupancy_map_monitor
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
index 902246a2a4..408a6f7c32 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
@@ -44,12 +44,10 @@
 
 namespace occupancy_map_monitor
 {
-typedef unsigned int ShapeHandle;
-typedef std::map<ShapeHandle, Eigen::Isometry3d, std::less<ShapeHandle>,
-                 Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Isometry3d> > >
-    ShapeTransformCache;
-typedef boost::function<bool(const std::string& target_frame, const ros::Time& target_time, ShapeTransformCache& cache)>
-    TransformCacheProvider;
+using ShapeHandle = unsigned int;
+using ShapeTransformCache = std::map<ShapeHandle, Eigen::Isometry3d, std::less<ShapeHandle>,
+                                     Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Isometry3d> > >;
+using TransformCacheProvider = boost::function<bool(const std::string&, const ros::Time&, ShapeTransformCache&)>;
 
 class OccupancyMapMonitor;
 
diff --git a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
index fab59a19a1..8e2c728ccb 100644
--- a/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
+++ b/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_representation.h
@@ -85,5 +85,5 @@ struct ExecutableMotionPlan
 };
 
 /// The signature of a function that can compute a motion plan
-typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
+using ExecutableMotionPlanComputationFn = boost::function<bool(ExecutableMotionPlan&)>;
 }  // namespace plan_execution
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
index 7203eaa3eb..558a3c8c12 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h
@@ -46,13 +46,13 @@
 
 namespace planning_scene_monitor
 {
-typedef boost::function<void(const sensor_msgs::JointStateConstPtr& joint_state)> JointStateUpdateCallback;
+using JointStateUpdateCallback = boost::function<void(const sensor_msgs::JointStateConstPtr&)>;
 
 /** @class CurrentStateMonitor
     @brief Monitors the joint_states topic and tf to maintain the current state of the robot. */
 class CurrentStateMonitor
 {
-  typedef boost::signals2::connection TFConnection;
+  using TFConnection = boost::signals2::connection;
 
 public:
   /**
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index 941bb266c6..34591d2ceb 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -519,11 +519,10 @@ class PlanningSceneMonitor : private boost::noncopyable
   typedef std::map<const moveit::core::LinkModel*,
                    std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >
       LinkShapeHandles;
-  typedef std::map<const moveit::core::AttachedBody*,
-                   std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >
-      AttachedBodyShapeHandles;
-  typedef std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*> > >
-      CollisionBodyShapeHandles;
+  using AttachedBodyShapeHandles = std::map<const moveit::core::AttachedBody*,
+                                            std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >;
+  using CollisionBodyShapeHandles =
+      std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*> > >;
 
   LinkShapeHandles link_shape_handles_;
   AttachedBodyShapeHandles attached_body_shape_handles_;
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
index c5aa8142b2..4d30d4ec7d 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -44,8 +44,7 @@
 
 namespace planning_scene_monitor
 {
-typedef boost::function<void(const moveit::core::RobotStateConstPtr& state, const ros::Time& stamp)>
-    TrajectoryStateAddedCallback;
+using TrajectoryStateAddedCallback = boost::function<void(const moveit::core::RobotStateConstPtr&, const ros::Time&)>;
 
 MOVEIT_CLASS_FORWARD(TrajectoryMonitor);  // Defines TrajectoryMonitorPtr, ConstPtr, WeakPtr... etc
 
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 1506513902..1ec1bcc79a 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -67,7 +67,7 @@ class TrajectoryExecutionManager
 
   /// Definition of the function signature that is called when the execution of a pushed trajectory completes
   /// successfully.
-  typedef boost::function<void(std::size_t)> PathSegmentCompleteCallback;
+  using PathSegmentCompleteCallback = boost::function<void(std::size_t)>;
 
   /// Data structure that represents information necessary to execute a trajectory
   struct TrajectoryExecutionContext

From 023b11def6329b165ed7509e5de9aec4c1e29c6c Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 2 Oct 2020 14:09:57 -0600
Subject: [PATCH 469/612] [fix] Segfault when editing pose in
 moveit_setup_assistant (#2340)

---
 .../src/widgets/robot_poses_widget.cpp             | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index d89889fd9c..34d6c12d02 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -321,13 +321,17 @@ void RobotPosesWidget::editDoubleClicked(int /*row*/, int /*column*/)
 // ******************************************************************************************
 void RobotPosesWidget::previewClicked(int row, int /*column*/, int /*previous_row*/, int /*previous_column*/)
 {
-  const std::string& name = data_table_->item(row, 0)->text().toStdString();
-  const std::string& group = data_table_->item(row, 1)->text().toStdString();
+  QTableWidgetItem* name = data_table_->item(row, 0);
+  QTableWidgetItem* group = data_table_->item(row, 1);
 
-  // Find the selected in datastructure
-  srdf::Model::GroupState* pose = findPoseByName(name, group);
+  // nullptr check before dereferencing
+  if (name && group)
+  {
+    // Find the selected in datastructure
+    srdf::Model::GroupState* pose = findPoseByName(name->text().toStdString(), group->text().toStdString());
 
-  showPose(pose);
+    showPose(pose);
+  }
 }
 
 // ******************************************************************************************

From 47884198c2585215de8f365a7ff20479f8bb4b51 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Sun, 4 Oct 2020 18:48:42 +0900
Subject: [PATCH 470/612] Fix "Clear Octomap" button, disable when no octomap
 is published (#2320)

* Enable/disable "Clear Octomap" button
* Correctly remove octomap from scene in clearOctomap()
---
 .../planning_scene_monitor/src/planning_scene_monitor.cpp    | 2 ++
 .../src/motion_planning_frame_objects.cpp                    | 5 +++++
 .../src/motion_planning_frame_planning.cpp                   | 1 +
 .../src/ui/motion_planning_rviz_plugin_frame.ui              | 3 +++
 4 files changed, 11 insertions(+)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index aa43572346..799c5df0f2 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -531,6 +531,8 @@ void PlanningSceneMonitor::newPlanningSceneCallback(const moveit_msgs::PlanningS
 
 void PlanningSceneMonitor::clearOctomap()
 {
+  if (scene_->getWorldNonConst()->removeObject(scene_->OCTOMAP_NS))
+    triggerSceneUpdateEvent(UPDATE_SCENE);
   if (octomap_monitor_)
   {
     octomap_monitor_->getOcTreePtr()->lockWrite();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index bdbe36e17a..c8a1316687 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -921,6 +921,7 @@ void MotionPlanningFrame::populateCollisionObjectsList()
 {
   ui_->collision_objects_list->setUpdatesEnabled(false);
   bool old_state = ui_->collision_objects_list->blockSignals(true);
+  bool octomap_in_scene = false;
 
   {
     QList<QListWidgetItem*> sel = ui_->collision_objects_list->selectedItems();
@@ -938,7 +939,10 @@ void MotionPlanningFrame::populateCollisionObjectsList()
       for (std::size_t i = 0; i < collision_object_names.size(); ++i)
       {
         if (collision_object_names[i] == planning_scene::PlanningScene::OCTOMAP_NS)
+        {
+          octomap_in_scene = true;
           continue;
+        }
 
         QListWidgetItem* item =
             new QListWidgetItem(QString::fromStdString(collision_object_names[i]), ui_->collision_objects_list, (int)i);
@@ -970,6 +974,7 @@ void MotionPlanningFrame::populateCollisionObjectsList()
     }
   }
 
+  ui_->clear_octomap_button->setEnabled(octomap_in_scene);
   ui_->collision_objects_list->blockSignals(old_state);
   ui_->collision_objects_list->setUpdatesEnabled(true);
   selectedCollisionObjectChanged();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index b847da57b4..f0b32d8935 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -110,6 +110,7 @@ void MotionPlanningFrame::onClearOctomapClicked()
 {
   std_srvs::Empty srv;
   clear_octomap_service_client_.call(srv);
+  ui_->clear_octomap_button->setEnabled(false);
 }
 
 bool MotionPlanningFrame::computeCartesianPlan()
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index acde5aa80d..aa322f4a70 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -445,6 +445,9 @@
               </item>
               <item>
                <widget class="QPushButton" name="clear_octomap_button">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
                 <property name="text">
                  <string>Clear octomap</string>
                 </property>

From 9d917fbc7e326d29498a1c10776a3b3d21cae84c Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 5 Oct 2020 04:27:25 -0500
Subject: [PATCH 471/612] moveit_cpp: more informative error message, cover
 another potential failure condition. (#2336)

---
 .../planning_interface/moveit_cpp/src/moveit_cpp.cpp     | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 1db8d8f33c..40b300fc73 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -225,7 +225,9 @@ std::set<std::string> MoveItCpp::getPlanningPipelineNames(const std::string& gro
   std::set<std::string> result_names;
   if (!group_name.empty() && groups_pipelines_map_.count(group_name) == 0)
   {
-    ROS_ERROR_NAMED(LOGNAME, "There are no planning pipelines loaded for group '%s'.", group_name.c_str());
+    ROS_ERROR_NAMED(LOGNAME,
+                    "No planning pipelines loaded for group '%s'. Check planning pipeline and controller setup.",
+                    group_name.c_str());
     return result_names;  // empty
   }
   for (const auto& pipeline_entry : planning_pipelines_)
@@ -240,6 +242,11 @@ std::set<std::string> MoveItCpp::getPlanningPipelineNames(const std::string& gro
     }
     result_names.insert(pipeline_name);
   }
+  // No valid planning pipelines
+  if (result_names.empty())
+    ROS_ERROR_NAMED(LOGNAME,
+                    "No planning pipelines loaded for group '%s'. Check planning pipeline and controller setup.",
+                    group_name.c_str());
   return result_names;
 }
 

From c86394fc1640c91d2fd04cf55c2b8ff567cadfb4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 15:04:40 +0200
Subject: [PATCH 472/612] MSA: Update RobotState *before* visualization

---
 .../src/widgets/robot_poses_widget.cpp        | 28 ++++++-------------
 1 file changed, 8 insertions(+), 20 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 34d6c12d02..4fbda0be56 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -806,36 +806,24 @@ void RobotPosesWidget::updateRobotModel(const std::string& name, double value)
 // ******************************************************************************************
 void RobotPosesWidget::publishJoints()
 {
-  // Change the scene
-  // scene.getCurrentState().setToDefaultValues();//set to default values of 0 OR half between low and high joint values
-  // config_data_->getPlanningScene()->getCurrentState().setToRandomValues();
-
   // Set the joints based on the map
-  config_data_->getPlanningScene()->getCurrentStateNonConst().setVariablePositions(joint_state_map_);
+  moveit::core::RobotState& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
+  robot_state.setVariablePositions(joint_state_map_);
+  // Prevent dirty collision body transforms
+  robot_state.update();
 
   // Create a planning scene message
   moveit_msgs::DisplayRobotState msg;
-  moveit::core::robotStateToRobotStateMsg(config_data_->getPlanningScene()->getCurrentState(), msg.state);
+  moveit::core::robotStateToRobotStateMsg(robot_state, msg.state);
 
   // Publish!
   pub_robot_state_.publish(msg);
 
-  // Prevent dirty collision body transforms
-  config_data_->getPlanningScene()->getCurrentStateNonConst().update();
-
   // Decide if current state is in collision
   collision_detection::CollisionResult result;
-  config_data_->getPlanningScene()->checkSelfCollision(
-      request, result, config_data_->getPlanningScene()->getCurrentState(), config_data_->allowed_collision_matrix_);
-  // Show result notification
-  if (!result.contacts.empty())
-  {
-    collision_warning_->show();
-  }
-  else
-  {
-    collision_warning_->hide();
-  }
+  config_data_->getPlanningScene()->checkSelfCollision(request, result, robot_state,
+                                                       config_data_->allowed_collision_matrix_);
+  collision_warning_->setHidden(result.contacts.empty());
 }
 
 // ******************************************************************************************

From 46a754a9ec43f45d10fa64e8315e598c49d6f864 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 17:08:19 +0200
Subject: [PATCH 473/612] remove commented, copy-pasted code

---
 .../src/widgets/virtual_joints_widget.cpp     | 23 -------------------
 1 file changed, 23 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index ef7f1a137d..e5b42fc197 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -255,29 +255,6 @@ void VirtualJointsWidget::editDoubleClicked(int /*row*/, int /*column*/)
 // ******************************************************************************************
 void VirtualJointsWidget::previewClicked(int /*row*/, int /*column*/)
 {
-  // TODO: highlight the virtual joint?
-
-  /*  // Get list of all selected items
-  QList<QTableWidgetItem*> selected = data_table_->selectedItems();
-
-  // Check that an element was selected
-  if( !selected.size() )
-    return;
-
-  // Find the selected in datastructure
-  srdf::Model::GroupState *vjoint = findVjointByName( selected[0]->text().toStdString() );
-
-  // Set vjoint joint values by adding them to the local joint state map
-  for( std::map<std::string, std::vector<double> >::const_iterator value_it = vjoint->joint_values_.begin();
-       value_it != vjoint->joint_values_.end(); ++value_it )
-  {
-    // Only copy the first joint value
-    joint_state_map_[ value_it->first ] = value_it->second[0];
-  }
-
-  // Update the joints
-  publishJoints();
-  */
 }
 
 // ******************************************************************************************

From 865f0fdfb0feaf1fc2c5233c786eb96cbdf30073 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 17:08:53 +0200
Subject: [PATCH 474/612] Use PlanningScene's RobotState for postures

.. instead of extra joint_state_map_
---
 .../src/widgets/robot_poses_widget.cpp        | 86 ++++++-------------
 .../src/widgets/robot_poses_widget.h          |  6 --
 2 files changed, 24 insertions(+), 68 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 4fbda0be56..2c1ef14747 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -339,12 +339,12 @@ void RobotPosesWidget::previewClicked(int row, int /*column*/, int /*previous_ro
 // ******************************************************************************************
 void RobotPosesWidget::showPose(srdf::Model::GroupState* pose)
 {
-  // Set pose joint values by adding them to the local joint state map
+  // Set the joints based on the SRDF pose
+  moveit::core::RobotState& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
   for (std::map<std::string, std::vector<double> >::const_iterator value_it = pose->joint_values_.begin();
        value_it != pose->joint_values_.end(); ++value_it)
   {
-    // Only copy the first joint value // TODO: add capability for multi-DOF joints?
-    joint_state_map_[value_it->first] = value_it->second[0];
+    robot_state.setJointPositions(value_it->first, value_it->second);
   }
 
   // Update the joints
@@ -362,25 +362,8 @@ void RobotPosesWidget::showPose(srdf::Model::GroupState* pose)
 // ******************************************************************************************
 void RobotPosesWidget::showDefaultPose()
 {
-  // Get list of all joints for the robot
-  std::vector<const moveit::core::JointModel*> joint_models = config_data_->getRobotModel()->getJointModels();
-
-  // Iterate through the joints
-  for (std::vector<const moveit::core::JointModel*>::const_iterator joint_it = joint_models.begin();
-       joint_it < joint_models.end(); ++joint_it)
-  {
-    // Check that this joint only represents 1 variable.
-    if ((*joint_it)->getVariableCount() == 1)
-    {
-      double init_value;
-
-      // get the first joint value in its vector
-      (*joint_it)->getVariableDefaultPositions(&init_value);
-
-      // Change joint's value in joint_state_map to the default
-      joint_state_map_[(*joint_it)->getName()] = init_value;
-    }
-  }
+  moveit::core::RobotState& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
+  robot_state.setToDefaultValues();
 
   // Update the joints
   publishJoints();
@@ -441,16 +424,7 @@ void RobotPosesWidget::edit(int row)
   }
   group_name_field_->setCurrentIndex(index);
 
-  // Set pose joint values by adding them to the local joint state map
-  for (std::map<std::string, std::vector<double> >::const_iterator value_it = pose->joint_values_.begin();
-       value_it != pose->joint_values_.end(); ++value_it)
-  {
-    // Only copy the first joint value // TODO: add capability for multi-DOF joints?
-    joint_state_map_[value_it->first] = value_it->second[0];
-  }
-
-  // Update robot model in rviz
-  publishJoints();
+  showPose(pose);
 
   // Switch to screen - do this before setCurrentIndex
   stacked_layout_->setCurrentIndex(1);
@@ -517,30 +491,18 @@ void RobotPosesWidget::loadJointSliders(const QString& selected)
   // Get list of associated joints
   const moveit::core::JointModelGroup* joint_model_group =
       config_data_->getRobotModel()->getJointModelGroup(group_name);
-  joint_models_ = joint_model_group->getJointModels();
+  const auto& robot_state = config_data_->getPlanningScene()->getCurrentState();
 
   // Iterate through the joints
   int num_joints = 0;
-  for (const moveit::core::JointModel* joint_model : joint_models_)
+  for (const moveit::core::JointModel* joint_model : joint_model_group->getJointModels())
   {
     if (joint_model->getVariableCount() != 1 ||  // only consider 1-variable joints
         joint_model->isPassive() ||              // ignore passive
         joint_model->getMimic())                 // and mimic joints
       continue;
 
-    double init_value;
-
-    // Decide what this joint's initial value is
-    if (joint_state_map_.find(joint_model->getName()) == joint_state_map_.end())
-    {
-      // The joint state map does not yet have an entry for this joint
-      // Get the first joint value in its vector
-      joint_model->getVariableDefaultPositions(&init_value);
-    }
-    else  // There is already a value in the map
-    {
-      init_value = joint_state_map_[joint_model->getName()];
-    }
+    double init_value = robot_state.getVariablePosition(joint_model->getVariableNames()[0]);
 
     // For each joint in group add slider
     SliderWidget* sw = new SliderWidget(this, joint_model, init_value);
@@ -683,19 +645,22 @@ void RobotPosesWidget::doneEditing()
   // Clear the old values
   searched_data->joint_values_.clear();
 
-  // Iterate through the current group's joints and add to SRDF
-  for (std::vector<const moveit::core::JointModel*>::const_iterator joint_it = joint_models_.begin();
-       joint_it < joint_models_.end(); ++joint_it)
+  const moveit::core::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(group);
+  const auto& robot_state = config_data_->getPlanningScene()->getCurrentState();
+
+  // Iterate through the current group's joints and add them to SRDF
+  for (const moveit::core::JointModel* jm : joint_model_group->getJointModels())
   {
     // Check that this joint only represents 1 variable.
-    if ((*joint_it)->getVariableCount() == 1)
+    if (jm->getVariableCount() == 1 && !jm->isPassive() && !jm->getMimic())
     {
       // Create vector for new joint values
-      std::vector<double> joint_value;
-      joint_value.push_back(joint_state_map_[(*joint_it)->getName()]);
+      std::vector<double> joint_values(jm->getVariableCount());
+      const double* const first_variable = robot_state.getVariablePositions() + jm->getFirstVariableIndex();
+      std::copy(first_variable, first_variable + joint_values.size(), joint_values.begin());
 
       // Add joint vector to SRDF
-      searched_data->joint_values_[(*joint_it)->getName()] = joint_value;
+      searched_data->joint_values_[jm->getName()] = std::move(joint_values);
     }
   }
 
@@ -794,24 +759,21 @@ void RobotPosesWidget::focusGiven()
 // ******************************************************************************************
 void RobotPosesWidget::updateRobotModel(const std::string& name, double value)
 {
-  // Save the new value
-  joint_state_map_[name] = value;
+  moveit::core::RobotState& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
+  robot_state.setVariablePosition(name, value);
 
   // Update the robot model/rviz
   publishJoints();
 }
 
 // ******************************************************************************************
-// Publish the joint values in the joint_state_map_ to Rviz
+// Publish the current RobotState to Rviz
 // ******************************************************************************************
 void RobotPosesWidget::publishJoints()
 {
-  // Set the joints based on the map
-  moveit::core::RobotState& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
-  robot_state.setVariablePositions(joint_state_map_);
-  // Prevent dirty collision body transforms
+  // Update link + collision transforms
+  auto& robot_state = config_data_->getPlanningScene()->getCurrentStateNonConst();
   robot_state.update();
-
   // Create a planning scene message
   moveit_msgs::DisplayRobotState msg;
   moveit::core::robotStateToRobotStateMsg(robot_state, msg.state);
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index 86be2084a1..63976bfa7c 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -152,12 +152,6 @@ private Q_SLOTS:
   /// Pointer to currently edited group state
   srdf::Model::GroupState* current_edit_pose_;
 
-  /// All the joint slider values that have thus far been seen. May contain more than just the current joints' values
-  std::map<std::string, double> joint_state_map_;
-
-  /// The joints currently in the selected planning group
-  std::vector<const moveit::core::JointModel*> joint_models_;
-
   /// Remember the publisher for quick publishing later
   ros::Publisher pub_robot_state_;
 

From c9785b6be8576ea5e734c07642d84e4fcddf5b03 Mon Sep 17 00:00:00 2001
From: Peter Mitrano <mitranopeter@gmail.com>
Date: Mon, 5 Oct 2020 12:23:10 -0400
Subject: [PATCH 475/612] Fix ROS namespacing in moveit_commander's PSI (#2347)

---
 .../planning_scene_interface.py               |  7 +-
 .../python_moveit_commander_ros_namespace.py  | 70 +++++++++++++++++++
 ...python_moveit_commander_ros_namespace.test |  9 +++
 3 files changed, 83 insertions(+), 3 deletions(-)
 create mode 100755 moveit_commander/test/python_moveit_commander_ros_namespace.py
 create mode 100644 moveit_commander/test/python_moveit_commander_ros_namespace.test

diff --git a/moveit_commander/src/moveit_commander/planning_scene_interface.py b/moveit_commander/src/moveit_commander/planning_scene_interface.py
index cbc3c72021..9de2da057f 100644
--- a/moveit_commander/src/moveit_commander/planning_scene_interface.py
+++ b/moveit_commander/src/moveit_commander/planning_scene_interface.py
@@ -33,6 +33,7 @@
 # Author: Ioan Sucan, Felix Messmer
 
 import rospy
+from rosgraph.names import ns_join
 from . import conversions
 
 from moveit_msgs.msg import PlanningScene, CollisionObject, AttachedCollisionObject
@@ -60,11 +61,11 @@ def __init__(self, ns='', synchronous=False, service_timeout=5.0):
         """ Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics. """
         self._psi = _moveit_planning_scene_interface.PlanningSceneInterface(ns)
 
-        self._pub_co = rospy.Publisher(ns + '/collision_object', CollisionObject, queue_size=100)
-        self._pub_aco = rospy.Publisher(ns + '/attached_collision_object', AttachedCollisionObject, queue_size=100)
+        self._pub_co = rospy.Publisher(ns_join(ns, 'collision_object'), CollisionObject, queue_size=100)
+        self._pub_aco = rospy.Publisher(ns_join(ns, 'attached_collision_object'), AttachedCollisionObject, queue_size=100)
         self.__synchronous = synchronous
         if self.__synchronous:
-            self._apply_planning_scene_diff = rospy.ServiceProxy(ns + '/apply_planning_scene', ApplyPlanningScene)
+            self._apply_planning_scene_diff = rospy.ServiceProxy(ns_join(ns, 'apply_planning_scene'), ApplyPlanningScene)
             self._apply_planning_scene_diff.wait_for_service(service_timeout)
 
     def __submit(self, collision_object, attach=False):
diff --git a/moveit_commander/test/python_moveit_commander_ros_namespace.py b/moveit_commander/test/python_moveit_commander_ros_namespace.py
new file mode 100755
index 0000000000..2b36e937a2
--- /dev/null
+++ b/moveit_commander/test/python_moveit_commander_ros_namespace.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2020, Open Source Robotics Foundation
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Open Source Robotics Foundation. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Peter Mitrano
+#
+# This test is used to ensure planning with a RobotCommander is
+# possible if the robot's move_group node is in a different namespace
+
+import unittest
+import rospy
+import rostest
+import os
+
+from moveit_commander import PlanningSceneInterface
+
+
+class PythonMoveitCommanderRosNamespaceTest(unittest.TestCase):
+
+    def test_namespace(self):
+        self.scene = PlanningSceneInterface()
+        expected_resolved_co_name = "/test_ros_namespace/collision_object"
+        expected_resolved_aco_name = "/test_ros_namespace/attached_collision_object"
+        self.assertEqual(self.scene._pub_co.resolved_name, expected_resolved_co_name)
+        self.assertEqual(self.scene._pub_aco.resolved_name, expected_resolved_aco_name)
+
+    def test_namespace_synchronous(self):
+        self.scene = PlanningSceneInterface(synchronous=True)
+        expected_resolved_apply_diff_name = "/test_ros_namespace/apply_planning_scene"
+        self.assertEqual(self.scene._apply_planning_scene_diff.resolved_name, expected_resolved_apply_diff_name)
+
+
+if __name__ == '__main__':
+    PKGNAME = 'moveit_ros_planning_interface'
+    NODENAME = 'moveit_test_python_moveit_commander_ros_namespace'
+    rospy.init_node(NODENAME)
+    rostest.rosrun(PKGNAME, NODENAME, PythonMoveitCommanderRosNamespaceTest)
+
+    # suppress cleanup segfault
+    os._exit(0)
diff --git a/moveit_commander/test/python_moveit_commander_ros_namespace.test b/moveit_commander/test/python_moveit_commander_ros_namespace.test
new file mode 100644
index 0000000000..a2c3800c57
--- /dev/null
+++ b/moveit_commander/test/python_moveit_commander_ros_namespace.test
@@ -0,0 +1,9 @@
+<launch>
+    <!-- PlanningSceneInterface can connect to namespaced moveit configuration -->
+    <group ns="test_ros_namespace">
+        <include file="$(find moveit_resources_fanuc_moveit_config)/launch/test_environment.launch"/>
+        <test pkg="moveit_commander" type="python_moveit_commander_ros_namespace.py"
+              test-name="python_moveit_commander_ros_namespace"
+              time-limit="300" args=""/>
+    </group>
+</launch>

From 78576496fbc9ab064c9ba6bd4cd0e741764d92ce Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 17:46:29 +0200
Subject: [PATCH 476/612] Reorder buttons in GroupEditWidgets

---
 .../src/widgets/group_edit_widget.cpp         | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index c89c5c77c5..9129bdc982 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -142,6 +142,12 @@ GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& con
   add_subtitle->setFont(add_subtitle_font);
   recommended_options->addWidget(add_subtitle, 0, Qt::AlignLeft);
 
+  // Save and add chain
+  QPushButton* btn_save_chain = new QPushButton("Add Kin. Chain", this);
+  btn_save_chain->setMaximumWidth(200);
+  connect(btn_save_chain, SIGNAL(clicked()), this, SIGNAL(saveChain()));
+  recommended_options->addWidget(btn_save_chain);
+
   // Save and add joints
   QPushButton* btn_save_joints = new QPushButton("Add Joints", this);
   btn_save_joints->setMaximumWidth(200);
@@ -153,24 +159,18 @@ GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& con
   add_subtitle2->setFont(add_subtitle_font);
   advanced_options->addWidget(add_subtitle2, 0, Qt::AlignLeft);
 
-  // Save and add links
-  QPushButton* btn_save_links = new QPushButton("Add Links", this);
-  btn_save_links->setMaximumWidth(200);
-  connect(btn_save_links, SIGNAL(clicked()), this, SIGNAL(saveLinks()));
-  advanced_options->addWidget(btn_save_links);
-
-  // Save and add chain
-  QPushButton* btn_save_chain = new QPushButton("Add Kin. Chain", this);
-  btn_save_chain->setMaximumWidth(200);
-  connect(btn_save_chain, SIGNAL(clicked()), this, SIGNAL(saveChain()));
-  advanced_options->addWidget(btn_save_chain);
-
   // Save and add subgroups
   QPushButton* btn_save_subgroups = new QPushButton("Add Subgroups", this);
   btn_save_subgroups->setMaximumWidth(200);
   connect(btn_save_subgroups, SIGNAL(clicked()), this, SIGNAL(saveSubgroups()));
   advanced_options->addWidget(btn_save_subgroups);
 
+  // Save and add links
+  QPushButton* btn_save_links = new QPushButton("Add Links", this);
+  btn_save_links->setMaximumWidth(200);
+  connect(btn_save_links, SIGNAL(clicked()), this, SIGNAL(saveLinks()));
+  advanced_options->addWidget(btn_save_links);
+
   // Add layouts
   new_buttons_layout_container->addLayout(label_layout);
   new_buttons_layout_container->addLayout(recommended_options);

From 8b213d47489de4be3fab4b540aa234b54dc9794a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 18:24:27 +0200
Subject: [PATCH 477/612] Replace dummy QWidgets with QSpacerItems

---
 .../src/widgets/controller_edit_widget.cpp             | 10 +++-------
 .../src/widgets/double_list_widget.cpp                 |  4 +---
 .../src/widgets/end_effectors_widget.cpp               |  8 ++------
 .../src/widgets/group_edit_widget.cpp                  | 10 +++-------
 .../src/widgets/kinematic_chain_widget.cpp             |  4 +---
 .../src/widgets/planning_groups_widget.cpp             |  4 +---
 .../src/widgets/robot_poses_widget.cpp                 |  8 ++------
 .../src/widgets/ros_controllers_widget.cpp             |  4 +---
 .../src/widgets/start_screen_widget.cpp                |  4 +---
 .../src/widgets/virtual_joints_widget.cpp              |  8 ++------
 10 files changed, 17 insertions(+), 47 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
index f86d0f7d5a..62c2feb300 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
@@ -114,10 +114,8 @@ ControllerEditWidget::ControllerEditWidget(QWidget* parent, const MoveItConfigDa
   new_buttons_widget_->setLayout(new_buttons_layout);
   layout->addWidget(new_buttons_widget_);
 
-  // Verticle Spacer -----------------------------------------------------
-  QWidget* vspacer = new QWidget(this);
-  vspacer->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-  layout->addWidget(vspacer);
+  // Vertical Spacer
+  layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Minimum, QSizePolicy::Expanding));
 
   // Bottom Controls ---------------------------------------------------------
   QHBoxLayout* controls_layout = new QHBoxLayout();
@@ -130,9 +128,7 @@ ControllerEditWidget::ControllerEditWidget(QWidget* parent, const MoveItConfigDa
   controls_layout->setAlignment(btn_delete_, Qt::AlignRight);
 
   // Horizontal Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   btn_save_ = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.cpp b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
index ede1601910..eec647763b 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
@@ -140,9 +140,7 @@ DoubleListWidget::DoubleListWidget(QWidget* parent, const MoveItConfigDataPtr& c
     controls_layout->setContentsMargins(0, 25, 0, 15);
 
     // Spacer
-    QWidget* spacer = new QWidget(this);
-    spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-    controls_layout->addWidget(spacer);
+    controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
     // Save
     QPushButton* btn_save = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index effbe5a7ce..f38816b313 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -116,9 +116,7 @@ QWidget* EndEffectorsWidget::createContentsWidget()
   QHBoxLayout* controls_layout = new QHBoxLayout();
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Edit Selected Button
   btn_edit_ = new QPushButton("&Edit Selected", this);
@@ -196,9 +194,7 @@ QWidget* EndEffectorsWidget::createEditWidget()
   controls_layout->setContentsMargins(0, 25, 0, 15);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   btn_save_ = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index 9129bdc982..4397f5e6f5 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -180,10 +180,8 @@ GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& con
   new_buttons_widget_->setLayout(new_buttons_layout_container);
   layout->addWidget(new_buttons_widget_);
 
-  // Verticle Spacer -----------------------------------------------------
-  QWidget* vspacer = new QWidget(this);
-  vspacer->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-  layout->addWidget(vspacer);
+  // Vertical Spacer
+  layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Minimum, QSizePolicy::Expanding));
 
   // Bottom Controls ---------------------------------------------------------
   QHBoxLayout* controls_layout = new QHBoxLayout();
@@ -196,9 +194,7 @@ GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& con
   controls_layout->setAlignment(btn_delete_, Qt::AlignRight);
 
   // Horizontal Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   btn_save_ = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
index a53189872a..5b41aca58b 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
@@ -108,9 +108,7 @@ KinematicChainWidget::KinematicChainWidget(QWidget* parent, const MoveItConfigDa
   controls_layout->addWidget(expand_controls);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   QPushButton* btn_save = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 1f9aabd730..4369a95919 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -208,9 +208,7 @@ QWidget* PlanningGroupsWidget::createContentsWidget()
   controls_layout->addWidget(expand_controls);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Delete Selected Button
   btn_delete_ = new QPushButton("&Delete Selected", this);
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 2c1ef14747..79c8588da4 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -154,9 +154,7 @@ QWidget* RobotPosesWidget::createContentsWidget()
   controls_layout->setAlignment(btn_play, Qt::AlignLeft);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Edit Selected Button
   btn_edit_ = new QPushButton("&Edit Selected", this);
@@ -258,9 +256,7 @@ QWidget* RobotPosesWidget::createEditWidget()
   controls_layout->setContentsMargins(0, 25, 0, 15);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   btn_save_ = new QPushButton("&Save", this);
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index edd152495c..b22cb93494 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -162,9 +162,7 @@ QWidget* ROSControllersWidget::createContentsWidget()
   controls_layout_->addWidget(expand_controls);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout_->addWidget(spacer);
+  controls_layout_->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Delete
   btn_delete_ = new QPushButton("&Delete Controller", this);
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 96af347714..c64e8acf05 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -188,9 +188,7 @@ StartScreenWidget::StartScreenWidget(QWidget* parent, const MoveItConfigDataPtr&
   layout->addLayout(hlayout);
 
   // Verticle Spacer
-  QWidget* vspacer = new QWidget(this);
-  vspacer->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-  layout->addWidget(vspacer);
+  layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Minimum, QSizePolicy::Expanding));
 
   // Attach bottom layout
   layout->addWidget(next_label_);
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index e5b42fc197..8f1f479fa0 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -114,9 +114,7 @@ QWidget* VirtualJointsWidget::createContentsWidget()
   QHBoxLayout* controls_layout = new QHBoxLayout();
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Edit Selected Button
   btn_edit_ = new QPushButton("&Edit Selected", this);
@@ -194,9 +192,7 @@ QWidget* VirtualJointsWidget::createEditWidget()
   controls_layout->setContentsMargins(0, 25, 0, 15);
 
   // Spacer
-  QWidget* spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  controls_layout->addWidget(spacer);
+  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
   // Save
   QPushButton* btn_save = new QPushButton("&Save", this);

From d41e4a40a8819fa38f14858bc1c03110b41afb80 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 19:47:14 +0200
Subject: [PATCH 478/612] Use QStackedWidget instead of QWidget+QStackedLayout

---
 .../src/widgets/end_effectors_widget.cpp      | 25 +++++++----------
 .../src/widgets/end_effectors_widget.h        |  4 +--
 .../src/widgets/passive_joints_widget.h       |  1 -
 .../src/widgets/planning_groups_widget.cpp    | 27 ++++++++-----------
 .../src/widgets/planning_groups_widget.h      |  4 +--
 .../src/widgets/robot_poses_widget.cpp        | 25 +++++++----------
 .../src/widgets/robot_poses_widget.h          |  4 +--
 .../src/widgets/ros_controllers_widget.cpp    | 23 ++++++----------
 .../src/widgets/ros_controllers_widget.h      |  4 +--
 .../src/widgets/setup_assistant_widget.cpp    | 11 +++-----
 .../src/widgets/setup_assistant_widget.h      |  3 +--
 .../src/widgets/virtual_joints_widget.cpp     | 23 +++++++---------
 .../src/widgets/virtual_joints_widget.h       |  4 +--
 13 files changed, 62 insertions(+), 96 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index f38816b313..dad3d8b5a0 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -68,15 +68,10 @@ EndEffectorsWidget::EndEffectorsWidget(QWidget* parent, const MoveItConfigDataPt
   effector_edit_widget_ = createEditWidget();
 
   // Create stacked layout -----------------------------------------
-  stacked_layout_ = new QStackedLayout(this);
-  stacked_layout_->addWidget(effector_list_widget_);  // screen index 0
-  stacked_layout_->addWidget(effector_edit_widget_);  // screen index 1
-
-  // Create Widget wrapper for layout
-  QWidget* stacked_layout_widget = new QWidget(this);
-  stacked_layout_widget->setLayout(stacked_layout_);
-
-  layout->addWidget(stacked_layout_widget);
+  stacked_widget_ = new QStackedWidget(this);
+  stacked_widget_->addWidget(effector_list_widget_);  // screen index 0
+  stacked_widget_->addWidget(effector_edit_widget_);  // screen index 1
+  layout->addWidget(stacked_widget_);
 
   // Finish Layout --------------------------------------------------
   this->setLayout(layout);
@@ -234,7 +229,7 @@ void EndEffectorsWidget::showNewScreen()
   parent_group_name_field_->clearEditText();  // actually this just chooses first option
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Announce that this widget is in modal mode
   Q_EMIT isModal(true);
@@ -276,7 +271,7 @@ void EndEffectorsWidget::previewClicked(int /*row*/, int /*column*/)
 void EndEffectorsWidget::previewClickedString(const QString& name)
 {
   // Don't highlight if we are on the overview end effectors screen. we are just populating drop down box
-  if (stacked_layout_->currentIndex() == 0)
+  if (stacked_widget_->currentIndex() == 0)
     return;
 
   // Unhighlight all links
@@ -344,7 +339,7 @@ void EndEffectorsWidget::edit(const std::string& name)
   parent_group_name_field_->setCurrentIndex(index);
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Announce that this widget is in modal mode
   Q_EMIT isModal(true);
@@ -568,7 +563,7 @@ void EndEffectorsWidget::doneEditing()
   loadDataTable();
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is not in modal mode
   Q_EMIT isModal(false);
@@ -580,7 +575,7 @@ void EndEffectorsWidget::doneEditing()
 void EndEffectorsWidget::cancelEditing()
 {
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Re-highlight the currently selected end effector group
   previewClicked(0, 0);  // the number parameters are actually meaningless
@@ -647,7 +642,7 @@ void EndEffectorsWidget::loadDataTable()
 void EndEffectorsWidget::focusGiven()
 {
   // Show the current effectors screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Load the data to the tree
   loadDataTable();
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.h b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
index 1073ec1866..6befe26c69 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.h
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
@@ -45,7 +45,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QTableWidget>
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QString>
 #include <QComboBox>
 
@@ -81,7 +81,7 @@ class EndEffectorsWidget : public SetupScreenWidget
   QPushButton* btn_delete_;
   QPushButton* btn_save_;
   QPushButton* btn_cancel_;
-  QStackedLayout* stacked_layout_;
+  QStackedWidget* stacked_widget_;
   QLineEdit* effector_name_field_;
   QComboBox* parent_name_field_;
   QComboBox* parent_group_name_field_;
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.h b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
index 9f27cf15b5..c0f7d17767 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
@@ -43,7 +43,6 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QTableWidget>
-#include <QStackedLayout>
 #include <QString>
 #include <QComboBox>
 
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 4369a95919..5aec108049 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -57,7 +57,7 @@
 #include <QApplication>
 #include <QVBoxLayout>
 #include <QHBoxLayout>
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QPushButton>
 #include <QMessageBox>
 #include <QTreeWidget>
@@ -154,24 +154,19 @@ PlanningGroupsWidget::PlanningGroupsWidget(QWidget* parent, const MoveItConfigDa
   connect(group_edit_widget_, SIGNAL(saveSubgroups()), this, SLOT(saveGroupScreenSubgroups()));
 
   // Combine into stack
-  stacked_layout_ = new QStackedLayout(this);
-  stacked_layout_->addWidget(groups_tree_widget_);  // screen index 0
-  stacked_layout_->addWidget(joints_widget_);       // screen index 1
-  stacked_layout_->addWidget(links_widget_);        // screen index 2
-  stacked_layout_->addWidget(chain_widget_);        // screen index 3
-  stacked_layout_->addWidget(subgroups_widget_);    // screen index 4
-  stacked_layout_->addWidget(group_edit_widget_);   // screen index 5
+  stacked_widget_ = new QStackedWidget(this);
+  stacked_widget_->addWidget(groups_tree_widget_);  // screen index 0
+  stacked_widget_->addWidget(joints_widget_);       // screen index 1
+  stacked_widget_->addWidget(links_widget_);        // screen index 2
+  stacked_widget_->addWidget(chain_widget_);        // screen index 3
+  stacked_widget_->addWidget(subgroups_widget_);    // screen index 4
+  stacked_widget_->addWidget(group_edit_widget_);   // screen index 5
 
   showMainScreen();
 
   // Finish GUI -----------------------------------------------------------
 
-  // Create Widget wrapper for layout
-  QWidget* stacked_layout_widget = new QWidget(this);
-  stacked_layout_widget->setLayout(stacked_layout_);
-
-  layout->addWidget(stacked_layout_widget);
-
+  layout->addWidget(stacked_widget_);
   setLayout(layout);
 
   // process the gui
@@ -1384,7 +1379,7 @@ void PlanningGroupsWidget::alterTree(const QString& link)
 // ******************************************************************************************
 void PlanningGroupsWidget::showMainScreen()
 {
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is not in modal mode
   Q_EMIT isModal(false);
@@ -1395,7 +1390,7 @@ void PlanningGroupsWidget::showMainScreen()
 // ******************************************************************************************
 void PlanningGroupsWidget::changeScreen(int index)
 {
-  stacked_layout_->setCurrentIndex(index);
+  stacked_widget_->setCurrentIndex(index);
 
   // Announce this widget's mode
   Q_EMIT isModal(index != 0);
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.h b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
index 33fba55316..a61f2539b2 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.h
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
@@ -38,7 +38,7 @@
 
 // Qt
 class QPushButton;
-class QStackedLayout;
+class QStackedWidget;
 class QTreeWidget;
 class QTreeWidgetItem;
 
@@ -146,7 +146,7 @@ private Q_SLOTS:
   QTreeWidget* groups_tree_;
 
   /// For changing between table and different add/edit views
-  QStackedLayout* stacked_layout_;
+  QStackedWidget* stacked_widget_;
 
   /// Show and hide edit button
   QPushButton* btn_edit_;
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 79c8588da4..70a740c878 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -75,15 +75,10 @@ RobotPosesWidget::RobotPosesWidget(QWidget* parent, const MoveItConfigDataPtr& c
   pose_edit_widget_ = createEditWidget();
 
   // Create stacked layout -----------------------------------------
-  stacked_layout_ = new QStackedLayout(this);
-  stacked_layout_->addWidget(pose_list_widget_);  // screen index 0
-  stacked_layout_->addWidget(pose_edit_widget_);  // screen index 1
-
-  // Create Widget wrapper for layout
-  QWidget* stacked_layout_widget = new QWidget(this);
-  stacked_layout_widget->setLayout(stacked_layout_);
-
-  layout->addWidget(stacked_layout_widget);
+  stacked_widget_ = new QStackedWidget(this);
+  stacked_widget_->addWidget(pose_list_widget_);  // screen index 0
+  stacked_widget_->addWidget(pose_edit_widget_);  // screen index 1
+  layout->addWidget(stacked_widget_);
 
   // Finish Layout --------------------------------------------------
   this->setLayout(layout);
@@ -287,7 +282,7 @@ QWidget* RobotPosesWidget::createEditWidget()
 void RobotPosesWidget::showNewScreen()
 {
   // Switch to screen - do this before clearEditText()
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Remember that this is a new pose
   current_edit_pose_ = nullptr;
@@ -423,7 +418,7 @@ void RobotPosesWidget::edit(int row)
   showPose(pose);
 
   // Switch to screen - do this before setCurrentIndex
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Announce that this widget is in modal mode
   Q_EMIT isModal(true);
@@ -454,7 +449,7 @@ void RobotPosesWidget::loadJointSliders(const QString& selected)
 {
   // Ignore this event if the combo box is empty. This occurs when clearing the combo box and reloading with the
   // newest groups. Also ignore if we are not on the edit screen
-  if (!group_name_field_->count() || selected.isEmpty() || stacked_layout_->currentIndex() == 0)
+  if (!group_name_field_->count() || selected.isEmpty() || stacked_widget_->currentIndex() == 0)
     return;
 
   // Get group name from input
@@ -673,7 +668,7 @@ void RobotPosesWidget::doneEditing()
   loadDataTable();
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is done with modal mode
   Q_EMIT isModal(false);
@@ -685,7 +680,7 @@ void RobotPosesWidget::doneEditing()
 void RobotPosesWidget::cancelEditing()
 {
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is done with modal mode
   Q_EMIT isModal(false);
@@ -741,7 +736,7 @@ void RobotPosesWidget::loadDataTable()
 void RobotPosesWidget::focusGiven()
 {
   // Show the current poses screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Load the data to the tree
   loadDataTable();
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index 63976bfa7c..c85b32f852 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -45,7 +45,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QTableWidget>
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QString>
 #include <QComboBox>
 
@@ -83,7 +83,7 @@ class RobotPosesWidget : public SetupScreenWidget
   QPushButton* btn_delete_;
   QPushButton* btn_save_;
   QPushButton* btn_cancel_;
-  QStackedLayout* stacked_layout_;
+  QStackedWidget* stacked_widget_;
   QScrollArea* scroll_area_;
   QVBoxLayout* column2_;
   QLineEdit* pose_name_field_;
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index b22cb93494..242db5ed9d 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -95,19 +95,12 @@ ROSControllersWidget::ROSControllersWidget(QWidget* parent, const MoveItConfigDa
   connect(controller_edit_widget_, SIGNAL(saveJointsGroups()), this, SLOT(saveControllerScreenGroups()));
 
   // Combine into stack
-  stacked_layout_ = new QStackedLayout(this);
-  stacked_layout_->addWidget(controllers_tree_widget_);  // screen index 0
-  stacked_layout_->addWidget(joints_widget_);            // screen index 1
-  stacked_layout_->addWidget(controller_edit_widget_);   // screen index 2
-  stacked_layout_->addWidget(joint_groups_widget_);      // screen index 3
-
-  // Finish GUI -----------------------------------------------------------
-
-  // Create Widget wrapper for layout
-  QWidget* stacked_layout_widget = new QWidget(this);
-  stacked_layout_widget->setLayout(stacked_layout_);
-
-  layout->addWidget(stacked_layout_widget);
+  stacked_widget_ = new QStackedWidget(this);
+  stacked_widget_->addWidget(controllers_tree_widget_);  // screen index 0
+  stacked_widget_->addWidget(joints_widget_);            // screen index 1
+  stacked_widget_->addWidget(controller_edit_widget_);   // screen index 2
+  stacked_widget_->addWidget(joint_groups_widget_);      // screen index 3
+  layout->addWidget(stacked_widget_);
 
   this->setLayout(layout);
 }
@@ -797,7 +790,7 @@ void ROSControllersWidget::editController()
 // ******************************************************************************************
 void ROSControllersWidget::showMainScreen()
 {
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is not in modal mode
   Q_EMIT isModal(false);
@@ -808,7 +801,7 @@ void ROSControllersWidget::showMainScreen()
 // ******************************************************************************************
 void ROSControllersWidget::changeScreen(int index)
 {
-  stacked_layout_->setCurrentIndex(index);
+  stacked_widget_->setCurrentIndex(index);
 
   // Announce this widget's mode
   Q_EMIT isModal(index != 0);
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
index c78e291ceb..515eee1666 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
@@ -42,7 +42,7 @@
 #include <QGroupBox>
 #include <QTableWidget>
 #include <QTreeWidget>
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QString>
 
 // SA
@@ -128,7 +128,7 @@ private Q_SLOTS:
   QWidget* controllers_tree_widget_;
 
   /// For changing between table and different add/edit views
-  QStackedLayout* stacked_layout_;
+  QStackedWidget* stacked_widget_;
   ControllerEditWidget* controller_edit_widget_;
 
   QPushButton* btn_delete_;
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 6b32e381cf..534831283a 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -39,7 +39,7 @@
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 #include "setup_assistant_widget.h"
 // Qt
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QListWidget>
 #include <QListWidgetItem>
 #include <QFont>
@@ -87,14 +87,9 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   layout->setAlignment(Qt::AlignTop);
 
   // Create main content stack for various screens
-  main_content_ = new QStackedLayout();
+  main_content_ = new QStackedWidget();
   current_index_ = 0;
 
-  // Wrap main_content_ with a widget
-  middle_frame_ = new QWidget(this);
-  middle_frame_->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-  middle_frame_->setLayout(main_content_);
-
   // Screens --------------------------------------------------------
 
   // Start Screen
@@ -149,7 +144,7 @@ SetupAssistantWidget::SetupAssistantWidget(QWidget* parent, const boost::program
   splitter_ = new QSplitter(Qt::Horizontal, this);
   splitter_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
   splitter_->addWidget(navs_view_);
-  splitter_->addWidget(middle_frame_);
+  splitter_->addWidget(main_content_);
   splitter_->addWidget(rviz_container_);
   splitter_->setHandleWidth(6);
   // splitter_->setCollapsible( 0, false ); // don't let navigation collapse
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
index 45dd02b684..850492d3de 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
@@ -202,10 +202,9 @@ private Q_SLOTS:
   QList<QString> nav_name_list_;
   NavigationWidget* navs_view_;
 
-  QWidget* middle_frame_;
   QWidget* rviz_container_;
   QSplitter* splitter_;
-  QStackedLayout* main_content_;
+  QStackedWidget* main_content_;
   int current_index_;
   boost::mutex change_screen_lock_;
 
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index 8f1f479fa0..4a404c901c 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -65,16 +65,11 @@ VirtualJointsWidget::VirtualJointsWidget(QWidget* parent, const MoveItConfigData
   vjoint_list_widget_ = createContentsWidget();
   vjoint_edit_widget_ = createEditWidget();
 
-  // Create stacked layout -----------------------------------------
-  stacked_layout_ = new QStackedLayout(this);
-  stacked_layout_->addWidget(vjoint_list_widget_);  // screen index 0
-  stacked_layout_->addWidget(vjoint_edit_widget_);  // screen index 1
-
   // Create Widget wrapper for layout
-  QWidget* stacked_layout_widget = new QWidget(this);
-  stacked_layout_widget->setLayout(stacked_layout_);
-
-  layout->addWidget(stacked_layout_widget);
+  stacked_widget_ = new QStackedWidget(this);
+  stacked_widget_->addWidget(vjoint_list_widget_);  // screen index 0
+  stacked_widget_->addWidget(vjoint_edit_widget_);  // screen index 1
+  layout->addWidget(stacked_widget_);
 
   // Finish Layout --------------------------------------------------
   this->setLayout(layout);
@@ -232,7 +227,7 @@ void VirtualJointsWidget::showNewScreen()
   joint_type_field_->clearEditText();  // actually this just chooses first option
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Announce that this widget is in modal mode
   Q_EMIT isModal(true);
@@ -303,7 +298,7 @@ void VirtualJointsWidget::edit(const std::string& name)
   joint_type_field_->setCurrentIndex(index);
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(1);
+  stacked_widget_->setCurrentIndex(1);
 
   // Announce that this widget is in modal mode
   Q_EMIT isModal(true);
@@ -508,7 +503,7 @@ void VirtualJointsWidget::doneEditing()
   loadDataTable();
 
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is not in modal mode
   Q_EMIT isModal(false);
@@ -526,7 +521,7 @@ void VirtualJointsWidget::doneEditing()
 void VirtualJointsWidget::cancelEditing()
 {
   // Switch to screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Announce that this widget is not in modal mode
   Q_EMIT isModal(false);
@@ -590,7 +585,7 @@ void VirtualJointsWidget::loadDataTable()
 void VirtualJointsWidget::focusGiven()
 {
   // Show the current vjoints screen
-  stacked_layout_->setCurrentIndex(0);
+  stacked_widget_->setCurrentIndex(0);
 
   // Load the data to the tree
   loadDataTable();
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
index 0f48d7b2e2..24bf8c486e 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
@@ -43,7 +43,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QTableWidget>
-#include <QStackedLayout>
+#include <QStackedWidget>
 #include <QString>
 #include <QComboBox>
 
@@ -79,7 +79,7 @@ class VirtualJointsWidget : public SetupScreenWidget
   QPushButton* btn_delete_;
   QPushButton* btn_save_;
   QPushButton* btn_cancel_;
-  QStackedLayout* stacked_layout_;
+  QStackedWidget* stacked_widget_;
   QLineEdit* vjoint_name_field_;
   QLineEdit* parent_name_field_;
   QComboBox* child_link_field_;

From 659489cd8cd5409a6e6b7879e2729010ccf490cf Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 6 Oct 2020 11:49:44 +0200
Subject: [PATCH 479/612] Remove released upstream packages from docker files

As franka_description is released, we don't need to build it in our docker images anymore.
---
 .docker/ci/Dockerfile     | 8 --------
 .docker/source/Dockerfile | 3 ---
 2 files changed, 11 deletions(-)

diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index ad22f50ce6..5ce021548f 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -25,14 +25,6 @@ RUN \
         clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
-    # Build and install franka_description from https://github.com/frankaemika/franka_ros.git
-    git clone --depth 1 --branch 0.6.0 https://github.com/frankaemika/franka_ros.git src/franka_ros && \
-    mv src/franka_ros/franka_description src/ && rm -rf src/franka_ros && \
-    catkin config --extend /opt/ros/noetic --install --install-space /opt/ros/noetic && \
-    catkin build && \
-    # Cleanup temporary workspace
-    rm -rf logs build devel .catkin_tools && \
-    #
     # Download MoveIt source, so that we can fetch all necessary dependencies
     wstool init --shallow src https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
     #
diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
index c9bfae3078..1cfeb73e87 100644
--- a/.docker/source/Dockerfile
+++ b/.docker/source/Dockerfile
@@ -12,9 +12,6 @@ WORKDIR $ROS_UNDERLAY/../src
 RUN \
     # Download moveit source so that we can get necessary dependencies
     wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
-    # We only depend on franka_description (TODO: remove if released)
-    git clone --depth 1 --branch 0.6.0 https://github.com/frankaemika/franka_ros.git src/franka_ros && \
-    mv src/franka_ros/franka_description src/ && rm -rf src/franka_ros && \
     #
     # Update apt package list as cache is cleared in previous container
     # Usually upgrading involves a few packages only (if container builds became out-of-sync)

From 59fa491373cfc87e9de1598a5efe47298de3d483 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 21:20:00 +0200
Subject: [PATCH 480/612] Increase minimal window size

---
 moveit_setup_assistant/src/setup_assistant_main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_setup_assistant/src/setup_assistant_main.cpp b/moveit_setup_assistant/src/setup_assistant_main.cpp
index 88577607a5..8614ed71cb 100644
--- a/moveit_setup_assistant/src/setup_assistant_main.cpp
+++ b/moveit_setup_assistant/src/setup_assistant_main.cpp
@@ -95,8 +95,8 @@ int main(int argc, char** argv)
 
   // Load Qt Widget
   moveit_setup_assistant::SetupAssistantWidget saw(nullptr, vm);
-  saw.setMinimumWidth(980);
-  saw.setMinimumHeight(550);
+  saw.setMinimumWidth(1090);
+  saw.setMinimumHeight(600);
   //  saw.setWindowState( Qt::WindowMaximized );
 
   saw.show();

From 0cb8ec41513b252ea019b38bd70ee34d569ef47d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 22:33:52 +0200
Subject: [PATCH 481/612] Cleanup Qt includes

---
 .../src/widgets/author_information_widget.cpp |  6 ++--
 .../src/widgets/author_information_widget.h   |  5 +---
 .../widgets/configuration_files_widget.cpp    | 19 ++++++++----
 .../src/widgets/configuration_files_widget.h  | 14 ++++-----
 .../src/widgets/controller_edit_widget.cpp    | 10 +++++--
 .../src/widgets/controller_edit_widget.h      |  8 ++---
 .../src/widgets/default_collisions_widget.cpp | 22 ++++++++++----
 .../src/widgets/default_collisions_widget.h   | 30 +++++++++++--------
 .../src/widgets/double_list_widget.cpp        | 12 ++++----
 .../src/widgets/double_list_widget.h          |  6 ++--
 .../src/widgets/end_effectors_widget.cpp      | 16 +++++++++-
 .../src/widgets/end_effectors_widget.h        | 17 ++++-------
 .../src/widgets/group_edit_widget.cpp         | 13 +++++---
 .../src/widgets/group_edit_widget.h           |  8 ++---
 .../src/widgets/header_widget.cpp             |  8 +++--
 .../src/widgets/header_widget.h               |  5 ++--
 .../src/widgets/kinematic_chain_widget.cpp    |  3 +-
 .../src/widgets/kinematic_chain_widget.h      |  6 ++--
 .../src/widgets/navigation_widget.cpp         |  3 ++
 .../src/widgets/navigation_widget.h           |  5 +---
 .../src/widgets/passive_joints_widget.cpp     |  5 ++++
 .../src/widgets/passive_joints_widget.h       | 13 +-------
 .../src/widgets/perception_widget.cpp         |  9 ++++--
 .../src/widgets/perception_widget.h           |  9 ++----
 .../src/widgets/planning_groups_widget.cpp    | 10 +++++--
 .../src/widgets/robot_poses_widget.cpp        | 13 ++++++--
 .../src/widgets/robot_poses_widget.h          | 21 ++++++-------
 .../src/widgets/ros_controllers_widget.cpp    | 18 +++++++++--
 .../src/widgets/ros_controllers_widget.h      | 19 +++++-------
 .../src/widgets/setup_assistant_widget.cpp    | 15 ++++++----
 .../src/widgets/setup_assistant_widget.h      | 18 +++--------
 .../src/widgets/simulation_widget.cpp         |  7 +++--
 .../src/widgets/simulation_widget.h           |  6 ++--
 .../src/widgets/start_screen_widget.cpp       | 17 +++++++----
 .../src/widgets/start_screen_widget.h         |  9 ++----
 .../src/widgets/virtual_joints_widget.cpp     | 13 +++++++-
 .../src/widgets/virtual_joints_widget.h       | 16 ++++------
 37 files changed, 251 insertions(+), 183 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/author_information_widget.cpp b/moveit_setup_assistant/src/widgets/author_information_widget.cpp
index a73c84e2ec..6d7c1e5ded 100644
--- a/moveit_setup_assistant/src/widgets/author_information_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/author_information_widget.cpp
@@ -39,10 +39,10 @@
 #include <QPushButton>
 #include <QMessageBox>
 #include <QApplication>
-#include <QSplitter>
-// ROS
+#include <QLabel>
+#include <QLineEdit>
 #include "author_information_widget.h"
-#include <ros/ros.h>
+#include "header_widget.h"
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/author_information_widget.h b/moveit_setup_assistant/src/widgets/author_information_widget.h
index 94763edf93..4f9709c8f2 100644
--- a/moveit_setup_assistant/src/widgets/author_information_widget.h
+++ b/moveit_setup_assistant/src/widgets/author_information_widget.h
@@ -36,15 +36,12 @@
 
 #pragma once
 
-#include <QWidget>
-#include <QString>
-#include <QLineEdit>
+class QLineEdit;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 38ce197bd8..872c71d8f9 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -35,15 +35,24 @@
 /* Author: Dave Coleman */
 
 // Qt
-#include <QVBoxLayout>
-#include <QPushButton>
-#include <QMessageBox>
 #include <QApplication>
-#include <QSplitter>
+#include <QLabel>
+#include <QList>
+#include <QListWidget>
+#include <QMessageBox>
+#include <QProgressBar>
+#include <QPushButton>
+#include <QPushButton>
 #include <QRegExp>
-// ROS
+#include <QSplitter>
+#include <QVBoxLayout>
+
 #include "configuration_files_widget.h"
+#include "header_widget.h"
+
+// ROS
 #include <ros/ros.h>
+
 // Boost
 #include <boost/algorithm/string.hpp>       // for string find and replace in templates
 #include <boost/filesystem/path.hpp>        // for creating folders/files
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.h b/moveit_setup_assistant/src/widgets/configuration_files_widget.h
index da0946e4dd..edc7cf8271 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.h
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.h
@@ -36,23 +36,23 @@
 
 #pragma once
 
-#include <QWidget>
-#include <QPushButton>
-#include <QString>
-#include <QProgressBar>
-#include <QLabel>
-#include <QListWidget>
 #include <QList>
+class QLabel;
+class QListWidget;
+class QListWidgetItem;
+class QProgressBar;
+class QPushButton;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
 {
+class LoadPathWidget;
+
 // Struct for storing all the file operations
 struct GenerateFile
 {
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
index 62c2feb300..38be579c2f 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.cpp
@@ -33,12 +33,16 @@
 
 /* Author: Mohamad Ayman */
 
-#include <QVBoxLayout>
+#include <QComboBox>
+#include <QFormLayout>
+#include <QGroupBox>
 #include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
-#include <QFormLayout>
+#include <QPushButton>
 #include <QString>
-#include <QGroupBox>
+#include <QVBoxLayout>
 #include "controller_edit_widget.h"
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/controller_edit_widget.h b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
index 1da3f602b2..0b5b8c4de0 100644
--- a/moveit_setup_assistant/src/widgets/controller_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/controller_edit_widget.h
@@ -36,10 +36,10 @@
 #pragma once
 
 #include <QWidget>
-#include <QLabel>
-#include <QLineEdit>
-#include <QComboBox>
-#include <QPushButton>
+class QComboBox;
+class QLabel;
+class QLineEdit;
+class QPushButton;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
index d6b2a05c98..76be30b8db 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
@@ -34,16 +34,26 @@
 
 /* Author: Dave Coleman */
 
-#include <QHBoxLayout>
-#include <QMessageBox>
-#include <QProgressDialog>
-#include <QString>
-#include <QFont>
+#include <QAction>
 #include <QApplication>
 #include <QButtonGroup>
-#include <QRadioButton>
+#include <QCheckBox>
+#include <QFont>
+#include <QGroupBox>
+#include <QHBoxLayout>
 #include <QKeyEvent>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMenu>
+#include <QMessageBox>
+#include <QProgressBar>
+#include <QPushButton>
+#include <QRadioButton>
+#include <QSlider>
+#include <QSpinBox>
+#include <QString>
+#include <QTableView>
+#include <QVBoxLayout>
 
 #include "default_collisions_widget.h"
 #include "header_widget.h"
diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.h b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
index b78ecd61ad..983f7cb73d 100644
--- a/moveit_setup_assistant/src/widgets/default_collisions_widget.h
+++ b/moveit_setup_assistant/src/widgets/default_collisions_widget.h
@@ -35,20 +35,24 @@
 /* Author: Dave Coleman */
 
 #pragma once
-
-#include <QLabel>
-#include <QVBoxLayout>
-#include <QTableView>
-#include <QSlider>
-#include <QPushButton>
-#include <QGroupBox>
-#include <QProgressBar>
-#include <QCheckBox>
-#include <QRadioButton>
-#include <QSpinBox>
 #include <QThread>
-#include <QLineEdit>
-#include <QAction>
+class QAbstractItemModel;
+class QAction;
+class QButtonGroup;
+class QCheckBox;
+class QGroupBox;
+class QHeaderView;
+class QItemSelection;
+class QItemSelectionModel;
+class QLabel;
+class QLineEdit;
+class QProgressBar;
+class QPushButton;
+class QRadioButton;
+class QSlider;
+class QSpinBox;
+class QTableView;
+class QVBoxLayout;
 
 #ifndef Q_MOC_RUN
 #include <boost/thread/thread.hpp>
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.cpp b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
index eec647763b..a0747c3f57 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.cpp
@@ -34,15 +34,17 @@
 
 /* Author: Dave Coleman */
 
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QGroupBox>
-#include <QPushButton>
 #include <QFormLayout>
+#include <QGroupBox>
+#include <QHBoxLayout>
+#include <QHeaderView>
+#include <QLabel>
 #include <QLineEdit>
 #include <QMessageBox>
+#include <QPushButton>
 #include <QString>
-#include <QHeaderView>
+#include <QTableWidget>
+#include <QVBoxLayout>
 #include "double_list_widget.h"
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/double_list_widget.h b/moveit_setup_assistant/src/widgets/double_list_widget.h
index afcac603bc..509f96402f 100644
--- a/moveit_setup_assistant/src/widgets/double_list_widget.h
+++ b/moveit_setup_assistant/src/widgets/double_list_widget.h
@@ -37,8 +37,10 @@
 #pragma once
 
 #include <QWidget>
-#include <QLabel>
-#include <QTableWidget>
+class QLabel;
+class QTableWidget;
+class QTableWidgetItem;
+class QItemSelection;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
index dad3d8b5a0..d05cec207e 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.cpp
@@ -36,10 +36,24 @@
 
 // SA
 #include "end_effectors_widget.h"
+#include "header_widget.h"
+
 // Qt
+#include <QApplication>
+#include <QComboBox>
 #include <QFormLayout>
+#include <QGroupBox>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
-#include <QApplication>
+#include <QPushButton>
+#include <QScrollArea>
+#include <QStackedWidget>
+#include <QString>
+#include <QTableWidget>
+#include <QVBoxLayout>
+#include <QWidget>
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/end_effectors_widget.h b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
index 6befe26c69..63403fea49 100644
--- a/moveit_setup_assistant/src/widgets/end_effectors_widget.h
+++ b/moveit_setup_assistant/src/widgets/end_effectors_widget.h
@@ -37,24 +37,17 @@
 #pragma once
 
 // Qt
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QScrollArea>
-#include <QGroupBox>
-#include <QLabel>
-#include <QPushButton>
-#include <QTableWidget>
-#include <QStackedWidget>
-#include <QString>
-#include <QComboBox>
+class QComboBox;
+class QLineEdit;
+class QPushButton;
+class QStackedWidget;
+class QTableWidget;
 
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
index 4397f5e6f5..3382e95563 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.cpp
@@ -34,13 +34,18 @@
 
 /* Author: Dave Coleman */
 
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QMessageBox>
+#include <QComboBox>
 #include <QFileDialog>
 #include <QFormLayout>
-#include <QString>
 #include <QGroupBox>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
+#include <QMessageBox>
+#include <QPushButton>
+#include <QString>
+#include <QVBoxLayout>
+
 #include "group_edit_widget.h"
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 
diff --git a/moveit_setup_assistant/src/widgets/group_edit_widget.h b/moveit_setup_assistant/src/widgets/group_edit_widget.h
index a55fb2943e..0cf37207c7 100644
--- a/moveit_setup_assistant/src/widgets/group_edit_widget.h
+++ b/moveit_setup_assistant/src/widgets/group_edit_widget.h
@@ -37,10 +37,10 @@
 #pragma once
 
 #include <QWidget>
-#include <QLabel>
-#include <QLineEdit>
-#include <QComboBox>
-#include <QPushButton>
+class QComboBox;
+class QLabel;
+class QLineEdit;
+class QPushButton;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
diff --git a/moveit_setup_assistant/src/widgets/header_widget.cpp b/moveit_setup_assistant/src/widgets/header_widget.cpp
index e42d06f5e1..695efbece0 100644
--- a/moveit_setup_assistant/src/widgets/header_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/header_widget.cpp
@@ -34,11 +34,13 @@
 
 /* Author: Dave Coleman */
 
-#include <QPushButton>
-#include <QFont>
+#include "header_widget.h"
 #include <QFileDialog>
+#include <QFont>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
 #include <QVBoxLayout>
-#include "header_widget.h"
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/header_widget.h b/moveit_setup_assistant/src/widgets/header_widget.h
index 3e82c51728..76bda444d7 100644
--- a/moveit_setup_assistant/src/widgets/header_widget.h
+++ b/moveit_setup_assistant/src/widgets/header_widget.h
@@ -37,8 +37,9 @@
 #pragma once
 
 #include <QWidget>
-#include <QLabel>
-#include <QLineEdit>
+#include <QFrame>
+class QLabel;
+class QLineEdit;
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
index 5b41aca58b..88bda9853e 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.cpp
@@ -41,7 +41,8 @@
 #include <QGridLayout>
 #include <QLineEdit>
 #include <QMessageBox>
-#include <QString>
+#include <QLabel>
+#include <QTreeWidget>
 #include "kinematic_chain_widget.h"
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
index 150fe46de0..6fc1fef14c 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
@@ -37,8 +37,10 @@
 #pragma once
 
 #include <QWidget>
-#include <QLabel>
-#include <QTreeWidget>
+class QLabel;
+class QLineEdit;
+class QTreeWidget;
+class QTreeWidgetItem;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.cpp b/moveit_setup_assistant/src/widgets/navigation_widget.cpp
index 3d62d771f0..56777454ef 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.cpp
@@ -36,6 +36,9 @@
 
 #include "navigation_widget.h"
 #include <QApplication>
+#include <QPainter>
+#include <QScrollBar>
+#include <QStandardItemModel>
 #include <iostream>
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/navigation_widget.h b/moveit_setup_assistant/src/widgets/navigation_widget.h
index 2adb17ca4e..59bfba9e09 100644
--- a/moveit_setup_assistant/src/widgets/navigation_widget.h
+++ b/moveit_setup_assistant/src/widgets/navigation_widget.h
@@ -37,11 +37,8 @@
 #pragma once
 
 #include <QListView>
-#include <QStandardItemModel>
-#include <QScrollBar>
-#include <QString>
 #include <QStyledItemDelegate>
-#include <QPainter>
+class QStandardItemModel;
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
index 7ca2d4275e..85610b4404 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.cpp
@@ -36,9 +36,14 @@
 
 // SA
 #include "passive_joints_widget.h"
+#include "header_widget.h"
+#include "double_list_widget.h"
+
 // Qt
 #include <QFormLayout>
+#include <QLabel>
 #include <QMessageBox>
+#include <QTableWidget>
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/passive_joints_widget.h b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
index c0f7d17767..91181744ce 100644
--- a/moveit_setup_assistant/src/widgets/passive_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/passive_joints_widget.h
@@ -36,27 +36,16 @@
 
 #pragma once
 
-// Qt
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPushButton>
-#include <QTableWidget>
-#include <QString>
-#include <QComboBox>
-
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
-#include "double_list_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
 {
+class DoubleListWidget;
 class PassiveJointsWidget : public SetupScreenWidget
 {
   Q_OBJECT
diff --git a/moveit_setup_assistant/src/widgets/perception_widget.cpp b/moveit_setup_assistant/src/widgets/perception_widget.cpp
index 11662d4722..f9dc1c167d 100644
--- a/moveit_setup_assistant/src/widgets/perception_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/perception_widget.cpp
@@ -35,11 +35,16 @@
 
 // SA
 #include "perception_widget.h"
+#include "header_widget.h"
 
 // Qt
-#include <QVBoxLayout>
-#include <QFormLayout>
 #include <QApplication>
+#include <QComboBox>
+#include <QFormLayout>
+#include <QGroupBox>
+#include <QLabel>
+#include <QLineEdit>
+#include <QVBoxLayout>
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/perception_widget.h b/moveit_setup_assistant/src/widgets/perception_widget.h
index e9c6952d6d..6d23c0d5ba 100644
--- a/moveit_setup_assistant/src/widgets/perception_widget.h
+++ b/moveit_setup_assistant/src/widgets/perception_widget.h
@@ -36,18 +36,15 @@
 #pragma once
 
 // Qt
-#include <QWidget>
-#include <QComboBox>
-#include <QGroupBox>
-#include <QString>
-#include <QLineEdit>
+class QComboBox;
+class QGroupBox;
+class QLineEdit;
 
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 5aec108049..857b48f5f6 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -55,13 +55,17 @@
 #include "group_edit_widget.h"       // for group rename page
 // Qt
 #include <QApplication>
-#include <QVBoxLayout>
+#include <QComboBox>
 #include <QHBoxLayout>
-#include <QStackedWidget>
-#include <QPushButton>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QTableWidget>
 #include <QTreeWidget>
 #include <QTreeWidgetItem>
+#include <QVBoxLayout>
 
 //// Cycle checking
 #include <boost/graph/adjacency_list.hpp>
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 70a740c878..266ba5fe3a 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -36,12 +36,21 @@
 
 // SA
 #include "robot_poses_widget.h"
+#include "header_widget.h"
 #include <moveit_msgs/JointLimits.h>
 // Qt
+#include <QApplication>
+#include <QComboBox>
+#include <QDoubleValidator>
 #include <QFormLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
-#include <QDoubleValidator>
-#include <QApplication>
+#include <QPushButton>
+#include <QScrollArea>
+#include <QSlider>
+#include <QStackedWidget>
+#include <QTableWidget>
 
 #include <moveit/robot_state/conversions.h>
 #include <moveit_msgs/DisplayRobotState.h>
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index c85b32f852..a90c38a98b 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -37,17 +37,15 @@
 #pragma once
 
 // Qt
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QScrollArea>
-#include <QGroupBox>
-#include <QLabel>
-#include <QPushButton>
-#include <QTableWidget>
-#include <QStackedWidget>
-#include <QString>
-#include <QComboBox>
+class QComboBox;
+class QLabel;
+class QLineEdit;
+class QPushButton;
+class QScrollArea;
+class QSlider;
+class QStackedWidget;
+class QTableWidget;
+class QVBoxLayout;
 
 // SA
 #ifndef Q_MOC_RUN
@@ -56,7 +54,6 @@
 #include <ros/ros.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
index 242db5ed9d..f29e71817a 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.cpp
@@ -35,13 +35,27 @@
 
 // SA
 #include "ros_controllers_widget.h"
+#include "double_list_widget.h"
+#include "controller_edit_widget.h"
+#include "header_widget.h"
 #include <moveit_msgs/JointLimits.h>
 // Qt
+#include <QApplication>
+#include <QDoubleValidator>
 #include <QFormLayout>
+#include <QGroupBox>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
-#include <QDoubleValidator>
+#include <QPushButton>
+#include <QScrollArea>
+#include <QStackedWidget>
+#include <QString>
+#include <QTableWidget>
+#include <QTreeWidget>
 #include <QTreeWidgetItem>
-#include <QApplication>
+#include <QVBoxLayout>
 
 #include <regex>
 #include <moveit/robot_state/conversions.h>
diff --git a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
index 515eee1666..f38408d1c7 100644
--- a/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
+++ b/moveit_setup_assistant/src/widgets/ros_controllers_widget.h
@@ -36,27 +36,24 @@
 #pragma once
 
 // Qt
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QScrollArea>
-#include <QGroupBox>
-#include <QTableWidget>
-#include <QTreeWidget>
-#include <QStackedWidget>
-#include <QString>
+class QHBoxLayout;
+class QPushButton;
+class QStackedWidget;
+class QTreeWidget;
+class QTreeWidgetItem;
 
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "double_list_widget.h"  // for joints, links and subgroups pages
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
-#include "controller_edit_widget.h"
 
 namespace moveit_setup_assistant
 {
+class DoubleListWidget;
+class ControllerEditWidget;
+
 class ROSControllersWidget : public SetupScreenWidget
 {
   Q_OBJECT
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 534831283a..9109169ebe 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -38,15 +38,20 @@
 // SA
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 #include "setup_assistant_widget.h"
+#include "header_widget.h"
+
 // Qt
-#include <QStackedWidget>
-#include <QListWidget>
-#include <QListWidgetItem>
+#include <QApplication>
+#include <QCloseEvent>
 #include <QFont>
+#include <QHBoxLayout>
 #include <QLabel>
-#include <QPushButton>
-#include <QCloseEvent>
+#include <QListWidget>
+#include <QListWidgetItem>
 #include <QMessageBox>
+#include <QPushButton>
+#include <QSplitter>
+#include <QStackedWidget>
 #include <QString>
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 // Rviz
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
index 850492d3de..154f2dc0b4 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.h
@@ -37,18 +37,9 @@
 #pragma once
 
 // Qt
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QString>
-#include <QApplication>
-#include <QObject>
-#include <QEvent>
-#include <QListWidget>
-#include <QTimer>
-#include <QSplitter>
-#include <QStringList>
-// Setup Asst
+class QSplitter;
+
+// Setup Assistant
 #include "navigation_widget.h"
 #include "start_screen_widget.h"
 #include "default_collisions_widget.h"
@@ -67,8 +58,7 @@
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 
 // Other
-#include <ros/ros.h>
-#include <boost/program_options.hpp>  // for parsing input arguments
+#include <boost/program_options/variables_map.hpp>  // for parsing input arguments
 #include <boost/thread/mutex.hpp>
 #endif
 
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.cpp b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
index 0f917a7f87..c86395a3c3 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.cpp
@@ -35,12 +35,15 @@
 
 // SA
 #include "simulation_widget.h"
+#include "header_widget.h"
 
 // Qt
-#include <QVBoxLayout>
+#include <QColor>
+#include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
-#include <QColor>
+#include <QTextEdit>
+#include <QVBoxLayout>
 
 #include <moveit/robot_state/conversions.h>
 #include <moveit_msgs/DisplayRobotState.h>
diff --git a/moveit_setup_assistant/src/widgets/simulation_widget.h b/moveit_setup_assistant/src/widgets/simulation_widget.h
index 029874d065..8fb5f79206 100644
--- a/moveit_setup_assistant/src/widgets/simulation_widget.h
+++ b/moveit_setup_assistant/src/widgets/simulation_widget.h
@@ -36,16 +36,14 @@
 #pragma once
 
 // Qt
-#include <QScrollArea>
-#include <QTextEdit>
-#include <QString>
+class QLabel;
+class QTextEdit;
 
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index c64e8acf05..98a0bcfa1f 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -35,15 +35,20 @@
 /* Author: Dave Coleman */
 
 // Qt
-#include <QLabel>
-#include <QTimer>
-#include <QVBoxLayout>
+#include <QApplication>
+#include <QFileDialog>
+#include <QFont>
 #include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
+#include <QProgressBar>
+#include <QPushButton>
 #include <QString>
-#include <QApplication>
-#include <QFont>
-#include <QFileDialog>
+#include <QTextEdit>
+#include <QTimer>
+#include <QVBoxLayout>
+
 // ROS
 #include <ros/ros.h>
 #include <ros/package.h>  // for getting file path for loadng images
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.h b/moveit_setup_assistant/src/widgets/start_screen_widget.h
index c81def715e..b7c28ddef9 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.h
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.h
@@ -36,12 +36,9 @@
 
 #pragma once
 
-#include <QWidget>
-#include <QLineEdit>
-#include <QPushButton>
-#include <QLabel>
-#include <QProgressBar>
-#include <QTextEdit>
+class QLabel;
+class QProgressBar;
+class QPushButton;
 
 #ifndef Q_MOC_RUN
 #include <urdf/model.h>                                       // for testing a valid urdf is loaded
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
index 4a404c901c..b00d098865 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.cpp
@@ -36,10 +36,21 @@
 
 // SA
 #include "virtual_joints_widget.h"
+#include "header_widget.h"
+
 // Qt
+#include <QApplication>
+#include <QComboBox>
 #include <QFormLayout>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
 #include <QMessageBox>
-#include <QApplication>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QString>
+#include <QTableWidget>
+#include <QVBoxLayout>
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
index 24bf8c486e..f2d5ffaef0 100644
--- a/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
+++ b/moveit_setup_assistant/src/widgets/virtual_joints_widget.h
@@ -37,22 +37,18 @@
 #pragma once
 
 // Qt
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPushButton>
-#include <QTableWidget>
-#include <QStackedWidget>
-#include <QString>
-#include <QComboBox>
+class QLabel;
+class QLineEdit;
+class QPushButton;
+class QTableWidget;
+class QStackedWidget;
+class QComboBox;
 
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #endif
 
-#include "header_widget.h"
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
 namespace moveit_setup_assistant

From 0642015e1a9051a223a0594bb98595fad8eeb0c7 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 22:34:08 +0200
Subject: [PATCH 482/612] Cleanup ROS includes

---
 moveit_setup_assistant/src/collisions_updater.cpp              | 1 -
 .../src/widgets/configuration_files_widget.cpp                 | 3 ---
 moveit_setup_assistant/src/widgets/kinematic_chain_widget.h    | 1 -
 moveit_setup_assistant/src/widgets/planning_groups_widget.cpp  | 1 -
 moveit_setup_assistant/src/widgets/robot_poses_widget.cpp      | 1 +
 moveit_setup_assistant/src/widgets/robot_poses_widget.h        | 2 --
 moveit_setup_assistant/src/widgets/start_screen_widget.cpp     | 1 -
 7 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/moveit_setup_assistant/src/collisions_updater.cpp b/moveit_setup_assistant/src/collisions_updater.cpp
index e6d2e015b9..89b418e96e 100644
--- a/moveit_setup_assistant/src/collisions_updater.cpp
+++ b/moveit_setup_assistant/src/collisions_updater.cpp
@@ -34,7 +34,6 @@
 
 /* Author: Mathias Lüdtke */
 
-#include <ros/ros.h>
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
 #include <moveit/rdf_loader/rdf_loader.h>
 
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 872c71d8f9..b39ea2c013 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -50,9 +50,6 @@
 #include "configuration_files_widget.h"
 #include "header_widget.h"
 
-// ROS
-#include <ros/ros.h>
-
 // Boost
 #include <boost/algorithm/string.hpp>       // for string find and replace in templates
 #include <boost/filesystem/path.hpp>        // for creating folders/files
diff --git a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
index 6fc1fef14c..e5f004f222 100644
--- a/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
+++ b/moveit_setup_assistant/src/widgets/kinematic_chain_widget.h
@@ -44,7 +44,6 @@ class QTreeWidgetItem;
 
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
-#include <ros/ros.h>
 #endif
 
 namespace moveit_setup_assistant
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 857b48f5f6..060f723470 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -47,7 +47,6 @@
 */
 // ******************************************************************************************
 
-#include "ros/ros.h"
 #include "header_widget.h"
 #include "planning_groups_widget.h"
 #include "double_list_widget.h"      // for joints, links and subgroups pages
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
index 266ba5fe3a..61a59d1602 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp
@@ -54,6 +54,7 @@
 
 #include <moveit/robot_state/conversions.h>
 #include <moveit_msgs/DisplayRobotState.h>
+#include <moveit/planning_scene/planning_scene.h>
 
 namespace moveit_setup_assistant
 {
diff --git a/moveit_setup_assistant/src/widgets/robot_poses_widget.h b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
index a90c38a98b..dcc8377be4 100644
--- a/moveit_setup_assistant/src/widgets/robot_poses_widget.h
+++ b/moveit_setup_assistant/src/widgets/robot_poses_widget.h
@@ -50,8 +50,6 @@ class QVBoxLayout;
 // SA
 #ifndef Q_MOC_RUN
 #include <moveit/setup_assistant/tools/moveit_config_data.h>
-#include <moveit/planning_scene/planning_scene.h>  // for collision stuff
-#include <ros/ros.h>
 #endif
 
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
diff --git a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
index 98a0bcfa1f..757db3252d 100644
--- a/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/start_screen_widget.cpp
@@ -50,7 +50,6 @@
 #include <QVBoxLayout>
 
 // ROS
-#include <ros/ros.h>
 #include <ros/package.h>  // for getting file path for loadng images
 // SA
 #include "header_widget.h"  // title and instructions

From d8e77c2d4b78b73268f01039b56f083f4a97d9ed Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 5 Oct 2020 23:46:11 +0200
Subject: [PATCH 483/612] Remove diagnostics macros

This is more elegantly handled by system includes now.
---
 .../collision_distance_field_types.h          |  4 -
 .../include/moveit/macros/diagnostics.h       | 73 -------------------
 .../moveit/benchmarks/BenchmarkExecutor.h     |  4 -
 .../occupancy_map_monitor/occupancy_map.h     |  4 -
 .../pointcloud_octomap_updater.h              |  4 -
 .../motion_planning_frame.h                   |  4 -
 .../motion_planning_param_widget.h            |  4 -
 .../src/motion_planning_display.cpp           |  4 -
 .../src/robot_state_display.cpp               |  4 -
 .../rviz_plugin_render_tools/octomap_render.h |  4 -
 .../planning_link_updater.h                   |  4 -
 .../robot_state_visualization.h               |  4 -
 .../src/octomap_render.cpp                    |  3 -
 .../src/render_shapes.cpp                     |  4 -
 .../warehouse/src/moveit_message_storage.cpp  |  4 -
 .../src/widgets/setup_assistant_widget.cpp    |  4 -
 16 files changed, 132 deletions(-)
 delete mode 100644 moveit_core/macros/include/moveit/macros/diagnostics.h

diff --git a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
index 65601df003..94256fe799 100644
--- a/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
+++ b/moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -44,11 +44,7 @@
 
 #include <geometric_shapes/shapes.h>
 #include <geometric_shapes/bodies.h>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <octomap/OcTree.h>
-DIAGNOSTIC_POP
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/distance_field/distance_field.h>
diff --git a/moveit_core/macros/include/moveit/macros/diagnostics.h b/moveit_core/macros/include/moveit/macros/diagnostics.h
deleted file mode 100644
index ff75b446b8..0000000000
--- a/moveit_core/macros/include/moveit/macros/diagnostics.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, Bielefeld University
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Bielefeld University nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-#pragma once
-
-/** The following macros allow to temporarily disable specific warnings,
- *  which in turn allows us to compile the MoveIt code base with rather strict
- *  compiler warnings, and still avoid corresponding issues in external sources.
- *  Just wrap an offending include with:
- *
- *  DIAGNOSTIC_PUSH
- *  SILENT_UNUSED_PARAM
- *  #include <offender.h>
- *  DIAGNOSTIC_POP
- *
- *  The push and pop operations ensure that the old status is restored afterwards.
- */
-
-#if defined(_MSC_VER)
-#define DIAGNOSTIC_PUSH __pragma(warning(push))
-#define DIAGNOSTIC_POP __pragma(warning(pop))
-#define SILENT_UNUSED_PARAM __pragma(warning(disable : 4100))
-
-#elif defined(__GNUC__) || defined(__clang__)
-#define DO_PRAGMA(X) _Pragma(#X)
-#define DIAGNOSTIC_PUSH DO_PRAGMA(GCC diagnostic push)
-#define DIAGNOSTIC_POP DO_PRAGMA(GCC diagnostic pop)
-
-#if defined(__clang__)
-#define SILENT_UNUSED_PARAM DO_PRAGMA(GCC diagnostic ignored "-Wunused-parameter")
-#else
-#define SILENT_UNUSED_PARAM                                                                                            \
-  DO_PRAGMA(GCC diagnostic ignored "-Wunused-parameter")                                                               \
-  DO_PRAGMA(GCC diagnostic ignored "-Wunused-but-set-parameter")
-#endif
-
-#else
-#define DIAGNOSTIC_PUSH
-#define DIAGNOSTIC_POP
-#define SILENT_UNUSED_PARAM
-
-#endif
diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
index c6ed75b396..d0af01a6b6 100644
--- a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
+++ b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -46,11 +46,7 @@
 #include <moveit/warehouse/constraints_storage.h>
 #include <moveit/warehouse/trajectory_constraints_storage.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <warehouse_ros/database_loader.h>
-DIAGNOSTIC_PUSH
 #include <pluginlib/class_loader.hpp>
 
 #include <map>
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
index 9ea4815e8e..35a08b69d0 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map.h
@@ -36,11 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <octomap/octomap.h>
-DIAGNOSTIC_PUSH
 #include <boost/thread/locks.hpp>
 #include <boost/thread/shared_mutex.hpp>
 #include <boost/function.hpp>
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index 6053926ae0..69cd73f047 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -37,12 +37,8 @@
 #pragma once
 
 #include <ros/ros.h>
-#include <moveit/macros/diagnostics.h>
 #include <tf2_ros/transform_listener.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <tf2_ros/message_filter.h>
-DIAGNOSTIC_POP
 #include <message_filters/subscriber.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 56f199c39f..5177635d1e 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -47,12 +47,8 @@
 #include <moveit/robot_interaction/robot_interaction.h>
 #include <moveit/robot_interaction/interaction_handler.h>
 #include <moveit/semantic_world/semantic_world.h>
-#include <moveit/macros/diagnostics.h>
 #include <interactive_markers/interactive_marker_server.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/default_plugin/interactive_markers/interactive_marker.h>
-DIAGNOSTIC_POP
 #include <moveit_msgs/MotionPlanRequest.h>
 #include <actionlib/client/simple_action_client.h>
 #include <object_recognition_msgs/ObjectRecognitionAction.h>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
index 855556953c..4761e293d0 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
@@ -37,11 +37,7 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/properties/property_tree_widget.h>
-DIAGNOSTIC_POP
 
 namespace moveit
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index 41a0a471dc..47d13295f9 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -38,10 +38,7 @@
 #include <moveit/robot_interaction/kinematic_options_map.h>
 #include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
 #include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
-#include <moveit/macros/diagnostics.h>
 
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
 #include <rviz/robot/robot_link.h>
@@ -63,7 +60,6 @@ SILENT_UNUSED_PARAM
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
 #include <rviz/ogre_helpers/shape.h>
-DIAGNOSTIC_POP
 
 #include <moveit/robot_state/conversions.h>
 #include <moveit/trajectory_processing/trajectory_tools.h>
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 0c0aaafc0a..983622814f 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -38,9 +38,6 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/utils/message_checks.h>
 
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/visualization_manager.h>
 #include <rviz/robot/robot.h>
 #include <rviz/robot/robot_link.h>
@@ -56,7 +53,6 @@ SILENT_UNUSED_PARAM
 
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
index 1bb8bf5daa..d573733472 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
@@ -38,11 +38,7 @@
 
 #include <memory>
 #include <vector>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/ogre_helpers/point_cloud.h>
-DIAGNOSTIC_POP
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
 #include <OGRE/OgrePrerequisites.h>
 
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
index bf9e86af54..0ce29cacb9 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_link_updater.h
@@ -36,11 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/robot/link_updater.h>
-DIAGNOSTIC_POP
 #include <moveit/robot_state/robot_state.h>
 
 namespace moveit_rviz_plugin
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index d210edef5e..f8fdf6d039 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -39,11 +39,7 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/robot/robot.h>
-DIAGNOSTIC_POP
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
index 07d5868a90..dc25cf06d6 100755
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -36,11 +36,8 @@
 
 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
 
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <octomap_msgs/Octomap.h>
 #include <octomap/octomap.h>
-DIAGNOSTIC_POP
 
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index f2ddd86aeb..4ab9391922 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -47,12 +47,8 @@
 #include <rviz/ogre_helpers/shape.h>
 #include <rviz/ogre_helpers/mesh_shape.h>
 
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/display_context.h>
 #include <rviz/robot/robot.h>
-DIAGNOSTIC_POP
 
 #include <boost/lexical_cast.hpp>
 #include <boost/math/constants/constants.hpp>
diff --git a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
index a7ff64e064..d45cffc0bd 100644
--- a/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
+++ b/moveit_ros/warehouse/warehouse/src/moveit_message_storage.cpp
@@ -35,11 +35,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/warehouse/moveit_message_storage.h>
-#include <moveit/macros/diagnostics.h>
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <warehouse_ros/database_loader.h>
-DIAGNOSTIC_PUSH
 #include <boost/regex.hpp>
 #include <memory>
 #include <utility>
diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 9109169ebe..544cb56457 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -34,7 +34,6 @@
 
 /* Author: Dave Coleman */
 
-#include <moveit/macros/diagnostics.h>
 // SA
 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 #include "setup_assistant_widget.h"
@@ -55,14 +54,11 @@
 #include <QString>
 #include <pluginlib/class_loader.hpp>  // for loading all avail kinematic planners
 // Rviz
-DIAGNOSTIC_PUSH
-SILENT_UNUSED_PARAM
 #include <rviz/render_panel.h>
 #include <rviz/visualization_manager.h>
 #include <rviz/view_manager.h>
 #include <rviz/default_plugin/view_controllers/orbit_view_controller.h>
 #include <moveit/robot_state_rviz_plugin/robot_state_display.h>
-DIAGNOSTIC_POP
 
 namespace moveit_setup_assistant
 {

From c16e27dc3cb9b296ecf78b1e13dd0489e35e4364 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 6 Oct 2020 07:43:45 +0200
Subject: [PATCH 484/612] Fix unused-parameter warnings

---
 moveit_ros/moveit_servo/src/servo_calcs.cpp                 | 2 +-
 moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp   | 4 ++--
 .../src/motion_planning_frame_joints_widget.cpp             | 6 +++---
 .../src/motion_planning_frame_objects.cpp                   | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index dd39f569c1..8dbb1be123 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -1035,7 +1035,7 @@ bool ServoCalcs::changeControlDimensions(moveit_msgs::ChangeControlDimensions::R
   return true;
 }
 
-bool ServoCalcs::resetServoStatus(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
+bool ServoCalcs::resetServoStatus(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/)
 {
   status_ = StatusCode::NO_WARNING;
   return true;
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index a5637a6eda..1579f1f12b 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -111,7 +111,7 @@ TEST_F(ServoFixture, SendTwistStampedTest)
   // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
-      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { ++received_count; };
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& /*msg*/) { ++received_count; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
   // Create publisher to send servo commands
@@ -152,7 +152,7 @@ TEST_F(ServoFixture, SendJointServoTest)
   // count trajectory messages sent by servo
   size_t received_count = 0;
   boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
-      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& msg) { ++received_count; };
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& /*msg*/) { ++received_count; };
   auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
 
   // Create publisher to send servo commands
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
index 7f4782f66c..d33563a76d 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -50,7 +50,7 @@ JMGItemModel::JMGItemModel(const moveit::core::RobotState& robot_state, const st
     jmg_ = robot_state_.getRobotModel()->getJointModelGroup(group_name);
 }
 
-int JMGItemModel::rowCount(const QModelIndex& parent) const
+int JMGItemModel::rowCount(const QModelIndex& /*parent*/) const
 {
   if (!jmg_)
     return robot_state_.getVariableCount();
@@ -58,7 +58,7 @@ int JMGItemModel::rowCount(const QModelIndex& parent) const
     return jmg_->getVariableCount();
 }
 
-int JMGItemModel::columnCount(const QModelIndex& parent) const
+int JMGItemModel::columnCount(const QModelIndex& /*parent*/) const
 {
   return 2;
 }
@@ -461,7 +461,7 @@ JointsWidgetEventFilter::JointsWidgetEventFilter(QAbstractItemView* view) : QObj
 {
 }
 
-bool JointsWidgetEventFilter::eventFilter(QObject* target, QEvent* event)
+bool JointsWidgetEventFilter::eventFilter(QObject* /*target*/, QEvent* event)
 {
   if (event->type() == QEvent::MouseButtonPress)
   {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index c8a1316687..c16bc46399 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -73,7 +73,7 @@ QString subframe_poses_to_qstring(const moveit::core::FixedTransformsMap& subfra
 
 namespace moveit_rviz_plugin
 {
-void MotionPlanningFrame::shapesComboBoxChanged(const QString& text)
+void MotionPlanningFrame::shapesComboBoxChanged(const QString& /*text*/)
 {
   switch (ui_->shapes_combo_box->currentData().toInt())  // fetch shape ID from current combobox item
   {

From b4e26cfb5be55a31e30c5ee33dfe4ce00279200c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 7 Oct 2020 00:50:25 +0200
Subject: [PATCH 485/612] MSA: Allow showing both, visual and collision
 geometry (#2352)

---
 .../src/widgets/setup_assistant_widget.cpp     | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
index 534831283a..239cba6d5a 100644
--- a/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
@@ -45,6 +45,7 @@
 #include <QFont>
 #include <QLabel>
 #include <QPushButton>
+#include <QCheckBox>
 #include <QCloseEvent>
 #include <QMessageBox>
 #include <QString>
@@ -403,10 +404,25 @@ void SetupAssistantWidget::loadRviz()
   view->subProp("Distance")->setValue(4.0f);
 
   // Add Rviz to Planning Groups Widget
-  QHBoxLayout* rviz_layout = new QHBoxLayout();
+  QVBoxLayout* rviz_layout = new QVBoxLayout();
   rviz_layout->addWidget(rviz_render_panel_);
   rviz_container_->setLayout(rviz_layout);
 
+  // visual / collision buttons
+  auto btn_layout = new QHBoxLayout();
+  rviz_layout->addLayout(btn_layout);
+
+  QCheckBox* btn;
+  btn_layout->addWidget(btn = new QCheckBox("visual"), 0);
+  btn->setChecked(true);
+  connect(btn, &QCheckBox::toggled,
+          [this](bool checked) { robot_state_display_->subProp("Visual Enabled")->setValue(checked); });
+
+  btn_layout->addWidget(btn = new QCheckBox("collision"), 1);
+  btn->setChecked(false);
+  connect(btn, &QCheckBox::toggled,
+          [this](bool checked) { robot_state_display_->subProp("Collision Enabled")->setValue(checked); });
+
   rviz_container_->show();
 }
 

From 06a601ca93b305b7b4347cec02af4e09f4e309cd Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 7 Oct 2020 14:44:44 +0200
Subject: [PATCH 486/612] MSA: Fix group editing (#2350)

Group Editing: Cancel falls back to previous screen

When entering joints/links/chain/subgroup edit screen from "Add Group" screen,
cancel was cancelling the whole operation, loosing all info that was already entered for the group.
Now it just returns to the previous screen and thus allows to continue editing the new group.
---
 .../src/widgets/planning_groups_widget.cpp    | 94 ++++++++-----------
 .../src/widgets/planning_groups_widget.h      | 14 +--
 2 files changed, 45 insertions(+), 63 deletions(-)

diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
index 060f723470..9c91095b42 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.cpp
@@ -156,7 +156,7 @@ PlanningGroupsWidget::PlanningGroupsWidget(QWidget* parent, const MoveItConfigDa
   connect(group_edit_widget_, SIGNAL(saveChain()), this, SLOT(saveGroupScreenChain()));
   connect(group_edit_widget_, SIGNAL(saveSubgroups()), this, SLOT(saveGroupScreenSubgroups()));
 
-  // Combine into stack
+  // Combine into stack: Note, order is same as GroupType!
   stacked_widget_ = new QStackedWidget(this);
   stacked_widget_->addWidget(groups_tree_widget_);  // screen index 0
   stacked_widget_->addWidget(joints_widget_);       // screen index 1
@@ -465,50 +465,29 @@ void PlanningGroupsWidget::editSelected()
   // Get the user custom properties of the currently selected row
   PlanGroupType plan_group = item->data(0, Qt::UserRole).value<PlanGroupType>();
 
-  if (plan_group.type_ == JOINT)
+  switch (plan_group.type_)
   {
-    // Load the data
-    loadJointsScreen(plan_group.group_);
-
-    // Switch to screen
-    changeScreen(1);  // 1 is index of joints
-  }
-  else if (plan_group.type_ == LINK)
-  {
-    // Load the data
-    loadLinksScreen(plan_group.group_);
-
-    // Switch to screen
-    changeScreen(2);
-  }
-  else if (plan_group.type_ == CHAIN)
-  {
-    // Load the data
-    loadChainScreen(plan_group.group_);
-
-    // Switch to screen
-    changeScreen(3);
-  }
-  else if (plan_group.type_ == SUBGROUP)
-  {
-    // Load the data
-    loadSubgroupsScreen(plan_group.group_);
-
-    // Switch to screen
-    changeScreen(4);
-  }
-  else if (plan_group.type_ == GROUP)
-  {
-    // Load the data
-    loadGroupScreen(plan_group.group_);
-
-    // Switch to screen
-    changeScreen(5);
-  }
-  else
-  {
-    QMessageBox::critical(this, "Error Loading", "An internal error has occured while loading.");
+    case JOINT:
+      loadJointsScreen(plan_group.group_);
+      break;
+    case LINK:
+      loadLinksScreen(plan_group.group_);
+      break;
+    case CHAIN:
+      loadChainScreen(plan_group.group_);
+      break;
+    case SUBGROUP:
+      loadSubgroupsScreen(plan_group.group_);
+      break;
+    case GROUP:
+      loadGroupScreen(plan_group.group_);
+      break;
+    default:
+      QMessageBox::critical(this, "Error Loading", "An internal error has occured while loading.");
+      return;
   }
+  return_screen_ = 0;  // return to main screen directly
+  changeScreen(plan_group.type_);
 }
 
 // ******************************************************************************************
@@ -540,7 +519,6 @@ void PlanningGroupsWidget::loadJointsScreen(srdf::Model::Group* this_group)
 
   // Remember what is currently being edited so we can later save changes
   current_edit_group_ = this_group->name_;
-  current_edit_element_ = JOINT;
 }
 
 // ******************************************************************************************
@@ -572,7 +550,6 @@ void PlanningGroupsWidget::loadLinksScreen(srdf::Model::Group* this_group)
 
   // Remember what is currently being edited so we can later save changes
   current_edit_group_ = this_group->name_;
-  current_edit_element_ = LINK;
 }
 
 // ******************************************************************************************
@@ -605,7 +582,6 @@ void PlanningGroupsWidget::loadChainScreen(srdf::Model::Group* this_group)
 
   // Remember what is currently being edited so we can later save changes
   current_edit_group_ = this_group->name_;
-  current_edit_element_ = CHAIN;
 }
 
 // ******************************************************************************************
@@ -638,7 +614,6 @@ void PlanningGroupsWidget::loadSubgroupsScreen(srdf::Model::Group* this_group)
 
   // Remember what is currently being edited so we can later save changes
   current_edit_group_ = this_group->name_;
-  current_edit_element_ = SUBGROUP;
 }
 
 // ******************************************************************************************
@@ -669,9 +644,6 @@ void PlanningGroupsWidget::loadGroupScreen(srdf::Model::Group* this_group)
 
   // Set the data in the edit box
   group_edit_widget_->setSelected(current_edit_group_);
-
-  // Remember what is currently being edited so we can later save changes
-  current_edit_element_ = GROUP;
 }
 
 // ******************************************************************************************
@@ -841,7 +813,7 @@ void PlanningGroupsWidget::addGroup()
   loadGroupScreen(nullptr);  // NULL indicates this is a new group, not an existing one
 
   // Switch to screen
-  changeScreen(5);
+  changeScreen(GROUP);
 }
 
 // ******************************************************************************************
@@ -1272,9 +1244,10 @@ void PlanningGroupsWidget::saveGroupScreenJoints()
 
   // Find the group we are editing based on the goup name string
   loadJointsScreen(config_data_->findGroupByName(current_edit_group_));
+  return_screen_ = GROUP;
 
   // Switch to screen
-  changeScreen(1);  // 1 is index of joints
+  changeScreen(JOINT);
 }
 
 // ******************************************************************************************
@@ -1288,9 +1261,10 @@ void PlanningGroupsWidget::saveGroupScreenLinks()
 
   // Find the group we are editing based on the goup name string
   loadLinksScreen(config_data_->findGroupByName(current_edit_group_));
+  return_screen_ = GROUP;
 
   // Switch to screen
-  changeScreen(2);  // 2 is index of links
+  changeScreen(LINK);
 }
 
 // ******************************************************************************************
@@ -1304,9 +1278,10 @@ void PlanningGroupsWidget::saveGroupScreenChain()
 
   // Find the group we are editing based on the goup name string
   loadChainScreen(config_data_->findGroupByName(current_edit_group_));
+  return_screen_ = GROUP;
 
   // Switch to screen
-  changeScreen(3);
+  changeScreen(CHAIN);
 }
 
 // ******************************************************************************************
@@ -1320,9 +1295,10 @@ void PlanningGroupsWidget::saveGroupScreenSubgroups()
 
   // Find the group we are editing based on the goup name string
   loadSubgroupsScreen(config_data_->findGroupByName(current_edit_group_));
+  return_screen_ = GROUP;
 
   // Switch to screen
-  changeScreen(4);
+  changeScreen(SUBGROUP);
 }
 
 // ******************************************************************************************
@@ -1330,6 +1306,12 @@ void PlanningGroupsWidget::saveGroupScreenSubgroups()
 // ******************************************************************************************
 void PlanningGroupsWidget::cancelEditing()
 {
+  if (return_screen_)
+  {
+    changeScreen(return_screen_);
+    return_screen_ = 0;
+    return;
+  }
   if (!current_edit_group_.empty() && adding_new_group_)
   {
     srdf::Model::Group* editing = config_data_->findGroupByName(current_edit_group_);
@@ -1384,7 +1366,7 @@ void PlanningGroupsWidget::showMainScreen()
 {
   stacked_widget_->setCurrentIndex(0);
 
-  // Announce that this widget is not in modal mode
+  // Announce that this widget is not in modal mode anymore
   Q_EMIT isModal(false);
 }
 
diff --git a/moveit_setup_assistant/src/widgets/planning_groups_widget.h b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
index a61f2539b2..ef860eddbd 100644
--- a/moveit_setup_assistant/src/widgets/planning_groups_widget.h
+++ b/moveit_setup_assistant/src/widgets/planning_groups_widget.h
@@ -61,11 +61,11 @@ class GroupEditWidget;
 // Custom Type
 enum GroupType
 {
-  JOINT,
-  LINK,
-  CHAIN,
-  SUBGROUP,
-  GROUP
+  JOINT = 1,
+  LINK = 2,
+  CHAIN = 3,
+  SUBGROUP = 4,
+  GROUP = 5
 };
 
 // ******************************************************************************************
@@ -172,8 +172,8 @@ private Q_SLOTS:
   /// Remember what group we are editing when an edit screen is being shown
   std::string current_edit_group_;
 
-  /// Remember what group element we are editing when an edit screen is being shown
-  GroupType current_edit_element_;
+  /// Remember to which editing screen we should return on Cancel
+  int return_screen_;
 
   /// Remember whethere we're editing a group or adding a new one
   bool adding_new_group_;

From df77fe83969347ea0724294a950dc080d1c07804 Mon Sep 17 00:00:00 2001
From: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Date: Fri, 18 Sep 2020 16:24:10 +0200
Subject: [PATCH 487/612] Add tests for checking whether an empty world +
 self-collision list any contacts

---
 moveit_ros/move_group/CMakeLists.txt          |  1 +
 ...est_check_state_validity_in_empty_scene.py | 44 +++++++++++++++++++
 ...t_check_state_validity_in_empty_scene.test | 24 ++++++++++
 3 files changed, 69 insertions(+)
 create mode 100755 moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.py
 create mode 100644 moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index b5f89fb410..a8c2098417 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -97,4 +97,5 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   # this test is flaky
   # add_rostest(test/test_cancel_before_plan_execution.test)
+  add_rostest(test/test_check_state_validity_in_empty_scene.test)
 endif()
diff --git a/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.py b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.py
new file mode 100755
index 0000000000..784a40ae3c
--- /dev/null
+++ b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+
+import sys
+import rospy
+import unittest
+from actionlib import SimpleActionClient
+import moveit_commander
+from moveit_msgs.msg import Constraints
+from moveit_msgs.srv import GetStateValidity
+
+
+class TestCheckStateValidityInEmptyScene(unittest.TestCase):
+
+    def setUp(self):
+        moveit_commander.roscpp_initialize(sys.argv)
+        self.robot_commander = moveit_commander.RobotCommander()
+        self.group_name = self.robot_commander.get_group_names()[0]
+        self.group_commander = moveit_commander.MoveGroupCommander(self.group_name)
+
+        self._check_state_validity = rospy.ServiceProxy('/check_state_validity', GetStateValidity)
+
+    def test_check_collision_free_state_validity_in_empty_scene(self):
+        current_robot_state = self.robot_commander.get_current_state()
+
+        validity_report = self._check_state_validity(current_robot_state, self.group_name, Constraints())
+        self.assertListEqual(validity_report.contacts, [], "In the default_robot_state, the robot should not collide with itself")
+
+
+    def test_check_colliding_state_validity_in_empty_scene(self):
+        current_robot_state = self.robot_commander.get_current_state()
+
+        # force a colliding state with the Fanuc M-10iA
+        current_robot_state.joint_state.position = list(current_robot_state.joint_state.position)
+        current_robot_state.joint_state.position[current_robot_state.joint_state.name.index("joint_3")] = -2
+
+        validity_report = self._check_state_validity(current_robot_state, self.group_name, Constraints())
+
+        self.assertNotEqual(len(validity_report.contacts), 0, "When the robot collides with itself, it should have some contacts (with itself)")
+
+
+if __name__ == '__main__':
+    import rostest
+    rospy.init_node('check_state_validity_in_empty_scene')
+    rostest.rosrun('moveit_ros_move_group', 'test_check_state_validity_in_empty_scene', TestCheckStateValidityInEmptyScene)
diff --git a/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test
new file mode 100644
index 0000000000..b12a6d3092
--- /dev/null
+++ b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test
@@ -0,0 +1,24 @@
+<launch>
+	<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
+		<arg name="load_robot_description" value="true"/>
+	</include>
+
+	<!-- We do not have a robot connected, so publish fake joint states -->
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<param name="use_gui" value="false"/>
+		<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+	</node>
+
+	<!-- Given the published joint states, publish tf for the robot links -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+	<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/move_group.launch">
+		<arg name="allow_trajectory_execution" value="true"/>
+		<arg name="fake_execution" value="true"/>
+		<arg name="info" value="true"/>
+	</include>
+
+	<test test-name="check_state_validity_in_empty_scene" pkg="moveit_ros_move_group" type="test_check_state_validity_in_empty_scene.py"/>
+</launch>

From fa605f2cedf31eb09d32206265b3f66f3b0397ba Mon Sep 17 00:00:00 2001
From: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Date: Fri, 18 Sep 2020 14:37:27 +0200
Subject: [PATCH 488/612] Let the max number of contacts be the amount of world
 objects + link models with geometry

---
 .../state_validation_service_capability.cpp                   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
index 385d715847..1706f57b8d 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
@@ -66,8 +66,8 @@ bool MoveGroupStateValidationService::computeService(moveit_msgs::GetStateValidi
   creq.group_name = req.group_name;
   creq.cost = true;
   creq.contacts = true;
-  creq.max_contacts = ls->getWorld()->size();
-  creq.max_cost_sources = creq.max_contacts + ls->getRobotModel()->getLinkModelsWithCollisionGeometry().size();
+  creq.max_contacts = ls->getWorld()->size() + ls->getRobotModel()->getLinkModelsWithCollisionGeometry().size();
+  creq.max_cost_sources = creq.max_contacts;
   creq.max_contacts *= creq.max_contacts;
   collision_detection::CollisionResult cres;
 

From 13d635c6445de582418853ade3245592443caf7f Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Fri, 9 Oct 2020 12:43:17 +0200
Subject: [PATCH 489/612] move_group: simplify test launch files

---
 .../test_cancel_before_plan_execution.test    | 20 ++----------------
 ...t_check_state_validity_in_empty_scene.test | 21 ++-----------------
 2 files changed, 4 insertions(+), 37 deletions(-)

diff --git a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
index 4acb89e476..a4f22e456f 100644
--- a/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
+++ b/moveit_ros/move_group/test/test_cancel_before_plan_execution.test
@@ -1,22 +1,6 @@
 <launch>
-	<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
-		<arg name="load_robot_description" value="true"/>
-	</include>
-
-	<!-- We do not have a robot connected, so publish fake joint states -->
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-		<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-	</node>
-
-	<!-- Given the published joint states, publish tf for the robot links -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
-	<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/move_group.launch">
-		<arg name="allow_trajectory_execution" value="true"/>
-		<arg name="fake_execution" value="true"/>
-		<arg name="info" value="true"/>
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/demo.launch">
+		<arg name="use_rviz" value="false"/>
 	</include>
 
 	<test test-name="cancel_before_plan_execution" pkg="moveit_ros_move_group" type="test_cancel_before_plan_execution.py"/>
diff --git a/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test
index b12a6d3092..b761f4dded 100644
--- a/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test
+++ b/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test
@@ -1,23 +1,6 @@
 <launch>
-	<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch">
-		<arg name="load_robot_description" value="true"/>
-	</include>
-
-	<!-- We do not have a robot connected, so publish fake joint states -->
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-		<param name="use_gui" value="false"/>
-		<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-	</node>
-
-	<!-- Given the published joint states, publish tf for the robot links -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
-	<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/move_group.launch">
-		<arg name="allow_trajectory_execution" value="true"/>
-		<arg name="fake_execution" value="true"/>
-		<arg name="info" value="true"/>
+	<include file="$(find moveit_resources_fanuc_moveit_config)/launch/demo.launch">
+		<arg name="use_rviz" value="false"/>
 	</include>
 
 	<test test-name="check_state_validity_in_empty_scene" pkg="moveit_ros_move_group" type="test_check_state_validity_in_empty_scene.py"/>

From c938c9c359e0335a996c37f5d38f5556fa6077a2 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Sun, 11 Oct 2020 14:19:33 -0500
Subject: [PATCH 490/612] A library for servoing toward a moving pose (#2203)

* A library for servoing toward a moving pose

* Use the control_toolbox version of PID control

* Minor cleanup after switching to control_toolbox PID

* Use default ROS1 library type

* Decrease the default windup limit

* Add a basic unit test

* Add orientation tracking, too

* Warning if no target pose is provided

* One PID for orientation instead of 3

* A different method of ensuring a new target pose is received

* Multithread the test pose publisher

* Correct service namespaces

* Clang format and clang tidy

* Minor tweaks for CI

* Add function to update PID settings

* Add a method to get PID errors

* Be consistent with service namespacing

This is important if there are multiple arms Servoing simultaneously

* Address Adam's more minor comments

* First attempt at using pose tracking

* Small updates to launch files and CMakeLists

* Address Andy comments

* Get Pose Tracking demo working (#3)

* Rework command frame name and target pose

* Add EE frame tf and make it available thru C++ interface

* Pass getEEFrameTransform thru PoseTracking

* Update TF calcs at servo start

* Modify pose demo to move slightly from current position

* Make PoseTracking use EE tf instead of command frame tf

* Clean up the demo

* Make helper func for converting eigen to tf message

* Make the Servo instance public, to access functions like setPaused()

* Use an enum class for status codes, so entries can be duplicated

* Add a timeout argument

* Clang format

* Fix a race condition with initial joint reception

* Update config file for testing

* Wrap tf lookup in a try/catch block

* Use a tf2 utility for Eigen->msg conversion

* Explicitly initialize transforms to zero

* More robust test setup

* Update the command frame at runtime

* Update angular PID configs, too

* Properly wait for test setup

Co-authored-by: AdamPettinger <adam.pettinger@utexas.edu>
---
 moveit_ros/moveit_servo/CMakeLists.txt        |  80 ++--
 .../config/pose_tracking_settings.yaml        |  21 +
 .../config/ur_simulated_config.yaml           |   5 +-
 .../moveit_servo/make_shared_from_pool.h      |   1 +
 .../include/moveit_servo/pose_tracking.h      | 195 ++++++++++
 .../moveit_servo/include/moveit_servo/servo.h |  25 +-
 .../include/moveit_servo/servo_calcs.h        |  29 +-
 .../include/moveit_servo/servo_parameters.h   |   1 +
 .../include/moveit_servo/status_codes.h       |  18 +-
 .../launch/pose_tracking_example.launch       |  10 +
 moveit_ros/moveit_servo/package.xml           |   8 +-
 .../pose_tracking_example.cpp                 | 155 ++++++++
 .../src/joint_state_subscriber.cpp            |   8 +-
 moveit_ros/moveit_servo/src/pose_tracking.cpp | 359 ++++++++++++++++++
 moveit_ros/moveit_servo/src/servo.cpp         | 113 +++---
 moveit_ros/moveit_servo/src/servo_calcs.cpp   |  92 ++++-
 .../test/config/servo_settings.yaml           |   5 +-
 .../moveit_servo/test/pose_tracking_test.cpp  | 162 ++++++++
 .../moveit_servo/test/pose_tracking_test.test |  24 ++
 .../test/servo_cpp_interface_test.cpp         |   7 +
 20 files changed, 1219 insertions(+), 99 deletions(-)
 create mode 100644 moveit_ros/moveit_servo/config/pose_tracking_settings.yaml
 create mode 100644 moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
 create mode 100644 moveit_ros/moveit_servo/launch/pose_tracking_example.launch
 create mode 100644 moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
 create mode 100644 moveit_ros/moveit_servo/src/pose_tracking.cpp
 create mode 100644 moveit_ros/moveit_servo/test/pose_tracking_test.cpp
 create mode 100644 moveit_ros/moveit_servo/test/pose_tracking_test.test

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 0b06a77205..86c6d1ebcc 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -7,16 +7,17 @@ endif()
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-set(LIBRARY_NAME moveit_servo_cpp_api)
+set(SERVO_LIB_NAME moveit_servo_cpp_api)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
 find_package(Boost REQUIRED)
-
+find_package(Eigen3 REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   control_msgs
+  control_toolbox
   geometry_msgs
   moveit_msgs
   moveit_ros_planning_interface
@@ -24,17 +25,19 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   std_msgs
   std_srvs
+  tf2_eigen
   trajectory_msgs
 )
-find_package(Eigen3 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
     include
   LIBRARIES
-    ${LIBRARY_NAME}
+    pose_tracking
+    ${SERVO_LIB_NAME}
   CATKIN_DEPENDS
     control_msgs
+    control_toolbox
     geometry_msgs
     moveit_msgs
     moveit_ros_planning_interface
@@ -42,6 +45,7 @@ catkin_package(
     sensor_msgs
     std_msgs
     std_srvs
+    tf2_eigen
     trajectory_msgs
   DEPENDS
     EIGEN3
@@ -54,35 +58,59 @@ include_directories(SYSTEM
   ${Boost_INCLUDE_DIR}
 )
 
-#########################################
-## A library providing a C++ interface ##
-#########################################
+#########################################################
+## Library to process realtime twist or joint commands ##
+#########################################################
 
-add_library(${LIBRARY_NAME} SHARED
+# This library provides an interface for sending realtime twist or joint commands to a robot
+add_library(${SERVO_LIB_NAME}
+  # These files are used to produce differential motion
   src/collision_check.cpp
   src/servo_calcs.cpp
   src/servo.cpp
   src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
 )
-set_target_properties(${LIBRARY_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-add_dependencies(${LIBRARY_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${LIBRARY_NAME}
+set_target_properties(${SERVO_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+add_dependencies(${SERVO_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${SERVO_LIB_NAME}
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
-# An example of using the C++ library
+# An example of streaming realtime Cartesian and joint commands
 add_executable(cpp_interface_example
   src/cpp_interface_example/cpp_interface_example.cpp
 )
 add_dependencies(cpp_interface_example ${catkin_EXPORTED_TARGETS})
 target_link_libraries(cpp_interface_example
   ${catkin_LIBRARIES}
-  ${Eigen_LIBRARIES}
-  ${Boost_LIBRARIES}
-  ${LIBRARY_NAME}
+  ${SERVO_LIB_NAME}
+)
+
+# An example of pose tracking
+add_executable(pose_tracking_example
+  src/cpp_interface_example/pose_tracking_example.cpp
+)
+add_dependencies(pose_tracking_example ${catkin_EXPORTED_TARGETS})
+target_link_libraries(pose_tracking_example
+  ${catkin_LIBRARIES}
+  ${SERVO_LIB_NAME}
+  pose_tracking
+)
+
+########################################
+## Library for servoing toward a pose ##
+########################################
+
+add_library(pose_tracking
+  src/pose_tracking.cpp
+)
+add_dependencies(pose_tracking ${catkin_EXPORTED_TARGETS})
+target_link_libraries(pose_tracking
+  ${catkin_LIBRARIES}
+  ${SERVO_LIB_NAME}
 )
 
 ############################
@@ -94,10 +122,8 @@ add_executable(servo_server
 )
 add_dependencies(servo_server ${catkin_EXPORTED_TARGETS})
 target_link_libraries(servo_server
-  ${LIBRARY_NAME}
+  ${SERVO_LIB_NAME}
   ${catkin_LIBRARIES}
-  ${Eigen_LIBRARIES}
-  ${Boost_LIBRARIES}
 )
 
 ################################################
@@ -116,7 +142,9 @@ target_link_libraries(spacenav_to_twist ${catkin_LIBRARIES})
 
 install(
   TARGETS
-    ${LIBRARY_NAME}
+    ${SERVO_LIB_NAME}
+    pose_tracking
+    pose_tracking_example
     servo_server
     spacenav_to_twist
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -144,9 +172,17 @@ if(CATKIN_ENABLE_TESTING)
     test/servo_cpp_interface_test.cpp
   )
   target_link_libraries(servo_cpp_interface_test
-    ${LIBRARY_NAME}
+    ${SERVO_LIB_NAME}
+    ${catkin_LIBRARIES}
+  )
+
+  # pose_tracking
+  add_rostest_gtest(pose_tracking_test
+    test/pose_tracking_test.test
+    test/pose_tracking_test.cpp
+  )
+  target_link_libraries(pose_tracking_test
+    pose_tracking
     ${catkin_LIBRARIES}
-    ${Eigen_LIBRARIES}
-    ${Boost_LIBRARIES}
   )
 endif()
diff --git a/moveit_ros/moveit_servo/config/pose_tracking_settings.yaml b/moveit_ros/moveit_servo/config/pose_tracking_settings.yaml
new file mode 100644
index 0000000000..e4b803774d
--- /dev/null
+++ b/moveit_ros/moveit_servo/config/pose_tracking_settings.yaml
@@ -0,0 +1,21 @@
+#################################
+# PID parameters for pose seeking
+#################################
+
+# Maximum value of error integral for all PID controllers
+windup_limit: 0.05
+
+# PID gains
+x_proportional_gain: 1.5
+y_proportional_gain: 1.5
+z_proportional_gain: 1.5
+x_integral_gain: 0.0
+y_integral_gain: 0.0
+z_integral_gain: 0.0
+x_derivative_gain: 0.0
+y_derivative_gain: 0.0
+z_derivative_gain: 0.0
+
+angular_proportional_gain: 0.5
+angular_integral_gain: 0.0
+angular_derivative_gain: 0.0
diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index 21fd7cbb36..d2ea184f40 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -4,7 +4,6 @@
 use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
 
 ## Properties of incoming commands
-robot_link_command_frame:  world  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
@@ -31,6 +30,10 @@ publish_joint_accelerations: false
 move_group_name:  manipulator  # Often 'manipulator' or 'arm'
 planning_frame: world  # The MoveIt planning frame. Often 'base_link' or 'world'
 
+## Other frames
+ee_frame_name: ee_link  # The name of the end effector link, used to return the EE pose
+robot_link_command_frame:  world  # commands must be given in the frame of a robot link. Usually either the base or end effector
+
 ## Stopping behaviour
 incoming_command_timeout:  0.1  # Stop servoing if X seconds elapse without a new command
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
index a593da6127..d3931dad37 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/make_shared_from_pool.h
@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <boost/make_shared.hpp>
 #include <boost/pool/pool_alloc.hpp>
 
 namespace moveit
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
new file mode 100644
index 0000000000..bd7c24fbce
--- /dev/null
+++ b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
@@ -0,0 +1,195 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+/*
+   Author: Andy Zelenak
+   Desc: Servoing. Track a pose setpoint in real time.
+*/
+
+#pragma once
+
+#include <atomic>
+#include <control_toolbox/pid.h>
+#include <moveit_servo/make_shared_from_pool.h>
+#include <moveit_servo/servo.h>
+#include <rosparam_shortcuts/rosparam_shortcuts.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/transform_listener.h>
+
+// Conventions:
+// Calculations are done in the planning_frame_ unless otherwise noted.
+
+namespace moveit_servo
+{
+struct PIDConfig
+{
+  // Default values
+  double dt = 0.001;
+  double k_p = 1;
+  double k_i = 0;
+  double k_d = 0;
+  double windup_limit = 0.1;
+};
+
+enum class PoseTrackingStatusCode : int8_t
+{
+  INVALID = -1,
+  SUCCESS = 0,
+  NO_RECENT_TARGET_POSE = 1,
+  NO_RECENT_END_EFFECTOR_POSE = 2,
+  STOP_REQUESTED = 3
+};
+
+const std::unordered_map<PoseTrackingStatusCode, std::string> POSE_TRACKING_STATUS_CODE_MAP(
+    { { PoseTrackingStatusCode::INVALID, "Invalid" },
+      { PoseTrackingStatusCode::SUCCESS, "Success" },
+      { PoseTrackingStatusCode::NO_RECENT_TARGET_POSE, "No recent target pose" },
+      { PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE, "No recent end effector pose" },
+      { PoseTrackingStatusCode::STOP_REQUESTED, "Stop requested" } });
+
+/**
+ * Class PoseTracking - subscribe to a target pose.
+ * Servo toward the target pose.
+ */
+class PoseTracking
+{
+public:
+  /** \brief Constructor. Loads ROS parameters under the given namespace. */
+  PoseTracking(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+               const std::string& parameter_ns = "");
+
+  PoseTrackingStatusCode moveToPose(const Eigen::Vector3d& positional_tolerance, const double angular_tolerance,
+                                    const double target_pose_timeout);
+
+  /** \brief A method for a different thread to stop motion and return early from control loop */
+  void stopMotion()
+  {
+    stop_requested_ = true;
+  }
+
+  /** \brief Change PID parameters. Motion is stopped before the udpate */
+  void updatePIDConfig(const double x_proportional_gain, const double x_integral_gain, const double x_derivative_gain,
+                       const double y_proportional_gain, const double y_integral_gain, const double y_derivative_gain,
+                       const double z_proportional_gain, const double z_integral_gain, const double z_derivative_gain,
+                       const double angular_proportional_gain, const double angular_integral_gain,
+                       const double angular_derivative_gain);
+
+  void getPIDErrors(double& x_error, double& y_error, double& z_error, double& orientation_error);
+
+  /**
+   * Get the End Effector link transform.
+   * The transform from the MoveIt planning frame to EE link
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getCommandFrameTransform(geometry_msgs::TransformStamped& transform);
+
+  // moveit_servo::Servo instance. Public so we can access member functions like setPaused()
+  std::unique_ptr<moveit_servo::Servo> servo_;
+
+private:
+  /** \brief Load ROS parameters for controller settings. */
+  void readROSParams();
+
+  /** \brief Initialize a PID controller and add it to vector of controllers */
+  void initializePID(const PIDConfig& pid_config, std::vector<control_toolbox::Pid>& pid_vector);
+
+  /** \brief Return true if a target pose has been received within timeout [seconds] */
+  bool haveRecentTargetPose(const double timeout);
+
+  /** \brief Return true if an end effector pose has been received within timeout [seconds] */
+  bool haveRecentEndEffectorPose(const double timeout);
+
+  /** \brief Check if XYZ, roll/pitch/yaw tolerances are satisfied */
+  bool satisfiesPoseTolerance(const Eigen::Vector3d& positional_tolerance, const double angular_tolerance);
+
+  /** \brief Subscribe to the target pose on this topic */
+  void targetPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg);
+
+  /** \brief Update PID controller target positions & orientations */
+  void updateControllerSetpoints();
+
+  /** \brief Update PID controller states (positions & orientations) */
+  void updateControllerStateMeasurements();
+
+  /** \brief Use PID controllers to calculate a full spatial velocity toward a pose */
+  geometry_msgs::TwistStampedConstPtr calculateTwistCommand();
+
+  /** \brief Reset flags and PID controllers after a motion completes */
+  void doPostMotionReset();
+
+  ros::NodeHandle nh_;
+
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+  robot_model::RobotModelConstPtr robot_model_;
+  const moveit::core::JointModelGroup* joint_model_group_;
+  // Joint group used for controlling the motions
+  std::string move_group_name_;
+
+  ros::Rate loop_rate_;
+
+  // ROS interface to Servo
+  ros::Publisher twist_stamped_pub_;
+
+  std::vector<control_toolbox::Pid> cartesian_position_pids_;
+  std::vector<control_toolbox::Pid> cartesian_orientation_pids_;
+  // Cartesian PID configs
+  PIDConfig x_pid_config_, y_pid_config_, z_pid_config_, angular_pid_config_;
+
+  // Transforms w.r.t. planning_frame_
+  Eigen::Isometry3d command_frame_transform_;
+  ros::Time command_frame_transform_stamp_;
+  geometry_msgs::PoseStamped target_pose_;
+
+  // Subscribe to target pose
+  ros::Subscriber target_pose_sub_;
+
+  tf2_ros::Buffer transform_buffer_;
+  tf2_ros::TransformListener transform_listener_;
+
+  // Expected frame name, for error checking and transforms
+  std::string planning_frame_;
+
+  // Flag that a different thread has requested a stop.
+  std::atomic<bool> stop_requested_;
+
+  // Read parameters from this namespace
+  std::string parameter_ns_;
+
+  double angular_error_;
+};
+
+// using alias
+using PoseTrackingPtr = std::shared_ptr<PoseTracking>;
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 139c11b44b..b520d807d6 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -53,7 +53,8 @@ namespace moveit_servo
 class Servo
 {
 public:
-  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
+  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+        const std::string& parameter_ns = "");
 
   ~Servo();
 
@@ -71,6 +72,17 @@ class Servo
    * @return true if a valid transform was available
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
+  bool getCommandFrameTransform(geometry_msgs::TransformStamped& transform);
+
+  /**
+   * Get the End Effector link transform.
+   * The transform from the MoveIt planning frame to EE link
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getEEFrameTransform(Eigen::Isometry3d& transform);
+  bool getEEFrameTransform(geometry_msgs::TransformStamped& transform);
 
   /** \brief Get the parameters used by servo node. */
   const ServoParameters& getParameters() const;
@@ -78,6 +90,14 @@ class Servo
   /** \brief Get the latest joint state. */
   sensor_msgs::JointStateConstPtr getLatestJointState() const;
 
+  /** \brief Change the controlled link. Often, this is the end effector
+   * This must be a link on the robot since MoveIt tracks the transform (not tf)
+   */
+  void changeRobotLinkCommandFrame(const std::string& new_command_frame)
+  {
+    servo_calcs_->changeRobotLinkCommandFrame(new_command_frame);
+  }
+
 private:
   bool readParameters();
 
@@ -92,6 +112,9 @@ class Servo
   std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
   std::unique_ptr<ServoCalcs> servo_calcs_;
   std::unique_ptr<CollisionCheck> collision_checker_;
+
+  // Read parameters from this namespace
+  std::string parameter_ns_;
 };
 
 // ServoPtr using alias
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index fa477eaabc..26f7c4c947 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -39,6 +39,9 @@
 #pragma once
 
 // ROS
+#include <control_msgs/JointJog.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/TransformStamped.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit_msgs/ChangeDriftDimensions.h>
@@ -47,8 +50,7 @@
 #include <std_msgs/Float64.h>
 #include <std_msgs/Int8.h>
 #include <std_srvs/Empty.h>
-#include <control_msgs/JointJog.h>
-#include <geometry_msgs/TwistStamped.h>
+#include <tf2_eigen/tf2_eigen.h>
 #include <trajectory_msgs/JointTrajectory.h>
 
 // moveit_servo
@@ -62,9 +64,9 @@ namespace moveit_servo
 class ServoCalcs
 {
 public:
-  ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
+  ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
              const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
+             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber, std::string& ros_namespace);
 
   ~ServoCalcs()
   {
@@ -82,10 +84,26 @@ class ServoCalcs
    * @return true if a valid transform was available
    */
   bool getCommandFrameTransform(Eigen::Isometry3d& transform);
+  bool getCommandFrameTransform(geometry_msgs::TransformStamped& transform);
+
+  /**
+   * Get the End Effector link transform.
+   * The transform from the MoveIt planning frame to EE link
+   *
+   * @param transform the transform that will be calculated
+   * @return true if a valid transform was available
+   */
+  bool getEEFrameTransform(Eigen::Isometry3d& transform);
+  bool getEEFrameTransform(geometry_msgs::TransformStamped& transform);
 
   /** \brief Pause or unpause processing servo commands while keeping the timers alive */
   void setPaused(bool paused);
 
+  /** \brief Change the controlled link. Often, this is the end effector
+   * This must be a link on the robot since MoveIt tracks the transform (not tf)
+   */
+  void changeRobotLinkCommandFrame(const std::string& new_command_frame);
+
 private:
   /** \brief Timer method */
   void run(const ros::TimerEvent& timer_event);
@@ -197,7 +215,7 @@ class ServoCalcs
   ros::NodeHandle nh_;
 
   // Parameters from yaml
-  const ServoParameters& parameters_;
+  ServoParameters& parameters_;
 
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
@@ -282,6 +300,7 @@ class ServoCalcs
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
   Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_;
+  Eigen::Isometry3d tf_moveit_to_ee_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
   control_msgs::JointJogConstPtr latest_joint_cmd_;
   ros::Time latest_twist_command_stamp_ = ros::Time(0.);
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
index ad0deec16f..45b208db8e 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
@@ -52,6 +52,7 @@ struct ServoParameters
   std::string robot_link_command_frame;
   std::string command_out_topic;
   std::string planning_frame;
+  std::string ee_frame_name;
   std::string status_topic;
   std::string joint_command_in_topic;
   std::string command_in_type;
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
index 97e92210cc..5164f46a9e 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/status_codes.h
@@ -43,7 +43,7 @@
 
 namespace moveit_servo
 {
-enum StatusCode : int8_t
+enum class StatusCode : int8_t
 {
   INVALID = -1,
   NO_WARNING = 0,
@@ -54,12 +54,12 @@ enum StatusCode : int8_t
   JOINT_BOUND = 5
 };
 
-const std::unordered_map<int8_t, std::string>
-    SERVO_STATUS_CODE_MAP({ { INVALID, "Invalid" },
-                            { NO_WARNING, "No warnings" },
-                            { DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
-                            { HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
-                            { DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
-                            { HALT_FOR_COLLISION, "Collision detected, emergency stop" },
-                            { JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
+const std::unordered_map<StatusCode, std::string>
+    SERVO_STATUS_CODE_MAP({ { StatusCode::INVALID, "Invalid" },
+                            { StatusCode::NO_WARNING, "No warnings" },
+                            { StatusCode::DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" },
+                            { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" },
+                            { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" },
+                            { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" },
+                            { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } });
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/launch/pose_tracking_example.launch b/moveit_ros/moveit_servo/launch/pose_tracking_example.launch
new file mode 100644
index 0000000000..b3fcc374d2
--- /dev/null
+++ b/moveit_ros/moveit_servo/launch/pose_tracking_example.launch
@@ -0,0 +1,10 @@
+<launch>
+  <!-- Launch an example that sends commands via C++ API. -->
+
+  <node name="servo_server" pkg="moveit_servo" type="pose_tracking_example" output="screen" >
+    <!-- <param name="parameter_ns" type="string" value="servo_server" /> -->
+    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
+    <rosparam command="load" file="$(find moveit_servo)/config/pose_tracking_settings.yaml" />
+  </node>
+
+</launch>
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index a9d51061ba..954795120c 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -21,14 +21,16 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>control_msgs</depend>
+  <depend>control_toolbox</depend>
   <depend>geometry_msgs</depend>
+  <depend>moveit_msgs</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>rosparam_shortcuts</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>tf2_eigen</depend>
   <depend>trajectory_msgs</depend>
-  <depend>moveit_msgs</depend>
-  <depend>moveit_ros_planning_interface</depend>
-  <depend>rosparam_shortcuts</depend>
 
   <exec_depend>joy_teleop</exec_depend>
   <exec_depend>spacenav_node</exec_depend>
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
new file mode 100644
index 0000000000..95d3a0aa4e
--- /dev/null
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
@@ -0,0 +1,155 @@
+/*******************************************************************************
+ *      Title     : pose_tracking_example.cpp
+ *      Project   : moveit_servo
+ *      Created   : 09/04/2020
+ *      Author    : Adam Pettinger
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2019, Los Alamos National Security, LLC
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ * * Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *******************************************************************************/
+
+#include <std_msgs/Int8.h>
+#include <geometry_msgs/TransformStamped.h>
+
+#include <moveit_servo/servo.h>
+#include <moveit_servo/pose_tracking.h>
+#include <moveit_servo/status_codes.h>
+#include <moveit_servo/make_shared_from_pool.h>
+#include <thread>
+
+static const std::string LOGNAME = "cpp_interface_example";
+
+// Class for monitoring status of moveit_servo
+class StatusMonitor
+{
+public:
+  StatusMonitor(ros::NodeHandle& nh, const std::string& topic)
+  {
+    sub_ = nh.subscribe(topic, 1, &StatusMonitor::statusCB, this);
+  }
+
+private:
+  void statusCB(const std_msgs::Int8ConstPtr& msg)
+  {
+    moveit_servo::StatusCode latest_status = static_cast<moveit_servo::StatusCode>(msg->data);
+    if (latest_status != status_)
+    {
+      status_ = latest_status;
+      const auto& status_str = moveit_servo::SERVO_STATUS_CODE_MAP.at(status_);
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Servo status: " << status_str);
+    }
+  }
+  moveit_servo::StatusCode status_ = moveit_servo::StatusCode::INVALID;
+  ros::Subscriber sub_;
+};
+
+/**
+ * Instantiate the pose tracking interface.
+ * Send a pose slightly different from the starting pose
+ * Then keep updating the target pose a little bit
+ */
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, LOGNAME);
+  ros::NodeHandle nh;
+  ros::AsyncSpinner spinner(8);
+  spinner.start();
+
+  // Load the planning scene monitor
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
+  planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+  if (!planning_scene_monitor->getPlanningScene())
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Error in setting up the PlanningSceneMonitor.");
+    exit(EXIT_FAILURE);
+  }
+
+  planning_scene_monitor->startSceneMonitor();
+  planning_scene_monitor->startWorldGeometryMonitor(
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+      false /* skip octomap monitor */);
+  planning_scene_monitor->startStateMonitor();
+
+  // Create the pose tracker
+  moveit_servo::PoseTracking tracker(planning_scene_monitor, "servo_server");
+
+  // Make a publisher for sending pose commands
+  ros::Publisher target_pose_pub =
+      nh.advertise<geometry_msgs::PoseStamped>("/servo_server/target_pose", 1 /* queue */, true /* latch */);
+
+  // Subscribe to servo status (and log it when it changes)
+  StatusMonitor status_monitor(nh, "servo_server/status");
+
+  Eigen::Vector3d lin_tol{ 0.01, 0.01, 0.01 };
+  double rot_tol = 0.1;
+
+  // Get the current EE transform
+  geometry_msgs::TransformStamped current_ee_tf;
+  tracker.getCommandFrameTransform(current_ee_tf);
+
+  // Convert it to a Pose
+  geometry_msgs::PoseStamped target_pose;
+  target_pose.header.frame_id = current_ee_tf.header.frame_id;
+  target_pose.pose.position.x = current_ee_tf.transform.translation.x;
+  target_pose.pose.position.y = current_ee_tf.transform.translation.y;
+  target_pose.pose.position.z = current_ee_tf.transform.translation.z;
+  target_pose.pose.orientation = current_ee_tf.transform.rotation;
+
+  // Modify it a little bit
+  target_pose.pose.position.x += 0.1;
+
+  // Publish target pose
+  target_pose.header.stamp = ros::Time::now();
+  target_pose_pub.publish(target_pose);
+
+  // Run the pose tracking in a new thread
+  std::thread move_to_pose_thread(
+      [&tracker, &lin_tol, &rot_tol] { tracker.moveToPose(lin_tol, rot_tol, 0.1 /* target pose timeout */); });
+
+  ros::Rate loop_rate(50);
+  for (size_t i = 0; i < 500; ++i)
+  {
+    // Modify the pose target a little bit each cycle
+    // This is a dynamic pose target
+    target_pose.pose.position.z += 0.0004;
+    target_pose.header.stamp = ros::Time::now();
+    target_pose_pub.publish(target_pose);
+
+    loop_rate.sleep();
+  }
+
+  // Make sure the tracker is stopped and clean up
+  tracker.stopMotion();
+  move_to_pose_thread.join();
+
+  return EXIT_SUCCESS;
+}
diff --git a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
index c60b331119..22b8b4bfab 100644
--- a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
+++ b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
@@ -49,9 +49,15 @@ JointStateSubscriber::JointStateSubscriber(ros::NodeHandle& nh, const std::strin
   // subscribe to joints
   joint_state_sub_ = nh.subscribe(joint_state_topic_name, ROS_QUEUE_SIZE, &JointStateSubscriber::jointStateCB, this);
 
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
   // Wait for initial messages
   ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
-  ros::topic::waitForMessage<sensor_msgs::JointState>(joint_state_topic_name);
+  while (latest_joint_state_ == nullptr)
+  {
+    ros::Duration(0.01).sleep();
+  }
   ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
 }
 
diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
new file mode 100644
index 0000000000..82ed5b8868
--- /dev/null
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -0,0 +1,359 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "moveit_servo/pose_tracking.h"
+
+namespace
+{
+constexpr char LOGNAME[] = "pose_tracking";
+constexpr double DEFAULT_LOOP_RATE = 100;  // Hz
+constexpr double ROS_STARTUP_WAIT = 10;    // sec
+}  // namespace
+
+namespace moveit_servo
+{
+PoseTracking::PoseTracking(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+                           const std::string& parameter_ns)
+  : planning_scene_monitor_(planning_scene_monitor)
+  , loop_rate_(DEFAULT_LOOP_RATE)
+  , transform_listener_(transform_buffer_)
+  , stop_requested_(false)
+  , parameter_ns_(parameter_ns)
+  , angular_error_(0)
+{
+  readROSParams();
+
+  robot_model_ = planning_scene_monitor_->getRobotModel();
+  joint_model_group_ = robot_model_->getJointModelGroup(move_group_name_);
+
+  // Initialize PID controllers
+  initializePID(x_pid_config_, cartesian_position_pids_);
+  initializePID(y_pid_config_, cartesian_position_pids_);
+  initializePID(z_pid_config_, cartesian_position_pids_);
+  initializePID(angular_pid_config_, cartesian_orientation_pids_);
+
+  // Use the C++ interface that Servo provides
+  servo_ = std::make_unique<moveit_servo::Servo>(nh_, planning_scene_monitor_, parameter_ns_);
+  servo_->start();
+
+  // Connect to Servo ROS interfaces
+  std::string target_pose_topic = "/" + parameter_ns_ + "/target_pose";
+  target_pose_sub_ =
+      nh_.subscribe<geometry_msgs::PoseStamped>(target_pose_topic, 1, &PoseTracking::targetPoseCallback, this);
+
+  // Publish outgoing twist commands to the Servo object
+  twist_stamped_pub_ =
+      nh_.advertise<geometry_msgs::TwistStamped>(servo_->getParameters().cartesian_command_in_topic, 1);
+}
+
+PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positional_tolerance,
+                                                const double angular_tolerance, const double target_pose_timeout)
+{
+  // Roll back the target pose timestamp to ensure we wait for a new target pose message
+  target_pose_.header.stamp = ros::Time::now() - ros::Duration(2 * target_pose_timeout);
+
+  // Wait a bit for a target pose message to arrive.
+  // The target pose may get updated by new messages as the robot moves (in a callback function).
+  ros::Time start_time = ros::Time::now();
+  while ((!haveRecentTargetPose(target_pose_timeout) || !haveRecentEndEffectorPose(target_pose_timeout)) &&
+         ((ros::Time::now() - start_time).toSec() < target_pose_timeout))
+  {
+    if (servo_->getCommandFrameTransform(command_frame_transform_))
+    {
+      command_frame_transform_stamp_ = ros::Time::now();
+    }
+    ros::Duration(0.001).sleep();
+  }
+  if (!haveRecentTargetPose(target_pose_timeout))
+  {
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "The target pose was not updated recently. Aborting.");
+    return PoseTrackingStatusCode::NO_RECENT_TARGET_POSE;
+  }
+
+  while (ros::ok())
+  {
+    // Check for reasons to stop:
+    // - Goal tolerance is satisfied
+    // - Timeout
+    // - Another thread requested a stop
+    // - PID controllers aren't initialized
+    if (satisfiesPoseTolerance(positional_tolerance, angular_tolerance))
+    {
+      break;
+    }
+
+    // Attempt to update robot pose
+    if (servo_->getCommandFrameTransform(command_frame_transform_))
+    {
+      command_frame_transform_stamp_ = ros::Time::now();
+    }
+
+    if (!haveRecentEndEffectorPose(target_pose_timeout))
+    {
+      ROS_ERROR_STREAM_NAMED(LOGNAME, "The end effector pose was not updated in time. Aborting.");
+      doPostMotionReset();
+      return PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE;
+    }
+    if (stop_requested_)
+    {
+      ROS_INFO_STREAM_NAMED(LOGNAME, "Halting servo motion, a stop was requested.");
+      doPostMotionReset();
+      return PoseTrackingStatusCode::STOP_REQUESTED;
+    }
+
+    // Compute servo command from PID controller output
+    auto msg = calculateTwistCommand();
+
+    // Send command to the Servo object, for execution
+    twist_stamped_pub_.publish(*msg);
+  }
+
+  doPostMotionReset();
+  return PoseTrackingStatusCode::SUCCESS;
+}
+
+void PoseTracking::readROSParams()
+{
+  std::size_t error = 0;
+
+  // Check for parameter namespace from launch file. All other parameters will be read from this namespace.
+  std::string yaml_namespace;
+  if (ros::param::get("~parameter_ns", yaml_namespace))
+  {
+    if (!parameter_ns_.empty())
+      ROS_WARN_STREAM_NAMED(LOGNAME,
+                            "A parameter namespace was specified in the launch file AND in the constructor argument.");
+
+    parameter_ns_ = yaml_namespace;
+  }
+
+  // Wait for ROS parameters to load
+  ros::Time begin = ros::Time::now();
+  while (ros::ok() && !ros::param::has(parameter_ns_ + "/planning_frame") &&
+         ((ros::Time::now() - begin).toSec() < ROS_STARTUP_WAIT))
+  {
+    ROS_WARN_STREAM_NAMED(LOGNAME, "Waiting for parameter: " << parameter_ns_ + "/planning_frame");
+    ros::Duration(0.1).sleep();
+  }
+
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/planning_frame", planning_frame_);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/move_group_name", move_group_name_);
+  if (!planning_scene_monitor_->getRobotModel()->hasJointModelGroup(move_group_name_))
+  {
+    ++error;
+    ROS_ERROR_STREAM_NAMED(LOGNAME, "Unable to find the specified joint model group: " << move_group_name_);
+  }
+
+  double publish_period;
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_period", publish_period);
+  loop_rate_ = ros::Rate(1 / publish_period);
+
+  x_pid_config_.dt = publish_period;
+  y_pid_config_.dt = publish_period;
+  z_pid_config_.dt = publish_period;
+  angular_pid_config_.dt = publish_period;
+
+  double windup_limit;
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/windup_limit", windup_limit);
+  x_pid_config_.windup_limit = windup_limit;
+  y_pid_config_.windup_limit = windup_limit;
+  z_pid_config_.windup_limit = windup_limit;
+  angular_pid_config_.windup_limit = windup_limit;
+
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_proportional_gain", x_pid_config_.k_p);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_proportional_gain", y_pid_config_.k_p);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_proportional_gain", z_pid_config_.k_p);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_integral_gain", x_pid_config_.k_i);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_integral_gain", y_pid_config_.k_i);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_integral_gain", z_pid_config_.k_i);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_derivative_gain", x_pid_config_.k_d);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_derivative_gain", y_pid_config_.k_d);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_derivative_gain", z_pid_config_.k_d);
+
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_proportional_gain", angular_pid_config_.k_p);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_integral_gain", angular_pid_config_.k_i);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_derivative_gain", angular_pid_config_.k_d);
+
+  rosparam_shortcuts::shutdownIfError(ros::this_node::getName(), error);
+}
+
+void PoseTracking::initializePID(const PIDConfig& pid_config, std::vector<control_toolbox::Pid>& pid_vector)
+{
+  bool use_anti_windup = true;
+  pid_vector.push_back(control_toolbox::Pid(pid_config.k_p, pid_config.k_i, pid_config.k_d, -pid_config.windup_limit,
+                                            pid_config.windup_limit, use_anti_windup));
+}
+
+bool PoseTracking::haveRecentTargetPose(const double timespan)
+{
+  return ((ros::Time::now() - target_pose_.header.stamp).toSec() < timespan);
+}
+
+bool PoseTracking::haveRecentEndEffectorPose(const double timespan)
+{
+  return ((ros::Time::now() - command_frame_transform_stamp_).toSec() < timespan);
+}
+
+bool PoseTracking::satisfiesPoseTolerance(const Eigen::Vector3d& positional_tolerance, const double angular_tolerance)
+{
+  double x_error = target_pose_.pose.position.x - command_frame_transform_.translation()(0);
+  double y_error = target_pose_.pose.position.y - command_frame_transform_.translation()(1);
+  double z_error = target_pose_.pose.position.z - command_frame_transform_.translation()(2);
+
+  return (fabs(x_error) < positional_tolerance(0)) && (fabs(y_error) < positional_tolerance(1)) &&
+         (fabs(z_error) < positional_tolerance(2) && fabs(angular_error_) < angular_tolerance);
+}
+
+void PoseTracking::targetPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg)
+{
+  // Transform to planning frame
+  target_pose_ = *msg;
+  geometry_msgs::TransformStamped target_to_planning_frame;
+  if (target_pose_.header.frame_id != planning_frame_)
+  {
+    try
+    {
+      target_to_planning_frame = transform_buffer_.lookupTransform(planning_frame_, target_pose_.header.frame_id,
+                                                                   ros::Time(0), ros::Duration(0.1));
+    }
+    catch (tf2::TransformException& ex)
+    {
+      ROS_WARN_NAMED(LOGNAME, "%s", ex.what());
+      return;
+    }
+    tf2::doTransform(target_pose_, target_pose_, target_to_planning_frame);
+  }
+  target_pose_.header.stamp = ros::Time::now();
+}
+
+geometry_msgs::TwistStampedConstPtr PoseTracking::calculateTwistCommand()
+{
+  // use the shared pool to create a message more efficiently
+  auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
+  msg->header.frame_id = target_pose_.header.frame_id;
+
+  // Get twist components from PID controllers
+  geometry_msgs::Twist& twist = msg->twist;
+
+  // Position
+  twist.linear.x = cartesian_position_pids_[0].computeCommand(
+      target_pose_.pose.position.x - command_frame_transform_.translation()(0), loop_rate_.expectedCycleTime());
+  twist.linear.y = cartesian_position_pids_[1].computeCommand(
+      target_pose_.pose.position.y - command_frame_transform_.translation()(1), loop_rate_.expectedCycleTime());
+  twist.linear.z = cartesian_position_pids_[2].computeCommand(
+      target_pose_.pose.position.z - command_frame_transform_.translation()(2), loop_rate_.expectedCycleTime());
+
+  // Orientation algorithm:
+  // - Find the orientation error as a quaternion: q_error = q_desired * q_current ^ -1
+  // - Use the quaternion PID controllers to calculate a quaternion rate, q_error_dot
+  // - Convert to angular velocity for the TwistStamped message
+  Eigen::Quaterniond q_desired(target_pose_.pose.orientation.w, target_pose_.pose.orientation.x,
+                               target_pose_.pose.orientation.y, target_pose_.pose.orientation.z);
+  Eigen::Quaterniond q_current(command_frame_transform_.rotation());
+  Eigen::Quaterniond q_error = q_desired * q_current.inverse();
+
+  // Convert axis-angle to angular velocity
+  Eigen::AngleAxisd axis_angle(q_error);
+  // Cache the angular error, for rotation tolerance checking
+  angular_error_ = axis_angle.angle();
+  double ang_vel_magnitude =
+      cartesian_orientation_pids_[0].computeCommand(angular_error_, loop_rate_.expectedCycleTime());
+  twist.angular.x = ang_vel_magnitude * axis_angle.axis()[0];
+  twist.angular.y = ang_vel_magnitude * axis_angle.axis()[1];
+  twist.angular.z = ang_vel_magnitude * axis_angle.axis()[2];
+
+  msg->header.stamp = ros::Time::now();
+
+  return msg;
+}
+
+void PoseTracking::doPostMotionReset()
+{
+  stop_requested_ = false;
+  angular_error_ = 0;
+
+  // Reset error integrals and previous errors of PID controllers
+  cartesian_position_pids_[0].reset();
+  cartesian_position_pids_[1].reset();
+  cartesian_position_pids_[2].reset();
+  cartesian_orientation_pids_[0].reset();
+}
+
+void PoseTracking::updatePIDConfig(const double x_proportional_gain, const double x_integral_gain,
+                                   const double x_derivative_gain, const double y_proportional_gain,
+                                   const double y_integral_gain, const double y_derivative_gain,
+                                   const double z_proportional_gain, const double z_integral_gain,
+                                   const double z_derivative_gain, const double angular_proportional_gain,
+                                   const double angular_integral_gain, const double angular_derivative_gain)
+{
+  stopMotion();
+
+  x_pid_config_.k_p = x_proportional_gain;
+  x_pid_config_.k_i = x_integral_gain;
+  x_pid_config_.k_d = x_derivative_gain;
+  y_pid_config_.k_p = y_proportional_gain;
+  y_pid_config_.k_i = y_integral_gain;
+  y_pid_config_.k_d = y_derivative_gain;
+  z_pid_config_.k_p = z_proportional_gain;
+  z_pid_config_.k_i = z_integral_gain;
+  z_pid_config_.k_d = z_derivative_gain;
+
+  angular_pid_config_.k_p = angular_proportional_gain;
+  angular_pid_config_.k_i = angular_integral_gain;
+  angular_pid_config_.k_d = angular_derivative_gain;
+
+  cartesian_position_pids_.clear();
+  cartesian_orientation_pids_.clear();
+  initializePID(x_pid_config_, cartesian_position_pids_);
+  initializePID(y_pid_config_, cartesian_position_pids_);
+  initializePID(z_pid_config_, cartesian_position_pids_);
+  initializePID(angular_pid_config_, cartesian_orientation_pids_);
+
+  doPostMotionReset();
+}
+
+void PoseTracking::getPIDErrors(double& x_error, double& y_error, double& z_error, double& orientation_error)
+{
+  double dummy1, dummy2;
+  cartesian_position_pids_.at(0).getCurrentPIDErrors(&x_error, &dummy1, &dummy2);
+  cartesian_position_pids_.at(1).getCurrentPIDErrors(&y_error, &dummy1, &dummy2);
+  cartesian_position_pids_.at(2).getCurrentPIDErrors(&z_error, &dummy1, &dummy2);
+  cartesian_orientation_pids_.at(0).getCurrentPIDErrors(&orientation_error, &dummy1, &dummy2);
+}
+
+bool PoseTracking::getCommandFrameTransform(geometry_msgs::TransformStamped& transform)
+{
+  return servo_->getCommandFrameTransform(transform);
+}
+}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index 761be5903e..f278d18f67 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -45,8 +45,9 @@ static const std::string LOGNAME = "servo_node";
 
 namespace moveit_servo
 {
-Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-  : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
+Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
+             const std::string& parameter_ns)
+  : nh_(nh), planning_scene_monitor_(planning_scene_monitor), parameter_ns_(parameter_ns)
 {
   // Read ROS parameters, typically from YAML file
   if (!readParameters())
@@ -54,7 +55,8 @@ Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMon
 
   joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
 
-  servo_calcs_ = std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
+  servo_calcs_ =
+      std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_, parameter_ns_);
 
   collision_checker_ =
       std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
@@ -65,67 +67,67 @@ bool Servo::readParameters()
 {
   std::size_t error = 0;
 
-  // Specified in the launch file. All other parameters will be read from this namespace.
-  std::string parameter_ns;
-  ros::param::get("~parameter_ns", parameter_ns);
-  if (parameter_ns.empty())
+  // Check for parameter namespace from launch file. All other parameters will be read from this namespace.
+  std::string yaml_namespace;
+  if (ros::param::get("~parameter_ns", yaml_namespace))
   {
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "A namespace must be specified in the launch file, like:");
-    ROS_ERROR_STREAM_NAMED(LOGNAME, "<param name=\"parameter_ns\" "
-                                    "type=\"string\" "
-                                    "value=\"left_servo_server\" />");
-    return false;
+    if (!parameter_ns_.empty())
+      ROS_WARN_STREAM_NAMED(LOGNAME,
+                            "A parameter namespace was specified in the launch file AND in the constructor argument.");
+
+    parameter_ns_ = yaml_namespace;
   }
 
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_period", parameters_.publish_period);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_check_rate", parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/num_outgoing_halt_msgs_to_publish",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_period", parameters_.publish_period);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_check_rate", parameters_.collision_check_rate);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/num_outgoing_halt_msgs_to_publish",
                                     parameters_.num_outgoing_halt_msgs_to_publish);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/linear", parameters_.linear_scale);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/rotational", parameters_.rotational_scale);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/scale/joint", parameters_.joint_scale);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/linear", parameters_.linear_scale);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/rotational", parameters_.rotational_scale);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/joint", parameters_.joint_scale);
   error +=
-      !rosparam_shortcuts::get("", nh_, parameter_ns + "/low_pass_filter_coeff", parameters_.low_pass_filter_coeff);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_topic", parameters_.joint_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_in_type", parameters_.command_in_type);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/cartesian_command_in_topic",
+      !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/low_pass_filter_coeff", parameters_.low_pass_filter_coeff);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_topic", parameters_.joint_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_in_type", parameters_.command_in_type);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/cartesian_command_in_topic",
                                     parameters_.cartesian_command_in_topic);
   error +=
-      !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_command_in_topic", parameters_.joint_command_in_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/robot_link_command_frame",
+      !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_command_in_topic", parameters_.joint_command_in_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/robot_link_command_frame",
                                     parameters_.robot_link_command_frame);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/incoming_command_timeout",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/incoming_command_timeout",
                                     parameters_.incoming_command_timeout);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/lower_singularity_threshold",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/lower_singularity_threshold",
                                     parameters_.lower_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/hard_stop_singularity_threshold",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/hard_stop_singularity_threshold",
                                     parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/move_group_name", parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/planning_frame", parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/use_gazebo", parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/joint_limit_margin", parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_out_topic", parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/command_out_type", parameters_.command_out_type);
-  error +=
-      !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_positions", parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_velocities",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/move_group_name", parameters_.move_group_name);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/planning_frame", parameters_.planning_frame);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/ee_frame_name", parameters_.ee_frame_name);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/use_gazebo", parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_limit_margin", parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_out_topic", parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_out_type", parameters_.command_out_type);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_positions",
+                                    parameters_.publish_joint_positions);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_velocities",
                                     parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/publish_joint_accelerations",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_accelerations",
                                     parameters_.publish_joint_accelerations);
 
   // Parameters for collision checking
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/check_collisions", parameters_.check_collisions);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_check_type", parameters_.collision_check_type);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/check_collisions", parameters_.check_collisions);
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_check_type", parameters_.collision_check_type);
   bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", nh_, parameter_ns + "/self_collision_proximity_threshold", parameters_.self_collision_proximity_threshold);
+      "", nh_, parameter_ns_ + "/self_collision_proximity_threshold", parameters_.self_collision_proximity_threshold);
   bool have_scene_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", nh_, parameter_ns + "/scene_collision_proximity_threshold", parameters_.scene_collision_proximity_threshold);
+      "", nh_, parameter_ns_ + "/scene_collision_proximity_threshold", parameters_.scene_collision_proximity_threshold);
   double collision_proximity_threshold;
   // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
   // thresholds
   // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
-  if (nh_.hasParam(parameter_ns + "/collision_proximity_threshold") &&
-      rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_proximity_threshold", collision_proximity_threshold))
+  if (nh_.hasParam(parameter_ns_ + "/collision_proximity_threshold") &&
+      rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_proximity_threshold", collision_proximity_threshold))
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
                             "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
@@ -143,22 +145,22 @@ bool Servo::readParameters()
   }
   error += !have_self_collision_proximity_threshold;
   error += !have_scene_collision_proximity_threshold;
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/collision_distance_safety_factor",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_distance_safety_factor",
                                     parameters_.collision_distance_safety_factor);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/min_allowable_collision_distance",
+  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/min_allowable_collision_distance",
                                     parameters_.min_allowable_collision_distance);
 
   // This parameter name was changed recently.
   // Try retrieving from the correct name. If it fails, then try the deprecated name.
   // TODO(andyz): remove this deprecation warning in ROS Noetic
-  if (!rosparam_shortcuts::get("", nh_, parameter_ns + "/status_topic", parameters_.status_topic))
+  if (!rosparam_shortcuts::get("", nh_, parameter_ns_ + "/status_topic", parameters_.status_topic))
   {
     ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
                             "the servoing yaml file.");
-    error += !rosparam_shortcuts::get("", nh_, parameter_ns + "/warning_topic", parameters_.status_topic);
+    error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/warning_topic", parameters_.status_topic);
   }
 
-  rosparam_shortcuts::shutdownIfError(parameter_ns, error);
+  rosparam_shortcuts::shutdownIfError(parameter_ns_, error);
 
   // Input checking
   if (parameters_.publish_period <= 0.)
@@ -302,6 +304,21 @@ bool Servo::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return servo_calcs_->getCommandFrameTransform(transform);
 }
 
+bool Servo::getCommandFrameTransform(geometry_msgs::TransformStamped& transform)
+{
+  return servo_calcs_->getEEFrameTransform(transform);
+}
+
+bool Servo::getEEFrameTransform(Eigen::Isometry3d& transform)
+{
+  return servo_calcs_->getEEFrameTransform(transform);
+}
+
+bool Servo::getEEFrameTransform(geometry_msgs::TransformStamped& transform)
+{
+  return servo_calcs_->getEEFrameTransform(transform);
+}
+
 const ServoParameters& Servo::getParameters() const
 {
   return parameters_;
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 8dbb1be123..f7cbfc48c3 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -69,12 +69,24 @@ bool isNonZero(const control_msgs::JointJog& msg)
   };
   return !all_zeros;
 }
+
+// Helper function for converting Eigen::Isometry3d to geometry_msgs/TransformStamped
+geometry_msgs::TransformStamped convertIsometryToTransform(const Eigen::Isometry3d& eigen_tf,
+                                                           const std::string& parent_frame,
+                                                           const std::string& child_frame)
+{
+  geometry_msgs::TransformStamped output = tf2::eigenToTransform(eigen_tf);
+  output.header.frame_id = parent_frame;
+  output.child_frame_id = child_frame;
+
+  return output;
+}
 }  // namespace
 
 // Constructor for the class that handles servoing calculations
-ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
+ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
+                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber, std::string& ros_namespace)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
@@ -102,18 +114,15 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
 
   // ROS Server for allowing drift in some dimensions
   drift_dimensions_server_ =
-      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_drift_dimensions",
-                           &ServoCalcs::changeDriftDimensions, this);
+      nh_.advertiseService(ros_namespace + "/change_drift_dimensions", &ServoCalcs::changeDriftDimensions, this);
 
   // ROS Server for changing the control dimensions
   control_dimensions_server_ =
-      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/change_control_dimensions",
-                           &ServoCalcs::changeControlDimensions, this);
+      nh_.advertiseService(ros_namespace + "/change_control_dimensions", &ServoCalcs::changeControlDimensions, this);
 
   // ROS Server to reset the status, e.g. so the arm can move again after a collision
   reset_servo_status_ =
-      nh_.advertiseService(nh_.getNamespace() + "/" + ros::this_node::getName() + "/reset_servo_status",
-                           &ServoCalcs::resetServoStatus, this);
+      nh_.advertiseService(ros_namespace + "/reset_servo_status", &ServoCalcs::resetServoStatus, this);
 
   // Publish and Subscribe to internal namespace topics
   ros::NodeHandle internal_nh("~internal");
@@ -147,6 +156,12 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, const ServoParameters& parameters,
   {
     position_filters_.emplace_back(parameters_.low_pass_filter_coeff);
   }
+
+  // A matrix of all zeros is used to check whether matrices have been initialized
+  Eigen::Matrix3d empty_matrix;
+  empty_matrix.setZero();
+  tf_moveit_to_ee_frame_ = empty_matrix;
+  tf_moveit_to_robot_cmd_frame_ = empty_matrix;
 }
 
 void ServoCalcs::start()
@@ -180,6 +195,15 @@ void ServoCalcs::start()
   last_sent_command_ = initial_joint_trajectory;
 
   timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
+
+  // TODO(adamp or andyz): after rebasing on upstream master, update this section. Maybe put the tf updates in a tiny
+  // function by themselves
+  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
+  kinematic_state_->setVariableValues(*latest_joint_state);
+  tf_moveit_to_ee_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                           kinematic_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
+  tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                                  kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 }
 
 void ServoCalcs::run(const ros::TimerEvent& timer_event)
@@ -232,6 +256,11 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                                   kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
+  // Calculate the transform from MoveIt planning frame to End Effector frame
+  // Calculate this transform to ensure it is available via C++ API
+  tf_moveit_to_ee_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                           kinematic_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
+
   have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_command_;
 
   // Don't end this function without updating the filters
@@ -403,6 +432,12 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
       translation_vector = tf_moveit_to_robot_cmd_frame_.linear() * translation_vector;
       angular_vector = tf_moveit_to_robot_cmd_frame_.linear() * angular_vector;
     }
+    else if (cmd.header.frame_id == parameters_.ee_frame_name)
+    {
+      // If the frame is the EE frame, we already have that transform as well
+      translation_vector = tf_moveit_to_ee_frame_.linear() * translation_vector;
+      angular_vector = tf_moveit_to_ee_frame_.linear() * angular_vector;
+    }
     else
     {
       // We solve (planning_frame -> base -> cmd.header.frame_id)
@@ -982,6 +1017,42 @@ bool ServoCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
   return !transform.matrix().isZero(0);
 }
 
+bool ServoCalcs::getCommandFrameTransform(geometry_msgs::TransformStamped& transform)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  // All zeros means the transform wasn't initialized, so return false
+  if (tf_moveit_to_robot_cmd_frame_.matrix().isZero(0))
+  {
+    return false;
+  }
+
+  transform = convertIsometryToTransform(tf_moveit_to_robot_cmd_frame_, parameters_.planning_frame,
+                                         parameters_.robot_link_command_frame);
+  return true;
+}
+
+bool ServoCalcs::getEEFrameTransform(Eigen::Isometry3d& transform)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  transform = tf_moveit_to_ee_frame_;
+
+  // All zeros means the transform wasn't initialized, so return false
+  return !transform.matrix().isZero(0);
+}
+
+bool ServoCalcs::getEEFrameTransform(geometry_msgs::TransformStamped& transform)
+{
+  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  // All zeros means the transform wasn't initialized, so return false
+  if (tf_moveit_to_ee_frame_.matrix().isZero(0))
+  {
+    return false;
+  }
+
+  transform = convertIsometryToTransform(tf_moveit_to_ee_frame_, parameters_.planning_frame, parameters_.ee_frame_name);
+  return true;
+}
+
 void ServoCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
   const std::lock_guard<std::mutex> lock(latest_state_mutex_);
@@ -1046,4 +1117,9 @@ void ServoCalcs::setPaused(bool paused)
   paused_ = paused;
 }
 
+void ServoCalcs::changeRobotLinkCommandFrame(const std::string& new_command_frame)
+{
+  parameters_.robot_link_command_frame = new_command_frame;
+}
+
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/test/config/servo_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
index 30e4cb59d2..802aeadca2 100644
--- a/moveit_ros/moveit_servo/test/config/servo_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
@@ -4,7 +4,6 @@
 use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
 
 ## Properties of incoming commands
-robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
@@ -31,6 +30,10 @@ publish_joint_accelerations: false
 move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
 planning_frame: panda_link0  # The MoveIt planning frame. Often 'panda_link0' or 'world'
 
+## Other frames
+ee_frame_name: panda_link7  # The name of the end effector link, used to return the EE pose
+robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
+
 ## Stopping behaviour
 incoming_command_timeout:  1  # Stop servoing if X seconds elapse without a new command
 # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
diff --git a/moveit_ros/moveit_servo/test/pose_tracking_test.cpp b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
new file mode 100644
index 0000000000..782fa23c5a
--- /dev/null
+++ b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
@@ -0,0 +1,162 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Andy Zelenak
+   Desc:   Test of tracking toward a pose
+*/
+
+// C++
+#include <string>
+#include <thread>
+
+// ROS
+#include <ros/ros.h>
+
+// Testing
+#include <gtest/gtest.h>
+
+// Servo
+#include <moveit_servo/pose_tracking.h>
+#include <moveit_servo/make_shared_from_pool.h>
+
+static const std::string LOGNAME = "servo_cpp_interface_test";
+static constexpr double TRANSLATION_TOLERANCE = 0.01;  // meters
+static constexpr double ROTATION_TOLERANCE = 0.1;      // quaternion
+static constexpr double ROS_PUB_SUB_DELAY = 4;         // allow for subscribers to initialize
+
+namespace moveit_servo
+{
+class PoseTrackingFixture : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    // Wait for several key topics / parameters
+    ros::topic::waitForMessage<sensor_msgs::JointState>("/joint_states");
+    while (!nh_.hasParam("/robot_description") && ros::ok())
+    {
+      ros::Duration(0.1).sleep();
+    }
+
+    // Load the planning scene monitor
+    planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+    planning_scene_monitor_->startSceneMonitor();
+    planning_scene_monitor_->startStateMonitor();
+    planning_scene_monitor_->startWorldGeometryMonitor(
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+        false /* skip octomap monitor */);
+
+    tracker_ = std::make_shared<moveit_servo::PoseTracking>(planning_scene_monitor_, "");
+
+    target_pose_pub_ =
+        nh_.advertise<geometry_msgs::PoseStamped>("/pose_tracking_test/target_pose", 1 /* queue */, true /* latch */);
+
+    // Tolerance for pose seeking
+    translation_tolerance_ << TRANSLATION_TOLERANCE, TRANSLATION_TOLERANCE, TRANSLATION_TOLERANCE;
+  }
+  void TearDown() override
+  {
+  }
+
+protected:
+  ros::NodeHandle nh_;
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+  Eigen::Vector3d translation_tolerance_;
+  moveit_servo::PoseTrackingPtr tracker_;
+  ros::Publisher target_pose_pub_;
+};  // class PoseTrackingFixture
+
+// Check for commands going out to ros_control
+TEST_F(PoseTrackingFixture, OutgoingMsgTest)
+{
+  // halt Servoing when first msg to ros_control is received
+  // and test some conditions
+  trajectory_msgs::JointTrajectory last_received_msg;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&/* this */](const trajectory_msgs::JointTrajectoryConstPtr& msg) {
+        EXPECT_EQ(msg->header.frame_id, "panda_link0");
+        // Check for an expected joint position command
+        // As of now, the robot doesn't actually move because there are no controllers enabled.
+        double angle_tolerance = 0.08;  // rad
+        EXPECT_NEAR(msg->points[0].positions[0], 0, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[1], -0.785, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[2], 0, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[3], -2.360, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[4], 0, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[5], 1.571, angle_tolerance);
+        EXPECT_NEAR(msg->points[0].positions[6], 0.785, angle_tolerance);
+
+        this->tracker_->stopMotion();
+        return;
+      };
+  auto traj_sub = nh_.subscribe("servo_server/command", 1, traj_callback);
+
+  geometry_msgs::PoseStamped target_pose;
+  target_pose.header.frame_id = "panda_link4";
+  target_pose.header.stamp = ros::Time::now();
+  target_pose.pose.position.x = 0.2;
+  target_pose.pose.position.y = 0.2;
+  target_pose.pose.position.z = 0.2;
+  target_pose.pose.orientation.w = 1;
+
+  // Republish the target pose in a new thread, as if the target is moving
+  std::thread target_pub_thread([&] {
+    size_t msg_count = 0;
+    while (++msg_count < 100)
+    {
+      target_pose_pub_.publish(target_pose);
+      ros::Duration(0.01).sleep();
+    }
+  });
+
+  ros::Duration(ROS_PUB_SUB_DELAY).sleep();
+  tracker_->moveToPose(translation_tolerance_, ROTATION_TOLERANCE, 1 /* target pose timeout */);
+
+  target_pub_thread.join();
+}
+
+}  // namespace moveit_servo
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, LOGNAME);
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::AsyncSpinner spinner(8);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  return result;
+}
diff --git a/moveit_ros/moveit_servo/test/pose_tracking_test.test b/moveit_ros/moveit_servo/test/pose_tracking_test.test
new file mode 100644
index 0000000000..4f162d0c0d
--- /dev/null
+++ b/moveit_ros/moveit_servo/test/pose_tracking_test.test
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Initial joint positions -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <test pkg="moveit_servo" type="pose_tracking_test" test-name="pose_tracking_test" time-limit="60
+    " args="">
+    <param name="parameter_ns" type="string" value="pose_tracking_test" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
+    <rosparam command="load" file="$(find moveit_servo)/config/pose_tracking_settings.yaml"/>
+  </test>
+</launch>
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index 1579f1f12b..53684c1787 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -59,6 +59,13 @@ class ServoFixture : public ::testing::Test
 public:
   void SetUp() override
   {
+    // Wait for several key topics / parameters
+    ros::topic::waitForMessage<sensor_msgs::JointState>("/joint_states");
+    while (!nh_.hasParam("/robot_description") && ros::ok())
+    {
+      ros::Duration(0.1).sleep();
+    }
+
     // Load the planning scene monitor
     planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
     planning_scene_monitor_->startSceneMonitor();

From e236475455026aa070cbfa936affb2ec3c87a891 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 12 Oct 2020 23:31:32 +0200
Subject: [PATCH 491/612] Depend on ros-noetic-fcl (0.6) in Noetic (#2359)

* Depend on ros-noetic-fcl (0.6) in Noetic
* Travis: switch to ros-testing repos
---
 .travis.yml             | 2 +-
 moveit_core/package.xml | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 7b038728a7..ac6d1d5f18 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -14,7 +14,7 @@ env:
   global:
     - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min
     - ROS_DISTRO=noetic
-    - ROS_REPO=ros
+    - ROS_REPO=ros-testing
     - UPSTREAM_WORKSPACE=moveit.rosinstall
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 6703fe348f..77f95622e1 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -26,7 +26,8 @@
   <depend>bullet</depend>
   <depend>eigen_stl_containers</depend>
   <depend>eigen_conversions</depend>
-  <depend>libfcl-dev</depend>
+  <depend condition="$ROS_DISTRO != noetic">libfcl-dev</depend>
+  <depend condition="$ROS_DISTRO == noetic">fcl</depend>
   <depend version_gte="0.5.2">geometric_shapes</depend>
   <depend>geometry_msgs</depend>
   <depend>kdl_parser</depend>

From c43b588dfb759918954aeeb3d7317e0f9d506f35 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Tue, 13 Oct 2020 12:51:14 +0100
Subject: [PATCH 492/612] Make GILReleaser exception-safe (#2363)

If an exception occurs while the GIL is released, it won't be reacquired and the stack unwinding will take place
without the GIL. GILReleaser::release() and GILReleaser::reacquire() is removed, because it is unsafe.
---
 .../src/wrap_python_move_group.cpp            | 76 ++++++++++---------
 .../moveit/py_bindings_tools/gil_releaser.h   | 27 ++-----
 2 files changed, 47 insertions(+), 56 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 89e500c64c..628f5880e6 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -458,10 +458,12 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
 
   bp::tuple planPython()
   {
-    GILReleaser gr;
     MoveGroupInterface::Plan plan;
-    moveit_msgs::MoveItErrorCodes res = MoveGroupInterface::plan(plan);
-    gr.reacquire();
+    moveit_msgs::MoveItErrorCodes res;
+    {
+      GILReleaser gr;
+      res = MoveGroupInterface::plan(plan);
+    }
     return bp::make_tuple(py_bindings_tools::serializeMsg(res), py_bindings_tools::serializeMsg(plan.trajectory_),
                           plan.planning_time_);
   }
@@ -488,10 +490,11 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     std::vector<geometry_msgs::Pose> poses;
     convertListToArrayOfPoses(waypoints, poses);
     moveit_msgs::RobotTrajectory trajectory;
-    GILReleaser gr;
-    double fraction =
-        computeCartesianPath(poses, eef_step, jump_threshold, trajectory, path_constraints, avoid_collisions);
-    gr.reacquire();
+    double fraction;
+    {
+      GILReleaser gr;
+      fraction = computeCartesianPath(poses, eef_step, jump_threshold, trajectory, path_constraints, avoid_collisions);
+    }
     return bp::make_tuple(py_bindings_tools::serializeMsg(trajectory), fraction);
   }
 
@@ -540,36 +543,39 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
       // Convert trajectory message to object
       moveit_msgs::RobotTrajectory traj_msg;
       py_bindings_tools::deserializeMsg(traj_str, traj_msg);
-      GILReleaser gr;
-      robot_trajectory::RobotTrajectory traj_obj(getRobotModel(), getName());
-      traj_obj.setRobotTrajectoryMsg(ref_state_obj, traj_msg);
-
-      // Do the actual retiming
-      if (algorithm == "iterative_time_parameterization")
-      {
-        trajectory_processing::IterativeParabolicTimeParameterization time_param;
-        time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
-      }
-      else if (algorithm == "iterative_spline_parameterization")
+      bool algorithm_found = true;
       {
-        trajectory_processing::IterativeSplineParameterization time_param;
-        time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
-      }
-      else if (algorithm == "time_optimal_trajectory_generation")
-      {
-        trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
-        time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
-      }
-      else
-      {
-        ROS_ERROR_STREAM_NAMED("move_group_py", "Unknown time parameterization algorithm: " << algorithm);
-        gr.reacquire();
-        return py_bindings_tools::serializeMsg(moveit_msgs::RobotTrajectory());
-      }
+        GILReleaser gr;
+        robot_trajectory::RobotTrajectory traj_obj(getRobotModel(), getName());
+        traj_obj.setRobotTrajectoryMsg(ref_state_obj, traj_msg);
+
+        // Do the actual retiming
+        if (algorithm == "iterative_time_parameterization")
+        {
+          trajectory_processing::IterativeParabolicTimeParameterization time_param;
+          time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
+        }
+        else if (algorithm == "iterative_spline_parameterization")
+        {
+          trajectory_processing::IterativeSplineParameterization time_param;
+          time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
+        }
+        else if (algorithm == "time_optimal_trajectory_generation")
+        {
+          trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
+          time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
+        }
+        else
+        {
+          ROS_ERROR_STREAM_NAMED("move_group_py", "Unknown time parameterization algorithm: " << algorithm);
+          algorithm_found = false;
+          traj_msg = moveit_msgs::RobotTrajectory();
+        }
 
-      // Convert the retimed trajectory back into a message
-      traj_obj.getRobotTrajectoryMsg(traj_msg);
-      gr.reacquire();
+        if (algorithm_found)
+          // Convert the retimed trajectory back into a message
+          traj_obj.getRobotTrajectoryMsg(traj_msg);
+      }
       return py_bindings_tools::serializeMsg(traj_msg);
     }
     else
diff --git a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
index 697a0a446e..215a470810 100644
--- a/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
+++ b/moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
@@ -59,13 +59,16 @@ class GILReleaser
   /** \brief Release the GIL on construction  */
   GILReleaser() noexcept
   {
-    m_thread_state = nullptr;
-    release();
+    m_thread_state = PyEval_SaveThread();
   }
   /** \brief Reacquire the GIL on destruction  */
   ~GILReleaser() noexcept
   {
-    reacquire();
+    if (m_thread_state)
+    {
+      PyEval_RestoreThread(m_thread_state);
+      m_thread_state = nullptr;
+    }
   }
 
   GILReleaser(const GILReleaser&) = delete;
@@ -87,24 +90,6 @@ class GILReleaser
   {
     std::swap(other.m_thread_state, m_thread_state);
   }
-
-  /** \brief Reacquire the GIL, noop if already acquired */
-  void reacquire() noexcept
-  {
-    if (m_thread_state)
-    {
-      PyEval_RestoreThread(m_thread_state);
-      m_thread_state = nullptr;
-    }
-  }
-  /** \brief Release the GIL (again), noop if already released */
-  void release() noexcept
-  {
-    if (!m_thread_state)
-    {
-      m_thread_state = PyEval_SaveThread();
-    }
-  }
 };
 
 }  // namespace py_bindings_tools

From 176a1d52fe14c47aae58c8e213c08683ffeb8bd8 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 2 Oct 2020 15:01:56 -0600
Subject: [PATCH 493/612] Changelogs for Noetic 1.1.1

---
 moveit/CHANGELOG.rst                                | 10 ++++++++++
 moveit_commander/CHANGELOG.rst                      |  7 +++++++
 moveit_core/CHANGELOG.rst                           | 11 +++++++++++
 moveit_experimental/CHANGELOG.rst                   |  3 +++
 moveit_kinematics/CHANGELOG.rst                     |  6 ++++++
 moveit_planners/chomp/chomp_interface/CHANGELOG.rst |  5 +++++
 .../chomp/chomp_motion_planner/CHANGELOG.rst        |  3 +++
 .../chomp/chomp_optimizer_adapter/CHANGELOG.rst     |  3 +++
 moveit_planners/moveit_planners/CHANGELOG.rst       |  3 +++
 moveit_planners/ompl/CHANGELOG.rst                  |  5 +++++
 .../moveit_fake_controller_manager/CHANGELOG.rst    |  5 +++++
 moveit_plugins/moveit_plugins/CHANGELOG.rst         |  3 +++
 .../moveit_ros_control_interface/CHANGELOG.rst      |  5 +++++
 .../moveit_simple_controller_manager/CHANGELOG.rst  |  5 +++++
 moveit_ros/benchmarks/CHANGELOG.rst                 |  6 ++++++
 moveit_ros/manipulation/CHANGELOG.rst               |  5 +++++
 moveit_ros/move_group/CHANGELOG.rst                 |  6 ++++++
 moveit_ros/moveit_ros/CHANGELOG.rst                 |  3 +++
 moveit_ros/moveit_servo/CHANGELOG.rst               |  9 +++++++++
 moveit_ros/occupancy_map_monitor/CHANGELOG.rst      | 11 +++++++++++
 moveit_ros/perception/CHANGELOG.rst                 |  7 +++++++
 moveit_ros/planning/CHANGELOG.rst                   |  8 ++++++++
 moveit_ros/planning_interface/CHANGELOG.rst         |  8 ++++++++
 moveit_ros/robot_interaction/CHANGELOG.rst          |  5 +++++
 moveit_ros/visualization/CHANGELOG.rst              | 10 ++++++++++
 moveit_ros/warehouse/CHANGELOG.rst                  |  6 ++++++
 moveit_runtime/CHANGELOG.rst                        |  3 +++
 moveit_setup_assistant/CHANGELOG.rst                | 13 +++++++++++++
 28 files changed, 174 insertions(+)

diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
index 673950a486..bafe0e5fc4 100644
--- a/moveit/CHANGELOG.rst
+++ b/moveit/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature][visualization] Clean up Rviz Motion Planning plugin, add tooltips (`#2310 <https://github.com/ros-planning/moveit/issues/2310>`_)
+* [feature][moveit_servo] A library for servoing toward a moving pose (`#2203 <https://github.com/ros-planning/moveit/issues/2203>`_)
+* [feature][moveit_setup_assistant] Allow showing both, visual and collision geometry (`#2352 <https://github.com/ros-planning/moveit/issues/2352>`_)
+* [fix][moveit_setup_assistant] layout (`#2349 <https://github.com/ros-planning/moveit/issues/2349>`_)
+* [fix][moveit_setup_assistant] group editing (`#2350 <https://github.com/ros-planning/moveit/issues/2350>`_)
+* [fix][moveit_setup_assistant] disappearing robot on change of reference frame (`#2335 <https://github.com/ros-planning/moveit/issues/2335>`_)
+* Contributors: Felix von Drigalski, Michael Görner, Robert Haschke, Tyler Weaver, Yoan Mollard
+
 1.1.0 (2020-09-04)
 ------------------
 * [maint] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
diff --git a/moveit_commander/CHANGELOG.rst b/moveit_commander/CHANGELOG.rst
index 547a0dfd0f..0b6b4fb7e2 100644
--- a/moveit_commander/CHANGELOG.rst
+++ b/moveit_commander/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package moveit_commander
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] MGC: Improve exception messages (`#2318 <https://github.com/ros-planning/moveit/issues/2318>`_)
+* [fix] ROS namespacing in moveit_commander's PSI (`#2347 <https://github.com/ros-planning/moveit/issues/2347>`_)
+* [fix] python3 issues (`#2323 <https://github.com/ros-planning/moveit/issues/2323>`_)
+* Contributors: Michael Görner, Peter Mitrano, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Add missing variants of place from list of PlaceLocations and Poses in the python interface (`#2231 <https://github.com/ros-planning/moveit/issues/2231>`_)
diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst
index cf05521604..552ada72b3 100644
--- a/moveit_core/CHANGELOG.rst
+++ b/moveit_core/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] Handle multiple link libraries for FCL (`#2325 <https://github.com/ros-planning/moveit/issues/2325>`_)
+* [feature] Adapt to API changes in geometric_shapes (`#2324 <https://github.com/ros-planning/moveit/issues/2324>`_)
+* [fix] clang-tidy issues (`#2337 <https://github.com/ros-planning/moveit/issues/2337>`_)
+* [fix] various issues with Noetic build (`#2327 <https://github.com/ros-planning/moveit/issues/2327>`_)
+* [maint] Depend on ros-noetic-fcl (0.6) in Noetic (`#2359 <https://github.com/ros-planning/moveit/issues/2359>`_)
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, G.A. vd. Hoorn, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Add a utility to print collision pairs (`#2275 <https://github.com/ros-planning/moveit/issues/2275>`_)
diff --git a/moveit_experimental/CHANGELOG.rst b/moveit_experimental/CHANGELOG.rst
index 8f5c956f25..b86a0e191b 100644
--- a/moveit_experimental/CHANGELOG.rst
+++ b/moveit_experimental/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_experimental
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst
index 364acfb3a8..bb6a34e373 100644
--- a/moveit_kinematics/CHANGELOG.rst
+++ b/moveit_kinematics/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] various issues with Noetic build (`#2327 <https://github.com/ros-planning/moveit/issues/2327>`_)
+* [fix] python3 issues (`#2323 <https://github.com/ros-planning/moveit/issues/2323>`_)
+* Contributors: G.A. vd. Hoorn, Michael Görner, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Implementation of parameter TranslationXY2D IKFast (`#1949 <https://github.com/ros-planning/moveit/issues/1949>`_)
diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
index c44a1ee598..50f520c3ae 100644
--- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package chomp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Replace $(find xacro)/xacro -> xacro (`#2282 <https://github.com/ros-planning/moveit/issues/2282>`_)
diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
index 949974baea..d66596da94 100644
--- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package chomp_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
index b63344237c..413398e078 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_chomp_optimizer_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst
index aa34f794f2..051d06bfc2 100644
--- a/moveit_planners/moveit_planners/CHANGELOG.rst
+++ b/moveit_planners/moveit_planners/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst
index ab987682bf..5bf99c74e5 100644
--- a/moveit_planners/ompl/CHANGELOG.rst
+++ b/moveit_planners/ompl/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_planners_ompl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
index a60906cd38..5efd4dcc8e 100644
--- a/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
+++ b/moveit_plugins/moveit_fake_controller_manager/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_fake_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst
index 95539d4b24..1240cc9447 100644
--- a/moveit_plugins/moveit_plugins/CHANGELOG.rst
+++ b/moveit_plugins/moveit_plugins/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
index 0e26cf41e0..3be2a43d9d 100644
--- a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
+++ b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_ros_control_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
index 01fddb343d..99577cd5c9 100644
--- a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
+++ b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_simple_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_ros/benchmarks/CHANGELOG.rst b/moveit_ros/benchmarks/CHANGELOG.rst
index c2f0f772f9..017ee36224 100644
--- a/moveit_ros/benchmarks/CHANGELOG.rst
+++ b/moveit_ros/benchmarks/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_ros_benchmarks
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] python3 issues (`#2323 <https://github.com/ros-planning/moveit/issues/2323>`_)
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* Contributors: Michael Görner, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Benchmark combinations of predefined poses (`#1548 <https://github.com/ros-planning/moveit/issues/1548>`_)
diff --git a/moveit_ros/manipulation/CHANGELOG.rst b/moveit_ros/manipulation/CHANGELOG.rst
index a2af617046..c531e54c7a 100644
--- a/moveit_ros/manipulation/CHANGELOG.rst
+++ b/moveit_ros/manipulation/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_ros_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_ros/move_group/CHANGELOG.rst b/moveit_ros/move_group/CHANGELOG.rst
index 24e59df9d5..3a395043fe 100644
--- a/moveit_ros/move_group/CHANGELOG.rst
+++ b/moveit_ros/move_group/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_ros_move_group
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] Let the max number of contacts be the amount of world objects + link models with geometry (`#2355 <https://github.com/ros-planning/moveit/issues/2355>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Loy van Beek, Michael Görner, v4hn
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Start new joint_state_publisher_gui on param use_gui (`#2257 <https://github.com/ros-planning/moveit/issues/2257>`_)
diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst
index 42f711f6af..0239bdfeca 100644
--- a/moveit_ros/moveit_ros/CHANGELOG.rst
+++ b/moveit_ros/moveit_ros/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 * [maint] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
diff --git a/moveit_ros/moveit_servo/CHANGELOG.rst b/moveit_ros/moveit_servo/CHANGELOG.rst
index b14a65d9eb..5868a7b118 100644
--- a/moveit_ros/moveit_servo/CHANGELOG.rst
+++ b/moveit_ros/moveit_servo/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package moveit_servo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] A library for servoing toward a moving pose (`#2203 <https://github.com/ros-planning/moveit/issues/2203>`_)
+* [feature] Refactor velocity limit enforcement and add a unit test (`#2260 <https://github.com/ros-planning/moveit/issues/2260>`_)
+* [fix] Servo thread interruption (`#2314 <https://github.com/ros-planning/moveit/issues/2314>`_)
+* [fix] Servo heap-buffer-overflow bug (`#2307 <https://github.com/ros-planning/moveit/issues/2307>`_)
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* Contributors: AndyZe, Robert Haschke, Tyler Weaver
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Update last_sent_command\_ at ServoCalcs start (`#2249 <https://github.com/ros-planning/moveit/issues/2249>`_)
diff --git a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst
index 69b65519c8..6307a04d83 100644
--- a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst
+++ b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package moveit_ros_occupancy_map_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] clang-tidy issues on Travis (`#2337 <https://github.com/ros-planning/moveit/issues/2337>`_)
+  * Replace typedefs with using declarations
+  * Move default destructor definitions to headers
+  * Silent spurious clang-tidy warning
+  * Move variable definitions to their usage location
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_ros/perception/CHANGELOG.rst b/moveit_ros/perception/CHANGELOG.rst
index bdcd077d93..9f6dddd4f8 100644
--- a/moveit_ros/perception/CHANGELOG.rst
+++ b/moveit_ros/perception/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package moveit_ros_perception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] various issues with Noetic build (`#2327 <https://github.com/ros-planning/moveit/issues/2327>`_)
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, G.A. vd. Hoorn, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Utilize new geometric_shapes functions to improve performance (`#2038 <https://github.com/ros-planning/moveit/issues/2038>`_)
diff --git a/moveit_ros/planning/CHANGELOG.rst b/moveit_ros/planning/CHANGELOG.rst
index 1fffce8d1a..101db3f469 100644
--- a/moveit_ros/planning/CHANGELOG.rst
+++ b/moveit_ros/planning/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package moveit_ros_planning
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [fix] some clang-tidy issues on Travis (`#2337 <https://github.com/ros-planning/moveit/issues/2337>`_)
+* [fix] various issues with Noetic build (`#2327 <https://github.com/ros-planning/moveit/issues/2327>`_)
+* [fix] "Clear Octomap" button, disable when no octomap is published (`#2320 <https://github.com/ros-planning/moveit/issues/2320>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Use Eigen::Transform::linear() instead of rotation() (`#1964 <https://github.com/ros-planning/moveit/issues/1964>`_)
diff --git a/moveit_ros/planning_interface/CHANGELOG.rst b/moveit_ros/planning_interface/CHANGELOG.rst
index d72c3b44a2..fbcb7a2659 100644
--- a/moveit_ros/planning_interface/CHANGELOG.rst
+++ b/moveit_ros/planning_interface/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package moveit_ros_planning_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] moveit_cpp: more informative error message, cover another potential failure condition. (`#2336 <https://github.com/ros-planning/moveit/issues/2336>`_)
+* [fix] Make GILReleaser exception-safe (`#2363 <https://github.com/ros-planning/moveit/issues/2363>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* [maint] Replace panda_moveit_config -> moveit_resources_panda_moveit_config (`#2300 <https://github.com/ros-planning/moveit/issues/2300>`_)
+* Contributors: AndyZe, Bjar Ne, Felix von Drigalski, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Use Eigen::Transform::linear() instead of rotation() (`#1964 <https://github.com/ros-planning/moveit/issues/1964>`_)
diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst
index 927f105b7e..58db765fb2 100644
--- a/moveit_ros/robot_interaction/CHANGELOG.rst
+++ b/moveit_ros/robot_interaction/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_ros_robot_interaction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_ros/visualization/CHANGELOG.rst b/moveit_ros/visualization/CHANGELOG.rst
index 9257a6de63..983d6a24df 100644
--- a/moveit_ros/visualization/CHANGELOG.rst
+++ b/moveit_ros/visualization/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package moveit_ros_visualization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] Clean up Rviz Motion Planning plugin, add tooltips (`#2310 <https://github.com/ros-planning/moveit/issues/2310>`_)
+* [fix]     "Clear Octomap" button, disable when no octomap is published (`#2320 <https://github.com/ros-planning/moveit/issues/2320>`_)
+* [fix]     clang-tidy warning (`#2334 <https://github.com/ros-planning/moveit/issues/2334>`_)
+* [fix]     python3 issues (`#2323 <https://github.com/ros-planning/moveit/issues/2323>`_)
+* [maint]   Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint]   Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Michael Görner, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 
diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst
index c3d94b7f33..aceba5378e 100644
--- a/moveit_ros/warehouse/CHANGELOG.rst
+++ b/moveit_ros/warehouse/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_ros_warehouse
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Robert Haschke
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Optional cpp version setting (`#2166 <https://github.com/ros-planning/moveit/issues/2166>`_)
diff --git a/moveit_runtime/CHANGELOG.rst b/moveit_runtime/CHANGELOG.rst
index ad382bb465..93bff64b2d 100644
--- a/moveit_runtime/CHANGELOG.rst
+++ b/moveit_runtime/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_runtime
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Use standard cmake text for metapackages (`#1620 <https://github.com/ros-planning/moveit/issues/1620>`_)
diff --git a/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/CHANGELOG.rst
index a38e7f88a7..3ec3076863 100644
--- a/moveit_setup_assistant/CHANGELOG.rst
+++ b/moveit_setup_assistant/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package moveit_setup_assistant
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.1 (2020-10-13)
+------------------
+* [feature] Allow showing both, visual and collision geometry (`#2352 <https://github.com/ros-planning/moveit/issues/2352>`_)
+* [fix] layout (`#2349 <https://github.com/ros-planning/moveit/issues/2349>`_)
+* [fix] group editing (`#2350 <https://github.com/ros-planning/moveit/issues/2350>`_)
+* [fix] only write default_planner_config field if any is selected (`#2293 <https://github.com/ros-planning/moveit/issues/2293>`_)
+* [fix] Segfault when editing pose in moveit_setup_assistant (`#2340 <https://github.com/ros-planning/moveit/issues/2340>`_)
+* [fix] disappearing robot on change of reference frame (`#2335 <https://github.com/ros-planning/moveit/issues/2335>`_)
+* [fix] robot_description is already loaded in move_group.launch (`#2313 <https://github.com/ros-planning/moveit/issues/2313>`_)
+* [maint] Cleanup MSA includes (`#2351 <https://github.com/ros-planning/moveit/issues/2351>`_)
+* [maint] Add comment to MOVEIT_CLASS_FORWARD (`#2315 <https://github.com/ros-planning/moveit/issues/2315>`_)
+* Contributors: Felix von Drigalski, Michael Görner, Robert Haschke, Tyler Weaver, Yoan Mollard
+
 1.1.0 (2020-09-04)
 ------------------
 * [feature] Start new joint_state_publisher_gui on param use_gui (`#2257 <https://github.com/ros-planning/moveit/issues/2257>`_)

From f9b2e2bc6c2dfd300eab63881475e8f621817037 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Tue, 13 Oct 2020 09:12:05 -0600
Subject: [PATCH 494/612] 1.1.1

---
 moveit/package.xml                                          | 2 +-
 moveit_commander/package.xml                                | 2 +-
 moveit_core/package.xml                                     | 2 +-
 moveit_kinematics/package.xml                               | 2 +-
 moveit_planners/chomp/chomp_interface/package.xml           | 2 +-
 moveit_planners/chomp/chomp_motion_planner/package.xml      | 2 +-
 moveit_planners/chomp/chomp_optimizer_adapter/package.xml   | 2 +-
 moveit_planners/moveit_planners/package.xml                 | 2 +-
 moveit_planners/ompl/package.xml                            | 2 +-
 moveit_plugins/moveit_fake_controller_manager/package.xml   | 2 +-
 moveit_plugins/moveit_plugins/package.xml                   | 2 +-
 moveit_plugins/moveit_ros_control_interface/package.xml     | 2 +-
 moveit_plugins/moveit_simple_controller_manager/package.xml | 2 +-
 moveit_ros/benchmarks/package.xml                           | 2 +-
 moveit_ros/manipulation/package.xml                         | 2 +-
 moveit_ros/move_group/package.xml                           | 2 +-
 moveit_ros/moveit_ros/package.xml                           | 2 +-
 moveit_ros/moveit_servo/package.xml                         | 2 +-
 moveit_ros/occupancy_map_monitor/package.xml                | 2 +-
 moveit_ros/perception/package.xml                           | 2 +-
 moveit_ros/planning/package.xml                             | 2 +-
 moveit_ros/planning_interface/package.xml                   | 2 +-
 moveit_ros/robot_interaction/package.xml                    | 2 +-
 moveit_ros/visualization/package.xml                        | 2 +-
 moveit_ros/warehouse/package.xml                            | 2 +-
 moveit_runtime/package.xml                                  | 2 +-
 moveit_setup_assistant/package.xml                          | 2 +-
 27 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/moveit/package.xml b/moveit/package.xml
index ac350c8c1c..0af3c9d8f5 100644
--- a/moveit/package.xml
+++ b/moveit/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Meta package that contains all essential package of MoveIt. Until Summer 2016 MoveIt had been developed over multiple repositories, where developers' usability and maintenance effort was non-trivial. See <a href = "http://discourse.ros.org/t/migration-to-one-github-repo-for-moveit/266/34">the detailed discussion for the merge of several repositories</a>.</description>
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
index 8b277c578d..e0fc5eb801 100644
--- a/moveit_commander/package.xml
+++ b/moveit_commander/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_commander</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Python interfaces to MoveIt</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 77f95622e1..7c3fadcb8c 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_core</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Core libraries used by MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 8adef0388f..7a5861e0dd 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_kinematics</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Package for all inverse kinematics solvers in MoveIt</description>
 
   <author email="dave@picknik.ai">Dave Coleman</author>
diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml
index 8a4291483f..0960164a84 100644
--- a/moveit_planners/chomp/chomp_interface/package.xml
+++ b/moveit_planners/chomp/chomp_interface/package.xml
@@ -2,7 +2,7 @@
   <name>moveit_planners_chomp</name>
   <description>The interface for using CHOMP within MoveIt</description>
 
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <author email="gjones@willowgarage.com">Gil Jones</author>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>
diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml
index 1473bafc5a..343c3641e1 100644
--- a/moveit_planners/chomp/chomp_motion_planner/package.xml
+++ b/moveit_planners/chomp/chomp_motion_planner/package.xml
@@ -2,7 +2,7 @@
   <name>chomp_motion_planner</name>
   <description>chomp_motion_planner</description>
 
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <author email="gjones@willowgarage.com">Gil Jones</author>
   <author email="mail@mrinal.net">Mrinal Kalakrishnan</author>
 
diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
index d68ec3800f..1920747a59 100644
--- a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
+++ b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
@@ -3,7 +3,7 @@
   <name>moveit_chomp_optimizer_adapter</name>
   <description>MoveIt planning request adapter utilizing chomp for solution optimization</description>
 
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <author email="raghavendersahdev@gmail.com">Raghavender Sahdev</author>
   <maintainer email="raghavendersahdev@gmail.com">Raghavender Sahdev</maintainer>
   <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml
index bc7dc31873..b01309b3f2 100644
--- a/moveit_planners/moveit_planners/package.xml
+++ b/moveit_planners/moveit_planners/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_planners</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Metapacakge that installs all available planners for MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
index 937ad51a10..877590134e 100644
--- a/moveit_planners/ompl/package.xml
+++ b/moveit_planners/ompl/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_planners_ompl</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>MoveIt interface to OMPL</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_plugins/moveit_fake_controller_manager/package.xml b/moveit_plugins/moveit_fake_controller_manager/package.xml
index 3c7dd57332..fc7d207bc7 100644
--- a/moveit_plugins/moveit_fake_controller_manager/package.xml
+++ b/moveit_plugins/moveit_fake_controller_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_fake_controller_manager</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>A fake controller manager plugin for MoveIt.</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml
index f6598bb080..b4c96441b0 100644
--- a/moveit_plugins/moveit_plugins/package.xml
+++ b/moveit_plugins/moveit_plugins/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_plugins</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Metapackage for MoveIt plugins.</description>
 
   <author email="mferguson@fetchrobotics.com">Michael Ferguson</author>
diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml
index f3d1626a5c..ad88665726 100644
--- a/moveit_plugins/moveit_ros_control_interface/package.xml
+++ b/moveit_plugins/moveit_ros_control_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_ros_control_interface</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>ros_control controller manager interface for MoveIt</description>
 
   <author email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</author>
diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml
index af672e7e71..8525ccdf60 100644
--- a/moveit_plugins/moveit_simple_controller_manager/package.xml
+++ b/moveit_plugins/moveit_simple_controller_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_simple_controller_manager</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>A generic, simple controller manager plugin for MoveIt.</description>
 
   <author email="mferguson@fetchrobotics.com">Michael Ferguson</author>
diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml
index d5d3ecb890..4ee7757f63 100644
--- a/moveit_ros/benchmarks/package.xml
+++ b/moveit_ros/benchmarks/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_benchmarks</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
 
   <description>Enhanced tools for benchmarks in MoveIt</description>
 
diff --git a/moveit_ros/manipulation/package.xml b/moveit_ros/manipulation/package.xml
index 49053da42f..7362ba4306 100644
--- a/moveit_ros/manipulation/package.xml
+++ b/moveit_ros/manipulation/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_manipulation</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt used for manipulation</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml
index 3a70092778..93f84d7ce3 100644
--- a/moveit_ros/move_group/package.xml
+++ b/moveit_ros/move_group/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_move_group</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>The move_group node for MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml
index 3a2337f53b..75a0f30e15 100644
--- a/moveit_ros/moveit_ros/package.xml
+++ b/moveit_ros/moveit_ros/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index 954795120c..086a7b60fd 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_servo</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
 
   <description>Provides real-time manipulator Cartesian and joint servoing.</description>
 
diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
index f56023495d..595f0cbba6 100644
--- a/moveit_ros/occupancy_map_monitor/package.xml
+++ b/moveit_ros/occupancy_map_monitor/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_ros_occupancy_map_monitor</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt connecting to occupancy map</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml
index f6e6dc57dd..7ace55ed69 100644
--- a/moveit_ros/perception/package.xml
+++ b/moveit_ros/perception/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_perception</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt connecting to perception</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml
index 1cf2bb163f..9eb394c6f0 100644
--- a/moveit_ros/planning/package.xml
+++ b/moveit_ros/planning/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <package format="2">
   <name>moveit_ros_planning</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Planning components of MoveIt that use ROS</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index ad49898100..95778baf9f 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_ros_planning_interface</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt that offer simpler interfaces to planning and execution</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml
index f18f2e4b1e..e48bdc421d 100644
--- a/moveit_ros/robot_interaction/package.xml
+++ b/moveit_ros/robot_interaction/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_robot_interaction</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt that offer interaction via interactive markers</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index 40fcbd843f..cb462642ff 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_visualization</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt that offer visualization</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml
index b815fa139a..1d117afe12 100644
--- a/moveit_ros/warehouse/package.xml
+++ b/moveit_ros/warehouse/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_ros_warehouse</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>Components of MoveIt connecting to MongoDB</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml
index bc8a465c1e..e13e5882b8 100644
--- a/moveit_runtime/package.xml
+++ b/moveit_runtime/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_runtime</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).</description>
 
   <author email="gm130s@gmail.com">Isaac I. Y. Saito</author>
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 30ea4d9812..4f12137953 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_setup_assistant</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
 
   <description>Generates a configuration package that makes it easy to use MoveIt</description>
 

From 03c24d092d3e0af1bd1a9ee542162bb6f39f6939 Mon Sep 17 00:00:00 2001
From: Bjar Ne <43565432+gleichdick@users.noreply.github.com>
Date: Tue, 13 Oct 2020 22:31:16 +0100
Subject: [PATCH 495/612] Unit Test for ByteString-based ROS msg conversion
 (#2362)

---
 .../planning_interface/test/CMakeLists.txt    |  12 ++
 .../planning_interface/test/serialize_msg.py  | 110 ++++++++++++++
 .../test/serialize_msg_python_cpp_helpers.cpp | 134 ++++++++++++++++++
 3 files changed, 256 insertions(+)
 create mode 100644 moveit_ros/planning_interface/test/serialize_msg.py
 create mode 100644 moveit_ros/planning_interface/test/serialize_msg_python_cpp_helpers.cpp

diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
index 1a616bdd88..e964d528d2 100644
--- a/moveit_ros/planning_interface/test/CMakeLists.txt
+++ b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -22,4 +22,16 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(python_move_group_ns.test)
   add_rostest(robot_state_update.test)
   add_rostest(cleanup.test)
+
+  SET(HELPER_LIB moveit_planning_interface_test_serialize_msg_cpp_helper)
+  add_library(${HELPER_LIB} serialize_msg_python_cpp_helpers.cpp)
+  set_target_properties(${HELPER_LIB} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+  target_link_libraries(${HELPER_LIB} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
+  set_target_properties(${HELPER_LIB} PROPERTIES OUTPUT_NAME "_${HELPER_LIB}" PREFIX "")
+  set_target_properties(${HELPER_LIB} PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+  if(WIN32)
+    set_target_properties(${HELPER_LIB} PROPERTIES SUFFIX .pyd)
+  endif(WIN32)
+
+  catkin_add_nosetests(serialize_msg.py)
 endif()
diff --git a/moveit_ros/planning_interface/test/serialize_msg.py b/moveit_ros/planning_interface/test/serialize_msg.py
new file mode 100644
index 0000000000..0497d5d9f9
--- /dev/null
+++ b/moveit_ros/planning_interface/test/serialize_msg.py
@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2020, RWTH Aachen University
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of RWTH Aachen University nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Bjarne von Horn
+#
+
+from moveit_ros_planning_interface._moveit_planning_interface_test_serialize_msg_cpp_helper import ByteStringTestHelper
+from geometry_msgs.msg import Vector3
+import unittest
+
+try:
+    # Try Python 2.7 behaviour first
+    from StringIO import StringIO
+    py_version_maj = 2
+except ImportError:
+    # Use Python 3.x behaviour as fallback and choose the non-unicode version
+    from io import BytesIO as StringIO
+    py_version_maj = 3
+
+
+class PythonMsgSerializeTest(unittest.TestCase):
+    def setUp(self):
+        self.helper = ByteStringTestHelper()
+
+    def test_EmbeddedZeros(self):
+        self.assertTrue(self.helper.compareEmbeddedZeros(b"\xff\xef\x00\x10"))
+
+    def test_ByteStringFromPchar(self):
+        # ByteString(const char*) constructor
+        self.assertEqual(self.helper.getBytesPChar(), b"abcdef")
+
+    def test_ByteStringFromStdString(self):
+        # ByteString(const std::string&) constructor
+        self.assertEqual(self.helper.getBytesStdString(), b"\xff\xfe\x10\x00\x00")
+
+    def test_ByteStringDefaultCtor(self):
+        self.assertEqual(self.helper.getDefaultBytes(), b"")
+
+    def test_CxxTupleToPy(self):
+        # sending a tuple from C++ to Python
+        ans = self.helper.getTuple()
+        self.assertIsInstance(ans, tuple)
+        self.assertEqual(len(ans), 1)
+        self.assertEqual(ans[0], b"abcdef")
+
+    def test_PyTupleToCxx(self):
+        # sending a tuple from Python to C++
+        self.assertTrue(self.helper.compareTuple((b"mno",)))
+
+    def test_sendMessage(self):
+        tmp = StringIO()
+        Vector3(x=1.0, y=-2.0, z=0.25).serialize(tmp)
+        self.assertTrue(self.helper.compareVector(tmp.getvalue()))
+
+    def test_recieveMessage(self):
+        tmp = Vector3()
+        tmp.deserialize(self.helper.getVector())
+        self.assertEqual(tmp, Vector3(1.0, -2.0, 0.25))
+
+    def test_rejectInt(self):
+        with self.assertRaisesRegexp(Exception, "Python argument types in"):
+            self.helper.compareEmbeddedZeros(4711)
+
+    def test_rejectIntTuple(self):
+        with self.assertRaisesRegexp(Exception, "Python argument types in"):
+            self.helper.compareEmbeddedZeros((4711,))
+
+    def test_rejectUnicode(self):
+        with self.assertRaisesRegexp(Exception, "Python argument types in"):
+            self.helper.compareEmbeddedZeros(u'kdasd')
+
+    @unittest.skipIf(py_version_maj == 2, "does not trigger with python 2.7")
+    def test_rejectUnicodeTuple(self):
+        with self.assertRaisesRegexp(RuntimeError, "Underlying python object is not a Bytes/String instance"):
+            self.helper.compareVectorTuple((u'kdasd',))
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/moveit_ros/planning_interface/test/serialize_msg_python_cpp_helpers.cpp b/moveit_ros/planning_interface/test/serialize_msg_python_cpp_helpers.cpp
new file mode 100644
index 0000000000..13c6e446d6
--- /dev/null
+++ b/moveit_ros/planning_interface/test/serialize_msg_python_cpp_helpers.cpp
@@ -0,0 +1,134 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, RWTH Aachen University.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of RWTH Aachen University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Bjarne von Horn */
+
+#include <Python.h>
+#include <boost/python.hpp>
+#include <moveit/py_bindings_tools/serialize_msg.h>
+#include <geometry_msgs/Vector3.h>
+#include <cstring>
+
+namespace bp = boost::python;
+using moveit::py_bindings_tools::ByteString;
+
+// Helper class to be exposed to Python
+class ByteStringTestHelper
+{
+  // Helper to test whether a vector of unsigned chars has the same content as a bytes Object
+  bool doCompare(const std::vector<unsigned char>& data, PyObject* obj)
+  {
+    const char* py_data = PyBytes_AsString(obj);
+    if (!py_data)
+      return false;
+    Py_ssize_t size = PyBytes_GET_SIZE(obj);
+    if (size < 0 || std::vector<unsigned char>::size_type(size) != data.size())
+      return false;
+    return std::memcmp(py_data, &data[0], size) == 0;
+  }
+
+public:
+  bool compareEmbeddedZeros(const ByteString& s)
+  {
+    const std::vector<unsigned char> testdata{ 0xff, 0xef, 0x00, 0x10 };
+    return doCompare(testdata, s.ptr());
+  }
+  bool compareTuple(const bp::tuple& t)
+  {
+    const ByteString s(t[0]);
+    const std::vector<unsigned char> testdata{ 'm', 'n', 'o' };
+    return doCompare(testdata, s.ptr());
+  }
+
+  ByteString getBytesPChar()
+  {
+    return ByteString("abcdef");
+  }
+  ByteString getBytesStdString()
+  {
+    std::string s;
+    s.push_back('\xff');
+    s.push_back('\xfe');
+    s.push_back('\x10');
+    s.push_back('\x00');
+    s.push_back('\x00');
+    return ByteString(s);
+  }
+  ByteString getDefaultBytes()
+  {
+    return ByteString();
+  }
+  bp::tuple getTuple()
+  {
+    return bp::make_tuple(ByteString("abcdef"));
+  }
+  ByteString getVector()
+  {
+    geometry_msgs::Vector3 v;
+    v.x = 1.0;
+    v.y = -2.0;
+    v.z = 0.25;
+    return ByteString(v);
+  }
+  bool compareVector(const ByteString& s)
+  {
+    geometry_msgs::Vector3 v;
+    s.deserialize(v);
+    return v.x == 1.0 && v.y == -2.0 && v.z == 0.25;
+  }
+  bool compareVectorTuple(const bp::tuple& t)
+  {
+    const ByteString s(t[0]);
+    return compareVector(s);
+  }
+
+  static void setup()
+  {
+    bp::class_<ByteStringTestHelper> cls("ByteStringTestHelper");
+    cls.def("compareEmbeddedZeros", &ByteStringTestHelper::compareEmbeddedZeros);
+    cls.def("compareTuple", &ByteStringTestHelper::compareTuple);
+    cls.def("compareVectorTuple", &ByteStringTestHelper::compareVectorTuple);
+    cls.def("getBytesPChar", &ByteStringTestHelper::getBytesPChar);
+    cls.def("getBytesStdString", &ByteStringTestHelper::getBytesStdString);
+    cls.def("getDefaultBytes", &ByteStringTestHelper::getDefaultBytes);
+    cls.def("getTuple", &ByteStringTestHelper::getTuple);
+    cls.def("getVector", &ByteStringTestHelper::getVector);
+    cls.def("compareVector", &ByteStringTestHelper::compareVector);
+  }
+};
+
+BOOST_PYTHON_MODULE(_moveit_planning_interface_test_serialize_msg_cpp_helper)
+{
+  ByteStringTestHelper::setup();
+}

From 73416fb9fb1b242f5c6af05a628d076425c6ea25 Mon Sep 17 00:00:00 2001
From: Peter Mitrano <mitranopeter@gmail.com>
Date: Wed, 14 Oct 2020 11:21:36 -0400
Subject: [PATCH 496/612] Python interface improvements. Fix #1966, add
 enforceBounds (#2356)

* implement get state and get state bounded

* add enforceBounds

Co-authored-by: Peter <pmitrano@storm20.04>
---
 .../src/moveit_commander/move_group.py        | 21 +++++++++++++-
 .../test/python_moveit_commander.py           | 29 +++++++++++++++++++
 .../src/wrap_python_move_group.cpp            | 28 ++++++++++++++++++
 3 files changed, 77 insertions(+), 1 deletion(-)

diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
index e0128e6eb4..df1f267361 100644
--- a/moveit_commander/src/moveit_commander/move_group.py
+++ b/moveit_commander/src/moveit_commander/move_group.py
@@ -156,6 +156,20 @@ def set_start_state(self, msg):
         """
         self._g.set_start_state(conversions.msg_to_string(msg))
 
+    def get_current_state_bounded(self):
+        """ Get the current state of the robot bounded."""
+        s = RobotState()
+        c_str = self._g.get_current_state_bounded()
+        conversions.msg_from_string(s, c_str)
+        return s
+
+    def get_current_state(self):
+        """ Get the current state of the robot."""
+        s = RobotState()
+        c_str = self._g.get_current_state()
+        conversions.msg_from_string(s, c_str)
+        return s
+
     def get_joint_value_target(self):
         return self._g.get_joint_value_target()
 
@@ -230,7 +244,6 @@ def set_joint_value_target(self, arg1, arg2=None, arg3=None):
         else:
             raise MoveItCommanderException("Unsupported argument of type %s" % type(arg1))
 
-
     def set_rpy_target(self, rpy, end_effector_link=""):
         """ Specify a target orientation for the end-effector. Any position of the end-effector is acceptable."""
         if len(end_effector_link) > 0 or self.has_end_effector_link():
@@ -610,3 +623,9 @@ def get_jacobian_matrix(self, joint_values, reference_point=None):
         """ Get the jacobian matrix of the group as a list"""
         return self._g.get_jacobian_matrix(joint_values, [0.0, 0.0, 0.0] if reference_point is None else reference_point)
 
+    def enforce_bounds(self, robot_state_msg):
+        """ Takes a moveit_msgs RobotState and enforces the state bounds, based on the C++ RobotState enforceBounds() """
+        s = RobotState()
+        c_str = self._g.enforce_bounds(conversions.msg_to_string(robot_state_msg))
+        conversions.msg_from_string(s, c_str)
+        return s
diff --git a/moveit_commander/test/python_moveit_commander.py b/moveit_commander/test/python_moveit_commander.py
index 48d01ce524..3c6178562d 100755
--- a/moveit_commander/test/python_moveit_commander.py
+++ b/moveit_commander/test/python_moveit_commander.py
@@ -35,11 +35,15 @@
 # Author: William Baker
 
 import unittest
+
+import genpy
 import numpy as np
 import rospy
 import rostest
 import os
 
+from moveit_msgs.msg import RobotState
+
 from moveit_commander import RobotCommander, PlanningSceneInterface
 
 
@@ -55,6 +59,31 @@ def setUpClass(self):
     def tearDown(self):
         pass
 
+    def test_enforce_bounds_empty_state(self):
+        in_msg = RobotState()
+        with self.assertRaises(genpy.DeserializationError):
+            self.group.enforce_bounds(in_msg)
+
+    def test_enforce_bounds(self):
+        in_msg = RobotState()
+        in_msg.joint_state.header.frame_id = 'base_link'
+        in_msg.joint_state.name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+        in_msg.joint_state.position = [0] * 6
+        in_msg.joint_state.position[0] = 1000
+
+        out_msg = self.group.enforce_bounds(in_msg)
+
+        self.assertEqual(in_msg.joint_state.position[0], 1000)
+        self.assertLess(out_msg.joint_state.position[0], 1000)
+
+    def test_get_current_state(self):
+        expected_state = RobotState()
+        expected_state.joint_state.header.frame_id = 'base_link'
+        expected_state.multi_dof_joint_state.header.frame_id = 'base_link'
+        expected_state.joint_state.name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+        expected_state.joint_state.position = [0] * 6
+        self.assertEqual(self.group.get_current_state(), expected_state)
+
     def check_target_setting(self, expect, *args):
         if len(args) == 0:
             args = [expect]
diff --git a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
index 628f5880e6..b063ff1e30 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
@@ -342,6 +342,14 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     return output;
   }
 
+  py_bindings_tools::ByteString getCurrentStatePython()
+  {
+    moveit::core::RobotStatePtr current_state = getCurrentState();
+    moveit_msgs::RobotState state_message;
+    moveit::core::robotStateToRobotStateMsg(*current_state, state_message);
+    return py_bindings_tools::serializeMsg(state_message);
+  }
+
   void setStartStatePython(const py_bindings_tools::ByteString& msg_str)
   {
     moveit_msgs::RobotState msg;
@@ -602,6 +610,24 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
     state.setJointGroupPositions(group, v);
     return state.getJacobian(group, Eigen::Map<Eigen::Vector3d>(&ref[0]));
   }
+
+  py_bindings_tools::ByteString enforceBoundsPython(const py_bindings_tools::ByteString& msg_str)
+  {
+    moveit_msgs::RobotState state_msg;
+    py_bindings_tools::deserializeMsg(msg_str, state_msg);
+    moveit::core::RobotState state(getRobotModel());
+    if (moveit::core::robotStateMsgToRobotState(state_msg, state, true))
+    {
+      state.enforceBounds();
+      moveit::core::robotStateToRobotStateMsg(state, state_msg);
+      return py_bindings_tools::serializeMsg(state_msg);
+    }
+    else
+    {
+      ROS_ERROR("Unable to convert RobotState message to RobotState instance.");
+      return py_bindings_tools::ByteString("");
+    }
+  }
 };
 
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(getJacobianMatrixOverloads, getJacobianMatrixPython, 1, 2)
@@ -742,8 +768,10 @@ static void wrap_move_group_interface()
   move_group_interface_class.def("get_named_targets", &MoveGroupInterfaceWrapper::getNamedTargetsPython);
   move_group_interface_class.def("get_named_target_values", &MoveGroupInterfaceWrapper::getNamedTargetValuesPython);
   move_group_interface_class.def("get_current_state_bounded", &MoveGroupInterfaceWrapper::getCurrentStateBoundedPython);
+  move_group_interface_class.def("get_current_state", &MoveGroupInterfaceWrapper::getCurrentStatePython);
   move_group_interface_class.def("get_jacobian_matrix", &MoveGroupInterfaceWrapper::getJacobianMatrixPython,
                                  getJacobianMatrixOverloads());
+  move_group_interface_class.def("enforce_bounds", &MoveGroupInterfaceWrapper::enforceBoundsPython);
 }
 }  // namespace planning_interface
 }  // namespace moveit

From b2b04b51ec7fd3ccc17bb4c168fbcd8e195d2acb Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nathanbrooks@picknik.ai>
Date: Thu, 15 Oct 2020 11:12:49 -0600
Subject: [PATCH 497/612] Fix ordering of windup args to control_toolbox::Pid
 (#2370)

---
 moveit_ros/moveit_servo/src/pose_tracking.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index 82ed5b8868..aeee8255fb 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -211,8 +211,8 @@ void PoseTracking::readROSParams()
 void PoseTracking::initializePID(const PIDConfig& pid_config, std::vector<control_toolbox::Pid>& pid_vector)
 {
   bool use_anti_windup = true;
-  pid_vector.push_back(control_toolbox::Pid(pid_config.k_p, pid_config.k_i, pid_config.k_d, -pid_config.windup_limit,
-                                            pid_config.windup_limit, use_anti_windup));
+  pid_vector.push_back(control_toolbox::Pid(pid_config.k_p, pid_config.k_i, pid_config.k_d, pid_config.windup_limit,
+                                            -pid_config.windup_limit, use_anti_windup));
 }
 
 bool PoseTracking::haveRecentTargetPose(const double timespan)

From e6ca319c1b6f05a990631290208c70f1df5d7ac2 Mon Sep 17 00:00:00 2001
From: "David V. Lu!!" <davidvlu@gmail.com>
Date: Fri, 16 Oct 2020 03:13:40 -0400
Subject: [PATCH 498/612] MSA launch files: fix indentation (#2371)

converting tabs to spaces
---
 moveit_setup_assistant/launch/setup_assistant.launch      | 2 +-
 .../moveit_config_pkg_template/launch/demo.launch         | 2 +-
 .../launch/edit_configuration_package.launch              | 4 ++--
 .../moveit_config_pkg_template/launch/move_group.launch   | 2 +-
 .../moveit_config_pkg_template/launch/moveit_rviz.launch  | 2 +-
 .../launch/trajopt_planning_pipeline.launch.xml           | 8 ++++----
 6 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/moveit_setup_assistant/launch/setup_assistant.launch b/moveit_setup_assistant/launch/setup_assistant.launch
index 852c19c4ce..104dc655da 100644
--- a/moveit_setup_assistant/launch/setup_assistant.launch
+++ b/moveit_setup_assistant/launch/setup_assistant.launch
@@ -8,7 +8,7 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-	launch-prefix="$(arg launch_prefix)"
+        launch-prefix="$(arg launch_prefix)"
         output="screen"  required="true" />
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
index 85451710c8..192182a7f0 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch
@@ -26,7 +26,7 @@
   <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  [VIRTUAL_JOINT_BROADCASTER]
+[VIRTUAL_JOINT_BROADCASTER]
 
   <!-- We do not have a robot connected, so publish fake joint states -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
index 04d28dac6e..cce0611246 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
@@ -8,8 +8,8 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-	args="--config_pkg=[GENERATED_PACKAGE_NAME]"
-	launch-prefix="$(arg launch_prefix)"
+        args="--config_pkg=[GENERATED_PACKAGE_NAME]"
+        launch-prefix="$(arg launch_prefix)"
         output="screen" />
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
index fb1959b048..b41620c229 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
@@ -4,7 +4,7 @@
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix"
-	   value="gdb -x $(find [GENERATED_PACKAGE_NAME])/launch/gdb_settings.gdb --ex run --args" />
+           value="gdb -x $(find [GENERATED_PACKAGE_NAME])/launch/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
index 615b2f12a5..a4605c0374 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch
@@ -9,7 +9,7 @@
   <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
-	args="$(arg command_args)" output="screen">
+        args="$(arg command_args)" output="screen">
   </node>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
index e298058e5a..07ebf68e85 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
@@ -6,10 +6,10 @@
   <!-- The request adapters (plugins) used when planning with TrajOpt.
        ORDER MATTERS -->
   <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
-				       default_planner_request_adapters/FixWorkspaceBounds
-				       default_planner_request_adapters/FixStartStateBounds
-				       default_planner_request_adapters/FixStartStateCollision
-				       default_planner_request_adapters/FixStartStatePathConstraints" />
+                                       default_planner_request_adapters/FixWorkspaceBounds
+                                       default_planner_request_adapters/FixStartStateBounds
+                                       default_planner_request_adapters/FixStartStateCollision
+                                       default_planner_request_adapters/FixStartStatePathConstraints" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />
 

From 144adb7d687cc19c7b79274c93bb0bbdad582d9d Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Mon, 19 Oct 2020 00:17:28 +0200
Subject: [PATCH 499/612] Add test for PlanningContextManager in ompl interface
 (#2248)

---
 .../ompl/ompl_interface/CMakeLists.txt        |   8 +
 .../ompl_interface/test/load_test_robot.h     | 130 +++++++
 .../test/test_planning_context_manager.cpp    | 358 ++++++++++++++++++
 .../test/test_planning_context_manager.test   |   4 +
 moveit_planners/ompl/package.xml              |   4 +
 5 files changed, 504 insertions(+)
 create mode 100644 moveit_planners/ompl/ompl_interface/test/load_test_robot.h
 create mode 100644 moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp
 create mode 100644 moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.test

diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index e44e0ecb1b..5945661811 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -48,4 +48,12 @@ if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_state_space test/test_state_space.cpp)
   target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES})
   set_target_properties(test_state_space PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
+
+  find_package(rostest REQUIRED)
+  find_package(eigen_conversions REQUIRED)
+
+  add_rostest_gtest(test_planning_context_manager
+    test/test_planning_context_manager.test
+    test/test_planning_context_manager.cpp)
+  target_link_libraries(test_planning_context_manager ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
 endif()
diff --git a/moveit_planners/ompl/ompl_interface/test/load_test_robot.h b/moveit_planners/ompl/ompl_interface/test/load_test_robot.h
new file mode 100644
index 0000000000..94c606a14a
--- /dev/null
+++ b/moveit_planners/ompl/ompl_interface/test/load_test_robot.h
@@ -0,0 +1,130 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, KU Leuven
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of KU Leuven nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jeroen De Maeyer */
+
+#pragma once
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/utils/robot_model_test_utils.h>
+
+namespace ompl_interface_testing
+{
+/** \brief Robot independent test class setup
+ *
+ * The desired robot tests can be impelmented in a derived class in a generic way.
+ *
+ * It is implemented this way to avoid the ros specific test framework
+ * outside moveit_ros.
+ *
+ * (This is an (uglier) alternative to using the rostest framework
+ * and reading the robot settings from the parameter server.
+ * Then we have several rostest launch files that load the parameters
+ * for a specific robot and run the same compiled tests for all robots.)
+ *
+ * based on
+ * https://stackoverflow.com/questions/38207346/specify-constructor-arguments-for-a-google-test-fixture/38218657
+ * (answer by PiotrNycz)
+ *
+ *   --- example.cpp ---
+ *
+ *   #include <gtest/gtest.h>
+ *   #include "load_test_robot.h"
+ *
+ *   class GenericTests : public ompl_interface_testing::LoadTestRobot, public testing::Test
+ *   {
+ *   public:
+ *     GenericTests(const std::string& robot_name, const std::string& group_name)
+ *        : LoadTestRobot(robot_name, group_name) { }
+ *     void SetUp() override { }
+ *     void TearDown() override  { }
+ *
+ *     void someTest()
+ *     {
+ *       // use robot_model_, robot_state_, .. here
+ *       EXPECT_TRUE(true);
+ *     }
+ *   };
+ *
+ *   // now you can run `someTest()` on different robots:
+ *
+ *   class PandaTest : public GenericTests
+ *   {
+ *   protected:
+ *     PandaTest() : GenericTests("panda", "panda_arm") { }
+ *   };
+ *
+ *   TEST_F(PandaTest, someTest)
+ *   {
+ *     someTest();
+ *   }
+ *
+ *   --- end example.cpp ---
+ *
+ *
+ * */
+class LoadTestRobot
+{
+protected:
+  LoadTestRobot(const std::string& robot_name, const std::string& group_name)
+    : group_name_(group_name), robot_name_(robot_name)
+  {
+    // load robot
+    robot_model_ = moveit::core::loadTestingRobotModel(robot_name_);
+    robot_state_ = std::make_shared<robot_state::RobotState>(robot_model_);
+    robot_state_->setToDefaultValues();
+    joint_model_group_ = robot_state_->getJointModelGroup(group_name_);
+
+    // extract useful parameters for tests
+    num_dofs_ = joint_model_group_->getVariableCount();
+    ee_link_name_ = joint_model_group_->getLinkModelNames().back();
+    base_link_name_ = robot_model_->getRootLinkName();
+
+    ROS_INFO_STREAM("Created test robot named: " << robot_name_ << " for planning group " << group_name_);
+  }
+
+protected:
+  const std::string group_name_;
+  const std::string robot_name_;
+
+  moveit::core::RobotModelPtr robot_model_;
+  robot_state::RobotStatePtr robot_state_;
+  const robot_state::JointModelGroup* joint_model_group_;
+
+  std::size_t num_dofs_;
+  std::string base_link_name_;
+  std::string ee_link_name_;
+};
+}  // namespace ompl_interface_testing
diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp
new file mode 100644
index 0000000000..9bdd7c303d
--- /dev/null
+++ b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp
@@ -0,0 +1,358 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, KU Leuven
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of KU Leuven nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jeroen De Maeyer */
+
+/** Test the creation of a ModelBasedPlanningContext through the PlanningContextManager.
+ *
+ * The tests use a default robot state as start state, and then moves the last joint 0.1 radians/meters to create a
+ * joint goal. This creates an extremely simple planning problem to test general mechanics of the interface.
+ *
+ * In the test with path constraints, we create an orientation constraint around the start orientation of the
+ * end-effector, with a tolerance on the rotation larger than the change in the last joint of the goal state.
+ * This makes sure the path constraints are easy to satisfy.
+ *
+ * TODO(jeroendm) I also tried something similar with position constraints, but get a segmentation fault
+ * that occurs in the 'geometric_shapes' package, in the method 'useDimensions' in 'bodies.h'.
+ * git permalink:
+ * https://github.com/ros-planning/geometric_shapes/blob/df0478870b8592ce789ee1919f3124058c4327d7/include/geometric_shapes/bodies.h#L196
+ *
+ **/
+
+#include "load_test_robot.h"
+
+#include <gtest/gtest.h>
+
+#include <eigen_conversions/eigen_msg.h>
+
+#include <moveit/ompl_interface/planning_context_manager.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/constraint_samplers/constraint_sampler_manager.h>
+
+#include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
+
+/** \brief Generic implementation of the tests that can be executed on different robots. **/
+class TestPlanningContext : public ompl_interface_testing::LoadTestRobot, public testing::Test
+{
+public:
+  TestPlanningContext(const std::string& robot_name, const std::string& group_name)
+    : LoadTestRobot(robot_name, group_name)
+  {
+  }
+
+  // /***************************************************************************
+  //  * START Test implementations
+  //  * ************************************************************************/
+
+  void testSimpleRequest(const std::vector<double>& start, const std::vector<double>& goal)
+  {
+    // create all the test specific input necessary to make the getPlanningContext call possible
+    planning_interface::PlannerConfigurationSettings pconfig_settings;
+    pconfig_settings.group = group_name_;
+    pconfig_settings.name = group_name_;
+    pconfig_settings.config = { { "enforce_joint_model_state_space", "0" } };
+
+    planning_interface::PlannerConfigurationMap pconfig_map{ { pconfig_settings.name, pconfig_settings } };
+    moveit_msgs::MoveItErrorCodes error_code;
+    planning_interface::MotionPlanRequest request = createRequest(start, goal);
+
+    // setup the planning context manager
+    ompl_interface::PlanningContextManager pcm(robot_model_, constraint_sampler_manager_);
+    pcm.setPlannerConfigurations(pconfig_map);
+
+    // see if it returns the expected planning context
+    auto pc = pcm.getPlanningContext(planning_scene_, request, error_code, node_handle_, false);
+
+    // the planning context should have a simple setup created
+    EXPECT_NE(pc->getOMPLSimpleSetup(), nullptr);
+
+    // the OMPL state space in the planning context should be of type JointModelStateSpace
+    EXPECT_NE(dynamic_cast<ompl_interface::JointModelStateSpace*>(pc->getOMPLStateSpace().get()), nullptr);
+
+    // there did not magically appear path constraints in the planning context
+    EXPECT_TRUE(pc->getPathConstraints()->empty());
+
+    // solve the planning problem
+    planning_interface::MotionPlanDetailedResponse res;
+    ASSERT_TRUE(pc->solve(res));
+  }
+
+  void testPathConstraints(const std::vector<double>& start, const std::vector<double>& goal)
+  {
+    // create all the test specific input necessary to make the getPlanningContext call possible
+    planning_interface::PlannerConfigurationSettings pconfig_settings;
+    pconfig_settings.group = group_name_;
+    pconfig_settings.name = group_name_;
+    pconfig_settings.config = { { "enforce_joint_model_state_space", "0" } };
+
+    planning_interface::PlannerConfigurationMap pconfig_map{ { pconfig_settings.name, pconfig_settings } };
+    moveit_msgs::MoveItErrorCodes error_code;
+    planning_interface::MotionPlanRequest request = createRequest(start, goal);
+
+    // give it some more time, as rejection sampling of the path constraints occasionally takes some time
+    request.allowed_planning_time = 10.0;
+
+    // create path constraints around start state,  to make sure they are satisfied
+    robot_state_->setJointGroupPositions(joint_model_group_, start);
+    Eigen::Isometry3d ee_pose = robot_state_->getGlobalLinkTransform(ee_link_name_);
+    geometry_msgs::Quaternion ee_orientation;
+    tf::quaternionEigenToMsg(Eigen::Quaterniond(ee_pose.rotation()), ee_orientation);
+
+    // setup the planning context manager
+    ompl_interface::PlanningContextManager pcm(robot_model_, constraint_sampler_manager_);
+    pcm.setPlannerConfigurations(pconfig_map);
+
+    // ORIENTATION CONSTRAINTS
+    // ***********************
+    request.path_constraints.orientation_constraints.push_back(createOrientationConstraint(ee_orientation));
+
+    // See if the planning context manager returns the expected planning context
+    auto pc = pcm.getPlanningContext(planning_scene_, request, error_code, node_handle_, false);
+
+    EXPECT_NE(pc->getOMPLSimpleSetup(), nullptr);
+
+    // As the joint_model_group_ has no IK solver initialized, we expect a joint model state space
+    EXPECT_NE(dynamic_cast<ompl_interface::JointModelStateSpace*>(pc->getOMPLStateSpace().get()), nullptr);
+
+    planning_interface::MotionPlanDetailedResponse response;
+    ASSERT_TRUE(pc->solve(response));
+
+    // Are the path constraints created in the planning context?
+    auto path_constraints = pc->getPathConstraints();
+    EXPECT_FALSE(path_constraints->empty());
+    EXPECT_EQ(path_constraints->getOrientationConstraints().size(), 1u);
+    EXPECT_TRUE(path_constraints->getPositionConstraints().empty());
+    EXPECT_TRUE(path_constraints->getJointConstraints().empty());
+    EXPECT_TRUE(path_constraints->getVisibilityConstraints().empty());
+
+    // Check if all the states in the solution satisfy the path constraints.
+    // A detailed response returns 3 solutions: the ompl solution, the simplified solution and the interpolated
+    // solution. We test all of them here.
+    for (const robot_trajectory::RobotTrajectoryPtr& trajectory : response.trajectory_)
+    {
+      for (std::size_t pt_index = { 0 }; pt_index < trajectory->getWayPointCount(); ++pt_index)
+      {
+        EXPECT_TRUE(path_constraints->decide(trajectory->getWayPoint(pt_index)).satisfied);
+      }
+    }
+
+    // POSITION CONSTRAINTS
+    // ***********************
+    request.path_constraints.orientation_constraints.clear();
+    request.path_constraints.position_constraints.push_back(createPositionConstraint(
+        { ee_pose.translation().x(), ee_pose.translation().y(), ee_pose.translation().z() }, { 0.1, 0.1, 0.1 }));
+
+    // See if the planning context manager returns the expected planning context
+    pc = pcm.getPlanningContext(planning_scene_, request, error_code, node_handle_, false);
+
+    EXPECT_NE(pc->getOMPLSimpleSetup(), nullptr);
+
+    // As the joint_model_group_ has no IK solver initialized, we expect a joint model state space
+    EXPECT_NE(dynamic_cast<ompl_interface::JointModelStateSpace*>(pc->getOMPLStateSpace().get()), nullptr);
+
+    // Create a new response, because the solve method does not clear the given respone
+    planning_interface::MotionPlanDetailedResponse response2;
+    ASSERT_TRUE(pc->solve(response2));
+
+    // Are the path constraints created in the planning context?
+    path_constraints = pc->getPathConstraints();
+    EXPECT_FALSE(path_constraints->empty());
+    EXPECT_EQ(path_constraints->getPositionConstraints().size(), 1u);
+    EXPECT_TRUE(path_constraints->getOrientationConstraints().empty());
+
+    // Check if all the states in the solution satisfy the path constraints.
+    // A detailed response returns 3 solutions: the ompl solution, the simplified solution and the interpolated
+    // solution. We test all of them here.
+    for (const robot_trajectory::RobotTrajectoryPtr& trajectory : response2.trajectory_)
+    {
+      for (std::size_t pt_index = { 0 }; pt_index < trajectory->getWayPointCount(); ++pt_index)
+      {
+        EXPECT_TRUE(path_constraints->decide(trajectory->getWayPoint(pt_index)).satisfied);
+      }
+    }
+  }
+
+  // /***************************************************************************
+  //  * END Test implementation
+  //  * ************************************************************************/
+
+protected:
+  void SetUp() override
+  {
+    // create all the fixed input necessary for all planning context managers
+    constraint_sampler_manager_ = std::make_shared<constraint_samplers::ConstraintSamplerManager>();
+    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
+  }
+
+  void TearDown() override
+  {
+  }
+
+  /** Create a planning request to plan from a given start state to a joint space goal. **/
+  planning_interface::MotionPlanRequest createRequest(const std::vector<double>& start,
+                                                      const std::vector<double>& goal) const
+  {
+    planning_interface::MotionPlanRequest request;
+    request.group_name = group_name_;
+    request.allowed_planning_time = 5.0;
+
+    // fill out start state in request
+    robot_state::RobotState start_state(robot_model_);
+    start_state.setToDefaultValues();
+    start_state.setJointGroupPositions(joint_model_group_, start);
+    moveit::core::robotStateToRobotStateMsg(start_state, request.start_state);
+
+    // fill out goal state in request
+    robot_state::RobotState goal_state(robot_model_);
+    goal_state.setToDefaultValues();
+    goal_state.setJointGroupPositions(joint_model_group_, goal);
+    moveit_msgs::Constraints joint_goal =
+        kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group_, 0.001);
+    request.goal_constraints.push_back(joint_goal);
+
+    return request;
+  }
+
+  /** \brief Helper function to create a position constraint. **/
+  moveit_msgs::PositionConstraint createPositionConstraint(std::array<double, 3> position,
+                                                           std::array<double, 3> dimensions)
+  {
+    shape_msgs::SolidPrimitive box;
+    box.type = shape_msgs::SolidPrimitive::BOX;
+    box.dimensions.resize(3);
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_X] = dimensions[0];
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_Y] = dimensions[1];
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_Z] = dimensions[2];
+
+    geometry_msgs::Pose box_pose;
+    box_pose.position.x = position[0];
+    box_pose.position.y = position[1];
+    box_pose.position.z = position[2];
+    box_pose.orientation.w = 1.0;
+
+    moveit_msgs::PositionConstraint pc;
+    pc.header.frame_id = base_link_name_;
+    pc.link_name = ee_link_name_;
+    pc.constraint_region.primitives.push_back(box);
+    pc.constraint_region.primitive_poses.push_back(box_pose);
+
+    return pc;
+  }
+
+  /** \brief Helper function to create a orientation constraint. **/
+  moveit_msgs::OrientationConstraint createOrientationConstraint(const geometry_msgs::Quaternion& nominal_orientation)
+  {
+    moveit_msgs::OrientationConstraint oc;
+    oc.header.frame_id = base_link_name_;
+    oc.link_name = ee_link_name_;
+    oc.orientation = nominal_orientation;
+    oc.absolute_x_axis_tolerance = 0.3;
+    oc.absolute_y_axis_tolerance = 0.3;
+    oc.absolute_z_axis_tolerance = 0.3;
+
+    return oc;
+  }
+
+  ompl_interface::ModelBasedStateSpacePtr state_space_;
+  ompl_interface::ModelBasedPlanningContextSpecification planning_context_spec_;
+  ompl_interface::ModelBasedPlanningContextPtr planning_context_;
+  planning_scene::PlanningScenePtr planning_scene_;
+
+  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
+
+  /** Ideally we add an IK plugin to the joint_model_group_ to test the PoseModel state space, using the pluginlib to
+   * load the default KDL plugin? **/
+  // std::shared_ptr<kinematics::KinematicsBase> ik_plugin_;
+
+  /** we need a node handle to call getPlanningRequest, but it is never used, as we disable the
+   * 'use_constraints_approximation' option. **/
+  ros::NodeHandle node_handle_;
+};
+
+/***************************************************************************
+ * Run all tests on the Panda robot
+ * ************************************************************************/
+class PandaTestPlanningContext : public TestPlanningContext
+{
+protected:
+  PandaTestPlanningContext() : TestPlanningContext("panda", "panda_arm")
+  {
+  }
+};
+
+TEST_F(PandaTestPlanningContext, testSimpleRequest)
+{
+  // use the panda "ready" state from the srdf config as start state
+  // we know this state should be within limits and self-collision free
+  testSimpleRequest({ 0, -0.785, 0, -2.356, 0, 1.571, 0.785 }, { 0, -0.785, 0, -2.356, 0, 1.571, 0.685 });
+}
+
+TEST_F(PandaTestPlanningContext, testPathConstraints)
+{
+  testPathConstraints({ 0, -0.785, 0, -2.356, 0, 1.571, 0.785 }, { 0, -0.785, 0, -2.356, 0, 1.571, 0.685 });
+}
+
+/***************************************************************************
+ * Run all tests on the Fanuc robot
+ * ************************************************************************/
+class FanucTestPlanningContext : public TestPlanningContext
+{
+protected:
+  FanucTestPlanningContext() : TestPlanningContext("fanuc", "manipulator")
+  {
+  }
+};
+
+TEST_F(FanucTestPlanningContext, testSimpleRequest)
+{
+  testSimpleRequest({ 0, 0, 0, 0, 0, 0 }, { 0, 0, 0, 0, 0, 0.1 });
+}
+
+TEST_F(FanucTestPlanningContext, testPathConstraints)
+{
+  testPathConstraints({ 0, 0, 0, 0, 0, 0 }, { 0, 0, 0, 0, 0, 0.1 });
+}
+
+/***************************************************************************
+ * MAIN
+ * ************************************************************************/
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "planning_context_manager_test");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.test b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.test
new file mode 100644
index 0000000000..64a3e6c087
--- /dev/null
+++ b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.test
@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+    <test pkg="moveit_planners_ompl" type="test_planning_context_manager" test-name="test_planning_context_manager" />
+</launch>
\ No newline at end of file
diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
index 877590134e..379fdf337a 100644
--- a/moveit_planners/ompl/package.xml
+++ b/moveit_planners/ompl/package.xml
@@ -26,7 +26,11 @@
   <depend version_gte="1.11.2">pluginlib</depend>
 
   <test_depend>moveit_resources_pr2_description</test_depend>
+  <test_depend>moveit_resources_fanuc_description</test_depend>
+  <test_depend>moveit_resources_panda_description</test_depend>
   <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>eigen_conversions</test_depend>
 
   <export>
     <moveit_core plugin="${prefix}/ompl_interface_plugin_description.xml"/>

From 4dc9ceeb54935549f992402ac1877b7947600759 Mon Sep 17 00:00:00 2001
From: "David V. Lu!!" <davidvlu@gmail.com>
Date: Wed, 21 Oct 2020 02:05:52 -0400
Subject: [PATCH 500/612] Update .github files (#2380)

---
 .github/CODEOWNERS                   | 40 ++++++++++++++--------------
 .github/ISSUE_TEMPLATE/bug_report.md |  2 +-
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3ccad28aee..b21c6f4486 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -32,10 +32,10 @@
 
 # FOLDER-SPECIFIC REVIEWERS:
 
-/moveit_plugins/moveit_ros_control_interface/	            @ipa-mdl @bmagyar
-/moveit_plugins/moveit_fake_controller_manager/	            @v4hn @rhaschke
-/moveit_plugins/moveit_simple_controller_manager/	    @mikeferguson @v4hn
-/moveit_plugins/moveit_controller_manager_example/	    @v4hn
+/moveit_plugins/moveit_ros_control_interface/               @ipa-mdl @bmagyar
+/moveit_plugins/moveit_fake_controller_manager/             @v4hn @rhaschke
+/moveit_plugins/moveit_simple_controller_manager/           @mikeferguson @v4hn
+/moveit_plugins/moveit_controller_manager_example/          @v4hn
 
 /moveit_core/background_processing/                         @tylerjw
 /moveit_core/backtrace/                                     @tylerjw
@@ -52,7 +52,7 @@
 /moveit_core/kinematics_metrics/                            @gavanderhoorn
 /moveit_core/macros/                                        @tylerjw
 /moveit_core/planning_interface/                            @rhaschke @felixvd
-/moveit_core/planning_request_adapter/                      @rhaschke 
+/moveit_core/planning_request_adapter/                      @rhaschke
 /moveit_core/planning_scene/                                @rhaschke @felixvd
 /moveit_core/profiler/                                      @tylerjw
 /moveit_core/robot_model/                                   @tylerjw
@@ -66,20 +66,20 @@
 
 /moveit_commander/                                          @rhaschke @willcbaker
 
-/moveit/	                                            @130s
+/moveit/                                                    @130s
 
-/moveit_kinematics/	                                    @rhaschke @gavanderhoorn @jrgnicho
+/moveit_kinematics/                                         @rhaschke @gavanderhoorn @jrgnicho
 
-/moveit_experimental/	                                    @AndyZe
+/moveit_experimental/                                       @AndyZe
 
-/moveit_ros/perception/	                                    @jliukkonen @RoboticsYY
-/moveit_ros/manipulation/	                            @v4hn @felixvd
-/moveit_ros/benchmarks/	                                    @henningkayser @MohmadAyman
-/moveit_ros/planning_interface/	                            @mintar @rhaschke @felixvd
-/moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
-/moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
-/moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @tylerjw @RoboticsYY @felixvd
+/moveit_ros/perception/                                     @jliukkonen @RoboticsYY
+/moveit_ros/manipulation/                                   @v4hn @felixvd
+/moveit_ros/benchmarks/                                     @henningkayser @MohmadAyman
+/moveit_ros/planning_interface/                             @mintar @rhaschke @felixvd
+/moveit_ros/robot_interaction/                              @mikeferguson @rhaschke
+/moveit_ros/warehouse/                                      @mikeferguson @dg-shadow
+/moveit_ros/move_group/                                     @rhaschke @IanTheEngineer
+/moveit_ros/visualization/                                  @rhaschke @tylerjw @RoboticsYY @felixvd
 
 /moveit_ros/planning/collision_plugin_loader/               @j-petit
 /moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks
@@ -93,10 +93,10 @@
 /moveit_ros/planning/robot_model_loader/                    @nbbrooks
 /moveit_ros/planning/trajectory_execution_manager/          @rhaschke
 
-/moveit_setup_assistant/	                            @RoboticsYY @rhaschke @MohmadAyman
+/moveit_setup_assistant/                                    @RoboticsYY @rhaschke @MohmadAyman
 
-/moveit_planners/ompl/	                                    @BryceStevenWilley @mamoll
+/moveit_planners/ompl/                                      @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_optimizer_adapter/	            @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_motion_planner/	            @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_optimizer_adapter/             @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_motion_planner/                @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/trajopt                                    @ommmid @mamoll
diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
index c7c77614ea..6806c4801e 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -12,7 +12,7 @@ assignees: ''
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Kinetic|Melodic]
+* ROS Distro: [Kinetic|Melodic|Noetic]
 * OS Version: e.g. Ubuntu 18.04
 * Source or Binary build?
 * If binary, which release version?

From 181f235572378330fab00b8f1d087c14940ab8dd Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Wed, 21 Oct 2020 12:58:50 -0600
Subject: [PATCH 501/612] Fix servo trajectory point timestamping (#2375)

---
 moveit_ros/moveit_servo/src/pose_tracking.cpp |  7 ++-----
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 19 ++++++++++++++++---
 2 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index aeee8255fb..bd45fbf91f 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -132,11 +132,8 @@ PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positiona
       return PoseTrackingStatusCode::STOP_REQUESTED;
     }
 
-    // Compute servo command from PID controller output
-    auto msg = calculateTwistCommand();
-
-    // Send command to the Servo object, for execution
-    twist_stamped_pub_.publish(*msg);
+    // Compute servo command from PID controller output and send it to the Servo object, for execution
+    twist_stamped_pub_.publish(calculateTwistCommand());
   }
 
   doPostMotionReset();
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index f7cbfc48c3..aca414e649 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -169,8 +169,10 @@ void ServoCalcs::start()
   // We will update last_sent_command_ every time we start servo
   auto initial_joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
+  // When a joint_trajectory_controller receives a new command, a stamp of 0 indicates "begin immediately"
+  // See http://wiki.ros.org/joint_trajectory_controller#Trajectory_replacement
+  initial_joint_trajectory->header.stamp = ros::Time(0);
   initial_joint_trajectory->header.frame_id = parameters_.planning_frame;
-  initial_joint_trajectory->header.stamp = ros::Time::now();
   initial_joint_trajectory->joint_names = internal_joint_state_.name;
   trajectory_msgs::JointTrajectoryPoint point;
   point.time_from_start = ros::Duration(parameters_.publish_period);
@@ -361,7 +363,9 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
     // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
     if (parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
     {
-      joint_trajectory->header.stamp = ros::Time::now();
+      // When a joint_trajectory_controller receives a new command, a stamp of 0 indicates "begin immediately"
+      // See http://wiki.ros.org/joint_trajectory_controller#Trajectory_replacement
+      joint_trajectory->header.stamp = ros::Time(0);
       outgoing_cmd_pub_.publish(joint_trajectory);
     }
     else if (parameters_.command_out_type == "std_msgs/Float64MultiArray")
@@ -594,8 +598,10 @@ void ServoCalcs::calculateJointVelocities(sensor_msgs::JointState& joint_state,
 void ServoCalcs::composeJointTrajMessage(const sensor_msgs::JointState& joint_state,
                                          trajectory_msgs::JointTrajectory& joint_trajectory) const
 {
+  // When a joint_trajectory_controller receives a new command, a stamp of 0 indicates "begin immediately"
+  // See http://wiki.ros.org/joint_trajectory_controller#Trajectory_replacement
+  joint_trajectory.header.stamp = ros::Time(0);
   joint_trajectory.header.frame_id = parameters_.planning_frame;
-  joint_trajectory.header.stamp = ros::Time::now();
   joint_trajectory.joint_names = joint_state.name;
 
   trajectory_msgs::JointTrajectoryPoint point;
@@ -810,6 +816,13 @@ void ServoCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
   joint_trajectory.points.clear();
   joint_trajectory.points.emplace_back();
   trajectory_msgs::JointTrajectoryPoint& point = joint_trajectory.points.front();
+
+  // When sending out trajectory_msgs/JointTrajectory type messages, the "trajectory" is just a single point.
+  // That point cannot have the same timestamp as the start of trajectory execution since that would mean the
+  // arm has to reach the first trajectory point the moment execution begins. To prevent errors about points
+  // being 0 seconds in the past, the smallest supported timestep is added as time from start to the trajectory point.
+  point.time_from_start.fromNSec(1);
+
   point.positions.resize(num_joints_);
   point.velocities.resize(num_joints_);
 

From 1ebdb2d75e760910eeada4c2a0ad7520f4dae571 Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Thu, 22 Oct 2020 11:20:38 -0600
Subject: [PATCH 502/612] Change servo namespacing logic (#2354)

* Publish services correctly in the namespace of the node.

* Set relative joint state topic names be relative to the parent namespace of the servo node.

* Make parameter sub-namespace optional. By default load the parameters into node namespace.

* Fix node handles for the servo server node and the cpp interface example to use node namespace instead of the parent namespace.

* Fix formatting

* Reading ee_frame_name parameter got lost somewhere along the way. Add it back.

* Remove explicit parameter_ns variables and used namespaced node handles instead.

* Fix internal namespace to truly be internal even in case where two or more Servo instances are launched from a single node.

* Fix command_out_topic parameter in ur_simulated_config.yaml example config.

* Apply namespacing fixes also to tests.

* Shorten the comment about joint states topic names.
---
 .../config/ur_simulated_config.yaml           |  10 +-
 .../include/moveit_servo/pose_tracking.h      |   6 +-
 .../moveit_servo/include/moveit_servo/servo.h |   6 +-
 .../include/moveit_servo/servo_calcs.h        |   2 +-
 .../launch/cpp_interface_example.launch       |   4 +-
 .../moveit_servo/launch/spacenav_cpp.launch   |   4 +-
 .../launch/spacenav_teleop_tools.launch       |   4 +-
 .../moveit_servo/src/collision_check.cpp      |   2 +-
 .../cpp_interface_example.cpp                 |   2 +-
 .../pose_tracking_example.cpp                 |   8 +-
 moveit_ros/moveit_servo/src/pose_tracking.cpp |  72 ++++++------
 moveit_ros/moveit_servo/src/servo.cpp         | 110 ++++++++----------
 moveit_ros/moveit_servo/src/servo_calcs.cpp   |  16 +--
 moveit_ros/moveit_servo/src/servo_server.cpp  |   2 +-
 .../moveit_servo/test/pose_tracking_test.cpp  |   7 +-
 .../moveit_servo/test/pose_tracking_test.test |   2 +-
 .../test/servo_cpp_interface_test.cpp         |   2 +-
 .../test/servo_cpp_interface_test.test        |   4 +-
 18 files changed, 121 insertions(+), 142 deletions(-)

diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index d2ea184f40..59b6599e5d 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -46,11 +46,11 @@ hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
 joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
-cartesian_command_in_topic: servo_server/delta_twist_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: servo_server/delta_joint_cmds # Topic for incoming joint angle commands
-joint_topic:  joint_states
-status_topic: servo_server/status # Publish status to this topic
-command_out_topic: joint_group_position_controller/command # Publish outgoing commands here
+cartesian_command_in_topic: delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic: joint_states
+status_topic: status # Publish status to this topic
+command_out_topic: /joint_group_position_controller/command # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
index bd7c24fbce..d76c58481b 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
@@ -85,8 +85,7 @@ class PoseTracking
 {
 public:
   /** \brief Constructor. Loads ROS parameters under the given namespace. */
-  PoseTracking(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-               const std::string& parameter_ns = "");
+  PoseTracking(const ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   PoseTrackingStatusCode moveToPose(const Eigen::Vector3d& positional_tolerance, const double angular_tolerance,
                                     const double target_pose_timeout);
@@ -184,9 +183,6 @@ class PoseTracking
   // Flag that a different thread has requested a stop.
   std::atomic<bool> stop_requested_;
 
-  // Read parameters from this namespace
-  std::string parameter_ns_;
-
   double angular_error_;
 };
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index b520d807d6..6205e09c97 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -53,8 +53,7 @@ namespace moveit_servo
 class Servo
 {
 public:
-  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-        const std::string& parameter_ns = "");
+  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   ~Servo();
 
@@ -112,9 +111,6 @@ class Servo
   std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
   std::unique_ptr<ServoCalcs> servo_calcs_;
   std::unique_ptr<CollisionCheck> collision_checker_;
-
-  // Read parameters from this namespace
-  std::string parameter_ns_;
 };
 
 // ServoPtr using alias
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 26f7c4c947..37e7e647db 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -66,7 +66,7 @@ class ServoCalcs
 public:
   ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
              const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber, std::string& ros_namespace);
+             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
 
   ~ServoCalcs()
   {
diff --git a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
index c2ac9b8748..7498446ff8 100644
--- a/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
+++ b/moveit_ros/moveit_servo/launch/cpp_interface_example.launch
@@ -2,8 +2,8 @@
   <!-- Launch an example that sends commands via C++ API. -->
 
   <node name="servo_server" pkg="moveit_servo" type="cpp_interface_example" output="screen" >
-    <param name="parameter_ns" type="string" value="servo_server" />
-    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
+    <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
+    <rosparam ns="optional_parameter_namespace" command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
index 41d81862db..b60db1fa0e 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_cpp.launch
@@ -13,8 +13,8 @@
   <node name="spacenav_to_twist" pkg="moveit_servo" type="spacenav_to_twist" output="screen" />
 
   <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen" >
-    <param name="parameter_ns" type="string" value="servo_server" />
-    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
+    <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
+    <rosparam ns="optional_parameter_namespace" command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
 </launch>
diff --git a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
index 93847e35a1..e3834b5e16 100644
--- a/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
+++ b/moveit_ros/moveit_servo/launch/spacenav_teleop_tools.launch
@@ -10,8 +10,8 @@
 
   <!-- This node does the servoing calculations -->
   <node name="servo_server" pkg="moveit_servo" type="servo_server" output="screen" >
-    <param name="parameter_ns" type="string" value="servo_server" />
-    <rosparam command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
+    <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
+    <rosparam ns="optional_parameter_namespace" command="load" file="$(find moveit_servo)/config/ur_simulated_config.yaml" />
   </node>
 
   <!-- teleop_tools translates a joystick command into a twist message -->
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index ec047c9953..73c42dbdcd 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -75,7 +75,7 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoPar
   safety_factor_ = parameters_.collision_distance_safety_factor;
 
   // Internal namespace
-  ros::NodeHandle internal_nh("~internal");
+  ros::NodeHandle internal_nh(nh_, "internal");
   collision_velocity_scale_pub_ = internal_nh.advertise<std_msgs::Float64>("collision_velocity_scale", ROS_QUEUE_SIZE);
   worst_case_stop_time_sub_ =
       internal_nh.subscribe("worst_case_stop_time", ROS_QUEUE_SIZE, &CollisionCheck::worstCaseStopTimeCB, this);
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
index c1170d10a9..d51ce11b19 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/cpp_interface_example.cpp
@@ -75,7 +75,7 @@ class StatusMonitor
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
-  ros::NodeHandle nh;
+  ros::NodeHandle nh("~");
   ros::AsyncSpinner spinner(8);
   spinner.start();
 
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
index 95d3a0aa4e..b5ec8d176f 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
@@ -79,7 +79,7 @@ class StatusMonitor
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, LOGNAME);
-  ros::NodeHandle nh;
+  ros::NodeHandle nh("~");
   ros::AsyncSpinner spinner(8);
   spinner.start();
 
@@ -100,14 +100,14 @@ int main(int argc, char** argv)
   planning_scene_monitor->startStateMonitor();
 
   // Create the pose tracker
-  moveit_servo::PoseTracking tracker(planning_scene_monitor, "servo_server");
+  moveit_servo::PoseTracking tracker(nh, planning_scene_monitor);
 
   // Make a publisher for sending pose commands
   ros::Publisher target_pose_pub =
-      nh.advertise<geometry_msgs::PoseStamped>("/servo_server/target_pose", 1 /* queue */, true /* latch */);
+      nh.advertise<geometry_msgs::PoseStamped>("target_pose", 1 /* queue */, true /* latch */);
 
   // Subscribe to servo status (and log it when it changes)
-  StatusMonitor status_monitor(nh, "servo_server/status");
+  StatusMonitor status_monitor(nh, "status");
 
   Eigen::Vector3d lin_tol{ 0.01, 0.01, 0.01 };
   double rot_tol = 0.1;
diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index bd45fbf91f..065e547f8e 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -43,13 +43,13 @@ constexpr double ROS_STARTUP_WAIT = 10;    // sec
 
 namespace moveit_servo
 {
-PoseTracking::PoseTracking(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                           const std::string& parameter_ns)
-  : planning_scene_monitor_(planning_scene_monitor)
+PoseTracking::PoseTracking(const ros::NodeHandle& nh,
+                           const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : nh_(nh)
+  , planning_scene_monitor_(planning_scene_monitor)
   , loop_rate_(DEFAULT_LOOP_RATE)
   , transform_listener_(transform_buffer_)
   , stop_requested_(false)
-  , parameter_ns_(parameter_ns)
   , angular_error_(0)
 {
   readROSParams();
@@ -64,13 +64,12 @@ PoseTracking::PoseTracking(const planning_scene_monitor::PlanningSceneMonitorPtr
   initializePID(angular_pid_config_, cartesian_orientation_pids_);
 
   // Use the C++ interface that Servo provides
-  servo_ = std::make_unique<moveit_servo::Servo>(nh_, planning_scene_monitor_, parameter_ns_);
+  servo_ = std::make_unique<moveit_servo::Servo>(nh_, planning_scene_monitor_);
   servo_->start();
 
   // Connect to Servo ROS interfaces
-  std::string target_pose_topic = "/" + parameter_ns_ + "/target_pose";
   target_pose_sub_ =
-      nh_.subscribe<geometry_msgs::PoseStamped>(target_pose_topic, 1, &PoseTracking::targetPoseCallback, this);
+      nh_.subscribe<geometry_msgs::PoseStamped>("target_pose", 1, &PoseTracking::targetPoseCallback, this);
 
   // Publish outgoing twist commands to the Servo object
   twist_stamped_pub_ =
@@ -142,30 +141,27 @@ PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positiona
 
 void PoseTracking::readROSParams()
 {
-  std::size_t error = 0;
-
-  // Check for parameter namespace from launch file. All other parameters will be read from this namespace.
-  std::string yaml_namespace;
-  if (ros::param::get("~parameter_ns", yaml_namespace))
-  {
-    if (!parameter_ns_.empty())
-      ROS_WARN_STREAM_NAMED(LOGNAME,
-                            "A parameter namespace was specified in the launch file AND in the constructor argument.");
+  // Optional parameter sub-namespace specified in the launch file. All other parameters will be read from this namespace.
+  std::string parameter_ns;
+  ros::param::get("~parameter_ns", parameter_ns);
 
-    parameter_ns_ = yaml_namespace;
-  }
+  // If parameters have been loaded into sub-namespace within the node namespace, append the parameter namespace
+  // to load the parameters correctly.
+  ros::NodeHandle nh = parameter_ns.empty() ? nh_ : ros::NodeHandle(nh_, parameter_ns);
 
   // Wait for ROS parameters to load
   ros::Time begin = ros::Time::now();
-  while (ros::ok() && !ros::param::has(parameter_ns_ + "/planning_frame") &&
-         ((ros::Time::now() - begin).toSec() < ROS_STARTUP_WAIT))
+  while (ros::ok() && !nh.hasParam("planning_frame") && ((ros::Time::now() - begin).toSec() < ROS_STARTUP_WAIT))
   {
-    ROS_WARN_STREAM_NAMED(LOGNAME, "Waiting for parameter: " << parameter_ns_ + "/planning_frame");
+    ROS_WARN_STREAM_NAMED(LOGNAME, "Waiting for parameter: "
+                                       << "planning_frame");
     ros::Duration(0.1).sleep();
   }
 
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/planning_frame", planning_frame_);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/move_group_name", move_group_name_);
+  std::size_t error = 0;
+
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "planning_frame", planning_frame_);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "move_group_name", move_group_name_);
   if (!planning_scene_monitor_->getRobotModel()->hasJointModelGroup(move_group_name_))
   {
     ++error;
@@ -173,7 +169,7 @@ void PoseTracking::readROSParams()
   }
 
   double publish_period;
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_period", publish_period);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "publish_period", publish_period);
   loop_rate_ = ros::Rate(1 / publish_period);
 
   x_pid_config_.dt = publish_period;
@@ -182,25 +178,25 @@ void PoseTracking::readROSParams()
   angular_pid_config_.dt = publish_period;
 
   double windup_limit;
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/windup_limit", windup_limit);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "windup_limit", windup_limit);
   x_pid_config_.windup_limit = windup_limit;
   y_pid_config_.windup_limit = windup_limit;
   z_pid_config_.windup_limit = windup_limit;
   angular_pid_config_.windup_limit = windup_limit;
 
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_proportional_gain", x_pid_config_.k_p);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_proportional_gain", y_pid_config_.k_p);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_proportional_gain", z_pid_config_.k_p);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_integral_gain", x_pid_config_.k_i);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_integral_gain", y_pid_config_.k_i);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_integral_gain", z_pid_config_.k_i);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/x_derivative_gain", x_pid_config_.k_d);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/y_derivative_gain", y_pid_config_.k_d);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/z_derivative_gain", z_pid_config_.k_d);
-
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_proportional_gain", angular_pid_config_.k_p);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_integral_gain", angular_pid_config_.k_i);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/angular_derivative_gain", angular_pid_config_.k_d);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "x_proportional_gain", x_pid_config_.k_p);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "y_proportional_gain", y_pid_config_.k_p);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "z_proportional_gain", z_pid_config_.k_p);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "x_integral_gain", x_pid_config_.k_i);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "y_integral_gain", y_pid_config_.k_i);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "z_integral_gain", z_pid_config_.k_i);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "x_derivative_gain", x_pid_config_.k_d);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "y_derivative_gain", y_pid_config_.k_d);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "z_derivative_gain", z_pid_config_.k_d);
+
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "angular_proportional_gain", angular_pid_config_.k_p);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "angular_integral_gain", angular_pid_config_.k_i);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "angular_derivative_gain", angular_pid_config_.k_d);
 
   rosparam_shortcuts::shutdownIfError(ros::this_node::getName(), error);
 }
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index f278d18f67..8467837429 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -45,18 +45,19 @@ static const std::string LOGNAME = "servo_node";
 
 namespace moveit_servo
 {
-Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-             const std::string& parameter_ns)
-  : nh_(nh), planning_scene_monitor_(planning_scene_monitor), parameter_ns_(parameter_ns)
+Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
 {
   // Read ROS parameters, typically from YAML file
   if (!readParameters())
     exit(EXIT_FAILURE);
 
-  joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_, parameters_.joint_topic);
+  // By default, joint topic name is relative to the node parent namespace. Fully custom joint name topics can be
+  // set by using absolute topic names in config files. For example, "/foo/my_joint_state_topic".
+  ros::NodeHandle nh_parent_ns = ros::NodeHandle("");
+  joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_parent_ns, parameters_.joint_topic);
 
-  servo_calcs_ =
-      std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_, parameter_ns_);
+  servo_calcs_ = std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
 
   collision_checker_ =
       std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
@@ -67,67 +68,58 @@ bool Servo::readParameters()
 {
   std::size_t error = 0;
 
-  // Check for parameter namespace from launch file. All other parameters will be read from this namespace.
-  std::string yaml_namespace;
-  if (ros::param::get("~parameter_ns", yaml_namespace))
-  {
-    if (!parameter_ns_.empty())
-      ROS_WARN_STREAM_NAMED(LOGNAME,
-                            "A parameter namespace was specified in the launch file AND in the constructor argument.");
+  // Optional parameter sub-namespace specified in the launch file. All other parameters will be read from this namespace.
+  std::string parameter_ns;
+  ros::param::get("~parameter_ns", parameter_ns);
 
-    parameter_ns_ = yaml_namespace;
-  }
+  // If parameters have been loaded into sub-namespace within the node namespace, append the parameter namespace
+  // to load the parameters correctly.
+  ros::NodeHandle nh = parameter_ns.empty() ? nh_ : ros::NodeHandle(nh_, parameter_ns);
 
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_period", parameters_.publish_period);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_check_rate", parameters_.collision_check_rate);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/num_outgoing_halt_msgs_to_publish",
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "publish_period", parameters_.publish_period);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "collision_check_rate", parameters_.collision_check_rate);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "num_outgoing_halt_msgs_to_publish",
                                     parameters_.num_outgoing_halt_msgs_to_publish);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/linear", parameters_.linear_scale);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/rotational", parameters_.rotational_scale);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/scale/joint", parameters_.joint_scale);
-  error +=
-      !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/low_pass_filter_coeff", parameters_.low_pass_filter_coeff);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_topic", parameters_.joint_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_in_type", parameters_.command_in_type);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/cartesian_command_in_topic",
-                                    parameters_.cartesian_command_in_topic);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "scale/linear", parameters_.linear_scale);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "scale/rotational", parameters_.rotational_scale);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "scale/joint", parameters_.joint_scale);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "low_pass_filter_coeff", parameters_.low_pass_filter_coeff);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "joint_topic", parameters_.joint_topic);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "command_in_type", parameters_.command_in_type);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "cartesian_command_in_topic", parameters_.cartesian_command_in_topic);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "joint_command_in_topic", parameters_.joint_command_in_topic);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "robot_link_command_frame", parameters_.robot_link_command_frame);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "incoming_command_timeout", parameters_.incoming_command_timeout);
   error +=
-      !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_command_in_topic", parameters_.joint_command_in_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/robot_link_command_frame",
-                                    parameters_.robot_link_command_frame);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/incoming_command_timeout",
-                                    parameters_.incoming_command_timeout);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/lower_singularity_threshold",
-                                    parameters_.lower_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/hard_stop_singularity_threshold",
+      !rosparam_shortcuts::get(LOGNAME, nh, "lower_singularity_threshold", parameters_.lower_singularity_threshold);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "hard_stop_singularity_threshold",
                                     parameters_.hard_stop_singularity_threshold);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/move_group_name", parameters_.move_group_name);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/planning_frame", parameters_.planning_frame);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/ee_frame_name", parameters_.ee_frame_name);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/use_gazebo", parameters_.use_gazebo);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/joint_limit_margin", parameters_.joint_limit_margin);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_out_topic", parameters_.command_out_topic);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/command_out_type", parameters_.command_out_type);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_positions",
-                                    parameters_.publish_joint_positions);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_velocities",
-                                    parameters_.publish_joint_velocities);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/publish_joint_accelerations",
-                                    parameters_.publish_joint_accelerations);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "move_group_name", parameters_.move_group_name);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "planning_frame", parameters_.planning_frame);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "ee_frame_name", parameters_.ee_frame_name);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "use_gazebo", parameters_.use_gazebo);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "joint_limit_margin", parameters_.joint_limit_margin);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "command_out_topic", parameters_.command_out_topic);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "command_out_type", parameters_.command_out_type);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "publish_joint_positions", parameters_.publish_joint_positions);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "publish_joint_velocities", parameters_.publish_joint_velocities);
+  error +=
+      !rosparam_shortcuts::get(LOGNAME, nh, "publish_joint_accelerations", parameters_.publish_joint_accelerations);
 
   // Parameters for collision checking
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/check_collisions", parameters_.check_collisions);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_check_type", parameters_.collision_check_type);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "check_collisions", parameters_.check_collisions);
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "collision_check_type", parameters_.collision_check_type);
   bool have_self_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", nh_, parameter_ns_ + "/self_collision_proximity_threshold", parameters_.self_collision_proximity_threshold);
+      LOGNAME, nh, "self_collision_proximity_threshold", parameters_.self_collision_proximity_threshold);
   bool have_scene_collision_proximity_threshold = rosparam_shortcuts::get(
-      "", nh_, parameter_ns_ + "/scene_collision_proximity_threshold", parameters_.scene_collision_proximity_threshold);
+      LOGNAME, nh, "scene_collision_proximity_threshold", parameters_.scene_collision_proximity_threshold);
+
   double collision_proximity_threshold;
   // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
   // thresholds
   // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
-  if (nh_.hasParam(parameter_ns_ + "/collision_proximity_threshold") &&
-      rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_proximity_threshold", collision_proximity_threshold))
+  if (nh_.hasParam("collision_proximity_threshold") &&
+      rosparam_shortcuts::get(LOGNAME, nh, "collision_proximity_threshold", collision_proximity_threshold))
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
                             "'self_collision_proximity_threshold' and 'scene_collision_proximity_threshold' "
@@ -145,22 +137,22 @@ bool Servo::readParameters()
   }
   error += !have_self_collision_proximity_threshold;
   error += !have_scene_collision_proximity_threshold;
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/collision_distance_safety_factor",
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "collision_distance_safety_factor",
                                     parameters_.collision_distance_safety_factor);
-  error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/min_allowable_collision_distance",
+  error += !rosparam_shortcuts::get(LOGNAME, nh, "min_allowable_collision_distance",
                                     parameters_.min_allowable_collision_distance);
 
   // This parameter name was changed recently.
   // Try retrieving from the correct name. If it fails, then try the deprecated name.
   // TODO(andyz): remove this deprecation warning in ROS Noetic
-  if (!rosparam_shortcuts::get("", nh_, parameter_ns_ + "/status_topic", parameters_.status_topic))
+  if (!rosparam_shortcuts::get(LOGNAME, nh, "status_topic", parameters_.status_topic))
   {
     ROS_WARN_NAMED(LOGNAME, "'status_topic' parameter is missing. Recently renamed from 'warning_topic'. Please update "
                             "the servoing yaml file.");
-    error += !rosparam_shortcuts::get("", nh_, parameter_ns_ + "/warning_topic", parameters_.status_topic);
+    error += !rosparam_shortcuts::get(LOGNAME, nh, "warning_topic", parameters_.status_topic);
   }
 
-  rosparam_shortcuts::shutdownIfError(parameter_ns_, error);
+  rosparam_shortcuts::shutdownIfError(LOGNAME, error);
 
   // Input checking
   if (parameters_.publish_period <= 0.)
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index aca414e649..4b06627621 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -86,7 +86,7 @@ geometry_msgs::TransformStamped convertIsometryToTransform(const Eigen::Isometry
 // Constructor for the class that handles servoing calculations
 ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber, std::string& ros_namespace)
+                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
@@ -113,19 +113,19 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
   joint_cmd_sub_ = nh_.subscribe(parameters_.joint_command_in_topic, ROS_QUEUE_SIZE, &ServoCalcs::jointCmdCB, this);
 
   // ROS Server for allowing drift in some dimensions
-  drift_dimensions_server_ =
-      nh_.advertiseService(ros_namespace + "/change_drift_dimensions", &ServoCalcs::changeDriftDimensions, this);
+  drift_dimensions_server_ = nh_.advertiseService(ros::names::append(nh_.getNamespace(), "change_drift_dimensions"),
+                                                  &ServoCalcs::changeDriftDimensions, this);
 
   // ROS Server for changing the control dimensions
-  control_dimensions_server_ =
-      nh_.advertiseService(ros_namespace + "/change_control_dimensions", &ServoCalcs::changeControlDimensions, this);
+  control_dimensions_server_ = nh_.advertiseService(ros::names::append(nh_.getNamespace(), "change_control_dimensions"),
+                                                    &ServoCalcs::changeControlDimensions, this);
 
   // ROS Server to reset the status, e.g. so the arm can move again after a collision
-  reset_servo_status_ =
-      nh_.advertiseService(ros_namespace + "/reset_servo_status", &ServoCalcs::resetServoStatus, this);
+  reset_servo_status_ = nh_.advertiseService(ros::names::append(nh_.getNamespace(), "reset_servo_status"),
+                                             &ServoCalcs::resetServoStatus, this);
 
   // Publish and Subscribe to internal namespace topics
-  ros::NodeHandle internal_nh("~internal");
+  ros::NodeHandle internal_nh(nh_, "internal");
   collision_velocity_scale_sub_ =
       internal_nh.subscribe("collision_velocity_scale", ROS_QUEUE_SIZE, &ServoCalcs::collisionVelocityScaleCB, this);
   worst_case_stop_time_pub_ = internal_nh.advertise<std_msgs::Float64>("worst_case_stop_time", ROS_QUEUE_SIZE);
diff --git a/moveit_ros/moveit_servo/src/servo_server.cpp b/moveit_ros/moveit_servo/src/servo_server.cpp
index 31e477c837..5c630f3082 100644
--- a/moveit_ros/moveit_servo/src/servo_server.cpp
+++ b/moveit_ros/moveit_servo/src/servo_server.cpp
@@ -52,7 +52,7 @@ int main(int argc, char** argv)
   ros::AsyncSpinner spinner(ROS_THREADS);
   spinner.start();
 
-  ros::NodeHandle nh;
+  ros::NodeHandle nh("~");
 
   // Load the planning scene monitor
   auto planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
diff --git a/moveit_ros/moveit_servo/test/pose_tracking_test.cpp b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
index 782fa23c5a..765094899d 100644
--- a/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
+++ b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
@@ -78,10 +78,9 @@ class PoseTrackingFixture : public ::testing::Test
         planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
         false /* skip octomap monitor */);
 
-    tracker_ = std::make_shared<moveit_servo::PoseTracking>(planning_scene_monitor_, "");
+    tracker_ = std::make_shared<moveit_servo::PoseTracking>(nh_, planning_scene_monitor_);
 
-    target_pose_pub_ =
-        nh_.advertise<geometry_msgs::PoseStamped>("/pose_tracking_test/target_pose", 1 /* queue */, true /* latch */);
+    target_pose_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("target_pose", 1 /* queue */, true /* latch */);
 
     // Tolerance for pose seeking
     translation_tolerance_ << TRANSLATION_TOLERANCE, TRANSLATION_TOLERANCE, TRANSLATION_TOLERANCE;
@@ -91,7 +90,7 @@ class PoseTrackingFixture : public ::testing::Test
   }
 
 protected:
-  ros::NodeHandle nh_;
+  ros::NodeHandle nh_{ "~" };
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
   Eigen::Vector3d translation_tolerance_;
   moveit_servo::PoseTrackingPtr tracker_;
diff --git a/moveit_ros/moveit_servo/test/pose_tracking_test.test b/moveit_ros/moveit_servo/test/pose_tracking_test.test
index 4f162d0c0d..f149e48c32 100644
--- a/moveit_ros/moveit_servo/test/pose_tracking_test.test
+++ b/moveit_ros/moveit_servo/test/pose_tracking_test.test
@@ -17,7 +17,7 @@
 
   <test pkg="moveit_servo" type="pose_tracking_test" test-name="pose_tracking_test" time-limit="60
     " args="">
-    <param name="parameter_ns" type="string" value="pose_tracking_test" />
+    <param name="parameter_ns" type="string" value="" />
     <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
     <rosparam command="load" file="$(find moveit_servo)/config/pose_tracking_settings.yaml"/>
   </test>
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
index 53684c1787..fa61c32e0a 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.cpp
@@ -89,7 +89,7 @@ class ServoFixture : public ::testing::Test
   }
 
 protected:
-  ros::NodeHandle nh_;
+  ros::NodeHandle nh_{ "~" };
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
   moveit_servo::ServoPtr servo_;
 };  // class ServoFixture
diff --git a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
index f165250d82..94c6a2a7f4 100644
--- a/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
+++ b/moveit_ros/moveit_servo/test/servo_cpp_interface_test.test
@@ -12,7 +12,7 @@
   </node>
 
   <test pkg="moveit_servo" type="servo_cpp_interface_test" test-name="servo_cpp_interface_test" time-limit="60" args="">
-    <param name="parameter_ns" type="string" value="servo_cpp_interface_test" />
-    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml"/>
+    <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings.yaml" ns="optional_parameter_namespace"/>
   </test>
 </launch>

From e337c0808be9b561d62f5c41c267643f5b46eb00 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Thu, 22 Oct 2020 17:07:46 -0600
Subject: [PATCH 503/612] Cleanup current state handling in servo (#2372)

---
 moveit_ros/moveit_servo/CMakeLists.txt        |   1 -
 moveit_ros/moveit_servo/MIGRATION.md          |   6 +
 .../include/moveit_servo/collision_check.h    |   9 +-
 .../moveit_servo/joint_state_subscriber.h     |  68 -----------
 .../moveit_servo/include/moveit_servo/servo.h |   5 -
 .../include/moveit_servo/servo_calcs.h        |  17 +--
 .../moveit_servo/src/collision_check.cpp      |  13 +-
 .../src/joint_state_subscriber.cpp            |  76 ------------
 moveit_ros/moveit_servo/src/servo.cpp         |  37 ++++--
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 115 ++++++------------
 10 files changed, 79 insertions(+), 268 deletions(-)
 create mode 100644 moveit_ros/moveit_servo/MIGRATION.md
 delete mode 100644 moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
 delete mode 100644 moveit_ros/moveit_servo/src/joint_state_subscriber.cpp

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 86c6d1ebcc..fcded51b2f 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -68,7 +68,6 @@ add_library(${SERVO_LIB_NAME}
   src/collision_check.cpp
   src/servo_calcs.cpp
   src/servo.cpp
-  src/joint_state_subscriber.cpp
   src/low_pass_filter.cpp
 )
 set_target_properties(${SERVO_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
diff --git a/moveit_ros/moveit_servo/MIGRATION.md b/moveit_ros/moveit_servo/MIGRATION.md
new file mode 100644
index 0000000000..ae97f6a75a
--- /dev/null
+++ b/moveit_ros/moveit_servo/MIGRATION.md
@@ -0,0 +1,6 @@
+# Migration Notes
+
+API changes since last Noetic Release
+
+- Servo::getLatestJointState was removed.  To get the latest joint positions of the group servo is working with use the CSM in the PSM.  Here is an example of how to get the latest joint positions:
+        planning_scene_monitor_->getStateMonitor()->getCurrentState()->copyJointGroupPositions(move_group_name, positions);
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 9accf79484..08aadaad46 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -46,7 +46,6 @@
 
 #include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/low_pass_filter.h>
-#include <moveit_servo/joint_state_subscriber.h>
 
 namespace moveit_servo
 {
@@ -65,8 +64,7 @@ class CollisionCheck
    *                                 already started when passed into this class
    */
   CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoParameters& parameters,
-                 const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                 const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
+                 const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   ~CollisionCheck()
   {
@@ -97,11 +95,8 @@ class CollisionCheck
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
-  // Subscriber to joint states
-  const std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
-
   // Robot state and collision matrix from planning scene
-  std::unique_ptr<moveit::core::RobotState> current_state_;
+  std::shared_ptr<moveit::core::RobotState> current_state_;
   collision_detection::AllowedCollisionMatrix acm_;
 
   // Scale robot velocity according to collision proximity and user-defined thresholds.
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
deleted file mode 100644
index 64c55367bc..0000000000
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*******************************************************************************
- * Title     : joint_state_subscriber.h
- * Project   : moveit_servo
- * Created   : 06/11/2020
- * Author    : Tyler Weaver
- *
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *******************************************************************************/
-
-#pragma once
-
-#include <mutex>
-
-#include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
-
-#include <moveit_servo/servo_parameters.h>
-
-namespace moveit_servo
-{
-class JointStateSubscriber
-{
-public:
-  /** \brief Constructor */
-  JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name);
-
-  /** \brief Get the latest joint state message */
-  sensor_msgs::JointStateConstPtr getLatest() const;
-
-private:
-  void jointStateCB(const sensor_msgs::JointStateConstPtr& msg);
-
-  ros::Subscriber joint_state_sub_;
-
-  // Latest joint state, updated by ROS callback
-  mutable std::mutex joint_state_mutex_;
-  sensor_msgs::JointStateConstPtr latest_joint_state_;
-};
-}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index 6205e09c97..aeb61dab2b 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -43,7 +43,6 @@
 #include <moveit_servo/collision_check.h>
 #include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/servo_calcs.h>
-#include <moveit_servo/joint_state_subscriber.h>
 
 namespace moveit_servo
 {
@@ -86,9 +85,6 @@ class Servo
   /** \brief Get the parameters used by servo node. */
   const ServoParameters& getParameters() const;
 
-  /** \brief Get the latest joint state. */
-  sensor_msgs::JointStateConstPtr getLatestJointState() const;
-
   /** \brief Change the controlled link. Often, this is the end effector
    * This must be a link on the robot since MoveIt tracks the transform (not tf)
    */
@@ -108,7 +104,6 @@ class Servo
   // Store the parameters that were read from ROS server
   ServoParameters parameters_;
 
-  std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
   std::unique_ptr<ServoCalcs> servo_calcs_;
   std::unique_ptr<CollisionCheck> collision_checker_;
 };
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 37e7e647db..c92171b179 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -38,6 +38,9 @@
 
 #pragma once
 
+// C++
+#include <mutex>
+
 // ROS
 #include <control_msgs/JointJog.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -57,7 +60,6 @@
 #include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/status_codes.h>
 #include <moveit_servo/low_pass_filter.h>
-#include <moveit_servo/joint_state_subscriber.h>
 
 namespace moveit_servo
 {
@@ -65,8 +67,7 @@ class ServoCalcs
 {
 public:
   ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
-             const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-             const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber);
+             const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
   ~ServoCalcs()
   {
@@ -115,7 +116,7 @@ class ServoCalcs
   bool jointServoCalcs(const control_msgs::JointJog& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
 
   /** \brief Parse the incoming joint msg for the joints of our MoveGroup */
-  bool updateJoints();
+  void updateJoints();
 
   /** \brief If incoming velocity commands are from a unitless joystick, scale them to physical units.
    * Also, multiply by timestep to calculate a position change.
@@ -220,9 +221,6 @@ class ServoCalcs
   // Pointer to the collision environment
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
-  // Subscriber to the latest joint states
-  const std::shared_ptr<JointStateSubscriber> joint_state_subscriber_;
-
   // Track the number of cycles during which motion has not occurred.
   // Will avoid re-publishing zero velocities endlessly.
   int zero_velocity_count_ = 0;
@@ -244,7 +242,7 @@ class ServoCalcs
 
   const moveit::core::JointModelGroup* joint_model_group_;
 
-  moveit::core::RobotStatePtr kinematic_state_;
+  moveit::core::RobotStatePtr current_state_;
 
   // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
   // (mutex protected below)
@@ -294,9 +292,6 @@ class ServoCalcs
   // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
   std::array<bool, 6> control_dimensions_ = { { true, true, true, true, true, true } };
 
-  // Amount we sleep when waiting
-  ros::Rate default_sleep_rate_ = 100;
-
   // latest_state_mutex_ is used to protect the state below it
   mutable std::mutex latest_state_mutex_;
   Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_;
diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp
index 73c42dbdcd..85aa7d4810 100644
--- a/moveit_ros/moveit_servo/src/collision_check.cpp
+++ b/moveit_ros/moveit_servo/src/collision_check.cpp
@@ -51,12 +51,10 @@ namespace moveit_servo
 {
 // Constructor for the class that handles collision checking
 CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoParameters& parameters,
-                               const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                               const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
+                               const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh)
   , parameters_(parameters)
   , planning_scene_monitor_(planning_scene_monitor)
-  , joint_state_subscriber_(joint_state_subscriber)
   , self_velocity_scale_coefficient_(-log(0.001) / parameters.self_collision_proximity_threshold)
   , scene_velocity_scale_coefficient_(-log(0.001) / parameters.scene_collision_proximity_threshold)
   , period_(1. / parameters_.collision_check_rate)
@@ -80,7 +78,7 @@ CollisionCheck::CollisionCheck(ros::NodeHandle& nh, const moveit_servo::ServoPar
   worst_case_stop_time_sub_ =
       internal_nh.subscribe("worst_case_stop_time", ROS_QUEUE_SIZE, &CollisionCheck::worstCaseStopTimeCB, this);
 
-  current_state_ = std::make_unique<moveit::core::RobotState>(getLockedPlanningSceneRO()->getCurrentState());
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
   acm_ = getLockedPlanningSceneRO()->getAllowedCollisionMatrix();
 }
 
@@ -109,11 +107,8 @@ void CollisionCheck::run(const ros::TimerEvent& timer_event)
     return;
   }
 
-  // Copy the latest joint state
-  auto latest_joint_state = joint_state_subscriber_->getLatest();
-  for (std::size_t i = 0; i < latest_joint_state->position.size(); ++i)
-    current_state_->setJointPositions(latest_joint_state->name[i], &latest_joint_state->position[i]);
-
+  // Update to the latest current state
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
   current_state_->updateCollisionBodyTransforms();
   collision_detected_ = false;
 
diff --git a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp b/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
deleted file mode 100644
index 22b8b4bfab..0000000000
--- a/moveit_ros/moveit_servo/src/joint_state_subscriber.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/*******************************************************************************
- * BSD 3-Clause License
- *
- * Copyright (c) 2019, Los Alamos National Security, LLC
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright notice, this
- *   list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright notice,
- *   this list of conditions and the following disclaimer in the documentation
- *   and/or other materials provided with the distribution.
- *
- * * Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from
- *   this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *******************************************************************************/
-
-/*      Title     : joint_state_subscriber.cpp
- *      Project   : moveit_servo
- *      Created   : 06/11/2020
- *      Author    : Tyler Weaver
- */
-
-#include <moveit_servo/joint_state_subscriber.h>
-
-namespace moveit_servo
-{
-constexpr char LOGNAME[] = "joint_state_subscriber";
-
-// Constructor for the class that handles collision checking
-JointStateSubscriber::JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name)
-{
-  // subscribe to joints
-  joint_state_sub_ = nh.subscribe(joint_state_topic_name, ROS_QUEUE_SIZE, &JointStateSubscriber::jointStateCB, this);
-
-  ros::AsyncSpinner spinner(1);
-  spinner.start();
-
-  // Wait for initial messages
-  ROS_INFO_NAMED(LOGNAME, "Waiting for first joint msg.");
-  while (latest_joint_state_ == nullptr)
-  {
-    ros::Duration(0.01).sleep();
-  }
-  ROS_INFO_NAMED(LOGNAME, "Received first joint msg.");
-}
-
-sensor_msgs::JointStateConstPtr JointStateSubscriber::getLatest() const
-{
-  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
-  return latest_joint_state_;
-}
-
-void JointStateSubscriber::jointStateCB(const sensor_msgs::JointStateConstPtr& msg)
-{
-  const std::lock_guard<std::mutex> lock(joint_state_mutex_);
-  latest_joint_state_ = msg;
-}
-
-}  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index 8467837429..b35267cc5b 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -39,12 +39,18 @@
 
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
+#include <moveit_servo/make_shared_from_pool.h>
 #include <moveit_servo/servo.h>
 
 static const std::string LOGNAME = "servo_node";
 
 namespace moveit_servo
 {
+namespace
+{
+constexpr double ROBOT_STATE_WAIT_TIME = 10.0;  // seconds
+}  // namespace
+
 Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
   : nh_(nh), planning_scene_monitor_(planning_scene_monitor)
 {
@@ -52,15 +58,27 @@ Servo::Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMon
   if (!readParameters())
     exit(EXIT_FAILURE);
 
-  // By default, joint topic name is relative to the node parent namespace. Fully custom joint name topics can be
-  // set by using absolute topic names in config files. For example, "/foo/my_joint_state_topic".
-  ros::NodeHandle nh_parent_ns = ros::NodeHandle("");
-  joint_state_subscriber_ = std::make_shared<JointStateSubscriber>(nh_parent_ns, parameters_.joint_topic);
+  // Async spinner is needed to receive messages to wait for the robot state to be complete
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  // Confirm the planning scene monitor is ready to be used
+  if (!planning_scene_monitor_->getStateMonitor())
+  {
+    planning_scene_monitor_->startStateMonitor(parameters_.joint_topic);
+  }
+  planning_scene_monitor->getStateMonitor()->enableCopyDynamics(true);
+
+  if (!planning_scene_monitor_->getStateMonitor()->waitForCompleteState(parameters_.move_group_name,
+                                                                        ROBOT_STATE_WAIT_TIME))
+  {
+    ROS_FATAL_NAMED(LOGNAME, "Timeout waiting for current state");
+    exit(EXIT_FAILURE);
+  }
 
-  servo_calcs_ = std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
+  servo_calcs_ = std::make_unique<ServoCalcs>(nh_, parameters_, planning_scene_monitor_);
 
-  collision_checker_ =
-      std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_, joint_state_subscriber_);
+  collision_checker_ = std::make_unique<CollisionCheck>(nh_, parameters_, planning_scene_monitor_);
 }
 
 // Read ROS parameters, typically from YAML file
@@ -316,9 +334,4 @@ const ServoParameters& Servo::getParameters() const
   return parameters_;
 }
 
-sensor_msgs::JointStateConstPtr Servo::getLatestJointState() const
-{
-  return joint_state_subscriber_->getLatest();
-}
-
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 4b06627621..8e34341380 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -42,8 +42,8 @@
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
-#include <moveit_servo/servo_calcs.h>
 #include <moveit_servo/make_shared_from_pool.h>
+#include <moveit_servo/servo_calcs.h>
 
 static const std::string LOGNAME = "servo_calcs";
 constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30;  // Seconds to throttle logs inside loops
@@ -85,26 +85,12 @@ geometry_msgs::TransformStamped convertIsometryToTransform(const Eigen::Isometry
 
 // Constructor for the class that handles servoing calculations
 ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
-                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
-                       const std::shared_ptr<JointStateSubscriber>& joint_state_subscriber)
-  : nh_(nh)
-  , parameters_(parameters)
-  , planning_scene_monitor_(planning_scene_monitor)
-  , joint_state_subscriber_(joint_state_subscriber)
-  , period_(parameters.publish_period)
+                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
+  : nh_(nh), parameters_(parameters), planning_scene_monitor_(planning_scene_monitor), period_(parameters.publish_period)
 {
   // MoveIt Setup
-  const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr = planning_scene_monitor_->getRobotModelLoader();
-  while (ros::ok() && !model_loader_ptr)
-  {
-    ROS_WARN_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Waiting for a non-null robot_model_loader pointer");
-    default_sleep_rate_.sleep();
-  }
-  const moveit::core::RobotModelPtr& kinematic_model = model_loader_ptr->getModel();
-  kinematic_state_ = std::make_shared<moveit::core::RobotState>(kinematic_model);
-  kinematic_state_->setToDefaultValues();
-
-  joint_model_group_ = kinematic_model->getJointModelGroup(parameters_.move_group_name);
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
+  joint_model_group_ = current_state_->getJointModelGroup(parameters_.move_group_name);
   prev_joint_velocity_ = Eigen::ArrayXd::Zero(joint_model_group_->getActiveJointModels().size());
 
   // Subscribe to command topics
@@ -177,9 +163,9 @@ void ServoCalcs::start()
   trajectory_msgs::JointTrajectoryPoint point;
   point.time_from_start = ros::Duration(parameters_.publish_period);
 
-  auto latest_joints = joint_state_subscriber_->getLatest();
   if (parameters_.publish_joint_positions)
-    point.positions = latest_joints->position;
+    planning_scene_monitor_->getStateMonitor()->getCurrentState()->copyJointGroupPositions(joint_model_group_,
+                                                                                           point.positions);
   if (parameters_.publish_joint_velocities)
   {
     std::vector<double> velocity(num_joints_);
@@ -198,14 +184,11 @@ void ServoCalcs::start()
 
   timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
 
-  // TODO(adamp or andyz): after rebasing on upstream master, update this section. Maybe put the tf updates in a tiny
-  // function by themselves
-  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
-  kinematic_state_->setVariableValues(*latest_joint_state);
-  tf_moveit_to_ee_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                           kinematic_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
-  tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                                  kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
+  tf_moveit_to_ee_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                           current_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
+  tf_moveit_to_robot_cmd_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                                  current_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 }
 
 void ServoCalcs::run(const ros::TimerEvent& timer_event)
@@ -226,14 +209,10 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   // Always update the joints and end-effector transform for 2 reasons:
   // 1) in case the getCommandFrameTransform() method is being used
   // 2) so the low-pass filters are up to date and don't cause a jump
-  while (!updateJoints() && ros::ok())
-  {
-    default_sleep_rate_.sleep();
-  }
+  updateJoints();
 
   // Update from latest state
-  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
-  kinematic_state_->setVariableValues(*latest_joint_state);
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
   {
     const std::lock_guard<std::mutex> lock(latest_state_mutex_);
     if (latest_twist_stamped_)
@@ -255,13 +234,13 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
   // Calculate this transform to ensure it is available via C++ API
   // We solve (planning_frame -> base -> robot_link_command_frame)
   // by computing (base->planning_frame)^-1 * (base->robot_link_command_frame)
-  tf_moveit_to_robot_cmd_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                                  kinematic_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+  tf_moveit_to_robot_cmd_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                                  current_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
   // Calculate the transform from MoveIt planning frame to End Effector frame
   // Calculate this transform to ensure it is available via C++ API
-  tf_moveit_to_ee_frame_ = kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-                           kinematic_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
+  tf_moveit_to_ee_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+                           current_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
 
   have_nonzero_command_ = have_nonzero_twist_stamped_ || have_nonzero_joint_command_;
 
@@ -447,8 +426,8 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
       // We solve (planning_frame -> base -> cmd.header.frame_id)
       // by computing (base->planning_frame)^-1 * (base->cmd.header.frame_id)
       const auto tf_moveit_to_incoming_cmd_frame =
-          kinematic_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
-          kinematic_state_->getGlobalLinkTransform(cmd.header.frame_id);
+          current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
+          current_state_->getGlobalLinkTransform(cmd.header.frame_id);
 
       translation_vector = tf_moveit_to_incoming_cmd_frame.linear() * translation_vector;
       angular_vector = tf_moveit_to_incoming_cmd_frame.linear() * angular_vector;
@@ -467,7 +446,7 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::TwistStamped& cmd,
   Eigen::VectorXd delta_x = scaleCartesianCommand(cmd);
 
   // Convert from cartesian commands to joint commands
-  Eigen::MatrixXd jacobian = kinematic_state_->getJacobian(joint_model_group_);
+  Eigen::MatrixXd jacobian = current_state_->getJacobian(joint_model_group_);
 
   // May allow some dimensions to drift, based on drift_dimensions
   // i.e. take advantage of task redundancy.
@@ -671,10 +650,10 @@ double ServoCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& co
 
   // Calculate a small change in joints
   Eigen::VectorXd new_theta;
-  kinematic_state_->copyJointGroupPositions(joint_model_group_, new_theta);
+  current_state_->copyJointGroupPositions(joint_model_group_, new_theta);
   new_theta += pseudo_inverse * delta_x;
-  kinematic_state_->setJointGroupPositions(joint_model_group_, new_theta);
-  auto new_jacobian = kinematic_state_->getJacobian(joint_model_group_);
+  current_state_->setJointGroupPositions(joint_model_group_, new_theta);
+  Eigen::MatrixXd new_jacobian = current_state_->getJacobian(joint_model_group_);
 
   Eigen::JacobiSVD<Eigen::MatrixXd> new_svd(new_jacobian);
   double new_condition = new_svd.singularValues()(0) / new_svd.singularValues()(new_svd.singularValues().size() - 1);
@@ -784,16 +763,16 @@ bool ServoCalcs::enforcePositionLimits()
         break;
       }
     }
-    if (!kinematic_state_->satisfiesPositionBounds(joint, -parameters_.joint_limit_margin))
+    if (!current_state_->satisfiesPositionBounds(joint, -parameters_.joint_limit_margin))
     {
       const std::vector<moveit_msgs::JointLimits> limits = joint->getVariableBoundsMsg();
 
       // Joint limits are not defined for some joints. Skip them.
       if (!limits.empty())
       {
-        if ((kinematic_state_->getJointVelocities(joint)[0] < 0 &&
+        if ((current_state_->getJointVelocities(joint)[0] < 0 &&
              (joint_angle < (limits[0].min_position + parameters_.joint_limit_margin))) ||
-            (kinematic_state_->getJointVelocities(joint)[0] > 0 &&
+            (current_state_->getJointVelocities(joint)[0] > 0 &&
              (joint_angle > (limits[0].max_position - parameters_.joint_limit_margin))))
         {
           ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
@@ -843,31 +822,12 @@ void ServoCalcs::suddenHalt(trajectory_msgs::JointTrajectory& joint_trajectory)
 }
 
 // Parse the incoming joint msg for the joints of our MoveGroup
-bool ServoCalcs::updateJoints()
+void ServoCalcs::updateJoints()
 {
-  sensor_msgs::JointStateConstPtr latest_joint_state = joint_state_subscriber_->getLatest();
-
-  // Check that the msg contains enough joints
-  if (latest_joint_state->name.size() < num_joints_)
-    return false;
-
-  // Store joints in a member variable
-  for (std::size_t m = 0; m < latest_joint_state->name.size(); ++m)
-  {
-    std::size_t c;
-    try
-    {
-      c = joint_state_name_map_.at(latest_joint_state->name[m]);
-    }
-    catch (const std::out_of_range& e)
-    {
-      ROS_DEBUG_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                      "Ignoring joint " << latest_joint_state->name[m]);
-      continue;
-    }
-
-    internal_joint_state_.position[c] = latest_joint_state->position[m];
-  }
+  // Get the latest joint group positions
+  current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
+  current_state_->copyJointGroupPositions(joint_model_group_, internal_joint_state_.position);
+  current_state_->copyJointGroupVelocities(joint_model_group_, internal_joint_state_.velocity);
 
   // Cache the original joints in case they need to be reset
   original_joint_state_ = internal_joint_state_;
@@ -878,9 +838,9 @@ bool ServoCalcs::updateJoints()
   double accel_limit = 0;
   double joint_velocity = 0;
   double worst_case_stop_time = 0;
-  for (size_t jt_state_idx = 0; jt_state_idx < latest_joint_state->velocity.size(); ++jt_state_idx)
+  for (size_t jt_state_idx = 0; jt_state_idx < internal_joint_state_.velocity.size(); ++jt_state_idx)
   {
-    joint_name = latest_joint_state->name[jt_state_idx];
+    joint_name = internal_joint_state_.name[jt_state_idx];
 
     // Get acceleration limit for this joint
     for (auto joint_model : joint_model_group_->getActiveJointModels())
@@ -906,7 +866,7 @@ bool ServoCalcs::updateJoints()
     }
 
     // Get the current joint velocity
-    joint_velocity = latest_joint_state->velocity[jt_state_idx];
+    joint_velocity = internal_joint_state_.velocity[jt_state_idx];
 
     // Calculate worst case stop time
     worst_case_stop_time = std::max(worst_case_stop_time, fabs(joint_velocity / accel_limit));
@@ -918,8 +878,6 @@ bool ServoCalcs::updateJoints()
     msg->data = worst_case_stop_time;
     worst_case_stop_time_pub_.publish(msg);
   }
-
-  return true;
 }
 
 // Scale the incoming servo command
@@ -967,8 +925,7 @@ Eigen::VectorXd ServoCalcs::scaleJointCommand(const control_msgs::JointJog& comm
     }
     catch (const std::out_of_range& e)
     {
-      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                     "Ignoring joint " << joint_state_subscriber_->getLatest()->name[m]);
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME, "Ignoring joint " << command.joint_names[m]);
       continue;
     }
     // Apply user-defined scaling if inputs are unitless [-1:1]

From 225cb77cbd9d50e93c42d9e3ad6aa4490c6b30ed Mon Sep 17 00:00:00 2001
From: Jeroen <jeroendemaeyer@live.be>
Date: Mon, 26 Oct 2020 19:35:43 +0100
Subject: [PATCH 504/612] Add test to ompl interface for StateValidityChecker
 (#2247)

* add generic robot test class to ompl interface test folder

* add test for ompl interface StateValidityChecker

* add test with path constraints to ompl interface StateValidityChecker

* use debug log statements, add newline, cleanup comments

* remove dead code and update comment

* Change company name in license

* update state validity test comment

* improve assert statements

* remove empty line from load_test_robot.h
---
 .../ompl/ompl_interface/CMakeLists.txt        |   4 +
 .../test/test_state_validity_checker.cpp      | 342 ++++++++++++++++++
 2 files changed, 346 insertions(+)
 create mode 100644 moveit_planners/ompl/ompl_interface/test/test_state_validity_checker.cpp

diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 5945661811..b8092d65b6 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -56,4 +56,8 @@ if(CATKIN_ENABLE_TESTING)
     test/test_planning_context_manager.test
     test/test_planning_context_manager.cpp)
   target_link_libraries(test_planning_context_manager ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${eigen_conversions_LIBRARIES})
+
+  catkin_add_gtest(test_state_validity_checker test/test_state_validity_checker.cpp)
+  target_link_libraries(test_state_validity_checker ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES})
+  set_target_properties(test_state_validity_checker PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 endif()
diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_validity_checker.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_validity_checker.cpp
new file mode 100644
index 0000000000..9b937e2a63
--- /dev/null
+++ b/moveit_planners/ompl/ompl_interface/test/test_state_validity_checker.cpp
@@ -0,0 +1,342 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, KU Leuven
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of KU Leuven nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Jeroen De Maeyer */
+/**
+ *    This test checks the basics of a StateValidityChecker:
+ *        - Can we create one?
+ *        - States inside and outside joint limits.
+ *        - States that are in self-collision.
+ *        - Position constraints on the robot's end-effector link.
+ *
+ *    It does not yet test:
+ *        - Collision with objects in the environment.
+ *        - Orientation constraints, visibility constraints, ...
+ *        - A user-specified feasibility function in the planning scene.
+ *
+ *    The test do show what is minimally required to create a working StateValidityChecker.
+ **/
+
+#include "load_test_robot.h"
+
+#include <limits>
+#include <ostream>
+
+#include <gtest/gtest.h>
+
+#include <moveit/ompl_interface/detail/state_validity_checker.h>
+#include <moveit/ompl_interface/model_based_planning_context.h>
+#include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <ompl/geometric/SimpleSetup.h>
+
+/** \brief This flag sets the verbosity level for the state validity checker. **/
+constexpr bool VERBOSE{ false };
+
+constexpr char LOGNAME[] = "test_state_validity_checker";
+
+/** \brief Pretty print std:vectors **/
+std::ostream& operator<<(std::ostream& os, const std::vector<double>& v)
+{
+  os << "( ";
+  for (auto value : v)
+    os << value << ", ";
+  os << " )";
+  return os;
+}
+
+/** \brief Generic implementation of the tests that can be executed on different robots. **/
+class TestStateValidityChecker : public ompl_interface_testing::LoadTestRobot, public testing::Test
+{
+public:
+  TestStateValidityChecker(const std::string& robot_name, const std::string& group_name)
+    : LoadTestRobot(robot_name, group_name)
+  {
+  }
+
+  /***************************************************************************
+   * START Test implementations
+   * ************************************************************************/
+
+  void testConstructor()
+  {
+    ompl::base::StateValidityCheckerPtr checker =
+        std::make_shared<ompl_interface::StateValidityChecker>(planning_context_.get());
+  }
+
+  /** This test takes a state that is inside the joint limits and collision free as input. **/
+  void testJointLimits(const std::vector<double>& position_in_limits)
+  {
+    // create a validity checker for this test
+    auto checker = std::make_shared<ompl_interface::StateValidityChecker>(planning_context_.get());
+    checker->setVerbose(VERBOSE);
+
+    robot_state_->setJointGroupPositions(joint_model_group_, position_in_limits);
+
+    // use a scoped OMPL state so we don't have to call allocState and freeState
+    // (as recommended in the OMPL documantion)
+    ompl::base::ScopedState<> ompl_state(state_space_);
+    state_space_->copyToOMPLState(ompl_state.get(), *robot_state_);
+
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, ompl_state.reals());
+
+    // assume the given position is not in self-collision
+    // and there are no collision objects or path constraints so this state should be valid
+    EXPECT_TRUE(checker->isValid(ompl_state.get()));
+
+    // move first joint obviously outside any joint limits
+    ompl_state->as<ompl_interface::JointModelStateSpace::StateType>()->values[0] = std::numeric_limits<double>::max();
+    ompl_state->as<ompl_interface::JointModelStateSpace::StateType>()->clearKnownInformation();
+
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, ompl_state.reals());
+
+    EXPECT_FALSE(checker->isValid(ompl_state.get()));
+  }
+
+  /** This test takes a state that is known to be in self-collision and inside the joint limits as input. **/
+  void testSelfCollision(const std::vector<double>& position_in_self_collision)
+  {
+    // create a validity checker for this test
+    auto checker = std::make_shared<ompl_interface::StateValidityChecker>(planning_context_.get());
+    checker->setVerbose(VERBOSE);
+
+    robot_state_->setJointGroupPositions(joint_model_group_, position_in_self_collision);
+
+    // use a scoped OMPL state so we don't have to call allocState and freeState
+    // (as recommended in the OMPL documantion)
+    ompl::base::ScopedState<> ompl_state(state_space_);
+    state_space_->copyToOMPLState(ompl_state.get(), *robot_state_);
+
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, ompl_state.reals());
+
+    // the given state is known to be in self-collision, we check it here
+    EXPECT_FALSE(checker->isValid(ompl_state.get()));
+
+    // but it should respect the joint limits
+    EXPECT_TRUE(robot_state_->satisfiesBounds());
+  }
+
+  void testPathConstraints(const std::vector<double>& position_in_joint_limits)
+  {
+    ASSERT_NE(planning_context_, nullptr) << "Initialize planning context before adding path constraints.";
+
+    // set the robot to a known position that is withing the joint limits and collision free
+    robot_state_->setJointGroupPositions(joint_model_group_, position_in_joint_limits);
+
+    // create position constraints around the given robot state
+    moveit_msgs::Constraints path_constraints;
+    Eigen::Isometry3d ee_pose = robot_state_->getGlobalLinkTransform(ee_link_name_);
+    path_constraints.name = "test_position_constraints";
+    path_constraints.position_constraints.push_back(createPositionConstraint(
+        { ee_pose.translation().x(), ee_pose.translation().y(), ee_pose.translation().z() }, { 0.1, 0.1, 0.1 }));
+
+    moveit_msgs::MoveItErrorCodes error_code_not_used;
+    ASSERT_TRUE(planning_context_->setPathConstraints(path_constraints, &error_code_not_used));
+
+    auto checker = std::make_shared<ompl_interface::StateValidityChecker>(planning_context_.get());
+    checker->setVerbose(VERBOSE);
+
+    // use a scoped OMPL state so we don't have to call allocState and freeState
+    // (as recommended in the OMPL documantion)
+    ompl::base::ScopedState<> ompl_state(state_space_);
+    state_space_->copyToOMPLState(ompl_state.get(), *robot_state_);
+
+    ROS_DEBUG_STREAM_NAMED(LOGNAME, ompl_state.reals());
+
+    EXPECT_TRUE(checker->isValid(ompl_state.get()));
+
+    // move the position constraints away from the curren end-effector position to make it fail
+    moveit_msgs::Constraints path_constraints_2(path_constraints);
+    path_constraints_2.position_constraints.at(0).constraint_region.primitive_poses.at(0).position.z += 0.2;
+
+    ASSERT_TRUE(planning_context_->setPathConstraints(path_constraints_2, &error_code_not_used));
+
+    // clear the cached validity of the state before checking again,
+    // otherwise the path constraints will not be checked.
+    ompl_state->as<ompl_interface::JointModelStateSpace::StateType>()->clearKnownInformation();
+
+    EXPECT_FALSE(checker->isValid(ompl_state.get()));
+  }
+
+  /***************************************************************************
+   * END Test implementation
+   * ************************************************************************/
+
+protected:
+  void SetUp() override
+  {
+    // setup all the input we need to create a StateValidityChecker
+    setupStateSpace();
+    setupPlanningContext();
+  };
+
+  void setupStateSpace()
+  {
+    ompl_interface::ModelBasedStateSpaceSpecification space_spec(robot_model_, group_name_);
+    state_space_ = std::make_shared<ompl_interface::JointModelStateSpace>(space_spec);
+    state_space_->computeLocations();  // this gets normally called in the state space factory
+  }
+
+  void setupPlanningContext()
+  {
+    ASSERT_NE(state_space_, nullptr) << "Initialize state space before creating the planning context.";
+
+    planning_context_spec_.state_space_ = state_space_;
+    planning_context_spec_.ompl_simple_setup_ = std::make_shared<ompl::geometric::SimpleSetup>(state_space_);
+    planning_context_ =
+        std::make_shared<ompl_interface::ModelBasedPlanningContext>(group_name_, planning_context_spec_);
+
+    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
+    planning_context_->setPlanningScene(planning_scene_);
+    moveit::core::RobotState start_state(robot_model_);
+    start_state.setToDefaultValues();
+    planning_context_->setCompleteInitialState(start_state);
+  }
+
+  /** \brief Helper function to create a position constraint. **/
+  moveit_msgs::PositionConstraint createPositionConstraint(std::array<double, 3> position,
+                                                           std::array<double, 3> dimensions)
+  {
+    shape_msgs::SolidPrimitive box;
+    box.type = shape_msgs::SolidPrimitive::BOX;
+    box.dimensions.resize(3);
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_X] = dimensions[0];
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_Y] = dimensions[1];
+    box.dimensions[shape_msgs::SolidPrimitive::BOX_Z] = dimensions[2];
+
+    geometry_msgs::Pose box_pose;
+    box_pose.position.x = position[0];
+    box_pose.position.y = position[1];
+    box_pose.position.z = position[2];
+    box_pose.orientation.w = 1.0;
+
+    moveit_msgs::PositionConstraint position_constraint;
+    position_constraint.header.frame_id = base_link_name_;
+    position_constraint.link_name = ee_link_name_;
+    position_constraint.constraint_region.primitives.push_back(box);
+    position_constraint.constraint_region.primitive_poses.push_back(box_pose);
+
+    // set the default weight to avoid warning in test output
+    position_constraint.weight = 1.0;
+
+    return position_constraint;
+  }
+
+  ompl_interface::ModelBasedStateSpacePtr state_space_;
+  ompl_interface::ModelBasedPlanningContextSpecification planning_context_spec_;
+  ompl_interface::ModelBasedPlanningContextPtr planning_context_;
+  planning_scene::PlanningScenePtr planning_scene_;
+};
+
+// /***************************************************************************
+//  * Run all tests on the Panda robot
+//  * ************************************************************************/
+class PandaValidity : public TestStateValidityChecker
+{
+protected:
+  PandaValidity() : TestStateValidityChecker("panda", "panda_arm")
+  {
+  }
+};
+
+TEST_F(PandaValidity, testConstructor)
+{
+  testConstructor();
+}
+
+TEST_F(PandaValidity, testJointLimits)
+{
+  // use the panda "ready" state from the srdf config
+  // we know this state should be within limits and self-collision free
+  testJointLimits({ 0, -0.785, 0, -2.356, 0, 1.571, 0.785 });
+}
+
+TEST_F(PandaValidity, testSelfCollision)
+{
+  // the given state has self collision between "hand" and "panda_link2"
+  // (I just tried a couple of random states until I found one that collided.)
+  testSelfCollision({ 2.31827, -0.169668, 2.5225, -2.98568, -0.36355, 0.808339, 0.0843406 });
+}
+
+TEST_F(PandaValidity, testPathConstraints)
+{
+  // use the panda "ready" state from the srdf config
+  // we know this state should be within limits and self-collision free
+  testPathConstraints({ 0, -0.785, 0, -2.356, 0, 1.571, 0.785 });
+}
+
+/***************************************************************************
+ * Run all tests on the Fanuc robot
+ * ************************************************************************/
+class FanucTest : public TestStateValidityChecker
+{
+protected:
+  FanucTest() : TestStateValidityChecker("fanuc", "manipulator")
+  {
+  }
+};
+
+TEST_F(FanucTest, createStateValidityChecker)
+{
+  testConstructor();
+}
+
+TEST_F(FanucTest, testJointLimits)
+{
+  // I assume the Fanucs's zero state is within limits and self-collision free
+  testJointLimits({ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 });
+}
+
+TEST_F(FanucTest, testSelfCollision)
+{
+  // the given state has self collision between "base_link" and "link_5"
+  // (I just tried a couple of random states until I found one that collided.)
+  testSelfCollision({ -2.95993, -0.682185, -2.43873, -0.939784, 3.0544, 0.882294 });
+}
+
+TEST_F(FanucTest, testPathConstraints)
+{
+  // I assume the Fanucs's zero state is within limits and self-collision free
+  testPathConstraints({ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 });
+}
+
+/***************************************************************************
+ * MAIN
+ * ************************************************************************/
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

From a461efe7dbef01328e3d72c1c83e66dce050eb2c Mon Sep 17 00:00:00 2001
From: Alex Goldman <auman66@gmail.com>
Date: Wed, 28 Oct 2020 03:21:39 -0600
Subject: [PATCH 505/612] Fix broken documentation link in README (#2393)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 18a0d11020..f84724d9e7 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
 
 - [Overview of MoveIt](https://moveit.ros.org)
 - [Installation Instructions](https://moveit.ros.org/install/)
-- [Documentation](https://moveit.ros.org/documentation/)
+- [Documentation](https://moveit.ros.org/documentation/source-code-api/)
 - [Get Involved](https://moveit.ros.org/about/get_involved/)
 
 ## Branches Policy

From d5dcc9d6618bd14eed7bebf48a619a37a5f3a6fb Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Sat, 31 Oct 2020 07:06:36 -0600
Subject: [PATCH 506/612] Fix pose tracking race condition (#2395)

* Stop rewriting target_pose_ timestamps. It is caller's responsibility to ensure timestamp is correct and recent enough.

* Prevent data races on target_pose_ by limiting access to it with a mutex.

* Re-arrange part in targetPoseCallback function to make the callback lightweight when the target pose is in planning frame.

* Small improvements to comments and code readability.

* Set mutex as mutable.

* Fix formatting.

* Improve comment re. angle-axis PID tracking

* Implement resetTargetPose() and add it to test & example

* Add mutex protection to resetTargetPose()

* Add missing semicolon and fix formatting.

Co-authored-by: AndyZe <andyz@utexas.edu>
---
 .../include/moveit_servo/pose_tracking.h      |  4 +
 .../pose_tracking_example.cpp                 |  4 +
 moveit_ros/moveit_servo/src/pose_tracking.cpp | 91 +++++++++++--------
 .../moveit_servo/test/pose_tracking_test.cpp  |  5 +
 4 files changed, 64 insertions(+), 40 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
index d76c58481b..ad391b158b 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
@@ -114,6 +114,9 @@ class PoseTracking
    */
   bool getCommandFrameTransform(geometry_msgs::TransformStamped& transform);
 
+  /** \brief Re-initialize the target pose to an empty message. Can be used to reset motion between waypoints. */
+  void resetTargetPose();
+
   // moveit_servo::Servo instance. Public so we can access member functions like setPaused()
   std::unique_ptr<moveit_servo::Servo> servo_;
 
@@ -170,6 +173,7 @@ class PoseTracking
   Eigen::Isometry3d command_frame_transform_;
   ros::Time command_frame_transform_stamp_;
   geometry_msgs::PoseStamped target_pose_;
+  mutable std::mutex target_pose_mtx_;
 
   // Subscribe to target pose
   ros::Subscriber target_pose_sub_;
diff --git a/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
index b5ec8d176f..3657d52864 100644
--- a/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
+++ b/moveit_ros/moveit_servo/src/cpp_interface_example/pose_tracking_example.cpp
@@ -127,6 +127,10 @@ int main(int argc, char** argv)
   // Modify it a little bit
   target_pose.pose.position.x += 0.1;
 
+  // resetTargetPose() can be used to clear the target pose and wait for a new one, e.g. when moving between multiple
+  // waypoints
+  tracker.resetTargetPose();
+
   // Publish target pose
   target_pose.header.stamp = ros::Time::now();
   target_pose_pub.publish(target_pose);
diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index 065e547f8e..e8dcff87b1 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -79,12 +79,9 @@ PoseTracking::PoseTracking(const ros::NodeHandle& nh,
 PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positional_tolerance,
                                                 const double angular_tolerance, const double target_pose_timeout)
 {
-  // Roll back the target pose timestamp to ensure we wait for a new target pose message
-  target_pose_.header.stamp = ros::Time::now() - ros::Duration(2 * target_pose_timeout);
-
   // Wait a bit for a target pose message to arrive.
   // The target pose may get updated by new messages as the robot moves (in a callback function).
-  ros::Time start_time = ros::Time::now();
+  const ros::Time start_time = ros::Time::now();
   while ((!haveRecentTargetPose(target_pose_timeout) || !haveRecentEndEffectorPose(target_pose_timeout)) &&
          ((ros::Time::now() - start_time).toSec() < target_pose_timeout))
   {
@@ -94,36 +91,34 @@ PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positiona
     }
     ros::Duration(0.001).sleep();
   }
+
   if (!haveRecentTargetPose(target_pose_timeout))
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "The target pose was not updated recently. Aborting.");
     return PoseTrackingStatusCode::NO_RECENT_TARGET_POSE;
   }
 
-  while (ros::ok())
+  // Continue sending PID controller output to Servo until one of the following conditions is met:
+  // - Goal tolerance is satisfied
+  // - Target pose becomes outdated
+  // - Command frame transform becomes outdated
+  // - Another thread requested a stop
+  while (ros::ok() && !satisfiesPoseTolerance(positional_tolerance, angular_tolerance))
   {
-    // Check for reasons to stop:
-    // - Goal tolerance is satisfied
-    // - Timeout
-    // - Another thread requested a stop
-    // - PID controllers aren't initialized
-    if (satisfiesPoseTolerance(positional_tolerance, angular_tolerance))
-    {
-      break;
-    }
-
     // Attempt to update robot pose
     if (servo_->getCommandFrameTransform(command_frame_transform_))
     {
       command_frame_transform_stamp_ = ros::Time::now();
     }
 
+    // Check that end-effector pose (command frame transform) is recent enough.
     if (!haveRecentEndEffectorPose(target_pose_timeout))
     {
       ROS_ERROR_STREAM_NAMED(LOGNAME, "The end effector pose was not updated in time. Aborting.");
       doPostMotionReset();
       return PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE;
     }
+
     if (stop_requested_)
     {
       ROS_INFO_STREAM_NAMED(LOGNAME, "Halting servo motion, a stop was requested.");
@@ -210,6 +205,7 @@ void PoseTracking::initializePID(const PIDConfig& pid_config, std::vector<contro
 
 bool PoseTracking::haveRecentTargetPose(const double timespan)
 {
+  std::lock_guard<std::mutex> lock(target_pose_mtx_);
   return ((ros::Time::now() - target_pose_.header.stamp).toSec() < timespan);
 }
 
@@ -220,59 +216,67 @@ bool PoseTracking::haveRecentEndEffectorPose(const double timespan)
 
 bool PoseTracking::satisfiesPoseTolerance(const Eigen::Vector3d& positional_tolerance, const double angular_tolerance)
 {
+  std::lock_guard<std::mutex> lock(target_pose_mtx_);
   double x_error = target_pose_.pose.position.x - command_frame_transform_.translation()(0);
   double y_error = target_pose_.pose.position.y - command_frame_transform_.translation()(1);
   double z_error = target_pose_.pose.position.z - command_frame_transform_.translation()(2);
 
-  return (fabs(x_error) < positional_tolerance(0)) && (fabs(y_error) < positional_tolerance(1)) &&
-         (fabs(z_error) < positional_tolerance(2) && fabs(angular_error_) < angular_tolerance);
+  return ((std::abs(x_error) < positional_tolerance(0)) && (std::abs(y_error) < positional_tolerance(1)) &&
+          (std::abs(z_error) < positional_tolerance(2)) && (std::abs(angular_error_) < angular_tolerance));
 }
 
 void PoseTracking::targetPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg)
 {
-  // Transform to planning frame
+  std::lock_guard<std::mutex> lock(target_pose_mtx_);
   target_pose_ = *msg;
-  geometry_msgs::TransformStamped target_to_planning_frame;
+
+  // If the target pose is not defined in planning frame, transform the target pose.
   if (target_pose_.header.frame_id != planning_frame_)
   {
     try
     {
-      target_to_planning_frame = transform_buffer_.lookupTransform(planning_frame_, target_pose_.header.frame_id,
-                                                                   ros::Time(0), ros::Duration(0.1));
+      geometry_msgs::TransformStamped target_to_planning_frame = transform_buffer_.lookupTransform(
+          planning_frame_, target_pose_.header.frame_id, ros::Time(0), ros::Duration(0.1));
+      tf2::doTransform(target_pose_, target_pose_, target_to_planning_frame);
     }
-    catch (tf2::TransformException& ex)
+    catch (const tf2::TransformException& ex)
     {
-      ROS_WARN_NAMED(LOGNAME, "%s", ex.what());
+      ROS_WARN_STREAM_NAMED(LOGNAME, ex.what());
       return;
     }
-    tf2::doTransform(target_pose_, target_pose_, target_to_planning_frame);
   }
-  target_pose_.header.stamp = ros::Time::now();
 }
 
 geometry_msgs::TwistStampedConstPtr PoseTracking::calculateTwistCommand()
 {
   // use the shared pool to create a message more efficiently
   auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
-  msg->header.frame_id = target_pose_.header.frame_id;
 
   // Get twist components from PID controllers
   geometry_msgs::Twist& twist = msg->twist;
+  Eigen::Quaterniond q_desired;
+
+  // Scope mutex locking only to operations which require access to target pose.
+  {
+    std::lock_guard<std::mutex> lock(target_pose_mtx_);
+    msg->header.frame_id = target_pose_.header.frame_id;
+
+    // Position
+    twist.linear.x = cartesian_position_pids_[0].computeCommand(
+        target_pose_.pose.position.x - command_frame_transform_.translation()(0), loop_rate_.expectedCycleTime());
+    twist.linear.y = cartesian_position_pids_[1].computeCommand(
+        target_pose_.pose.position.y - command_frame_transform_.translation()(1), loop_rate_.expectedCycleTime());
+    twist.linear.z = cartesian_position_pids_[2].computeCommand(
+        target_pose_.pose.position.z - command_frame_transform_.translation()(2), loop_rate_.expectedCycleTime());
+
+    // Orientation algorithm:
+    // - Find the orientation error as a quaternion: q_error = q_desired * q_current ^ -1
+    // - Use the angle-axis PID controller to calculate an angular rate
+    // - Convert to angular velocity for the TwistStamped message
+    q_desired = Eigen::Quaterniond(target_pose_.pose.orientation.w, target_pose_.pose.orientation.x,
+                                   target_pose_.pose.orientation.y, target_pose_.pose.orientation.z);
+  }
 
-  // Position
-  twist.linear.x = cartesian_position_pids_[0].computeCommand(
-      target_pose_.pose.position.x - command_frame_transform_.translation()(0), loop_rate_.expectedCycleTime());
-  twist.linear.y = cartesian_position_pids_[1].computeCommand(
-      target_pose_.pose.position.y - command_frame_transform_.translation()(1), loop_rate_.expectedCycleTime());
-  twist.linear.z = cartesian_position_pids_[2].computeCommand(
-      target_pose_.pose.position.z - command_frame_transform_.translation()(2), loop_rate_.expectedCycleTime());
-
-  // Orientation algorithm:
-  // - Find the orientation error as a quaternion: q_error = q_desired * q_current ^ -1
-  // - Use the quaternion PID controllers to calculate a quaternion rate, q_error_dot
-  // - Convert to angular velocity for the TwistStamped message
-  Eigen::Quaterniond q_desired(target_pose_.pose.orientation.w, target_pose_.pose.orientation.x,
-                               target_pose_.pose.orientation.y, target_pose_.pose.orientation.z);
   Eigen::Quaterniond q_current(command_frame_transform_.rotation());
   Eigen::Quaterniond q_error = q_desired * q_current.inverse();
 
@@ -345,6 +349,13 @@ void PoseTracking::getPIDErrors(double& x_error, double& y_error, double& z_erro
   cartesian_orientation_pids_.at(0).getCurrentPIDErrors(&orientation_error, &dummy1, &dummy2);
 }
 
+void PoseTracking::resetTargetPose()
+{
+  std::lock_guard<std::mutex> lock(target_pose_mtx_);
+  target_pose_ = geometry_msgs::PoseStamped();
+  target_pose_.header.stamp = ros::Time(0);
+}
+
 bool PoseTracking::getCommandFrameTransform(geometry_msgs::TransformStamped& transform)
 {
   return servo_->getCommandFrameTransform(transform);
diff --git a/moveit_ros/moveit_servo/test/pose_tracking_test.cpp b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
index 765094899d..5dab02713f 100644
--- a/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
+++ b/moveit_ros/moveit_servo/test/pose_tracking_test.cpp
@@ -141,6 +141,11 @@ TEST_F(PoseTrackingFixture, OutgoingMsgTest)
   });
 
   ros::Duration(ROS_PUB_SUB_DELAY).sleep();
+
+  // resetTargetPose() can be used to clear the target pose and wait for a new one, e.g. when moving between multiple
+  // waypoints
+  tracker_->resetTargetPose();
+
   tracker_->moveToPose(translation_tolerance_, ROTATION_TOLERANCE, 1 /* target pose timeout */);
 
   target_pub_thread.join();

From cf218879dbc23aadf88dd56b8abe7970b7d61030 Mon Sep 17 00:00:00 2001
From: Christian Henkel <post@henkelchristian.de>
Date: Tue, 3 Nov 2020 10:40:19 +0100
Subject: [PATCH 507/612] Add Pilz industrial motion planner (#1893)

* Add pilz_industrial_motion_planner to moveit_planners
* Update license, document consent to this change by contributers
* Fix formatting, code style, catkin_lint, clang-tidy
* Add and update tests, use new prvt_moveit_config from moveit_resources
* New codeowners for pilz_industrial_motion planner
* Add pipeline configuration teimplates to MSA

Co-authored-by: Joachim Schleicher <J.Schleicher@pilz.de>
Co-authored-by: rfeistenauer <r.feistenauer@pilz.de>
Co-authored-by: Giuseppe Sansone <g.sansone@pilz.de>
Co-authored-by: Immanuel Martini <i.martini@pilz.de>
---
 .github/CODEOWNERS                            |    2 +
 .../CHANGELOG.rst                             |  106 +
 .../CMakeLists.txt                            |  519 ++
 .../pilz_industrial_motion_planner/README.md  |    4 +
 .../doc/.gitignore                            |   12 +
 .../doc/MotionBlendAlgorithmDescription.pdf   |  Bin 0 -> 534094 bytes
 .../doc/MotionBlendAlgorithmDescription.tex   |  114 +
 .../doc/README.md                             |   22 +
 .../doc/diag_class_capabilities.png           |  Bin 0 -> 41398 bytes
 .../doc/diag_class_capabilities.uxf           |  413 ++
 .../doc/diag_class_planning_context.png       |  Bin 0 -> 133824 bytes
 .../doc/diag_class_planning_context.uxf       |  906 ++++
 .../doc/figure/blend_case_1.eps               | 1648 +++++++
 .../doc/figure/blend_case_2.eps               | 1548 ++++++
 .../doc/figure/blend_case_3.eps               | 1567 ++++++
 .../doc/figure/blend_radius.png               |  Bin 0 -> 56819 bytes
 .../doc/figure/original_trajectories.eps      | 4376 +++++++++++++++++
 .../doc/figure/ptp.png                        |  Bin 0 -> 16444 bytes
 .../doc/figure/ptp.svg                        |  860 ++++
 .../doc/figure/ptp_movement_1.png             |  Bin 0 -> 100740 bytes
 .../doc/figure/ptp_movement_2.png             |  Bin 0 -> 117675 bytes
 .../doc/figure/rviz_planner.png               |  Bin 0 -> 177046 bytes
 .../doc/sequence_processing_overview.png      |  Bin 0 -> 187694 bytes
 .../doc/sequence_processing_overview.uxf      | 1130 +++++
 .../capability_names.h                        |   42 +
 .../cartesian_limit.h                         |  159 +
 .../cartesian_limits_aggregator.h             |   65 +
 .../cartesian_trajectory.h                    |   51 +
 .../cartesian_trajectory_point.h              |   53 +
 .../command_list_manager.h                    |  225 +
 .../joint_limits_aggregator.h                 |  150 +
 .../joint_limits_container.h                  |  163 +
 .../joint_limits_extension.h                  |   66 +
 .../joint_limits_interface_extension.h        |  101 +
 .../joint_limits_validator.h                  |  153 +
 .../limits_container.h                        |  104 +
 .../move_group_sequence_action.h              |   90 +
 .../move_group_sequence_service.h             |   66 +
 .../path_circle_generator.h                   |  101 +
 .../pilz_industrial_motion_planner.h          |  139 +
 .../plan_components_builder.h                 |  158 +
 .../planning_context_base.h                   |  181 +
 .../planning_context_circ.h                   |   67 +
 .../planning_context_lin.h                    |   65 +
 .../planning_context_loader.h                 |  144 +
 .../planning_context_loader_circ.h            |   68 +
 .../planning_context_loader_lin.h             |   68 +
 .../planning_context_loader_ptp.h             |   68 +
 .../planning_context_ptp.h                    |   67 +
 .../planning_exceptions.h                     |   71 +
 .../tip_frame_getter.h                        |   90 +
 .../trajectory_blend_request.h                |   59 +
 .../trajectory_blend_response.h               |   57 +
 .../trajectory_blender.h                      |   74 +
 .../trajectory_blender_transition_window.h    |  178 +
 .../trajectory_functions.h                    |  219 +
 .../trajectory_generation_exceptions.h        |  121 +
 .../trajectory_generator.h                    |  291 ++
 .../trajectory_generator_circ.h               |  107 +
 .../trajectory_generator_lin.h                |   85 +
 .../trajectory_generator_ptp.h                |   94 +
 .../velocity_profile_atrap.h                  |  215 +
 .../package.xml                               |   55 +
 ...rial_motion_planner_plugin_description.xml |    5 +
 .../planning_context_plugin_description.xml   |   18 +
 ...sequence_capability_plugin_description.xml |   13 +
 .../rosdoc.yaml                               |    6 +
 .../src/cartesian_limit.cpp                   |  119 +
 .../src/cartesian_limits_aggregator.cpp       |   96 +
 .../src/command_list_manager.cpp              |  315 ++
 .../src/joint_limits_aggregator.cpp           |  181 +
 .../src/joint_limits_container.cpp            |  182 +
 .../src/joint_limits_validator.cpp            |  157 +
 .../src/limits_container.cpp                  |   78 +
 .../src/move_group_sequence_action.cpp        |  294 ++
 .../src/move_group_sequence_service.cpp       |  105 +
 .../src/path_circle_generator.cpp             |  147 +
 .../src/pilz_industrial_motion_planner.cpp    |  173 +
 .../src/plan_components_builder.cpp           |  137 +
 .../src/planning_context_loader.cpp           |   64 +
 .../src/planning_context_loader_circ.cpp      |   75 +
 .../src/planning_context_loader_lin.cpp       |   75 +
 .../src/planning_context_loader_ptp.cpp       |   74 +
 .../trajectory_blender_transition_window.cpp  |  301 ++
 .../src/trajectory_functions.cpp              |  584 +++
 .../src/trajectory_generator.cpp              |  332 ++
 .../src/trajectory_generator_circ.cpp         |  270 +
 .../src/trajectory_generator_lin.cpp          |  203 +
 .../src/trajectory_generator_ptp.cpp          |  261 +
 .../src/velocity_profile_atrap.cpp            |  451 ++
 .../acceptance_tests/acceptance_test_lin.md   |   62 +
 .../acceptance_tests/acceptance_test_ptp.md   |   54 +
 .../img/acceptance_test_lin_img1.png          |  Bin 0 -> 229896 bytes
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 .../img/acceptance_test_ptp_img1.png          |  Bin 0 -> 163741 bytes
 .../img/acceptance_test_ptp_img2.png          |  Bin 0 -> 215064 bytes
 .../integrationtest_command_list_manager.cpp  |  661 +++
 .../integrationtest_command_list_manager.test |   68 +
 .../test/integrationtest_command_planning.cpp |  501 ++
 .../integrationtest_command_planning.test     |   62 +
 ...st_command_planning_frankaemika_panda.test |   63 +
 ...iontest_command_planning_with_gripper.test |   61 +
 .../integrationtest_get_solver_tip_frame.cpp  |  116 +
 .../integrationtest_get_solver_tip_frame.test |   48 +
 ...ntegrationtest_plan_components_builder.cpp |  132 +
 ...tegrationtest_plan_components_builder.test |   65 +
 .../test/integrationtest_sequence_action.cpp  |  628 +++
 .../test/integrationtest_sequence_action.test |   59 +
 ...e_action_capability_frankaemika_panda.test |   65 +
 ...quence_action_capability_with_gripper.test |   60 +
 ...grationtest_sequence_action_preemption.cpp |  180 +
 ...rationtest_sequence_action_preemption.test |   59 +
 ...rationtest_sequence_service_capability.cpp |  426 ++
 ...ationtest_sequence_service_capability.test |   57 +
 ..._service_capability_frankaemika_panda.test |   59 +
 ...uence_service_capability_with_gripper.test |   57 +
 .../test/test_robots/concept_testdata.odp     |  Bin 0 -> 14825 bytes
 .../test/test_robots/concept_testdata.png     |  Bin 0 -> 74304 bytes
 .../launch/moveit_planning_execution.launch   |   77 +
 .../test_data/testdata_sequence.xml           |  173 +
 .../prbt/launch/test_context.launch           |   43 +
 .../prbt/test_data/testdata_deprecated.xml    |  434 ++
 .../prbt/test_data/testdata_sequence.xml      |  227 +
 .../prbt/test_data/testdata_with_gripper.xml  |   95 +
 .../test_cartesian_limit_all.yaml             |   37 +
 .../test_cartesian_limit_only_vel.yaml        |   34 +
 .../test_joint_limits_valid_1.yaml            |   52 +
 ...est_joint_limits_violate_position_max.yaml |   37 +
 ...est_joint_limits_violate_position_min.yaml |   37 +
 .../test_joint_limits_violate_velocity.yaml   |   36 +
 .../test/test_robots/testpoints.py            |  141 +
 .../test/test_utils.cpp                       | 1430 ++++++
 .../test/test_utils.h                         |  484 ++
 .../unittest_cartesian_limits_aggregator.cpp  |   92 +
 .../unittest_cartesian_limits_aggregator.test |   53 +
 .../test/unittest_get_solver_tip_frame.cpp    |  145 +
 .../test/unittest_joint_limit.cpp             |  111 +
 .../test/unittest_joint_limit.test            |   40 +
 .../test/unittest_joint_limit_config.yaml     |   31 +
 .../test/unittest_joint_limits_aggregator.cpp |  208 +
 .../unittest_joint_limits_aggregator.test     |   58 +
 .../test/unittest_joint_limits_container.cpp  |  229 +
 .../test/unittest_joint_limits_validator.cpp  |  490 ++
 ...nittest_pilz_industrial_motion_planner.cpp |  232 +
 ...ittest_pilz_industrial_motion_planner.test |   48 +
 ..._pilz_industrial_motion_planner_direct.cpp |  121 +
 .../test/unittest_planning_context.cpp        |  282 ++
 .../test/unittest_planning_context.test       |   48 +
 .../unittest_planning_context_loaders.cpp     |  179 +
 .../unittest_planning_context_loaders.test    |   48 +
 ...t_trajectory_blender_transition_window.cpp |  727 +++
 ..._trajectory_blender_transition_window.test |   65 +
 .../test/unittest_trajectory_functions.cpp    |  971 ++++
 .../test/unittest_trajectory_functions.test   |   53 +
 .../test/unittest_trajectory_generator.cpp    |  146 +
 .../unittest_trajectory_generator_circ.cpp    |  785 +++
 .../unittest_trajectory_generator_circ.test   |   61 +
 .../unittest_trajectory_generator_common.cpp  |  434 ++
 .../unittest_trajectory_generator_common.test |   59 +
 .../unittest_trajectory_generator_lin.cpp     |  470 ++
 .../unittest_trajectory_generator_lin.test    |   62 +
 .../unittest_trajectory_generator_ptp.cpp     |  971 ++++
 .../unittest_trajectory_generator_ptp.test    |   56 +
 .../test/unittest_velocity_profile_atrap.cpp  |  631 +++
 .../CHANGELOG.rst                             |   84 +
 .../CMakeLists.txt                            |   88 +
 .../doc/README.md                             |   34 +
 .../diagrams/diag_class_circ_auxiliary.png    |  Bin 0 -> 24644 bytes
 .../diagrams/diag_class_circ_auxiliary.uxf    |  133 +
 .../doc/diagrams/diag_class_commands.png      |  Bin 0 -> 9020 bytes
 .../doc/diagrams/diag_class_commands.uxf      |  175 +
 .../diag_class_robot_configurations.png       |  Bin 0 -> 18548 bytes
 .../diag_class_robot_configurations.uxf       |  133 +
 .../diag_seq_testdataloader_usage.png         |  Bin 0 -> 16098 bytes
 .../diag_seq_testdataloader_usage.uxf         |  215 +
 .../async_test.h                              |  176 +
 .../basecmd.h                                 |  128 +
 .../cartesianconfiguration.h                  |  188 +
 .../cartesianpathconstraintsbuilder.h         |   90 +
 .../center.h                                  |   60 +
 .../checks.h                                  |   62 +
 .../circ.h                                    |  106 +
 .../circ_auxiliary_types.h                    |   49 +
 .../circauxiliary.h                           |   91 +
 .../command_types_typedef.h                   |   69 +
 .../default_values.h                          |   51 +
 .../exception_types.h                         |   52 +
 .../goalconstraintsmsgconvertible.h           |   56 +
 .../gripper.h                                 |   48 +
 .../interim.h                                 |   60 +
 .../jointconfiguration.h                      |  145 +
 .../lin.h                                     |   67 +
 .../motioncmd.h                               |   93 +
 .../motionplanrequestconvertible.h            |   54 +
 .../ptp.h                                     |   67 +
 .../robotconfiguration.h                      |   92 +
 .../robotstatemsgconvertible.h                |   54 +
 .../sequence.h                                |  147 +
 .../testdata_loader.h                         |  117 +
 .../xml_constants.h                           |   80 +
 .../xml_testdata_loader.h                     |  223 +
 .../package.xml                               |   29 +
 .../src/cartesianconfiguration.cpp            |  132 +
 .../src/jointconfiguration.cpp                |  161 +
 .../src/robotconfiguration.cpp                |   62 +
 .../src/sequence.cpp                          |  120 +
 .../src/xml_testdata_loader.cpp               |  555 +++
 .../src/tools/moveit_config_data.cpp          |    2 +
 .../widgets/configuration_files_widget.cpp    |   23 +
 .../config/cartesian_limits.yaml              |    5 +
 .../launch/chomp_planning_pipeline.launch.xml |   43 +-
 .../fake_moveit_controller_manager.launch.xml |    5 +-
 .../launch/move_group.launch                  |    6 +-
 .../launch/ompl_planning_pipeline.launch.xml  |    8 +
 ...otion_planner_planning_pipeline.launch.xml |   28 +
 .../launch/planning_context.launch            |    1 +
 .../launch/planning_pipeline.launch.xml       |   11 +-
 .../launch/trajectory_execution.launch.xml    |    6 +-
 .../trajopt_planning_pipeline.launch.xml      |    8 +
 221 files changed, 41529 insertions(+), 22 deletions(-)
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/README.md
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/doc/.gitignore
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.pdf
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.tex
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/doc/README.md
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/doc/diag_class_planning_context.png
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/capability_names.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limit.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limits_aggregator.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory_point.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_aggregator.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_validator.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/limits_container.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_action.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_service.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_circle_generator.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/plan_components_builder.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_circ.h
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_ptp.h
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_exceptions.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/tip_frame_getter.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_request.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_response.h
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/package.xml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/rosdoc.yaml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/cartesian_limit.cpp
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/joint_limits_aggregator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/joint_limits_validator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/limits_container.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_circ.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_lin.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_ptp.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp
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 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_frankaemika_panda.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_with_gripper.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_frankaemika_panda.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_with_gripper.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_frankaemika_panda.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_with_gripper.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/test_robots/concept_testdata.odp
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 create mode 100755 moveit_planners/pilz_industrial_motion_planner/test/test_robots/testpoints.py
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/test_utils.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_get_solver_tip_frame.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit_config.yaml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_container.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_validator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner_direct.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.test
 create mode 100644 moveit_planners/pilz_industrial_motion_planner/test/unittest_velocity_profile_atrap.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/README.md
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.png
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.uxf
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.png
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.uxf
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.png
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.uxf
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.png
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.uxf
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/basecmd.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianconfiguration.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianpathconstraintsbuilder.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/center.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/checks.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ_auxiliary_types.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circauxiliary.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/command_types_typedef.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/default_values.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/exception_types.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/goalconstraintsmsgconvertible.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/gripper.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/interim.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/jointconfiguration.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/lin.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motioncmd.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motionplanrequestconvertible.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/ptp.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotconfiguration.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotstatemsgconvertible.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/sequence.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/testdata_loader.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_constants.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/src/cartesianconfiguration.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/src/jointconfiguration.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/src/robotconfiguration.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/src/sequence.cpp
 create mode 100644 moveit_planners/pilz_industrial_motion_planner_testutils/src/xml_testdata_loader.cpp
 create mode 100644 moveit_setup_assistant/templates/moveit_config_pkg_template/config/cartesian_limits.yaml
 create mode 100644 moveit_setup_assistant/templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index b21c6f4486..6175b31cf6 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -100,3 +100,5 @@
 /moveit_planners/chomp/chomp_optimizer_adapter/             @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_motion_planner/                @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/trajopt                                    @ommmid @mamoll
+/moveit_planners/pilz_industrial_motion_planner             @jschleicher @ct2034
+/moveit_planners/pilz_industrial_motion_planner_testutils/  @jschleicher @ct2034
diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
new file mode 100644
index 0000000000..1acf7f0272
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
@@ -0,0 +1,106 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pilz_industrial_motion_planner
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.10 (2019-12-04)
+-------------------
+
+0.4.9 (2019-11-28)
+------------------
+
+0.4.8 (2019-11-22)
+------------------
+
+0.4.7 (2019-09-10)
+------------------
+* Fix clang-tidy issues
+* integrate clang-tidy via CMake flag
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.6 (2019-09-04)
+------------------
+
+0.4.5 (2019-09-03)
+------------------
+* Adapt to changes in pilz_robots
+* add static code analyzing (clang-tidy)
+* drop deprecated isRobotStateEqual()
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.4 (2019-06-19)
+------------------
+* fixed an error that led to trajectories not strictly increasing in time
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.3 (2019-04-08)
+------------------
+* update dependencies of trajectory_generation
+* fix CIRC path generator and increase test coverage
+* adopt strictest limits in ptp planner (refactor JointLimitsContainer and TrajectoryGeneratorPTP)
+* Enable gripper commands inside a sequence
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.2 (2019-03-13)
+------------------
+* re-adapt to new RobotState API: remove #attempts
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.1 (2019-02-27)
+------------------
+
+0.3.6 (2019-02-26)
+------------------
+* refactor the testdataloader
+* adapt to new RobotState API: remove #attempts
+* Contributors: Pilz GmbH and Co. KG
+
+0.3.5 (2019-02-06)
+------------------
+* Increase line coverage for blending to 100%
+* refactor determining the trajectory alignment in the blend implementation
+* extend and refactor unittest of blender_transition_window
+* add planning group check to blender_transition_window
+* add more details to blend algorithm description
+* change handling of empty sequences in capabilities to be non-erroneous
+* rename command_planner -> pilz_command_planner
+* use pilz_testutils package for blend test
+* use collision-aware ik calculation
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.0 (2018-12-18)
+------------------
+* Use Eigen::Isometry3d to keep up with the recent changes in moveit
+* Contributors: Chris Lalancette
+
+0.3.1 (2018-12-17)
+------------------
+
+0.3.0 (2018-11-28)
+------------------
+* add append method for avoiding duplicate points in robot_trajectory trajectories
+* Relax the precondition on trajectory generators from v_start==0 to |v_start| < 1e-10 to gain robustness
+* Set last point of generated trajectories to have vel=acc=0 to match the first point.
+* add sequence action and service capabilities to concatenate multiple requests
+* Contributors: Pilz GmbH and Co. KG
+
+0.2.2 (2018-09-26)
+------------------
+
+0.2.1 (2018-09-25)
+------------------
+
+0.1.1 (2018-09-25)
+------------------
+* port to melodic
+* drop unused dependencies
+* Contributors: Pilz GmbH and Co. KG
+
+0.2.0 (2018-09-14)
+------------------
+* Changes for melodic
+* Contributors: Pilz GmbH and Co. KG
+
+0.1.0 (2018-09-14)
+------------------
+* Created trajectory generation package with ptp, lin, circ and blend planner
+* Contributors: Pilz GmbH and Co. KG
diff --git a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
new file mode 100644
index 0000000000..7c3f86c8a1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
@@ -0,0 +1,519 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(pilz_industrial_motion_planner)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+add_definitions(-std=c++11)
+add_definitions(-Wall)
+add_definitions(-Wextra)
+add_definitions(-Wno-unused-parameter)
+
+find_package(catkin REQUIRED COMPONENTS
+  eigen_conversions
+  kdl_conversions
+  moveit_core
+  moveit_msgs
+  moveit_ros_move_group
+  moveit_ros_planning
+  moveit_ros_planning_interface
+  pluginlib
+  roscpp
+  tf2
+  tf2_eigen
+  tf2_geometry_msgs
+  tf2_kdl
+  tf2_ros
+)
+
+find_package(orocos_kdl)
+find_package(Boost REQUIRED COMPONENTS )
+
+if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
+  find_package(code_coverage REQUIRED)
+  APPEND_COVERAGE_COMPILER_FLAGS()
+endif()
+
+################
+## Clang tidy ##
+################
+if(CATKIN_ENABLE_CLANG_TIDY)
+  find_program(
+    CLANG_TIDY_EXE
+    NAMES "clang-tidy"
+    DOC "Path to clang-tidy executable"
+    )
+  if(NOT CLANG_TIDY_EXE)
+    message(FATAL_ERROR "clang-tidy not found.")
+  else()
+    message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
+    set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+  endif()
+endif()
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  CATKIN_DEPENDS
+  moveit_msgs
+  roscpp
+  tf2_geometry_msgs
+)
+
+###########
+## Build ##
+###########
+include_directories(
+  include
+)
+
+# To avoid Warnings from clang-tidy declare system
+include_directories(
+  SYSTEM
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}_lib
+  src/${PROJECT_NAME}.cpp
+  src/planning_context_loader.cpp
+  src/joint_limits_validator.cpp
+  src/joint_limits_aggregator.cpp
+  src/joint_limits_container.cpp
+  src/cartesian_limits_aggregator.cpp
+  src/cartesian_limit.cpp
+  src/limits_container.cpp
+  src/trajectory_functions.cpp
+  src/plan_components_builder.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_lib
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Plugins ##
+#############
+add_library(${PROJECT_NAME}
+            src/${PROJECT_NAME}.cpp
+            src/planning_context_loader.cpp
+            src/joint_limits_aggregator.cpp
+            src/joint_limits_container.cpp
+            src/limits_container.cpp
+            src/cartesian_limit.cpp
+            src/cartesian_limits_aggregator.cpp
+            )
+target_link_libraries(${PROJECT_NAME}
+                      ${catkin_LIBRARIES})
+
+add_library(planning_context_loader_ptp
+            src/planning_context_loader_ptp.cpp
+            src/planning_context_loader.cpp
+            src/trajectory_functions.cpp
+            src/trajectory_generator.cpp
+            src/trajectory_generator_ptp.cpp
+            src/velocity_profile_atrap.cpp
+            src/joint_limits_container.cpp
+            )
+target_link_libraries(planning_context_loader_ptp
+                      ${catkin_LIBRARIES})
+
+add_library(planning_context_loader_lin
+            src/planning_context_loader_lin.cpp
+            src/planning_context_loader.cpp
+            src/trajectory_functions.cpp
+            src/trajectory_generator.cpp
+            src/trajectory_generator_lin.cpp
+            src/velocity_profile_atrap.cpp
+            )
+target_link_libraries(planning_context_loader_lin
+                      ${catkin_LIBRARIES})
+
+add_library(planning_context_loader_circ
+            src/planning_context_loader_circ.cpp
+            src/planning_context_loader.cpp
+            src/trajectory_functions.cpp
+            src/trajectory_generator.cpp
+            src/trajectory_generator_circ.cpp
+            src/path_circle_generator.cpp
+            )
+target_link_libraries(planning_context_loader_circ
+                      ${catkin_LIBRARIES})
+
+add_library(command_list_manager
+            src/command_list_manager.cpp
+            src/plan_components_builder.cpp)
+target_link_libraries(command_list_manager
+            ${catkin_LIBRARIES})
+add_dependencies(command_list_manager
+            ${catkin_EXPORTED_TARGETS})
+
+add_library(sequence_capability
+            src/move_group_sequence_action.cpp
+            src/move_group_sequence_service.cpp
+            src/plan_components_builder.cpp
+            src/command_list_manager.cpp
+            src/trajectory_blender_transition_window.cpp
+            src/joint_limits_aggregator.cpp  # do we need joint limits and cartesian_limit here?
+            src/joint_limits_container.cpp
+            src/limits_container.cpp
+            src/cartesian_limit.cpp
+            src/cartesian_limits_aggregator.cpp
+            )
+target_link_libraries(sequence_capability
+                      ${catkin_LIBRARIES})
+add_dependencies(sequence_capability
+           ${catkin_EXPORTED_TARGETS})
+
+#############
+## Install ##
+#############
+install(FILES
+       plugins/sequence_capability_plugin_description.xml
+       plugins/${PROJECT_NAME}_plugin_description.xml
+       plugins/planning_context_plugin_description.xml
+       DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/plugins
+       )
+
+## Mark libraries for installation
+install(TARGETS
+   ${PROJECT_NAME}
+   planning_context_loader_ptp
+   planning_context_loader_lin
+   planning_context_loader_circ
+   command_list_manager
+   sequence_capability
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  find_package(${PROJECT_NAME}_testutils REQUIRED)
+
+  include_directories(
+    ${${PROJECT_NAME}_testutils_INCLUDE_DIRS}
+  )
+
+  if(ENABLE_COVERAGE_TESTING)
+    include(CodeCoverage)
+    APPEND_COVERAGE_COMPILER_FLAGS()
+  endif()
+
+  #########################
+  ####Integration Tests####
+  #########################
+  set(${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES
+    sequence_capability
+    ${PROJECT_NAME}
+    planning_context_loader_ptp
+    planning_context_loader_lin
+    planning_context_loader_circ
+  )
+
+  # Planning Integration tests
+  add_rostest_gmock(integrationtest_sequence_action_preemption
+    test/integrationtest_sequence_action_preemption.test
+    test/integrationtest_sequence_action_preemption.cpp
+  )
+  target_link_libraries(integrationtest_sequence_action_preemption
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest_gmock(integrationtest_sequence_action
+    test/integrationtest_sequence_action.test
+    test/integrationtest_sequence_action.cpp
+  )
+  target_link_libraries(integrationtest_sequence_action
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest(test/integrationtest_sequence_action_capability_with_gripper.test
+    DEPENDENCIES integrationtest_sequence_action
+  )
+
+  add_rostest(test/integrationtest_sequence_action_capability_frankaemika_panda.test
+    DEPENDENCIES integrationtest_sequence_action
+  )
+
+  add_rostest_gtest(integrationtest_sequence_service_capability
+    test/integrationtest_sequence_service_capability.test
+    test/integrationtest_sequence_service_capability.cpp
+  )
+  target_link_libraries(integrationtest_sequence_service_capability
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest(test/integrationtest_sequence_service_capability_frankaemika_panda.test
+    DEPENDENCIES integrationtest_sequence_service_capability )
+
+  add_rostest(test/integrationtest_sequence_service_capability_with_gripper.test
+    DEPENDENCIES integrationtest_sequence_service_capability
+  )
+
+  # Planning Integration tests
+  add_rostest_gtest(integrationtest_command_planning
+    test/integrationtest_command_planning.test
+    test/integrationtest_command_planning.cpp
+    test/test_utils.cpp
+  )
+  target_link_libraries(integrationtest_command_planning
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest(test/integrationtest_command_planning_with_gripper.test
+    DEPENDENCIES integrationtest_command_planning
+  )
+
+  add_rostest(test/integrationtest_command_planning_frankaemika_panda.test
+    DEPENDENCIES integrationtest_command_planning )
+
+  # Blending Integration tests
+  add_rostest_gtest(integrationtest_command_list_manager
+    test/integrationtest_command_list_manager.test
+    test/integrationtest_command_list_manager.cpp
+    test/test_utils.cpp
+  )
+  target_link_libraries(integrationtest_command_list_manager
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest_gtest(integrationtest_get_solver_tip_frame
+    test/integrationtest_get_solver_tip_frame.test
+    test/integrationtest_get_solver_tip_frame.cpp
+  )
+  target_link_libraries(integrationtest_get_solver_tip_frame
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  add_rostest_gtest(integrationtest_plan_components_builder
+    test/integrationtest_plan_components_builder.test
+    test/integrationtest_plan_components_builder.cpp
+  )
+  target_link_libraries(integrationtest_plan_components_builder
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_INTEGRATIONTEST_LIBRARIES}
+  )
+
+  ##################
+  ####Unit Tests####
+  ##################
+  add_library(${PROJECT_NAME}_testhelpers
+    test/test_utils.cpp
+    src/trajectory_generator.cpp
+    src/trajectory_generator_circ.cpp
+    src/trajectory_generator_lin.cpp
+    src/trajectory_generator_ptp.cpp
+    src/path_circle_generator.cpp
+    src/velocity_profile_atrap.cpp
+  )
+
+  target_link_libraries(${PROJECT_NAME}_testhelpers ${PROJECT_NAME}_lib)
+
+  ## Add gtest based cpp test target and link libraries
+  catkin_add_gtest(unittest_${PROJECT_NAME}_direct
+    test/unittest_${PROJECT_NAME}_direct.cpp
+    src/planning_context_loader_ptp.cpp
+  )
+  target_link_libraries(unittest_${PROJECT_NAME}_direct
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  ## Add gtest based cpp test target and link libraries
+  catkin_add_gtest(unittest_velocity_profile_atrap
+    test/unittest_velocity_profile_atrap.cpp
+    src/velocity_profile_atrap.cpp
+  )
+  target_link_libraries(unittest_velocity_profile_atrap 
+    ${catkin_LIBRARIES}
+  )
+
+  catkin_add_gtest(unittest_trajectory_generator
+    test/unittest_trajectory_generator.cpp
+    src/trajectory_generator.cpp
+  )
+  target_link_libraries(unittest_trajectory_generator
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # Trajectory Generator Unit Test
+  add_rostest_gtest(unittest_trajectory_functions
+    test/unittest_trajectory_functions.test
+    test/unittest_trajectory_functions.cpp
+  )
+  target_link_libraries(unittest_trajectory_functions
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # unittest for trajectory blender transition window
+  add_rostest_gtest(unittest_trajectory_blender_transition_window
+    test/unittest_trajectory_blender_transition_window.test
+    test/unittest_trajectory_blender_transition_window.cpp
+    src/trajectory_blender_transition_window.cpp
+  )
+  target_link_libraries(unittest_trajectory_blender_transition_window
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # trajectory generator Unit Test
+  add_rostest_gtest(unittest_trajectory_generator_common
+    test/unittest_trajectory_generator_common.test
+    test/unittest_trajectory_generator_common.cpp
+  )
+  target_link_libraries(unittest_trajectory_generator_common
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # trajectory generator circ Unit Test
+  add_rostest_gtest(unittest_trajectory_generator_circ
+    test/unittest_trajectory_generator_circ.test
+    test/unittest_trajectory_generator_circ.cpp
+  )
+  target_link_libraries(unittest_trajectory_generator_circ
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # trajectory generator lin Unit Test
+  add_rostest_gtest(unittest_trajectory_generator_lin
+    test/unittest_trajectory_generator_lin.test
+    test/unittest_trajectory_generator_lin.cpp
+  )
+  target_link_libraries(unittest_trajectory_generator_lin
+    ${catkin_LIBRARIES}
+    ${${PROJECT_NAME}_testutils_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # trajectory generator ptp Unit Test
+  add_rostest_gtest(unittest_trajectory_generator_ptp
+    test/unittest_trajectory_generator_ptp.test
+    test/unittest_trajectory_generator_ptp.cpp
+  )
+  target_link_libraries(unittest_trajectory_generator_ptp
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # Command Planner Unit Test
+  add_rostest_gtest(unittest_${PROJECT_NAME}
+    test/unittest_${PROJECT_NAME}.test
+    test/unittest_${PROJECT_NAME}.cpp
+  )
+  target_link_libraries(unittest_${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # JointLimits Unit Test
+  add_rostest_gtest(unittest_joint_limit
+    test/unittest_joint_limit.test
+    test/unittest_joint_limit.cpp
+  )
+  target_link_libraries(unittest_joint_limit
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # JointLimitsAggregator Unit Test
+  add_rostest_gtest(unittest_joint_limits_aggregator
+    test/unittest_joint_limits_aggregator.test
+    test/unittest_joint_limits_aggregator.cpp
+  )
+  target_link_libraries(unittest_joint_limits_aggregator
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # JointLimitsContainer Unit Test
+  catkin_add_gtest(unittest_joint_limits_container
+    test/unittest_joint_limits_container.cpp
+  )
+  target_link_libraries(unittest_joint_limits_container
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # JointLimitsValidator Unit Test
+  catkin_add_gtest(unittest_joint_limits_validator
+    test/unittest_joint_limits_validator.cpp
+  )
+  target_link_libraries(unittest_joint_limits_validator
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # Cartesian Limits Aggregator Unit Test
+  add_rostest_gtest(unittest_cartesian_limits_aggregator
+    test/unittest_cartesian_limits_aggregator.test
+    test/unittest_cartesian_limits_aggregator.cpp
+  )
+  target_link_libraries(unittest_cartesian_limits_aggregator
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_lib
+  )
+
+  # PlanningContextLoaderPTP Unit Test
+  add_rostest_gtest(unittest_planning_context_loaders
+    test/unittest_planning_context_loaders.test
+    test/unittest_planning_context_loaders.cpp
+  )
+  target_link_libraries(unittest_planning_context_loaders
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # PlanningContext Unit Test (Typed test)
+  add_rostest_gtest(unittest_planning_context
+    test/unittest_planning_context.test
+    test/unittest_planning_context.cpp
+    src/planning_context_loader_circ.cpp
+    src/planning_context_loader_lin.cpp
+    src/planning_context_loader_ptp.cpp
+  )
+  target_link_libraries(unittest_planning_context
+    ${catkin_LIBRARIES}
+    ${PROJECT_NAME}_testhelpers
+  )
+
+  # GetTipFrames Unit Test
+  catkin_add_gmock(unittest_get_solver_tip_frame
+    test/unittest_get_solver_tip_frame.cpp
+  )
+  target_link_libraries(unittest_get_solver_tip_frame 
+    ${catkin_LIBRARIES}
+  )
+
+  # to run: catkin_make -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE_TESTING=ON package_name_coverage
+  if(ENABLE_COVERAGE_TESTING)
+    set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*")
+    add_code_coverage(
+      NAME ${PROJECT_NAME}_coverage
+      # specifying dependencies in a reliable way is on open issue
+      # see https://github.com/mikeferguson/code_coverage/pull/14
+      #DEPENDENCIES tests
+    )
+  endif()
+endif()
diff --git a/moveit_planners/pilz_industrial_motion_planner/README.md b/moveit_planners/pilz_industrial_motion_planner/README.md
new file mode 100644
index 0000000000..632224f5ec
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/README.md
@@ -0,0 +1,4 @@
+Please consult tutorials and the official [documentation](https://moveit.ros.org/documentation/concepts/).
+
+For details about the blend algorithm please refer to
+![doc/MotionBlendAlgorithmDescription.pdf](doc/MotionBlendAlgorithmDescription.pdf).
diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/.gitignore b/moveit_planners/pilz_industrial_motion_planner/doc/.gitignore
new file mode 100644
index 0000000000..2edfaf4621
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/doc/.gitignore
@@ -0,0 +1,12 @@
+*.aux
+*.bbl
+*.blg
+*.dvi
+*.log
+*.ps
+*.tps 
+*.fdb_latexmk 
+*.fls 
+*.out
+*.synctex.gz
+*.pdf
\ No newline at end of file
diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.pdf b/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a3f127e884496614820c3f9e8098850d918137f
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diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.tex b/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.tex
new file mode 100644
index 0000000000..a040465426
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.tex
@@ -0,0 +1,114 @@
+\documentclass{article}
+%--------------------------------------------------------
+\usepackage{hyperref}
+\usepackage{caption}
+\usepackage{subcaption}
+
+\usepackage{graphicx}
+
+
+\usepackage[left=2.9cm, right=2.9cm, top=3cm, bottom=2cm]{geometry}
+
+\usepackage{fancyhdr}
+\pagestyle{fancy}
+\fancyhf{}
+\rhead{31.01.2019}
+\lhead{Pilz GmbH \& Co. KG}
+\cfoot{\thepage}
+\renewcommand{\headrulewidth}{0pt}
+\renewcommand{\footrulewidth}{0pt}
+
+\begin{document}
+\title{Motion Blending}
+\author{Pilz GmbH \& Co. KG}
+\date{31.01.2019}
+
+\maketitle
+
+\begin{abstract}
+\noindent This article describes the techniques used to blend the position and orientation of two robot trajectories within the {\tt pilz\_industrial\_motion\_planner}\cite{pilztrajectorygeneration} ROS package.
+\end{abstract}
+
+
+\newpage
+
+\section{Position blending}
+
+\subsection{Introduction}
+
+Suppose we have two trajectories $x_1(t)$, $t\in[0,T_1]$ and $x_2(t)$, $t\in[0,T_2]$ and we want to make a transition from $x_1(t)$ to $x_2(t)$. The transition window technique assumes that the transition happens in a predefined time window. During this transition window, the resulted trajectory (blending trajectory) is given by:
+\begin{equation}
+	x_b(t) = x_1(t) + \alpha(s(t))(x_2(t)-x_1(t)), t \in [t_0, t_0 + T]
+\end{equation}
+in which $x_b(t)$ is the transition trajectory. $t_0$ is the start time of transition window and $T$ represents the transition time. $\alpha(s)$ is the blend function and $s$ is normalized time parameter:
+\begin{equation}
+s = \frac{t - t_0}{T}
+\label{eq:1}
+\end{equation}
+which changes from 0 to 1 during the transition window. Following polynomial is selected as $\alpha(s)$ so that the boundary conditions at the start and end point of the transition window are fulfilled \cite{lloyd1993trajectory}:
+\begin{equation}
+\alpha(s) = 6s^5 - 15s^4 + 10s^3.
+\label{eq:2}
+\end{equation}
+
+\subsection{Application for blending robot trajectory}
+We want to move the robot from $p_1$ to $p_2$, then from $p_2$ to $p_3$. $p_2$ is a blending way-point which means that it does not need to be reached exactly. We want the robot moves alongside $p_2$ without stop. The whole process is described below with an one dimensional example.
+
+\begin{enumerate}
+	\item Generate motion trajectories $x_1(t)$ from $p_1$ to $p_2$ and $x_2(t)$ from $p_2$ to $p_3$. $x_1(t)$ and $x_2(t)$ both start and stop with zero velocity/acceleration. Both trajectories start with time zero. As a simple example we generated two one-dimensional linear trajectories in Figure.\ref{ori_traj}. For robot motion without blending, the two trajectories are executed one after the other, which means $x_2(t)$ needs to be timely shifted by the duration of $x_1(t)$.
+	\begin{figure}[ht]%
+	\includegraphics[width=0.9\columnwidth]{figure/original_trajectories.eps}%
+	\caption{One-dimensional linear trajectory}%
+	\label{ori_traj}
+	\end{figure}
+
+	\item According to the blending radius $r$, the points $p_{b1}$ on $x_1(t)$ and $p_{b2}$ on $x_2(t)$ which intersects with the blending sphere are computed. We also compute the durations $d_1$ for moving from $p_{b1}$ to $p_2$ on $x_1$ and $d_2$ for moving from $p_2$ to $p_{b2}$ on $x_2$. The transition window should start earliest from the time of $p_{b1}$ on $x_1(t)$ is reached, and ends latest at the time of $p_{b2}$ on $x_2(t)$ is reached. In the example, we take $r=3$ and $p_{b1} = p_{b2} = 5$ (see Figure.\ref{ori_traj}).
+
+	\item Timely shift the $x_2(t)$ and select the transition window time $T$ according to the above rules. In order to avoid stop on the blending trajectory, the time shift $T_s$ of $x_2(t)$ should be smaller than the duration of $x_1(t)$. We now have the second trajectory as $x_2(t-T_s)$ for blending. In the example the duration of $x_1(t)$ is $6s$. Figure.\ref{blend_case_1} shows a blending case that we shift the $x_2(t)$ with $6s$, which is almost the same as motion without blending. Figure.\ref{blend_case_2} shows a blending case that we shift the $x_2(t)$ with $3.5s$ and the blending starts at 3.5s, ends at 5.5s. Figure.\ref{blend_case_3} shows a blending case that we shift the $x_2(t)$ with $4.5s$ and the blending starts at 3.5s, ends at 6.5s.
+\end{enumerate}
+
+In the actual implementation, we make the following choice given the durations $d_1$ and $d_2$ inside the blending sphere:
+\begin{itemize}
+\item If $d_1\leq d_2$ we shift exactly to the time when $p_{b1}$ is reached on $x_1$ (when the blending sphere is entered),
+\item if $d_1>d_2$ we compute $T_s$ such that $T_s+d_2=T_1$. This choice minimizes increases in acceleration/deceleration on the resulting blend trajectory.
+\end{itemize}
+
+
+\section{Blending the orientation}
+To blend the orientation, the method described in \cite{dantam2014orientation} is used. The equations (18)-(20) in \cite{dantam2014orientation} are used to calculate the orientation along the blend trajectory. In our application, due to the fact that the orientation change along the original (not blended) trajectories has smooth acceleration and deceleration phases, (18) and (19) from paper \cite{dantam2014orientation} do not need to be calculated.\newline
+For the sake of clarity, it is important to note that our functions for $u_{ij}(t)$ and $u_{jk}(t)$ are different. However, we account for this difference by not explicitly calculating (18) and (19) and using the given samples of the original (not blended) trajectories instead. Furthermore,  (\ref{eq:2}) is used for $u_{j}(t)$, in other words, $u_{j}(t) = \alpha(s(t))$.
+
+
+\begin{figure}[ht]
+	\vspace*{-5mm}
+	\centering
+	\begin{subfigure}[ht]{0.8\textwidth}%
+		\centering
+		\includegraphics[width=0.8\columnwidth]{figure/blend_case_1.eps}%
+		\caption{Motion blend case 1: $T_s = 6s$, blending starts at 3.5s, ends at 8s. The resulted blending trajectory comes to a stop in the middle.}%
+		\label{blend_case_1}%
+	\end{subfigure}
+	
+	\begin{subfigure}[ht]{0.8\textwidth}%
+		\centering
+		\includegraphics[width=0.8\columnwidth]{figure/blend_case_2.eps}%
+		\caption{Motion blend case 2: $T_s = 3.5s$, blending starts at 3.5s, ends at 5.5s. The resulted blending trajectory smoothly transits from first trajectory to the second trajectory. The velocity profile has no jumps.}%
+		\label{blend_case_2}%
+	\end{subfigure}
+	
+	\begin{subfigure}[ht]{0.8\textwidth}%
+		\centering
+		\includegraphics[width=0.8\columnwidth]{figure/blend_case_3.eps}%
+		\caption{Motion blend case 3: $T_s = 4.5s$, blending starts at 3.5s, ends at 6.5s. The resulted blending trajectory smoothly transits from first trajectory to the second trajectory. The velocity profile has no jumps.}%
+		\label{blend_case_3}%
+	\end{subfigure}
+	
+\end{figure}
+
+
+\begin{thebibliography}{9}
+\bibitem {lloyd1993trajectory}Lloyd, John and Hayward, Vincent \textit{Trajectory generation for sensor-driven and time-varying tasks}, The International journal of robotics research, 1993
+\bibitem {dantam2014orientation}Dantam, Neil and Stilman, Mike \textit{Spherical Parabolic Blends for Robot Workspace Trajectories}, International Conference on Intelligent Robots and Systems (IROS), 2014
+\bibitem{pilztrajectorygeneration}\url{https://github.com/ros-planning/moveit/tree/master/moveit_planners/pilz_industrial_motion_planner}
+\end{thebibliography}
+\end{document}
diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/README.md b/moveit_planners/pilz_industrial_motion_planner/doc/README.md
new file mode 100644
index 0000000000..65966e8415
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/doc/README.md
@@ -0,0 +1,22 @@
+# Trajectory generation
+
+## Overview sequence processing
+The following diagram shows the steps to process and execute
+a list of commands given as sequence. The diagram also shows the resulting data
+structures of each processing step.
+![OverviewProcessing](sequence_processing_overview.png)
+
+## Overview classes PlanningContext
+The following diagram shows the different classes responsible for the loading
+of the different planning contexts (e.g. Ptp, Lin, Circ) and the
+relationship between them.
+![DiagClassPlanningContext](diag_class_planning_context.png)
+
+## Relationship MoveGroupCapabilities and ComandListManager
+The following diagram shows the relationship between the MoveGroupCapabilities
+and the CommandListManager.
+![DiagClassCapabilities](diag_class_capabilities.png)
+
+## Blending algorithm description
+A description of the used blending algorithm can be found
+[here](MotionBlendAlgorithmDescription.pdf).
diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_capabilities.png b/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_capabilities.png
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diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_planning_context.uxf b/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_planning_context.uxf
new file mode 100644
index 0000000000..1a8a3bc7c5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_planning_context.uxf
@@ -0,0 +1,906 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <zoom_level>7</zoom_level>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>287</x>
+      <y>273</y>
+      <w>567</w>
+      <h>133</h>
+    </coordinates>
+    <panel_attributes>PlanningContextLoader
+--
+...
+--
++getAlgorithm(): std::string
++setModel(model: moveit::core::RobotModelConstPtr&amp;): bool
++setLimits(joint_limits: pilz_industrial_motion_planner::JointLimitsContainer&amp;): bool
++loadContext(planning_context: planning_interface::PlanningContextPtr&amp;, name: std::string&amp;, group: std::string&amp;): bool
+#loadContext&lt;T&gt;(planning_context: planning_interface::PlanningContextPtr&amp;, name: std::string&amp;, group: std::string&amp;): bool
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>0</x>
+      <y>525</y>
+      <w>259</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+PlanningContextLoaderPTP
+--
+--
++loadContext(planning_context, name, group)
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>448</x>
+      <y>525</y>
+      <w>259</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+PlanningContextLoaderLIN
+--
+--
++loadContext(planning_context, name, group)
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>119</x>
+      <y>350</y>
+      <w>182</w>
+      <h>189</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>240.0;10.0;10.0;10.0;10.0;250.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>567</x>
+      <y>399</y>
+      <w>21</w>
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+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;180.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>35</x>
+      <y>756</y>
+      <w>133</w>
+      <h>35</h>
+    </coordinates>
+    <panel_attributes>PlanningContextPTP
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>511</x>
+      <y>749</y>
+      <w>126</w>
+      <h>35</h>
+    </coordinates>
+    <panel_attributes>PlanningContextLIN
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1260</x>
+      <y>616</y>
+      <w>119</w>
+      <h>126</h>
+    </coordinates>
+    <panel_attributes>template=T
+PlanningContextBase
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Text</id>
+    <coordinates>
+      <x>21</x>
+      <y>609</y>
+      <w>175</w>
+      <h>14</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;bind&gt;&gt;&lt;T-&gt;TrajectoryGeneratorPTP&gt;</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>133</x>
+      <y>644</y>
+      <w>1141</w>
+      <h>126</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>1610.0;10.0;10.0;10.0;10.0;160.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>602</x>
+      <y>672</y>
+      <w>672</w>
+      <h>91</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>940.0;10.0;10.0;10.0;10.0;110.0</additional_attributes>
+  </element>
+  <element>
+    <id>Text</id>
+    <coordinates>
+      <x>490</x>
+      <y>609</y>
+      <w>175</w>
+      <h>14</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;bind&gt;&gt;&lt;T-&gt;TrajectoryGeneratorLIN&gt;</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>511</x>
+      <y>1001</y>
+      <w>126</w>
+      <h>35</h>
+    </coordinates>
+    <panel_attributes>TrajectoryGeneratorLIN
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>98</x>
+      <y>588</y>
+      <w>21</w>
+      <h>182</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;..</panel_attributes>
+    <additional_attributes>10.0;240.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>35</x>
+      <y>1001</y>
+      <w>126</w>
+      <h>35</h>
+    </coordinates>
+    <panel_attributes>TrajectoryGeneratorPTP
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>1176</x>
+      <y>861</y>
+      <w>308</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>TrajectoryGenerator
+--
+--
+TrajectoryGenerator(RobotModelConstPtr, LimitsContainer)
+generate(request, response, sampling_time)
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>567</x>
+      <y>588</y>
+      <w>21</w>
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+    </coordinates>
+    <panel_attributes>lt=&lt;..</panel_attributes>
+    <additional_attributes>10.0;230.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>567</x>
+      <y>777</y>
+      <w>21</w>
+      <h>238</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;&lt;&lt;-
+m1=1</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;320.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>98</x>
+      <y>784</y>
+      <w>21</w>
+      <h>231</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;&lt;&lt;-
+m1=1</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;310.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>602</x>
+      <y>903</y>
+      <w>588</w>
+      <h>112</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>820.0;10.0;10.0;10.0;10.0;140.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>126</x>
+      <y>875</y>
+      <w>1064</w>
+      <h>140</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>1500.0;10.0;10.0;10.0;10.0;180.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>0</x>
+      <y>441</y>
+      <w>98</w>
+      <h>49</h>
+    </coordinates>
+    <panel_attributes>Plugin
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>42</x>
+      <y>483</y>
+      <w>21</w>
+      <h>56</h>
+    </coordinates>
+    <panel_attributes>lt=..</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1589</x>
+      <y>525</y>
+      <w>147</w>
+      <h>112</h>
+    </coordinates>
+    <panel_attributes>JointLimitsContainer
+--
+--
+--
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1792</x>
+      <y>525</y>
+      <w>147</w>
+      <h>112</h>
+    </coordinates>
+    <panel_attributes>CartesianLimit
+--
++max_trans_vel_: double
++max_trans_acc_: double
++max_trans_dec_: double
++max_rot_vel_: double
++max_rot_acc_: double
++max_rot_dec_: double
+--
+--
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1673</x>
+      <y>399</y>
+      <w>196</w>
+      <h>91</h>
+    </coordinates>
+    <panel_attributes>LimitsContainer
+--
+--
++hasCartesianLimit(): bool
++getCartesianLimit(): pilz_industrial_motion_planner::CartesianLimit
++hasJointLimits(): bool
++getJointLimits(): pilz_industrial_motion_planner::JointLimitsContainer
+--
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
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+      <y>483</y>
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+      <h>56</h>
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+  <element>
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+    <coordinates>
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+      <w>70</w>
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+    <panel_attributes>PlanningContextCIRC
+--
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>952</x>
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+    <panel_attributes>symbol=component
+PlanningContextLoaderCIRC
+--
+--
++loadContext(planning_context, name, group)
+--</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
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+    <id>Text</id>
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++getPlanningContext(const planning_scene::PlanningSceneConstPtr&amp; planning_scene,
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+moveit_msgs::MoveItErrorCodes&amp; error_code):planning_interface::PlanningContextPtr
+--
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+    <panel_attributes>PlanningInterface::PlannerManager
+--
+--
+
+--</panel_attributes>
+    <additional_attributes/>
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+    <panel_attributes>PlanningInterface::PlanningContext
+--
+--
+
+--</panel_attributes>
+    <additional_attributes/>
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+VelocityProfile_Trap
+--
++ SetProfile
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new file mode 100644
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+<<
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+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 71 0 0]
+  /Height 71
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+{{
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+<<
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+  /BitsPerComponent 8
+  /Width 320
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [320 0 0 71 0 0]
+  /Height 71
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+{{
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+<<
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+  /BitsPerComponent 8
+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 286 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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+} exec
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
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+cp
+clip
+0.941 GC
+N
+0 0 1284 287 re
+f
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
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+cp
+clip
+1 GC
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+f
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
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+cp
+clip
+1 GC
+N
+0 0 1284 287 re
+f
+GR
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+[0.48 0 0 0.48055 0 33.71863] CT
+[1 0 0 1 0 0] CT
+N
+0 -69.75 M
+0 286.5 L
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+cp
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+GS
+0 0 translate
+1284 287 scale
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+{{
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+<<
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+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 287 0 0]
+  /Height 287
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+[0.48 0 0 0.48055 0 0.07987] CT
+[1 0 0 1 0 0] CT
+N
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+1603.75 0.25 L
+cp
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+GS
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
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+<<
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+  /BitsPerComponent 8
+  /Width 1284
+  /ImageType 1
+  /DataSource Data
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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+} stopped {handleerror} if
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+} exec
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+} stopped {handleerror} if
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+} exec
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+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
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+[0.6 0 0 0.60069 0 347.4] CT
+N
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+[0.48 0 0 0.48055 0 381.51931] CT
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+{{
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+  /BitsPerComponent 8
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+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 286 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+    {def} {pop pop} ifelse
+  } forall
+  /Encoding exch def
+  /FontName 1 index def
+  currentdict definefont pop
+  end
+} bind def
+%%EndResource
+%%BeginResource: procset (Apache XML Graphics EPS ProcSet) 1.0 0
+%%Version: 1.0 0
+%%Copyright: (Copyright 2002-2003 The Apache Software Foundation. License terms: http://www.apache.org/licenses/LICENSE-2.0)
+/BeginEPSF { %def
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+/dict_count countdictstack def % Count objects on dict stack
+/op_count count 1 sub def      % Count objects on operand stack
+userdict begin                 % Push userdict on dict stack
+/showpage { } def              % Redefine showpage, { } = null proc
+0 setgray 0 setlinecap         % Prepare graphics state
+1 setlinewidth 0 setlinejoin
+10 setmiterlimit [ ] 0 setdash newpath
+/languagelevel where           % If level not equal to 1 then
+{pop languagelevel             % set strokeadjust and
+1 ne                           % overprint to their defaults.
+{false setstrokeadjust false setoverprint
+} if
+} if
+} bd
+/EndEPSF { %def
+count op_count sub {pop} repeat            % Clean up stacks
+countdictstack dict_count sub {end} repeat
+b4_Inc_state restore
+} bd
+%%EndResource
+%%EndProlog
+%%Page: 1 1
+%%PageBoundingBox: 0 0 774 521
+%%BeginPageSetup
+[1 0 0 -1 0 521] CT
+%%EndPageSetup
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+1 GC
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+[0.6 0 0 0.60069 0 0.20001] CT
+N
+0 0 M
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+1 GC
+N
+0 0 1290 868 re
+f
+GR
+GS
+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
+0 286 L
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+1283 1 L
+cp
+clip
+1 GC
+N
+0 0 1283 286 re
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
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+cp
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+0.941 GC
+N
+0 0 1284 287 re
+f
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
+0 1 M
+0 286 L
+1283 286 L
+1283 1 L
+cp
+clip
+1 GC
+N
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+[0.6 0 0 0.60069 0 -0.40068] CT
+N
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+f
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+[0.48 0 0 0.48055 0 33.71863] CT
+[1 0 0 1 0 0] CT
+N
+0 -69.75 M
+0 286.5 L
+1603.75 286.5 L
+1603.75 -69.75 L
+cp
+clip
+GS
+0 0 translate
+1284 287 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
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+<<
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+  /BitsPerComponent 8
+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 287 0 0]
+  /Height 287
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 70 0 0]
+  /Height 70
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
+%AXGEndBitmap
+GR
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+[1 0 0 1 0 0] CT
+N
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+cp
+clip
+GS
+0 0 translate
+320 70 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 320
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [320 0 0 70 0 0]
+  /Height 70
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
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+cp
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
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+/DeviceRGB setcolorspace
+<<
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+  /BitsPerComponent 8
+  /Width 1284
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [1284 0 0 287 0 0]
+  /Height 287
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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+} stopped {handleerror} if
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+} exec
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+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzi,?jb%4q~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 921.6 0] CT
+[1 0 0 1 0 0] CT
+N
+-1920 0 M
+-1920 1175 L
+480 1175 L
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+cp
+clip
+GS
+0 0 translate
+480 235 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 480
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [480 0 0 235 0 0]
+  /Height 235
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WFlYNTE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzJ9M*dVuo]~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.6 0 0 0.6 0 -0.6] CT
+N
+0 1 M
+0 310 L
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+955 1 L
+cp
+clip
+1 GC
+N
+0 0 955 310 re
+f
+GR
+GS
+[0.48 0 0 0.48 0 36.84] CT
+[1 0 0 1 0 0] CT
+N
+0 -76.75 M
+0 309.5 L
+1193.75 309.5 L
+1193.75 -76.75 L
+cp
+clip
+GS
+0 0 translate
+955 310 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WFlSlTE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!
+8q],&<eU~>
+
+%AXGEndBitmap
+GR
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+[0.48 0 0 0.48 458.4 36.84] CT
+[1 0 0 1 0 0] CT
+N
+-955 -76.75 M
+-955 309.5 L
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+cp
+clip
+GS
+0 0 translate
+239 310 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WFlV]TE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzp_
+u9P$uu~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 0 -0.12] CT
+[1 0 0 1 0 0] CT
+N
+0 0.25 M
+0 386.5 L
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+1193.75 0.25 L
+cp
+clip
+GS
+0 0 translate
+955 77 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 77 0 0]
+  /Height 77
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WTS+'TE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!!%
+O*SPYH+~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 458.4 -0.12] CT
+[1 0 0 1 0 0] CT
+N
+-955 0.25 M
+-955 386.5 L
+238.75 386.5 L
+238.75 0.25 L
+cp
+clip
+GS
+0 0 translate
+239 77 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 77 0 0]
+  /Height 77
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;!<E0#!.pmDX)1Bm!<<*"zzzzzzzzzzzz!,ufN'A_X~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.6 0 0 0.6 0 -0.6] CT
+N
+0 1 M
+0 310 L
+955 310 L
+955 1 L
+cp
+clip
+0.941 GC
+N
+0 0 955 311 re
+f
+GR
+GS
+[0.6 0 0 0.6 0 -0.6] CT
+N
+0 1 M
+0 310 L
+955 310 L
+955 1 L
+cp
+clip
+1 GC
+N
+0 0 955 311 re
+f
+GR
+GS
+[0.6 0 0 0.6 0 -0.6] CT
+N
+0 1 M
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+955 310 L
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+cp
+clip
+1 GC
+N
+0 0 955 311 re
+f
+GR
+GS
+[0.48 0 0 0.48 0 36.36] CT
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+N
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+0 0 translate
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+{{
+/RawData currentfile /ASCII85Decode filter def
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+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 311 0 0]
+  /Height 311
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+'$U~>
+
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+[0.48 0 0 0.48 458.4 36.36] CT
+[1 0 0 1 0 0] CT
+N
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+clip
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
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+<<
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+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 311 0 0]
+  /Height 311
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+!"l8H/eDbXls~>
+
+%AXGEndBitmap
+GR
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+[0.48 0 0 0.48 0 -0.12] CT
+[1 0 0 1 0 0] CT
+N
+0 0.25 M
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+clip
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
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+<<
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+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 76 0 0]
+  /Height 76
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 458.4 -0.12] CT
+[1 0 0 1 0 0] CT
+N
+-955 0.25 M
+-955 386.5 L
+238.75 386.5 L
+238.75 0.25 L
+cp
+clip
+GS
+0 0 translate
+239 76 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 76 0 0]
+  /Height 76
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0R!K"\o'L]d;3=g6G>EMrD4UlrpYG<t%!F^8)OS9[ozzzzz!!%N[pk(5#^E:53ljHigR!lfN$*u9e
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+
+%AXGEndBitmap
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+1 GC
+N
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+f
+GR
+GS
+[0.48 0 0 0.48 0 224.64] CT
+[1 0 0 1 0 0] CT
+N
+0 -78 M
+0 309.5 L
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+cp
+clip
+GS
+0 0 translate
+955 310 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
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+[1 0 0 1 0 0] CT
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+0 0 translate
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+{{
+/RawData currentfile /ASCII85Decode filter def
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+<<
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+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WFlV]TE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzp_
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+[1 0 0 1 0 0] CT
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+clip
+GS
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 78 0 0]
+  /Height 78
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+{{
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+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 78 0 0]
+  /Height 78
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 311 0 0]
+  /Height 311
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
+%AXGEndBitmap
+GR
+GR
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+[0.48 0 0 0.48 0 187.2] CT
+[1 0 0 1 0 0] CT
+N
+0 0 M
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+clip
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+0 0 translate
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+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
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+<<
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+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 77 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 458.4 187.2] CT
+[1 0 0 1 0 0] CT
+N
+-955 0 M
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+cp
+clip
+GS
+0 0 translate
+239 77 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
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+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 77 0 0]
+  /Height 77
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+k'mE1;fQ+~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.6 0 0 0.6 0 375.6] CT
+N
+0 0 M
+0 309 L
+955 309 L
+955 0 L
+cp
+clip
+1 GC
+N
+0 0 955 309 re
+f
+GR
+GS
+[0.48 0 0 0.48 0 413.04] CT
+[1 0 0 1 0 0] CT
+N
+0 -78 M
+0 308.25 L
+1193.75 308.25 L
+1193.75 -78 L
+cp
+clip
+GS
+0 0 translate
+955 309 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 309 0 0]
+  /Height 309
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;0`_7S!5bE.WFlQ&TE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!!
+%P-!Re\u[f~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 458.4 413.04] CT
+[1 0 0 1 0 0] CT
+N
+-955 -78 M
+-955 308.25 L
+238.75 308.25 L
+238.75 -78 L
+cp
+clip
+GS
+0 0 translate
+239 309 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 309 0 0]
+  /Height 309
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;!=]#/!5bE.WG`8*TE"rlzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!!!
+#WfDo,d64s~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 0 375.6] CT
+[1 0 0 1 0 0] CT
+N
+0 0 M
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+1193.75 386.25 L
+1193.75 0 L
+cp
+clip
+GS
+0 0 translate
+955 78 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 78 0 0]
+  /Height 78
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;JH,ZM!5fq/l<W?K<<3("zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!5
+N@_.C]9~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.48 0 0 0.48 458.4 375.6] CT
+[1 0 0 1 0 0] CT
+N
+-955 0 M
+-955 386.25 L
+238.75 386.25 L
+238.75 0 L
+cp
+clip
+GS
+0 0 translate
+239 78 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 78 0 0]
+  /Height 78
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
+Gb"0;!=]#/!5bE.WG`:P'EA+5zzzzzzzzzzzz!!'fe!EZk263~>
+
+%AXGEndBitmap
+GR
+GR
+GS
+[0.6 0 0 0.6 0 375.6] CT
+N
+0 0 M
+0 309 L
+955 309 L
+955 0 L
+cp
+clip
+0.941 GC
+N
+0 0 955 310 re
+f
+GR
+GS
+[0.6 0 0 0.6 0 375.6] CT
+N
+0 0 M
+0 309 L
+955 309 L
+955 0 L
+cp
+clip
+1 GC
+N
+0 0 955 310 re
+f
+GR
+GS
+[0.6 0 0 0.6 0 375.6] CT
+N
+0 0 M
+0 309 L
+955 309 L
+955 0 L
+cp
+clip
+1 GC
+N
+0 0 955 310 re
+f
+GR
+GS
+[0.48 0 0 0.48 0 412.56] CT
+[1 0 0 1 0 0] CT
+N
+0 -77 M
+0 309.25 L
+1193.75 309.25 L
+1193.75 -77 L
+cp
+clip
+GS
+0 0 translate
+955 310 scale
+%AXGBeginBitmap: java.awt.image.BufferedImage
+{{
+/RawData currentfile /ASCII85Decode filter def
+/Data RawData /FlateDecode filter def
+/DeviceRGB setcolorspace
+<<
+  /Decode [0 1 0 1 0 1]
+  /BitsPerComponent 8
+  /Width 955
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [955 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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+} exec
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+  /Width 239
+  /ImageType 1
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+  /ImageMatrix [239 0 0 77 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /ImageType 1
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+  /ImageMatrix [953 0 0 310 0 0]
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+} stopped {handleerror} if
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+} exec
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
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+  /ImageType 1
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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+} exec
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+} stopped {handleerror} if
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+} exec
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+  /Width 238
+  /ImageType 1
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+  /ImageMatrix [238 0 0 76 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+[0.48 0 0 0.48 574.8 224.64] CT
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+  /BitsPerComponent 8
+  /Width 953
+  /ImageType 1
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+  /ImageMatrix [953 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [239 0 0 310 0 0]
+  /Height 310
+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+<<
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+  /BitsPerComponent 8
+  /Width 953
+  /ImageType 1
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+  /ImageMatrix [953 0 0 78 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 239
+  /ImageType 1
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 238
+  /ImageType 1
+  /DataSource Data
+  /ImageMatrix [238 0 0 77 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 953
+  /ImageType 1
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+  /ImageMatrix [953 0 0 309 0 0]
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /BitsPerComponent 8
+  /Width 953
+  /ImageType 1
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+  /ImageType 1
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+>> image
+} stopped {handleerror} if
+  RawData flushfile
+} exec
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+} stopped {handleerror} if
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diff --git a/moveit_planners/pilz_industrial_motion_planner/doc/sequence_processing_overview.uxf b/moveit_planners/pilz_industrial_motion_planner/doc/sequence_processing_overview.uxf
new file mode 100644
index 0000000000..fa169e844c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/doc/sequence_processing_overview.uxf
@@ -0,0 +1,1130 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <zoom_level>5</zoom_level>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>155</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_1 (Group_1)
+bg=cyan
+transparency=0
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>190</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_2 (Group_1)
+bg=cyan
+transparency=0
+
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>230</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_3 (Group_2)
+transparency=0
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>270</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_4 (Group_2)
+bg=yellow
+transparency=0
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>310</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_5 (Group_1)
+bg=cyan
+transparency=0
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>520</x>
+      <y>365</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionPlanResponse&gt;&gt;
+Item_N (Group_2)
+bg=yellow
+transparency=0
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>510</x>
+      <y>125</y>
+      <w>125</w>
+      <h>275</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;MotionPlanResponse&gt; &gt;&gt;
+MySequence
+layer=-50
+bg=light_gray
+transparency=0
+
+group=8</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>855</x>
+      <y>155</y>
+      <w>110</w>
+      <h>65</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_1 + Item_2  (Group_1)
+bg=cyan
+transparency=0
+group=2</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>855</x>
+      <y>230</y>
+      <w>110</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+transparency=0
+&lt;&lt;RobotTrajectory&gt;&gt;
+Item_3 + Item_4 (Group_2)
+group=2</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>855</x>
+      <y>310</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_5  (Group_1)
+bg=cyan
+transparency=0
+group=2</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>855</x>
+      <y>365</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_N  (Group_2)
+bg=yellow
+transparency=0
+group=2</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>850</x>
+      <y>125</y>
+      <w>125</w>
+      <h>275</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;RobotTrajectoryPtr&gt; &gt;&gt;
+MySequence
+layer=-50
+bg=light_gray
+transparency=0
+group=2</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1240</x>
+      <y>205</y>
+      <w>110</w>
+      <h>65</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_1 + Item_2  (Group_1)
+bg=cyan
+transparency=0
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1240</x>
+      <y>280</y>
+      <w>110</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+&lt;&lt;RobotTrajectory&gt;&gt;
+Item_3 + Item_4 (Group_2)
+group=3
+transparency=0</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1240</x>
+      <y>360</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_5  (Group_1)
+bg=cyan
+transparency=0
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1240</x>
+      <y>415</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_N  (Group_2)
+bg=yellow
+group=3
+transparency=0</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1230</x>
+      <y>90</y>
+      <w>130</w>
+      <h>365</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;ExecutableMotionPlan&gt;&gt;
+MySequence
+layer=-100
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1235</x>
+      <y>180</y>
+      <w>120</w>
+      <h>270</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;&lt;ExecutableTrajectory&gt;&gt; &gt;&gt;
+plan_components_
+bg=light_gray
+transparency=0
+layer=-50
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1235</x>
+      <y>135</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>planning_scene_monoitor_
+
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1235</x>
+      <y>155</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>planning_scene_
+
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1235</x>
+      <y>115</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>error_code_
+
+group=3</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>215</y>
+      <w>110</w>
+      <h>65</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_1 + Item_2  (Group_1)
+bg=cyan
+transparency=0
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>290</y>
+      <w>110</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+&lt;&lt;RobotTrajectory&gt;&gt;
+Item_3 + Item_4 (Group_2)
+transparency=0
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>370</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_5  (Group_1)
+bg=cyan
+transparency=0
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>425</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_N  (Group_2)
+bg=yellow
+transparency=0
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>190</y>
+      <w>120</w>
+      <h>270</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;&lt;:RobotTrajectory&gt;&gt; &gt;&gt;
+planning_trajectory
+bg=light_gray
+transparency=0
+layer=-50
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>135</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>planning_time
+
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>155</y>
+      <w>120</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;RobotState&gt; &gt;&gt;
+trajectory_start
+
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>115</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>error_code
+
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1585</x>
+      <y>80</y>
+      <w>130</w>
+      <h>385</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MoveGroupSequenceResult&gt;&gt;
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+layer=-100
+transparency=0
+group=9</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>1125</x>
+      <y>230</y>
+      <w>85</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Build*
+ExecutionMotionPlan</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>0</x>
+      <y>235</y>
+      <w>20</w>
+      <h>20</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>15</x>
+      <y>240</y>
+      <w>70</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>120.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>245</x>
+      <y>225</y>
+      <w>130</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Validate:*
+- blend radii all positive
+- last blend radius zero
+- only first request has start state
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>195</x>
+      <y>240</y>
+      <w>60</w>
+      <h>15</h>
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+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>100.0;10.0;10.0;10.0</additional_attributes>
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+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>370</x>
+      <y>240</y>
+      <w>30</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>40.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>390</x>
+      <y>230</y>
+      <w>105</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Calculate*
+individual sequence items</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>490</x>
+      <y>240</y>
+      <w>30</w>
+      <h>15</h>
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+    <panel_attributes>lt=&lt;-</panel_attributes>
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+  <element>
+    <id>UMLState</id>
+    <coordinates>
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+      <y>230</y>
+      <w>60</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Blend*
+*Trajectories*</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>630</x>
+      <y>240</y>
+      <w>25</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>30.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
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+      <y>240</y>
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+valign=top
+*Execute*
+*Trajectories*</panel_attributes>
+    <additional_attributes/>
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+  <element>
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+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>1480</x>
+      <y>235</y>
+      <w>95</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Generate:*
+MoveGroupSequenceResult</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1570</x>
+      <y>245</y>
+      <w>25</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>30.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>645</x>
+      <y>230</y>
+      <w>110</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Validate*
+Blend radii do not overlap</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>825</x>
+      <y>240</y>
+      <w>35</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>50.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>750</x>
+      <y>240</y>
+      <w>30</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>40.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>1015</x>
+      <y>225</y>
+      <w>50</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>type=decision</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Text</id>
+    <coordinates>
+      <x>1060</x>
+      <y>230</y>
+      <w>35</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>Action</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Text</id>
+    <coordinates>
+      <x>1045</x>
+      <y>265</y>
+      <w>40</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>Service</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1060</x>
+      <y>240</y>
+      <w>75</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>130.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>1100</x>
+      <y>565</y>
+      <w>120</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>halign=left
+valign=top
+*Build*
+GetMotionSequence::Response</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1035</x>
+      <y>260</y>
+      <w>75</w>
+      <h>325</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>130.0;630.0;10.0;630.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1215</x>
+      <y>570</y>
+      <w>380</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>740.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>1785</x>
+      <y>310</y>
+      <w>20</w>
+      <h>20</h>
+    </coordinates>
+    <panel_attributes>type=final</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1710</x>
+      <y>245</y>
+      <w>95</w>
+      <h>75</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>170.0;130.0;170.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1710</x>
+      <y>325</y>
+      <w>95</w>
+      <h>260</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>170.0;10.0;170.0;500.0;10.0;500.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>65</x>
+      <y>80</y>
+      <w>145</w>
+      <h>310</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; MotionSequenceRequest &gt;&gt;
+MySequence
+layer=-500
+
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>140</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_1 (Group_1)
+bg=cyan
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>175</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_2 (Group_1)
+bg=cyan
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>215</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_3 (Group_2)
+bg=yellow
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>255</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_4 (Group_2)
+bg=yellow
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>295</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_5 (Group_1)
+bg=cyan
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>90</x>
+      <y>350</y>
+      <w>100</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;MotionSequenceItem&gt;&gt;
+Item_N (Group_2)
+bg=yellow
+transparency=0
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>75</x>
+      <y>110</y>
+      <w>125</w>
+      <h>275</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;MotionSequenceItem&gt; &gt;&gt;
+MySequence
+layer=-100
+bg=light_gray
+transparency=0
+
+group=7</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>240</x>
+      <y>65</y>
+      <w>765</w>
+      <h>460</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+halign=left
+valign=top
+layer=-1000
+CommandListManager</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>760</x>
+      <y>100</y>
+      <w>230</w>
+      <h>335</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+symbol=component
+halign=left
+valign=top
+layer=-100
+PlanComponentsBuilder</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>45</x>
+      <y>45</y>
+      <w>1710</w>
+      <h>830</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+halign=left
+valign=top
+layer=-1000000
+MoveGroupSequenceAction/Service</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>1365</x>
+      <y>180</y>
+      <w>100</w>
+      <h>125</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+layer=-100
+MoveGroupContext</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>1375</x>
+      <y>210</y>
+      <w>80</w>
+      <h>75</h>
+    </coordinates>
+    <panel_attributes>symbol=component
+layer=-50
+PlanExecution</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>615</y>
+      <w>110</w>
+      <h>65</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_1 + Item_2  (Group_1)
+bg=cyan
+transparency=0
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>690</y>
+      <w>110</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>bg=yellow
+&lt;&lt;RobotTrajectory&gt;&gt;
+Item_3 + Item_4 (Group_2)
+transparency=0
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>770</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_5  (Group_1)
+bg=cyan
+transparency=0
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLDeployment</id>
+    <coordinates>
+      <x>1595</x>
+      <y>825</y>
+      <w>110</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;RobotTrajectory&gt;&gt;
+Item_N  (Group_2)
+bg=yellow
+transparency=0
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>590</y>
+      <w>120</w>
+      <h>270</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;&lt;:RobotTrajectory&gt;&gt; &gt;&gt;
+planning_trajectory
+bg=light_gray
+transparency=0
+layer=-50
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>535</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>planning_time
+
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>555</y>
+      <w>120</w>
+      <h>25</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt; Vector&lt;RobotState&gt; &gt;&gt;
+trajectory_start
+
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1590</x>
+      <y>515</y>
+      <w>120</w>
+      <h>15</h>
+    </coordinates>
+    <panel_attributes>error_code
+
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1585</x>
+      <y>480</y>
+      <w>130</w>
+      <h>385</h>
+    </coordinates>
+    <panel_attributes>&lt;&lt;GetMotionSequenceResponse&gt;&gt;
+MySequence
+layer=-100
+transparency=0
+group=10</panel_attributes>
+    <additional_attributes/>
+  </element>
+</diagram>
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/capability_names.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/capability_names.h
new file mode 100644
index 0000000000..61737ba275
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/capability_names.h
@@ -0,0 +1,42 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <string>
+
+namespace pilz_industrial_motion_planner
+{
+static const std::string SEQUENCE_SERVICE_NAME = "plan_sequence_path";
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limit.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limit.h
new file mode 100644
index 0000000000..199791f76c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limit.h
@@ -0,0 +1,159 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Set of cartesian limits, has values for velocity, acceleration and
+ * deceleration of both the
+ *        translational and rotational part.
+ */
+class CartesianLimit
+{
+public:
+  CartesianLimit();
+
+  // Translational Velocity Limit
+
+  /**
+   * @brief Check if translational velocity limit is set.
+   * @return True if limit was set, false otherwise
+   */
+  bool hasMaxTranslationalVelocity() const;
+
+  /**
+   * @brief Set the maximal translational velocity
+   * @param Maximum translational velocity [m/s]
+   */
+  void setMaxTranslationalVelocity(double max_trans_vel);
+
+  /**
+   * @brief Return the maximal translational velocity [m/s], 0 if nothing was
+   * set
+   * @return Maximum translational velocity, 0 if nothing was set
+   */
+  double getMaxTranslationalVelocity() const;
+
+  // Translational Acceleration Limit
+
+  /**
+   * @brief Check if translational acceleration limit is set.
+   * @return True if limit was set false otherwise
+   */
+  bool hasMaxTranslationalAcceleration() const;
+
+  /**
+   * @brief Set the maximum translational acceleration
+   * @param Maximum translational acceleration [m/s^2]
+   */
+  void setMaxTranslationalAcceleration(double max_trans_acc);
+
+  /**
+   * @brief Return the maximal translational acceleration [m/s^2], 0 if nothing
+   * was set
+   * @return maximal translational acceleration, 0 if nothing was set
+   */
+  double getMaxTranslationalAcceleration() const;
+
+  // Translational Deceleration Limit
+
+  /**
+   * @brief Check if translational deceleration limit is set.
+   * @return True if limit was set false otherwise
+   */
+  bool hasMaxTranslationalDeceleration() const;
+
+  /**
+   * @brief Set the maximum translational deceleration
+   * @param Maximum translational deceleration, always <=0 [m/s^2]
+   */
+  void setMaxTranslationalDeceleration(double max_trans_dec);
+
+  /**
+   * @brief Return the maximal translational deceleration [m/s^2], 0 if nothing
+   * was set
+   * @return maximal translational deceleration, 0 if nothing was set, always
+   * <=0 [m/s^2]
+   */
+  double getMaxTranslationalDeceleration() const;
+
+  // Rotational Velocity Limit
+
+  /**
+   * @brief Check if rotational velocity limit is set.
+   * @return True if limit was set false otherwise
+   */
+  bool hasMaxRotationalVelocity() const;
+
+  /**
+   * @brief Set the maximum rotational velocity
+   * @param Maximum rotational velocity [rad/s]
+   */
+  void setMaxRotationalVelocity(double max_rot_vel);
+
+  /**
+   * @brief Return the maximal rotational velocity [rad/s], 0 if nothing was set
+   * @return maximal rotational velocity, 0 if nothing was set
+   */
+  double getMaxRotationalVelocity() const;
+
+private:
+  ///    Flag if a maximum translational velocity was set
+  bool has_max_trans_vel_;
+
+  ///    Maximum translational velocity [m/s]
+  double max_trans_vel_;
+
+  ///    Flag if a maximum translational acceleration was set
+  bool has_max_trans_acc_;
+
+  ///    Maximum translational acceleration [m/s^2]
+  double max_trans_acc_;
+
+  ///    Flag if a maximum translational deceleration was set
+  bool has_max_trans_dec_;
+
+  ///    Maximum translational deceleration, always <=0 [m/s^2]
+  double max_trans_dec_;
+
+  ///    Flag if a maximum rotational velocity was set
+  bool has_max_rot_vel_;
+
+  ///    Maximum rotational velocity [rad/s]
+  double max_rot_vel_;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limits_aggregator.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limits_aggregator.h
new file mode 100644
index 0000000000..796dc01c4c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limits_aggregator.h
@@ -0,0 +1,65 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/cartesian_limit.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Obtains cartesian limits from the parameter server
+ */
+class CartesianLimitsAggregator
+{
+public:
+  /**
+   * @brief Loads cartesian limits from the parameter server
+   *
+   * The parameters are expected to be under "~/cartesian_limits" of the given
+   * node handle.
+   * The following limits can be specified:
+   * - "max_trans_vel", the maximum translational velocity [m/s]
+   * - "max_trans_acc, the maximum translational acceleration [m/s^2]
+   * - "max_trans_dec", the maximum translational deceleration (<= 0) [m/s^2]
+   * - "max_rot_vel", the maximum rotational velocity [rad/s]
+   * - "max_rot_acc", the maximum rotational acceleration [rad/s^2]
+   * - "max_rot_dec", the maximum rotational deceleration (<= 0)[rad/s^2]
+   * @param nh node handle to access the parameters
+   * @return the obtained cartesian limits
+   */
+  static CartesianLimit getAggregatedLimits(const ros::NodeHandle& nh);
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory.h
new file mode 100644
index 0000000000..9d7b70431c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory.h
@@ -0,0 +1,51 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "cartesian_trajectory_point.h"
+
+namespace pilz_industrial_motion_planner
+{
+struct CartesianTrajectory
+{
+  std::string group_name;
+  std::string link_name;
+  std::vector<CartesianTrajectoryPoint> points;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory_point.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory_point.h
new file mode 100644
index 0000000000..4a5a57e55e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_trajectory_point.h
@@ -0,0 +1,53 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <ros/duration.h>
+
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/Twist.h>
+#include <geometry_msgs/Twist.h>
+
+namespace pilz_industrial_motion_planner
+{
+struct CartesianTrajectoryPoint
+{
+  geometry_msgs::Pose pose;
+  geometry_msgs::Twist velocity;
+  geometry_msgs::Twist acceleartion;
+  ros::Duration time_from_start;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.h
new file mode 100644
index 0000000000..ae2ea66387
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.h
@@ -0,0 +1,225 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <string>
+
+#include <boost/optional.hpp>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit_msgs/MotionPlanResponse.h>
+
+#include "moveit_msgs/MotionSequenceRequest.h"
+#include "pilz_industrial_motion_planner/plan_components_builder.h"
+#include "pilz_industrial_motion_planner/trajectory_blender.h"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+namespace pilz_industrial_motion_planner
+{
+using RobotTrajCont = std::vector<robot_trajectory::RobotTrajectoryPtr>;
+
+// List of exceptions which can be thrown by the CommandListManager class.
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LastBlendRadiusNotZeroException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateSetException, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OverlappingBlendRadiiException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PlanningPipelineException, moveit_msgs::MoveItErrorCodes::FAILURE);
+
+/**
+ * @brief This class orchestrates the planning of single commands and
+ * command lists.
+ */
+class CommandListManager
+{
+public:
+  CommandListManager(const ros::NodeHandle& nh, const robot_model::RobotModelConstPtr& model);
+
+  /**
+   * @brief Generates trajectories for the specified list of motion commands.
+   *
+   * The following rules apply:
+   * - If two consecutive trajectories are from the same group, they are
+   * simply attached to each other, given that the blend_radius is zero.
+   * - If two consecutive trajectories are from the same group, they are
+   * blended together, given that the blend_radius is GREATER than zero.
+   * - If two consecutive trajectories are from different groups, then
+   * the second trajectory is added as new element to the result container.
+   * All following trajectories are then attached to the new trajectory
+   * element (until all requests are processed or until the next group change).
+   *
+   * @param planning_scene The planning scene to be used for trajectory
+   * generation.
+   * @param req_list List of motion requests containing: PTP, LIN, CIRC
+   * and/or gripper commands.
+   * Please note: A request is only valid if:
+   *    - All blending radii are non negative.
+   *    - The blending radius of the last request is 0.
+   *    - Only the first request of each group has a start state.
+   *    - None of the blending radii overlap with each other.
+   *
+   * Please note:
+   * Starts states do not need to state the joints of all groups.
+   * It is sufficient if a start state states only the joints of the group
+   * which it belongs to. Starts states can even be incomplete. In this case
+   * default values are set for the unset joints.
+   *
+   * @return Contains the calculated/generated trajectories.
+   */
+  RobotTrajCont solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                      const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
+                      const moveit_msgs::MotionSequenceRequest& req_list);
+
+private:
+  using MotionResponseCont = std::vector<planning_interface::MotionPlanResponse>;
+  using RobotState_OptRef = boost::optional<const robot_state::RobotState&>;
+  using RadiiCont = std::vector<double>;
+  using GroupNamesCont = std::vector<std::string>;
+
+private:
+  /**
+   * @brief Validates that two consecutive blending radii do not overlap.
+   *
+   * @param motion_plan_responses Container of calculated/generated
+   * trajectories.
+   * @param radii Container stating the blend radii.
+   */
+  void checkForOverlappingRadii(const MotionResponseCont& resp_cont, const RadiiCont& radii) const;
+
+  /**
+   * @brief Solve each sequence item individually.
+   *
+   * @param planning_scene The planning_scene to be used for trajectory
+   * generation.
+   * @param req_list Container of requests for calculation/generation.
+   *
+   * @return Container of generated trajectories.
+   */
+  MotionResponseCont solveSequenceItems(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                        const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
+                                        const moveit_msgs::MotionSequenceRequest& req_list) const;
+
+  /**
+   * @return TRUE if the blending radii of specified trajectories overlap,
+   * otherwise FALSE. The functions returns FALSE if both trajectories are from
+   * different groups or if both trajectories are end-effector groups.
+   */
+  bool checkRadiiForOverlap(const robot_trajectory::RobotTrajectory& traj_A, const double radii_A,
+                            const robot_trajectory::RobotTrajectory& traj_B, const double radii_B) const;
+
+private:
+  /**
+   * @return The last RobotState of the specified group which can
+   * be found in the specified vector.
+   */
+  static RobotState_OptRef getPreviousEndState(const MotionResponseCont& motion_plan_responses,
+                                               const std::string& group_name);
+
+  /**
+   * @brief Set start state to end state of previous calculated trajectory
+   * from group.
+   */
+  static void setStartState(const MotionResponseCont& motion_plan_responses, const std::string& group_name,
+                            moveit_msgs::RobotState& start_state);
+
+  /**
+   * @return Container of radii extracted from the specified request list.
+   *
+   * Please note:
+   * This functions sets invalid blend radii to zero. Invalid blend radii are:
+   * - blend radii between end-effectors and
+   * - blend raddi between different groups.
+   */
+  static RadiiCont extractBlendRadii(const moveit::core::RobotModel& model,
+                                     const moveit_msgs::MotionSequenceRequest& req_list);
+
+  /**
+   * @return True in case of an invalid blend radii between specified
+   * command A and B, otherwise False. Invalid blend radii are:
+   * - blend radii between end-effectors and
+   * - blend raddi between different groups.
+   */
+  static bool isInvalidBlendRadii(const moveit::core::RobotModel& model, const moveit_msgs::MotionSequenceItem& item_A,
+                                  const moveit_msgs::MotionSequenceItem& item_B);
+
+  /**
+   * @brief Checks that all blend radii are greater or equal to zero.
+   */
+  static void checkForNegativeRadii(const moveit_msgs::MotionSequenceRequest& req_list);
+
+  /**
+   * @brief Checks that last blend radius is zero.
+   */
+  static void checkLastBlendRadiusZero(const moveit_msgs::MotionSequenceRequest& req_list);
+
+  /**
+   * @brief Checks that only the first request of the specified group has
+   * a start state in the specified request list.
+   */
+  static void checkStartStatesOfGroup(const moveit_msgs::MotionSequenceRequest& req_list, const std::string& group_name);
+
+  /**
+   * @brief Checks that each group in the specified request list has only
+   * one start state.
+   */
+  static void checkStartStates(const moveit_msgs::MotionSequenceRequest& req_list);
+
+  /**
+   * @return Returns all group names which are present in the specified
+   * request.
+   */
+  static GroupNamesCont getGroupNames(const moveit_msgs::MotionSequenceRequest& req_list);
+
+private:
+  //! Node handle
+  ros::NodeHandle nh_;
+
+  //! Robot model
+  moveit::core::RobotModelConstPtr model_;
+
+  //! @brief Builder to construct the container containing the final
+  //! trajectories.
+  PlanComponentsBuilder plan_comp_builder_;
+};
+
+inline void CommandListManager::checkLastBlendRadiusZero(const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  if (req_list.items.back().blend_radius != 0.0)
+  {
+    throw LastBlendRadiusNotZeroException("The last blending radius must be zero");
+  }
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_aggregator.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_aggregator.h
new file mode 100644
index 0000000000..0f60b353e5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_aggregator.h
@@ -0,0 +1,150 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/robot_model/joint_model.h>
+
+#include <map>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief  Unifies the joint limits from the given joint models with joint
+ * limits from the parameter server.
+ *
+ * Does not support MultiDOF joints.
+ */
+class JointLimitsAggregator
+{
+public:
+  /**
+   * @brief  Aggregates(combines) the joint limits from joint model and
+   * parameter server.
+   * The rules for the combination are:
+   *   1. Position and velocity limits on the parameter server must be stricter
+   * or equal if they are defined.
+   *   2. Limits on the parameter server where the corresponding
+   *      has_<position|velocity|acceleration|deceleration>_limits are „false“
+   * are considered undefined(see point 1).
+   *   3. Not all joints have to be limited by the parameter server. Selective
+   * limitation is possible.
+   *   4. If max_deceleration is unset, it will be set to: max_deceleration = -
+   * max_acceleration.
+   * @note The acceleration/deceleration can only be set via the parameter
+   * server since they are not supported
+   * in the urdf so far.
+   * @param nh Node handle in whose namespace the joint limit parameters are
+   * expected.
+   * @param joint_models The joint models
+   * @return Container containing the limits
+   */
+  static JointLimitsContainer getAggregatedLimits(const ros::NodeHandle& nh,
+                                                  const std::vector<const moveit::core::JointModel*>& joint_models);
+
+protected:
+  /**
+   * @brief Update the position limits with the ones from the joint_model.
+   *
+   * If the joint model has no position limit, the value is unchanged.
+   *
+   * @param joint_model The joint model
+   * @param joint_limit The joint_limit to be filled with new values.
+   */
+  static void updatePositionLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);
+
+  /**
+   * @brief Update the velocity limit with the one from the joint_model.
+   *
+   * If the joint model has no velocity limit, the value is unchanged.
+   *
+   * @param joint_model The joint model
+   * @param joint_limit The joint_limit to be filled with new values.
+   */
+  static void updateVelocityLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);
+
+  /**
+   * @brief Checks if the position limits from the given joint_limit are
+   * stricter than the limits of the joint_model.
+   * Throws AggregationBoundsViolationException on violation
+   * @param joint_model The joint_model
+   * @param joint_limit The joint_limit
+   */
+  static void checkPositionBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);
+
+  /**
+   * @brief Checks if the velocity limit from the given joint_limit are stricter
+   * than the limit of the joint_model.
+   * Throws AggregationBoundsViolationException on violation
+   * @param joint_model The joint_model
+   * @param joint_limit The joint_limit
+   */
+  static void checkVelocityBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);
+};
+
+/**
+ * @class AggregationException
+ * @brief A base class for all aggregation exceptions inheriting from
+ * std::runtime_exception
+ */
+class AggregationException : public std::runtime_error
+{
+public:
+  AggregationException(const std::string& error_desc) : std::runtime_error(error_desc)
+  {
+  }
+};
+
+/**
+ * @class AggregationJointMissingException
+ * @brief Thrown the limits from the parameter server are weaker(forbidden) than
+ * the ones defined in the urdf
+ *
+ */
+class AggregationBoundsViolationException : public AggregationException
+{
+public:
+  AggregationBoundsViolationException(const std::string& error_desc) : AggregationException(error_desc)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
new file mode 100644
index 0000000000..fac49e9106
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
@@ -0,0 +1,163 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+
+#include <map>
+#include <vector>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Container for JointLimits, essentially a map with convenience
+ * functions.
+ * Adds the ability to as for limits and get a common limit that unifies all
+ * given limits
+ */
+class JointLimitsContainer
+{
+public:
+  /**
+   * @brief Add a limit
+   * @param joint_name  Name if the joint this limit belongs to
+   * @param joint_limit Limit of the joint
+   * @return true if the limit was added, false
+   *         if joint_limit.has_deceleration_limit &&
+   * joint_limit.max_deceleration >= 0
+   */
+  bool addLimit(const std::string& joint_name, JointLimit joint_limit);
+
+  /**
+   * @brief Check if there is a limit for a joint with the given name in this
+   * container
+   * @param joint_name Name of the joint
+   */
+  bool hasLimit(const std::string& joint_name) const;
+
+  /**
+   * @brief Get Number of limits in the container
+   * @return Number of limits in the container
+   */
+  size_t getCount() const;
+
+  /**
+   * @brief Returns wether the container is empty
+   * @return true if empty, false otherwise
+   */
+  bool empty() const;
+
+  /**
+   * @brief Returns joint limit fusion of all(position, velocity, acceleration,
+   * deceleration) limits for all joint.
+   * There are cases where the most strict limit of all limits is needed.
+   * If there are no matching limits, the flag
+   * has_[position|velocity|...]_limits is set to false.
+   *
+   * @return joint limit
+   */
+  JointLimit getCommonLimit() const;
+
+  /**
+   * @brief Returns joint limit fusion of all(position, velocity, acceleration,
+   * deceleration) limits for given joints.
+   * There are cases where the most strict limit of all limits is needed.
+   * If there are no matching limits, the flag
+   * has_[position|velocity|...]_limits is set to false.
+   *
+   * @param joint_names
+   * @return joint limit
+   * @throws std::out_of_range if a joint limit with this name does not exist
+   */
+  JointLimit getCommonLimit(const std::vector<std::string>& joint_names) const;
+
+  /**
+   * @brief getLimit get the limit for the given joint name
+   * @param joint_name
+   * @return joint limit
+   * @throws std::out_of_range if a joint limit with this name does not exist
+   */
+  JointLimit getLimit(const std::string& joint_name) const;
+
+  /**
+   * @brief ConstIterator to the underlying data structure
+   * @return
+   */
+  std::map<std::string, JointLimit>::const_iterator begin() const;
+
+  /**
+   * @brief ConstIterator to the underlying data structure
+   * @return
+   */
+  std::map<std::string, JointLimit>::const_iterator end() const;
+
+  /**
+   * @brief verify position limit of single joint
+   * @param joint_name
+   * @param joint_position
+   * @return
+   */
+  bool verifyVelocityLimit(const std::string& joint_name, const double& joint_velocity) const;
+
+  /**
+   * @brief verify position limit of single joint
+   * @param joint_name
+   * @param joint_position
+   * @return
+   */
+  bool verifyPositionLimit(const std::string& joint_name, const double& joint_position) const;
+
+  /**
+   * @brief verify position limits of multiple joints
+   * @param joint_names
+   * @param joint_positions
+   * @return
+   */
+  bool verifyPositionLimits(const std::vector<std::string>& joint_names,
+                            const std::vector<double>& joint_positions) const;
+
+private:
+  /**
+   * @brief update the most strict limit with given joint limit
+   * @param joint_limit
+   * @param common_limit the current most strict limit
+   */
+  static void updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit);
+
+protected:
+  /// Actual container object containing the data
+  std::map<std::string, JointLimit> container_;
+};
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
new file mode 100644
index 0000000000..84bb1fc79f
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
@@ -0,0 +1,66 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef JOINT_LIMITS_EXTENSION_H
+#define JOINT_LIMITS_EXTENSION_H
+
+#include <joint_limits_interface/joint_limits.h>
+#include <map>
+
+namespace pilz_industrial_motion_planner
+{
+namespace joint_limits_interface
+{
+/**
+ * @brief Extends joint_limits_interface::JointLimits with a deceleration
+ * parameter
+ */
+struct JointLimits : ::joint_limits_interface::JointLimits
+{
+  JointLimits() : max_deceleration(0.0), has_deceleration_limits(false)
+  {
+  }
+
+  /// maximum deceleration MUST(!) be negative
+  double max_deceleration;
+
+  bool has_deceleration_limits;
+};
+}  // namespace joint_limits_interface
+
+typedef joint_limits_interface::JointLimits JointLimit;
+typedef std::map<std::string, JointLimit> JointLimitsMap;
+}  // namespace pilz_industrial_motion_planner
+
+#endif  // JOINT_LIMITS_EXTENSION_H
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h
new file mode 100644
index 0000000000..4791267e92
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h
@@ -0,0 +1,101 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef JOINT_LIMITS_INTERFACE_EXTENSION_H
+#define JOINT_LIMITS_INTERFACE_EXTENSION_H
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include <joint_limits_interface/joint_limits_rosparam.h>
+
+namespace pilz_industrial_motion_planner
+{
+namespace joint_limits_interface
+{
+/**
+ * @see joint_limits_inteface::getJointLimits(...)
+ */
+inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh,
+                           joint_limits_interface::JointLimits& limits)
+{
+  // Node handle scoped where the joint limits are
+  // defined (copied from ::joint_limits_interface::getJointLimits(joint_name,
+  // nh, limits)
+  ros::NodeHandle limits_nh;
+  try
+  {
+    const std::string limits_namespace = "joint_limits/" + joint_name;
+    if (!nh.hasParam(limits_namespace))
+    {
+      ROS_DEBUG_STREAM("No joint limits specification found for joint '"
+                       << joint_name << "' in the parameter server (namespace "
+                       << nh.getNamespace() + "/" + limits_namespace << ").");
+      return false;
+    }
+    limits_nh = ros::NodeHandle(nh, limits_namespace);
+  }
+  catch (const ros::InvalidNameException& ex)
+  {
+    ROS_ERROR_STREAM(ex.what());
+    return false;
+  }
+
+  // Set the existing limits
+  if (!::joint_limits_interface::getJointLimits(joint_name, nh, limits))
+  {
+    return false;  // LCOV_EXCL_LINE // The case where getJointLimits returns
+                   // false is covered above.
+  }
+
+  // Deceleration limits
+  bool has_deceleration_limits = false;
+  if (limits_nh.getParam("has_deceleration_limits", has_deceleration_limits))
+  {
+    if (!has_deceleration_limits)
+    {
+      limits.has_deceleration_limits = false;
+    }
+    double max_dec;
+    if (has_deceleration_limits && limits_nh.getParam("max_deceleration", max_dec))
+    {
+      limits.has_deceleration_limits = true;
+      limits.max_deceleration = max_dec;
+    }
+  }
+
+  return true;
+}
+}  // namespace joint_limits_interface
+}  // namespace pilz_industrial_motion_planner
+
+#endif  // JOINT_LIMITS_INTERFACE_EXTENSION_H
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_validator.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_validator.h
new file mode 100644
index 0000000000..8b95269266
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_validator.h
@@ -0,0 +1,153 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Validates the equality of all limits inside a container
+ */
+class JointLimitsValidator
+{
+public:
+  /**
+   * @brief Validates that the position limits of all limits are equal
+   * @param joint_limits the joint limits
+   * @return true if all are equal
+   * @note always returns true if has_position_limits=false for all limits, or
+   * if the size of joint_limits is 0 or 1
+   */
+  static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+  /**
+   * @brief Validates that the velocity of all limits is equal
+   * @param joint_limits the joint limits
+   * @return true if all are equal
+   * @note always returns true if has_velocity_limits=false for all limits, or
+   * if the size of joint_limits is 0 or 1
+   */
+  static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+  /**
+   * @brief Validates that the acceleration of all limits is equal
+   * @param joint_limits the joint limits
+   * @return true if all are equal
+   * @note always returns true if has_acceleration_limits=false for all limits,
+   * or if size of joint_limits is 0 or 1
+   */
+  static bool
+  validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+  /**
+   * @brief Validates that the deceleration of all limits is equal
+   * @param joint_limits the joint limits
+   * @return true if all are equal
+   * @note always returns true if has_acceleration_limits=false for all limits,
+   * or if size of joint_limits is 0 or 1
+   */
+  static bool
+  validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+private:
+  static bool validateWithEqualFunc(bool (*eq_func)(const JointLimit&, const JointLimit&),
+                                    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+  static bool positionEqual(const JointLimit& lhs, const JointLimit& rhs);
+
+  static bool velocityEqual(const JointLimit& lhs, const JointLimit& rhs);
+
+  static bool accelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
+
+  static bool decelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
+};
+
+/**
+ * @class ValidationException
+ * @brief A base class for all validations exceptions inheriting from
+ * std::runtime_exception
+ */
+class ValidationException : public std::runtime_error
+{
+public:
+  ValidationException(const std::string& error_desc) : std::runtime_error(error_desc)
+  {
+  }
+};
+
+/**
+ * @class ValidationJointMissingException
+ * @brief Thrown the limits for a joint are defined in the urdf but not on the
+ * parameter server (loaded from yaml)
+ *
+ */
+class ValidationJointMissingException : public ValidationException
+{
+public:
+  ValidationJointMissingException(const std::string& error_desc) : ValidationException(error_desc)
+  {
+  }
+};
+
+/**
+ * @class ValidationDifferentLimitsException
+ * @brief Thrown when the limits differ
+ *
+ */
+class ValidationDifferentLimitsException : public ValidationException
+{
+public:
+  ValidationDifferentLimitsException(const std::string& error_desc) : ValidationException(error_desc)
+  {
+  }
+};
+
+/**
+ * @class ValidationBoundsViolationException
+ * @brief Thrown when the limits from the param server are weaker than the ones
+ * obtained from the urdf
+ *
+ */
+class ValidationBoundsViolationException : public ValidationException
+{
+public:
+  ValidationBoundsViolationException(const std::string& error_desc) : ValidationException(error_desc)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/limits_container.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/limits_container.h
new file mode 100644
index 0000000000..79e9d3ba00
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/limits_container.h
@@ -0,0 +1,104 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/cartesian_limit.h"
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include <math.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief This class combines CartesianLimit and JointLimits into on single
+ * class.
+ */
+class LimitsContainer
+{
+public:
+  LimitsContainer();
+
+  /**
+   * @brief Return if this LimitsContainer has defined joint limits
+   * @return True if container contains joint limits
+   */
+  bool hasJointLimits() const;
+
+  /**
+   * @brief Set joint limits
+   * @param joint_limits
+   */
+  void setJointLimits(JointLimitsContainer& joint_limits);
+
+  /**
+   * @brief Obtain the Joint Limits from the container
+   * @return the joint limits
+   */
+  const JointLimitsContainer& getJointLimitContainer() const;
+
+  /**
+   * @brief Return if this LimitsContainer has defined cartesian limits
+   *
+   * @return True if container contains cartesian limits including maximum
+   * velocity/acceleration/deceleration
+   */
+  bool hasFullCartesianLimits() const;
+
+  /**
+   * @brief Set cartesian limits
+   * @param cartesian_limit
+   */
+  void setCartesianLimits(CartesianLimit& cartesian_limit);
+
+  /**
+   * @brief Return the cartesian limits
+   * @return the cartesian limits
+   */
+  const CartesianLimit& getCartesianLimits() const;
+
+private:
+  /// Flag if joint limits where set
+  bool has_joint_limits_;
+
+  /// The joint limits
+  JointLimitsContainer joint_limits_;
+
+  /// Flag if cartesian limits have been set
+  bool has_cartesian_limits_;
+
+  /// The cartesian limits
+  CartesianLimit cartesian_limit_;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_action.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_action.h
new file mode 100644
index 0000000000..543c701579
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_action.h
@@ -0,0 +1,90 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <memory>
+
+#include <actionlib/server/simple_action_server.h>
+#include <moveit/move_group/move_group_capability.h>
+
+#include <moveit_msgs/MoveGroupSequenceAction.h>
+
+namespace pilz_industrial_motion_planner
+{
+class CommandListManager;
+
+/**
+ * @brief Provide action to handle multiple trajectories and execute the result
+ * in the form of a MoveGroup capability (plugin).
+ */
+class MoveGroupSequenceAction : public move_group::MoveGroupCapability
+{
+public:
+  MoveGroupSequenceAction();
+
+  void initialize() override;
+
+private:
+  using ExecutableTrajs = std::vector<plan_execution::ExecutableTrajectory>;
+
+  using StartStateMsg = moveit_msgs::MotionSequenceResponse::_sequence_start_type;
+  using StartStatesMsg = std::vector<moveit_msgs::MotionSequenceResponse::_sequence_start_type>;
+  using PlannedTrajMsgs = moveit_msgs::MotionSequenceResponse::_planned_trajectories_type;
+
+private:
+  void executeSequenceCallback(const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal);
+  void executeSequenceCallbackPlanAndExecute(const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal,
+                                             moveit_msgs::MoveGroupSequenceResult& action_res);
+  void executeMoveCallbackPlanOnly(const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal,
+                                   moveit_msgs::MoveGroupSequenceResult& res);
+  void startMoveExecutionCallback();
+  void startMoveLookCallback();
+  void preemptMoveCallback();
+  void setMoveState(move_group::MoveGroupState state);
+  bool planUsingSequenceManager(const moveit_msgs::MotionSequenceRequest& req,
+                                plan_execution::ExecutableMotionPlan& plan);
+
+private:
+  static void convertToMsg(const ExecutableTrajs& trajs, StartStatesMsg& startStatesMsg,
+                           PlannedTrajMsgs& plannedTrajsMsgs);
+
+private:
+  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupSequenceAction>> move_action_server_;
+  moveit_msgs::MoveGroupSequenceFeedback move_feedback_;
+
+  move_group::MoveGroupState move_state_{ move_group::IDLE };
+  std::unique_ptr<pilz_industrial_motion_planner::CommandListManager> command_list_manager_;
+};
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_service.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_service.h
new file mode 100644
index 0000000000..54c0af0f61
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/move_group_sequence_service.h
@@ -0,0 +1,66 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <moveit/move_group/move_group_capability.h>
+
+#include <moveit_msgs/GetMotionSequence.h>
+
+namespace pilz_industrial_motion_planner
+{
+// Forward declarations
+class CommandListManager;
+
+/**
+ * @brief Provide service to blend multiple trajectories in the form of a
+ * MoveGroup capability (plugin).
+ */
+class MoveGroupSequenceService : public move_group::MoveGroupCapability
+{
+public:
+  MoveGroupSequenceService();
+  ~MoveGroupSequenceService() override;
+
+  void initialize() override;
+
+private:
+  bool plan(moveit_msgs::GetMotionSequence::Request& req, moveit_msgs::GetMotionSequence::Response& res);
+
+private:
+  ros::ServiceServer sequence_service_;
+  std::unique_ptr<CommandListManager> command_list_manager_;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_circle_generator.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_circle_generator.h
new file mode 100644
index 0000000000..b2f13f7a84
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_circle_generator.h
@@ -0,0 +1,101 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <kdl/path.hpp>
+#include <kdl/path_circle.hpp>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/utilities/error.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Generator class for KDL::Path_Circle from different circle
+ * representations
+ */
+class PathCircleGenerator
+{
+public:
+  /**
+   * @brief set the path circle from start, goal and center point
+   *
+   * Note that a half circle should use interim point and cannot be defined
+   * by circle center since start/goal/center points are colinear.
+   * @throws KDL::Error_MotionPlanning in case start and goal have different
+   * radii to the center point.
+   */
+  static std::unique_ptr<KDL::Path> circleFromCenter(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
+                                                     const KDL::Vector& center_point, double eqradius);
+
+  /**
+   * @brief set circle from start, goal and interim point
+
+   * @throws KDL::Error_MotionPlanning if the given points are colinear.
+   */
+  static std::unique_ptr<KDL::Path> circleFromInterim(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
+                                                      const KDL::Vector& interim_point, double eqradius);
+
+private:
+  PathCircleGenerator(){};  // no instantiation of this helper class!
+
+  /**
+   * @brief law of cosines: returns angle gamma in c² = a²+b²-2ab cos(gamma)
+   *
+   * @return angle in radians
+   */
+  static double cosines(const double a, const double b, const double c);
+
+  static constexpr double MAX_RADIUS_DIFF{ 1e-2 };
+  static constexpr double MAX_COLINEAR_NORM{ 1e-5 };
+};
+
+}  // namespace pilz_industrial_motion_planner
+
+class ErrorMotionPlanningCenterPointDifferentRadius : public KDL::Error_MotionPlanning
+{
+public:
+  const char* Description() const override
+  {
+    return "Distances between start-center and goal-center are different."
+           " A circle cannot be created.";
+  }
+  int GetType() const override
+  {
+    return ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS;
+  }  // LCOV_EXCL_LINE
+
+private:
+  static constexpr int ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS{ 3006 };
+};
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.h
new file mode 100644
index 0000000000..13ae41e67e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.h
@@ -0,0 +1,139 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <ros/ros.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+
+#include <moveit/macros/class_forward.h>
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <pluginlib/class_loader.h>
+
+// Boost includes
+#include <boost/scoped_ptr.hpp>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Moveit Plugin for Planning with Standart Robot Commands
+ * This planner is dedicated to return a instance of PlanningContext that
+ * corresponds to the requested motion command
+ * set as planner_id in the MotionPlanRequest).
+ * It can be easily extended with additional commands by creating a class
+ * inherting from PlanningContextLoader.
+ */
+class CommandPlanner : public planning_interface::PlannerManager
+{
+public:
+  ~CommandPlanner() override
+  {
+  }
+
+  /**
+   * @brief Initializes the planner
+   * Upon initialization this planner will look for plugins implementing
+   * pilz_industrial_motion_planner::PlanningContextLoader.
+   * @param model The robot model
+   * @param ns The namespace
+   * @return true on success, false otherwise
+   */
+  bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns) override;
+
+  /// Description of the planner
+  std::string getDescription() const override;
+
+  /**
+   * @brief Returns the available planning commands
+   * @param list with the planning algorithms
+   * @note behined each command is a
+   * pilz_industrial_motion_planner::PlanningContextLoader loaded as plugin
+   */
+  void getPlanningAlgorithms(std::vector<std::string>& algs) const override;
+
+  /**
+   * @brief Returns a PlanningContext that can be used to solve(calculate) the
+   * trajectory that corresponds to command
+   * given in motion request as planner_id.
+   * @param planning_scene
+   * @param req
+   * @param error_code
+   * @return
+   */
+  planning_interface::PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                                            const planning_interface::MotionPlanRequest& req,
+                                                            moveit_msgs::MoveItErrorCodes& error_code) const override;
+
+  /**
+   * @brief Checks if the request can be handled
+   * @param motion request containing the planning_id that corresponds to the
+   * motion command
+   * @return true if the request can be handled
+   */
+  bool canServiceRequest(const planning_interface::MotionPlanRequest& req) const override;
+
+  /**
+   * @brief Register a PlanningContextLoader to be used by the CommandPlanner
+   * @param planning_context_loader
+   * @throw ContextLoaderRegistrationException if a loader with the same
+   * algorithm name is already registered
+   */
+  void registerContextLoader(const pilz_industrial_motion_planner::PlanningContextLoaderPtr& planning_context_loader);
+
+private:
+  /// Plugin loader
+  boost::scoped_ptr<pluginlib::ClassLoader<PlanningContextLoader>> planner_context_loader;
+
+  /// Mapping from command to loader
+  std::map<std::string, pilz_industrial_motion_planner::PlanningContextLoaderPtr> context_loader_map_;
+
+  /// Robot model obtained at initialize
+  moveit::core::RobotModelConstPtr model_;
+
+  /// Namespace where the parameters are stored, obtained at initialize
+  std::string namespace_;
+
+  /// aggregated limits of the active joints
+  pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints_;
+
+  /// cartesian limit
+  pilz_industrial_motion_planner::CartesianLimit cartesian_limit_;
+};
+
+MOVEIT_CLASS_FORWARD(CommandPlanner)
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/plan_components_builder.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/plan_components_builder.h
new file mode 100644
index 0000000000..a89b3fbbd3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/plan_components_builder.h
@@ -0,0 +1,158 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blender.h"
+#include "pilz_industrial_motion_planner/trajectory_functions.h"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+namespace pilz_industrial_motion_planner
+{
+using TipFrameFunc_t = std::function<const std::string&(const std::string&)>;
+
+// List of exceptions which can be thrown by the PlanComponentsBuilder class.
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoBlenderSetException, moveit_msgs::MoveItErrorCodes::FAILURE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoTipFrameFunctionSetException, moveit_msgs::MoveItErrorCodes::FAILURE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoRobotModelSetException, moveit_msgs::MoveItErrorCodes::FAILURE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(BlendingFailedException, moveit_msgs::MoveItErrorCodes::FAILURE);
+
+/**
+ * @brief Helper class to encapsulate the merge and blend process of
+ * trajectories.
+ */
+class PlanComponentsBuilder
+{
+public:
+  /**
+   * @brief Sets the blender used to blend two trajectories.
+   */
+  void setBlender(std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender);
+
+  /**
+   * @brief Sets the robot model needed to create new trajectory elements.
+   */
+  void setModel(const moveit::core::RobotModelConstPtr& model);
+
+  /**
+   * @brief Appends the specified trajectory to the trajectory container
+   * under construction.
+   *
+   * The appending complies to the following rules:
+   * - A trajectory is simply added/attached to the previous trajectory:
+   *      - if they are from the same group and
+   *      - if the specified blend_radius is zero.
+   * - A trajectory is blended together with the previous trajectory:
+   *      - if they are from the same group and
+   *      - if the specified blend_radius is GREATER than zero.
+   * - A new trajectory element is created and the given trajectory is
+   * appended/attached to the newly created empty trajectory:
+   *      - if the given and previous trajectory are from different groups.
+   *
+   * @param other Trajectories which has to be added to the trajectory container
+   * under construction.
+   *
+   * @param blend_radius The blending radius between the previous and the
+   * specified trajectory.
+   */
+  void append(const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius);
+
+  /**
+   * @brief Clears the trajectory container under construction.
+   */
+  void reset();
+
+  /**
+   * @return The final trajectory container which results from the append calls.
+   */
+  std::vector<robot_trajectory::RobotTrajectoryPtr> build() const;
+
+private:
+  void blend(const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius);
+
+private:
+  /**
+   * @brief Appends a trajectory to a result trajectory leaving out the
+   * first point, if it matches the last point of the result trajectory.
+   *
+   * @note Controllers, so far at least the
+   * ros_controllers::JointTrajectoryController require a timewise strictly
+   * increasing trajectory. If through appending the last point of the
+   * original trajectory gets repeated, it is removed here.
+   */
+  static void appendWithStrictTimeIncrease(robot_trajectory::RobotTrajectory& result,
+                                           const robot_trajectory::RobotTrajectory& source);
+
+private:
+  //! Blender used to blend two trajectories.
+  std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender_;
+
+  //! Robot model needed to create new trajectory container elements.
+  moveit::core::RobotModelConstPtr model_;
+
+  //! The previously added trajectory.
+  robot_trajectory::RobotTrajectoryPtr traj_tail_;
+
+  //! The trajectory container under construction.
+  std::vector<robot_trajectory::RobotTrajectoryPtr> traj_cont_;
+
+private:
+  //! Constant to check for equality of variables of two RobotState instances.
+  static constexpr double ROBOT_STATE_EQUALITY_EPSILON = 1e-4;
+};
+
+inline void PlanComponentsBuilder::setBlender(std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender)
+{
+  blender_ = std::move(blender);
+}
+
+inline void PlanComponentsBuilder::setModel(const moveit::core::RobotModelConstPtr& model)
+{
+  model_ = model;
+}
+
+inline void PlanComponentsBuilder::reset()
+{
+  traj_tail_ = nullptr;
+  traj_cont_.clear();
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h
new file mode 100644
index 0000000000..14143a0ed8
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h
@@ -0,0 +1,181 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/conversions.h>
+
+#include <atomic>
+#include <thread>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief PlanningContext for obtaining trajectories
+ */
+template <typename GeneratorT>
+class PlanningContextBase : public planning_interface::PlanningContext
+{
+public:
+  PlanningContextBase<GeneratorT>(const std::string& name, const std::string& group,
+                                  const moveit::core::RobotModelConstPtr& model,
+                                  const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : planning_interface::PlanningContext(name, group)
+    , terminated_(false)
+    , model_(model)
+    , limits_(limits)
+    , generator_(model, limits_)
+  {
+  }
+
+  ~PlanningContextBase() override
+  {
+  }
+
+  /**
+   * @brief Calculates a trajectory for the request this context is currently
+   * set for
+   * @param res The result containing the respective trajectory, or error_code
+   * on failure
+   * @return true on success, false otherwise
+   */
+  bool solve(planning_interface::MotionPlanResponse& res) override;
+
+  /**
+   * @brief Will return the same trajectory as
+   * solve(planning_interface::MotionPlanResponse& res)
+   * This function just delegates to the common response however here the same
+   * trajectory is stored with the
+   * descriptions "plan", "simplify", "interpolate"
+   * @param res The detailed response
+   * @return true on success, false otherwise
+   */
+  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
+
+  /**
+   * @brief Will terminate solve()
+   * @return
+   * @note Currently will not stop a runnning solve but not start future solves.
+   */
+  bool terminate() override;
+
+  /**
+   * @copydoc planning_interface::PlanningContext::clear()
+   */
+  void clear() override;
+
+  /// Flag if terminated
+  std::atomic_bool terminated_;
+
+  /// The robot model
+  robot_model::RobotModelConstPtr model_;
+
+  /// Joint limits to be used during planning
+  pilz_industrial_motion_planner::LimitsContainer limits_;
+
+protected:
+  GeneratorT generator_;
+};
+
+template <typename GeneratorT>
+bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::solve(planning_interface::MotionPlanResponse& res)
+{
+  if (!terminated_)
+  {
+    // Use current state as start state if not set
+    if (request_.start_state.joint_state.name.empty())
+    {
+      moveit_msgs::RobotState current_state;
+      moveit::core::robotStateToRobotStateMsg(getPlanningScene()->getCurrentState(), current_state);
+      request_.start_state = current_state;
+    }
+    bool result = generator_.generate(request_, res);
+    return result;
+    // res.error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    // return false; // TODO
+  }
+
+  ROS_ERROR("Using solve on a terminated planning context!");
+  res.error_code_.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
+  return false;
+}
+
+template <typename GeneratorT>
+bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::solve(
+    planning_interface::MotionPlanDetailedResponse& res)
+{
+  // delegate to regular response
+  planning_interface::MotionPlanResponse undetailed_response;
+  bool result = solve(undetailed_response);
+
+  res.description_.push_back("plan");
+  res.trajectory_.push_back(undetailed_response.trajectory_);
+  res.processing_time_.push_back(undetailed_response.planning_time_);
+
+  res.description_.push_back("simplify");
+  res.trajectory_.push_back(undetailed_response.trajectory_);
+  res.processing_time_.push_back(0);
+
+  res.description_.push_back("interpolate");
+  res.trajectory_.push_back(undetailed_response.trajectory_);
+  res.processing_time_.push_back(0);
+
+  res.error_code_ = undetailed_response.error_code_;
+  return result;
+}
+
+template <typename GeneratorT>
+bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::terminate()
+{
+  ROS_DEBUG_STREAM("Terminate called");
+  terminated_ = true;
+  return true;
+}
+
+template <typename GeneratorT>
+void pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::clear()
+{
+  // No structures that need cleaning
+  return;
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_circ.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_circ.h
new file mode 100644
index 0000000000..f9e69f4791
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_circ.h
@@ -0,0 +1,67 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_response.h>
+
+#include <atomic>
+#include <thread>
+
+#include "pilz_industrial_motion_planner/planning_context_base.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_circ.h"
+
+namespace pilz_industrial_motion_planner
+{
+MOVEIT_CLASS_FORWARD(PlanningContext)
+
+/**
+ * @brief PlanningContext for obtaining CIRC trajectories
+ */
+class PlanningContextCIRC : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorCIRC>
+{
+public:
+  PlanningContextCIRC(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
+                      const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorCIRC>(name, group, model, limits)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_lin.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_lin.h
new file mode 100644
index 0000000000..d0990c3913
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_lin.h
@@ -0,0 +1,65 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_response.h>
+
+#include <atomic>
+#include <thread>
+
+#include "pilz_industrial_motion_planner/planning_context_base.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+
+namespace pilz_industrial_motion_planner
+{
+MOVEIT_CLASS_FORWARD(PlanningContext)
+
+/**
+ * @brief PlanningContext for obtaining LIN trajectories
+ */
+class PlanningContextLIN : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorLIN>
+{
+public:
+  PlanningContextLIN(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
+                     const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorLIN>(name, group, model, limits)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader.h
new file mode 100644
index 0000000000..bb0839ed1e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader.h
@@ -0,0 +1,144 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+#include <memory>
+#include <vector>
+
+#include <moveit/planning_interface/planning_interface.h>
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Base class for all PlanningContextLoaders.
+ * Since planning_interface::PlanningContext has a non empty ctor classes
+ * derived from it can not be plugins.
+ * This class serves as base class for wrappers.
+ */
+class PlanningContextLoader
+{
+public:
+  PlanningContextLoader();
+  virtual ~PlanningContextLoader();
+
+  /// Return the algorithm the loader uses
+  virtual std::string getAlgorithm() const;
+
+  /**
+   * @brief Sets the robot model that can be passed to the planning context
+   * @param model The robot model
+   * @return false if could not be set
+   */
+  virtual bool setModel(const moveit::core::RobotModelConstPtr& model);
+
+  /**
+   * @brief Sets limits the planner can pass to the contexts
+   * @param limits container of limits, no guarantee to contain the limits for
+   * all joints of the model
+   * @return true if limits could be set
+   */
+  virtual bool setLimits(const pilz_industrial_motion_planner::LimitsContainer& limits);
+
+  /**
+   * @brief Return the planning context
+   * @param planning_context
+   * @param name context name
+   * @param group name of the planning group
+   * @return true on success, false otherwise
+   */
+  virtual bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                           const std::string& group) const = 0;
+
+protected:
+  /**
+   * @brief Return the planning context of type T
+   * @param planning_context
+   * @param name context name
+   * @param group name of the planning group
+   * @return true on success, false otherwise
+   */
+  template <typename T>
+  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                   const std::string& group) const;
+
+protected:
+  /// Name of the algorithm
+  std::string alg_;
+
+  /// True if limits are set
+  bool limits_set_;
+
+  /// Limits to be used during planning
+  pilz_industrial_motion_planner::LimitsContainer limits_;
+
+  /// True if model is set
+  bool model_set_;
+
+  /// The robot model
+  moveit::core::RobotModelConstPtr model_;
+};
+
+typedef boost::shared_ptr<PlanningContextLoader> PlanningContextLoaderPtr;
+typedef boost::shared_ptr<const PlanningContextLoader> PlanningContextLoaderConstPtr;
+
+template <typename T>
+bool PlanningContextLoader::loadContext(planning_interface::PlanningContextPtr& planning_context,
+                                        const std::string& name, const std::string& group) const
+{
+  if (limits_set_ && model_set_)
+  {
+    planning_context.reset(new T(name, group, model_, limits_));
+    return true;
+  }
+  else
+  {
+    if (!limits_set_)
+    {
+      ROS_ERROR_STREAM("Limits are not defined. Cannot load planning context. "
+                       "Call setLimits loadContext");
+    }
+    if (!model_set_)
+    {
+      ROS_ERROR_STREAM("Robot model was not set");
+    }
+    return false;
+  }
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_circ.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_circ.h
new file mode 100644
index 0000000000..b1760aac2c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_circ.h
@@ -0,0 +1,68 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+
+#include <moveit/planning_interface/planning_interface.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Plugin that can generate instances of PlanningContextCIRC.
+ * Generates instances of PlanningContextLIN.
+ */
+class PlanningContextLoaderCIRC : public PlanningContextLoader
+{
+public:
+  PlanningContextLoaderCIRC();
+  ~PlanningContextLoaderCIRC() override;
+
+  /**
+   * @brief return a instance of
+   * pilz_industrial_motion_planner::PlanningContextCIRC
+   * @param planning_context returned context
+   * @param name
+   * @param group
+   * @return true on success, false otherwise
+   */
+  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                   const std::string& group) const override;
+};
+
+typedef boost::shared_ptr<PlanningContextLoaderCIRC> PlanningContextLoaderCIRCPtr;
+typedef boost::shared_ptr<const PlanningContextLoaderCIRC> PlanningContextLoaderCIRCConstPtr;
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_lin.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_lin.h
new file mode 100644
index 0000000000..f3215fd869
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_lin.h
@@ -0,0 +1,68 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+
+#include <moveit/planning_interface/planning_interface.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Plugin that can generate instances of PlanningContextLIN.
+ * Generates instances of PlanningContextLIN.
+ */
+class PlanningContextLoaderLIN : public PlanningContextLoader
+{
+public:
+  PlanningContextLoaderLIN();
+  ~PlanningContextLoaderLIN() override;
+
+  /**
+   * @brief return a instance of
+   * pilz_industrial_motion_planner::PlanningContextLIN
+   * @param planning_context returned context
+   * @param name
+   * @param group
+   * @return true on success, false otherwise
+   */
+  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                   const std::string& group) const override;
+};
+
+typedef boost::shared_ptr<PlanningContextLoaderLIN> PlanningContextLoaderLINPtr;
+typedef boost::shared_ptr<const PlanningContextLoaderLIN> PlanningContextLoaderLINConstPtr;
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_ptp.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_ptp.h
new file mode 100644
index 0000000000..52ec4f6af7
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_ptp.h
@@ -0,0 +1,68 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+
+#include <moveit/planning_interface/planning_interface.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Plugin that can generate instances of PlanningContextPTP.
+ * Generates instances of PlanningContextPTP.
+ */
+class PlanningContextLoaderPTP : public PlanningContextLoader
+{
+public:
+  PlanningContextLoaderPTP();
+  ~PlanningContextLoaderPTP() override;
+
+  /**
+   * @brief return a instance of
+   * pilz_industrial_motion_planner::PlanningContextPTP
+   * @param planning_context returned context
+   * @param name
+   * @param group
+   * @return true on success, false otherwise
+   */
+  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                   const std::string& group) const override;
+};
+
+typedef boost::shared_ptr<PlanningContextLoaderPTP> PlanningContextLoaderPTPPtr;
+typedef boost::shared_ptr<const PlanningContextLoaderPTP> PlanningContextLoaderPTPConstPtr;
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_ptp.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_ptp.h
new file mode 100644
index 0000000000..842c350f19
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_ptp.h
@@ -0,0 +1,67 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+#include <ros/ros.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_response.h>
+
+#include <atomic>
+#include <thread>
+
+#include "pilz_industrial_motion_planner/planning_context_base.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_ptp.h"
+
+namespace pilz_industrial_motion_planner
+{
+MOVEIT_CLASS_FORWARD(PlanningContext)
+
+/**
+ * @brief PlanningContext for obtaining PTP trajectories
+ */
+class PlanningContextPTP : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorPTP>
+{
+public:
+  PlanningContextPTP(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
+                     const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorPTP>(name, group, model, limits)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_exceptions.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_exceptions.h
new file mode 100644
index 0000000000..5dfc44da29
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_exceptions.h
@@ -0,0 +1,71 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <stdexcept>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @class PlanningException
+ * @brief A base class for all pilz_industrial_motion_planner exceptions
+ * inheriting from std::runtime_exception
+ */
+class PlanningException : public std::runtime_error
+{
+public:
+  PlanningException(const std::string& error_desc) : std::runtime_error(error_desc)
+  {
+  }
+};
+
+/**
+ * @class PlanningContextFactoryRegistrationException
+ * @brief An exception class thrown when the planner manager is unable to load a
+ * factory
+ *
+ * Loading a PlanningContextFactory can fail if a factory is loaded that
+ * would provide a command which was already provided by another factory loaded
+ * before.
+ */
+class ContextLoaderRegistrationException : public PlanningException
+{
+public:
+  ContextLoaderRegistrationException(const std::string& error_desc) : PlanningException(error_desc)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/tip_frame_getter.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/tip_frame_getter.h
new file mode 100644
index 0000000000..e173bbde37
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/tip_frame_getter.h
@@ -0,0 +1,90 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <cassert>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+namespace pilz_industrial_motion_planner
+{
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoSolverException, moveit_msgs::MoveItErrorCodes::FAILURE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(MoreThanOneTipFrameException, moveit_msgs::MoveItErrorCodes::FAILURE);
+
+/**
+ * @returns true if the JointModelGroup has a solver, false otherwise.
+ *
+ * @tparam JointModelGroup aims at moveit::core::JointModelGroup
+ * @throws exception in case group is null.
+ */
+template <class JointModelGroup>
+static bool hasSolver(const JointModelGroup* group)
+{
+  if (group == nullptr)
+  {
+    throw std::invalid_argument("Group must not be null");
+  }
+  return group->getSolverInstance() != nullptr;
+}
+
+/**
+ * @return The name of the tip frame (link) of the specified group
+ * returned by the solver.
+ *
+ * @tparam JointModelGroup aims at moveit::core::JointModelGroup
+ * @throws exception in case the group has no solver.
+ * @throws exception in case the solver for the group has more than one tip
+ * frame.
+ */
+template <class JointModelGroup>
+static const std::string& getSolverTipFrame(const JointModelGroup* group)
+{
+  if (!hasSolver(group))
+  {
+    throw NoSolverException("No solver for group " + group->getName());
+  }
+
+  const std::vector<std::string>& tip_frames{ group->getSolverInstance()->getTipFrames() };
+  if (tip_frames.size() > 1)
+  {
+    throw MoreThanOneTipFrameException("Solver for group \"" + group->getName() + "\" has more than one tip frame");
+  }
+  return tip_frames.front();
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_request.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_request.h
new file mode 100644
index 0000000000..450f89fea5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_request.h
@@ -0,0 +1,59 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <string>
+
+#include <moveit/robot_trajectory/robot_trajectory.h>
+
+namespace pilz_industrial_motion_planner
+{
+struct TrajectoryBlendRequest
+{
+  // The name of the group of joints on which this blender is operating
+  std::string group_name;
+
+  // The name of the target link on which this blender is operating
+  std::string link_name;
+
+  // Robot trajectories to be blended
+  robot_trajectory::RobotTrajectoryPtr first_trajectory;
+  robot_trajectory::RobotTrajectoryPtr second_trajectory;
+
+  // Blend radius in meter
+  double blend_radius;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_response.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_response.h
new file mode 100644
index 0000000000..880f2b777e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blend_response.h
@@ -0,0 +1,57 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <string>
+
+#include <moveit/robot_trajectory/robot_trajectory.h>
+
+namespace pilz_industrial_motion_planner
+{
+struct TrajectoryBlendResponse
+{
+  // The name of the group of joints on which this blender is operating
+  std::string group_name;
+
+  // Resulted robot trajectories after blending
+  robot_trajectory::RobotTrajectoryPtr first_trajectory;
+  robot_trajectory::RobotTrajectoryPtr blend_trajectory;
+  robot_trajectory::RobotTrajectoryPtr second_trajectory;
+
+  // Error code
+  moveit_msgs::MoveItErrorCodes error_code;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender.h
new file mode 100644
index 0000000000..ce647b5479
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender.h
@@ -0,0 +1,74 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+#include <moveit/robot_model/robot_model.h>
+
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_response.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Base class of trajectory blenders
+ */
+class TrajectoryBlender
+{
+public:
+  TrajectoryBlender(const pilz_industrial_motion_planner::LimitsContainer& planner_limits) : limits_(planner_limits)
+  {
+  }
+
+  virtual ~TrajectoryBlender()
+  {
+  }
+
+  /**
+   * @brief Blend two robot trajectories with the given blending radius
+   * @param req: trajectory blend request
+   * @param res: trajectroy blend response
+   * @return true if blend succeed
+   */
+  virtual bool blend(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                     pilz_industrial_motion_planner::TrajectoryBlendResponse& res) = 0;
+
+protected:
+  const pilz_industrial_motion_planner::LimitsContainer limits_;
+};
+
+typedef std::unique_ptr<TrajectoryBlender> TrajectoryBlenderUniquePtr;
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender_transition_window.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender_transition_window.h
new file mode 100644
index 0000000000..233bdd3e31
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_blender_transition_window.h
@@ -0,0 +1,178 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "pilz_industrial_motion_planner/cartesian_trajectory.h"
+#include "pilz_industrial_motion_planner/cartesian_trajectory_point.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blender.h"
+#include "pilz_industrial_motion_planner/trajectory_functions.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Trajectory blender implementing transition window algorithm
+ *
+ * See doc/MotionBlendAlgorithmDescription.pdf for a mathematical description of
+ * the algorithmn.
+ */
+class TrajectoryBlenderTransitionWindow : public TrajectoryBlender
+{
+public:
+  TrajectoryBlenderTransitionWindow(const LimitsContainer& planner_limits)
+    : TrajectoryBlender::TrajectoryBlender(planner_limits)
+  {
+  }
+
+  ~TrajectoryBlenderTransitionWindow() override
+  {
+  }
+
+  /**
+   * @brief Blend two trajectories using transition window. The trajectories
+   * have to be equally and uniformly
+   * discretized.
+   * @param req: following fields need to be filled for a valid request:
+   *    - group_name : name of the planning group
+   *    - link_name : name of the target link
+   *    - first_trajectory: Joint trajectory stops at end point.
+   *                        The last point must be the same as the first point
+   * of the second trajectory.
+   *    - second trajectory: Joint trajectory stops at end point.
+   *                         The first point must be the same as the last point
+   * of the first trajectory.
+   *    - blend_radius: The blend radius determines a sphere with the
+   * intersection point of the two trajectories
+   *                    as the center. Trajectory blending happens inside of
+   * this sphere.
+   * @param res: following fields are returned as response by the blend
+   * algorithm
+   *    - group_name : name of the planning group
+   *    - first_trajectory: Part of the first original trajectory which is
+   * outside of the blend sphere.
+   *    - blend_trajectory: Joint trajectory connecting the first and second
+   * trajectories without stop.
+   *                        The first waypoint has non-zero time from start.
+   *    - second trajectory: Part of the second original trajectory which is
+   * outside of the blend sphere.
+   *                         The first waypoint has non-zero time from start.
+   * error_code: information of failed blend
+   * @return true if succeed
+   */
+  bool blend(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+             pilz_industrial_motion_planner::TrajectoryBlendResponse& res) override;
+
+private:
+  /**
+   * @brief validate trajectory blend request
+   * @param req
+   * @param sampling_time: get the same sampling time of the two input
+   * trajectories
+   * @param error_code
+   * @return
+   */
+  bool validateRequest(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, double& sampling_time,
+                       moveit_msgs::MoveItErrorCodes& error_code) const;
+  /**
+   * @brief searchBlendPoint
+   * @param req: trajectory blend request
+   * @param first_interse_index: index of the first point of the first
+   * trajectory that is inside the blend sphere
+   * @param second_interse_index: index of the last point of the second
+   * trajectory that is still inside the blend sphere
+   */
+  bool searchIntersectionPoints(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                std::size_t& first_interse_index, std::size_t& second_interse_index) const;
+
+  /**
+   * @brief Determine how the second trajectory should be aligned with the first
+   * trajectory for blend.
+   * Let tau_1 be the time of the first trajectory from the first_interse_index
+   * to the end and tau_2 the time of the
+   * second trajectory from the beginning to the second_interse_index:
+   *  - if tau_1 > tau_2:<br>
+   *    align the end of the first trajectory with second_interse_index
+   *    <pre>
+   *    first traj:  |-------------|--------!--------------|
+   *    second traj:                        |--------------|-------------------|
+   *    blend phase:               |-----------------------|
+   *    </pre>
+   *  - else:<br>
+   *    align the first_interse_index with the beginning of the second
+   * trajectory
+   *    <pre>
+   *    first traj:  |-------------|-----------------------|
+   *    second traj: |-----------------------!----------|-------------------|
+   *    blend phase:               |----------------------------------|
+   *    </pre>
+   *
+   * @param req: trajectory blend request
+   * @param first_interse_index: index of the intersection point between first
+   * trajectory and blend sphere
+   * @param second_interse_index: index of the intersection point between second
+   * trajectory and blend sphere
+   * @param blend_align_index: index on the first trajectory, to which the first
+   * point on the second trajectory should
+   * be aligned to for motion blend. It is now always same as
+   * first_interse_index
+   * @param blend_time: time of the motion blend period
+   */
+  void determineTrajectoryAlignment(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                    std::size_t first_interse_index, std::size_t second_interse_index,
+                                    std::size_t& blend_align_index) const;
+
+  /**
+   * @brief blend two trajectories in Cartesian space, result in a
+   * MultiDOFJointTrajectory which consists
+   * of a list of transforms for the blend phase.
+   * @param req
+   * @param first_interse_index
+   * @param second_interse_index
+   * @param blend_begin_index
+   * @param sampling_time
+   * @param trajectory: the resulting blend trajectory inside the blending
+   * sphere
+   */
+  void blendTrajectoryCartesian(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                const std::size_t first_interse_index, const std::size_t second_interse_index,
+                                const std::size_t blend_align_index, double sampling_time,
+                                pilz_industrial_motion_planner::CartesianTrajectory& trajectory) const;
+
+private:  // static members
+  // Constant to check for equality of values.
+  static constexpr double EPSILON = 1e-4;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
new file mode 100644
index 0000000000..f31bbada01
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
@@ -0,0 +1,219 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <Eigen/Geometry>
+#include <eigen_conversions/eigen_kdl.h>
+#include <eigen_conversions/eigen_msg.h>
+#include <kdl/trajectory.hpp>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <tf2/transform_datatypes.h>
+#include <trajectory_msgs/MultiDOFJointTrajectory.h>
+
+#include "pilz_industrial_motion_planner/cartesian_trajectory.h"
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief compute the inverse kinematics of a given pose, also check robot self
+ * collision
+ * @param robot_model: kinematic model of the robot
+ * @param group_name: name of planning group
+ * @param link_name: name of target link
+ * @param pose: target pose in IK solver Frame
+ * @param frame_id: reference frame of the target pose
+ * @param seed: seed state of IK solver
+ * @param solution: solution of IK
+ * @param check_self_collision: true to enable self collision checking after IK
+ * computation
+ * @param max_attempt: maximal attempts of IK
+ * @return true if succeed
+ */
+bool computePoseIK(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
+                   const std::string& link_name, const Eigen::Isometry3d& pose, const std::string& frame_id,
+                   const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
+                   bool check_self_collision = true, const double timeout = 0.1);
+
+bool computePoseIK(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
+                   const std::string& link_name, const geometry_msgs::Pose& pose, const std::string& frame_id,
+                   const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
+                   bool check_self_collision = true, const double timeout = 0.1);
+
+/**
+ * @brief compute the pose of a link at give robot state
+ * @param robot_model: kinematic model of the robot
+ * @param link_name: target link name
+ * @param joint_state: joint positons of this group
+ * @param pose: pose of the link in base frame of robot model
+ * @return true if succeed
+ */
+bool computeLinkFK(const robot_model::RobotModelConstPtr& robot_model, const std::string& link_name,
+                   const std::map<std::string, double>& joint_state, Eigen::Isometry3d& pose);
+
+bool computeLinkFK(const robot_model::RobotModelConstPtr& robot_model, const std::string& link_name,
+                   const std::vector<std::string>& joint_names, const std::vector<double>& joint_positions,
+                   Eigen::Isometry3d& pose);
+
+/**
+ * @brief verify the velocity/acceleration limits of current sample (based on
+ * backward difference computation)
+ * v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)]
+ * a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2
+ * @param position_last: position of last sample
+ * @param velocity_last: velocity of last sample
+ * @param position_current: position of current sample
+ * @param duration_last: duration of last sample
+ * @param duration_current: duration of current sample
+ * @param joint_limits: joint limits
+ * @return
+ */
+bool verifySampleJointLimits(const std::map<std::string, double>& position_last,
+                             const std::map<std::string, double>& velocity_last,
+                             const std::map<std::string, double>& position_current, double duration_last,
+                             double duration_current, const JointLimitsContainer& joint_limits);
+
+/**
+ * @brief Generate joint trajectory from a KDL Cartesian trajectory
+ * @param robot_model: robot kinematics model
+ * @param joint_limits: joint limits
+ * @param trajectory: KDL Cartesian trajectory
+ * @param group_name: name of the planning group
+ * @param link_name: name of the target robot link
+ * @param initial_joint_position: initial joint positions, needed for selecting
+ * the ik solution
+ * @param sampling_time: sampling time of the generated trajectory
+ * @param joint_trajectory: output as robot joint trajectory, first and last
+ * point will have zero velocity
+ * and acceleration
+ * @param error_code: detailed error information
+ * @param check_self_collision: check for self collision during creation
+ * @return true if succeed
+ */
+bool generateJointTrajectory(const robot_model::RobotModelConstPtr& robot_model,
+                             const JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
+                             const std::string& group_name, const std::string& link_name,
+                             const std::map<std::string, double>& initial_joint_position, const double& sampling_time,
+                             trajectory_msgs::JointTrajectory& joint_trajectory,
+                             moveit_msgs::MoveItErrorCodes& error_code, bool check_self_collision = false);
+
+/**
+ * @brief Generate joint trajectory from a MultiDOFJointTrajectory
+ * @param trajectory: Cartesian trajectory
+ * @param info: motion plan information
+ * @param sampling_time
+ * @param joint_trajectory
+ * @param error_code
+ * @return true if succeed
+ */
+bool generateJointTrajectory(const robot_model::RobotModelConstPtr& robot_model,
+                             const JointLimitsContainer& joint_limits,
+                             const pilz_industrial_motion_planner::CartesianTrajectory& trajectory,
+                             const std::string& group_name, const std::string& link_name,
+                             const std::map<std::string, double>& initial_joint_position,
+                             const std::map<std::string, double>& initial_joint_velocity,
+                             trajectory_msgs::JointTrajectory& joint_trajectory,
+                             moveit_msgs::MoveItErrorCodes& error_code, bool check_self_collision = false);
+
+/**
+ * @brief Determines the sampling time and checks that both trajectroies use the
+ * same sampling time.
+ * @return TRUE if the sampling time is equal between all given points (except
+ * the last two points
+ * of each trajectory), otherwise FALSE.
+ */
+bool determineAndCheckSamplingTime(const robot_trajectory::RobotTrajectoryPtr& first_trajectory,
+                                   const robot_trajectory::RobotTrajectoryPtr& second_trajectory, double EPSILON,
+                                   double& sampling_time);
+
+/**
+ * @brief Check if the two robot states have the same joint
+ * position/velocity/acceleration.
+ *
+ * @param joint_group_name The name of the joint group.
+ * @param epsilon Constants defining how close the joint
+ * position/velocity/acceleration have to be to be
+ * recognized as equal.
+ *
+ * @return True if joint positions, joint velocities and joint accelerations are
+ * equal, otherwise false.
+ */
+bool isRobotStateEqual(const robot_state::RobotState& state1, const robot_state::RobotState& state2,
+                       const std::string& joint_group_name, double epsilon);
+
+/**
+ * @brief check if the robot state have zero velocity/acceleartion
+ * @param state
+ * @param group
+ * @param EPSILON
+ * @return
+ */
+bool isRobotStateStationary(const robot_state::RobotState& state, const std::string& group, double EPSILON);
+
+/**
+ * @brief Performs a linear search for the intersection point of the trajectory
+ * with the blending radius.
+ * @param center_position Center of blending sphere.
+ * @param r Radius of blending sphere.
+ * @param traj The trajectory.
+ * @param inverseOrder TRUE: Farthest element from blending sphere center is
+ * located at the
+ * smallest index of trajectroy.
+ * @param index The intersection index which has to be determined.
+ */
+bool linearSearchIntersectionPoint(const std::string& link_name, const Eigen::Vector3d& center_position,
+                                   const double& r, const robot_trajectory::RobotTrajectoryPtr& traj, bool inverseOrder,
+                                   std::size_t& index);
+
+bool intersectionFound(const Eigen::Vector3d& p_center, const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
+                       const double& r);
+
+/**
+ * @brief Checks if current robot state is in self collision.
+ * @param test_for_self_collision Flag to deactivate this check during IK.
+ * @param robot_model: robot kinematics model.
+ * @param state Robot state instance used for .
+ * @param group
+ * @param ik_solution
+ * @return
+ */
+bool isStateColliding(const bool test_for_self_collision, const moveit::core::RobotModelConstPtr& robot_model,
+                      robot_state::RobotState* state, const robot_state::JointModelGroup* const group,
+                      const double* const ik_solution);
+}  // namespace pilz_industrial_motion_planner
+
+void normalizeQuaternion(geometry_msgs::Quaternion& quat);
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generation_exceptions.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generation_exceptions.h
new file mode 100644
index 0000000000..8348850687
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generation_exceptions.h
@@ -0,0 +1,121 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <stdexcept>
+#include <string>
+
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Exception storing an moveit_msgs::MoveItErrorCodes value.
+ */
+class MoveItErrorCodeException : public std::runtime_error
+{
+public:
+  MoveItErrorCodeException(const std::string& msg);
+
+protected:
+  MoveItErrorCodeException(const MoveItErrorCodeException&) = default;
+  MoveItErrorCodeException(MoveItErrorCodeException&&) = default;
+  ~MoveItErrorCodeException() override = default;
+
+  MoveItErrorCodeException& operator=(const MoveItErrorCodeException&) = default;
+  MoveItErrorCodeException& operator=(MoveItErrorCodeException&&) = default;
+
+public:
+  virtual const moveit_msgs::MoveItErrorCodes::_val_type& getErrorCode() const = 0;
+};
+
+template <moveit_msgs::MoveItErrorCodes::_val_type ERROR_CODE = moveit_msgs::MoveItErrorCodes::FAILURE>
+class TemplatedMoveItErrorCodeException : public MoveItErrorCodeException
+{
+public:
+  TemplatedMoveItErrorCodeException(const std::string& msg);
+  TemplatedMoveItErrorCodeException(const std::string& msg, const moveit_msgs::MoveItErrorCodes::_val_type& error_code);
+
+public:
+  const moveit_msgs::MoveItErrorCodes::_val_type& getErrorCode() const override;
+
+private:
+  const moveit_msgs::MoveItErrorCodes::_val_type error_code_{ ERROR_CODE };
+};
+
+//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+inline MoveItErrorCodeException::MoveItErrorCodeException(const std::string& msg) : std::runtime_error(msg)
+{
+}
+
+template <moveit_msgs::MoveItErrorCodes::_val_type ERROR_CODE>
+inline TemplatedMoveItErrorCodeException<ERROR_CODE>::TemplatedMoveItErrorCodeException(const std::string& msg)
+  : MoveItErrorCodeException(msg)
+{
+}
+
+template <moveit_msgs::MoveItErrorCodes::_val_type ERROR_CODE>
+inline TemplatedMoveItErrorCodeException<ERROR_CODE>::TemplatedMoveItErrorCodeException(
+    const std::string& msg, const moveit_msgs::MoveItErrorCodes::_val_type& error_code)
+  : MoveItErrorCodeException(msg), error_code_(error_code)
+{
+}
+
+template <moveit_msgs::MoveItErrorCodes::_val_type ERROR_CODE>
+inline const moveit_msgs::MoveItErrorCodes::_val_type&
+TemplatedMoveItErrorCodeException<ERROR_CODE>::getErrorCode() const
+{
+  return error_code_;
+}
+
+/*
+ * @brief Macro to automatically generate a derived class of
+ * the MoveItErrorCodeException class.
+ */
+#define CREATE_MOVEIT_ERROR_CODE_EXCEPTION(EXCEPTION_CLASS_NAME, ERROR_CODE)                                           \
+  class EXCEPTION_CLASS_NAME : public TemplatedMoveItErrorCodeException<ERROR_CODE>                                    \
+  {                                                                                                                    \
+  public:                                                                                                              \
+    EXCEPTION_CLASS_NAME(const std::string& msg) : TemplatedMoveItErrorCodeException(msg)                              \
+    {                                                                                                                  \
+    }                                                                                                                  \
+                                                                                                                       \
+    EXCEPTION_CLASS_NAME(const std::string& msg, const moveit_msgs::MoveItErrorCodes::_val_type& error_code)           \
+      : TemplatedMoveItErrorCodeException(msg, error_code)                                                             \
+    {                                                                                                                  \
+    }                                                                                                                  \
+  }
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h
new file mode 100644
index 0000000000..09055fcb81
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h
@@ -0,0 +1,291 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <sstream>
+#include <string>
+
+#include <Eigen/Geometry>
+#include <kdl/frames.hpp>
+#include <kdl/trajectory.hpp>
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/robot_model/robot_model.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include "pilz_industrial_motion_planner/limits_container.h"
+#include "pilz_industrial_motion_planner/trajectory_functions.h"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+using namespace pilz_industrial_motion_planner;
+
+namespace pilz_industrial_motion_planner
+{
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(TrajectoryGeneratorInvalidLimitsException, moveit_msgs::MoveItErrorCodes::FAILURE);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(VelocityScalingIncorrect, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(AccelerationScalingIncorrect, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPlanningGroup, moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoJointNamesInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(SizeMismatchInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfStartStateOutOfRange, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NonZeroVelocityInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NotExactlyOneGoalConstraintGiven,
+                                   moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OnlyOneGoalTypeAllowed, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateGoalStateMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointConstraintDoesNotBelongToGroup,
+                                   moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfGoalOutOfRange, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionConstraintNameMissing,
+                                   moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OrientationConstraintNameMissing,
+                                   moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionOrientationConstraintNameMismatch,
+                                   moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoIKSolverAvailable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePoseGiven, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+/**
+ * @brief Base class of trajectory generators
+ *
+ * Note: All derived classes cannot have a start velocity
+ */
+class TrajectoryGenerator
+{
+public:
+  TrajectoryGenerator(const robot_model::RobotModelConstPtr& robot_model,
+                      const pilz_industrial_motion_planner::LimitsContainer& planner_limits)
+    : robot_model_(robot_model), planner_limits_(planner_limits)
+  {
+  }
+
+  virtual ~TrajectoryGenerator() = default;
+
+  /**
+   * @brief generate robot trajectory with given sampling time
+   * @param req: motion plan request
+   * @param res: motion plan response
+   * @param sampling_time: sampling time of the generate trajectory
+   * @return motion plan succeed/fail, detailed information in motion plan
+   * responce
+   */
+  bool generate(const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
+                double sampling_time = 0.1);
+
+protected:
+  /**
+   * @brief This class is used to extract needed information from motion plan
+   * request.
+   */
+  class MotionPlanInfo
+  {
+  public:
+    std::string group_name;
+    std::string link_name;
+    Eigen::Isometry3d start_pose;
+    Eigen::Isometry3d goal_pose;
+    std::map<std::string, double> start_joint_position;
+    std::map<std::string, double> goal_joint_position;
+    std::pair<std::string, Eigen::Vector3d> circ_path_point;
+  };
+
+  /**
+   * @brief build cartesian velocity profile for the path
+   *
+   * Uses the path to get the cartesian length and the angular distance from
+   * start to goal.
+   * The trap profile returns uses the longer distance of translational and
+   * rotational motion.
+   */
+  std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(const double& max_velocity_scaling_factor,
+                                                                     const double& max_acceleration_scaling_factor,
+                                                                     const std::unique_ptr<KDL::Path>& path) const;
+
+private:
+  virtual void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const;
+
+  /**
+   * @brief Extract needed information from a motion plan request in order to
+   * simplify
+   * further usages.
+   * @param req: motion plan request
+   * @param info: information extracted from motion plan request which is
+   * necessary for the planning
+   */
+  virtual void extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const = 0;
+
+  virtual void plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+                    const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) = 0;
+
+private:
+  /**
+   * @brief Validate the motion plan request based on the common requirements of
+   * trajectroy generator
+   * Checks that:
+   *    - req.max_velocity_scaling_factor [0.0001, 1],
+   * moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN on failure
+   *    - req.max_acceleration_scaling_factor [0.0001, 1] ,
+   * moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN on
+   * failure
+   *    - req.group_name is a JointModelGroup of the Robotmodel,
+   * moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME on
+   * failure
+   *    - req.start_state.joint_state is not empty,
+   * moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE on failure
+   *    - req.start_state.joint_state is within the limits,
+   * moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE on
+   * failure
+   *    - req.start_state.joint_state is all zero,
+   * moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE on failure
+   *    - req.goal_constraints must have exactly 1 defined cartesian oder joint
+   * constraint
+   *      moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS on failure
+   * A joint goal is checked for:
+   *    - StartState joint-names matching goal joint-names,
+   * moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS on
+   * failure
+   *    - Beeing defined in the req.group_name JointModelGroup
+   *    - Beeing with the defined limits
+   * A cartesian goal is checked for:
+   *    - A defined link_name for the constraint,
+   * moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS on failure
+   *    - Matching link_name for position and orientation constraints,
+   * moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS on failure
+   *    - A IK solver exists for the given req.group_name and constraint
+   * link_name,
+   * moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION on failure
+   *    - A goal pose define in
+   * position_constraints[0].constraint_region.primitive_poses,
+   * moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS on failure
+   * @param req: motion plan request
+   */
+  void validateRequest(const planning_interface::MotionPlanRequest& req) const;
+
+  /**
+   * @brief set MotionPlanResponse from joint trajectory
+   */
+  void setSuccessResponse(const std::string& group_name, const moveit_msgs::RobotState& start_state,
+                          const trajectory_msgs::JointTrajectory& joint_trajectory, const ros::Time& planning_start,
+                          planning_interface::MotionPlanResponse& res) const;
+
+  void setFailureResponse(const ros::Time& planning_start, planning_interface::MotionPlanResponse& res) const;
+
+  void checkForValidGroupName(const std::string& group_name) const;
+
+  /**
+   * @brief Validate that the start state of the request matches the
+   * requirements of the trajectory generator.
+   *
+   * These requirements are:
+   *     - Names of the joints and given joint position match in size and are
+   * non-zero
+   *     - The start state is withing the position limits
+   *     - The start state velocity is below
+   * TrajectoryGenerator::VELOCITY_TOLERANCE
+   */
+  void checkStartState(const moveit_msgs::RobotState& start_state) const;
+
+  void checkGoalConstraints(const moveit_msgs::MotionPlanRequest::_goal_constraints_type& goal_constraints,
+                            const std::vector<std::string>& expected_joint_names, const std::string& group_name) const;
+
+  void checkJointGoalConstraint(const moveit_msgs::Constraints& constraint,
+                                const std::vector<std::string>& expected_joint_names,
+                                const std::string& group_name) const;
+
+  void checkCartesianGoalConstraint(const moveit_msgs::Constraints& constraint, const std::string& group_name) const;
+
+  void convertToRobotTrajectory(const trajectory_msgs::JointTrajectory& joint_trajectory,
+                                const moveit_msgs::RobotState& start_state,
+                                robot_trajectory::RobotTrajectory& robot_trajectory) const;
+
+private:
+  /**
+   * @return True if scaling factor is valid, otherwise false.
+   */
+  static bool isScalingFactorValid(const double& scaling_factor);
+  static void checkVelocityScaling(const double& scaling_factor);
+  static void checkAccelerationScaling(const double& scaling_factor);
+
+  /**
+   * @return True if ONE position + ONE orientation constraint given,
+   * otherwise false.
+   */
+  static bool isCartesianGoalGiven(const moveit_msgs::Constraints& constraint);
+
+  /**
+   * @return True if joint constraint given, otherwise false.
+   */
+  static bool isJointGoalGiven(const moveit_msgs::Constraints& constraint);
+
+  /**
+   * @return True if ONLY joint constraint or
+   * ONLY cartesian constraint (position+orientation) given, otherwise false.
+   */
+  static bool isOnlyOneGoalTypeGiven(const moveit_msgs::Constraints& constraint);
+
+protected:
+  const robot_model::RobotModelConstPtr robot_model_;
+  const pilz_industrial_motion_planner::LimitsContainer planner_limits_;
+  static constexpr double MIN_SCALING_FACTOR{ 0.0001 };
+  static constexpr double MAX_SCALING_FACTOR{ 1. };
+  static constexpr double VELOCITY_TOLERANCE{ 1e-8 };
+};
+
+inline bool TrajectoryGenerator::isScalingFactorValid(const double& scaling_factor)
+{
+  return (scaling_factor > MIN_SCALING_FACTOR && scaling_factor <= MAX_SCALING_FACTOR);
+}
+
+inline bool TrajectoryGenerator::isCartesianGoalGiven(const moveit_msgs::Constraints& constraint)
+{
+  return constraint.position_constraints.size() == 1 && constraint.orientation_constraints.size() == 1;
+}
+
+inline bool TrajectoryGenerator::isJointGoalGiven(const moveit_msgs::Constraints& constraint)
+{
+  return !constraint.joint_constraints.empty();
+}
+
+inline bool TrajectoryGenerator::isOnlyOneGoalTypeGiven(const moveit_msgs::Constraints& constraint)
+{
+  return (isJointGoalGiven(constraint) && !isCartesianGoalGiven(constraint)) ||
+         (!isJointGoalGiven(constraint) && isCartesianGoalGiven(constraint));
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h
new file mode 100644
index 0000000000..080239a581
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h
@@ -0,0 +1,107 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <eigen3/Eigen/Eigen>
+#include <kdl/path.hpp>
+#include <kdl/velocityprofile.hpp>
+
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+
+using namespace pilz_industrial_motion_planner;
+
+namespace pilz_industrial_motion_planner
+{
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleNoPlane, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleToSmall, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CenterPointDifferentRadius, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircTrajectoryConversionFailure, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPathConstraintName, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPositionConstraints, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePose, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownLinkNameOfAuxiliaryPoint, moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NumberOfConstraintsMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircJointMissingInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircInverseForGoalIncalculable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+
+/**
+ * @brief This class implements a trajectory generator of arcs in Cartesian
+ * space.
+ * The arc is specified by a start pose, a goal pose and a interim point on the
+ * arc,
+ * or a point as the center of the circle which forms the arc. Complete circle
+ * is not
+ * covered by this generator.
+ */
+class TrajectoryGeneratorCIRC : public TrajectoryGenerator
+{
+public:
+  /**
+   * @brief Constructor of CIRC Trajectory Generator.
+   *
+   * @param planner_limits Limits in joint and Cartesian spaces
+   *
+   * @throw TrajectoryGeneratorInvalidLimitsException
+   *
+   */
+  TrajectoryGeneratorCIRC(const robot_model::RobotModelConstPtr& robot_model,
+                          const pilz_industrial_motion_planner::LimitsContainer& planner_limits);
+
+private:
+  void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const override;
+
+  void extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
+
+  void plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+            const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) override;
+
+  /**
+   * @brief Construct a KDL::Path object for a Cartesian path of an arc.
+   *
+   * @return A unique pointer of the path object, null_ptr in case of an error.
+   *
+   * @throws CircleNoPlane if the plane in which the circle resides,
+   * could not be determined.
+   *
+   * @throws CircleToSmall if the specified circ radius is to small.
+   *
+   * @throws CenterPointDifferentRadius if the distances between start-center
+   * and goal-center are different.
+   */
+  std::unique_ptr<KDL::Path> setPathCIRC(const MotionPlanInfo& info) const;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h
new file mode 100644
index 0000000000..2d17768cad
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h
@@ -0,0 +1,85 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <eigen3/Eigen/Eigen>
+#include <kdl/rotational_interpolation_sa.hpp>
+
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+#include "pilz_industrial_motion_planner/velocity_profile_atrap.h"
+
+using namespace pilz_industrial_motion_planner;
+
+namespace pilz_industrial_motion_planner
+{
+// TODO date type of units
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::MoveItErrorCodes::FAILURE);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinJointMissingInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+
+/**
+ * @brief This class implements a linear trajectory generator in Cartesian
+ * space.
+ * The Cartesian trajetory are based on trapezoid velocity profile.
+ */
+class TrajectoryGeneratorLIN : public TrajectoryGenerator
+{
+public:
+  /**
+   * @brief Constructor of LIN Trajectory Generator
+   * @throw TrajectoryGeneratorInvalidLimitsException
+   * @param model: robot model
+   * @param planner_limits: limits in joint and Cartesian spaces
+   */
+  TrajectoryGeneratorLIN(const robot_model::RobotModelConstPtr& robot_model,
+                         const pilz_industrial_motion_planner::LimitsContainer& planner_limits);
+
+private:
+  void extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
+
+  void plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+            const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) override;
+
+  /**
+   * @brief construct a KDL::Path object for a Cartesian straight line
+   * @return a unique pointer of the path object. null_ptr in case of an error.
+   */
+  std::unique_ptr<KDL::Path> setPathLIN(const Eigen::Affine3d& start_pose, const Eigen::Affine3d& goal_pose) const;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.h
new file mode 100644
index 0000000000..09048557ba
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.h
@@ -0,0 +1,94 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "eigen3/Eigen/Eigen"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+#include "pilz_industrial_motion_planner/velocity_profile_atrap.h"
+
+using namespace pilz_industrial_motion_planner;
+
+namespace pilz_industrial_motion_planner
+{
+// TODO date type of units
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpVelocityProfileSyncFailed, moveit_msgs::MoveItErrorCodes::FAILURE);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpNoIkSolutionForGoalPose, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+
+/**
+ * @brief This class implements a point-to-point trajectory generator based on
+ * VelocityProfileATrap.
+ */
+class TrajectoryGeneratorPTP : public TrajectoryGenerator
+{
+public:
+  /**
+   * @brief Constructor of PTP Trajectory Generator
+   * @throw TrajectoryGeneratorInvalidLimitsException
+   * @param model: a map of joint limits information
+   */
+  TrajectoryGeneratorPTP(const robot_model::RobotModelConstPtr& robot_model,
+                         const pilz_industrial_motion_planner::LimitsContainer& planner_limits);
+
+private:
+  void extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const override;
+
+  /**
+   * @brief plan ptp joint trajectory with zero start velocity
+   * @param start_pos
+   * @param goal_pos
+   * @param joint_trajectory
+   * @param group_name
+   * @param velocity_scaling_factor
+   * @param acceleration_scaling_factor
+   * @param sampling_time
+   */
+  void planPTP(const std::map<std::string, double>& start_pos, const std::map<std::string, double>& goal_pos,
+               trajectory_msgs::JointTrajectory& joint_trajectory, const std::string& group_name,
+               const double& velocity_scaling_factor, const double& acceleration_scaling_factor,
+               const double& sampling_time);
+
+  void plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+            const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) override;
+
+private:
+  const double MIN_MOVEMENT = 0.001;
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits_;
+  // most strict joint limits for each group
+  std::map<std::string, JointLimit> most_strict_limits_;
+};
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/velocity_profile_atrap.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/velocity_profile_atrap.h
new file mode 100644
index 0000000000..2d71ccbb4b
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/velocity_profile_atrap.h
@@ -0,0 +1,215 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include "kdl/velocityprofile.hpp"
+#include <iostream>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile.
+ * Differences to VelocityProfile_Trap:
+ *   - Maximal acceleration and deceleration can be different, resulting
+ *     an asymmetric trapezoid shaped velocity profile.
+ *   - Function to generate full synchronized PTP trajectory is provided.
+ *   - Function to generate trapezoid shaped velocity profile with start
+ * velocity.
+ */
+class VelocityProfileATrap : public KDL::VelocityProfile
+{
+public:
+  /**
+   * @brief Constructor
+   * @param max_vel: maximal velocity (absolute value, always positive)
+   * @param max_acc: maximal acceleration (absolute value, always positive)
+   * @param max_dec: maximal deceleration (absolute value, always positive)
+   */
+  VelocityProfileATrap(double max_vel = 0, double max_acc = 0, double max_dec = 0);
+
+  /**
+   * @brief compute the fastest profile
+   * Algorithm:
+   *  - compute the minimal distance which is needed to reach maximal velocity
+   *  - if maximal velocity can be reached
+   *     - compute the coefficients of the trajectory
+   *  - if maximal velocity can not be reached
+   *     - compute the new velocity can be reached
+   *     - compute the coefficients based on this new velocity
+   *
+   * @param pos1: start position
+   * @param pos2: goal position
+   */
+  void SetProfile(double pos1, double pos2) override;
+
+  /**
+   * @brief Profile scaled by the total duration
+   * @param pos1: start position
+   * @param pos2: goal position
+   * @param duration: trajectory duration (must be longer than fastest case,
+   * otherwise will be ignored)
+   */
+  void SetProfileDuration(double pos1, double pos2, double duration) override;
+
+  /**
+   * @brief Profile with given acceleration/constant/deceleration durations.
+   * Each duration must obey the maximal velocity/acceleration/deceleration
+   * constraints.
+   * Otherwise the operation will be ignored.
+   * Algorithm:
+   * - compute the maximal velocity of given durations
+   * - compute the acceleration and deceleration of given duraitons
+   * - if limits are fulfilled
+   *   - compute the coefficients
+   * @param pos1: start position
+   * @param pos2: goal position
+   * @param acc_duration: time of acceleration phase
+   * @param const_duration: time of constant phase
+   * @param dec_duration: time of deceleration phase
+   * @return ture if the combination of three durations is valid
+   */
+  bool setProfileAllDurations(double pos1, double pos2, double duration1, double duration2, double duration3);
+
+  /**
+   * @brief Profile with start velocity
+   * Note: This function is not general and is currently only used for live
+   * control (vel1*(pos2-pos1)>0).
+   * @param pos1: start position
+   * @param pos2: goal position
+   * @param vel1: start velocity
+   * @return
+   */
+  bool setProfileStartVelocity(double pos1, double pos2, double vel1);
+
+  /**
+   * @brief get the time of first phase
+   * @return
+   */
+  double firstPhaseDuration() const
+  {
+    return t_a_;
+  }
+  /**
+   * @brief get the time of second phase
+   * @return
+   */
+  double secondPhaseDuration() const
+  {
+    return t_b_;
+  }
+  /**
+   * @brief get the time of third phase
+   * @return
+   */
+  double thirdPhaseDuration() const
+  {
+    return t_c_;
+  }
+
+  /**
+   * @brief Compares two Asymmetric Trapezoidal Velocity Profiles.
+   *
+   * @return True if equal, false otherwise.
+   */
+  bool operator==(const VelocityProfileATrap& other) const;
+
+  /**
+   * @brief Duration
+   * @return total duration of the trajectory
+   */
+  double Duration() const override;
+  /**
+   * @brief Get position at given time
+   * @param time
+   * @return
+   */
+  double Pos(double time) const override;
+  /**
+   * @brief Get velocity at given time
+   * @param time
+   * @return
+   */
+  double Vel(double time) const override;
+  /**
+   * @brief Get given acceleration/deceleration at given time
+   * @param time
+   * @return
+   */
+  double Acc(double time) const override;
+  /**
+   * @brief Write basic information
+   * @param os
+   */
+  void Write(std::ostream& os) const override;
+  /**
+   * @brief returns copy of current VelocityProfile object
+   * @return
+   */
+  KDL::VelocityProfile* Clone() const override;
+
+  friend std::ostream& operator<<(std::ostream& os, const VelocityProfileATrap& p);  // LCOV_EXCL_LINE
+
+  ~VelocityProfileATrap() override;
+
+private:
+  /// helper functions
+  void setEmptyProfile();
+
+private:
+  /// specification of the motion profile :
+  const double max_vel_;
+  const double max_acc_;
+  const double max_dec_;
+  double start_pos_;
+  double end_pos_;
+
+  /// for initial velocity
+  double start_vel_;
+
+  /// three phases of trapezoid
+  double a1_, a2_, a3_;  /// coef. from ^0 -> ^2 of first phase
+  double b1_, b2_, b3_;  /// of second phase
+  double c1_, c2_, c3_;  /// of third phase
+
+  /// time of three phases
+  double t_a_;  /// the duration of first phase
+  double t_b_;  /// the duration of second phase
+  double t_c_;  /// the duration of third phase
+};
+
+std::ostream& operator<<(std::ostream& os,
+                         const VelocityProfileATrap& p);  // LCOV_EXCL_LINE
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
new file mode 100644
index 0000000000..d69a541779
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>pilz_industrial_motion_planner</name>
+  <version>0.4.10</version>
+  <description>MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.</description>
+
+  <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>
+  <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>
+  <maintainer email="i.martini@pilz.de">Immanuel Martini</maintainer>
+  <maintainer email="j.schleicher@pilz.de">Joachim Schleicher</maintainer>
+  <maintainer email="h.slusarek@pilz.de">Hagen Slusarek</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>eigen_conversions</depend>
+  <depend>kdl_conversions</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_msgs</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_planning</depend> <!-- RobotModelLoader -->
+  <depend>moveit_ros_move_group</depend> <!-- move_group capability -->
+  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
+  <depend>pluginlib</depend>
+  <depend>roscpp</depend>
+  <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_kdl</depend>
+  <depend>tf2_ros</depend>
+
+  <!-- Test dependencies -->
+  <test_depend>rostest</test_depend>
+  <test_depend>rosunit</test_depend>
+  <test_depend>cmake_modules</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
+  <test_depend>pilz_industrial_motion_planner_testutils</test_depend>
+  <test_depend>moveit_resources_prbt_moveit_config</test_depend>
+  <test_depend>moveit_resources_prbt_support</test_depend>
+  <test_depend>moveit_resources_prbt_pg70_support</test_depend>
+  <test_depend>code_coverage</test_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <moveit_core plugin="${prefix}/plugins/pilz_industrial_motion_planner_plugin_description.xml"/>
+    <moveit_ros_move_group plugin="${prefix}/plugins/sequence_capability_plugin_description.xml"/>
+    <pilz_industrial_motion_planner plugin="${prefix}/plugins/planning_context_plugin_description.xml"/>
+  </export>
+</package>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
new file mode 100644
index 0000000000..3a6f16cf50
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
@@ -0,0 +1,5 @@
+<library path="lib/libpilz_industrial_motion_planner">
+  <class type="pilz_industrial_motion_planner::CommandPlanner" base_class_type="planning_interface::PlannerManager">
+    <description>Pilz Industrial Motion Planner</description>
+  </class>
+</library>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
new file mode 100644
index 0000000000..0ff208f2a2
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
@@ -0,0 +1,18 @@
+<library path="lib/libplanning_context_loader_ptp">
+  <class type="pilz_industrial_motion_planner::PlanningContextLoaderPTP"
+         base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
+    <description>Loader for PTP Context</description>
+  </class>
+</library>
+<library path="lib/libplanning_context_loader_lin">
+  <class type="pilz_industrial_motion_planner::PlanningContextLoaderLIN"
+         base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
+    <description>Loader for LIN Context</description>
+  </class>
+</library>
+<library path="lib/libplanning_context_loader_circ">
+  <class type="pilz_industrial_motion_planner::PlanningContextLoaderCIRC"
+         base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
+    <description>Loader for CIRC Context</description>
+  </class>
+</library>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
new file mode 100644
index 0000000000..9daf67146c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
@@ -0,0 +1,13 @@
+<library path="lib/libsequence_capability">
+  <class name="pilz_industrial_motion_planner/MoveGroupSequenceAction"
+         type="pilz_industrial_motion_planner::MoveGroupSequenceAction"
+         base_class_type="move_group::MoveGroupCapability">
+    <description>Motion Planner a sequence of trajectories</description>
+  </class>
+
+  <class name="pilz_industrial_motion_planner/MoveGroupSequenceService"
+         type="pilz_industrial_motion_planner::MoveGroupSequenceService"
+         base_class_type="move_group::MoveGroupCapability">
+    <description>Plan a sequence of trajectory via ROS serivce</description>
+  </class>
+</library>
diff --git a/moveit_planners/pilz_industrial_motion_planner/rosdoc.yaml b/moveit_planners/pilz_industrial_motion_planner/rosdoc.yaml
new file mode 100644
index 0000000000..119e416808
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/rosdoc.yaml
@@ -0,0 +1,6 @@
+- builder: doxygen
+  name: Documentation of pilz_industrial_motion_planner package
+  output_dir: pilz_industrial_motion_planner
+  file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox *.md'
+  exclude_patterns: 'test'
+  use_mdfile_as_mainpage: 'README.md'
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limit.cpp b/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limit.cpp
new file mode 100644
index 0000000000..3d67a9be13
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limit.cpp
@@ -0,0 +1,119 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/cartesian_limit.h"
+
+pilz_industrial_motion_planner::CartesianLimit::CartesianLimit()
+  : has_max_trans_vel_(false)
+  , max_trans_vel_(0.0)
+  , has_max_trans_acc_(false)
+  , max_trans_acc_(0.0)
+  , has_max_trans_dec_(false)
+  , max_trans_dec_(0.0)
+  , has_max_rot_vel_(false)
+  , max_rot_vel_(0.0)
+{
+}
+
+// Translational Velocity Limit
+
+bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalVelocity() const
+{
+  return has_max_trans_vel_;
+}
+
+void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalVelocity(double max_trans_vel)
+{
+  has_max_trans_vel_ = true;
+  max_trans_vel_ = max_trans_vel;
+}
+
+double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalVelocity() const
+{
+  return max_trans_vel_;
+}
+
+// Translational Acceleration Limit
+
+bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalAcceleration() const
+{
+  return has_max_trans_acc_;
+}
+
+void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalAcceleration(double max_trans_acc)
+{
+  has_max_trans_acc_ = true;
+  max_trans_acc_ = max_trans_acc;
+}
+
+double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalAcceleration() const
+{
+  return max_trans_acc_;
+}
+
+// Translational Deceleration Limit
+
+bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalDeceleration() const
+{
+  return has_max_trans_dec_;
+}
+
+void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalDeceleration(double max_trans_dec)
+{
+  has_max_trans_dec_ = true;
+  max_trans_dec_ = max_trans_dec;
+}
+
+double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalDeceleration() const
+{
+  return max_trans_dec_;
+}
+
+// Rotational Velocity Limit
+
+bool pilz_industrial_motion_planner::CartesianLimit::hasMaxRotationalVelocity() const
+{
+  return has_max_rot_vel_;
+}
+
+void pilz_industrial_motion_planner::CartesianLimit::setMaxRotationalVelocity(double max_rot_vel)
+{
+  has_max_rot_vel_ = true;
+  max_rot_vel_ = max_rot_vel;
+}
+
+double pilz_industrial_motion_planner::CartesianLimit::getMaxRotationalVelocity() const
+{
+  return max_rot_vel_;
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_aggregator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_aggregator.cpp
new file mode 100644
index 0000000000..30dc95ad41
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_aggregator.cpp
@@ -0,0 +1,96 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "ros/ros.h"
+
+#include "pilz_industrial_motion_planner/cartesian_limits_aggregator.h"
+
+static const std::string PARAM_CARTESIAN_LIMITS_NS = "cartesian_limits";
+
+static const std::string PARAM_MAX_TRANS_VEL = "max_trans_vel";
+static const std::string PARAM_MAX_TRANS_ACC = "max_trans_acc";
+static const std::string PARAM_MAX_TRANS_DEC = "max_trans_dec";
+static const std::string PARAM_MAX_ROT_VEL = "max_rot_vel";
+static const std::string PARAM_MAX_ROT_ACC = "max_rot_acc";
+static const std::string PARAM_MAX_ROT_DEC = "max_rot_dec";
+
+pilz_industrial_motion_planner::CartesianLimit
+pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(const ros::NodeHandle& nh)
+{
+  std::string param_prefix = PARAM_CARTESIAN_LIMITS_NS + "/";
+
+  pilz_industrial_motion_planner::CartesianLimit cartesian_limit;
+
+  // translational velocity
+  double max_trans_vel;
+  if (nh.getParam(param_prefix + PARAM_MAX_TRANS_VEL, max_trans_vel))
+  {
+    cartesian_limit.setMaxTranslationalVelocity(max_trans_vel);
+  }
+
+  // translational acceleration
+  double max_trans_acc;
+  if (nh.getParam(param_prefix + PARAM_MAX_TRANS_ACC, max_trans_acc))
+  {
+    cartesian_limit.setMaxTranslationalAcceleration(max_trans_acc);
+  }
+
+  // translational deceleration
+  double max_trans_dec;
+  if (nh.getParam(param_prefix + PARAM_MAX_TRANS_DEC, max_trans_dec))
+  {
+    cartesian_limit.setMaxTranslationalDeceleration(max_trans_dec);
+  }
+
+  // rotational velocity
+  double max_rot_vel;
+  if (nh.getParam(param_prefix + PARAM_MAX_ROT_VEL, max_rot_vel))
+  {
+    cartesian_limit.setMaxRotationalVelocity(max_rot_vel);
+  }
+
+  // rotational acceleration + deceleration deprecated
+  // LCOV_EXCL_START
+  if (nh.hasParam(param_prefix + PARAM_MAX_ROT_ACC) || nh.hasParam(param_prefix + PARAM_MAX_ROT_DEC))
+  {
+    ROS_WARN_STREAM("Ignoring cartesian limits parameters for rotational "
+                    "acceleration / deceleration;"
+                    << "these parameters are deprecated and are automatically "
+                       "calculated from"
+                    << "translational to rotational ratio.");
+  }
+  // LCOV_EXCL_STOP
+
+  return cartesian_limit;
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp b/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
new file mode 100644
index 0000000000..52941969d2
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
@@ -0,0 +1,315 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/command_list_manager.h"
+
+#include <cassert>
+#include <functional>
+#include <sstream>
+
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/robot_state/conversions.h>
+#include <ros/ros.h>
+
+#include "pilz_industrial_motion_planner/cartesian_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/tip_frame_getter.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blender_transition_window.h"
+
+namespace pilz_industrial_motion_planner
+{
+static const std::string PARAM_NAMESPACE_LIMITS = "robot_description_planning";
+
+CommandListManager::CommandListManager(const ros::NodeHandle& nh, const moveit::core::RobotModelConstPtr& model)
+  : nh_(nh), model_(model)
+{
+  // Obtain the aggregated joint limits
+  pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints;
+
+  aggregated_limit_active_joints = pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+      ros::NodeHandle(PARAM_NAMESPACE_LIMITS), model_->getActiveJointModels());
+
+  // Obtain cartesian limits
+  pilz_industrial_motion_planner::CartesianLimit cartesian_limit =
+      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(
+          ros::NodeHandle(PARAM_NAMESPACE_LIMITS));
+
+  pilz_industrial_motion_planner::LimitsContainer limits;
+  limits.setJointLimits(aggregated_limit_active_joints);
+  limits.setCartesianLimits(cartesian_limit);
+
+  plan_comp_builder_.setModel(model);
+  plan_comp_builder_.setBlender(std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender>(
+      new pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow(limits)));
+}
+
+RobotTrajCont CommandListManager::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                        const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
+                                        const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  if (req_list.items.empty())
+  {
+    return RobotTrajCont();
+  }
+
+  checkForNegativeRadii(req_list);
+  checkLastBlendRadiusZero(req_list);
+  checkStartStates(req_list);
+
+  MotionResponseCont resp_cont{ solveSequenceItems(planning_scene, planning_pipeline, req_list) };
+
+  assert(model_);
+  RadiiCont radii{ extractBlendRadii(*model_, req_list) };
+  checkForOverlappingRadii(resp_cont, radii);
+
+  plan_comp_builder_.reset();
+  for (MotionResponseCont::size_type i = 0; i < resp_cont.size(); ++i)
+  {
+    plan_comp_builder_.append(resp_cont.at(i).trajectory_,
+                              // The blend radii has to be "attached" to
+                              // the second part of a blend trajectory,
+                              // therefore: "i-1".
+                              (i > 0 ? radii.at(i - 1) : 0.));
+  }
+  return plan_comp_builder_.build();
+}
+
+bool CommandListManager::checkRadiiForOverlap(const robot_trajectory::RobotTrajectory& traj_A, const double radii_A,
+                                              const robot_trajectory::RobotTrajectory& traj_B,
+                                              const double radii_B) const
+{
+  // No blending between trajectories from different groups
+  if (traj_A.getGroupName() != traj_B.getGroupName())
+  {
+    return false;
+  }
+
+  auto sum_radii{ radii_A + radii_B };
+  if (sum_radii == 0.)
+  {
+    return false;
+  }
+
+  const std::string& blend_frame{ getSolverTipFrame(model_->getJointModelGroup(traj_A.getGroupName())) };
+  auto distance_endpoints = (traj_A.getLastWayPoint().getFrameTransform(blend_frame).translation() -
+                             traj_B.getLastWayPoint().getFrameTransform(blend_frame).translation())
+                                .norm();
+  return distance_endpoints <= sum_radii;
+}
+
+void CommandListManager::checkForOverlappingRadii(const MotionResponseCont& resp_cont, const RadiiCont& radii) const
+{
+  if (resp_cont.empty())
+  {
+    return;
+  }
+  if (resp_cont.size() < 3)
+  {
+    return;
+  }
+
+  for (MotionResponseCont::size_type i = 0; i < resp_cont.size() - 2; ++i)
+  {
+    if (checkRadiiForOverlap(*(resp_cont.at(i).trajectory_), radii.at(i), *(resp_cont.at(i + 1).trajectory_),
+                             radii.at(i + 1)))
+    {
+      std::ostringstream os;
+      os << "Overlapping blend radii between command [" << i << "] and [" << i + 1 << "].";
+      throw OverlappingBlendRadiiException(os.str());
+    }
+  }
+}
+
+CommandListManager::RobotState_OptRef
+CommandListManager::getPreviousEndState(const MotionResponseCont& motion_plan_responses, const std::string& group_name)
+{
+  for (MotionResponseCont::const_reverse_iterator it = motion_plan_responses.crbegin();
+       it != motion_plan_responses.crend(); ++it)
+  {
+    if (it->trajectory_->getGroupName() == group_name)
+    {
+      return it->trajectory_->getLastWayPoint();
+    }
+  }
+  return boost::none;
+}
+
+void CommandListManager::setStartState(const MotionResponseCont& motion_plan_responses, const std::string& group_name,
+                                       moveit_msgs::RobotState& start_state)
+{
+  RobotState_OptRef rob_state_op{ getPreviousEndState(motion_plan_responses, group_name) };
+  if (rob_state_op)
+  {
+    moveit::core::robotStateToRobotStateMsg(rob_state_op.value(), start_state);
+  }
+}
+
+bool CommandListManager::isInvalidBlendRadii(const moveit::core::RobotModel& model,
+                                             const moveit_msgs::MotionSequenceItem& item_A,
+                                             const moveit_msgs::MotionSequenceItem& item_B)
+{
+  // Zero blend radius is always valid
+  if (item_A.blend_radius == 0.)
+  {
+    return false;
+  }
+
+  // No blending between different groups
+  if (item_A.req.group_name != item_B.req.group_name)
+  {
+    ROS_WARN_STREAM("Blending between different groups (in this case: \""
+                    << item_A.req.group_name << "\" and \"" << item_B.req.group_name << "\") not allowed");
+    return true;
+  }
+
+  // No blending for groups without solver
+  if (!hasSolver(model.getJointModelGroup(item_A.req.group_name)))
+  {
+    ROS_WARN_STREAM("Blending for groups without solver not allowed");
+    return true;
+  }
+
+  return false;
+}
+
+CommandListManager::RadiiCont CommandListManager::extractBlendRadii(const moveit::core::RobotModel& model,
+                                                                    const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  RadiiCont radii(req_list.items.size(), 0.);
+  for (RadiiCont::size_type i = 0; i < (radii.size() - 1); ++i)
+  {
+    if (isInvalidBlendRadii(model, req_list.items.at(i), req_list.items.at(i + 1)))
+    {
+      ROS_WARN_STREAM("Invalid blend radii between commands: [" << i << "] and [" << i + 1
+                                                                << "] => Blend radii set to zero");
+      continue;
+    }
+    radii.at(i) = req_list.items.at(i).blend_radius;
+  }
+  return radii;
+}
+
+CommandListManager::MotionResponseCont
+CommandListManager::solveSequenceItems(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                       const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
+                                       const moveit_msgs::MotionSequenceRequest& req_list) const
+{
+  MotionResponseCont motion_plan_responses;
+  size_t curr_req_index{ 0 };
+  const size_t num_req{ req_list.items.size() };
+  for (const auto& seq_item : req_list.items)
+  {
+    planning_interface::MotionPlanRequest req{ seq_item.req };
+    setStartState(motion_plan_responses, req.group_name, req.start_state);
+
+    planning_interface::MotionPlanResponse res;
+    planning_pipeline->generatePlan(planning_scene, req, res);
+    if (res.error_code_.val != res.error_code_.SUCCESS)
+    {
+      std::ostringstream os;
+      os << "Could not solve request\n---\n" << req << "\n---\n";
+      throw PlanningPipelineException(os.str(), res.error_code_.val);
+    }
+    motion_plan_responses.emplace_back(res);
+    ROS_DEBUG_STREAM("Solved [" << ++curr_req_index << "/" << num_req << "]");
+  }
+  return motion_plan_responses;
+}
+
+void CommandListManager::checkForNegativeRadii(const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  if (!std::all_of(req_list.items.begin(), req_list.items.end(),
+                   [](const moveit_msgs::MotionSequenceItem& req) { return (req.blend_radius >= 0.); }))
+  {
+    throw NegativeBlendRadiusException("All blending radii MUST be non negative");
+  }
+}
+
+void CommandListManager::checkStartStatesOfGroup(const moveit_msgs::MotionSequenceRequest& req_list,
+                                                 const std::string& group_name)
+{
+  bool first_elem{ true };
+  for (const moveit_msgs::MotionSequenceItem& item : req_list.items)
+  {
+    if (item.req.group_name != group_name)
+    {
+      continue;
+    }
+
+    if (first_elem)
+    {
+      first_elem = false;
+      continue;
+    }
+
+    if (!(item.req.start_state.joint_state.position.empty() && item.req.start_state.joint_state.velocity.empty() &&
+          item.req.start_state.joint_state.effort.empty() && item.req.start_state.joint_state.name.empty()))
+    {
+      std::ostringstream os;
+      os << "Only the first request is allowed to have a start state, but"
+         << " the requests for group: \"" << group_name << "\" violate the rule";
+      throw StartStateSetException(os.str());
+    }
+  }
+}
+
+void CommandListManager::checkStartStates(const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  if (req_list.items.size() <= 1)
+  {
+    return;
+  }
+
+  GroupNamesCont group_names{ getGroupNames(req_list) };
+  for (const auto& curr_group_name : group_names)
+  {
+    checkStartStatesOfGroup(req_list, curr_group_name);
+  }
+}
+
+CommandListManager::GroupNamesCont CommandListManager::getGroupNames(const moveit_msgs::MotionSequenceRequest& req_list)
+{
+  GroupNamesCont group_names;
+  std::for_each(req_list.items.cbegin(), req_list.items.cend(),
+                [&group_names](const moveit_msgs::MotionSequenceItem& item) {
+                  if (std::find(group_names.cbegin(), group_names.cend(), item.req.group_name) == group_names.cend())
+                  {
+                    group_names.emplace_back(item.req.group_name);
+                  }
+                });
+  return group_names;
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_aggregator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_aggregator.cpp
new file mode 100644
index 0000000000..5c800573b5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_aggregator.cpp
@@ -0,0 +1,181 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/joint_limits_interface_extension.h"
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include <vector>
+
+pilz_industrial_motion_planner::JointLimitsContainer
+pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+    const ros::NodeHandle& nh, const std::vector<const moveit::core::JointModel*>& joint_models)
+{
+  JointLimitsContainer container;
+
+  ROS_INFO_STREAM("Reading limits from namespace " << nh.getNamespace());
+
+  // Iterate over all joint models and generate the map
+  for (auto joint_model : joint_models)
+  {
+    JointLimit joint_limit;
+
+    // If there is something defined for the joint on the parameter server
+    if (joint_limits_interface::getJointLimits(joint_model->getName(), nh, joint_limit))
+    {
+      if (joint_limit.has_position_limits)
+      {
+        checkPositionBoundsThrowing(joint_model, joint_limit);
+      }
+      else
+      {
+        updatePositionLimitFromJointModel(joint_model, joint_limit);
+      }
+
+      if (joint_limit.has_velocity_limits)
+      {
+        checkVelocityBoundsThrowing(joint_model, joint_limit);
+      }
+      else
+      {
+        updateVelocityLimitFromJointModel(joint_model, joint_limit);
+      }
+    }
+    else
+    {
+      // If there is nothing defined for this joint on the parameter server just
+      // update the values by the values of
+      // the urdf
+
+      updatePositionLimitFromJointModel(joint_model, joint_limit);
+      updateVelocityLimitFromJointModel(joint_model, joint_limit);
+    }
+
+    // Update max_deceleration if no max_acceleration has been set
+    if (joint_limit.has_acceleration_limits && !joint_limit.has_deceleration_limits)
+    {
+      joint_limit.max_deceleration = -joint_limit.max_acceleration;
+      joint_limit.has_deceleration_limits = true;
+    }
+
+    // Insert the joint limit into the map
+    container.addLimit(joint_model->getName(), joint_limit);
+  }
+
+  return container;
+}
+
+void pilz_industrial_motion_planner::JointLimitsAggregator::updatePositionLimitFromJointModel(
+    const moveit::core::JointModel* joint_model, JointLimit& joint_limit)
+{
+  switch (joint_model->getVariableBounds().size())
+  {
+    // LCOV_EXCL_START
+    case 0:
+      ROS_ERROR_STREAM("no bounds set for joint " << joint_model->getName());
+      break;
+    // LCOV_EXCL_STOP
+    case 1:
+      joint_limit.has_position_limits = joint_model->getVariableBounds()[0].position_bounded_;
+      joint_limit.min_position = joint_model->getVariableBounds()[0].min_position_;
+      joint_limit.max_position = joint_model->getVariableBounds()[0].max_position_;
+      break;
+    // LCOV_EXCL_START
+    default:
+      ROS_ERROR_STREAM("Multi-DOF-Joints not supported. The robot won't move. " << joint_model->getName());
+      joint_limit.has_position_limits = true;
+      joint_limit.min_position = 0;
+      joint_limit.max_position = 0;
+      break;
+      // LCOV_EXCL_STOP
+  }
+
+  ROS_DEBUG_STREAM("Limit(" << joint_model->getName() << " min:" << joint_limit.min_position
+                            << " max:" << joint_limit.max_position);
+}
+
+void pilz_industrial_motion_planner::JointLimitsAggregator::updateVelocityLimitFromJointModel(
+    const moveit::core::JointModel* joint_model, JointLimit& joint_limit)
+{
+  switch (joint_model->getVariableBounds().size())
+  {
+    // LCOV_EXCL_START
+    case 0:
+      ROS_ERROR_STREAM("no bounds set for joint " << joint_model->getName());
+      break;
+    // LCOV_EXCL_STOP
+    case 1:
+      joint_limit.has_velocity_limits = joint_model->getVariableBounds()[0].velocity_bounded_;
+      joint_limit.max_velocity = joint_model->getVariableBounds()[0].max_velocity_;
+      break;
+    // LCOV_EXCL_START
+    default:
+      ROS_ERROR_STREAM("Multi-DOF-Joints not supported. The robot won't move.");
+      joint_limit.has_velocity_limits = true;
+      joint_limit.max_velocity = 0;
+      break;
+      // LCOV_EXCL_STOP
+  }
+}
+
+void pilz_industrial_motion_planner::JointLimitsAggregator::checkPositionBoundsThrowing(
+    const moveit::core::JointModel* joint_model, const JointLimit& joint_limit)
+{
+  // Check min position
+  if (!joint_model->satisfiesPositionBounds(&joint_limit.min_position))
+  {
+    throw AggregationBoundsViolationException("min_position of " + joint_model->getName() +
+                                              " violates min limit from URDF");
+  }
+
+  // Check max position
+  if (!joint_model->satisfiesPositionBounds(&joint_limit.max_position))
+  {
+    throw AggregationBoundsViolationException("max_position of " + joint_model->getName() +
+                                              " violates max limit from URDF");
+  }
+}
+
+void pilz_industrial_motion_planner::JointLimitsAggregator::checkVelocityBoundsThrowing(
+    const moveit::core::JointModel* joint_model, const JointLimit& joint_limit)
+{
+  // Check min position
+  if (!joint_model->satisfiesVelocityBounds(&joint_limit.max_velocity))
+  {
+    throw AggregationBoundsViolationException("max_velocity of " + joint_model->getName() +
+                                              " violates velocity limit from URDF");
+  }
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp
new file mode 100644
index 0000000000..7bdb1d983f
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp
@@ -0,0 +1,182 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+
+#include "ros/ros.h"
+#include <stdexcept>
+
+namespace pilz_industrial_motion_planner
+{
+bool JointLimitsContainer::addLimit(const std::string& joint_name, JointLimit joint_limit)
+{
+  if (joint_limit.has_deceleration_limits && joint_limit.max_deceleration >= 0)
+  {
+    ROS_ERROR_STREAM("joint_limit.max_deceleration MUST be negative!");
+    return false;
+  }
+  const auto& insertion_result{ container_.insert(std::pair<std::string, JointLimit>(joint_name, joint_limit)) };
+  if (!insertion_result.second)
+  {
+    ROS_ERROR_STREAM("joint_limit for joint " << joint_name << " already contained.");
+    return false;
+  }
+  return true;
+}
+
+bool JointLimitsContainer::hasLimit(const std::string& joint_name) const
+{
+  return container_.find(joint_name) != container_.end();
+}
+
+size_t JointLimitsContainer::getCount() const
+{
+  return container_.size();
+}
+
+bool JointLimitsContainer::empty() const
+{
+  return container_.empty();
+}
+
+JointLimit JointLimitsContainer::getCommonLimit() const
+{
+  JointLimit common_limit;
+  for (const auto& limit : container_)
+  {
+    updateCommonLimit(limit.second, common_limit);
+  }
+  return common_limit;
+}
+
+JointLimit JointLimitsContainer::getCommonLimit(const std::vector<std::string>& joint_names) const
+{
+  JointLimit common_limit;
+  for (const auto& joint_name : joint_names)
+  {
+    updateCommonLimit(container_.at(joint_name), common_limit);
+  }
+  return common_limit;
+}
+
+JointLimit JointLimitsContainer::getLimit(const std::string& joint_name) const
+{
+  return container_.at(joint_name);
+}
+
+std::map<std::string, JointLimit>::const_iterator JointLimitsContainer::begin() const
+{
+  return container_.begin();
+}
+
+std::map<std::string, JointLimit>::const_iterator JointLimitsContainer::end() const
+{
+  return container_.end();
+}
+
+bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, const double& joint_velocity) const
+{
+  return (!(hasLimit(joint_name) && getLimit(joint_name).has_velocity_limits &&
+            fabs(joint_velocity) > getLimit(joint_name).max_velocity));
+}
+
+bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, const double& joint_position) const
+{
+  return (!(hasLimit(joint_name) && getLimit(joint_name).has_position_limits &&
+            (joint_position < getLimit(joint_name).min_position || joint_position > getLimit(joint_name).max_position)));
+}
+
+bool JointLimitsContainer::verifyPositionLimits(const std::vector<std::string>& joint_names,
+                                                const std::vector<double>& joint_positions) const
+{
+  if (joint_names.size() != joint_positions.size())
+  {
+    throw std::out_of_range("joint_names vector has a different size than joint_positions vector.");
+  }
+
+  for (std::size_t i = 0; i < joint_names.size(); ++i)
+  {
+    if (!verifyPositionLimit(joint_names.at(i), joint_positions.at(i)))
+    {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+void JointLimitsContainer::updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit)
+{
+  // check position limits
+  if (joint_limit.has_position_limits)
+  {
+    double min_position = joint_limit.min_position;
+    double max_position = joint_limit.max_position;
+
+    common_limit.min_position =
+        (!common_limit.has_position_limits) ? min_position : std::max(common_limit.min_position, min_position);
+    common_limit.max_position =
+        (!common_limit.has_position_limits) ? max_position : std::min(common_limit.max_position, max_position);
+    common_limit.has_position_limits = true;
+  }
+
+  // check velocity limits
+  if (joint_limit.has_velocity_limits)
+  {
+    double max_velocity = joint_limit.max_velocity;
+    common_limit.max_velocity =
+        (!common_limit.has_velocity_limits) ? max_velocity : std::min(common_limit.max_velocity, max_velocity);
+    common_limit.has_velocity_limits = true;
+  }
+
+  // check acceleration limits
+  if (joint_limit.has_acceleration_limits)
+  {
+    double max_acc = joint_limit.max_acceleration;
+    common_limit.max_acceleration =
+        (!common_limit.has_acceleration_limits) ? max_acc : std::min(common_limit.max_acceleration, max_acc);
+    common_limit.has_acceleration_limits = true;
+  }
+
+  // check deceleration limits
+  if (joint_limit.has_deceleration_limits)
+  {
+    double max_dec = joint_limit.max_deceleration;
+    common_limit.max_deceleration =
+        (!common_limit.has_deceleration_limits) ? max_dec : std::max(common_limit.max_deceleration, max_dec);
+    common_limit.has_deceleration_limits = true;
+  }
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_validator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_validator.cpp
new file mode 100644
index 0000000000..66c5b198a9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_validator.cpp
@@ -0,0 +1,157 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include "pilz_industrial_motion_planner/joint_limits_interface_extension.h"
+
+#include "pilz_industrial_motion_planner/joint_limits_validator.h"
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::validateAllPositionLimitsEqual(
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  return validateWithEqualFunc(&pilz_industrial_motion_planner::JointLimitsValidator::positionEqual, joint_limits);
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::validateAllVelocityLimitsEqual(
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  return validateWithEqualFunc(&pilz_industrial_motion_planner::JointLimitsValidator::velocityEqual, joint_limits);
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::validateAllAccelerationLimitsEqual(
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  return validateWithEqualFunc(&pilz_industrial_motion_planner::JointLimitsValidator::accelerationEqual, joint_limits);
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::validateAllDecelerationLimitsEqual(
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  return validateWithEqualFunc(&pilz_industrial_motion_planner::JointLimitsValidator::decelerationEqual, joint_limits);
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::validateWithEqualFunc(
+    bool (*eq_func)(const JointLimit&, const JointLimit&),
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  // If there are no joint_limits it is considered equal
+  if (joint_limits.empty())
+  {
+    return true;
+  }
+
+  JointLimit reference = joint_limits.begin()->second;
+
+  for (auto it = std::next(joint_limits.begin()); it != joint_limits.end(); ++it)
+  {
+    if (!eq_func(reference, it->second))
+    {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::positionEqual(const JointLimit& lhs, const JointLimit& rhs)
+{
+  // Return false if .has_velocity_limits differs
+  if (lhs.has_position_limits != rhs.has_position_limits)
+  {
+    return false;
+  }
+
+  // If velocity limits are the same make sure they are equal
+  if (lhs.has_position_limits && ((lhs.max_position != rhs.max_position) || (lhs.min_position != rhs.min_position)))
+  {
+    return false;
+  }
+  return true;
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::velocityEqual(const JointLimit& lhs, const JointLimit& rhs)
+{
+  // Return false if .has_velocity_limits differs
+  if (lhs.has_velocity_limits != rhs.has_velocity_limits)
+  {
+    return false;
+  }
+
+  // If velocity limits are the same make sure they are equal
+  if (lhs.has_velocity_limits && (lhs.max_velocity != rhs.max_velocity))
+  {
+    return false;
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::accelerationEqual(const JointLimit& lhs,
+                                                                             const JointLimit& rhs)
+{
+  // Return false if .has_acceleration_limits differs
+  if (lhs.has_acceleration_limits != rhs.has_acceleration_limits)
+  {
+    return false;
+  }
+
+  // If velocity limits are the same make sure they are equal
+  if (lhs.has_acceleration_limits && (lhs.max_acceleration != rhs.max_acceleration))
+  {
+    return false;
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::JointLimitsValidator::decelerationEqual(const JointLimit& lhs,
+                                                                             const JointLimit& rhs)
+{
+  // Return false if .has_acceleration_limits differs
+  if (lhs.has_deceleration_limits != rhs.has_deceleration_limits)
+  {
+    return false;
+  }
+
+  // If velocity limits are the same make sure they are equal
+  if (lhs.has_deceleration_limits && (lhs.max_deceleration != rhs.max_deceleration))
+  {
+    return false;
+  }
+
+  return true;
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/src/limits_container.cpp
new file mode 100644
index 0000000000..6ee51df0b6
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/limits_container.cpp
@@ -0,0 +1,78 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+pilz_industrial_motion_planner::LimitsContainer::LimitsContainer()
+  : has_joint_limits_(false), has_cartesian_limits_(false)
+{
+}
+
+bool pilz_industrial_motion_planner::LimitsContainer::hasJointLimits() const
+{
+  return has_joint_limits_;
+}
+
+void pilz_industrial_motion_planner::LimitsContainer::setJointLimits(
+    pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  has_joint_limits_ = true;
+  joint_limits_ = joint_limits;
+}
+
+const pilz_industrial_motion_planner::JointLimitsContainer&
+pilz_industrial_motion_planner::LimitsContainer::getJointLimitContainer() const
+{
+  return joint_limits_;
+}
+
+bool pilz_industrial_motion_planner::LimitsContainer::hasFullCartesianLimits() const
+{
+  return (has_cartesian_limits_ && cartesian_limit_.hasMaxTranslationalVelocity() &&
+          cartesian_limit_.hasMaxTranslationalAcceleration() && cartesian_limit_.hasMaxTranslationalDeceleration() &&
+          cartesian_limit_.hasMaxRotationalVelocity());
+}
+
+void pilz_industrial_motion_planner::LimitsContainer::setCartesianLimits(
+    pilz_industrial_motion_planner::CartesianLimit& cartesian_limit)
+{
+  has_cartesian_limits_ = true;
+  cartesian_limit_ = cartesian_limit;
+}
+
+const pilz_industrial_motion_planner::CartesianLimit&
+pilz_industrial_motion_planner::LimitsContainer::getCartesianLimits() const
+{
+  return cartesian_limit_;
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp b/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp
new file mode 100644
index 0000000000..6a6b84cab0
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp
@@ -0,0 +1,294 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Ioan Sucan */
+
+// Modified by Pilz GmbH & Co. KG
+
+#include "pilz_industrial_motion_planner/move_group_sequence_action.h"
+
+#include <time.h>
+
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/plan_execution/plan_execution.h>
+#include <moveit/plan_execution/plan_with_sensing.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/trajectory_processing/trajectory_tools.h>
+#include <moveit/utils/message_checks.h>
+
+#include "pilz_industrial_motion_planner/command_list_manager.h"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+namespace pilz_industrial_motion_planner
+{
+MoveGroupSequenceAction::MoveGroupSequenceAction() : MoveGroupCapability("SequenceAction")
+{
+}
+
+void MoveGroupSequenceAction::initialize()
+{
+  // start the move action server
+  ROS_INFO_STREAM("initialize move group sequence action");
+  move_action_server_.reset(new actionlib::SimpleActionServer<moveit_msgs::MoveGroupSequenceAction>(
+      root_node_handle_, "sequence_move_group",
+      boost::bind(&MoveGroupSequenceAction::executeSequenceCallback, this, _1), false));
+  move_action_server_->registerPreemptCallback(boost::bind(&MoveGroupSequenceAction::preemptMoveCallback, this));
+  move_action_server_->start();
+
+  command_list_manager_.reset(new pilz_industrial_motion_planner::CommandListManager(
+      ros::NodeHandle("~"), context_->planning_scene_monitor_->getRobotModel()));
+}
+
+void MoveGroupSequenceAction::executeSequenceCallback(const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal)
+{
+  setMoveState(move_group::PLANNING);
+
+  // Handle empty requests
+  if (goal->request.items.empty())
+  {
+    ROS_WARN("Received empty request. That's ok but maybe not what you intended.");
+    setMoveState(move_group::IDLE);
+    moveit_msgs::MoveGroupSequenceResult action_res;
+    action_res.response.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+    move_action_server_->setSucceeded(action_res, "Received empty request.");
+    return;
+  }
+
+  // before we start planning, ensure that we have the latest robot state
+  // received...
+  context_->planning_scene_monitor_->waitForCurrentRobotState(ros::Time::now());
+  context_->planning_scene_monitor_->updateFrameTransforms();
+
+  moveit_msgs::MoveGroupSequenceResult action_res;
+  if (goal->planning_options.plan_only || !context_->allow_trajectory_execution_)
+  {
+    if (!goal->planning_options.plan_only)
+    {
+      ROS_WARN("Only plan will be calculated, although plan_only == false.");  // LCOV_EXCL_LINE
+    }
+    executeMoveCallbackPlanOnly(goal, action_res);
+  }
+  else
+  {
+    executeSequenceCallbackPlanAndExecute(goal, action_res);
+  }
+
+  switch (action_res.response.error_code.val)
+  {
+    case moveit_msgs::MoveItErrorCodes::SUCCESS:
+      move_action_server_->setSucceeded(action_res, "Success");
+      break;
+    case moveit_msgs::MoveItErrorCodes::PREEMPTED:
+      move_action_server_->setPreempted(action_res, "Preempted");
+      break;
+    default:
+      move_action_server_->setAborted(action_res, "See error code for more information");
+      break;
+  }
+
+  setMoveState(move_group::IDLE);
+}
+
+void MoveGroupSequenceAction::executeSequenceCallbackPlanAndExecute(
+    const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal, moveit_msgs::MoveGroupSequenceResult& action_res)
+{
+  ROS_INFO("Combined planning and execution request received for "
+           "MoveGroupSequenceAction.");
+
+  plan_execution::PlanExecution::Options opt;
+
+  const moveit_msgs::PlanningScene& planning_scene_diff =
+      moveit::core::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
+          goal->planning_options.planning_scene_diff :
+          clearSceneRobotState(goal->planning_options.planning_scene_diff);
+
+  opt.replan_ = goal->planning_options.replan;
+  opt.replan_attempts_ = goal->planning_options.replan_attempts;
+  opt.replan_delay_ = goal->planning_options.replan_delay;
+  opt.before_execution_callback_ = boost::bind(&MoveGroupSequenceAction::startMoveExecutionCallback, this);
+
+  opt.plan_callback_ =
+      boost::bind(&MoveGroupSequenceAction::planUsingSequenceManager, this, boost::cref(goal->request), _1);
+
+  if (goal->planning_options.look_around && context_->plan_with_sensing_)
+  {
+    ROS_WARN("Plan with sensing not yet implemented/tested. This option is "
+             "ignored.");  // LCOV_EXCL_LINE
+  }
+
+  plan_execution::ExecutableMotionPlan plan;
+  context_->plan_execution_->planAndExecute(plan, planning_scene_diff, opt);
+
+  StartStatesMsg start_states_msg;
+  convertToMsg(plan.plan_components_, start_states_msg, action_res.response.planned_trajectories);
+  try
+  {
+    action_res.response.sequence_start = start_states_msg.at(0);
+  }
+  catch (std::out_of_range&)
+  {
+    ROS_WARN("Can not determine start state from empty sequence.");
+  }
+  action_res.response.error_code = plan.error_code_;
+}
+
+void MoveGroupSequenceAction::convertToMsg(const ExecutableTrajs& trajs, StartStatesMsg& start_states_msg,
+                                           PlannedTrajMsgs& planned_trajs_msgs)
+{
+  start_states_msg.resize(trajs.size());
+  planned_trajs_msgs.resize(trajs.size());
+  for (size_t i = 0; i < trajs.size(); ++i)
+  {
+    robot_state::robotStateToRobotStateMsg(trajs.at(i).trajectory_->getFirstWayPoint(), start_states_msg.at(i));
+    trajs.at(i).trajectory_->getRobotTrajectoryMsg(planned_trajs_msgs.at(i));
+  }
+}
+
+void MoveGroupSequenceAction::executeMoveCallbackPlanOnly(const moveit_msgs::MoveGroupSequenceGoalConstPtr& goal,
+                                                          moveit_msgs::MoveGroupSequenceResult& res)
+{
+  ROS_INFO("Planning request received for MoveGroupSequenceAction action.");
+
+  // lock the scene so that it does not modify the world representation while
+  // diff() is called
+  planning_scene_monitor::LockedPlanningSceneRO lscene(context_->planning_scene_monitor_);
+
+  const planning_scene::PlanningSceneConstPtr& the_scene =
+      (moveit::core::isEmpty(goal->planning_options.planning_scene_diff)) ?
+          static_cast<const planning_scene::PlanningSceneConstPtr&>(lscene) :
+          lscene->diff(goal->planning_options.planning_scene_diff);
+
+  ros::Time planning_start = ros::Time::now();
+  RobotTrajCont traj_vec;
+  try
+  {
+    traj_vec = command_list_manager_->solve(the_scene, context_->planning_pipeline_, goal->request);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM("> Planning pipeline threw an exception (error code: " << ex.getErrorCode() << "): " << ex.what());
+    res.response.error_code.val = ex.getErrorCode();
+    return;
+  }
+  // LCOV_EXCL_START // Keep moveit up even if lower parts throw
+  catch (const std::exception& ex)
+  {
+    ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
+    res.response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
+    return;
+  }
+  // LCOV_EXCL_STOP
+
+  StartStatesMsg start_states_msg;
+  start_states_msg.resize(traj_vec.size());
+  res.response.planned_trajectories.resize(traj_vec.size());
+  for (RobotTrajCont::size_type i = 0; i < traj_vec.size(); ++i)
+  {
+    move_group::MoveGroupCapability::convertToMsg(traj_vec.at(i), start_states_msg.at(i),
+                                                  res.response.planned_trajectories.at(i));
+  }
+  try
+  {
+    res.response.sequence_start = start_states_msg.at(0);
+  }
+  catch (std::out_of_range&)
+  {
+    ROS_WARN("Can not determine start state from empty sequence.");
+  }
+
+  res.response.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  res.response.planning_time = ros::Time::now().toSec() - planning_start.toSec();
+}
+
+bool MoveGroupSequenceAction::planUsingSequenceManager(const moveit_msgs::MotionSequenceRequest& req,
+                                                       plan_execution::ExecutableMotionPlan& plan)
+{
+  setMoveState(move_group::PLANNING);
+
+  planning_scene_monitor::LockedPlanningSceneRO lscene(plan.planning_scene_monitor_);
+  RobotTrajCont traj_vec;
+  try
+  {
+    traj_vec = command_list_manager_->solve(plan.planning_scene_, context_->planning_pipeline_, req);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM("Planning pipeline threw an exception (error code: " << ex.getErrorCode() << "): " << ex.what());
+    plan.error_code_.val = ex.getErrorCode();
+    return false;
+  }
+  // LCOV_EXCL_START // Keep moveit up even if lower parts throw
+  catch (const std::exception& ex)
+  {
+    ROS_ERROR_STREAM("Planning pipeline threw an exception: " << ex.what());
+    plan.error_code_.val = moveit_msgs::MoveItErrorCodes::FAILURE;
+    return false;
+  }
+  // LCOV_EXCL_STOP
+
+  if (!traj_vec.empty())
+  {
+    plan.plan_components_.resize(traj_vec.size());
+    for (size_t i = 0; i < traj_vec.size(); ++i)
+    {
+      plan.plan_components_.at(i).trajectory_ = traj_vec.at(i);
+      plan.plan_components_.at(i).description_ = "plan";
+    }
+  }
+  plan.error_code_.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  return true;
+}
+
+void MoveGroupSequenceAction::startMoveExecutionCallback()
+{
+  setMoveState(move_group::MONITOR);
+}
+
+void MoveGroupSequenceAction::preemptMoveCallback()
+{
+  context_->plan_execution_->stop();
+}
+
+void MoveGroupSequenceAction::setMoveState(move_group::MoveGroupState state)
+{
+  move_state_ = state;
+  move_feedback_.state = stateToStr(state);
+  move_action_server_->publishFeedback(move_feedback_);
+}
+
+}  // namespace pilz_industrial_motion_planner
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::MoveGroupSequenceAction, move_group::MoveGroupCapability)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp b/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp
new file mode 100644
index 0000000000..ce6f789eb4
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp
@@ -0,0 +1,105 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Ioan Sucan */
+
+// Modified by Pilz GmbH & Co. KG
+
+#include "pilz_industrial_motion_planner/move_group_sequence_service.h"
+
+#include "pilz_industrial_motion_planner/capability_names.h"
+#include "pilz_industrial_motion_planner/command_list_manager.h"
+#include "pilz_industrial_motion_planner/trajectory_generation_exceptions.h"
+
+namespace pilz_industrial_motion_planner
+{
+MoveGroupSequenceService::MoveGroupSequenceService() : MoveGroupCapability("SequenceService")
+{
+}
+
+MoveGroupSequenceService::~MoveGroupSequenceService()
+{
+}
+
+void MoveGroupSequenceService::initialize()
+{
+  command_list_manager_.reset(new pilz_industrial_motion_planner::CommandListManager(
+      ros::NodeHandle("~"), context_->planning_scene_monitor_->getRobotModel()));
+
+  sequence_service_ = root_node_handle_.advertiseService(SEQUENCE_SERVICE_NAME, &MoveGroupSequenceService::plan, this);
+}
+
+bool MoveGroupSequenceService::plan(moveit_msgs::GetMotionSequence::Request& req,
+                                    moveit_msgs::GetMotionSequence::Response& res)
+{
+  // TODO: Do we lock on the correct scene? Does the lock belong to the scene
+  // used for planning?
+  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
+
+  ros::Time planning_start = ros::Time::now();
+  RobotTrajCont traj_vec;
+  try
+  {
+    traj_vec = command_list_manager_->solve(ps, context_->planning_pipeline_, req.request);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM("Planner threw an exception (error code: " << ex.getErrorCode() << "): " << ex.what());
+    res.response.error_code.val = ex.getErrorCode();
+    return true;
+  }
+  // LCOV_EXCL_START // Keep moveit up even if lower parts throw
+  catch (const std::exception& ex)
+  {
+    ROS_ERROR_STREAM("Planner threw an exception: " << ex.what());
+    // If 'FALSE' then no response will be sent to the caller.
+    return false;
+  }
+  // LCOV_EXCL_STOP
+
+  res.response.planned_trajectories.resize(traj_vec.size());
+  for (RobotTrajCont::size_type i = 0; i < traj_vec.size(); ++i)
+  {
+    move_group::MoveGroupCapability::convertToMsg(traj_vec.at(i), res.response.sequence_start,
+                                                  res.response.planned_trajectories.at(i));
+  }
+  res.response.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  res.response.planning_time = (ros::Time::now() - planning_start).toSec();
+  return true;
+}
+
+}  // namespace pilz_industrial_motion_planner
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::MoveGroupSequenceService, move_group::MoveGroupCapability)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
new file mode 100644
index 0000000000..503a1a3c89
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
@@ -0,0 +1,147 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/path_circle_generator.h"
+
+namespace pilz_industrial_motion_planner
+{
+std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromCenter(const KDL::Frame& start_pose,
+                                                                 const KDL::Frame& goal_pose,
+                                                                 const KDL::Vector& center_point, double eqradius)
+{
+  double a = (start_pose.p - center_point).Norm();
+  double b = (goal_pose.p - center_point).Norm();
+  double c = (start_pose.p - goal_pose.p).Norm();
+
+  if (fabs(a - b) > MAX_RADIUS_DIFF)
+  {
+    throw ErrorMotionPlanningCenterPointDifferentRadius();
+  }
+
+  // compute the rotation angle
+  double alpha = cosines(a, b, c);
+
+  KDL::RotationalInterpolation* rot_interpo = new KDL::RotationalInterpolation_SingleAxis();
+  double old_kdl_epsilon = KDL::epsilon;
+  try
+  {
+    KDL::epsilon = MAX_COLINEAR_NORM;
+    auto circle = std::unique_ptr<KDL::Path>(
+        new KDL::Path_Circle(start_pose, center_point, goal_pose.p, goal_pose.M, alpha, rot_interpo, eqradius,
+                             true /* take ownership of RotationalInterpolation */));
+    KDL::epsilon = old_kdl_epsilon;
+    return circle;
+  }
+  catch (KDL::Error_MotionPlanning&)
+  {
+    delete rot_interpo;  // in case we could not construct the Path object, avoid
+                         // a memory leak
+    KDL::epsilon = old_kdl_epsilon;
+    throw;  // and pass the exception on to the caller
+  }
+}
+
+std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromInterim(const KDL::Frame& start_pose,
+                                                                  const KDL::Frame& goal_pose,
+                                                                  const KDL::Vector& interim_point, double eqradius)
+{
+  // compute the center point from interim point
+  // triangle edges
+  const KDL::Vector t = interim_point - start_pose.p;
+  const KDL::Vector u = goal_pose.p - start_pose.p;
+  const KDL::Vector v = goal_pose.p - interim_point;
+  // triangle normal
+  const KDL::Vector w = t * u;  // cross product
+
+  // circle center
+  if (w.Norm() < MAX_COLINEAR_NORM)
+  {
+    throw KDL::Error_MotionPlanning_Circle_No_Plane();
+  }
+  const KDL::Vector center_point =
+      start_pose.p + (u * dot(t, t) * dot(u, v) - t * dot(u, u) * dot(t, v)) * 0.5 / pow(w.Norm(), 2);
+
+  // compute the rotation angle
+  // triangle edges
+  const KDL::Vector t_center = center_point - start_pose.p;
+  const KDL::Vector v_center = goal_pose.p - center_point;
+  double a = t_center.Norm();
+  double b = v_center.Norm();
+  double c = u.Norm();
+  double alpha = cosines(a, b, c);
+
+  KDL::Vector kdl_aux_point(interim_point);
+
+  // if the angle at the interim is an acute angle (<90deg), rotation angle is
+  // an obtuse angle (>90deg)
+  // in this case using the interim as auxiliary point for KDL::Path_Circle can
+  // lead to a path in the wrong direction
+  double interim_angle = cosines(t.Norm(), v.Norm(), u.Norm());
+  if (interim_angle < M_PI / 2)
+  {
+    alpha = 2 * M_PI - alpha;
+
+    // exclude that the goal is not colinear with start and center, then use the
+    // opposite of the goal as auxiliary point
+    if ((t_center * v_center).Norm() > MAX_COLINEAR_NORM)
+    {
+      kdl_aux_point = 2 * center_point - goal_pose.p;
+    }
+  }
+
+  KDL::RotationalInterpolation* rot_interpo = new KDL::RotationalInterpolation_SingleAxis();
+  try
+  {
+    return std::unique_ptr<KDL::Path>(new KDL::Path_Circle(start_pose, center_point, kdl_aux_point, goal_pose.M, alpha,
+                                                           rot_interpo, eqradius,
+                                                           true /* take ownership of RotationalInterpolation */));
+  }
+  catch (KDL::Error_MotionPlanning&)  // LCOV_EXCL_START // The cases where
+                                      // KDL would throw are already handled
+                                      // above,
+                                      // we keep these lines to be safe
+  {
+    delete rot_interpo;  // in case we could not construct the Path object, avoid
+                         // a memory leak
+    throw;               // and pass the exception on to the caller
+    // LCOV_EXCL_STOP
+  }
+}
+
+double PathCircleGenerator::cosines(const double a, const double b, const double c)
+{
+  return acos(std::max(std::min((pow(a, 2) + pow(b, 2) - pow(c, 2)) / (2.0 * a * b), 1.0), -1.0));
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp b/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp
new file mode 100644
index 0000000000..a7e592b204
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp
@@ -0,0 +1,173 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/pilz_industrial_motion_planner.h"
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+#include "pilz_industrial_motion_planner/planning_context_loader_ptp.h"
+#include "pilz_industrial_motion_planner/planning_exceptions.h"
+
+#include "pilz_industrial_motion_planner/cartesian_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+
+// Boost includes
+#include <boost/scoped_ptr.hpp>
+
+#include <pluginlib/class_list_macros.h>
+
+#include <pluginlib/class_loader.h>
+
+namespace pilz_industrial_motion_planner
+{
+static const std::string PARAM_NAMESPACE_LIMTS = "robot_description_planning";
+
+bool CommandPlanner::initialize(const moveit::core::RobotModelConstPtr& model, const std::string& ns)
+{
+  // Call parent class initialize
+  planning_interface::PlannerManager::initialize(model, ns);
+
+  // Store the model and the namespace
+  model_ = model;
+  namespace_ = ns;
+
+  // Obtain the aggregated joint limits
+  aggregated_limit_active_joints_ = pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+      ros::NodeHandle(PARAM_NAMESPACE_LIMTS), model->getActiveJointModels());
+
+  // Obtain cartesian limits
+  cartesian_limit_ = pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(
+      ros::NodeHandle(PARAM_NAMESPACE_LIMTS));
+
+  // Load the planning context loader
+  planner_context_loader.reset(new pluginlib::ClassLoader<PlanningContextLoader>(
+      "pilz_industrial_motion_planner", "pilz_industrial_motion_planner::PlanningContextLoader"));
+
+  // List available plugins
+  const std::vector<std::string>& factories = planner_context_loader->getDeclaredClasses();
+  std::stringstream ss;
+  for (const auto& factory : factories)
+  {
+    ss << factory << " ";
+  }
+
+  ROS_INFO_STREAM("Available plugins: " << ss.str());
+
+  // Load each factory
+  for (const auto& factory : factories)
+  {
+    ROS_INFO_STREAM("About to load: " << factory);
+    PlanningContextLoaderPtr loader_pointer(planner_context_loader->createInstance(factory));
+
+    pilz_industrial_motion_planner::LimitsContainer limits;
+    limits.setJointLimits(aggregated_limit_active_joints_);
+    limits.setCartesianLimits(cartesian_limit_);
+
+    loader_pointer->setLimits(limits);
+    loader_pointer->setModel(model_);
+
+    registerContextLoader(loader_pointer);
+  }
+
+  return true;
+}
+
+std::string CommandPlanner::getDescription() const
+{
+  return "Pilz Industrial Motion Planner";
+}
+
+void CommandPlanner::getPlanningAlgorithms(std::vector<std::string>& algs) const
+{
+  algs.clear();
+
+  for (const auto& context_loader : context_loader_map_)
+  {
+    algs.push_back(context_loader.first);
+  }
+}
+
+planning_interface::PlanningContextPtr
+CommandPlanner::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                   const moveit_msgs::MotionPlanRequest& req,
+                                   moveit_msgs::MoveItErrorCodes& error_code) const
+{
+  ROS_DEBUG_STREAM("Loading PlanningContext for request\n<request>\n" << req << "\n</request>");
+
+  // Check that a loaded for this request exists
+  if (!canServiceRequest(req))
+  {
+    ROS_ERROR_STREAM("No ContextLoader for planner_id " << req.planner_id.c_str() << " found. Planning not possible.");
+    return nullptr;
+  }
+
+  planning_interface::PlanningContextPtr planning_context;
+
+  if (context_loader_map_.at(req.planner_id)->loadContext(planning_context, req.planner_id, req.group_name))
+  {
+    ROS_DEBUG_STREAM("Found planning context loader for " << req.planner_id << " group:" << req.group_name);
+    planning_context->setMotionPlanRequest(req);
+    planning_context->setPlanningScene(planning_scene);
+    return planning_context;
+  }
+  else
+  {
+    error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
+    return nullptr;
+  }
+}
+
+bool CommandPlanner::canServiceRequest(const moveit_msgs::MotionPlanRequest& req) const
+{
+  return context_loader_map_.find(req.planner_id) != context_loader_map_.end();
+}
+
+void CommandPlanner::registerContextLoader(
+    const pilz_industrial_motion_planner::PlanningContextLoaderPtr& planning_context_loader)
+{
+  // Only add if command is not already in list, throw exception if not
+  if (context_loader_map_.find(planning_context_loader->getAlgorithm()) == context_loader_map_.end())
+  {
+    context_loader_map_[planning_context_loader->getAlgorithm()] = planning_context_loader;
+    ROS_INFO_STREAM("Registered Algorithm [" << planning_context_loader->getAlgorithm() << "]");
+  }
+  else
+  {
+    throw ContextLoaderRegistrationException("The command [" + planning_context_loader->getAlgorithm() +
+                                             "] is already registered");
+  }
+}
+
+}  // namespace pilz_industrial_motion_planner
+
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::CommandPlanner, planning_interface::PlannerManager)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp b/moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp
new file mode 100644
index 0000000000..175a7deca9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp
@@ -0,0 +1,137 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/plan_components_builder.h"
+
+#include <cassert>
+
+#include "pilz_industrial_motion_planner/tip_frame_getter.h"
+
+namespace pilz_industrial_motion_planner
+{
+std::vector<robot_trajectory::RobotTrajectoryPtr> PlanComponentsBuilder::build() const
+{
+  std::vector<robot_trajectory::RobotTrajectoryPtr> res_vec{ traj_cont_ };
+  if (traj_tail_)
+  {
+    assert(!res_vec.empty());
+    appendWithStrictTimeIncrease(*(res_vec.back()), *traj_tail_);
+  }
+  return res_vec;
+}
+
+void PlanComponentsBuilder::appendWithStrictTimeIncrease(robot_trajectory::RobotTrajectory& result,
+                                                         const robot_trajectory::RobotTrajectory& source)
+{
+  if (result.empty() ||
+      !pilz_industrial_motion_planner::isRobotStateEqual(result.getLastWayPoint(), source.getFirstWayPoint(),
+                                                         result.getGroupName(), ROBOT_STATE_EQUALITY_EPSILON))
+  {
+    result.append(source, 0.0);
+    return;
+  }
+
+  for (size_t i = 1; i < source.getWayPointCount(); ++i)
+  {
+    result.addSuffixWayPoint(source.getWayPoint(i), source.getWayPointDurationFromPrevious(i));
+  }
+}
+
+void PlanComponentsBuilder::blend(const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius)
+{
+  if (!blender_)
+  {
+    throw NoBlenderSetException("No blender set");
+  }
+
+  assert(other->getGroupName() == traj_tail_->getGroupName());
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_request;
+
+  blend_request.first_trajectory = traj_tail_;
+  blend_request.second_trajectory = other;
+  blend_request.blend_radius = blend_radius;
+  blend_request.group_name = traj_tail_->getGroupName();
+  blend_request.link_name = getSolverTipFrame(model_->getJointModelGroup(blend_request.group_name));
+
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_response;
+  if (!blender_->blend(blend_request, blend_response))
+  {
+    throw BlendingFailedException("Blending failed");
+  }
+
+  // Append the new trajectory elements
+  appendWithStrictTimeIncrease(*(traj_cont_.back()), *blend_response.first_trajectory);
+  traj_cont_.back()->append(*blend_response.blend_trajectory, 0.0);
+  // Store the last new trajectory element for future processing
+  traj_tail_ = blend_response.second_trajectory;  // first for next blending segment
+}
+
+void PlanComponentsBuilder::append(const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius)
+{
+  if (!model_)
+  {
+    throw NoRobotModelSetException("No robot model set");
+  }
+
+  if (!traj_tail_)
+  {
+    traj_tail_ = other;
+    // Reserve space in container for new trajectory
+    traj_cont_.emplace_back(new robot_trajectory::RobotTrajectory(model_, other->getGroupName()));
+    return;
+  }
+
+  // Create new trajectory for every group change
+  if (other->getGroupName() != traj_tail_->getGroupName())
+  {
+    appendWithStrictTimeIncrease(*(traj_cont_.back()), *traj_tail_);
+    traj_tail_ = other;
+    // Create new container element
+    traj_cont_.emplace_back(new robot_trajectory::RobotTrajectory(model_, other->getGroupName()));
+    return;
+  }
+
+  // No blending
+  if (blend_radius <= 0.0)
+  {
+    appendWithStrictTimeIncrease(*(traj_cont_.back()), *traj_tail_);
+    traj_tail_ = other;
+    return;
+  }
+
+  blend(other, blend_radius);
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader.cpp b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader.cpp
new file mode 100644
index 0000000000..9a071bba58
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader.cpp
@@ -0,0 +1,64 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+#include <ros/ros.h>
+
+pilz_industrial_motion_planner::PlanningContextLoader::PlanningContextLoader() : limits_set_(false), model_set_(false)
+{
+}
+
+pilz_industrial_motion_planner::PlanningContextLoader::~PlanningContextLoader()
+{
+}
+
+bool pilz_industrial_motion_planner::PlanningContextLoader::setModel(const moveit::core::RobotModelConstPtr& model)
+{
+  model_ = model;
+  model_set_ = true;
+  return true;
+}
+
+bool pilz_industrial_motion_planner::PlanningContextLoader::setLimits(
+    const pilz_industrial_motion_planner::LimitsContainer& limits)
+{
+  limits_ = limits;
+  limits_set_ = true;
+  return true;
+}
+
+std::string pilz_industrial_motion_planner::PlanningContextLoader::getAlgorithm() const
+{
+  return alg_;
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_circ.cpp
new file mode 100644
index 0000000000..0234b989dc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_circ.cpp
@@ -0,0 +1,75 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/planning_context_loader_circ.h"
+#include "moveit/planning_scene/planning_scene.h"
+#include "pilz_industrial_motion_planner/planning_context_base.h"
+#include "pilz_industrial_motion_planner/planning_context_circ.h"
+
+#include <pluginlib/class_list_macros.h>
+
+pilz_industrial_motion_planner::PlanningContextLoaderCIRC::PlanningContextLoaderCIRC()
+{
+  alg_ = "CIRC";
+}
+
+pilz_industrial_motion_planner::PlanningContextLoaderCIRC::~PlanningContextLoaderCIRC()
+{
+}
+
+bool pilz_industrial_motion_planner::PlanningContextLoaderCIRC::loadContext(
+    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
+{
+  if (limits_set_ && model_set_)
+  {
+    planning_context.reset(new PlanningContextCIRC(name, group, model_, limits_));
+    return true;
+  }
+  else
+  {
+    if (!limits_set_)
+    {
+      ROS_ERROR_STREAM("Limits are not defined. Cannot load planning context. "
+                       "Call setLimits loadContext");
+    }
+    if (!model_set_)
+    {
+      ROS_ERROR_STREAM("Robot model was not set");
+    }
+    return false;
+  }
+}
+
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderCIRC,
+                       pilz_industrial_motion_planner::PlanningContextLoader)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_lin.cpp
new file mode 100644
index 0000000000..85cf3b6fe9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_lin.cpp
@@ -0,0 +1,75 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/planning_context_loader_lin.h"
+#include "moveit/planning_scene/planning_scene.h"
+#include "pilz_industrial_motion_planner/planning_context_base.h"
+#include "pilz_industrial_motion_planner/planning_context_lin.h"
+
+#include <pluginlib/class_list_macros.h>
+
+pilz_industrial_motion_planner::PlanningContextLoaderLIN::PlanningContextLoaderLIN()
+{
+  alg_ = "LIN";
+}
+
+pilz_industrial_motion_planner::PlanningContextLoaderLIN::~PlanningContextLoaderLIN()
+{
+}
+
+bool pilz_industrial_motion_planner::PlanningContextLoaderLIN::loadContext(
+    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
+{
+  if (limits_set_ && model_set_)
+  {
+    planning_context.reset(new PlanningContextLIN(name, group, model_, limits_));
+    return true;
+  }
+  else
+  {
+    if (!limits_set_)
+    {
+      ROS_ERROR_STREAM("Limits are not defined. Cannot load planning context. "
+                       "Call setLimits loadContext");
+    }
+    if (!model_set_)
+    {
+      ROS_ERROR_STREAM("Robot model was not set");
+    }
+    return false;
+  }
+}
+
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderLIN,
+                       pilz_industrial_motion_planner::PlanningContextLoader)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_ptp.cpp b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_ptp.cpp
new file mode 100644
index 0000000000..5c72e69cec
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader_ptp.cpp
@@ -0,0 +1,74 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/planning_context_loader_ptp.h"
+#include "moveit/planning_scene/planning_scene.h"
+#include "pilz_industrial_motion_planner/planning_context_ptp.h"
+
+#include <pluginlib/class_list_macros.h>
+
+pilz_industrial_motion_planner::PlanningContextLoaderPTP::PlanningContextLoaderPTP()
+{
+  alg_ = "PTP";
+}
+
+pilz_industrial_motion_planner::PlanningContextLoaderPTP::~PlanningContextLoaderPTP()
+{
+}
+
+bool pilz_industrial_motion_planner::PlanningContextLoaderPTP::loadContext(
+    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
+{
+  if (limits_set_ && model_set_)
+  {
+    planning_context.reset(new PlanningContextPTP(name, group, model_, limits_));
+    return true;
+  }
+  else
+  {
+    if (!limits_set_)
+    {
+      ROS_ERROR_STREAM("Joint Limits are not defined. Cannot load planning "
+                       "context. Call setLimits loadContext");
+    }
+    if (!model_set_)
+    {
+      ROS_ERROR_STREAM("Robot model was not set");
+    }
+    return false;
+  }
+}
+
+PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderPTP,
+                       pilz_industrial_motion_planner::PlanningContextLoader)
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
new file mode 100644
index 0000000000..94c108ced8
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
@@ -0,0 +1,301 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_blender_transition_window.h"
+
+#include <algorithm>
+#include <math.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+
+bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::blend(
+    const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+    pilz_industrial_motion_planner::TrajectoryBlendResponse& res)
+{
+  ROS_INFO("Start trajectory blending using transition window.");
+
+  double sampling_time = 0.;
+  if (!validateRequest(req, sampling_time, res.error_code))
+  {
+    ROS_ERROR("Trajectory blend request is not valid.");
+    return false;
+  }
+
+  // search for intersection points of the two trajectories with the blending
+  // sphere
+  // intersection points belongs to blend trajectory after blending
+  std::size_t first_intersection_index;
+  std::size_t second_intersection_index;
+  if (!searchIntersectionPoints(req, first_intersection_index, second_intersection_index))
+  {
+    ROS_ERROR("Blend radius to large.");
+    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    return false;
+  }
+
+  // Select blending period and adjust the start and end point of the blend
+  // phase
+  std::size_t blend_align_index;
+  determineTrajectoryAlignment(req, first_intersection_index, second_intersection_index, blend_align_index);
+
+  // blend the trajectories in Cartesian space
+  pilz_industrial_motion_planner::CartesianTrajectory blend_trajectory_cartesian;
+  blendTrajectoryCartesian(req, first_intersection_index, second_intersection_index, blend_align_index, sampling_time,
+                           blend_trajectory_cartesian);
+
+  // generate the blending trajectory in joint space
+  std::map<std::string, double> initial_joint_position, initial_joint_velocity;
+  for (const std::string& joint_name :
+       req.first_trajectory->getFirstWayPointPtr()->getJointModelGroup(req.group_name)->getActiveJointModelNames())
+  {
+    initial_joint_position[joint_name] =
+        req.first_trajectory->getWayPoint(first_intersection_index - 1).getVariablePosition(joint_name);
+    initial_joint_velocity[joint_name] =
+        req.first_trajectory->getWayPoint(first_intersection_index - 1).getVariableVelocity(joint_name);
+  }
+  trajectory_msgs::JointTrajectory blend_joint_trajectory;
+  moveit_msgs::MoveItErrorCodes error_code;
+  if (!generateJointTrajectory(req.first_trajectory->getFirstWayPointPtr()->getRobotModel(),
+                               limits_.getJointLimitContainer(), blend_trajectory_cartesian, req.group_name,
+                               req.link_name, initial_joint_position, initial_joint_velocity, blend_joint_trajectory,
+                               error_code, true))
+  {
+    // LCOV_EXCL_START
+    ROS_INFO("Failed to generate joint trajectory for blending trajectory.");
+    res.error_code.val = error_code.val;
+    return false;
+    // LCOV_EXCL_STOP
+  }
+
+  res.first_trajectory = std::shared_ptr<robot_trajectory::RobotTrajectory>(
+      new robot_trajectory::RobotTrajectory(req.first_trajectory->getRobotModel(), req.first_trajectory->getGroup()));
+  res.blend_trajectory = std::shared_ptr<robot_trajectory::RobotTrajectory>(
+      new robot_trajectory::RobotTrajectory(req.first_trajectory->getRobotModel(), req.first_trajectory->getGroup()));
+  res.second_trajectory = std::shared_ptr<robot_trajectory::RobotTrajectory>(
+      new robot_trajectory::RobotTrajectory(req.first_trajectory->getRobotModel(), req.first_trajectory->getGroup()));
+
+  // set the three trajectories after blending in response
+  // erase the points [first_intersection_index, back()] from the first
+  // trajectory
+  for (size_t i = 0; i < first_intersection_index; ++i)
+  {
+    res.first_trajectory->insertWayPoint(i, req.first_trajectory->getWayPoint(i),
+                                         req.first_trajectory->getWayPointDurationFromPrevious(i));
+  }
+
+  // append the blend trajectory
+  res.blend_trajectory->setRobotTrajectoryMsg(req.first_trajectory->getFirstWayPoint(), blend_joint_trajectory);
+  // copy the points [second_intersection_index, len] from the second trajectory
+  for (size_t i = second_intersection_index + 1; i < req.second_trajectory->getWayPointCount(); ++i)
+  {
+    res.second_trajectory->insertWayPoint(i - (second_intersection_index + 1), req.second_trajectory->getWayPoint(i),
+                                          req.second_trajectory->getWayPointDurationFromPrevious(i));
+  }
+
+  // adjust the time from start
+  res.second_trajectory->setWayPointDurationFromPrevious(0, sampling_time);
+
+  res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  return true;
+}
+
+bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::validateRequest(
+    const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, double& sampling_time,
+    moveit_msgs::MoveItErrorCodes& error_code) const
+{
+  ROS_DEBUG("Validate the trajectory blend request.");
+
+  // check planning group
+  if (!req.first_trajectory->getRobotModel()->hasJointModelGroup(req.group_name))
+  {
+    ROS_ERROR_STREAM("Unknown planning group: " << req.group_name);
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
+    return false;
+  }
+
+  // check link exists
+  if (!req.first_trajectory->getRobotModel()->hasLinkModel(req.link_name) &&
+      !req.first_trajectory->getLastWayPoint().hasAttachedBody(req.link_name))
+  {
+    ROS_ERROR_STREAM("Unknown link name: " << req.link_name);
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME;
+    return false;
+  }
+
+  if (req.blend_radius <= 0)
+  {
+    ROS_ERROR("Blending radius must be positive");
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    return false;
+  }
+
+  // end position of the first trajectory and start position of second
+  // trajectory must be the same
+  if (!pilz_industrial_motion_planner::isRobotStateEqual(
+          req.first_trajectory->getLastWayPoint(), req.second_trajectory->getFirstWayPoint(), req.group_name, EPSILON))
+  {
+    ROS_ERROR_STREAM("During blending the last point of the preceding and the first point of the succeding trajectory");
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    return false;
+  }
+
+  // same uniform sampling time
+  if (!pilz_industrial_motion_planner::determineAndCheckSamplingTime(req.first_trajectory, req.second_trajectory,
+                                                                     EPSILON, sampling_time))
+  {
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    return false;
+  }
+
+  // end position of the first trajectory and start position of second
+  // trajectory must have zero
+  // velocities/accelerations
+  if (!pilz_industrial_motion_planner::isRobotStateStationary(req.first_trajectory->getLastWayPoint(), req.group_name,
+                                                              EPSILON) ||
+      !pilz_industrial_motion_planner::isRobotStateStationary(req.second_trajectory->getFirstWayPoint(), req.group_name,
+                                                              EPSILON))
+  {
+    ROS_ERROR("Intersection point of the blending trajectories has non-zero "
+              "velocities/accelerations.");
+    error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
+    return false;
+  }
+
+  return true;
+}
+
+void pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::blendTrajectoryCartesian(
+    const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, const std::size_t first_interse_index,
+    const std::size_t second_interse_index, const std::size_t blend_align_index, double sampling_time,
+    pilz_industrial_motion_planner::CartesianTrajectory& trajectory) const
+{
+  // other fields of the trajectory
+  trajectory.group_name = req.group_name;
+  trajectory.link_name = req.link_name;
+
+  // Pose on first trajectory
+  Eigen::Isometry3d blend_sample_pose1 =
+      req.first_trajectory->getWayPoint(first_interse_index).getFrameTransform(req.link_name);
+
+  // Pose on second trajectory
+  Eigen::Isometry3d blend_sample_pose2 =
+      req.second_trajectory->getWayPoint(second_interse_index).getFrameTransform(req.link_name);
+
+  // blend the trajectory
+  double blend_sample_num = second_interse_index + blend_align_index - first_interse_index + 1;
+  pilz_industrial_motion_planner::CartesianTrajectoryPoint waypoint;
+  blend_sample_pose2 = req.second_trajectory->getFirstWayPoint().getFrameTransform(req.link_name);
+
+  // Pose on blending trajectory
+  Eigen::Isometry3d blend_sample_pose;
+  for (std::size_t i = 0; i < blend_sample_num; ++i)
+  {
+    // if the first trajectory does not reach the last sample, update
+    if ((first_interse_index + i) < req.first_trajectory->getWayPointCount())
+    {
+      blend_sample_pose1 = req.first_trajectory->getWayPoint(first_interse_index + i).getFrameTransform(req.link_name);
+    }
+
+    // if after the alignment, the second trajectory starts, update
+    if ((first_interse_index + i) > blend_align_index)
+    {
+      blend_sample_pose2 = req.second_trajectory->getWayPoint(first_interse_index + i - blend_align_index)
+                               .getFrameTransform(req.link_name);
+    }
+
+    double s = (i + 1) / blend_sample_num;
+    double alpha = 6 * std::pow(s, 5) - 15 * std::pow(s, 4) + 10 * std::pow(s, 3);
+
+    // blend the translation
+    blend_sample_pose.translation() = blend_sample_pose1.translation() +
+                                      alpha * (blend_sample_pose2.translation() - blend_sample_pose1.translation());
+
+    // blend the orientation
+    Eigen::Quaterniond start_quat(blend_sample_pose1.rotation());
+    Eigen::Quaterniond end_quat(blend_sample_pose2.rotation());
+    blend_sample_pose.linear() = start_quat.slerp(alpha, end_quat).toRotationMatrix();
+
+    // push to the trajectory
+    waypoint.pose = tf2::toMsg(blend_sample_pose);
+    waypoint.time_from_start = ros::Duration((i + 1.0) * sampling_time);
+    trajectory.points.push_back(waypoint);
+  }
+}
+
+bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::searchIntersectionPoints(
+    const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, std::size_t& first_interse_index,
+    std::size_t& second_interse_index) const
+{
+  ROS_INFO("Search for start and end point of blending trajectory.");
+
+  // compute the position of the center of the blend sphere
+  // (last point of the first trajectory, first point of the second trajectory)
+  Eigen::Isometry3d circ_pose = req.first_trajectory->getLastWayPoint().getFrameTransform(req.link_name);
+
+  // Searh for intersection points according to distance
+  if (!linearSearchIntersectionPoint(req.link_name, circ_pose.translation(), req.blend_radius, req.first_trajectory,
+                                     true, first_interse_index))
+  {
+    ROS_ERROR_STREAM("Intersection point of first trajectory not found.");
+    return false;
+  }
+  ROS_INFO_STREAM("Intersection point of first trajectory found, index: " << first_interse_index);
+
+  if (!linearSearchIntersectionPoint(req.link_name, circ_pose.translation(), req.blend_radius, req.second_trajectory,
+                                     false, second_interse_index))
+  {
+    ROS_ERROR_STREAM("Intersection point of second trajectory not found.");
+    return false;
+  }
+
+  ROS_INFO_STREAM("Intersection point of second trajectory found, index: " << second_interse_index);
+  return true;
+}
+
+void pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::determineTrajectoryAlignment(
+    const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, std::size_t first_interse_index,
+    std::size_t second_interse_index, std::size_t& blend_align_index) const
+{
+  size_t way_point_count_1 = req.first_trajectory->getWayPointCount() - first_interse_index;
+  size_t way_point_count_2 = second_interse_index + 1;
+
+  if (way_point_count_1 > way_point_count_2)
+  {
+    blend_align_index = req.first_trajectory->getWayPointCount() - second_interse_index - 1;
+  }
+  else
+  {
+    blend_align_index = first_interse_index;
+  }
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
new file mode 100644
index 0000000000..5d37a4d4ea
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -0,0 +1,584 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_functions.h"
+
+#include <moveit/planning_scene/planning_scene.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+bool pilz_industrial_motion_planner::computePoseIK(const moveit::core::RobotModelConstPtr& robot_model,
+                                                   const std::string& group_name, const std::string& link_name,
+                                                   const Eigen::Isometry3d& pose, const std::string& frame_id,
+                                                   const std::map<std::string, double>& seed,
+                                                   std::map<std::string, double>& solution, bool check_self_collision,
+                                                   const double timeout)
+{
+  if (!robot_model->hasJointModelGroup(group_name))
+  {
+    ROS_ERROR_STREAM("Robot model has no planning group named as " << group_name);
+    return false;
+  }
+
+  if (!robot_model->getJointModelGroup(group_name)->canSetStateFromIK(link_name))
+  {
+    ROS_ERROR_STREAM("No valid IK solver exists for " << link_name << " in planning group " << group_name);
+    return false;
+  }
+
+  if (frame_id != robot_model->getModelFrame())
+  {
+    ROS_ERROR_STREAM("Given frame (" << frame_id << ") is unequal to model frame(" << robot_model->getModelFrame()
+                                     << ")");
+    return false;
+  }
+
+  robot_state::RobotState rstate(robot_model);
+  // By setting the robot state to default values, we basically allow
+  // the user of this function to supply an incomplete or even empty seed.
+  rstate.setToDefaultValues();
+  rstate.setVariablePositions(seed);
+
+  moveit::core::GroupStateValidityCallbackFn ik_constraint_function;
+  ik_constraint_function =
+      boost::bind(&pilz_industrial_motion_planner::isStateColliding, check_self_collision, robot_model, _1, _2, _3);
+
+  // call ik
+  if (rstate.setFromIK(robot_model->getJointModelGroup(group_name), pose, link_name, timeout, ik_constraint_function))
+  {
+    // copy the solution
+    for (const auto& joint_name : robot_model->getJointModelGroup(group_name)->getActiveJointModelNames())
+    {
+      solution[joint_name] = rstate.getVariablePosition(joint_name);
+    }
+    return true;
+  }
+  else
+  {
+    ROS_ERROR_STREAM("Inverse kinematics for pose \n" << pose.translation() << " has no solution.");
+    return false;
+  }
+}
+
+bool pilz_industrial_motion_planner::computePoseIK(const moveit::core::RobotModelConstPtr& robot_model,
+                                                   const std::string& group_name, const std::string& link_name,
+                                                   const geometry_msgs::Pose& pose, const std::string& frame_id,
+                                                   const std::map<std::string, double>& seed,
+                                                   std::map<std::string, double>& solution, bool check_self_collision,
+                                                   const double timeout)
+{
+  Eigen::Isometry3d pose_eigen;
+  tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(pose, pose_eigen);
+  return computePoseIK(robot_model, group_name, link_name, pose_eigen, frame_id, seed, solution, check_self_collision,
+                       timeout);
+}
+
+bool pilz_industrial_motion_planner::computeLinkFK(const moveit::core::RobotModelConstPtr& robot_model,
+                                                   const std::string& link_name,
+                                                   const std::map<std::string, double>& joint_state,
+                                                   Eigen::Isometry3d& pose)
+{  // create robot state
+  robot_state::RobotState rstate(robot_model);
+
+  // check the reference frame of the target pose
+  if (!rstate.knowsFrameTransform(link_name))
+  {
+    ROS_ERROR_STREAM("The target link " << link_name << " is not known by robot.");
+    return false;
+  }
+
+  // set the joint positions
+  rstate.setToDefaultValues();
+  rstate.setVariablePositions(joint_state);
+
+  // update the frame
+  rstate.update();
+  pose = rstate.getFrameTransform(link_name);
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::verifySampleJointLimits(
+    const std::map<std::string, double>& position_last, const std::map<std::string, double>& velocity_last,
+    const std::map<std::string, double>& position_current, double duration_last, double duration_current,
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  const double epsilon = 10e-6;
+  if (duration_current <= epsilon)
+  {
+    ROS_ERROR("Sample duration too small, cannot compute the velocity");
+    return false;
+  }
+
+  double velocity_current, acceleration_current;
+
+  for (const auto& pos : position_current)
+  {
+    velocity_current = (pos.second - position_last.at(pos.first)) / duration_current;
+
+    if (!joint_limits.verifyVelocityLimit(pos.first, velocity_current))
+    {
+      ROS_ERROR_STREAM("Joint velocity limit of " << pos.first << " violated. Set the velocity scaling factor lower!"
+                                                  << " Actual joint velocity is " << velocity_current
+                                                  << ", while the limit is "
+                                                  << joint_limits.getLimit(pos.first).max_velocity << ". ");
+      return false;
+    }
+
+    acceleration_current = (velocity_current - velocity_last.at(pos.first)) / (duration_last + duration_current) * 2;
+    // acceleration case
+    if (fabs(velocity_last.at(pos.first)) <= fabs(velocity_current))
+    {
+      if (joint_limits.getLimit(pos.first).has_acceleration_limits &&
+          fabs(acceleration_current) > fabs(joint_limits.getLimit(pos.first).max_acceleration))
+      {
+        ROS_ERROR_STREAM("Joint acceleration limit of "
+                         << pos.first << " violated. Set the acceleration scaling factor lower!"
+                         << " Actual joint acceleration is " << acceleration_current << ", while the limit is "
+                         << joint_limits.getLimit(pos.first).max_acceleration << ". ");
+        return false;
+      }
+    }
+    // deceleration case
+    else
+    {
+      if (joint_limits.getLimit(pos.first).has_deceleration_limits &&
+          fabs(acceleration_current) > fabs(joint_limits.getLimit(pos.first).max_deceleration))
+      {
+        ROS_ERROR_STREAM("Joint deceleration limit of "
+                         << pos.first << " violated. Set the acceleration scaling factor lower!"
+                         << " Actual joint deceleration is " << acceleration_current << ", while the limit is "
+                         << joint_limits.getLimit(pos.first).max_deceleration << ". ");
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::generateJointTrajectory(
+    const moveit::core::RobotModelConstPtr& robot_model,
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
+    const std::string& group_name, const std::string& link_name,
+    const std::map<std::string, double>& initial_joint_position, const double& sampling_time,
+    trajectory_msgs::JointTrajectory& joint_trajectory, moveit_msgs::MoveItErrorCodes& error_code,
+    bool check_self_collision)
+{
+  ROS_DEBUG("Generate joint trajectory from a Cartesian trajectory.");
+
+  ros::Time generation_begin = ros::Time::now();
+
+  // generate the time samples
+  const double epsilon = 10e-06;  // avoid adding the last time sample twice
+  std::vector<double> time_samples;
+  for (double t_sample = 0.0; t_sample < trajectory.Duration() - epsilon; t_sample += sampling_time)
+  {
+    time_samples.push_back(t_sample);
+  }
+  time_samples.push_back(trajectory.Duration());
+
+  // sample the trajectory and solve the inverse kinematics
+  Eigen::Isometry3d pose_sample;
+  std::map<std::string, double> ik_solution_last, ik_solution, joint_velocity_last;
+  ik_solution_last = initial_joint_position;
+  for (const auto& item : ik_solution_last)
+  {
+    joint_velocity_last[item.first] = 0.0;
+  }
+
+  for (std::vector<double>::const_iterator time_iter = time_samples.begin(); time_iter != time_samples.end();
+       ++time_iter)
+  {
+    tf::transformKDLToEigen(trajectory.Pos(*time_iter), pose_sample);
+
+    if (!computePoseIK(robot_model, group_name, link_name, pose_sample, robot_model->getModelFrame(), ik_solution_last,
+                       ik_solution, check_self_collision))
+    {
+      ROS_ERROR("Failed to compute inverse kinematics solution for sampled "
+                "Cartesian pose.");
+      error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
+      joint_trajectory.points.clear();
+      return false;
+    }
+
+    // check the joint limits
+    double duration_current_sample = sampling_time;
+    // last interval can be shorter than the sampling time
+    if (time_iter == (time_samples.end() - 1) && time_samples.size() > 1)
+    {
+      duration_current_sample = *time_iter - *(time_iter - 1);
+    }
+    if (time_samples.size() == 1)
+    {
+      duration_current_sample = *time_iter;
+    }
+
+    // skip the first sample with zero time from start for limits checking
+    if (time_iter != time_samples.begin() &&
+        !verifySampleJointLimits(ik_solution_last, joint_velocity_last, ik_solution, sampling_time,
+                                 duration_current_sample, joint_limits))
+    {
+      ROS_ERROR_STREAM("Inverse kinematics solution at "
+                       << *time_iter << "s violates the joint velocity/acceleration/deceleration limits.");
+      error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
+      joint_trajectory.points.clear();
+      return false;
+    }
+
+    // fill the point with joint values
+    trajectory_msgs::JointTrajectoryPoint point;
+
+    // set joint names
+    joint_trajectory.joint_names.clear();
+    for (const auto& start_joint : initial_joint_position)
+    {
+      joint_trajectory.joint_names.push_back(start_joint.first);
+    }
+
+    point.time_from_start = ros::Duration(*time_iter);
+    for (const auto& joint_name : joint_trajectory.joint_names)
+    {
+      point.positions.push_back(ik_solution.at(joint_name));
+
+      if (time_iter != time_samples.begin() && time_iter != time_samples.end() - 1)
+      {
+        double joint_velocity =
+            (ik_solution.at(joint_name) - ik_solution_last.at(joint_name)) / duration_current_sample;
+        point.velocities.push_back(joint_velocity);
+        point.accelerations.push_back((joint_velocity - joint_velocity_last.at(joint_name)) /
+                                      (duration_current_sample + sampling_time) * 2);
+        joint_velocity_last[joint_name] = joint_velocity;
+      }
+      else
+      {
+        point.velocities.push_back(0.);
+        point.accelerations.push_back(0.);
+        joint_velocity_last[joint_name] = 0.;
+      }
+    }
+
+    // update joint trajectory
+    joint_trajectory.points.push_back(point);
+    ik_solution_last = ik_solution;
+  }
+
+  error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  double duration_ms = (ros::Time::now() - generation_begin).toSec() * 1000;
+  ROS_DEBUG_STREAM("Generate trajectory (N-Points: " << joint_trajectory.points.size() << ") took " << duration_ms
+                                                     << " ms | " << duration_ms / joint_trajectory.points.size()
+                                                     << " ms per Point");
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::generateJointTrajectory(
+    const moveit::core::RobotModelConstPtr& robot_model,
+    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits,
+    const pilz_industrial_motion_planner::CartesianTrajectory& trajectory, const std::string& group_name,
+    const std::string& link_name, const std::map<std::string, double>& initial_joint_position,
+    const std::map<std::string, double>& initial_joint_velocity, trajectory_msgs::JointTrajectory& joint_trajectory,
+    moveit_msgs::MoveItErrorCodes& error_code, bool check_self_collision)
+{
+  ROS_DEBUG("Generate joint trajectory from a Cartesian trajectory.");
+
+  ros::Time generation_begin = ros::Time::now();
+
+  std::map<std::string, double> ik_solution_last = initial_joint_position;
+  std::map<std::string, double> joint_velocity_last = initial_joint_velocity;
+  double duration_last = 0;
+  double duration_current = 0;
+  joint_trajectory.joint_names.clear();
+  for (const auto& joint_position : ik_solution_last)
+  {
+    joint_trajectory.joint_names.push_back(joint_position.first);
+  }
+  std::map<std::string, double> ik_solution;
+  for (size_t i = 0; i < trajectory.points.size(); ++i)
+  {
+    // compute inverse kinematics
+    if (!computePoseIK(robot_model, group_name, link_name, trajectory.points.at(i).pose, robot_model->getModelFrame(),
+                       ik_solution_last, ik_solution, check_self_collision))
+    {
+      ROS_ERROR("Failed to compute inverse kinematics solution for sampled "
+                "Cartesian pose.");
+      error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
+      joint_trajectory.points.clear();
+      return false;
+    }
+
+    // verify the joint limits
+    if (i == 0)
+    {
+      duration_current = trajectory.points.front().time_from_start.toSec();
+      duration_last = duration_current;
+    }
+    else
+    {
+      duration_current =
+          trajectory.points.at(i).time_from_start.toSec() - trajectory.points.at(i - 1).time_from_start.toSec();
+    }
+
+    if (!verifySampleJointLimits(ik_solution_last, joint_velocity_last, ik_solution, duration_last, duration_current,
+                                 joint_limits))
+    {
+      // LCOV_EXCL_START since the same code was captured in a test in the other
+      // overload generateJointTrajectory(...,
+      // KDL::Trajectory, ...)
+      // TODO: refactor to avoid code duplication.
+      ROS_ERROR_STREAM("Inverse kinematics solution of the " << i
+                                                             << "th sample violates the joint "
+                                                                "velocity/acceleration/deceleration limits.");
+      error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
+      joint_trajectory.points.clear();
+      return false;
+      // LCOV_EXCL_STOP
+    }
+
+    // compute the waypoint
+    trajectory_msgs::JointTrajectoryPoint waypoint_joint;
+    waypoint_joint.time_from_start = ros::Duration(trajectory.points.at(i).time_from_start);
+    for (const auto& joint_name : joint_trajectory.joint_names)
+    {
+      waypoint_joint.positions.push_back(ik_solution.at(joint_name));
+      double joint_velocity = (ik_solution.at(joint_name) - ik_solution_last.at(joint_name)) / duration_current;
+      waypoint_joint.velocities.push_back(joint_velocity);
+      waypoint_joint.accelerations.push_back((joint_velocity - joint_velocity_last.at(joint_name)) /
+                                             (duration_current + duration_last) * 2);
+      // update the joint velocity
+      joint_velocity_last[joint_name] = joint_velocity;
+    }
+
+    // update joint trajectory
+    joint_trajectory.points.push_back(waypoint_joint);
+    ik_solution_last = ik_solution;
+    duration_last = duration_current;
+  }
+
+  error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+
+  double duration_ms = (ros::Time::now() - generation_begin).toSec() * 1000;
+  ROS_DEBUG_STREAM("Generate trajectory (N-Points: " << joint_trajectory.points.size() << ") took " << duration_ms
+                                                     << " ms | " << duration_ms / joint_trajectory.points.size()
+                                                     << " ms per Point");
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::determineAndCheckSamplingTime(
+    const robot_trajectory::RobotTrajectoryPtr& first_trajectory,
+    const robot_trajectory::RobotTrajectoryPtr& second_trajectory, double epsilon, double& sampling_time)
+{
+  // The last sample is ignored because it is allowed to violate the sampling
+  // time.
+  std::size_t n1 = first_trajectory->getWayPointCount() - 1;
+  std::size_t n2 = second_trajectory->getWayPointCount() - 1;
+  if ((n1 < 2) && (n2 < 2))
+  {
+    ROS_ERROR_STREAM("Both trajectories do not have enough points to determine "
+                     "sampling time.");
+    return false;
+  }
+
+  if (n1 >= 2)
+  {
+    sampling_time = first_trajectory->getWayPointDurationFromPrevious(1);
+  }
+  else
+  {
+    sampling_time = second_trajectory->getWayPointDurationFromPrevious(1);
+  }
+
+  for (std::size_t i = 1; i < std::max(n1, n2); ++i)
+  {
+    if (i < n1)
+    {
+      if (fabs(sampling_time - first_trajectory->getWayPointDurationFromPrevious(i)) > epsilon)
+      {
+        ROS_ERROR_STREAM("First trajectory violates sampline time " << sampling_time << " between points " << (i - 1)
+                                                                    << "and " << i << " (indices).");
+        return false;
+      }
+    }
+
+    if (i < n2)
+    {
+      if (fabs(sampling_time - second_trajectory->getWayPointDurationFromPrevious(i)) > epsilon)
+      {
+        ROS_ERROR_STREAM("Second trajectory violates sampline time " << sampling_time << " between points " << (i - 1)
+                                                                     << "and " << i << " (indices).");
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::isRobotStateEqual(const moveit::core::RobotState& state1,
+                                                       const moveit::core::RobotState& state2,
+                                                       const std::string& joint_group_name, double epsilon)
+{
+  Eigen::VectorXd joint_position_1, joint_position_2;
+
+  state1.copyJointGroupPositions(joint_group_name, joint_position_1);
+  state2.copyJointGroupPositions(joint_group_name, joint_position_2);
+
+  if ((joint_position_1 - joint_position_2).norm() > epsilon)
+  {
+    ROS_DEBUG_STREAM("Joint positions of the two states are different. state1: " << joint_position_1
+                                                                                 << " state2: " << joint_position_2);
+    return false;
+  }
+
+  Eigen::VectorXd joint_velocity_1, joint_velocity_2;
+
+  state1.copyJointGroupVelocities(joint_group_name, joint_velocity_1);
+  state2.copyJointGroupVelocities(joint_group_name, joint_velocity_2);
+
+  if ((joint_velocity_1 - joint_velocity_2).norm() > epsilon)
+  {
+    ROS_DEBUG_STREAM("Joint velocities of the two states are different. state1: " << joint_velocity_1
+                                                                                  << " state2: " << joint_velocity_2);
+    return false;
+  }
+
+  Eigen::VectorXd joint_acc_1, joint_acc_2;
+
+  state1.copyJointGroupAccelerations(joint_group_name, joint_acc_1);
+  state2.copyJointGroupAccelerations(joint_group_name, joint_acc_2);
+
+  if ((joint_acc_1 - joint_acc_2).norm() > epsilon)
+  {
+    ROS_DEBUG_STREAM("Joint accelerations of the two states are different. state1: " << joint_acc_1
+                                                                                     << " state2: " << joint_acc_2);
+    return false;
+  }
+
+  return true;
+}
+
+bool pilz_industrial_motion_planner::isRobotStateStationary(const moveit::core::RobotState& state,
+                                                            const std::string& group, double EPSILON)
+{
+  Eigen::VectorXd joint_variable;
+  state.copyJointGroupVelocities(group, joint_variable);
+  if (joint_variable.norm() > EPSILON)
+  {
+    ROS_DEBUG("Joint velocities are not zero.");
+    return false;
+  }
+  state.copyJointGroupAccelerations(group, joint_variable);
+  if (joint_variable.norm() > EPSILON)
+  {
+    ROS_DEBUG("Joint accelerations are not zero.");
+    return false;
+  }
+  return true;
+}
+
+bool pilz_industrial_motion_planner::linearSearchIntersectionPoint(const std::string& link_name,
+                                                                   const Eigen::Vector3d& center_position,
+                                                                   const double& r,
+                                                                   const robot_trajectory::RobotTrajectoryPtr& traj,
+                                                                   bool inverseOrder, std::size_t& index)
+{
+  ROS_DEBUG("Start linear search for intersection point.");
+
+  const size_t waypoint_num = traj->getWayPointCount();
+
+  if (inverseOrder)
+  {
+    for (size_t i = waypoint_num - 1; i > 0; --i)
+    {
+      if (intersectionFound(center_position, traj->getWayPointPtr(i)->getFrameTransform(link_name).translation(),
+                            traj->getWayPointPtr(i - 1)->getFrameTransform(link_name).translation(), r))
+      {
+        index = i;
+        return true;
+      }
+    }
+  }
+  else
+  {
+    for (size_t i = 0; i < waypoint_num - 1; ++i)
+    {
+      if (intersectionFound(center_position, traj->getWayPointPtr(i)->getFrameTransform(link_name).translation(),
+                            traj->getWayPointPtr(i + 1)->getFrameTransform(link_name).translation(), r))
+      {
+        index = i;
+        return true;
+      }
+    }
+  }
+
+  return false;
+}
+
+bool pilz_industrial_motion_planner::intersectionFound(const Eigen::Vector3d& p_center,
+                                                       const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
+                                                       const double& r)
+{
+  return ((p_current - p_center).norm() <= r) && ((p_next - p_center).norm() >= r);
+}
+
+bool pilz_industrial_motion_planner::isStateColliding(const bool test_for_self_collision,
+                                                      const moveit::core::RobotModelConstPtr& robot_model,
+                                                      robot_state::RobotState* rstate,
+                                                      const robot_state::JointModelGroup* const group,
+                                                      const double* const ik_solution)
+{
+  if (!test_for_self_collision)
+  {
+    return true;
+  }
+
+  rstate->setJointGroupPositions(group, ik_solution);
+  rstate->update();
+  collision_detection::CollisionRequest collision_req;
+  collision_req.group_name = group->getName();
+  collision_detection::CollisionResult collision_res;
+  planning_scene::PlanningScene(robot_model).checkSelfCollision(collision_req, collision_res, *rstate);
+
+  return !collision_res.collision;
+}
+
+void normalizeQuaternion(geometry_msgs::Quaternion& quat)
+{
+  tf2::Quaternion q;
+  tf2::convert<geometry_msgs::Quaternion, tf2::Quaternion>(quat, q);
+  quat = tf2::toMsg(q.normalize());
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
new file mode 100644
index 0000000000..8069004d2c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
@@ -0,0 +1,332 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+
+#include <cassert>
+
+#include <eigen_conversions/eigen_kdl.h>
+#include <eigen_conversions/eigen_msg.h>
+#include <kdl/velocityprofile_trap.hpp>
+#include <moveit/robot_state/conversions.h>
+
+#include "pilz_industrial_motion_planner/limits_container.h"
+
+namespace pilz_industrial_motion_planner
+{
+void TrajectoryGenerator::cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& /*req*/) const
+{
+  // Empty implementation, in case the derived class does not want
+  // to provide a command specific request validation.
+}
+
+void TrajectoryGenerator::checkVelocityScaling(const double& scaling_factor)
+{
+  if (!isScalingFactorValid(scaling_factor))
+  {
+    std::ostringstream os;
+    os << "Velocity scaling not in range [" << MIN_SCALING_FACTOR << ", " << MAX_SCALING_FACTOR << "], "
+       << "actual value is: " << scaling_factor;
+    throw VelocityScalingIncorrect(os.str());
+  }
+}
+
+void TrajectoryGenerator::checkAccelerationScaling(const double& scaling_factor)
+{
+  if (!isScalingFactorValid(scaling_factor))
+  {
+    std::ostringstream os;
+    os << "Acceleration scaling not in range [" << MIN_SCALING_FACTOR << ", " << MAX_SCALING_FACTOR << "], "
+       << "actual value is: " << scaling_factor;
+    throw AccelerationScalingIncorrect(os.str());
+  }
+}
+
+void TrajectoryGenerator::checkForValidGroupName(const std::string& group_name) const
+{
+  if (!robot_model_->hasJointModelGroup(group_name))
+  {
+    std::ostringstream os;
+    os << "Unknown planning group: " << group_name;
+    throw UnknownPlanningGroup(os.str());
+  }
+}
+
+void TrajectoryGenerator::checkStartState(const moveit_msgs::RobotState& start_state) const
+{
+  if (start_state.joint_state.name.empty())
+  {
+    throw NoJointNamesInStartState("No joint names for state state given");
+  }
+
+  if (start_state.joint_state.name.size() != start_state.joint_state.position.size())
+  {
+    throw SizeMismatchInStartState("Joint state name and position do not match in start state");
+  }
+
+  if (!planner_limits_.getJointLimitContainer().verifyPositionLimits(start_state.joint_state.name,
+                                                                     start_state.joint_state.position))
+  {
+    throw JointsOfStartStateOutOfRange("Joint state out of range in start state");
+  }
+
+  // does not allow start velocity
+  if (!std::all_of(start_state.joint_state.velocity.begin(), start_state.joint_state.velocity.end(),
+                   [this](double v) { return std::fabs(v) < this->VELOCITY_TOLERANCE; }))
+  {
+    throw NonZeroVelocityInStartState("Trajectory Generator does not allow non-zero start velocity");
+  }
+}
+
+void TrajectoryGenerator::checkJointGoalConstraint(const moveit_msgs::Constraints& constraint,
+                                                   const std::vector<std::string>& expected_joint_names,
+                                                   const std::string& group_name) const
+{
+  for (auto const& joint_constraint : constraint.joint_constraints)
+  {
+    const std::string& curr_joint_name{ joint_constraint.joint_name };
+    if (std::find(expected_joint_names.cbegin(), expected_joint_names.cend(), curr_joint_name) ==
+        expected_joint_names.cend())
+    {
+      std::ostringstream os;
+      os << "Cannot find joint \"" << curr_joint_name << "\" from start state in goal constraint";
+      throw StartStateGoalStateMismatch(os.str());
+    }
+
+    if (!robot_model_->getJointModelGroup(group_name)->hasJointModel(curr_joint_name))
+    {
+      std::ostringstream os;
+      os << "Joint \"" << curr_joint_name << "\" does not belong to group \"" << group_name << "\"";
+      throw JointConstraintDoesNotBelongToGroup(os.str());
+    }
+
+    if (!planner_limits_.getJointLimitContainer().verifyPositionLimit(curr_joint_name, joint_constraint.position))
+    {
+      std::ostringstream os;
+      os << "Joint \"" << curr_joint_name << "\" violates joint limits in goal constraints";
+      throw JointsOfGoalOutOfRange(os.str());
+    }
+  }
+}
+
+void TrajectoryGenerator::checkCartesianGoalConstraint(const moveit_msgs::Constraints& constraint,
+                                                       const std::string& group_name) const
+{
+  assert(constraint.position_constraints.size() == 1);
+  assert(constraint.orientation_constraints.size() == 1);
+  const moveit_msgs::PositionConstraint& pos_constraint{ constraint.position_constraints.front() };
+  const moveit_msgs::OrientationConstraint& ori_constraint{ constraint.orientation_constraints.front() };
+
+  if (pos_constraint.link_name.empty())
+  {
+    throw PositionConstraintNameMissing("Link name of position constraint missing");
+  }
+
+  if (ori_constraint.link_name.empty())
+  {
+    throw OrientationConstraintNameMissing("Link name of orientation constraint missing");
+  }
+
+  if (pos_constraint.link_name != ori_constraint.link_name)
+  {
+    std::ostringstream os;
+    os << "Position and orientation constraint name do not match"
+       << "(Position constraint name: \"" << pos_constraint.link_name << "\" | Orientation constraint name: \""
+       << ori_constraint.link_name << "\")";
+    throw PositionOrientationConstraintNameMismatch(os.str());
+  }
+
+  if (!robot_model_->getJointModelGroup(group_name)->canSetStateFromIK(pos_constraint.link_name))
+  {
+    std::ostringstream os;
+    os << "No IK solver available for link: \"" << pos_constraint.link_name << "\"";
+    throw NoIKSolverAvailable(os.str());
+  }
+
+  if (pos_constraint.constraint_region.primitive_poses.empty())
+  {
+    throw NoPrimitivePoseGiven("Primitive pose in position constraints of goal missing");
+  }
+}
+
+void TrajectoryGenerator::checkGoalConstraints(
+    const moveit_msgs::MotionPlanRequest::_goal_constraints_type& goal_constraints,
+    const std::vector<std::string>& expected_joint_names, const std::string& group_name) const
+{
+  if (goal_constraints.size() != 1)
+  {
+    std::ostringstream os;
+    os << "Exaclty one goal constraint required, but " << goal_constraints.size() << " goal constraints given";
+    throw NotExactlyOneGoalConstraintGiven(os.str());
+  }
+
+  const moveit_msgs::Constraints& goal_con{ goal_constraints.front() };
+  if (!isOnlyOneGoalTypeGiven(goal_con))
+  {
+    throw OnlyOneGoalTypeAllowed("Only cartesian XOR joint goal allowed");
+  }
+
+  if (isJointGoalGiven(goal_con))
+  {
+    checkJointGoalConstraint(goal_con, expected_joint_names, group_name);
+  }
+  else
+  {
+    checkCartesianGoalConstraint(goal_con, group_name);
+  }
+}
+
+void TrajectoryGenerator::validateRequest(const planning_interface::MotionPlanRequest& req) const
+{
+  checkVelocityScaling(req.max_velocity_scaling_factor);
+  checkAccelerationScaling(req.max_acceleration_scaling_factor);
+  checkForValidGroupName(req.group_name);
+  checkStartState(req.start_state);
+  checkGoalConstraints(req.goal_constraints, req.start_state.joint_state.name, req.group_name);
+}
+
+void TrajectoryGenerator::convertToRobotTrajectory(const trajectory_msgs::JointTrajectory& joint_trajectory,
+                                                   const moveit_msgs::RobotState& start_state,
+                                                   robot_trajectory::RobotTrajectory& robot_trajectory) const
+{
+  moveit::core::RobotState start_rs(robot_model_);
+  start_rs.setToDefaultValues();
+  moveit::core::robotStateMsgToRobotState(start_state, start_rs, false);
+  robot_trajectory.setRobotTrajectoryMsg(start_rs, joint_trajectory);
+}
+
+void TrajectoryGenerator::setSuccessResponse(const std::string& group_name, const moveit_msgs::RobotState& start_state,
+                                             const trajectory_msgs::JointTrajectory& joint_trajectory,
+                                             const ros::Time& planning_start,
+                                             planning_interface::MotionPlanResponse& res) const
+{
+  robot_trajectory::RobotTrajectoryPtr rt(new robot_trajectory::RobotTrajectory(robot_model_, group_name));
+  convertToRobotTrajectory(joint_trajectory, start_state, *rt);
+
+  res.trajectory_ = rt;
+  res.error_code_.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+  res.planning_time_ = (ros::Time::now() - planning_start).toSec();
+}
+
+void TrajectoryGenerator::setFailureResponse(const ros::Time& planning_start,
+                                             planning_interface::MotionPlanResponse& res) const
+{
+  if (res.trajectory_)
+  {
+    res.trajectory_->clear();
+  }
+  res.planning_time_ = (ros::Time::now() - planning_start).toSec();
+}
+
+std::unique_ptr<KDL::VelocityProfile>
+TrajectoryGenerator::cartesianTrapVelocityProfile(const double& max_velocity_scaling_factor,
+                                                  const double& max_acceleration_scaling_factor,
+                                                  const std::unique_ptr<KDL::Path>& path) const
+{
+  std::unique_ptr<KDL::VelocityProfile> vp_trans(new KDL::VelocityProfile_Trap(
+      max_velocity_scaling_factor * planner_limits_.getCartesianLimits().getMaxTranslationalVelocity(),
+      max_acceleration_scaling_factor * planner_limits_.getCartesianLimits().getMaxTranslationalAcceleration()));
+
+  if (path->PathLength() > std::numeric_limits<double>::epsilon())  // avoid division by zero
+  {
+    vp_trans->SetProfile(0, path->PathLength());
+  }
+  else
+  {
+    vp_trans->SetProfile(0, std::numeric_limits<double>::epsilon());
+  }
+  return vp_trans;
+}
+
+bool TrajectoryGenerator::generate(const planning_interface::MotionPlanRequest& req,
+                                   planning_interface::MotionPlanResponse& res, double sampling_time)
+{
+  ROS_INFO_STREAM("Generating " << req.planner_id << " trajectory...");
+  ros::Time planning_begin = ros::Time::now();
+
+  try
+  {
+    validateRequest(req);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM(ex.what());
+    res.error_code_.val = ex.getErrorCode();
+    setFailureResponse(planning_begin, res);
+    return false;
+  }
+
+  try
+  {
+    cmdSpecificRequestValidation(req);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM(ex.what());
+    res.error_code_.val = ex.getErrorCode();
+    setFailureResponse(planning_begin, res);
+    return false;
+  }
+
+  MotionPlanInfo plan_info;
+  try
+  {
+    extractMotionPlanInfo(req, plan_info);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM(ex.what());
+    res.error_code_.val = ex.getErrorCode();
+    setFailureResponse(planning_begin, res);
+    return false;
+  }
+
+  trajectory_msgs::JointTrajectory joint_trajectory;
+  try
+  {
+    plan(req, plan_info, sampling_time, joint_trajectory);
+  }
+  catch (const MoveItErrorCodeException& ex)
+  {
+    ROS_ERROR_STREAM(ex.what());
+    res.error_code_.val = ex.getErrorCode();
+    setFailureResponse(planning_begin, res);
+    return false;
+  }
+
+  setSuccessResponse(req.group_name, req.start_state, joint_trajectory, planning_begin, res);
+  return true;
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
new file mode 100644
index 0000000000..6e1e57f0d1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
@@ -0,0 +1,270 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_generator_circ.h"
+#include "pilz_industrial_motion_planner/path_circle_generator.h"
+
+#include <cassert>
+#include <sstream>
+
+#include <eigen_conversions/eigen_kdl.h>
+#include <eigen_conversions/eigen_msg.h>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/trajectory_segment.hpp>
+#include <kdl/utilities/error.h>
+#include <kdl/utilities/utility.h>
+#include <kdl_conversions/kdl_msg.h>
+#include <moveit/robot_state/conversions.h>
+#include <ros/ros.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+namespace pilz_industrial_motion_planner
+{
+TrajectoryGeneratorCIRC::TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr& robot_model,
+                                                 const LimitsContainer& planner_limits)
+  : TrajectoryGenerator::TrajectoryGenerator(robot_model, planner_limits)
+{
+  if (!planner_limits_.hasFullCartesianLimits())
+  {
+    throw TrajectoryGeneratorInvalidLimitsException(
+        "Cartesian limits are not fully set for CIRC trajectory generator.");
+  }
+}
+
+void TrajectoryGeneratorCIRC::cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const
+{
+  if (!(req.path_constraints.name == "interim" || req.path_constraints.name == "center"))
+  {
+    std::ostringstream os;
+    os << "No path constraint named \"interim\" or \"center\" found (found "
+          "unknown constraint: "
+       << "\"req.path_constraints.name\""
+       << " instead)";
+    throw UnknownPathConstraintName(os.str());
+  }
+
+  if (req.path_constraints.position_constraints.size() != 1)
+  {
+    throw NoPositionConstraints("CIRC trajectory generator needs valid a position constraint");
+  }
+
+  if (req.path_constraints.position_constraints.front().constraint_region.primitive_poses.size() != 1)
+  {
+    throw NoPrimitivePose("CIRC trajectory generator needs valid a primitive pose");
+  }
+}
+
+void TrajectoryGeneratorCIRC::extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req,
+                                                    TrajectoryGenerator::MotionPlanInfo& info) const
+{
+  ROS_DEBUG("Extract necessary information from motion plan request.");
+
+  info.group_name = req.group_name;
+  std::string frame_id{ robot_model_->getModelFrame() };
+
+  // goal given in joint space
+  if (!req.goal_constraints.front().joint_constraints.empty())
+  {
+    // TODO: link name from goal constraint and path constraint
+    info.link_name = req.path_constraints.position_constraints.front().link_name;
+    if (!robot_model_->hasLinkModel(info.link_name))
+    {
+      throw UnknownLinkNameOfAuxiliaryPoint("Unknown link name of CIRC auxiliary point");
+    }
+
+    if (req.goal_constraints.front().joint_constraints.size() !=
+        robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())
+    {
+      std::ostringstream os;
+      os << "Number of joint constraint = " << req.goal_constraints.front().joint_constraints.size()
+         << " not equal to active joints of group = "
+         << robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size();
+      throw NumberOfConstraintsMismatch(os.str());
+    }
+
+    // initializing all joints of the model
+    for (const auto& joint_name : robot_model_->getVariableNames())
+    {
+      info.goal_joint_position[joint_name] = 0;
+    }
+
+    for (const auto& joint_item : req.goal_constraints.front().joint_constraints)
+    {
+      info.goal_joint_position[joint_item.joint_name] = joint_item.position;
+    }
+
+    computeLinkFK(robot_model_, info.link_name, info.goal_joint_position, info.goal_pose);
+  }
+  // goal given in Cartesian space
+  else
+  {
+    info.link_name = req.goal_constraints.front().position_constraints.front().link_name;
+    if (req.goal_constraints.front().position_constraints.front().header.frame_id.empty() ||
+        req.goal_constraints.front().orientation_constraints.front().header.frame_id.empty())
+    {
+      ROS_WARN("Frame id is not set in position/orientation constraints of "
+               "goal. Use model frame as default");
+      frame_id = robot_model_->getModelFrame();
+    }
+    else
+    {
+      frame_id = req.goal_constraints.front().position_constraints.front().header.frame_id;
+    }
+    geometry_msgs::Pose goal_pose_msg;
+    goal_pose_msg.position =
+        req.goal_constraints.front().position_constraints.front().constraint_region.primitive_poses.front().position;
+    goal_pose_msg.orientation = req.goal_constraints.front().orientation_constraints.front().orientation;
+    normalizeQuaternion(goal_pose_msg.orientation);
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(goal_pose_msg, info.goal_pose);
+  }
+
+  assert(req.start_state.joint_state.name.size() == req.start_state.joint_state.position.size());
+  for (const auto& joint_name : robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames())
+  {
+    auto it{ std::find(req.start_state.joint_state.name.cbegin(), req.start_state.joint_state.name.cend(), joint_name) };
+    if (it == req.start_state.joint_state.name.cend())
+    {
+      std::ostringstream os;
+      os << "Could not find joint \"" << joint_name << "\" of group \"" << req.group_name
+         << "\" in start state of request";
+      throw CircJointMissingInStartState(os.str());
+    }
+    size_t index = it - req.start_state.joint_state.name.cbegin();
+    info.start_joint_position[joint_name] = req.start_state.joint_state.position[index];
+  }
+
+  computeLinkFK(robot_model_, info.link_name, info.start_joint_position, info.start_pose);
+
+  // check goal pose ik before Cartesian motion plan starts
+  std::map<std::string, double> ik_solution;
+  if (!computePoseIK(robot_model_, info.group_name, info.link_name, info.goal_pose, frame_id, info.start_joint_position,
+                     ik_solution))
+  {
+    // LCOV_EXCL_START
+    std::ostringstream os;
+    os << "Failed to compute inverse kinematics for link: " << info.link_name << " of goal pose";
+    throw CircInverseForGoalIncalculable(os.str());
+    // LCOV_EXCL_STOP // not able to trigger here since lots of checks before
+    // are in place
+  }
+
+  Eigen::Vector3d circ_path_point;
+  tf2::convert(req.path_constraints.position_constraints.front().constraint_region.primitive_poses.front().position,
+               circ_path_point);
+
+  info.circ_path_point.first = req.path_constraints.name;
+  info.circ_path_point.second = circ_path_point;
+}
+
+void TrajectoryGeneratorCIRC::plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+                                   const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+{
+  std::unique_ptr<KDL::Path> cart_path(setPathCIRC(plan_info));
+  std::unique_ptr<KDL::VelocityProfile> vel_profile(
+      cartesianTrapVelocityProfile(req.max_velocity_scaling_factor, req.max_acceleration_scaling_factor, cart_path));
+
+  // combine path and velocity profile into Cartesian trajectory
+  // with the third parameter set to false, KDL::Trajectory_Segment does not
+  // take
+  // the ownship of Path and Velocity Profile
+  KDL::Trajectory_Segment cart_trajectory(cart_path.get(), vel_profile.get(), false);
+
+  moveit_msgs::MoveItErrorCodes error_code;
+  // sample the Cartesian trajectory and compute joint trajectory using inverse
+  // kinematics
+  if (!generateJointTrajectory(robot_model_, planner_limits_.getJointLimitContainer(), cart_trajectory,
+                               plan_info.group_name, plan_info.link_name, plan_info.start_joint_position, sampling_time,
+                               joint_trajectory, error_code))
+  {
+    throw CircTrajectoryConversionFailure("Failed to generate valid joint trajectory from the Cartesian path",
+                                          error_code.val);
+  }
+}
+
+std::unique_ptr<KDL::Path> TrajectoryGeneratorCIRC::setPathCIRC(const MotionPlanInfo& info) const
+{
+  ROS_DEBUG("Set Cartesian path for CIRC command.");
+
+  KDL::Frame start_pose, goal_pose;
+  tf::transformEigenToKDL(info.start_pose, start_pose);
+  tf::transformEigenToKDL(info.goal_pose, goal_pose);
+
+  KDL::Vector path_point;
+  tf::vectorEigenToKDL(info.circ_path_point.second, path_point);
+
+  // pass the ratio of translational by rotational velocity as equivalent radius
+  // to get a trajectory with rotational speed, if no (or very little)
+  // translational distance
+  // The KDL::Path implementation chooses the motion with the longer duration
+  // (translation vs. rotation)
+  // and uses eqradius as scaling factor between the distances.
+  double eqradius = planner_limits_.getCartesianLimits().getMaxTranslationalVelocity() /
+                    planner_limits_.getCartesianLimits().getMaxRotationalVelocity();
+
+  try
+  {
+    if (info.circ_path_point.first == "center")
+    {
+      return PathCircleGenerator::circleFromCenter(start_pose, goal_pose, path_point, eqradius);
+    }
+    else  // if (info.circ_path_point.first == "interim")
+    {
+      return PathCircleGenerator::circleFromInterim(start_pose, goal_pose, path_point, eqradius);
+    }
+  }
+  catch (KDL::Error_MotionPlanning_Circle_No_Plane& e)
+  {
+    std::ostringstream os;
+    os << "Failed to create path object for circle." << e.Description();
+    throw CircleNoPlane(os.str());
+  }
+  catch (KDL::Error_MotionPlanning_Circle_ToSmall& e)
+  {
+    std::ostringstream os;
+    os << "Failed to create path object for circle." << e.Description();
+    throw CircleToSmall(os.str());
+  }
+  catch (ErrorMotionPlanningCenterPointDifferentRadius& e)
+  {
+    std::ostringstream os;
+    os << "Failed to create path object for circle." << e.Description();
+    throw CenterPointDifferentRadius(os.str());
+  }
+
+  return nullptr;
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
new file mode 100644
index 0000000000..a91c6e943a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
@@ -0,0 +1,203 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+
+#include <cassert>
+#include <ros/ros.h>
+#include <sstream>
+#include <time.h>
+
+#include <eigen_conversions/eigen_kdl.h>
+#include <eigen_conversions/eigen_msg.h>
+
+#include <moveit/robot_state/conversions.h>
+
+#include <kdl/path_line.hpp>
+#include <kdl/trajectory_segment.hpp>
+#include <kdl/utilities/error.h>
+
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+namespace pilz_industrial_motion_planner
+{
+TrajectoryGeneratorLIN::TrajectoryGeneratorLIN(const moveit::core::RobotModelConstPtr& robot_model,
+                                               const LimitsContainer& planner_limits)
+  : TrajectoryGenerator::TrajectoryGenerator(robot_model, planner_limits)
+{
+  if (!planner_limits_.hasFullCartesianLimits())
+  {
+    ROS_ERROR("Cartesian limits not set for LIN trajectory generator.");
+    throw TrajectoryGeneratorInvalidLimitsException("Cartesian limits are not fully set for LIN trajectory generator.");
+  }
+}
+
+void TrajectoryGeneratorLIN::extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req,
+                                                   TrajectoryGenerator::MotionPlanInfo& info) const
+{
+  ROS_DEBUG("Extract necessary information from motion plan request.");
+
+  info.group_name = req.group_name;
+  std::string frame_id{ robot_model_->getModelFrame() };
+
+  // goal given in joint space
+  if (!req.goal_constraints.front().joint_constraints.empty())
+  {
+    info.link_name = robot_model_->getJointModelGroup(req.group_name)->getSolverInstance()->getTipFrame();
+
+    if (req.goal_constraints.front().joint_constraints.size() !=
+        robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())
+    {
+      std::ostringstream os;
+      os << "Number of joints in goal does not match number of joints of group "
+            "(Number joints goal: "
+         << req.goal_constraints.front().joint_constraints.size() << " | Number of joints of group: "
+         << robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size() << ")";
+      throw JointNumberMismatch(os.str());
+    }
+    // initializing all joints of the model
+    for (const auto& joint_name : robot_model_->getVariableNames())
+    {
+      info.goal_joint_position[joint_name] = 0;
+    }
+
+    for (const auto& joint_item : req.goal_constraints.front().joint_constraints)
+    {
+      info.goal_joint_position[joint_item.joint_name] = joint_item.position;
+    }
+
+    // Ignored return value because at this point the function should always
+    // return 'true'.
+    computeLinkFK(robot_model_, info.link_name, info.goal_joint_position, info.goal_pose);
+  }
+  // goal given in Cartesian space
+  else
+  {
+    info.link_name = req.goal_constraints.front().position_constraints.front().link_name;
+    if (req.goal_constraints.front().position_constraints.front().header.frame_id.empty() ||
+        req.goal_constraints.front().orientation_constraints.front().header.frame_id.empty())
+    {
+      ROS_WARN("Frame id is not set in position/orientation constraints of "
+               "goal. Use model frame as default");
+      frame_id = robot_model_->getModelFrame();
+    }
+    else
+    {
+      frame_id = req.goal_constraints.front().position_constraints.front().header.frame_id;
+    }
+    geometry_msgs::Pose goal_pose_msg;
+    goal_pose_msg.position =
+        req.goal_constraints.front().position_constraints.front().constraint_region.primitive_poses.front().position;
+    goal_pose_msg.orientation = req.goal_constraints.front().orientation_constraints.front().orientation;
+    normalizeQuaternion(goal_pose_msg.orientation);
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(goal_pose_msg, info.goal_pose);
+  }
+
+  assert(req.start_state.joint_state.name.size() == req.start_state.joint_state.position.size());
+  for (const auto& joint_name : robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames())
+  {
+    auto it{ std::find(req.start_state.joint_state.name.cbegin(), req.start_state.joint_state.name.cend(), joint_name) };
+    if (it == req.start_state.joint_state.name.cend())
+    {
+      std::ostringstream os;
+      os << "Could not find joint \"" << joint_name << "\" of group \"" << req.group_name
+         << "\" in start state of request";
+      throw LinJointMissingInStartState(os.str());
+    }
+    size_t index = it - req.start_state.joint_state.name.cbegin();
+    info.start_joint_position[joint_name] = req.start_state.joint_state.position[index];
+  }
+
+  // Ignored return value because at this point the function should always
+  // return 'true'.
+  computeLinkFK(robot_model_, info.link_name, info.start_joint_position, info.start_pose);
+
+  // check goal pose ik before Cartesian motion plan starts
+  std::map<std::string, double> ik_solution;
+  if (!computePoseIK(robot_model_, info.group_name, info.link_name, info.goal_pose, frame_id, info.start_joint_position,
+                     ik_solution))
+  {
+    std::ostringstream os;
+    os << "Failed to compute inverse kinematics for link: " << info.link_name << " of goal pose";
+    throw LinInverseForGoalIncalculable(os.str());
+  }
+}
+
+void TrajectoryGeneratorLIN::plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+                                  const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+{
+  // create Cartesian path for lin
+  std::unique_ptr<KDL::Path> path(setPathLIN(plan_info.start_pose, plan_info.goal_pose));
+
+  // create velocity profile
+  std::unique_ptr<KDL::VelocityProfile> vp(
+      cartesianTrapVelocityProfile(req.max_velocity_scaling_factor, req.max_acceleration_scaling_factor, path));
+
+  // combine path and velocity profile into Cartesian trajectory
+  // with the third parameter set to false, KDL::Trajectory_Segment does not
+  // take
+  // the ownship of Path and Velocity Profile
+  KDL::Trajectory_Segment cart_trajectory(path.get(), vp.get(), false);
+
+  moveit_msgs::MoveItErrorCodes error_code;
+  // sample the Cartesian trajectory and compute joint trajectory using inverse
+  // kinematics
+  if (!generateJointTrajectory(robot_model_, planner_limits_.getJointLimitContainer(), cart_trajectory,
+                               plan_info.group_name, plan_info.link_name, plan_info.start_joint_position, sampling_time,
+                               joint_trajectory, error_code))
+  {
+    std::ostringstream os;
+    os << "Failed to generate valid joint trajectory from the Cartesian path";
+    throw LinTrajectoryConversionFailure(os.str(), error_code.val);
+  }
+}
+
+std::unique_ptr<KDL::Path> TrajectoryGeneratorLIN::setPathLIN(const Eigen::Affine3d& start_pose,
+                                                              const Eigen::Affine3d& goal_pose) const
+{
+  ROS_DEBUG("Set Cartesian path for LIN command.");
+
+  KDL::Frame kdl_start_pose, kdl_goal_pose;
+  tf::transformEigenToKDL(start_pose, kdl_start_pose);
+  tf::transformEigenToKDL(goal_pose, kdl_goal_pose);
+  double eqradius = planner_limits_.getCartesianLimits().getMaxTranslationalVelocity() /
+                    planner_limits_.getCartesianLimits().getMaxRotationalVelocity();
+  KDL::RotationalInterpolation* rot_interpo = new KDL::RotationalInterpolation_SingleAxis();
+
+  return std::unique_ptr<KDL::Path>(new KDL::Path_Line(kdl_start_pose, kdl_goal_pose, rot_interpo, eqradius, true));
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp
new file mode 100644
index 0000000000..45b2157e4a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp
@@ -0,0 +1,261 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/trajectory_generator_ptp.h"
+#include "eigen_conversions/eigen_msg.h"
+#include "moveit/robot_state/conversions.h"
+#include "ros/ros.h"
+
+#include <iostream>
+#include <sstream>
+
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+namespace pilz_industrial_motion_planner
+{
+TrajectoryGeneratorPTP::TrajectoryGeneratorPTP(const robot_model::RobotModelConstPtr& robot_model,
+                                               const LimitsContainer& planner_limits)
+  : TrajectoryGenerator::TrajectoryGenerator(robot_model, planner_limits)
+{
+  if (!planner_limits_.hasJointLimits())
+  {
+    throw TrajectoryGeneratorInvalidLimitsException("joint limit not set");
+  }
+
+  joint_limits_ = planner_limits_.getJointLimitContainer();
+
+  // collect most strict joint limits for each group in robot model
+  for (const auto& jmg : robot_model->getJointModelGroups())
+  {
+    JointLimit most_strict_limit = joint_limits_.getCommonLimit(jmg->getActiveJointModelNames());
+
+    if (!most_strict_limit.has_velocity_limits)
+    {
+      ROS_ERROR_STREAM("velocity limit not set for group " << jmg->getName());
+      throw TrajectoryGeneratorInvalidLimitsException("velocity limit not set for group " + jmg->getName());
+    }
+    if (!most_strict_limit.has_acceleration_limits)
+    {
+      ROS_ERROR_STREAM("acceleration limit not set for group " << jmg->getName());
+      throw TrajectoryGeneratorInvalidLimitsException("acceleration limit not set for group " + jmg->getName());
+    }
+    if (!most_strict_limit.has_deceleration_limits)
+    {
+      ROS_ERROR_STREAM("deceleration limit not set for group " << jmg->getName());
+      throw TrajectoryGeneratorInvalidLimitsException("deceleration limit not set for group " + jmg->getName());
+    }
+
+    most_strict_limits_.insert(std::pair<std::string, JointLimit>(jmg->getName(), most_strict_limit));
+  }
+
+  ROS_INFO("Initialized Point-to-Point Trajectory Generator.");
+}
+
+void TrajectoryGeneratorPTP::planPTP(const std::map<std::string, double>& start_pos,
+                                     const std::map<std::string, double>& goal_pos,
+                                     trajectory_msgs::JointTrajectory& joint_trajectory, const std::string& group_name,
+                                     const double& velocity_scaling_factor, const double& acceleration_scaling_factor,
+                                     const double& sampling_time)
+{
+  // initialize joint names
+  for (const auto& item : goal_pos)
+  {
+    joint_trajectory.joint_names.push_back(item.first);
+  }
+
+  // check if goal already reached
+  bool goal_reached = true;
+  for (auto const& goal : goal_pos)
+  {
+    if (fabs(start_pos.at(goal.first) - goal.second) >= MIN_MOVEMENT)
+    {
+      goal_reached = false;
+      break;
+    }
+  }
+  if (goal_reached)
+  {
+    ROS_INFO_STREAM("Goal already reached, set one goal point explicitly.");
+    if (joint_trajectory.points.empty())
+    {
+      trajectory_msgs::JointTrajectoryPoint point;
+      point.time_from_start = ros::Duration(sampling_time);
+      for (const std::string& joint_name : joint_trajectory.joint_names)
+      {
+        point.positions.push_back(start_pos.at(joint_name));
+        point.velocities.push_back(0);
+        point.accelerations.push_back(0);
+      }
+      joint_trajectory.points.push_back(point);
+    }
+    return;
+  }
+
+  // compute the fastest trajectory and choose the slowest joint as leading axis
+  std::string leading_axis = joint_trajectory.joint_names.front();
+  double max_duration = -1.0;
+
+  std::map<std::string, VelocityProfileATrap> velocity_profile;
+  for (const auto& joint_name : joint_trajectory.joint_names)
+  {
+    // create vecocity profile if necessary
+    velocity_profile.insert(std::make_pair(
+        joint_name,
+        VelocityProfileATrap(velocity_scaling_factor * most_strict_limits_.at(group_name).max_velocity,
+                             acceleration_scaling_factor * most_strict_limits_.at(group_name).max_acceleration,
+                             acceleration_scaling_factor * most_strict_limits_.at(group_name).max_deceleration)));
+
+    velocity_profile.at(joint_name).SetProfile(start_pos.at(joint_name), goal_pos.at(joint_name));
+    if (velocity_profile.at(joint_name).Duration() > max_duration)
+    {
+      max_duration = velocity_profile.at(joint_name).Duration();
+      leading_axis = joint_name;
+    }
+  }
+
+  // Full Synchronization
+  // This should only work if all axes have same max_vel, max_acc, max_dec
+  // values
+  // reset the velocity profile for other joints
+  double acc_time = velocity_profile.at(leading_axis).firstPhaseDuration();
+  double const_time = velocity_profile.at(leading_axis).secondPhaseDuration();
+  double dec_time = velocity_profile.at(leading_axis).thirdPhaseDuration();
+
+  for (const auto& joint_name : joint_trajectory.joint_names)
+  {
+    if (joint_name != leading_axis)
+    {
+      // make full synchronization
+      // causes the program to terminate if acc_time<=0 or dec_time<=0 (should
+      // be prevented by goal_reached block above)
+      // by using the most strict limit, the following should always return true
+      if (!velocity_profile.at(joint_name)
+               .setProfileAllDurations(start_pos.at(joint_name), goal_pos.at(joint_name), acc_time, const_time,
+                                       dec_time))
+      // LCOV_EXCL_START
+      {
+        std::stringstream error_str;
+        error_str << "TrajectoryGeneratorPTP::planPTP(): Can not synchronize "
+                     "velocity profile of axis "
+                  << joint_name << " with leading axis " << leading_axis;
+        throw PtpVelocityProfileSyncFailed(error_str.str());
+      }
+      // LCOV_EXCL_STOP
+    }
+  }
+
+  // first generate the time samples
+  std::vector<double> time_samples;
+  for (double t_sample = 0.0; t_sample < max_duration; t_sample += sampling_time)
+  {
+    time_samples.push_back(t_sample);
+  }
+  // add last time
+  time_samples.push_back(max_duration);
+
+  // construct joint trajectory point
+  for (double time_stamp : time_samples)
+  {
+    trajectory_msgs::JointTrajectoryPoint point;
+    point.time_from_start = ros::Duration(time_stamp);
+    for (std::string& joint_name : joint_trajectory.joint_names)
+    {
+      point.positions.push_back(velocity_profile.at(joint_name).Pos(time_stamp));
+      point.velocities.push_back(velocity_profile.at(joint_name).Vel(time_stamp));
+      point.accelerations.push_back(velocity_profile.at(joint_name).Acc(time_stamp));
+    }
+    joint_trajectory.points.push_back(point);
+  }
+
+  // Set last point velocity and acceleration to zero
+  std::fill(joint_trajectory.points.back().velocities.begin(), joint_trajectory.points.back().velocities.end(), 0.0);
+  std::fill(joint_trajectory.points.back().accelerations.begin(), joint_trajectory.points.back().accelerations.end(),
+            0.0);
+}
+
+void TrajectoryGeneratorPTP::extractMotionPlanInfo(const planning_interface::MotionPlanRequest& req,
+                                                   MotionPlanInfo& info) const
+{
+  info.group_name = req.group_name;
+
+  // extract start state information
+  info.start_joint_position.clear();
+  for (std::size_t i = 0; i < req.start_state.joint_state.name.size(); ++i)
+  {
+    info.start_joint_position[req.start_state.joint_state.name[i]] = req.start_state.joint_state.position[i];
+  }
+
+  // extract goal
+  info.goal_joint_position.clear();
+  if (!req.goal_constraints.at(0).joint_constraints.empty())
+  {
+    for (const auto& joint_constraint : req.goal_constraints.at(0).joint_constraints)
+    {
+      info.goal_joint_position[joint_constraint.joint_name] = joint_constraint.position;
+    }
+  }
+  // slove the ik
+  else
+  {
+    geometry_msgs::Point p =
+        req.goal_constraints.at(0).position_constraints.at(0).constraint_region.primitive_poses.at(0).position;
+    p.x -= req.goal_constraints.at(0).position_constraints.at(0).target_point_offset.x;
+    p.y -= req.goal_constraints.at(0).position_constraints.at(0).target_point_offset.y;
+    p.z -= req.goal_constraints.at(0).position_constraints.at(0).target_point_offset.z;
+
+    geometry_msgs::Pose pose;
+    pose.position = p;
+    pose.orientation = req.goal_constraints.at(0).orientation_constraints.at(0).orientation;
+    Eigen::Isometry3d pose_eigen;
+    normalizeQuaternion(pose.orientation);
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(pose, pose_eigen);
+    if (!computePoseIK(robot_model_, req.group_name, req.goal_constraints.at(0).position_constraints.at(0).link_name,
+                       pose_eigen, robot_model_->getModelFrame(), info.start_joint_position, info.goal_joint_position))
+    {
+      throw PtpNoIkSolutionForGoalPose("No IK solution for goal pose");
+    }
+  }
+}
+
+void TrajectoryGeneratorPTP::plan(const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
+                                  const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+{
+  // plan the ptp trajectory
+  planPTP(plan_info.start_joint_position, plan_info.goal_joint_position, joint_trajectory, plan_info.group_name,
+          req.max_velocity_scaling_factor, req.max_acceleration_scaling_factor, sampling_time);
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/velocity_profile_atrap.cpp b/moveit_planners/pilz_industrial_motion_planner/src/velocity_profile_atrap.cpp
new file mode 100644
index 0000000000..f19da41b8d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/src/velocity_profile_atrap.cpp
@@ -0,0 +1,451 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner/velocity_profile_atrap.h"
+
+namespace pilz_industrial_motion_planner
+{
+VelocityProfileATrap::VelocityProfileATrap(double max_vel, double max_acc, double max_dec)
+  : max_vel_(fabs(max_vel))
+  , max_acc_(fabs(max_acc))
+  , max_dec_(fabs(max_dec))
+  , start_pos_(0)
+  , end_pos_(0)
+  , start_vel_(0)
+  , a1_(0)
+  , a2_(0)
+  , a3_(0)
+  , b1_(0)
+  , b2_(0)
+  , b3_(0)
+  , c1_(0)
+  , c2_(0)
+  , c3_(0)
+  , t_a_(0)
+  , t_b_(0)
+  , t_c_(0)
+{
+}
+
+void VelocityProfileATrap::SetProfile(double pos1, double pos2)
+{
+  start_pos_ = pos1;
+  end_pos_ = pos2;
+  start_vel_ = 0.0;
+
+  if (start_pos_ == end_pos_)
+  {
+    // goal already reached, set everything to zero
+    setEmptyProfile();
+    return;
+  }
+  else
+  {
+    // get the sign
+    double s = ((end_pos_ - start_pos_) > 0.0) - ((end_pos_ - start_pos_) < 0.0);
+
+    double dis = fabs(end_pos_ - start_pos_);
+    double min_dis_max_vel = 0.5 * max_vel_ * max_vel_ / max_acc_ + 0.5 * max_vel_ * max_vel_ / max_dec_;
+
+    // max_vel can be reached
+    if (dis > min_dis_max_vel)
+    {
+      // acceleration phase
+      a1_ = start_pos_;
+      a2_ = 0.0;
+      a3_ = s * max_acc_ / 2.0;
+      t_a_ = max_vel_ / max_acc_;
+
+      // constant phase
+      b1_ = a1_ + a3_ * t_a_ * t_a_;
+      b2_ = s * max_vel_;
+      b3_ = 0;
+      t_b_ = (dis - min_dis_max_vel) / max_vel_;
+
+      // deceleration phase
+      c1_ = b1_ + b2_ * (t_b_);
+      c2_ = s * max_vel_;
+      c3_ = -s * max_dec_ / 2.0;
+      t_c_ = max_vel_ / max_dec_;
+    }
+    // max_vel cannot be reached, no constant velocity phase
+    else
+    {
+      // compute the new velocity of constant phase
+      double new_vel = s * sqrt(2.0 * dis * max_acc_ * max_dec_ / (max_acc_ + max_dec_));
+
+      // acceleration phase
+      a1_ = start_pos_;
+      a2_ = 0.0;
+      a3_ = s * max_acc_ / 2.0;
+      t_a_ = fabs(new_vel) / max_acc_;
+
+      // constant phase
+      b1_ = a1_ + a3_ * t_a_ * t_a_;
+      b2_ = new_vel;
+      b3_ = 0;
+      t_b_ = 0.0;
+
+      // deceleration phase
+      c1_ = b1_;
+      c2_ = new_vel;
+      c3_ = -s * max_dec_ / 2.0;
+      t_c_ = fabs(new_vel) / max_dec_;
+    }
+  }
+}
+
+void VelocityProfileATrap::SetProfileDuration(double pos1, double pos2, double duration)
+{
+  // compute the fastest case
+  SetProfile(pos1, pos2);
+
+  // cannot be faster
+  if (Duration() > duration)
+  {
+    return;
+  }
+
+  double ratio = Duration() / duration;
+  a2_ *= ratio;
+  a3_ *= ratio * ratio;
+  b2_ *= ratio;
+  b3_ *= ratio * ratio;
+  c2_ *= ratio;
+  c3_ *= ratio * ratio;
+  t_a_ /= ratio;
+  t_b_ /= ratio;
+  t_c_ /= ratio;
+}
+
+bool VelocityProfileATrap::setProfileAllDurations(double pos1, double pos2, double duration1, double duration2,
+                                                  double duration3)
+{
+  // compute the fastest case
+  SetProfile(pos1, pos2);
+
+  assert(duration1 > 0);
+  assert(duration3 > 0);
+
+  // cannot be faster
+  if (Duration() - (duration1 + duration2 + duration3) > KDL::epsilon)
+  {
+    return false;
+  }
+
+  // get the sign
+  double s = ((end_pos_ - start_pos_) > 0.0) - ((end_pos_ - start_pos_) < 0.0);
+  // compute the new velocity/acceleration/decel4eration
+  double dis = fabs(end_pos_ - start_pos_);
+  double new_vel = s * dis / (duration2 + duration1 / 2.0 + duration3 / 2.0);
+  double new_acc = new_vel / duration1;
+  double new_dec = -new_vel / duration3;
+  if ((fabs(new_vel) - max_vel_ > KDL::epsilon) || (fabs(new_acc) - max_acc_ > KDL::epsilon) ||
+      (fabs(new_dec) - max_dec_ > KDL::epsilon))
+  {
+    return false;
+  }
+  else
+  {
+    // set profile
+    start_pos_ = pos1;
+    end_pos_ = pos2;
+
+    // acceleration phase
+    a1_ = start_pos_;
+    a2_ = 0.0;
+    a3_ = new_acc / 2.0;
+    t_a_ = duration1;
+
+    // constant phase
+    b1_ = a1_ + a3_ * t_a_ * t_a_;
+    b2_ = new_vel;
+    b3_ = 0;
+    t_b_ = duration2;
+
+    // deceleration phase
+    c1_ = b1_ + b2_ * (t_b_);
+    c2_ = new_vel;
+    c3_ = new_dec / 2.0;
+    t_c_ = duration3;
+
+    return true;
+  }
+}
+
+bool VelocityProfileATrap::setProfileStartVelocity(double pos1, double pos2, double vel1)
+{
+  if (vel1 == 0)
+  {
+    SetProfile(pos1, pos2);
+    return true;
+  }
+
+  // get the sign
+  double s = ((pos2 - pos1) > 0.0) - ((pos2 - pos1) < 0.0);
+
+  if (s * vel1 <= 0)
+  {
+    // TODO initial velocity is in opposite derection of start-end vector
+    return false;
+  }
+
+  start_pos_ = pos1;
+  end_pos_ = pos2;
+  start_vel_ = vel1;
+
+  // minimum brake distance
+  double min_brake_dis = 0.5 * vel1 * vel1 / max_dec_;
+  // minimum distance to reach the maximum velocity
+  double min_dis_max_vel =
+      0.5 * (max_vel_ - start_vel_) * (max_vel_ + start_vel_) / max_acc_ + 0.5 * max_vel_ * max_vel_ / max_dec_;
+  double dis = fabs(end_pos_ - start_pos_);
+
+  // brake, acceleration in opposite direction, deceleration
+  if (dis <= min_brake_dis)
+  {
+    // brake to zero velocity
+    t_a_ = fabs(start_vel_ / max_dec_);
+    a1_ = start_pos_;
+    a2_ = start_vel_;
+    a3_ = -0.5 * s * max_dec_;
+
+    // compute the velocity in opposite direction
+    double new_vel = -s * sqrt(2.0 * fabs(min_brake_dis - dis) * max_acc_ * max_dec_ / (max_acc_ + max_dec_));
+
+    // acceleration in opposite direction
+    t_b_ = fabs(new_vel / max_acc_);
+    b1_ = a1_ + a2_ * t_a_ + a3_ * t_a_ * t_a_;
+    b2_ = 0;
+    b3_ = -s * 0.5 * max_acc_;
+
+    // deceleration to zero
+    t_c_ = fabs(new_vel / max_dec_);
+    c1_ = b1_ + b2_ * t_b_ + b3_ * t_b_ * t_b_;
+    c2_ = new_vel;
+    c3_ = 0.5 * s * max_dec_;
+  }
+  else if (dis <= min_dis_max_vel)
+  {
+    // compute the reached velocity
+    double new_vel =
+        s * sqrt((dis + 0.5 * start_vel_ * start_vel_ / max_acc_) * 2.0 * max_acc_ * max_dec_ / (max_acc_ + max_dec_));
+
+    // acceleration to new velocity
+    t_a_ = fabs(new_vel - start_vel_) / max_acc_;
+    a1_ = start_pos_;
+    a2_ = start_vel_;
+    a3_ = 0.5 * s * max_acc_;
+
+    // no constant velocity phase
+    t_b_ = 0;
+    b1_ = a1_ + a2_ * t_a_ + a3_ * t_a_ * t_a_;
+    b2_ = 0;
+    b3_ = 0;
+
+    // deceleration to zero velocity
+    t_c_ = fabs(new_vel / max_dec_);
+    c1_ = b1_;
+    c2_ = new_vel;
+    c3_ = -0.5 * s * max_dec_;
+  }
+  else
+  {
+    // acceleration to max velocity
+    t_a_ = fabs(max_vel_ - start_vel_) / max_acc_;
+    a1_ = start_pos_;
+    a2_ = start_vel_;
+    a3_ = 0.5 * s * max_acc_;
+
+    // constant velocity
+    t_b_ = (dis - min_dis_max_vel) / max_vel_;
+    b1_ = a1_ + a2_ * t_a_ + a3_ * t_a_ * t_a_;
+    b2_ = max_vel_;
+    b3_ = 0;
+
+    // deceleration to zero velocity
+    t_c_ = max_vel_ / max_dec_;
+    c1_ = b1_ + b2_ * t_b_ + b3_ * t_b_ * t_b_;
+    c2_ = max_vel_;
+    c3_ = -0.5 * s * max_dec_;
+  }
+
+  return true;
+}
+
+double VelocityProfileATrap::Duration() const
+{
+  return t_a_ + t_b_ + t_c_;
+}
+
+double VelocityProfileATrap::Pos(double time) const
+{
+  if (time < 0)
+  {
+    return start_pos_;
+  }
+  else if (time < t_a_)
+  {
+    return a1_ + time * (a2_ + a3_ * time);
+  }
+  else if (time < (t_a_ + t_b_))
+  {
+    return b1_ + (time - t_a_) * (b2_ + b3_ * (time - t_a_));
+  }
+  else if (time <= (t_a_ + t_b_ + t_c_))
+  {
+    return c1_ + (time - t_a_ - t_b_) * (c2_ + c3_ * (time - t_a_ - t_b_));
+  }
+  else
+  {
+    return end_pos_;
+  }
+}
+
+double VelocityProfileATrap::Vel(double time) const
+{
+  if (time < 0)
+  {
+    return start_vel_;
+  }
+  else if (time < t_a_)
+  {
+    return a2_ + 2 * a3_ * time;
+  }
+  else if (time < (t_a_ + t_b_))
+  {
+    return b2_ + 2 * b3_ * (time - t_a_);
+  }
+  else if (time <= (t_a_ + t_b_ + t_c_))
+  {
+    return c2_ + 2 * c3_ * (time - t_a_ - t_b_);
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+double VelocityProfileATrap::Acc(double time) const
+{
+  if (time <= 0)
+  {
+    return 0;
+  }
+  else if (time <= t_a_)
+  {
+    return 2 * a3_;
+  }
+  else if (time <= (t_a_ + t_b_))
+  {
+    return 2 * b3_;
+  }
+  else if (time <= (t_a_ + t_b_ + t_c_))
+  {
+    return 2 * c3_;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+KDL::VelocityProfile* VelocityProfileATrap::Clone() const
+{
+  VelocityProfileATrap* trap = new VelocityProfileATrap(max_vel_, max_acc_, max_dec_);
+  trap->setProfileAllDurations(this->start_pos_, this->end_pos_, this->t_a_, this->t_b_, this->t_c_);
+  return trap;
+}
+
+// LCOV_EXCL_START // No tests for the print function
+void VelocityProfileATrap::Write(std::ostream& os) const
+{
+  os << *this;
+}
+
+std::ostream& operator<<(std::ostream& os, const VelocityProfileATrap& p)
+{
+  os << "Asymmetric Trapezoid " << std::endl
+     << "maximal velocity: " << p.max_vel_ << std::endl
+     << "maximal acceleration: " << p.max_acc_ << std::endl
+     << "maximal deceleration: " << p.max_dec_ << std::endl
+     << "start position: " << p.start_pos_ << std::endl
+     << "end position: " << p.end_pos_ << std::endl
+     << "start velocity: " << p.start_vel_ << std::endl
+     << "a1: " << p.a1_ << std::endl
+     << "a2: " << p.a2_ << std::endl
+     << "a3: " << p.a3_ << std::endl
+     << "b1: " << p.b1_ << std::endl
+     << "b2: " << p.b2_ << std::endl
+     << "b3: " << p.b3_ << std::endl
+     << "c1: " << p.c1_ << std::endl
+     << "c2: " << p.c2_ << std::endl
+     << "c3: " << p.c3_ << std::endl
+     << "firstPhaseDuration " << p.firstPhaseDuration() << std::endl
+     << "secondPhaseDuration " << p.secondPhaseDuration() << std::endl
+     << "thirdPhaseDuration " << p.thirdPhaseDuration() << std::endl;
+  return os;
+}
+// LCOV_EXCL_STOP
+
+bool VelocityProfileATrap::operator==(const VelocityProfileATrap& other) const
+{
+  return (max_vel_ == other.max_vel_ && max_acc_ == other.max_acc_ && max_dec_ == other.max_dec_ &&
+          start_pos_ == other.start_pos_ && end_pos_ == other.end_pos_ && start_vel_ == other.start_vel_ &&
+          a1_ == other.a1_ && a2_ == other.a2_ && a3_ == other.a3_ && b1_ == other.b1_ && b2_ == other.b2_ &&
+          b3_ == other.b3_ && c1_ == other.c1_ && c2_ == other.c2_ && c3_ == other.c3_ && t_a_ == other.t_a_ &&
+          t_b_ == other.t_b_ && t_c_ == other.t_c_);
+}
+
+VelocityProfileATrap::~VelocityProfileATrap()
+{
+}
+
+void VelocityProfileATrap::setEmptyProfile()
+{
+  a1_ = end_pos_;
+  a2_ = 0;
+  a3_ = 0;
+  b1_ = end_pos_;
+  b2_ = 0;
+  c1_ = end_pos_;
+  c2_ = 0;
+  c3_ = 0;
+
+  t_a_ = 0;
+  t_b_ = 0;
+  t_c_ = 0;
+}
+
+}  // namespace pilz_industrial_motion_planner
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_lin.md b/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_lin.md
new file mode 100644
index 0000000000..4f2abec293
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_lin.md
@@ -0,0 +1,62 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+# Acceptance Test LIN Motion using the MoveIt Motion Planning Plugin on the real robot
+This test checks that the real robot system is able to perform a LIN Motion to a goal state given by the user. The test is performed using the moveit motion planning plugin. Note that before you can apply the LIN command the robot has
+to be moved out of singularities.
+
+## Prerequisites
+  - Properly connect and startup the robot. Make sure a emergency stop is within reach.
+
+## Test Sequence:
+  1. Bringup can: `sudo ip link set can0 up type can bitrate 1000000`
+  2. Run `roslaunch moveit_resources_prbt_moveit_config moveit_planning_execution.launch sim:=False pipeline:=pilz_industrial_motion_planner`
+  3. In the motion planing widget (lower left part of moveit) choose PTP in the dropdown below "Trapezoidal Command Planner" (see image)
+![moveit_1](img/acceptance_test_lin_img1.png)
+  4. Switch to the tab "Planning" in the moveit planning plugin. Move the ball handle to select a singularity free position. Click on "plan and execute".
+![moveit_2](img/acceptance_test_lin_img2.png)
+  5. The motion planning widget (lower left part of moveit) choose LIN in the dropdown below "Trapezoidal Command Planner" (see image)
+![moveit_1](img/acceptance_test_lin_img3.png)
+  6. Switch to the tab "Planning" in the moveit planning plugin. Move the ball handle the select goal pose.
+     Move the robot about 10-20cm choose a goal where the configuration has no jumps. Set velocity and acceleration scaling to 0.1. Click on "plan and execute".
+![moveit_2](img/acceptance_test_lin_img4.png)
+
+## Expected Results:
+  1. Can should be visible with `ifconfig` displayed as can0
+  2. A -click- indicates the enabling of the drives.
+  3. PTP was available for selection
+  4. The robot should move to the desired position.
+  5. LIN was available for selection
+  6. The robot should move to the desired position via a straight line.
+---
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_ptp.md b/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_ptp.md
new file mode 100644
index 0000000000..732ec8ec4f
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_ptp.md
@@ -0,0 +1,54 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+# Acceptance Test PTP Motion using the MoveIt Motion Planning Plugin on the real robot
+This test checks that the real robot system is able to perform a PTP Motion to a goal state given by the user. The test is performed using the moveit motion planning plugin.
+
+## Prerequisites
+  - Properly connect and startup the robot. Make sure a emergency stop is within reach.
+
+## Test Sequence:
+  1. Bringup can: `sudo ip link set can0 up type can bitrate 1000000`
+  2. Run `roslaunch moveit_resources_prbt_moveit_config moveit_planning_execution.launch sim:=False pipeline:=pilz_industrial_motion_planner`
+  3. The motion planning widget (lower left part of moveit) choose PTP in the dropdown below "Trapezoidal Command Planner" (see image)
+![moveit_1](img/acceptance_test_ptp_img1.png)
+  4. Switch to the tab "Planning" in the moveit planning plugin. Move the ball handle the select goal pose. Click on "plan and execute".
+![moveit_2](img/acceptance_test_ptp_img2.png)
+
+## Expected Results:
+  1. Can should be visible with `ifconfig` displayed as can0
+  2. A -click- indicates the enabling of the drives.
+  3. PTP was available for selection
+  4. The robot should move to the desired position. All axis should start and stop at the same time.
+---
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img1.png b/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img1.png
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diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp
new file mode 100644
index 0000000000..9eef3bf195
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp
@@ -0,0 +1,661 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+#include <string>
+
+#include <gtest/gtest.h>
+
+#include <functional>
+#include <ros/ros.h>
+#include <ros/time.h>
+
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit_msgs/DisplayTrajectory.h>
+#include <moveit_msgs/MotionPlanResponse.h>
+
+#include <tf2_eigen/tf2_eigen.h>
+
+#include <pilz_industrial_motion_planner_testutils/gripper.h>
+#include <pilz_industrial_motion_planner_testutils/lin.h>
+#include <pilz_industrial_motion_planner_testutils/sequence.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+
+#include "test_utils.h"
+
+#include "pilz_industrial_motion_planner/command_list_manager.h"
+#include "pilz_industrial_motion_planner/tip_frame_getter.h"
+
+const std::string ROBOT_DESCRIPTION_STR{ "robot_description" };
+const std::string EMPTY_VALUE{ "" };
+
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+
+using testutils::hasStrictlyIncreasingTime;
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner_testutils;
+
+static std::string createManipulatorJointName(const size_t& joint_number)
+{
+  return std::string("prbt_joint_") + std::to_string(joint_number + 1);
+}
+
+static std::string createGripperJointName(const size_t& joint_number)
+{
+  switch (joint_number)
+  {
+    case 0:
+      return "prbt_gripper_finger_left_joint";
+    default:
+      break;
+  }
+  throw std::runtime_error("Could not create gripper joint name");
+}
+
+class IntegrationTestCommandListManager : public testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
+  std::shared_ptr<pilz_industrial_motion_planner::CommandListManager> manager_;
+  planning_scene::PlanningScenePtr scene_;
+  planning_pipeline::PlanningPipelinePtr pipeline_;
+
+  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> data_loader_;
+};
+
+void IntegrationTestCommandListManager::SetUp()
+{
+  // get necessary parameters
+  if (!robot_model_)
+  {
+    FAIL() << "Robot model could not be loaded.";
+  }
+
+  std::string test_data_file_name;
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name));
+
+  // load the test data provider
+  data_loader_.reset(
+      new pilz_industrial_motion_planner_testutils::XmlTestdataLoader{ test_data_file_name, robot_model_ });
+  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
+
+  // Define and set the current scene and manager test object
+  manager_ = std::make_shared<pilz_industrial_motion_planner::CommandListManager>(ph_, robot_model_);
+  scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
+  pipeline_ = std::make_shared<planning_pipeline::PlanningPipeline>(robot_model_, ph_);
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ *
+ */
+TEST_F(IntegrationTestCommandListManager, TestExceptionErrorCodeMapping)
+{
+  std::shared_ptr<NegativeBlendRadiusException> nbr_ex{ new NegativeBlendRadiusException("") };
+  EXPECT_EQ(nbr_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  std::shared_ptr<LastBlendRadiusNotZeroException> lbrnz_ex{ new LastBlendRadiusNotZeroException("") };
+  EXPECT_EQ(lbrnz_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  std::shared_ptr<StartStateSetException> sss_ex{ new StartStateSetException("") };
+  EXPECT_EQ(sss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+
+  std::shared_ptr<OverlappingBlendRadiiException> obr_ex{ new OverlappingBlendRadiiException("") };
+  EXPECT_EQ(obr_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  std::shared_ptr<PlanningPipelineException> pp_ex{ new PlanningPipelineException("") };
+  EXPECT_EQ(pp_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+}
+
+/**
+ * @brief Tests the concatenation of three motion commands.
+ *
+ * Test Sequence:
+ *    1. Generate request with three trajectories and zero blend radius.
+ *    2. Generate request with first trajectory and zero blend radius.
+ *    3. Generate request with second trajectory and zero blend radius.
+ *    4. Generate request with third trajectory and zero blend radius.
+ *
+ * Expected Results:
+ *    1. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive
+ *    2. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive
+ *    3. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive
+ *    4. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive
+ *       resulting duration in step1 is approximately step2 + step3 + step4
+ */
+TEST_F(IntegrationTestCommandListManager, concatThreeSegments)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  ASSERT_GE(seq.size(), 3u);
+  seq.erase(3, seq.size());
+  seq.setAllBlendRadiiToZero();
+
+  RobotTrajCont res123_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res123_vec.size(), 1u);
+  EXPECT_GT(res123_vec.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res123_vec.front())) << "Time steps not strictly positively increasing";
+
+  ROS_INFO("step 2: only first segment");
+  moveit_msgs::MotionSequenceRequest req_1;
+  req_1.items.resize(1);
+  req_1.items.at(0).req = seq.getCmd(0).toRequest();
+  req_1.items.at(0).blend_radius = 0.;
+  RobotTrajCont res1_vec{ manager_->solve(scene_, pipeline_, req_1) };
+  EXPECT_EQ(res1_vec.size(), 1u);
+  EXPECT_GT(res1_vec.front()->getWayPointCount(), 0u);
+  EXPECT_EQ(res1_vec.front()->getFirstWayPoint().getVariableCount(),
+            req_1.items.at(0).req.start_state.joint_state.name.size());
+
+  ROS_INFO("step 3: only second segment");
+  moveit_msgs::MotionSequenceRequest req_2;
+  req_2.items.resize(1);
+  req_2.items.at(0).req = seq.getCmd(1).toRequest();
+  req_2.items.at(0).blend_radius = 0.;
+  RobotTrajCont res2_vec{ manager_->solve(scene_, pipeline_, req_2) };
+  EXPECT_EQ(res2_vec.size(), 1u);
+  EXPECT_GT(res2_vec.front()->getWayPointCount(), 0u);
+  EXPECT_EQ(res2_vec.front()->getFirstWayPoint().getVariableCount(),
+            req_2.items.at(0).req.start_state.joint_state.name.size());
+
+  ROS_INFO("step 4: only third segment");
+  moveit_msgs::MotionSequenceRequest req_3;
+  req_3.items.resize(1);
+  req_3.items.at(0).req = seq.getCmd(2).toRequest();
+  req_3.items.at(0).blend_radius = 0.;
+  RobotTrajCont res3_vec{ manager_->solve(scene_, pipeline_, req_3) };
+  EXPECT_EQ(res3_vec.size(), 1u);
+  EXPECT_GT(res3_vec.front()->getWayPointCount(), 0u);
+  EXPECT_EQ(res3_vec.front()->getFirstWayPoint().getVariableCount(),
+            req_3.items.at(0).req.start_state.joint_state.name.size());
+
+  // durations for the different segments
+  auto t1_2_3 = res123_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
+  auto t1 = res1_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
+  auto t2 = res2_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
+  auto t3 = res3_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
+  ROS_DEBUG_STREAM("total time: " << t1_2_3 << " t1:" << t1 << " t2:" << t2 << " t3:" << t3);
+  EXPECT_LT(fabs((t1_2_3 - t1 - t2 - t3)), 0.4);
+}
+
+/**
+ * @brief Tests if times are strictly increasing with selective blending
+ *
+ * Test Sequence:
+ *    1. Generate request with three trajectories where only the first has a
+ * blend radius.
+ *    1. Generate request with three trajectories where only the second has a
+ * blend radius.
+ *
+ * Expected Results:
+ *    1. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly increasing in time
+ *    2. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly increasing in time
+ */
+TEST_F(IntegrationTestCommandListManager, concatSegmentsSelectiveBlending)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  ASSERT_GE(seq.size(), 3u);
+  seq.erase(3, seq.size());
+  seq.setAllBlendRadiiToZero();
+  seq.setBlendRadius(0, 0.1);
+  RobotTrajCont res1{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res1.size(), 1u);
+  EXPECT_GT(res1.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res1.front())) << "Time steps not strictly positively increasing";
+
+  seq.setAllBlendRadiiToZero();
+  seq.setBlendRadius(1, 0.1);
+  RobotTrajCont res2{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res2.size(), 1u);
+  EXPECT_GT(res2.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res2.front())) << "Time steps not strictly positively increasing";
+}
+
+/**
+ * @brief Tests the concatenation of two ptp commands
+ *
+ * Test Sequence:
+ *    1. Generate request with two PTP trajectories and zero blend radius.
+ *
+ * Expected Results:
+ *    1. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive.
+ */
+TEST_F(IntegrationTestCommandListManager, concatTwoPtpSegments)
+{
+  Sequence seq{ data_loader_->getSequence("PtpPtpSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  seq.setAllBlendRadiiToZero();
+
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_vec.size(), 1u);
+  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
+}
+
+/**
+ * @brief Tests the concatenation of ptp and a lin command
+ *
+ * Test Sequence:
+ *    1. Generate request with PTP and LIN trajectory and zero blend radius.
+ *
+ * Expected Results:
+ *    1. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive.
+ */
+TEST_F(IntegrationTestCommandListManager, concatPtpAndLinSegments)
+{
+  Sequence seq{ data_loader_->getSequence("PtpLinSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  seq.setAllBlendRadiiToZero();
+
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_vec.size(), 1u);
+  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
+}
+
+/**
+ * @brief Tests the concatenation of a lin and a ptp command
+ *
+ * Test Sequence:
+ *    1. Generate request with LIN and PTP trajectory and zero blend radius.
+ *
+ * Expected Results:
+ *    1. Generation of concatenated trajectory is successful.
+ *       All time steps of resulting trajectory are strictly positive.
+ */
+TEST_F(IntegrationTestCommandListManager, concatLinAndPtpSegments)
+{
+  Sequence seq{ data_loader_->getSequence("LinPtpSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  seq.setAllBlendRadiiToZero();
+
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_vec.size(), 1u);
+  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
+  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
+}
+
+/**
+ * @brief Tests the blending of motion commands
+ *
+ *  - Test Sequence:
+ *    1. Generate request with two trajectories and request blending.
+ *
+ *  - Expected Results:
+ *    1. blending is successful, result trajectory is not empty
+ */
+TEST_F(IntegrationTestCommandListManager, blendTwoSegments)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_EQ(seq.size(), 2u);
+  moveit_msgs::MotionSequenceRequest req{ seq.toRequest() };
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, req) };
+  EXPECT_EQ(res_vec.size(), 1u);
+  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
+  EXPECT_EQ(res_vec.front()->getFirstWayPoint().getVariableCount(),
+            req.items.at(0).req.start_state.joint_state.name.size());
+
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<moveit_msgs::DisplayTrajectory>("my_planned_path", 1);
+  ros::Duration duration(1.0);  // wait to notify possible subscribers
+  duration.sleep();
+
+  moveit_msgs::DisplayTrajectory display_trajectory;
+  moveit_msgs::RobotTrajectory rob_traj_msg;
+  res_vec.front()->getRobotTrajectoryMsg(rob_traj_msg);
+  display_trajectory.trajectory.push_back(rob_traj_msg);
+  pub.publish(display_trajectory);
+}
+
+// ------------------
+// FAILURE cases
+// ------------------
+
+/**
+ * @brief Tests sending an empty blending request.
+ *
+ * Test Sequence:
+ *    1. Generate empty request and request blending.
+ *
+ * Expected Results:
+ *    1. blending is successful, result trajectory container is empty
+ */
+TEST_F(IntegrationTestCommandListManager, emptyList)
+{
+  moveit_msgs::MotionSequenceRequest empty_list;
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, empty_list) };
+  EXPECT_TRUE(res_vec.empty());
+}
+
+/**
+ * @brief Checks that exception is thrown if first goal is not reachable.
+ *
+ * Test Sequence:
+ *    1. Generate request with first goal out of workspace.
+ *
+ * Expected Results:
+ *    1. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, firstGoalNotReachable)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  LinCart& lin{ seq.getCmd<LinCart>(0) };
+  lin.getGoalConfiguration().getPose().position.y = 2700;
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), PlanningPipelineException);
+}
+
+/**
+ * @brief Checks that exception is thrown if second goal has a start state.
+ *
+ * Test Sequence:
+ *    1. Generate request, second goal has an invalid start state set.
+ *
+ * Expected Results:
+ *    1. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, startStateNotFirstGoal)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  const LinCart& lin{ seq.getCmd<LinCart>(0) };
+  moveit_msgs::MotionSequenceRequest req{ seq.toRequest() };
+  req.items.at(1).req.start_state = lin.getGoalConfiguration().toMoveitMsgsRobotState();
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, req), StartStateSetException);
+}
+
+/**
+ * @brief Checks that exception is thrown in case of blending request with
+ * negative blend_radius.
+ *
+ *  Test Sequence:
+ *    1. Generate request, first goal has negative blend_radius.
+ *
+ *  Expected Results:
+ *    1. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, blendingRadiusNegative)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  seq.setBlendRadius(0, -0.3);
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), NegativeBlendRadiusException);
+}
+
+/**
+ * @brief Checks that exception is thrown if last blend radius is not zero.
+ *
+ *
+ * Test Sequence:
+ *    1. Generate request, second goal has non-zero blend_radius.
+ *
+ * Expected Results:
+ *    1. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, lastBlendingRadiusNonZero)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_EQ(seq.size(), 2u);
+  seq.setBlendRadius(1, 0.03);
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), LastBlendRadiusNotZeroException);
+}
+
+/**
+ * @brief Checks that exception is thrown if blend radius is greater than the
+ * segment.
+ *
+ * Test Sequence:
+ *    1. Generate request with huge blending radius, so that trajectories are
+ *       completely inside
+ *
+ * Expected Results:
+ *    2. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, blendRadiusGreaterThanSegment)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  seq.setBlendRadius(0, 42.0);
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), BlendingFailedException);
+}
+
+/**
+ * @brief Checks that exception is thrown if two consecutive blend radii
+ * overlap.
+ *
+ * Test Sequence:
+ *    1. Generate request with three trajectories
+ *    2. Increase second blend radius, so that the radii overlap
+ *
+ * Expected Results:
+ *    1. blending succeeds, result trajectory is not empty
+ *    2. Exception is thrown.
+ */
+TEST_F(IntegrationTestCommandListManager, blendingRadiusOverlapping)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  ASSERT_GE(seq.size(), 3u);
+  seq.erase(3, seq.size());
+
+  RobotTrajCont res_valid_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_valid_vec.size(), 1u);
+  EXPECT_GT(res_valid_vec.front()->getWayPointCount(), 0u);
+
+  // calculate distance from first to second goal
+  const PtpJointCart& ptp{ seq.getCmd<PtpJointCart>(0) };
+  const CircInterimCart& circ{ seq.getCmd<CircInterimCart>(1) };
+  Eigen::Isometry3d p1, p2;
+  tf2::fromMsg(ptp.getGoalConfiguration().getPose(), p1);
+  tf2::fromMsg(circ.getGoalConfiguration().getPose(), p2);
+  auto distance = (p2.translation() - p1.translation()).norm();
+
+  seq.setBlendRadius(1, (distance - seq.getBlendRadius(0) + 0.01));  // overlapping radii
+  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), OverlappingBlendRadiiException);
+}
+
+/**
+ * @brief Tests if the planned execution time scales correctly with the number
+ * of repetitions.
+ *
+ * Test Sequence:
+ *    1. Generate trajectory and save calculated execution time.
+ *    2. Generate request with repeated path along the points from Test Step 1
+ *      (repeated two times).
+ *
+ * Expected Results:
+ *    1. Blending succeeds, result trajectory is not empty.
+ *    2. Blending succeeds, planned execution time should be approx N times
+ *       the single planned execution time.
+ */
+TEST_F(IntegrationTestCommandListManager, TestExecutionTime)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  RobotTrajCont res_single_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_single_vec.size(), 1u);
+  EXPECT_GT(res_single_vec.front()->getWayPointCount(), 0u);
+
+  moveit_msgs::MotionSequenceRequest req{ seq.toRequest() };
+  // Create large request by making copies of the original sequence commands
+  // and adding them to the end of the original sequence.
+  const size_t n{ req.items.size() };
+  for (size_t i = 0; i < n; ++i)
+  {
+    moveit_msgs::MotionSequenceItem item{ req.items.at(i) };
+    if (i == 0)
+    {
+      // Remove start state because only the first request
+      // is allowed to have a start state in a sequence.
+      item.req.start_state = moveit_msgs::RobotState();
+    }
+    req.items.push_back(item);
+  }
+
+  RobotTrajCont res_n_vec{ manager_->solve(scene_, pipeline_, req) };
+  EXPECT_EQ(res_n_vec.size(), 1u);
+  EXPECT_GT(res_n_vec.front()->getWayPointCount(), 0u);
+
+  const double trajectory_time_1 =
+      res_single_vec.front()->getWayPointDurationFromStart(res_single_vec.front()->getWayPointCount() - 1);
+  const double trajectory_time_n =
+      res_n_vec.front()->getWayPointDurationFromStart(res_n_vec.front()->getWayPointCount() - 1);
+  double multiplicator = req.items.size() / n;
+  EXPECT_LE(trajectory_time_n, trajectory_time_1 * multiplicator);
+  EXPECT_GE(trajectory_time_n, trajectory_time_1 * multiplicator * 0.5);
+}
+
+/**
+ * @brief Tests if it possible to send requests which contain more than
+ * one group.
+ *
+ * Please note: This test is still quite trivial. It does not check the
+ * "correctness" of a calculated trajectory. It only checks that for each
+ * group and group change there exists a calculated trajectory.
+ *
+ */
+TEST_F(IntegrationTestCommandListManager, TestDifferentGroups)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequenceWithGripper") };
+  ASSERT_GE(seq.size(), 1u);
+  // Count the number of group changes in the given sequence
+  unsigned int num_groups{ 1 };
+  std::string last_group_name{ seq.getCmd(0).getPlanningGroup() };
+  for (size_t i = 1; i < seq.size(); ++i)
+  {
+    if (seq.getCmd(i).getPlanningGroup() != last_group_name)
+    {
+      ++num_groups;
+      last_group_name = seq.getCmd(i).getPlanningGroup();
+    }
+  }
+
+  RobotTrajCont res_single_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_single_vec.size(), num_groups);
+
+  for (const auto& res : res_single_vec)
+  {
+    EXPECT_GT(res->getWayPointCount(), 0u);
+  }
+}
+
+/**
+ * @brief Checks that no exception is thrown if two gripper commands are
+ * blended.
+ *
+ */
+TEST_F(IntegrationTestCommandListManager, TestGripperCmdBlending)
+{
+  Sequence seq{ data_loader_->getSequence("PureGripperSequence") };
+  ASSERT_GE(seq.size(), 2u);
+  ASSERT_TRUE(seq.cmdIsOfType<Gripper>(0));
+  ASSERT_TRUE(seq.cmdIsOfType<Gripper>(1));
+
+  // Ensure that blending is requested for gripper commands.
+  seq.setBlendRadius(0, 1.0);
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_EQ(res_vec.size(), 1u);
+}
+
+/**
+ * @brief Tests the execution of a sequence in which each group states a start
+ * state only consisting of joints of the corresonding group.
+ *
+ * Test Sequence:
+ *    1. Create sequence request for which each start state only consists of
+ *        joints of the corresonding group
+ *
+ * Expected Results:
+ *    1. Trajectory generation is successful, result trajectory is not empty.
+ *
+ *
+ */
+TEST_F(IntegrationTestCommandListManager, TestGroupSpecificStartState)
+{
+  using std::placeholders::_1;
+
+  Sequence seq{ data_loader_->getSequence("ComplexSequenceWithGripper") };
+  ASSERT_GE(seq.size(), 4u);
+  seq.erase(4, seq.size());
+
+  Gripper& gripper{ seq.getCmd<Gripper>(0) };
+  gripper.getStartConfiguration().setCreateJointNameFunc(std::bind(&createGripperJointName, _1));
+  // By deleting the model we guarantee that the start state only consists
+  // of joints of the gripper group without the manipulator
+  gripper.getStartConfiguration().clearModel();
+
+  PtpJointCart& ptp{ seq.getCmd<PtpJointCart>(1) };
+  ptp.getStartConfiguration().setCreateJointNameFunc(std::bind(&createManipulatorJointName, _1));
+  // By deleting the model we guarantee that the start state only consists
+  // of joints of the manipulator group without the gripper
+  ptp.getStartConfiguration().clearModel();
+
+  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
+  EXPECT_GE(res_vec.size(), 1u);
+  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
+}
+
+/**
+ * @brief Checks that exception is thrown if Tip-Frame is requested for
+ * a group without a solver.
+ */
+TEST_F(IntegrationTestCommandListManager, TestGetSolverTipFrameForSolverlessGroup)
+{
+  Gripper gripper_cmd{ data_loader_->getGripper("open_gripper") };
+  EXPECT_THROW(getSolverTipFrame(robot_model_->getJointModelGroup(gripper_cmd.getPlanningGroup())), NoSolverException);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_command_list_manager");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::NodeHandle nh;
+
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.test
new file mode 100644
index 0000000000..1f4eb9489d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.test
@@ -0,0 +1,68 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Load the context with the pg70 -->
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/planning_context.launch" >
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="display_plots" default="false" />
+  <node if="$(arg display_plots)"
+        name="plot_trajectory_msg"
+        pkg="pilz_industrial_motion_planner"
+        type="plot_display_trajectory_msg.py"
+        args="/my_planned_path"  />
+
+  <include ns="integrationtest_command_list_manager" file="$(find moveit_resources_prbt_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <!--test pkg="pilz_industrial_motion_planner" test-name="integrationtest_command_list_manager" type="integrationtest_command_list_manager"
+  time-limit="885.0" launch-prefix="xterm -e gdb - -args" -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_command_list_manager" type="integrationtest_command_list_manager"
+  time-limit="885.0" >
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+  <!--launch-prefix="xterm -e gdb - -args"-->
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp
new file mode 100644
index 0000000000..c724595bd8
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp
@@ -0,0 +1,501 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <eigen_conversions/eigen_msg.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/Constraints.h>
+#include <moveit_msgs/GetMotionPlan.h>
+#include <moveit_msgs/JointConstraint.h>
+#include <pilz_industrial_motion_planner_testutils/command_types_typedef.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+#include <ros/ros.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include "test_utils.h"
+
+const double EPSILON = 1.0e-6;
+const std::string PLAN_SERVICE_NAME = "/plan_kinematic_path";
+
+// Parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE("pose_norm_tolerance");
+const std::string ORIENTATION_NORM_TOLERANCE("orientation_norm_tolerance");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+
+using namespace pilz_industrial_motion_planner_testutils;
+
+/**
+ * PLEASE NOTE:
+ * More detailed lin tests are done via unit tests. With the help of the
+ * integration tests, it is only checked that a linear command actually
+ * performs a linear command.
+ */
+class IntegrationTestCommandPlanning : public ::testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+
+  robot_model::RobotModelPtr robot_model_;
+
+  double pose_norm_tolerance_, orientation_norm_tolerance_;
+  std::string planning_group_, target_link_, test_data_file_name_;
+
+  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> test_data_;
+
+  unsigned int num_joints_{ 0 };
+};
+
+void IntegrationTestCommandPlanning::SetUp()
+{
+  // create robot model
+  robot_model_loader::RobotModelLoader model_loader;
+  robot_model_ = model_loader.getModel();
+
+  // get the parameters
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(POSE_TRANSFORM_MATRIX_NORM_TOLERANCE, pose_norm_tolerance_));
+  ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+  ASSERT_TRUE(ph_.getParam(ORIENTATION_NORM_TOLERANCE, orientation_norm_tolerance_));
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+
+  ASSERT_TRUE(ros::service::waitForService(PLAN_SERVICE_NAME, ros::Duration(testutils::DEFAULT_SERVICE_TIMEOUT)));
+
+  // load the test data provider
+  test_data_.reset(
+      new pilz_industrial_motion_planner_testutils::XmlTestdataLoader{ test_data_file_name_, robot_model_ });
+  ASSERT_NE(nullptr, test_data_) << "Failed to load test data by provider.";
+
+  num_joints_ = robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames().size();
+}
+
+/**
+ * @brief Tests if ptp motions with start & goal state given as
+ * joint configuration are executed correctly.
+ *
+ * Test Sequence:
+ *    1. Generate request with joint goal and start state call planning service.
+ *
+ * Expected Results:
+ *    1. Last point of the resulting trajectory is at the goal
+ */
+TEST_F(IntegrationTestCommandPlanning, PtpJoint)
+{
+  ros::NodeHandle node_handle("~");
+  auto ptp{ test_data_->getPtpJoint("Ptp1") };
+
+  moveit_msgs::GetMotionPlan srv;
+  moveit_msgs::MotionPlanRequest req = ptp.toRequest();
+  srv.request.motion_plan_request = req;
+
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response{ srv.response.motion_plan_response };
+
+  // Check the result
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+  trajectory_msgs::JointTrajectory trajectory = response.trajectory.joint_trajectory;
+
+  EXPECT_EQ(trajectory.joint_names.size(), num_joints_) << "Wrong number of jointnames";
+  EXPECT_GT(trajectory.points.size(), 0u) << "There are no points in the trajectory";
+
+  // Check that every point has position, velocity, acceleration
+  for (const auto& point : trajectory.points)
+  {
+    EXPECT_EQ(point.positions.size(), num_joints_);
+    EXPECT_EQ(point.velocities.size(), num_joints_);
+    EXPECT_EQ(point.accelerations.size(), num_joints_);
+  }
+
+  for (size_t i = 0; i < num_joints_; ++i)
+  {
+    EXPECT_NEAR(trajectory.points.back().positions.at(i), req.goal_constraints.back().joint_constraints.at(i).position,
+                10e-10);
+    EXPECT_NEAR(trajectory.points.back().velocities.at(i), 0, 10e-10);
+    // EXPECT_NEAR(trajectory.points.back().accelerations.at(i), 0, 10e-10); //
+    // TODO what is expected
+  }
+}
+
+/**
+ * @brief Tests if ptp motions with start state given as joint configuration
+ * and goal state given as cartesian configuration are executed correctly.
+ *
+ * Test Sequence:
+ *    1. Generate request with pose goal and start state call planning service.
+ *
+ * Expected Results:
+ *    1. Last point of the resulting trajectory is at the goal
+ */
+TEST_F(IntegrationTestCommandPlanning, PtpJointCart)
+{
+  ros::NodeHandle node_handle("~");
+
+  PtpJointCart ptp{ test_data_->getPtpJointCart("Ptp1") };
+  ptp.getGoalConfiguration().setPoseTolerance(0.01);
+  ptp.getGoalConfiguration().setAngleTolerance(0.01);
+
+  moveit_msgs::GetMotionPlan srv;
+  srv.request.motion_plan_request = ptp.toRequest();
+
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response{ srv.response.motion_plan_response };
+
+  // Make sure the planning succeeded
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+
+  // Check the result
+  trajectory_msgs::JointTrajectory trajectory = response.trajectory.joint_trajectory;
+
+  EXPECT_EQ(trajectory.joint_names.size(), num_joints_) << "Wrong number of jointnames";
+  EXPECT_GT(trajectory.points.size(), 0u) << "There are no points in the trajectory";
+
+  // Check that every point has position, velocity, acceleration
+  for (const auto& point : trajectory.points)
+  {
+    EXPECT_EQ(point.positions.size(), num_joints_);
+    EXPECT_EQ(point.velocities.size(), num_joints_);
+    EXPECT_EQ(point.accelerations.size(), num_joints_);
+  }
+
+  robot_state::RobotState rstate(robot_model_);
+  rstate.setToDefaultValues();
+  rstate.setJointGroupPositions(planning_group_, response.trajectory.joint_trajectory.points.back().positions);
+  Eigen::Isometry3d tf = rstate.getFrameTransform(target_link_);
+
+  const geometry_msgs::Pose& expected_pose{ ptp.getGoalConfiguration().getPose() };
+
+  EXPECT_NEAR(tf(0, 3), expected_pose.position.x, EPSILON);
+  EXPECT_NEAR(tf(1, 3), expected_pose.position.y, EPSILON);
+  EXPECT_NEAR(tf(2, 3), expected_pose.position.z, EPSILON);
+
+  Eigen::Isometry3d exp_iso3d_pose;
+  tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(expected_pose, exp_iso3d_pose);
+
+  EXPECT_TRUE(Eigen::Quaterniond(tf.rotation()).isApprox(Eigen::Quaterniond(exp_iso3d_pose.rotation()), EPSILON));
+}
+
+/**
+ * @brief Tests if linear motions with start and goal state given
+ * as joint configuration are executed correctly.
+ *
+ * Test Sequence:
+ *  1. Generate request and make service request.
+ *  2. Check if target position correct.
+ *  3. Check if trajectory is linear.
+ *
+ * Expected Results:
+ *  1. Planning request is successful.
+ *  2. Goal position correponds with the given goal position.
+ *  3. Trajectory is a straight line.
+ */
+TEST_F(IntegrationTestCommandPlanning, LinJoint)
+{
+  planning_interface::MotionPlanRequest req{ test_data_->getLinJoint("lin2").toRequest() };
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 1 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  moveit_msgs::GetMotionPlan srv;
+  srv.request.motion_plan_request = req;
+
+  ros::NodeHandle node_handle("~");
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response{ srv.response.motion_plan_response };
+
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 2 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  ASSERT_TRUE(testutils::isGoalReached(robot_model_, response.trajectory.joint_trajectory, req, pose_norm_tolerance_,
+                                       orientation_norm_tolerance_))
+      << "Goal not reached.";
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 3 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  ASSERT_TRUE(testutils::checkCartesianLinearity(robot_model_, response.trajectory.joint_trajectory, req,
+                                                 pose_norm_tolerance_, orientation_norm_tolerance_))
+      << "Trajectory violates cartesian linearity.";
+}
+
+/**
+ * @brief Tests if linear motions with start state given as joint
+ * configuration and goal state given as cartesian configuration
+ * are executed correctly.
+ *
+ * Test Sequence:
+ *  1. Generate request and make service request.
+ *  2. Check if target position correct.
+ *  3. Check if trajectory is linear.
+ *
+ * Expected Results:
+ *  1. Planning request is successful.
+ *  2. Goal position correponds with the given goal position.
+ *  3. Trajectory is a straight line.
+ */
+TEST_F(IntegrationTestCommandPlanning, LinJointCart)
+{
+  ros::NodeHandle node_handle("~");
+  planning_interface::MotionPlanRequest req{ test_data_->getLinJointCart("lin2").toRequest() };
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 1 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  moveit_msgs::GetMotionPlan srv;
+  srv.request.motion_plan_request = req;
+
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response{ srv.response.motion_plan_response };
+
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 2 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  ASSERT_TRUE(testutils::isGoalReached(robot_model_, response.trajectory.joint_trajectory, req, pose_norm_tolerance_,
+                                       orientation_norm_tolerance_))
+      << "Goal not reached.";
+
+  std::cout << "++++++++++" << std::endl;
+  std::cout << "+ Step 3 +" << std::endl;
+  std::cout << "++++++++++" << std::endl;
+
+  ASSERT_TRUE(testutils::checkCartesianLinearity(robot_model_, response.trajectory.joint_trajectory, req,
+                                                 pose_norm_tolerance_, orientation_norm_tolerance_))
+      << "Trajectory violates cartesian linearity.";
+}
+
+/**
+ * @brief Tests if circular motions with start & goal state given as joint
+ * configuration and center point given as cartesian configuration
+ * are executed correctly.
+ *
+ * Test Sequence:
+ *    1. Generate request with JOINT goal and start state call planning service.
+ *
+ * Expected Results:
+ *    1. Last point of the resulting trajectory is at the goal
+ *    2. Waypoints are on the desired circle
+ */
+TEST_F(IntegrationTestCommandPlanning, CircJointCenterCart)
+{
+  ros::NodeHandle node_handle("~");
+
+  CircJointCenterCart circ{ test_data_->getCircJointCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req{ circ.toRequest() };
+
+  moveit_msgs::GetMotionPlan srv;
+  srv.request.motion_plan_request = req;
+
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response{ srv.response.motion_plan_response };
+
+  // Check the result
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+  trajectory_msgs::JointTrajectory trajectory = response.trajectory.joint_trajectory;
+
+  EXPECT_EQ(trajectory.joint_names.size(), num_joints_) << "Wrong number of jointnames";
+  EXPECT_GT(trajectory.points.size(), 0u) << "There are no points in the trajectory";
+
+  // Check that every point has position, velocity, acceleration
+  for (const auto& point : trajectory.points)
+  {
+    EXPECT_EQ(point.positions.size(), num_joints_);
+    EXPECT_EQ(point.velocities.size(), num_joints_);
+    EXPECT_EQ(point.accelerations.size(), num_joints_);
+  }
+
+  // check goal is reached
+  ASSERT_TRUE(testutils::isGoalReached(robot_model_, response.trajectory.joint_trajectory, req, pose_norm_tolerance_,
+                                       orientation_norm_tolerance_))
+      << "Goal not reached.";
+
+  // check all waypoints are on the circle and SLERP
+  robot_state::RobotState waypoint_state(robot_model_);
+  Eigen::Isometry3d waypoint_pose;
+  double x_dist, y_dist, z_dist;
+
+  const geometry_msgs::Pose& aux_pose{ circ.getAuxiliaryConfiguration().getConfiguration().getPose() };
+
+  CircCenterCart circ_cart{ test_data_->getCircCartCenterCart("circ1_center_2") };
+  const geometry_msgs::Pose& start_pose{ circ_cart.getStartConfiguration().getPose() };
+  const geometry_msgs::Pose& goal_pose{ circ_cart.getGoalConfiguration().getPose() };
+
+  x_dist = aux_pose.position.x - start_pose.position.x;
+  y_dist = aux_pose.position.y - start_pose.position.y;
+  z_dist = aux_pose.position.z - start_pose.position.z;
+  double expected_radius = sqrt(x_dist * x_dist + y_dist * y_dist + z_dist * z_dist);
+  for (const auto& waypoint : trajectory.points)
+  {
+    waypoint_state.setToDefaultValues();
+    waypoint_state.setJointGroupPositions(planning_group_, waypoint.positions);
+    waypoint_pose = waypoint_state.getFrameTransform(target_link_);
+
+    // Calculate (and check) distance of current trajectory waypoint from circ
+    // center
+    x_dist = aux_pose.position.x - waypoint_pose(0, 3);
+    y_dist = aux_pose.position.y - waypoint_pose(1, 3);
+    z_dist = aux_pose.position.z - waypoint_pose(2, 3);
+    double actual_radius = sqrt(x_dist * x_dist + y_dist * y_dist + z_dist * z_dist);
+    EXPECT_NEAR(actual_radius, expected_radius, pose_norm_tolerance_) << "Trajectory way point is not on the circle.";
+
+    // Check orientation
+    Eigen::Isometry3d start_pose_iso3d, goal_pose_iso3d;
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(start_pose, start_pose_iso3d);
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(goal_pose, goal_pose_iso3d);
+    EXPECT_TRUE(testutils::checkSLERP(start_pose_iso3d, goal_pose_iso3d, waypoint_pose, orientation_norm_tolerance_));
+  }
+}
+
+/**
+ * @brief Tests if linear motions with start state given as cartesian
+ * configuration and goal state given as cartesian configuration
+ * are executed correctly.
+ *
+ *  - Test Sequence:
+ *    1. Generate request with POSE goal and start state call planning service.
+ *
+ *  - Expected Results:
+ *    1. Last point of the resulting trajectory is at the goal
+ *    2. Waypoints are on the desired circle
+ */
+TEST_F(IntegrationTestCommandPlanning, CircCartCenterCart)
+{
+  ros::NodeHandle node_handle("~");
+
+  CircCenterCart circ{ test_data_->getCircCartCenterCart("circ1_center_2") };
+  moveit_msgs::MotionPlanRequest req{ circ.toRequest() };
+  moveit_msgs::GetMotionPlan srv;
+  srv.request.motion_plan_request = req;
+
+  ros::ServiceClient client = node_handle.serviceClient<moveit_msgs::GetMotionPlan>(PLAN_SERVICE_NAME);
+
+  ASSERT_TRUE(client.call(srv));
+  const moveit_msgs::MotionPlanResponse& response = srv.response.motion_plan_response;
+
+  // Check the result
+  ASSERT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, response.error_code.val) << "Planning failed!";
+  trajectory_msgs::JointTrajectory trajectory = response.trajectory.joint_trajectory;
+
+  EXPECT_EQ(trajectory.joint_names.size(), num_joints_) << "Wrong number of jointnames";
+  EXPECT_GT(trajectory.points.size(), 0u) << "There are no points in the trajectory";
+
+  // Check that every point has position, velocity, acceleration
+  for (const auto& point : trajectory.points)
+  {
+    EXPECT_EQ(point.positions.size(), num_joints_);
+    EXPECT_EQ(point.velocities.size(), num_joints_);
+    EXPECT_EQ(point.accelerations.size(), num_joints_);
+  }
+
+  // check goal is reached
+  ASSERT_TRUE(testutils::isGoalReached(robot_model_, response.trajectory.joint_trajectory, req, pose_norm_tolerance_,
+                                       orientation_norm_tolerance_))
+      << "Goal not reached.";
+
+  // check all waypoints are on the cricle and SLERP
+  robot_state::RobotState waypoint_state(robot_model_);
+  Eigen::Isometry3d waypoint_pose;
+  double x_dist, y_dist, z_dist;
+
+  const geometry_msgs::Pose& start_pose{ circ.getStartConfiguration().getPose() };
+  const geometry_msgs::Pose& aux_pose{ circ.getAuxiliaryConfiguration().getConfiguration().getPose() };
+  const geometry_msgs::Pose& goal_pose{ circ.getGoalConfiguration().getPose() };
+
+  x_dist = aux_pose.position.x - start_pose.position.x;
+  y_dist = aux_pose.position.y - start_pose.position.y;
+  z_dist = aux_pose.position.z - start_pose.position.z;
+  double expected_radius = sqrt(x_dist * x_dist + y_dist * y_dist + z_dist * z_dist);
+  for (const auto& waypoint : trajectory.points)
+  {
+    waypoint_state.setToDefaultValues();
+    waypoint_state.setJointGroupPositions(planning_group_, waypoint.positions);
+    waypoint_pose = waypoint_state.getFrameTransform(target_link_);
+
+    // Calculate (and check) distance of current trajectory waypoint from circ
+    // center
+    x_dist = aux_pose.position.x - waypoint_pose(0, 3);
+    y_dist = aux_pose.position.y - waypoint_pose(1, 3);
+    z_dist = aux_pose.position.z - waypoint_pose(2, 3);
+    double actual_radius = sqrt(x_dist * x_dist + y_dist * y_dist + z_dist * z_dist);
+    EXPECT_NEAR(actual_radius, expected_radius, pose_norm_tolerance_) << "Trajectory way point is not on the circle.";
+
+    // Check orientation
+    Eigen::Isometry3d start_pose_iso3d, goal_pose_iso3d;
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(start_pose, start_pose_iso3d);
+    tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(goal_pose, goal_pose_iso3d);
+    EXPECT_TRUE(testutils::checkSLERP(start_pose_iso3d, goal_pose_iso3d, waypoint_pose, orientation_norm_tolerance_));
+  }
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_command_planning");
+  ros::NodeHandle nh;  // For output via ROS_ERROR etc during test
+
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.test
new file mode 100644
index 0000000000..ba73e8b56b
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.test
@@ -0,0 +1,62 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_command_planning" type="integrationtest_command_planning">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_flange" />
+    <param name="pose_norm_tolerance" value="1.0e-5" />
+    <param name="orientation_norm_tolerance" value="1.0e-3" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_frankaemika_panda.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_frankaemika_panda.test
new file mode 100644
index 0000000000..d360fbcafa
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_frankaemika_panda.test
@@ -0,0 +1,63 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_command_planning_frankaemika_panda" type="integrationtest_command_planning">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml" />
+    <param name="planning_group" value="panda_arm" />
+    <param name="target_link" value="panda_link8" />
+    <param name="pose_norm_tolerance" value="1.0e-5" />
+    <param name="orientation_norm_tolerance" value="1.0e-5" />
+    <param name="joint_prefix" value="panda_joint" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_with_gripper.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_with_gripper.test
new file mode 100644
index 0000000000..64fb904bde
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning_with_gripper.test
@@ -0,0 +1,61 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="gripper" value="pg70"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_command_planning_with_gripper" type="integrationtest_command_planning">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_with_gripper.xml" />
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_tcp" />
+    <param name="pose_norm_tolerance" value="1.0e-5" />
+    <param name="orientation_norm_tolerance" value="1.0e-5" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp
new file mode 100644
index 0000000000..0cd4ac3bcc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp
@@ -0,0 +1,116 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include <moveit/robot_model/joint_model_group.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <ros/ros.h>
+
+#include "pilz_industrial_motion_planner/tip_frame_getter.h"
+
+static const std::string ROBOT_DESCRIPTION_PARAM{ "robot_description" };
+
+namespace pilz_industrial_motion_planner
+{
+class GetSolverTipFrameIntegrationTest : public testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  robot_model::RobotModelConstPtr robot_model_{
+    robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_PARAM).getModel()
+  };
+};
+
+void GetSolverTipFrameIntegrationTest::SetUp()
+{
+  if (!robot_model_)
+  {
+    FAIL() << "Robot model could not be loaded.";
+  }
+}
+
+/**
+ * @brief Check if hasSolver() can be called successfully for the manipulator
+ * group.
+ */
+TEST_F(GetSolverTipFrameIntegrationTest, TestHasSolverManipulator)
+{
+  EXPECT_TRUE(hasSolver(robot_model_->getJointModelGroup("manipulator"))) << "hasSolver returns false for manipulator";
+}
+
+/**
+ * @brief Check if hasSolver() can be called successfully for the gripper group.
+ */
+TEST_F(GetSolverTipFrameIntegrationTest, TestHasSolverGripperGroup)
+{
+  EXPECT_FALSE(hasSolver(robot_model_->getJointModelGroup("gripper"))) << "hasSolver returns true for gripper";
+}
+
+/**
+ * @brief Check if getSolverTipFrame() can be called successfully for the
+ * manipulator group.
+ */
+TEST_F(GetSolverTipFrameIntegrationTest, TestGetTipSolverFrameManipulator)
+{
+  getSolverTipFrame(robot_model_->getJointModelGroup("manipulator"));
+}
+
+/**
+ * @brief Check if getSolverTipFrame() fails for gripper group.
+ */
+TEST_F(GetSolverTipFrameIntegrationTest, TestGetTipSolverFrameGripper)
+{
+  EXPECT_THROW(getSolverTipFrame(robot_model_->getJointModelGroup("gripper")), NoSolverException);
+}
+
+}  // namespace pilz_industrial_motion_planner
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_get_solver_tip_frame");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::NodeHandle nh;
+
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.test
new file mode 100644
index 0000000000..6f5425d85a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.test
@@ -0,0 +1,48 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2019 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <!-- load robot models -->
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/planning_context.launch" >
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_get_solver_tip_frame"
+        type="integrationtest_get_solver_tip_frame" time-limit="120.0" >
+  </test>
+  <!--launch-prefix="xterm -e gdb - -args"-->
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp
new file mode 100644
index 0000000000..43f0415771
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp
@@ -0,0 +1,132 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+#include <string>
+
+#include <gtest/gtest.h>
+
+#include <ros/ros.h>
+
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+
+#include "pilz_industrial_motion_planner/plan_components_builder.h"
+#include "pilz_industrial_motion_planner/trajectory_blender_transition_window.h"
+
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string ROBOT_DESCRIPTION_STR{ "robot_description" };
+const std::string EMPTY_VALUE{ "" };
+
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner;
+
+class IntegrationTestPlanComponentBuilder : public testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
+
+  std::string planning_group_;
+};
+
+void IntegrationTestPlanComponentBuilder::SetUp()
+{
+  if (!robot_model_)
+  {
+    FAIL() << "Robot model could not be loaded.";
+  }
+
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ *
+ */
+TEST_F(IntegrationTestPlanComponentBuilder, TestExceptionErrorCodeMapping)
+{
+  std::shared_ptr<NoBlenderSetException> nbs_ex{ new NoBlenderSetException("") };
+  EXPECT_EQ(nbs_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+
+  std::shared_ptr<NoTipFrameFunctionSetException> ntffse_ex{ new NoTipFrameFunctionSetException("") };
+  EXPECT_EQ(ntffse_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+
+  std::shared_ptr<NoRobotModelSetException> nrms_ex{ new NoRobotModelSetException("") };
+  EXPECT_EQ(nrms_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+
+  std::shared_ptr<BlendingFailedException> bf_ex{ new BlendingFailedException("") };
+  EXPECT_EQ(bf_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+}
+
+/**
+ * @brief Checks that exception is thrown if no robot model is set.
+ *
+ */
+TEST_F(IntegrationTestPlanComponentBuilder, TestModelSet)
+{
+  robot_trajectory::RobotTrajectoryPtr traj{ new robot_trajectory::RobotTrajectory(robot_model_, planning_group_) };
+  PlanComponentsBuilder builder;
+
+  EXPECT_THROW(builder.append(traj, 1.0), NoRobotModelSetException);
+}
+
+/**
+ * @brief Checks that exception is thrown if no blender is set.
+ *
+ */
+TEST_F(IntegrationTestPlanComponentBuilder, TestNoBlenderSet)
+{
+  robot_trajectory::RobotTrajectoryPtr traj{ new robot_trajectory::RobotTrajectory(robot_model_, planning_group_) };
+  PlanComponentsBuilder builder;
+  builder.setModel(robot_model_);
+
+  builder.append(traj, 0.0);
+
+  EXPECT_THROW(builder.append(traj, 1.0), NoBlenderSetException);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_plan_components_builder");
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::NodeHandle nh;
+
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.test
new file mode 100644
index 0000000000..447c618525
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.test
@@ -0,0 +1,65 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2019 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Load the context with the pg70 -->
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/planning_context.launch" >
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="display_plots" default="false" />
+  <node if="$(arg display_plots)"
+        name="plot_trajectory_msg"
+        pkg="pilz_industrial_motion_planner"
+        type="plot_display_trajectory_msg.py"
+        args="/my_planned_path"  />
+
+  <include ns="integrationtest_plan_components_builder" file="$(find moveit_resources_prbt_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_plan_components_builder" type="integrationtest_plan_components_builder">
+    <param name="planning_group" value="manipulator"/>
+  </test>
+  <!--launch-prefix="xterm -e gdb - -args"-->
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.cpp
new file mode 100644
index 0000000000..a5883e71cc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.cpp
@@ -0,0 +1,628 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <chrono>
+#include <condition_variable>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <iostream>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <thread>
+
+#include <actionlib/client/simple_action_client.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/Constraints.h>
+#include <moveit_msgs/GetMotionPlan.h>
+#include <moveit_msgs/JointConstraint.h>
+#include <ros/ros.h>
+
+#include <pilz_industrial_motion_planner_testutils/async_test.h>
+
+#include <pilz_industrial_motion_planner_testutils/checks.h>
+#include <pilz_industrial_motion_planner_testutils/sequence.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+
+#include "moveit_msgs/MoveGroupSequenceAction.h"
+
+static constexpr int WAIT_FOR_ACTION_SERVER_TIME_OUT{ 10 };  // seconds
+
+const std::string SEQUENCE_ACTION_NAME("/sequence_move_group");
+
+// Parameters from parameter server
+const std::string JOINT_POSITION_TOLERANCE("joint_position_tolerance");
+
+// events for callback tests
+const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED";
+const std::string SERVER_IDLE_EVENT = "SERVER_IDLE";
+
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+const std::string GROUP_NAME("group_name");
+
+using namespace pilz_industrial_motion_planner_testutils;
+
+class IntegrationTestSequenceAction : public testing::Test, public testing::AsyncTest
+{
+protected:
+  void SetUp() override;
+
+public:
+  MOCK_METHOD0(active_callback, void());
+  MOCK_METHOD1(feedback_callback, void(const moveit_msgs::MoveGroupSequenceFeedbackConstPtr& feedback));
+  MOCK_METHOD2(done_callback, void(const actionlib::SimpleClientGoalState& state,
+                                   const moveit_msgs::MoveGroupSequenceResultConstPtr& result));
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+  actionlib::SimpleActionClient<moveit_msgs::MoveGroupSequenceAction> ac_{ ph_, SEQUENCE_ACTION_NAME, true };
+  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
+
+  robot_model_loader::RobotModelLoader model_loader_;
+  robot_model::RobotModelPtr robot_model_;
+  double joint_position_tolerance_;
+
+  std::string test_data_file_name_;
+  std::string group_name_;
+  TestdataLoaderUPtr data_loader_;
+
+  //! The configuration at which the robot stays at the beginning of each test.
+  JointConfiguration start_config;
+};
+
+void IntegrationTestSequenceAction::SetUp()
+{
+  // get necessary parameters
+  ASSERT_TRUE(ph_.getParam(JOINT_POSITION_TOLERANCE, joint_position_tolerance_));
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+  ph_.param<std::string>(GROUP_NAME, group_name_, "manipulator");
+
+  robot_model_ = model_loader_.getModel();
+
+  data_loader_.reset(new XmlTestdataLoader(test_data_file_name_, robot_model_));
+  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
+
+  // wait for action server
+  ASSERT_TRUE(ac_.waitForServer(ros::Duration(WAIT_FOR_ACTION_SERVER_TIME_OUT))) << "Action server is not active.";
+
+  // move to default position
+  start_config = data_loader_->getJoints("ZeroPose", group_name_);
+  robot_state::RobotState robot_state{ start_config.toRobotState() };
+
+  move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(start_config.getGroupName());
+  move_group_->setPlannerId("PTP");
+  move_group_->setGoalTolerance(joint_position_tolerance_);
+  move_group_->setJointValueTarget(robot_state);
+  move_group_->move();
+
+  ASSERT_TRUE(
+      isAtExpectedPosition(robot_state, *(move_group_->getCurrentState()), joint_position_tolerance_, group_name_));
+}
+
+/**
+ * @brief Test behavior of sequence action server when empty sequence is sent.
+ *
+ * Test Sequence:
+ *    1. Send empty sequence.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Empty sequence is sent to the action server.
+ *    2. Error code of the blend result is SUCCESS.
+ */
+TEST_F(IntegrationTestSequenceAction, TestSendingOfEmptySequence)
+{
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Execution of sequence failed.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that invalid (differing) group names are detected.
+ *
+ * Test Sequence:
+ *    1. Invalidate first request (change group_name) and send goal for planning
+ * and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is failure.
+ */
+TEST_F(IntegrationTestSequenceAction, TestDifferingGroupNames)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  MotionCmd& cmd{ seq.getCmd(1) };
+  cmd.setPlanningGroup("WrongGroupName");
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME) << "Incorrect error code.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that negative blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Send goal for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is not success and the planned trajectory is
+ * empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestNegativeBlendRadius)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setBlendRadius(0, -1.0);
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)
+      << "Incorrect error code.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that overlapping blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request with overlapping blend radii.
+ *    2. Send goal for planning and execution.
+ *    3. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. Goal is sent to the action server.
+ *    3. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestOverlappingBlendRadii)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setBlendRadius(0, 10 * seq.getBlendRadius(0));
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN) << "Incorrect error code";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that too large blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request with too large blend radii.
+ *    2. Send goal for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. Goal is sent to the action server.
+ *    3. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestTooLargeBlendRadii)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.erase(2, seq.size());
+  seq.setBlendRadius(0, 10 * seq.getBlendRadius(seq.size() - 2));
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::FAILURE) << "Incorrect error code";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests what happens if sequence contains not executable (invalid)
+ * command.
+ *
+ * Test Sequence:
+ *    1. Create sequence containing at least one invalid command.
+ *    2. Send goal for planning and execution.
+ *    3. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. Goal is sent to the action server.
+ *    3. Error code indicates an error + planned trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestInvalidCmd)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  // Erase certain command to invalid command following the command in sequence.
+  seq.erase(3, 4);
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_NE(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Incorrect error code.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that incorrect link_names are detected.
+ *
+ * Test Sequence:
+ *    1. Create sequence and send it via ActionClient.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. ActionClient reports successful completion of command.
+ */
+TEST_F(IntegrationTestSequenceAction, TestInvalidLinkName)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setAllBlendRadiiToZero();
+
+  // Invalidate link name
+  CircInterimCart& circ{ seq.getCmd<CircInterimCart>(1) };
+  circ.getGoalConfiguration().setLinkName("InvalidLinkName");
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_NE(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Incorrect error code.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+//*******************************************************
+//*** matcher for callback functions of action server ***
+//*******************************************************
+MATCHER_P(FeedbackStateEq, state, "")
+{
+  return arg->state == state;
+}
+MATCHER(IsResultSuccess, "")
+{
+  return arg->response.error_code.val == moveit_msgs::MoveItErrorCodes::SUCCESS;
+}
+MATCHER(IsResultNotEmpty, "")
+{
+  return !arg->response.planned_trajectories.empty();
+}
+
+/**
+ * @brief Tests that action server callbacks are called correctly.
+ *
+ * Test Sequence:
+ *    1. Send goal for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is success. Active-, feedback- and
+ * done-callbacks are called.
+ */
+TEST_F(IntegrationTestSequenceAction, TestActionServerCallbacks)
+{
+  using ::testing::_;
+  using ::testing::AllOf;
+  using ::testing::AtLeast;
+  using ::testing::InSequence;
+
+  namespace ph = std::placeholders;
+
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  // We do not need the complete sequence, just two commands.
+  seq.erase(2, seq.size());
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  // set expectations (no guarantee, that done callback is called before idle
+  // feedback)
+  EXPECT_CALL(*this, active_callback()).Times(1).RetiresOnSaturation();
+
+  EXPECT_CALL(*this, done_callback(_, AllOf(IsResultSuccess(), IsResultNotEmpty())))
+      .Times(1)
+      .WillOnce(ACTION_OPEN_BARRIER_VOID(GOAL_SUCCEEDED_EVENT))
+      .RetiresOnSaturation();
+
+  // the feedbacks are expected in order
+  {
+    InSequence dummy;
+
+    EXPECT_CALL(*this, feedback_callback(FeedbackStateEq("PLANNING"))).Times(AtLeast(1));
+    EXPECT_CALL(*this, feedback_callback(FeedbackStateEq("MONITOR"))).Times(AtLeast(1));
+    EXPECT_CALL(*this, feedback_callback(FeedbackStateEq("IDLE")))
+        .Times(AtLeast(1))
+        .WillOnce(ACTION_OPEN_BARRIER_VOID(SERVER_IDLE_EVENT))
+        .RetiresOnSaturation();
+  }
+
+  // send goal using mocked callback methods
+  ac_.sendGoal(seq_goal, std::bind(&IntegrationTestSequenceAction::done_callback, this, ph::_1, ph::_2),
+               std::bind(&IntegrationTestSequenceAction::active_callback, this),
+               std::bind(&IntegrationTestSequenceAction::feedback_callback, this, ph::_1));
+
+  // wait for the ecpected events
+  BARRIER({ GOAL_SUCCEEDED_EVENT, SERVER_IDLE_EVENT });
+}
+
+/**
+ * @brief Tests the "only planning" flag.
+ *
+ * Test Sequence:
+ *    1. Send goal for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is success.
+ */
+TEST_F(IntegrationTestSequenceAction, TestPlanOnlyFlag)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  // We do not need the complete sequence, just two commands.
+  seq.erase(2, seq.size());
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.planning_options.plan_only = true;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Sequence execution failed.";
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+
+  ASSERT_TRUE(isAtExpectedPosition(*(move_group_->getCurrentState()), start_config.toRobotState(),
+                                   joint_position_tolerance_, group_name_))
+      << "Robot did move although \"PlanOnly\" flag set.";
+}
+
+/**
+ * @brief  Tests that robot state in planning_scene_diff is
+ * ignored (Mainly for full coverage) in case "plan only" flag is set.
+ *
+ * Test Sequence:
+ *    1. Send goal with "empty" planning scene for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is success.
+ */
+TEST_F(IntegrationTestSequenceAction, TestIgnoreRobotStateForPlanOnly)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  // We do not need the complete sequence, just two commands.
+  seq.erase(2, seq.size());
+
+  // create request
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.planning_options.plan_only = true;
+  seq_goal.request = seq.toRequest();
+
+  seq_goal.planning_options.planning_scene_diff.robot_state.is_diff = true;
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Execution of sequence failed.";
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+
+  ASSERT_TRUE(isAtExpectedPosition(*(move_group_->getCurrentState()), start_config.toRobotState(),
+                                   joint_position_tolerance_, group_name_))
+      << "Robot did move although \"PlanOnly\" flag set.";
+}
+
+/**
+ * @brief Tests that negative blend radii are detected
+ * (Mainly for full coverage) in case "plan only" flag is set.
+ *
+ * Test Sequence:
+ *    1. Send goal for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is not success and the planned trajectory is
+ * empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestNegativeBlendRadiusForPlanOnly)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setBlendRadius(0, -1.0);
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+  seq_goal.planning_options.plan_only = true;
+
+  ac_.sendGoalAndWait(seq_goal);
+
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)
+      << "Incorrect error code.";
+  EXPECT_TRUE(res->response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that robot state in planning_scene_diff is
+ * ignored (Mainly for full coverage).
+ *
+ * Test Sequence:
+ *    1. Send goal with "empty" planning scene for planning and execution.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Error code of the result is success.
+ */
+TEST_F(IntegrationTestSequenceAction, TestIgnoreRobotState)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  // We do not need the complete sequence, just two commands.
+  seq.erase(2, seq.size());
+
+  // create request
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  seq_goal.planning_options.planning_scene_diff.robot_state.is_diff = true;
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Execution of sequence failed.";
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+}
+
+/**
+ * @brief Tests the execution of a sequence with more than two commands.
+ *
+ * Test Sequence:
+ *    1. Create large sequence requests and sent it to  action server.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Command succeeds, result trajectory is not empty.
+ */
+TEST_F(IntegrationTestSequenceAction, TestLargeRequest)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  moveit_msgs::MotionSequenceRequest req{ seq.toRequest() };
+  // Create large request by making copies of the original sequence commands
+  // and adding them to the end of the original sequence.
+  size_t n{ req.items.size() };
+  for (size_t i = 0; i < n; ++i)
+  {
+    moveit_msgs::MotionSequenceItem item{ req.items.at(i) };
+    if (i == 0)
+    {
+      // Remove start state because only the first request
+      // is allowed to have a start state in a sequence.
+      item.req.start_state = moveit_msgs::RobotState();
+    }
+    req.items.push_back(item);
+  }
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = req;
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS) << "Incorrect error code.";
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+}
+
+/**
+ * @brief Tests the execution of a sequence command (without blending)
+ * consisting of most of the possible command type combination.
+ *
+ * Test Sequence:
+ *    1. Create sequence goal and send it via ActionClient.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. ActionClient reports successful completion of command.
+ */
+TEST_F(IntegrationTestSequenceAction, TestComplexSequenceWithoutBlending)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+
+  seq.setAllBlendRadiiToZero();
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+}
+
+/**
+ * @brief Tests the execution of a sequence command (with blending)
+ * consisting of most of the possible command type combination.
+ *
+ * Test Sequence:
+ *    1. Create sequence goal and send it via ActionClient.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. ActionClient reports successful completion of command.
+ */
+TEST_F(IntegrationTestSequenceAction, TestComplexSequenceWithBlending)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoalAndWait(seq_goal);
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  EXPECT_FALSE(res->response.planned_trajectories.empty()) << "Planned trajectory is empty";
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_sequence_action_capability");
+  ros::NodeHandle nh;
+
+  ros::AsyncSpinner spinner{ 1 };
+  spinner.start();
+
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.test
new file mode 100644
index 0000000000..df51f007b1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action.test
@@ -0,0 +1,59 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    <arg name="execution_type" value="last point" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_action" type="integrationtest_sequence_action" time-limit="300.0">
+    <param name="joint_position_tolerance" value="0.01" />
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_frankaemika_panda.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_frankaemika_panda.test
new file mode 100644
index 0000000000..bc6afb0a8e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_frankaemika_panda.test
@@ -0,0 +1,65 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true"
+        output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_panda_moveit_config)launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="execution_type" value="last point" />
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_action_frankaemika_panda"
+        type="integrationtest_sequence_action" time-limit="300.0">
+    <param name="joint_prefix" value="panda_joint" />
+    <param name="joint_position_tolerance" value="0.01" />
+    <param name="group_name" value="panda_arm" />
+    <param name="testdata_file_name"
+           value="$(find pilz_industrial_motion_planner)/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_with_gripper.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_with_gripper.test
new file mode 100644
index 0000000000..c45f964dbc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_capability_with_gripper.test
@@ -0,0 +1,60 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="gripper" value="pg70"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    <arg name="execution_type" value="last point" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_action_with_gripper"
+        type="integrationtest_sequence_action" time-limit="300.0">
+    <param name="joint_position_tolerance" value="0.01" />
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.cpp
new file mode 100644
index 0000000000..bf9198d52a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.cpp
@@ -0,0 +1,180 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <chrono>
+#include <condition_variable>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <iostream>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <thread>
+
+#include <actionlib/client/simple_action_client.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/Constraints.h>
+#include <moveit_msgs/GetMotionPlan.h>
+#include <moveit_msgs/JointConstraint.h>
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+
+#include <pilz_industrial_motion_planner_testutils/async_test.h>
+
+#include <pilz_industrial_motion_planner_testutils/checks.h>
+#include <pilz_industrial_motion_planner_testutils/sequence.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+
+#include "moveit_msgs/MoveGroupSequenceAction.h"
+
+static constexpr double WAIT_FOR_RESULT_TIME_OUT{ 5. };          // seconds
+static constexpr double TIME_BEFORE_CANCEL_GOAL{ 1.0 };          // seconds
+static constexpr double WAIT_FOR_ACTION_SERVER_TIME_OUT{ 10. };  // seconds
+
+const std::string SEQUENCE_ACTION_NAME("/sequence_move_group");
+
+// Parameters from parameter server
+const std::string JOINT_POSITION_TOLERANCE("joint_position_tolerance");
+
+// events for callback tests
+const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED";
+const std::string SERVER_IDLE_EVENT = "SERVER_IDLE";
+
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+const std::string GROUP_NAME("group_name");
+
+using namespace pilz_industrial_motion_planner_testutils;
+
+class IntegrationTestSequenceAction : public testing::Test, public testing::AsyncTest
+{
+protected:
+  void SetUp() override;
+
+public:
+  MOCK_METHOD0(active_callback, void());
+  MOCK_METHOD1(feedback_callback, void(const moveit_msgs::MoveGroupSequenceFeedbackConstPtr& feedback));
+  MOCK_METHOD2(done_callback, void(const actionlib::SimpleClientGoalState& state,
+                                   const moveit_msgs::MoveGroupSequenceResultConstPtr& result));
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+  actionlib::SimpleActionClient<moveit_msgs::MoveGroupSequenceAction> ac_{ ph_, SEQUENCE_ACTION_NAME, true };
+  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
+
+  robot_model_loader::RobotModelLoader model_loader_;
+  robot_model::RobotModelPtr robot_model_;
+  double joint_position_tolerance_;
+
+  std::string test_data_file_name_;
+  std::string group_name_;
+  TestdataLoaderUPtr data_loader_;
+
+  //! The configuration at which the robot stays at the beginning of each test.
+  JointConfiguration start_config;
+};
+
+void IntegrationTestSequenceAction::SetUp()
+{
+  // get necessary parameters
+  ASSERT_TRUE(ph_.getParam(JOINT_POSITION_TOLERANCE, joint_position_tolerance_));
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+  ph_.param<std::string>(GROUP_NAME, group_name_, "manipulator");
+
+  robot_model_ = model_loader_.getModel();
+
+  data_loader_.reset(new XmlTestdataLoader(test_data_file_name_, robot_model_));
+  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
+
+  // wait for action server
+  ASSERT_TRUE(ac_.waitForServer(ros::Duration(WAIT_FOR_ACTION_SERVER_TIME_OUT))) << "Action server is not active.";
+
+  // move to default position
+  start_config = data_loader_->getJoints("ZeroPose", group_name_);
+  robot_state::RobotState robot_state{ start_config.toRobotState() };
+
+  move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(start_config.getGroupName());
+  move_group_->setPlannerId("PTP");
+  move_group_->setGoalTolerance(joint_position_tolerance_);
+  move_group_->setJointValueTarget(robot_state);
+  move_group_->setMaxVelocityScalingFactor(1.0);
+  move_group_->setMaxAccelerationScalingFactor(1.0);
+  move_group_->move();
+
+  ASSERT_TRUE(isAtExpectedPosition(robot_state, *(move_group_->getCurrentState()), joint_position_tolerance_));
+}
+
+/**
+ * @brief Tests that goal can be cancelled.
+ *
+ * Test Sequence:
+ *    1. Send goal for planning and execution.
+ *    2. Cancel goal before it finishes.
+ *
+ * Expected Results:
+ *    1. Goal is sent to the action server.
+ *    2. Goal is cancelled. Execution stops.
+ */
+TEST_F(IntegrationTestSequenceAction, TestCancellingOfGoal)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+
+  moveit_msgs::MoveGroupSequenceGoal seq_goal;
+  seq_goal.request = seq.toRequest();
+
+  ac_.sendGoal(seq_goal);
+  // wait for 1 second
+  ros::Duration(TIME_BEFORE_CANCEL_GOAL).sleep();
+
+  ac_.cancelGoal();
+  ac_.waitForResult(ros::Duration(WAIT_FOR_RESULT_TIME_OUT));
+
+  moveit_msgs::MoveGroupSequenceResultConstPtr res = ac_.getResult();
+  EXPECT_EQ(res->response.error_code.val, moveit_msgs::MoveItErrorCodes::PREEMPTED)
+      << "Error code should be preempted.";
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_sequence_action_preemption");
+  ros::NodeHandle nh;
+
+  ros::AsyncSpinner spinner{ 1 };
+  spinner.start();
+
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.test
new file mode 100644
index 0000000000..614b5ffe1d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_action_preemption.test
@@ -0,0 +1,59 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    <arg name="execution_type" value="interpolate" /><!-- we need to actually execute the trajectory to test preemption -->
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_action_preemption" type="integrationtest_sequence_action_preemption" time-limit="20.0">
+    <param name="joint_position_tolerance" value="0.01" />
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.cpp
new file mode 100644
index 0000000000..02f4bf5aa9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.cpp
@@ -0,0 +1,426 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <functional>
+#include <gtest/gtest.h>
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/Constraints.h>
+#include <moveit_msgs/GetMotionPlan.h>
+#include <moveit_msgs/JointConstraint.h>
+#include <moveit_msgs/MotionPlanResponse.h>
+#include <ros/ros.h>
+
+#include <pilz_industrial_motion_planner_testutils/sequence.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+
+#include "moveit_msgs/GetMotionSequence.h"
+#include "moveit_msgs/MotionSequenceRequest.h"
+#include "pilz_industrial_motion_planner/capability_names.h"
+
+// Parameters from parameter server
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+
+using namespace pilz_industrial_motion_planner_testutils;
+
+static std::string createJointName(const size_t& joint_number)
+{
+  return std::string("prbt_joint_") + std::to_string(joint_number + 1);
+}
+
+class IntegrationTestSequenceService : public ::testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+  ros::ServiceClient client_;
+  robot_model::RobotModelPtr robot_model_;
+
+  std::string test_data_file_name_;
+  TestdataLoaderUPtr data_loader_;
+};
+
+void IntegrationTestSequenceService::SetUp()
+{
+  // get necessary parameters
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+
+  robot_model_loader::RobotModelLoader model_loader;
+  robot_model_ = model_loader.getModel();
+
+  data_loader_.reset(new XmlTestdataLoader(test_data_file_name_, robot_model_));
+  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
+
+  ASSERT_TRUE(ros::service::waitForService(pilz_industrial_motion_planner::SEQUENCE_SERVICE_NAME, ros::Duration(10)))
+      << "Service not available.";
+  ros::NodeHandle nh;  // connect to service in global namespace, not in ph_
+  client_ = nh.serviceClient<moveit_msgs::GetMotionSequence>(pilz_industrial_motion_planner::SEQUENCE_SERVICE_NAME);
+}
+
+/**
+ * @brief Test behavior of service when empty sequence is sent.
+ *
+ *  Test Sequence:
+ *    1. Generate empty request and call sequence service.
+ *    2. Evaluate the result.
+ *
+ *  Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command is successful, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestSendingOfEmptySequence)
+{
+  moveit_msgs::MotionSequenceRequest empty_list;
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = empty_list;
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, srv.response.response.error_code.val) << "Planning failed.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that invalid (differing) group names are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request, first request has invalid group_name +  Call sequence
+ * service.
+ *    2. Invalidate first request (change group_name) and send goal for planning
+ * and execution.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestDifferingGroupNames)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  MotionCmd& cmd{ seq.getCmd(1) };
+  cmd.setPlanningGroup("WrongGroupName");
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME, srv.response.response.error_code.val)
+      << "Planning should have failed but did not.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that negative blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request with negative blend_radius +  Call sequence service.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestNegativeBlendRadius)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setBlendRadius(0, -1.0);
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN, srv.response.response.error_code.val)
+      << "Planning should have failed but did not.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that overlapping blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request with overlapping blend radii +  Call sequence service.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestOverlappingBlendRadii)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setBlendRadius(0, 10 * seq.getBlendRadius(0));
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN, srv.response.response.error_code.val)
+      << "Incorrect error code";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that too large blend radii are detected.
+ *
+ * Test Sequence:
+ *    1. Generate request with too large blend radii +  Call sequence service.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestTooLargeBlendRadii)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.erase(2, seq.size());
+  seq.setBlendRadius(0, 10 * seq.getBlendRadius(seq.size() - 2));
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::FAILURE, srv.response.response.error_code.val) << "Incorrect error code";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests behavior of service when sequence with invalid second
+ * start state is sent.
+ *
+ *  Test Sequence:
+ *    1. Generate request (second goal has invalid start state) +  Call sequence
+ * service.
+ *    2. Evaluate the result
+ *
+ *  Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestSecondTrajInvalidStartState)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  moveit_msgs::MotionSequenceRequest req_list{ seq.toRequest() };
+
+  // Set start state
+  using std::placeholders::_1;
+  JointConfiguration config{ "MyGroupName", { -1., 2., -3., 4., -5., 0. }, std::bind(&createJointName, _1) };
+  req_list.items[1].req.start_state.joint_state = config.toSensorMsg();
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = req_list;
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE, srv.response.response.error_code.val)
+      << "Incorrect error code.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests behavior of service when sequence with invalid first goal
+ * is sent.
+ *
+ *  Test Sequence:
+ *    1. Generate request with first goal out of workspace +  Call sequence
+ * service.
+ *    2. Evaluate the result
+ *
+ *  Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestFirstGoalNotReachable)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  PtpJointCart& cmd{ seq.getCmd<PtpJointCart>(0) };
+  cmd.getGoalConfiguration().getPose().position.y = 27;
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION, srv.response.response.error_code.val)
+      << "Incorrect error code.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests that incorrect link_names are detected.
+ *
+ * Test Sequence:
+ *    1. Create sequence and send it.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command fails, result trajectory is empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestInvalidLinkName)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  seq.setAllBlendRadiiToZero();
+
+  // Invalidate link name
+  CircInterimCart& circ{ seq.getCmd<CircInterimCart>(1) };
+  circ.getGoalConfiguration().setLinkName("InvalidLinkName");
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_NE(moveit_msgs::MoveItErrorCodes::SUCCESS, srv.response.response.error_code.val) << "Incorrect error code.";
+  EXPECT_TRUE(srv.response.response.planned_trajectories.empty());
+}
+
+/**
+ * @brief Tests the execution of a sequence with more than two commands.
+ *
+ * Test Sequence:
+ *    1. Call service with serveral requests.
+ *    2. Evaluate the result.
+ *
+ * Expected Results:
+ *    1. MotionPlanResponse is received.
+ *    2. Command succeeds, result trajectory is not empty.
+ */
+TEST_F(IntegrationTestSequenceService, TestLargeRequest)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+  moveit_msgs::MotionSequenceRequest req{ seq.toRequest() };
+  // Make copy of sequence commands and add them to the end of sequence.
+  // Create large request by making copies of the original sequence commands
+  // and adding them to the end of the original sequence.
+  size_t n{ req.items.size() };
+  for (size_t i = 0; i < n; ++i)
+  {
+    moveit_msgs::MotionSequenceItem item{ req.items.at(i) };
+    if (i == 0)
+    {
+      // Remove start state because only the first request
+      // is allowed to have a start state in a sequence.
+      item.req.start_state = moveit_msgs::RobotState();
+    }
+    req.items.push_back(item);
+  }
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = req;
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, srv.response.response.error_code.val) << "Incorrect error code.";
+  EXPECT_EQ(srv.response.response.planned_trajectories.size(), 1u);
+  EXPECT_GT(srv.response.response.planned_trajectories.front().joint_trajectory.points.size(), 0u)
+      << "Trajectory should contain points.";
+}
+
+/**
+ * @brief Tests the execution of a sequence command (without blending)
+ * consisting of most of the possible command type combination.
+ *
+ * Test Sequence:
+ *    1. Create sequence goal and send it via ActionClient.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. ActionClient reports successful completion of command.
+ */
+TEST_F(IntegrationTestSequenceService, TestComplexSequenceWithoutBlending)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+
+  seq.setAllBlendRadiiToZero();
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, srv.response.response.error_code.val) << "Incorrect error code.";
+  EXPECT_EQ(srv.response.response.planned_trajectories.size(), 1u);
+  EXPECT_GT(srv.response.response.planned_trajectories.front().joint_trajectory.points.size(), 0u)
+      << "Trajectory should contain points.";
+}
+
+/**
+ * @brief Tests the execution of a sequence command (with blending)
+ * consisting of most of the possible command type combination.
+ *
+ * Test Sequence:
+ *    1. Create sequence goal and send it via ActionClient.
+ *    2. Wait for successful completion of command.
+ *
+ * Expected Results:
+ *    1. -
+ *    2. ActionClient reports successful completion of command.
+ */
+TEST_F(IntegrationTestSequenceService, TestComplexSequenceWithBlending)
+{
+  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
+
+  moveit_msgs::GetMotionSequence srv;
+  srv.request.request = seq.toRequest();
+
+  ASSERT_TRUE(client_.call(srv));
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, srv.response.response.error_code.val) << "Incorrect error code.";
+  EXPECT_EQ(srv.response.response.planned_trajectories.size(), 1u);
+  EXPECT_GT(srv.response.response.planned_trajectories.front().joint_trajectory.points.size(), 0u)
+      << "Trajectory should contain points.";
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "integrationtest_sequence_service_capability");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.test
new file mode 100644
index 0000000000..9eec6f308b
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability.test
@@ -0,0 +1,57 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_service_capability" type="integrationtest_sequence_service_capability" time-limit="300.0" > <!-- launch-prefix="xterm -e gdb -args"-->
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_frankaemika_panda.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_frankaemika_panda.test
new file mode 100644
index 0000000000..dbec926599
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_frankaemika_panda.test
@@ -0,0 +1,59 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <arg name="debug" default="false"/>
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_service_capability_frankaemika_panda"
+        type="integrationtest_sequence_service_capability" time-limit="300.0">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_with_gripper.test b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_with_gripper.test
new file mode 100644
index 0000000000..f214d4baf7
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_sequence_service_capability_with_gripper.test
@@ -0,0 +1,57 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="gripper" value="pg70"/>
+    <arg name="pipeline" value="pilz_industrial_motion_planner" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="integrationtest_sequence_service_capability_with_gripper"
+        type="integrationtest_sequence_service_capability" time-limit="300.0">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/concept_testdata.odp b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/concept_testdata.odp
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diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/launch/moveit_planning_execution.launch b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/launch/moveit_planning_execution.launch
new file mode 100644
index 0000000000..af5a15e896
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/launch/moveit_planning_execution.launch
@@ -0,0 +1,77 @@
+<?xml version="1.0"?>
+
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<!-- simulated environment for testing pilz_industrial_motion_planner with a panda robot -->
+
+<launch>
+  <!-- The planning and execution components of MoveIt! configured to run -->
+  <!-- using the ROS-Industrial interface. -->
+
+  <!-- Choose planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Load robot description to parameter server. Can be set to false to let someone else load the model -->
+  <arg name="load_robot_description" default="true" />
+
+  <!-- load the robot_description parameter before launching ROS-I nodes -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+    <arg name="load_gripper" value="true" />
+  </include>
+
+  <!-- run the robot simulator and action interface nodes -->
+  <group>
+    <!-- publish the robot state (tf transforms) -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <!-- We do not have a robot connected, so publish fake joint states -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+      <param name="/use_gui" value="false"/>
+      <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+    </node>
+  </group>
+
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
+    <arg name="publish_monitored_planning_scene" value="true" />
+    <arg name="fake_execution" value="true"/>
+    <arg name="pipeline" value="$(arg pipeline)" />
+    <arg name="load_gripper" value="true" />
+  </include>
+
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/moveit_rviz.launch">
+  </include>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml
new file mode 100644
index 0000000000..9699c5caad
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/frankaemika_panda/test_data/testdata_sequence.xml
@@ -0,0 +1,173 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<testdata>
+
+  <poses>
+
+    <pos name="ZeroPose">
+      <joints group_name="panda_arm">0.0 -0.785 0.0 -2.356 0.0 1.571 0.785</joints>
+    </pos>
+
+    <pos name="P1">
+      <joints group_name="panda_arm">-0.022096 -0.753529 0.007612 -1.716165 0.0063464 0.962660 0.771123</joints>
+      <xyzQuat group_name="panda_arm" link_name="panda_link8">0.2 0 0.8 0.924138 -0.382057 0.0 0.0
+        <seed><joints group_name="panda_arm">-0.022096 -0.753529 0.007612 -1.716165 0.0063464 0.962660 0.771123</joints></seed>
+      </xyzQuat>
+    </pos>
+
+    <pos name="P2">
+      <joints group_name="panda_arm">-0.061035 -0.301221 0.410282 -1.665777 0.120602 1.389535 1.138547</joints>
+      <xyzQuat group_name="panda_arm" link_name="panda_link8">0.4 0.2 0.7 0.924138 -0.382057 0.0 0.0
+        <seed><joints group_name="panda_arm">-0.061035 -0.301221 0.410282 -1.665777 0.120602 1.389535 1.138547</joints></seed>
+      </xyzQuat>
+    </pos>
+
+    <pos name="P3">
+      <joints group_name="panda_arm">0.0875228 -0.540765 0.770139 -1.990062 0.366596 1.582282 1.560837</joints>
+      <xyzQuat group_name="panda_arm" link_name="panda_link8">0.2 0.4 0.6 0.924138 -0.382057 0.0 0.0
+        <seed><joints group_name="panda_arm">0.0875228 -0.540765 0.770139 -1.990062 0.366596 1.582282 1.560837</joints></seed>
+      </xyzQuat>
+    </pos>
+
+    <pos name="P4">
+      <joints group_name="panda_arm">0.164988 -0.805223 0.304894 -2.020563 0.230321 1.247100 1.238191</joints>
+      <xyzQuat group_name="panda_arm" link_name="panda_link8">0.2 0.2 0.7 0.924138 -0.382057 0.0 0.0
+        <seed><joints group_name="panda_arm">0.164988 -0.805223 0.304894 -2.020563 0.230321 1.247100 1.238191</joints></seed>
+      </xyzQuat>
+    </pos>
+
+  </poses>
+
+  <ptps>
+    <ptp name="Ptp1">
+      <planningGroup>panda_arm</planningGroup>
+      <targetLink>panda_link8</targetLink>
+      <startPos>ZeroPose</startPos>
+      <endPos>P1</endPos>
+      <vel>1.0</vel>
+      <acc>0.2</acc>
+    </ptp>
+
+    <ptp name="Ptp2">
+      <planningGroup>panda_arm</planningGroup>
+      <targetLink>panda_link8</targetLink>
+      <startPos>P3</startPos>
+      <endPos>P2</endPos>
+      <vel>1.0</vel>
+      <acc>0.2</acc>
+    </ptp>
+
+    <ptp name="Ptp3">
+      <planningGroup>panda_arm</planningGroup>
+      <targetLink>panda_link8</targetLink>
+      <startPos>P2</startPos>
+      <endPos>P3</endPos>
+      <vel>1.0</vel>
+      <acc>0.2</acc>
+    </ptp>
+  </ptps>
+
+  <lins>
+    <lin name="lin3">
+        <planningGroup>panda_arm</planningGroup>
+        <targetLink>panda_link8</targetLink>
+        <startPos>P2</startPos>
+        <endPos>P3</endPos>
+        <vel>0.1</vel>
+        <acc>0.05</acc>
+    </lin>
+
+    <lin name="lin2">
+        <planningGroup>panda_arm</planningGroup>
+        <targetLink>panda_link8</targetLink>
+        <startPos>P1</startPos>
+        <endPos>P2</endPos>
+        <vel>0.1</vel>
+        <acc>0.05</acc>
+    </lin>
+
+    <lin name="lin4">
+        <planningGroup>panda_arm</planningGroup>
+        <targetLink>panda_link8</targetLink>
+        <startPos>P2</startPos>
+        <endPos>P4</endPos>
+        <vel>0.1</vel>
+        <acc>0.05</acc>
+    </lin>
+  </lins>
+
+  <circs>
+    <circ name="circ3_interim">
+      <planningGroup>panda_arm</planningGroup>
+      <targetLink>panda_link8</targetLink>
+      <startPos>P1</startPos>
+      <intermediatePos>P2</intermediatePos>
+      <endPos>P3</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </circ>
+
+    <circ name="circ1_center_2">
+      <planningGroup>panda_arm</planningGroup>
+      <targetLink>panda_link8</targetLink>
+      <startPos>P3</startPos>
+      <centerPos>P2</centerPos>
+      <endPos>P1</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </circ>
+  </circs>
+
+  <sequences>
+    <blend name="ComplexSequence">
+      <sequenceCmd name="Ptp1"            type="ptp_joint_cart"     blend_radius="0.1" />
+      <sequenceCmd name="circ3_interim"   type="circ_interim_cart"  blend_radius="0.1" />
+      <sequenceCmd name="Ptp2"            type="ptp_cart_cart"      blend_radius="0.1" />
+      <sequenceCmd name="lin3"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="circ1_center_2"  type="circ_center_cart"   blend_radius="0.1" />
+      <sequenceCmd name="lin2"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="Ptp3"            type="ptp_cart_cart"      blend_radius="0.0" />
+    </blend>
+    <blend name="SimpleSequence">
+      <sequenceCmd name="lin2" type="lin_cart" blend_radius="0.149" />
+      <sequenceCmd name="lin3" type="lin_cart" blend_radius="0" />
+    </blend>
+    <blend name="NoIntersectionTraj2">
+      <sequenceCmd name="lin2" type="lin_cart" blend_radius="0.21" />
+      <sequenceCmd name="lin4" type="lin_cart" blend_radius="0" />
+    </blend>
+  </sequences>
+
+</testdata>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch
new file mode 100644
index 0000000000..4c43af1420
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch
@@ -0,0 +1,43 @@
+<launch>
+
+  <!-- Defining a gripper will load all parameters with the defined gripper -->
+  <arg name="gripper" default=""/>
+
+  <!-- URDF and SRDF without gripper -->
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg if="$(eval not gripper)" name="robot_description" default="robot_description"/>
+  <arg unless="$(eval not gripper)" name="robot_description" default="robot_description_$(arg gripper)"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param name="$(arg robot_description)"
+         command="$(find xacro)/xacro --inorder $(find moveit_resources_prbt_support)/urdf/prbt.xacro gripper:=$(arg gripper)"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder
+         $(find moveit_resources_prbt_moveit_config)/config/prbt.srdf.xacro gripper:=$(arg gripper)" />
+
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam if="$(eval not gripper)" command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam unless="$(eval not gripper)" command="load"
+              file="$(eval find('moveit_resources_prbt_'+ gripper + '_support') + '/config/joint_limits.yaml')" />
+
+    <!-- Load cartesian limits -->
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load limits again in default namespace (which may not be configurable for planners) -->
+  <group ns="robot_description_planning">
+    <rosparam if="$(eval not gripper)" command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam unless="$(eval not gripper)" command="load"
+              file="$(eval find('moveit_resources_prbt_'+ gripper + '_support') + '/config/joint_limits.yaml')" />
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/kinematics.yaml"/>
+  </group>
+  
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_deprecated.xml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_deprecated.xml
new file mode 100644
index 0000000000..65d6b388ce
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_deprecated.xml
@@ -0,0 +1,434 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<testdata>
+
+  <poses>
+
+    <pos name="ZeroPose">
+        <group name="manipulator">
+            <joints>0.0 0.0 0.0 0.0 0.0 0.0</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="PTPPose1">
+        <group name="manipulator">
+            <joints>0.5 0.0 0.0 0.0 0.0 0.0</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="PTPJointValid">
+        <group name="manipulator">
+            <joints>0.0 0.785398 0.785398 0.0 1.570796 0.0</joints>
+        </group>
+    </pos>
+
+    <pos name="PTPPose">
+      <group name="manipulator">
+          <xyzQuat link_name="prbt_tcp">0.45 -0.1 0.62 0.0 0.0 0.0 1.0</xyzQuat>
+      </group>
+    </pos>
+
+    <pos name="LINPose1">
+        <group name="manipulator">
+            <joints>0.0 -0.52 1.13 0.0 -1.57 0.0</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="LINPose2">
+        <group name="manipulator">
+            <joints>0.0 -0.63 1.4 0.0 1.19 0.0</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="LINPose3">
+        <group name="manipulator">
+            <joints>0.463648 -0.418738 1.03505 0.0 -1.45379 -0.149488</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="LINPose4">
+        <group name="manipulator">
+            <joints>0.0 0.278259 2.11585 0.0 -1.83759 0.785398</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="LINPose1Opposite">
+        <group name="manipulator">
+            <joints>0.0 1.52001 1.13 0.0 -1.57 0.0</joints>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose1">
+        <group name="manipulator">
+            <!-- (0.4, 0.1, 0.6 0 0 0) tcp without gripper -->
+            <joints>0.244979 0.333691 -1.48422 0.0 1.81791 -0.244979</joints>
+            <xyzQuat link_name="prbt_tcp">0.4 0.1 0.6 0. 0. 0. 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose2">
+        <group name="manipulator">
+            <!-- (0.1, 0.4, 0.6 0 0 0) tcp without gripper -->
+            <joints>1.32582 0.333691 -1.48422 0.0 1.81791 -1.32582</joints>
+            <xyzQuat link_name="prbt_tcp">0.1 0.4 0.7 0 0 0.923916 -0.382596</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCAuxPose1">
+        <group name="manipulator">
+            <!-- (0.1, 0.1, 0.6) only position is needed for aux point -->
+            <xyzQuat link_name="prbt_tcp">0.1 0.1 0.6 0 0 0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose3">
+        <group name="manipulator">
+            <!-- (-0.2, 0.1, 0.6 0 0 0) tcp without gripper -->
+            <joints>-0.463648 -1.64103 -2.06227 0 0.421241 0.463648</joints>
+            <xyzQuat link_name="prbt_tcp">-0.2 0.1 0.6 0 0 0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCAuxPose2">
+        <group name="manipulator">
+            <!-- wrong center point -->
+            <xyzQuat>0 0.4 0.5 0 0 0 1</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose4">
+        <group name="manipulator">
+            <joints>0.0 -0.0107869 -1.72665 0.0 1.71586 0.0</joints>
+            <xyzQuat link_name="prbt_tcp">0.3 0.0 0.65 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose4_delta1">
+        <group name="manipulator">
+            <xyzQuat link_name="prbt_tcp">0.300000001 0.0 0.65 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose4_delta2">
+        <group name="manipulator">
+            <joints>0.0 -0.010787 -1.72666 0.0 1.71586 0.0</joints>
+            <xyzQuat link_name="prbt_tcp">0.300000001 0.0 0.650000001 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose5">
+        <group name="manipulator">
+            <joints>0.0 -1.56309 -1.72665 0.0 0.163561 0.0</joints>
+            <xyzQuat link_name="prbt_tcp">-0.3 0.0 0.65 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose6">
+        <group name="manipulator">
+            <joints>2.61799 -0.0107869 -1.72665 0.0 1.71586 -1.0472</joints>
+            <xyzQuat link_name="prbt_tcp">-0.25980762113533159 0.15 0.65 0 0 0.7071067811865475 0.7071067811865475</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCAuxPose3">
+        <group name="manipulator">
+            <xyzQuat>0.0 0.0 0.65 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCAuxPose4">
+        <group name="manipulator">
+            <xyzQuat>0.0 0.3 0.65 0.0 0.0 0.0 1.0</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose7">
+        <group name="manipulator">
+            <!-- (0.4, 0.1, 0.5 0 0 0) tcp without gripper -->
+            <joints>0.244979 0.333691 -1.48422 0.0 1.81791 -0.244979</joints>
+            <xyzQuat link_name="prbt_tcp">0.4 0.1 0.7 0. 0. 0.923916 -0.382596</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose8">
+        <group name="manipulator">
+            <!-- (0.1, 0.4, 0.5 0 0 0) tcp without gripper -->
+            <joints>1.32582 0.333691 -1.48422 0.0 1.81791 -1.32582</joints>
+            <xyzQuat link_name="prbt_tcp">0.3 0.2 0.7 0 0 0.923916 -0.382596</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+    <pos name="CIRCPose9">
+        <group name="manipulator">
+            <!-- (-0.2, 0.1, 0.5 0 0 0) tcp without gripper -->
+            <joints>-0.463648 -1.64103 -2.06227 0 0.421241 0.463648</joints>
+            <xyzQuat link_name="prbt_tcp">0.2 0.1 0.7 0 0 0.923916 -0.382596</xyzQuat>
+        </group>
+        <group name="gripper">
+            <joints>0</joints>
+        </group>
+    </pos>
+
+  </poses>
+
+    <circs>
+      <circ name="ValidCIRCCmd1">
+        <!-- valid circ cmd-->
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>CIRCPose1</startPos>
+        <centerPos>CIRCAuxPose1</centerPos>
+        <endPos>CIRCPose6</endPos>
+        <vel>0.05</vel>
+        <acc>0.05</acc>
+      </circ>
+
+    <circ name="ValidCIRCCmd2">
+      <!-- valid circ cmd-->
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>CIRCPose4</startPos>
+      <centerPos>CIRCAuxPose3</centerPos>
+      <endPos>CIRCPose6</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </circ>
+
+    <circ name="ValidCIRCCmd3">
+      <!-- valid circ cmd-->
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>CIRCPose4</startPos>
+      <intermediatePos>CIRCAuxPose4</intermediatePos>
+      <endPos>CIRCPose6</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </circ>
+
+    <circ name="CIRCCmdAllPointsTheSame">
+      <!-- valid circ cmd-->
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>CIRCPose4</startPos>
+      <centerPos>CIRCPose4_delta1</centerPos>
+      <endPos>CIRCPose4_delta2</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </circ>
+
+    <circ name="CIRCCmdToFast">
+      <!-- valid circ cmd-->
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>CIRCPose4</startPos>
+      <intermediatePos>CIRCAuxPose4</intermediatePos>
+      <endPos>CIRCPose6</endPos>
+      <vel>1.0</vel>
+      <acc>1.0</acc>
+    </circ>
+
+      <circ name="CIRCCmd2">
+          <planningGroup>manipulator</planningGroup>
+          <targetLink>prbt_tcp</targetLink>
+          <startPos>CIRCPose4</startPos>
+          <centerPos>CIRCAuxPose3</centerPos>
+          <endPos>CIRCPose5</endPos>
+          <vel>0.1</vel>
+          <acc>0.1</acc>
+       </circ>
+
+        <circ name="CIRCCmd3">
+          <!-- circ cmd with wrong center point-->
+          <planningGroup>manipulator</planningGroup>
+          <targetLink>prbt_tcp</targetLink>
+          <startPos>CIRCPose1</startPos>
+          <intermediatePos>CIRCAuxPose2</intermediatePos>
+          <centerPos>CIRCAuxPose2</centerPos>
+          <endPos>CIRCPose2</endPos>
+          <vel>0.05</vel>
+          <acc>0.05</acc>
+        </circ>
+
+        <circ name="CIRCCmd4">
+          <!-- circ cmd with colinear center point due to interim point-->
+          <planningGroup>manipulator</planningGroup>
+          <targetLink>prbt_tcp</targetLink>
+          <startPos>CIRCPose7</startPos>
+          <intermediatePos>CIRCPose8</intermediatePos>
+          <endPos>CIRCPose9</endPos>
+          <vel>0.1</vel>
+          <acc>0.1</acc>
+        </circ>
+
+
+        <circ name="CIRCCmd5">
+            <planningGroup>manipulator</planningGroup>
+            <targetLink>prbt_tcp</targetLink>
+            <startPos>CIRCPose4</startPos>
+            <intermediatePos>CIRCAuxPose3</intermediatePos>
+            <endPos>CIRCPose5</endPos>
+            <vel>0.1</vel>
+            <acc>0.1</acc>
+         </circ>
+
+        <circ name="CIRCCmd6">
+            <planningGroup>manipulator</planningGroup>
+            <targetLink>prbt_tcp</targetLink>
+            <startPos>CIRCPose4</startPos>
+            <intermediatePos>CIRCAuxPose4</intermediatePos>
+            <endPos>CIRCPose5</endPos>
+            <vel>0.01</vel>
+            <acc>0.01</acc>
+         </circ>
+
+
+    </circs>
+
+
+    <lins>
+      <lin name="LINCmd1">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>LINPose1</startPos>
+        <endPos>LINPose2</endPos>
+        <vel>0.4</vel>
+        <acc>0.3</acc>
+      </lin>
+
+      <lin name="LINCmd2">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>LINPose3</startPos>
+        <endPos>LINPose4</endPos>
+        <vel>0.2</vel>
+        <acc>0.2</acc>
+      </lin>
+
+      <lin name="LINCmdLimitViolation">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>LINPose1</startPos>
+        <endPos>LINPose1Opposite</endPos>
+        <vel>1.0</vel>
+        <acc>1.0</acc>
+      </lin>
+
+      <lin name="LINStartEqualsGoal">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>LINPose1</startPos>
+        <endPos>LINPose1</endPos>
+        <vel>0.4</vel>
+        <acc>0.4</acc>
+      </lin>
+
+    </lins>
+
+
+    <ptps>
+      <ptp name="FirstPtp">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>ZeroPose</startPos>
+        <endPos>PTPJointValid</endPos>
+        <vel>1.0</vel>
+        <acc>1.0</acc>
+      </ptp>
+    </ptps>
+
+ </testdata>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_sequence.xml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_sequence.xml
new file mode 100644
index 0000000000..3b87ef0328
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_sequence.xml
@@ -0,0 +1,227 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<testdata>
+
+  <poses>
+
+    <pos name="ZeroPose">
+      <joints group_name="manipulator">0.0, 0.0, -0.4353981633974483, 0.0, -1.5700000000000003, 0.0</joints>
+    </pos>
+
+    <pos name="P1">
+      <joints group_name="manipulator">0, -0.016763700542892668, -1.673499069949556, 0, -1.4848572841831293, 2.3561944901923377</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.3 0.0 0.5 0.923879532509 0.38268343237 0.0 0.0</xyzQuat>
+    </pos>
+
+    <pos name="P2">
+      <joints group_name="manipulator">0.380506 0.731299 -0.960008 0.0 -1.450284 1.951302</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.5 0.2 0.4 0.707106 0.707106 0.0 0.0</xyzQuat>
+    </pos>
+
+    <pos name="P3">
+      <joints group_name="manipulator">0.927295 0.708913 -1.343015 0.0 -1.089664 2.498091</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.3 0.4 0.3 0.707106 0.707106 0.0 0.0
+        <!--Seed needed because there seem to be two possible joint solutions-->
+        <seed><joints group_name="manipulator">0.927295 0.708913 -1.343015 0.0 -1.089664 2.498091</joints></seed>
+      </xyzQuat>
+    </pos>
+
+    <pos name="P4">
+      <joints group_name="manipulator">0.588002 0.221990 -1.742660 0.0 -1.176941 2.158798</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.3 0.2 0.4 0.707106 0.707106 0.0 0.0</xyzQuat>
+    </pos>
+
+    <pos name="gripper_closed">
+      <joints group_name="gripper">0.0</joints>
+    </pos>
+
+    <pos name="gripper_open">
+      <joints group_name="gripper">0.03</joints>
+    </pos>
+
+  </poses>
+
+  <ptps>
+    <ptp name="Ptp1">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>ZeroPose</startPos>
+      <endPos>P1</endPos>
+      <vel>0.1</vel>
+      <acc>0.1</acc>
+    </ptp>
+
+    <ptp name="Ptp2">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P3</startPos>
+      <endPos>P2</endPos>
+      <vel>1.0</vel>
+      <acc>0.4</acc>
+    </ptp>
+
+    <ptp name="Ptp3">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P2</startPos>
+      <endPos>P3</endPos>
+      <vel>1.0</vel>
+      <acc>0.4</acc>
+    </ptp>
+
+    <ptp name="Ptp2_1">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P2</startPos>
+      <endPos>P1</endPos>
+      <vel>1.0</vel>
+      <acc>0.4</acc>
+    </ptp>
+  </ptps>
+
+  <lins>
+    <lin name="lin3">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>P2</startPos>
+        <endPos>P3</endPos>
+        <vel>0.1</vel>
+        <acc>0.2</acc>
+    </lin>
+
+    <lin name="lin2">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>P1</startPos>
+        <endPos>P2</endPos>
+        <vel>0.1</vel>
+        <acc>0.2</acc>
+    </lin>
+
+    <lin name="lin4">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>P2</startPos>
+        <endPos>P4</endPos>
+        <vel>0.1</vel>
+        <acc>0.2</acc>
+    </lin>
+  </lins>
+
+  <circs>
+    <circ name="circ3_interim">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P1</startPos>
+      <intermediatePos>P2</intermediatePos>
+      <endPos>P3</endPos>
+      <vel>0.1</vel>
+      <acc>0.2</acc>
+    </circ>
+
+    <circ name="circ1_center_2">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P3</startPos>
+      <centerPos>P2</centerPos>
+      <endPos>P1</endPos>
+      <vel>0.1</vel>
+      <acc>0.2</acc>
+    </circ>
+  </circs>
+
+  <grippers>
+    <gripper name="open_gripper">
+      <planningGroup>gripper</planningGroup>
+      <startPos>gripper_closed</startPos>
+      <endPos>gripper_open</endPos>
+    </gripper>
+    <gripper name="close_gripper">
+      <planningGroup>gripper</planningGroup>
+      <startPos>gripper_open</startPos>
+      <endPos>gripper_closed</endPos>
+    </gripper>
+  </grippers>
+
+  <sequences>
+    <blend name="ComplexSequence">
+      <sequenceCmd name="Ptp1"            type="ptp_joint_cart"     blend_radius="0.1" />
+      <sequenceCmd name="circ3_interim"   type="circ_interim_cart"  blend_radius="0.1" />
+      <sequenceCmd name="Ptp2"            type="ptp_cart_cart"      blend_radius="0.1" />
+      <sequenceCmd name="lin3"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="circ1_center_2"  type="circ_center_cart"   blend_radius="0.1" />
+      <sequenceCmd name="lin2"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="Ptp3"            type="ptp_cart_cart"      blend_radius="0.0" />
+    </blend>
+    <blend name="ComplexSequenceWithGripper">
+      <sequenceCmd name="open_gripper" type="gripper" blend_radius="0.0" />
+      <sequenceCmd name="Ptp1"            type="ptp_joint_cart"     blend_radius="0.1" />
+      <sequenceCmd name="circ3_interim"   type="circ_interim_cart"  blend_radius="0.1" />
+      <sequenceCmd name="close_gripper" type="gripper" blend_radius="0.0" />
+      <sequenceCmd name="Ptp2"            type="ptp_cart_cart"      blend_radius="0.1" />
+      <sequenceCmd name="lin3"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="circ1_center_2"  type="circ_center_cart"   blend_radius="0.1" />
+      <sequenceCmd name="open_gripper" type="gripper" blend_radius="0.0" />
+      <sequenceCmd name="lin2"            type="lin_cart"           blend_radius="0.1" />
+      <sequenceCmd name="Ptp3"            type="ptp_cart_cart"      blend_radius="0.0" />
+      <sequenceCmd name="close_gripper" type="gripper" blend_radius="0.0" />
+    </blend>
+    <blend name="SimpleSequence">
+      <sequenceCmd name="lin2" type="lin_cart" blend_radius="0.149" />
+      <sequenceCmd name="lin3" type="lin_cart" blend_radius="0" />
+    </blend>
+    <blend name="NoIntersectionTraj2">
+      <sequenceCmd name="lin2" type="lin_cart" blend_radius="0.21" />
+      <sequenceCmd name="lin4" type="lin_cart" blend_radius="0" />
+    </blend>
+    <blend name="PtpPtpSequence">
+      <sequenceCmd name="Ptp2" type="ptp_cart_cart" blend_radius="0.1" />
+      <sequenceCmd name="Ptp2_1" type="ptp_cart_cart" blend_radius="0" />
+    </blend>
+    <blend name="LinPtpSequence">
+      <sequenceCmd name="lin2" type="lin_cart" blend_radius="0.1" />
+      <sequenceCmd name="Ptp3" type="ptp_cart_cart" blend_radius="0" />
+    </blend>
+    <blend name="PtpLinSequence">
+      <sequenceCmd name="Ptp2" type="ptp_cart_cart" blend_radius="0.1" />
+      <sequenceCmd name="lin4" type="lin_cart" blend_radius="0" />
+    </blend>
+    <blend name="PureGripperSequence">
+      <sequenceCmd name="open_gripper" type="gripper" blend_radius="0.0" />
+      <sequenceCmd name="close_gripper" type="gripper" blend_radius="0.0" />
+    </blend>
+  </sequences>
+
+</testdata>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_with_gripper.xml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_with_gripper.xml
new file mode 100644
index 0000000000..cece30dc4b
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/testdata_with_gripper.xml
@@ -0,0 +1,95 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<testdata>
+
+  <poses>
+    <pos name="ZeroPose">
+      <joints group_name="manipulator">0.0 0.0 0.0 0.0 0.0 0.0</joints>
+    </pos>
+
+    <pos name="P1">
+      <joints group_name="manipulator">0.0 0.005583 -1.323096 0.0 -1.812912 -2.356194</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.3 0.0 0.5 0.707106 0.707106 0.0 0.0</xyzQuat>
+    </pos>
+
+    <pos name="P2">
+      <joints group_name="manipulator">0.380506 0.752267 -0.595009 0.0 -1.794315 -1.975688</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.5 0.2 0.4 0.707106 0.707106 0.0 0.0</xyzQuat>
+    </pos>
+
+    <pos name="P3">
+      <joints group_name="manipulator">0.927295 0.607232 -1.173008 0.0 -1.361351 -1.428899</joints>
+      <xyzQuat group_name="manipulator" link_name="prbt_tcp">0.3 0.4 0.3 0.707106 0.707106 0.0 0.0
+      </xyzQuat>
+    </pos>
+
+  </poses>
+
+  <ptps>
+    <ptp name="Ptp1">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>ZeroPose</startPos>
+      <endPos>P1</endPos>
+      <vel>1.0</vel>
+      <acc>0.4</acc>
+    </ptp>
+
+  </ptps>
+
+  <lins>
+    <lin name="lin2">
+        <planningGroup>manipulator</planningGroup>
+        <targetLink>prbt_tcp</targetLink>
+        <startPos>P1</startPos>
+        <endPos>P2</endPos>
+        <vel>0.1</vel>
+        <acc>0.2</acc>
+    </lin>
+  </lins>
+
+  <circs>
+    <circ name="circ1_center_2">
+      <planningGroup>manipulator</planningGroup>
+      <targetLink>prbt_tcp</targetLink>
+      <startPos>P3</startPos>
+      <centerPos>P2</centerPos>
+      <endPos>P1</endPos>
+      <vel>0.1</vel>
+      <acc>0.2</acc>
+    </circ>
+  </circs>
+
+</testdata>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_all.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_all.yaml
new file mode 100644
index 0000000000..bd165e6ebc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_all.yaml
@@ -0,0 +1,37 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2
+  max_trans_dec: -3
+  max_rot_vel: 4
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_only_vel.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_only_vel.yaml
new file mode 100644
index 0000000000..4ac9ff1ae8
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_only_vel.yaml
@@ -0,0 +1,34 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+cartesian_limits:
+  max_trans_vel: 10
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_valid_1.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_valid_1.yaml
new file mode 100644
index 0000000000..dd953add3d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_valid_1.yaml
@@ -0,0 +1,52 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+joint_limits:
+  prbt_joint_1:
+    has_position_limits: true
+    min_position: -2
+    max_position: 2
+  prbt_joint_2:
+    has_position_limits: false
+    min_position: -2
+    max_position: 2
+  prbt_joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.1
+    has_acceleration_limits: false
+    max_acceleration: 5.5
+  prbt_joint_4:
+    has_acceleration_limits: true
+    max_acceleration: 5.5
+  prbt_joint_5:
+    has_deceleration_limits: true
+    max_deceleration: -6.6
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_max.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_max.yaml
new file mode 100644
index 0000000000..7aecb01bc7
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_max.yaml
@@ -0,0 +1,37 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+joint_limits:
+  prbt_joint_3:
+    has_position_limits: true
+    min_position: -1
+    max_position: 4
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_min.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_min.yaml
new file mode 100644
index 0000000000..50612ed284
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_min.yaml
@@ -0,0 +1,37 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+joint_limits:
+  prbt_joint_2:
+    has_position_limits: true
+    min_position: -4
+    max_position: 2
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_velocity.yaml b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_velocity.yaml
new file mode 100644
index 0000000000..8373e05b28
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_velocity.yaml
@@ -0,0 +1,36 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+joint_limits:
+  prbt_joint_3:
+    has_velocity_limits: true
+    max_velocity: -90
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_robots/testpoints.py b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/testpoints.py
new file mode 100755
index 0000000000..e0056728f3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_robots/testpoints.py
@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2018 Pilz GmbH & Co. KG
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+from geometry_msgs.msg import Point
+from pilz_robot_programming.robot import *
+from pilz_robot_programming.commands import *
+import math
+import rospy
+
+__REQUIRED_API_VERSION__ = "1"
+
+robot_configs = {}
+robot_configs['prbt'] = {
+        'initJointPose': [0.0, 0.0, math.radians(-25), 0.0, -1.57, 0],
+        'L': 0.2,
+        'M': 0.1,
+        'planning_group': 'manipulator',
+        'target_link': 'prbt_tcp',
+        'reference_frame': 'prbt_base',
+        'default_or': from_euler(0, math.radians(180), math.radians(90)),
+        'P1_position': Point(0.3, 0.0, 0.5),
+        'P1_orientation': from_euler(0, math.radians(180), math.radians(135))
+}
+
+robot_configs['panda'] = {
+        'initJointPose': [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785],
+        'L': 0.2,
+        'M': 0.1,
+        'planning_group': 'panda_arm',
+        'target_link': 'panda_link8',
+        'reference_frame': 'panda_link0',
+        'default_or': Quaternion(0.924, -0.382, 0.000, 0.000),
+        'P1_position': Point(0.2, 0.0, 0.8)
+}
+
+
+def start_program(robot_name):
+    print("Executing " + __file__)
+
+    test_sequence(**robot_configs[robot_name])
+
+def test_sequence(initJointPose, L, M, planning_group, target_link, reference_frame, default_or, P1_position, P1_orientation):
+    r = Robot(__REQUIRED_API_VERSION__)
+
+    r.move(Ptp(goal=initJointPose, planning_group=planning_group))
+
+    P1 = Pose(position=P1_position, orientation=P1_orientation)
+
+
+    P2 = Pose(position=Point(P1.position.x+L, P1.position.y+L, P1.position.z-M), orientation=default_or)
+    P3 = Pose(position=Point(P1.position.x, P1.position.y+2*L, P1.position.z-2*M), orientation=default_or)
+    P4 = Pose(position=Point(P1.position.x, P1.position.y+L, P1.position.z-M), orientation=default_or)
+
+    ptp1 = Ptp(goal=P1, acc_scale=0.3, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    ptp2 = Ptp(goal=P2, acc_scale=0.3, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    ptp3 = Ptp(goal=P3, acc_scale=0.3, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    ptp4 = Ptp(goal=P4, acc_scale=0.3, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    lin1 = Lin(goal=P1, acc_scale=0.1, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    lin2 = Lin(goal=P2, acc_scale=0.1, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    lin3 = Lin(goal=P3, acc_scale=0.1, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    lin4 = Lin(goal=P4, acc_scale=0.1, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+
+    r.move(ptp1) #PTP_12 test
+    r.move(ptp2) #PTP_23
+    r.move(ptp3) #PTP_34
+    r.move(ptp4) #PTP_41
+    r.move(ptp1)
+
+    r.move(lin1) #LIN_12
+    r.move(lin2) #LIN_23
+    r.move(lin3) #LIN_34
+    r.move(lin4) #LIN_41
+    r.move(lin1)
+
+    circ3_interim_2 = Circ(goal=P3, interim=P2.position, acc_scale=0.2, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+    circ1_center_2 = Circ(goal=P1, center=P2.position, acc_scale=0.2, planning_group=planning_group, target_link=target_link, reference_frame=reference_frame)
+
+    for radius in [0, 0.1]:
+        r.move(Ptp(goal=initJointPose, planning_group=planning_group))
+
+        seq = Sequence()
+        seq.append(ptp1, blend_radius=radius)
+        seq.append(circ3_interim_2, blend_radius=radius)
+        seq.append(ptp2, blend_radius=radius)
+        seq.append(lin3, blend_radius=radius)
+        seq.append(circ1_center_2, blend_radius=radius)
+        seq.append(lin2, blend_radius=radius)
+        seq.append(ptp3)
+
+        r.move(seq)
+
+if __name__ == "__main__":
+    # Init a ros node
+    rospy.init_node('robot_program_node')
+
+    import sys
+
+    robots = list(robot_configs.keys())
+
+    if(len(sys.argv) < 2):
+        print("Please specify the robot you want to use." + ', '.join('"{0}"'.format(r) for r in robots))
+        sys.exit()
+
+
+    if(sys.argv[1] not in robots):
+        print("Robot " + sys.argv[1] + " not available. Use one of " + ', '.join('"{0}"'.format(r) for r in robots))
+        sys.exit()
+
+
+    start_program(sys.argv[1])
+
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp
new file mode 100644
index 0000000000..2c9b859e56
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp
@@ -0,0 +1,1430 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <eigen_conversions/eigen_msg.h>
+#include <gtest/gtest.h>
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/robot_state/conversions.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include "test_utils.h"
+
+pilz_industrial_motion_planner::JointLimitsContainer
+testutils::createFakeLimits(const std::vector<std::string>& joint_names)
+{
+  pilz_industrial_motion_planner::JointLimitsContainer container;
+
+  for (const std::string& name : joint_names)
+  {
+    JointLimit limit;
+    limit.has_position_limits = true;
+    limit.max_position = 2.967;
+    limit.min_position = -2.967;
+    limit.has_velocity_limits = true;
+    limit.max_velocity = 1;
+    limit.has_acceleration_limits = true;
+    limit.max_acceleration = 0.5;
+    limit.has_deceleration_limits = true;
+    limit.max_deceleration = -1;
+
+    container.addLimit(name, limit);
+  }
+
+  return container;
+}
+
+bool testutils::getExpectedGoalPose(const moveit::core::RobotModelConstPtr& robot_model,
+                                    const planning_interface::MotionPlanRequest& req, std::string& link_name,
+                                    Eigen::Isometry3d& goal_pose_expect)
+{
+  // ++++++++++++++++++++++++++++++++++
+  // + Get goal from joint constraint +
+  // ++++++++++++++++++++++++++++++++++
+  if (!req.goal_constraints.front().joint_constraints.empty())
+  {
+    std::map<std::string, double> goal_joint_position;
+
+    // initializing all joints of the model
+    for (const auto& joint_name : robot_model->getVariableNames())
+    {
+      goal_joint_position[joint_name] = 0;
+    }
+
+    for (const auto& joint_item : req.goal_constraints.front().joint_constraints)
+    {
+      goal_joint_position[joint_item.joint_name] = joint_item.position;
+    }
+
+    link_name = robot_model->getJointModelGroup(req.group_name)->getSolverInstance()->getTipFrame();
+
+    if (!computeLinkFK(robot_model, link_name, goal_joint_position, goal_pose_expect))
+    {
+      std::cerr << "Failed to compute forward kinematics for link in goal "
+                   "constraints \n";
+      return false;
+    }
+    return true;
+  }
+
+  // ++++++++++++++++++++++++++++++++++++++
+  // + Get goal from cartesian constraint +
+  // ++++++++++++++++++++++++++++++++++++++
+  // TODO frame id
+  link_name = req.goal_constraints.front().position_constraints.front().link_name;
+  geometry_msgs::Pose goal_pose_msg;
+  goal_pose_msg.position =
+      req.goal_constraints.front().position_constraints.front().constraint_region.primitive_poses.front().position;
+  goal_pose_msg.orientation = req.goal_constraints.front().orientation_constraints.front().orientation;
+  normalizeQuaternion(goal_pose_msg.orientation);
+  tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(goal_pose_msg, goal_pose_expect);
+  return true;
+}
+
+bool testutils::isGoalReached(const trajectory_msgs::JointTrajectory& trajectory,
+                              const std::vector<moveit_msgs::JointConstraint>& goal,
+                              const double joint_position_tolerance, const double joint_velocity_tolerance)
+{
+  trajectory_msgs::JointTrajectoryPoint last_point = trajectory.points.back();
+
+  for (unsigned int i = 0; i < trajectory.joint_names.size(); ++i)
+  {
+    if (fabs(last_point.velocities.at(i)) > joint_velocity_tolerance)
+    {
+      std::cerr << "[ Fail     ] goal has non zero velocity."
+                << " Joint Name: " << trajectory.joint_names.at(i) << "; Velocity: " << last_point.velocities.at(i)
+                << std::endl;
+      return false;
+    }
+
+    for (const auto& joint_goal : goal)
+    {
+      if (trajectory.joint_names.at(i) == joint_goal.joint_name)
+      {
+        if (fabs(last_point.positions.at(i) - joint_goal.position) > joint_position_tolerance)
+        {
+          std::cerr << "[ Fail     ] goal position not reached."
+                    << " Joint Name: " << trajectory.joint_names.at(i)
+                    << "; Actual Position: " << last_point.positions.at(i)
+                    << "; Expected Position: " << joint_goal.position << std::endl;
+          return false;
+        }
+      }
+    }
+  }
+
+  return true;
+}
+
+bool testutils::isGoalReached(const moveit::core::RobotModelConstPtr& robot_model,
+                              const trajectory_msgs::JointTrajectory& trajectory,
+                              const planning_interface::MotionPlanRequest& req, const double pos_tolerance,
+                              const double orientation_tolerance)
+{
+  std::string link_name;
+  Eigen::Isometry3d goal_pose_expect;
+  if (!testutils::getExpectedGoalPose(robot_model, req, link_name, goal_pose_expect))
+  {
+    return false;
+  }
+
+  // compute the actual goal pose in model frame
+  trajectory_msgs::JointTrajectoryPoint last_point = trajectory.points.back();
+  Eigen::Isometry3d goal_pose_actual;
+  std::map<std::string, double> joint_state;
+
+  // initializing all joints of the model
+  for (const auto& joint_name : robot_model->getVariableNames())
+  {
+    joint_state[joint_name] = 0;
+  }
+
+  for (std::size_t i = 0; i < trajectory.joint_names.size(); ++i)
+  {
+    joint_state[trajectory.joint_names.at(i)] = last_point.positions.at(i);
+  }
+
+  if (!computeLinkFK(robot_model, link_name, joint_state, goal_pose_actual))
+  {
+    std::cerr << "[ Fail     ] forward kinematics computation failed for link: " << link_name << std::endl;
+  }
+
+  auto actual_rotation{ goal_pose_actual.rotation() };
+  auto expected_rotation{ goal_pose_expect.rotation() };
+  auto rot_diff{ actual_rotation - expected_rotation };
+  if (rot_diff.norm() > orientation_tolerance)
+  {
+    std::cout << "\nOrientation difference = " << rot_diff.norm() << " (eps=" << orientation_tolerance << ")"
+              << "\n### Expected goal orientation: ### \n"
+              << expected_rotation << std::endl
+              << "### Actual goal orientation ### \n"
+              << actual_rotation << std::endl;
+    return false;
+  }
+
+  auto actual_position{ goal_pose_actual.translation() };
+  auto expected_position{ goal_pose_expect.translation() };
+  auto pos_diff{ actual_position - expected_position };
+  if (pos_diff.norm() > pos_tolerance)
+  {
+    std::cout << "\nPosition difference = " << pos_diff.norm() << " (eps=" << pos_tolerance << ")"
+              << "\n### Expected goal position: ### \n"
+              << expected_position << std::endl
+              << "### Actual goal position ### \n"
+              << actual_position << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+bool testutils::isGoalReached(const moveit::core::RobotModelConstPtr& robot_model,
+                              const trajectory_msgs::JointTrajectory& trajectory,
+                              const planning_interface::MotionPlanRequest& req, const double tolerance)
+{
+  return isGoalReached(robot_model, trajectory, req, tolerance, tolerance);
+}
+
+bool testutils::checkCartesianLinearity(const moveit::core::RobotModelConstPtr& robot_model,
+                                        const trajectory_msgs::JointTrajectory& trajectory,
+                                        const planning_interface::MotionPlanRequest& req,
+                                        const double translation_norm_tolerance, const double rot_axis_norm_tolerance,
+                                        const double rot_angle_tolerance)
+{
+  std::string link_name;
+  Eigen::Isometry3d goal_pose_expect;
+  if (!testutils::getExpectedGoalPose(robot_model, req, link_name, goal_pose_expect))
+  {
+    return false;
+  }
+
+  // compute start pose
+  robot_state::RobotState rstate(robot_model);
+  rstate.setToDefaultValues();
+  moveit::core::jointStateToRobotState(req.start_state.joint_state, rstate);
+  Eigen::Isometry3d start_pose = rstate.getFrameTransform(link_name);
+
+  // start goal angle axis
+  Eigen::AngleAxisd start_goal_aa(start_pose.rotation().transpose() * goal_pose_expect.rotation());
+
+  // check the linearity
+  for (trajectory_msgs::JointTrajectoryPoint way_point : trajectory.points)
+  {
+    Eigen::Isometry3d way_point_pose;
+    std::map<std::string, double> way_point_joint_state;
+
+    // initializing all joints of the model
+    for (const auto& joint_name : robot_model->getVariableNames())
+    {
+      way_point_joint_state[joint_name] = 0;
+    }
+
+    for (std::size_t i = 0; i < trajectory.joint_names.size(); ++i)
+    {
+      way_point_joint_state[trajectory.joint_names.at(i)] = way_point.positions.at(i);
+    }
+
+    if (!computeLinkFK(robot_model, link_name, way_point_joint_state, way_point_pose))
+    {
+      std::cerr << "Failed to compute forward kinematics for link in goal "
+                   "constraints \n";
+      return false;
+    }
+
+    // translational linearity
+    Eigen::Vector3d goal_start_translation = goal_pose_expect.translation() - start_pose.translation();
+    // https://de.wikipedia.org/wiki/Geradengleichung
+    // Determined form of a straight line in 3D space
+    if (fabs((goal_start_translation.cross(way_point_pose.translation()) -
+              goal_start_translation.cross(start_pose.translation()))
+                 .norm()) > fabs(translation_norm_tolerance))
+    {
+      std::cout << "Translational linearity is violated. \n"
+                << "goal tanslation: " << goal_pose_expect.translation() << std::endl
+                << "start translation: " << start_pose.translation() << std::endl
+                << "acutual translation " << way_point_pose.translation() << std::endl;
+      return false;
+    }
+
+    if (!checkSLERP(start_pose, goal_pose_expect, way_point_pose, rot_axis_norm_tolerance))
+    {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+bool testutils::checkSLERP(const Eigen::Isometry3d& start_pose, const Eigen::Isometry3d& goal_pose,
+                           const Eigen::Isometry3d& wp_pose, const double rot_axis_norm_tolerance,
+                           const double rot_angle_tolerance)
+{
+  // rotational linearity
+  // start way point angle axis
+  Eigen::AngleAxisd start_goal_aa(start_pose.rotation().transpose() * goal_pose.rotation());
+  Eigen::AngleAxisd start_wp_aa(start_pose.rotation().transpose() * wp_pose.rotation());
+
+  // parallel rotation axis
+  // it is possible the axis opposite is
+  // if the angle is zero, axis is arbitrary
+  if (!(((start_goal_aa.axis() - start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) ||
+        ((start_goal_aa.axis() + start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) ||
+        (fabs(start_wp_aa.angle()) < fabs(rot_angle_tolerance))))
+  {
+    std::cout << "Rotational linearity is violated. \n"
+              << std::endl
+              << "start goal angle: " << start_goal_aa.angle() << "; axis: " << std::endl
+              << start_goal_aa.axis() << std::endl
+              << "start waypoint angle: " << start_wp_aa.angle() << "; axis: " << std::endl
+              << start_wp_aa.axis() << std::endl;
+
+    return false;
+  }
+
+  return true;
+}
+
+bool testutils::computeLinkFK(const moveit::core::RobotModelConstPtr& robot_model, const std::string& link_name,
+                              const std::map<std::string, double>& joint_state, Eigen::Isometry3d& pose)
+{
+  // create robot state
+  robot_state::RobotState rstate(robot_model);
+  rstate.setToDefaultValues();
+
+  // check the reference frame of the target pose
+  if (!rstate.knowsFrameTransform(link_name))
+  {
+    ROS_ERROR_STREAM("The target link " << link_name << " is not known by robot.");
+    return false;
+  }
+
+  // set the joint positions
+  try
+  {
+    rstate.setVariablePositions(joint_state);
+  }
+  catch (const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+    return false;
+  }
+
+  // update the frame
+  rstate.update();
+  pose = rstate.getFrameTransform(link_name);
+
+  return true;
+}
+
+bool testutils::isVelocityBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                                  const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  for (const auto& point : trajectory.points)
+  {
+    for (std::size_t i = 0; i < point.velocities.size(); ++i)
+    {
+      if (fabs(point.velocities.at(i)) > fabs(joint_limits.getLimit(trajectory.joint_names.at(i)).max_velocity))
+      {
+        std::cerr << "[ Fail     ] Joint velocity limit violated in " << i << "th waypoint of joint: "
+                  << " Joint Name: " << trajectory.joint_names.at(i) << "; Position: " << point.positions.at(i)
+                  << "; Velocity: " << point.velocities.at(i) << "; Acceleration: " << point.accelerations.at(i)
+                  << "; Time from start: " << point.time_from_start.toSec()
+                  << "; Velocity Limit: " << joint_limits.getLimit(trajectory.joint_names.at(i)).max_velocity
+                  << std::endl;
+
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+bool testutils::isTrajectoryConsistent(const trajectory_msgs::JointTrajectory& trajectory)
+{
+  for (const auto& point : trajectory.points)
+  {
+    if (trajectory.joint_names.size() != point.positions.size() ||
+        trajectory.joint_names.size() != point.velocities.size() ||
+        trajectory.joint_names.size() != point.accelerations.size())
+    {
+      return false;
+    }
+  }
+
+  // TODO check value is consistant (time, position, velocity, acceleration)
+
+  return true;
+}
+
+bool testutils::isAccelerationBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                                      const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  for (const auto& point : trajectory.points)
+  {
+    for (std::size_t i = 0; i < point.velocities.size(); ++i)
+    {
+      // deceleration
+      if (point.velocities.at(i) * point.accelerations.at(i) <= 0)
+      {
+        if (fabs(point.accelerations.at(i)) > fabs(joint_limits.getLimit(trajectory.joint_names.at(i)).max_deceleration))
+        {
+          std::cerr << "[ Fail     ] Deceleration limit violated of joint: " << trajectory.joint_names.at(i)
+                    << ": Position: " << point.positions.at(i) << "; Velocity: " << point.velocities.at(i)
+                    << "; Acceleration: " << point.accelerations.at(i)
+                    << "; Time from start: " << point.time_from_start.toSec()
+                    << ". Deceleration Limit: " << joint_limits.getLimit(trajectory.joint_names.at(i)).max_deceleration
+                    << std::endl;
+          return false;
+        }
+      }
+      // acceleration
+      else
+      {
+        if (fabs(point.accelerations.at(i)) > fabs(joint_limits.getLimit(trajectory.joint_names.at(i)).max_acceleration))
+        {
+          std::cerr << "[ Fail     ] Acceleration limit violated of joint: " << trajectory.joint_names.at(i)
+                    << ": Position: " << point.positions.at(i) << "; Velocity: " << point.velocities.at(i)
+                    << "; Acceleration: " << point.accelerations.at(i)
+                    << "; Time from start: " << point.time_from_start.toSec()
+                    << ". Acceleration Limit: " << joint_limits.getLimit(trajectory.joint_names.at(i)).max_acceleration
+                    << std::endl;
+
+          return false;
+        }
+      }
+    }
+  }
+
+  return true;
+}
+
+bool testutils::isPositionBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                                  const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  for (const auto& point : trajectory.points)
+  {
+    for (std::size_t i = 0; i < point.positions.size(); ++i)
+    {
+      if (point.positions.at(i) > joint_limits.getLimit(trajectory.joint_names.at(i)).max_position ||
+          point.positions.at(i) < joint_limits.getLimit(trajectory.joint_names.at(i)).min_position)
+      {
+        std::cerr << "[ Fail     ] Joint position limit violated in " << i << "th waypoint of joint: "
+                  << " Joint Name: " << trajectory.joint_names.at(i) << "; Position: " << point.positions.at(i)
+                  << "; Velocity: " << point.velocities.at(i) << "; Acceleration: " << point.accelerations.at(i)
+                  << "; Time from start: " << point.time_from_start.toSec()
+                  << "; Max Position: " << joint_limits.getLimit(trajectory.joint_names.at(i)).max_position
+                  << "; Min Position: " << joint_limits.getLimit(trajectory.joint_names.at(i)).min_position
+                  << std::endl;
+
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+bool testutils::checkJointTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
+                                     const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits)
+{
+  if (!testutils::isTrajectoryConsistent(trajectory))
+  {
+    std::cout << "Joint trajectory is not consistent." << std::endl;
+    return false;
+  }
+  if (!testutils::isPositionBounded(trajectory, joint_limits))
+  {
+    std::cout << "Joint poisiton violated the limits." << std::endl;
+    return false;
+  }
+  if (!testutils::isVelocityBounded(trajectory, joint_limits))
+  {
+    std::cout << "Joint velocity violated the limits." << std::endl;
+    return false;
+  }
+  if (!testutils::isAccelerationBounded(trajectory, joint_limits))
+  {
+    std::cout << "Joint acceleration violated the limits." << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+::testing::AssertionResult testutils::hasStrictlyIncreasingTime(const robot_trajectory::RobotTrajectoryPtr& trajectory)
+{
+  // Check for strictly positively increasing time steps
+  for (unsigned int i = 1; i < trajectory->getWayPointCount(); ++i)
+  {
+    if (trajectory->getWayPointDurationFromPrevious(i) <= 0.0)
+    {
+      return ::testing::AssertionFailure()
+             << "Waypoint " << (i) << " has " << trajectory->getWayPointDurationFromPrevious(i)
+             << " time between itself and its predecessor."
+             << " Total points in trajectory: " << trajectory->getWayPointCount() << ".";
+    }
+  }
+
+  return ::testing::AssertionSuccess();
+}
+
+void testutils::createDummyRequest(const moveit::core::RobotModelConstPtr& robot_model,
+                                   const std::string& planning_group, planning_interface::MotionPlanRequest& req)
+{
+  // valid motion plan request with goal in joint space
+  req.group_name = planning_group;
+  req.max_velocity_scaling_factor = 1.0;
+  req.max_acceleration_scaling_factor = 1.0;
+  robot_state::RobotState rstate(robot_model);
+  rstate.setToDefaultValues();
+  moveit::core::robotStateToRobotStateMsg(rstate, req.start_state, false);
+}
+
+void testutils::createPTPRequest(const std::string& planning_group, const robot_state::RobotState& start_state,
+                                 const robot_state::RobotState& goal_state, planning_interface::MotionPlanRequest& req)
+{
+  // valid motion plan request with goal in joint space
+  req.planner_id = "PTP";
+  req.group_name = planning_group;
+  req.max_velocity_scaling_factor = 0.5;
+  req.max_acceleration_scaling_factor = 0.5;
+  // start state
+  moveit::core::robotStateToRobotStateMsg(start_state, req.start_state, false);
+  // goal state
+  req.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      goal_state, goal_state.getRobotModel()->getJointModelGroup(planning_group)));
+}
+
+bool testutils::toTCPPose(const moveit::core::RobotModelConstPtr& robot_model, const std::string& link_name,
+                          const std::vector<double>& joint_values, geometry_msgs::Pose& pose,
+                          const std::string& joint_prefix)
+{
+  {
+    std::map<std::string, double> joint_state;
+    auto joint_values_it = joint_values.begin();
+
+    // initializing all joints of the model
+    for (const auto& joint_name : robot_model->getVariableNames())
+    {
+      joint_state[joint_name] = 0;
+    }
+
+    for (std::size_t i = 0; i < joint_values.size(); ++i)
+    {
+      joint_state[testutils::getJointName(i + 1, joint_prefix)] = *joint_values_it;
+      ++joint_values_it;
+    }
+
+    Eigen::Isometry3d eig_pose;
+    if (!testutils::computeLinkFK(robot_model, link_name, joint_state, eig_pose))
+    {
+      return false;
+    }
+    tf2::convert<Eigen::Isometry3d, geometry_msgs::Pose>(eig_pose, pose);
+    return true;
+  }
+}
+
+bool testutils::checkOriginalTrajectoryAfterBlending(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                                     const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                                     const double time_tolerance)
+{
+  for (std::size_t i = 0; i < res.first_trajectory->getWayPointCount(); ++i)
+  {
+    for (const std::string& joint_name :
+         res.first_trajectory->getWayPoint(i).getJointModelGroup(req.group_name)->getActiveJointModelNames())
+    {
+      // check joint position
+      if (res.first_trajectory->getWayPoint(i).getVariablePosition(joint_name) !=
+          req.first_trajectory->getWayPoint(i).getVariablePosition(joint_name))
+      {
+        std::cout << i << "th position of the first trajectory is not same." << std::endl;
+        return false;
+      }
+
+      // check joint velocity
+      if (res.first_trajectory->getWayPoint(i).getVariableVelocity(joint_name) !=
+          req.first_trajectory->getWayPoint(i).getVariableVelocity(joint_name))
+      {
+        std::cout << i << "th velocity of the first trajectory is not same." << std::endl;
+        return false;
+      }
+
+      // check joint acceleration
+      if (res.first_trajectory->getWayPoint(i).getVariableAcceleration(joint_name) !=
+          req.first_trajectory->getWayPoint(i).getVariableAcceleration(joint_name))
+      {
+        std::cout << i << "th acceleration of the first trajectory is not same." << std::endl;
+        return false;
+      }
+    }
+
+    // check time from start
+    if (res.first_trajectory->getWayPointDurationFromStart(i) != req.first_trajectory->getWayPointDurationFromStart(i))
+    {
+      std::cout << i << "th time_from_start of the first trajectory is not same." << std::endl;
+      return false;
+    }
+  }
+
+  size_t size_second = res.second_trajectory->getWayPointCount();
+  size_t size_second_original = req.second_trajectory->getWayPointCount();
+  for (std::size_t i = 0; i < size_second; ++i)
+  {
+    for (const std::string& joint_name : res.second_trajectory->getWayPoint(size_second - i - 1)
+                                             .getJointModelGroup(req.group_name)
+                                             ->getActiveJointModelNames())
+    {
+      // check joint position
+      if (res.second_trajectory->getWayPoint(size_second - i - 1).getVariablePosition(joint_name) !=
+          req.second_trajectory->getWayPoint(size_second_original - i - 1).getVariablePosition(joint_name))
+      {
+        std::cout << i - 1 << "th position of the second trajectory is not same." << std::endl;
+        return false;
+      }
+
+      // check joint velocity
+      if (res.second_trajectory->getWayPoint(size_second - i - 1).getVariableVelocity(joint_name) !=
+          req.second_trajectory->getWayPoint(size_second_original - i - 1).getVariableVelocity(joint_name))
+      {
+        std::cout << i - 1 << "th position of the second trajectory is not same." << std::endl;
+        return false;
+      }
+
+      // check joint acceleration
+      if (res.second_trajectory->getWayPoint(size_second - i - 1).getVariableAcceleration(joint_name) !=
+          req.second_trajectory->getWayPoint(size_second_original - i - 1).getVariableAcceleration(joint_name))
+      {
+        std::cout << i - 1 << "th position of the second trajectory is not same." << std::endl;
+        return false;
+      }
+    }
+
+    // check time from start
+    if (i < size_second - 1)
+    {
+      if (fabs((res.second_trajectory->getWayPointDurationFromStart(size_second - i - 1) -
+                res.second_trajectory->getWayPointDurationFromStart(size_second - i - 2)) -
+               (req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 1) -
+                req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 2))) > time_tolerance)
+      {
+        std::cout << size_second - i - 1 << "th time from start of the second trajectory is not same."
+                  << res.second_trajectory->getWayPointDurationFromStart(size_second - i - 1) << ", "
+                  << res.second_trajectory->getWayPointDurationFromStart(size_second - i - 2) << ", "
+                  << req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 1) << ", "
+                  << req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 2) << std::endl;
+        return false;
+      }
+    }
+    else
+    {
+      if (fabs((res.second_trajectory->getWayPointDurationFromStart(size_second - i - 1)) -
+               (req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 1) -
+                req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 2))) > time_tolerance)
+      {
+        std::cout << size_second - i - 1 << "th time from start of the second trajectory is not same."
+                  << res.second_trajectory->getWayPointDurationFromStart(size_second - i - 1) << ", "
+                  << req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 1) -
+                         req.second_trajectory->getWayPointDurationFromStart(size_second_original - i - 2)
+                  << std::endl;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+bool testutils::checkBlendingJointSpaceContinuity(const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                                  double joint_velocity_tolerance, double joint_accleration_tolerance)
+{
+  // convert to msgs
+  moveit_msgs::RobotTrajectory first_traj, blend_traj, second_traj;
+  res.first_trajectory->getRobotTrajectoryMsg(first_traj);
+  res.blend_trajectory->getRobotTrajectoryMsg(blend_traj);
+  res.second_trajectory->getRobotTrajectoryMsg(second_traj);
+
+  // check the continuity between first trajectory and blend trajectory
+  trajectory_msgs::JointTrajectoryPoint first_end, blend_start;
+  first_end = first_traj.joint_trajectory.points.back();
+  blend_start = blend_traj.joint_trajectory.points.front();
+
+  // check the dimensions
+  if (first_end.positions.size() != blend_start.positions.size() ||
+      first_end.velocities.size() != blend_start.velocities.size() ||
+      first_end.accelerations.size() != blend_start.accelerations.size())
+  {
+    std::cout << "Different sizes of the position/velocity/acceleration "
+                 "between first trajectory and blend trajectory."
+              << std::endl;
+    return false;
+  }
+
+  // check the velocity and acceleration
+  for (std::size_t i = 0; i < first_end.positions.size(); ++i)
+  {
+    double blend_start_velo =
+        (blend_start.positions.at(i) - first_end.positions.at(i)) / blend_start.time_from_start.toSec();
+    if (fabs(blend_start_velo - blend_start.velocities.at(i)) > joint_velocity_tolerance)
+    {
+      std::cout << "Velocity computed from positions are different from the "
+                   "value in trajectory."
+                << std::endl
+                << "position: " << blend_start.positions.at(i) << "; " << first_end.positions.at(i)
+                << "computed: " << blend_start_velo << "; "
+                << "in trajectory: " << blend_start.velocities.at(i) << std::endl;
+      return false;
+    }
+
+    double blend_start_acc = (blend_start_velo - first_end.velocities.at(i)) / blend_start.time_from_start.toSec();
+    if (fabs(blend_start_acc - blend_start.accelerations.at(i)) > joint_velocity_tolerance)
+    {
+      std::cout << "Acceleration computed from positions/velocities are "
+                   "different from the value in trajectory."
+                << std::endl
+                << "computed: " << blend_start_acc << "; "
+                << "in trajectory: " << blend_start.accelerations.at(i) << std::endl;
+      return false;
+    }
+  }
+
+  // check the continuity between blend trajectory and second trajectory
+  trajectory_msgs::JointTrajectoryPoint blend_end, second_start;
+  blend_end = blend_traj.joint_trajectory.points.back();
+  second_start = second_traj.joint_trajectory.points.front();
+
+  // check the dimensions
+  if (blend_end.positions.size() != second_start.positions.size() ||
+      blend_end.velocities.size() != second_start.velocities.size() ||
+      blend_end.accelerations.size() != second_start.accelerations.size())
+  {
+    std::cout << "Different sizes of the position/velocity/acceleration "
+                 "between first trajectory and blend trajectory."
+              << std::endl
+              << blend_end.positions.size() << ", " << second_start.positions.size() << std::endl
+              << blend_end.velocities.size() << ", " << second_start.positions.size() << std::endl
+              << blend_end.accelerations.size() << ", " << second_start.accelerations.size() << std::endl;
+    return false;
+  }
+
+  // check the velocity and acceleration
+  for (std::size_t i = 0; i < blend_end.positions.size(); ++i)
+  {
+    double second_start_velo =
+        (second_start.positions.at(i) - blend_end.positions.at(i)) / second_start.time_from_start.toSec();
+    if (fabs(second_start_velo - second_start.velocities.at(i)) > joint_accleration_tolerance)
+    {
+      std::cout << "Velocity computed from positions are different from the "
+                   "value in trajectory."
+                << std::endl
+                << "computed: " << second_start_velo << "; "
+                << "in trajectory: " << second_start.velocities.at(i) << std::endl;
+      return false;
+    }
+
+    double second_start_acc = (second_start_velo - blend_end.velocities.at(i)) / second_start.time_from_start.toSec();
+    if (fabs(second_start_acc - second_start.accelerations.at(i)) > joint_accleration_tolerance)
+    {
+      std::cout << "Acceleration computed from positions/velocities are "
+                   "different from the value in trajectory."
+                << std::endl
+                << "computed: " << second_start_acc << "; "
+                << "in trajectory: " << second_start.accelerations.at(i) << std::endl;
+      return false;
+    }
+  }
+
+  return true;
+}
+
+bool testutils::checkBlendingCartSpaceContinuity(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                                 const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                                 const pilz_industrial_motion_planner::LimitsContainer& planner_limits)
+{
+  // sampling time
+  double duration = res.blend_trajectory->getWayPointDurationFromPrevious(res.blend_trajectory->getWayPointCount() - 1);
+  if (duration == 0.0)
+  {
+    std::cout << "Cannot perform check of cartesian space continuity with "
+                 "sampling time 0.0"
+              << std::endl;
+    return false;
+  }
+
+  // limits
+  double max_trans_velo = planner_limits.getCartesianLimits().getMaxTranslationalVelocity();
+  double max_trans_acc = planner_limits.getCartesianLimits().getMaxTranslationalAcceleration();
+  double max_rot_velo = planner_limits.getCartesianLimits().getMaxRotationalVelocity();
+  double max_rot_acc = max_trans_acc / max_trans_velo * max_rot_velo;
+
+  // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+  // +++ check the connection points between three trajectories +++
+  // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+  // connection points
+  Eigen::Isometry3d pose_first_end, pose_first_end_1, pose_blend_start, pose_blend_start_1, pose_blend_end,
+      pose_blend_end_1, pose_second_start, pose_second_start_1;
+  // one sample before last point of first trajectory
+  pose_first_end_1 = res.first_trajectory->getWayPointPtr(res.first_trajectory->getWayPointCount() - 2)
+                         ->getFrameTransform(req.link_name);
+  // last point of first trajectory
+  pose_first_end = res.first_trajectory->getLastWayPointPtr()->getFrameTransform(req.link_name);
+  // first point of blend trajectory
+  pose_blend_start = res.blend_trajectory->getFirstWayPointPtr()->getFrameTransform(req.link_name);
+  // second point of blend trajectory
+  pose_blend_start_1 = res.blend_trajectory->getWayPointPtr(1)->getFrameTransform(req.link_name);
+  // one sample before last point of blend trajectory
+  pose_blend_end_1 = res.blend_trajectory->getWayPointPtr(res.blend_trajectory->getWayPointCount() - 2)
+                         ->getFrameTransform(req.link_name);
+  // last point of blend trajectory
+  pose_blend_end = res.blend_trajectory->getLastWayPointPtr()->getFrameTransform(req.link_name);
+  // first point of second trajectory
+  pose_second_start = res.second_trajectory->getFirstWayPointPtr()->getFrameTransform(req.link_name);
+  // second point of second trajectory
+  pose_second_start_1 = res.second_trajectory->getWayPointPtr(1)->getFrameTransform(req.link_name);
+
+  //  std::cout << "### sample duration: " << duration << " ###" << std::endl;
+  //  std::cout << "### end pose of first trajectory ###" << std::endl;
+  //  std::cout << pose_first_end.matrix() << std::endl;
+  //  std::cout << "### start pose of blend trajectory ###" << std::endl;
+  //  std::cout << pose_blend_start.matrix() << std::endl;
+  //  std::cout << "### end pose of blend trajectory ###" << std::endl;
+  //  std::cout << pose_blend_end.matrix() << std::endl;
+  //  std::cout << "### start pose of second trajectory ###" << std::endl;
+  //  std::cout << pose_second_start.matrix() << std::endl;
+
+  //  std::cout << "### v_1 ###" << std::endl;
+  //  std::cout << v_1 << std::endl;
+  //  std::cout << "### w_1 ###" << std::endl;
+  //  std::cout << w_1 << std::endl;
+  //  std::cout << "### v_2 ###" << std::endl;
+  //  std::cout << v_2 << std::endl;
+  //  std::cout << "### w_2 ###" << std::endl;
+  //  std::cout << w_2 << std::endl;
+  //  std::cout << "### v_3 ###" << std::endl;
+  //  std::cout << v_3 << std::endl;
+  //  std::cout << "### w_3 ###" << std::endl;
+  //  std::cout << w_3 << std::endl;
+
+  // check the connection points between first trajectory and blend trajectory
+  Eigen::Vector3d v_1, w_1, v_2, w_2, v_3, w_3;
+  computeCartVelocity(pose_first_end_1, pose_first_end, duration, v_1, w_1);
+  computeCartVelocity(pose_first_end, pose_blend_start, duration, v_2, w_2);
+  computeCartVelocity(pose_blend_start, pose_blend_start_1, duration, v_3, w_3);
+
+  // translational velocity
+  if (v_2.norm() > max_trans_velo)
+  {
+    std::cout << "Translational velocity between first trajectory and blend "
+                 "trajectory exceeds the limit."
+              << "Actual velocity (norm): " << v_2.norm() << "; "
+              << "Limits: " << max_trans_velo << std::endl;
+  }
+  // rotational velocity
+  if (w_2.norm() > max_rot_velo)
+  {
+    std::cout << "Rotational velocity between first trajectory and blend "
+                 "trajectory exceeds the limit."
+              << "Actual velocity (norm): " << w_2.norm() << "; "
+              << "Limits: " << max_rot_velo << std::endl;
+  }
+  // translational acceleration
+  Eigen::Vector3d a_1 = (v_2 - v_1) / duration;
+  Eigen::Vector3d a_2 = (v_3 - v_2) / duration;
+  if (a_1.norm() > max_trans_acc || a_2.norm() > max_trans_acc)
+  {
+    std::cout << "Translational acceleration between first trajectory and "
+                 "blend trajectory exceeds the limit."
+              << "Actual acceleration (norm): " << a_1.norm() << ", " << a_1.norm() << "; "
+              << "Limits: " << max_trans_acc << std::endl;
+  }
+
+  // rotational acceleration
+  a_1 = (w_2 - w_1) / duration;
+  a_2 = (w_3 - w_2) / duration;
+  if (a_1.norm() > max_rot_acc || a_2.norm() > max_rot_acc)
+  {
+    std::cout << "Rotational acceleration between first trajectory and blend "
+                 "trajectory exceeds the limit."
+              << "Actual acceleration (norm): " << a_1.norm() << ", " << a_1.norm() << "; "
+              << "Limits: " << max_rot_acc << std::endl;
+  }
+
+  computeCartVelocity(pose_blend_end_1, pose_blend_end, duration, v_1, w_1);
+  computeCartVelocity(pose_blend_end, pose_second_start, duration, v_2, w_2);
+  computeCartVelocity(pose_second_start, pose_second_start_1, duration, v_3, w_3);
+
+  if (v_2.norm() > max_trans_velo)
+  {
+    std::cout << "Translational velocity between blend trajectory and second "
+                 "trajectory exceeds the limit."
+              << "Actual velocity (norm): " << v_2.norm() << "; "
+              << "Limits: " << max_trans_velo << std::endl;
+  }
+  if (w_2.norm() > max_rot_velo)
+  {
+    std::cout << "Rotational velocity between blend trajectory and second "
+                 "trajectory exceeds the limit."
+              << "Actual velocity (norm): " << w_2.norm() << "; "
+              << "Limits: " << max_rot_velo << std::endl;
+  }
+  a_1 = (v_2 - v_1) / duration;
+  a_2 = (v_3 - v_2) / duration;
+  if (a_1.norm() > max_trans_acc || a_2.norm() > max_trans_acc)
+  {
+    std::cout << "Translational acceleration between blend trajectory and "
+                 "second trajectory exceeds the limit."
+              << "Actual acceleration (norm): " << a_1.norm() << ", " << a_1.norm() << "; "
+              << "Limits: " << max_trans_acc << std::endl;
+  }
+  // check rotational acceleration
+  a_1 = (w_2 - w_1) / duration;
+  a_2 = (w_3 - w_2) / duration;
+  if (a_1.norm() > max_rot_acc || a_2.norm() > max_rot_acc)
+  {
+    std::cout << "Rotational acceleration between blend trajectory and second "
+                 "trajectory exceeds the limit."
+              << "Actual acceleration (norm): " << a_1.norm() << ", " << a_1.norm() << "; "
+              << "Limits: " << max_rot_acc << std::endl;
+  }
+
+  return true;
+}
+
+bool testutils::checkThatPointsInRadius(const std::string& link_name, const double& r, Eigen::Isometry3d& circ_pose,
+                                        const pilz_industrial_motion_planner::TrajectoryBlendResponse& res)
+{
+  bool result = true;
+  for (size_t i = 1; i < res.blend_trajectory->getWayPointCount() - 1; ++i)
+  {
+    Eigen::Isometry3d curr_pos(res.blend_trajectory->getWayPointPtr(i)->getFrameTransform(link_name));
+    if ((curr_pos.translation() - circ_pose.translation()).norm() > r)
+    {
+      std::cout << "Point " << i << " does not lie within blending radius (dist: "
+                << ((curr_pos.translation() - circ_pose.translation()).norm() - r) << ")." << std::endl;
+      result = false;
+    }
+  }
+  return result;
+}
+
+void testutils::computeCartVelocity(const Eigen::Isometry3d& pose_1, const Eigen::Isometry3d& pose_2, double duration,
+                                    Eigen::Vector3d& v, Eigen::Vector3d& w)
+{
+  // translational velocity
+  v = (pose_2.translation() - pose_1.translation()) / duration;
+
+  // angular velocity
+  // reference: A Mathematical Introduction to Robotics Manipulation 2.4.1
+  // Rotational velocity
+  Eigen::Matrix3d rm_1 = pose_1.linear();
+  Eigen::Matrix3d rm_2 = pose_2.linear();
+  Eigen::Matrix3d rm_dot = (rm_2 - rm_1) / duration;
+  Eigen::Matrix3d w_hat = rm_dot * rm_1.transpose();
+  w(0) = w_hat(2, 1);
+  w(1) = w_hat(0, 2);
+  w(2) = w_hat(1, 0);
+}
+
+void testutils::getLinLinPosesWithoutOriChange(const std::string& frame_id, sensor_msgs::JointState& initialJointState,
+                                               geometry_msgs::PoseStamped& p1, geometry_msgs::PoseStamped& p2)
+{
+  initialJointState =
+      testutils::generateJointState({ 0., 0.007881892504574495, -1.8157263253868452, 0., 1.8236082178909834, 0. });
+
+  p1.header.frame_id = frame_id;
+  p1.pose.position.x = 0.25;
+  p1.pose.position.y = 0.3;
+  p1.pose.position.z = 0.65;
+  p1.pose.orientation.x = 0.;
+  p1.pose.orientation.y = 0.;
+  p1.pose.orientation.z = 0.;
+  p1.pose.orientation.w = 1.;
+
+  p2 = p1;
+  p2.pose.position.x -= 0.15;
+}
+
+void testutils::getOriChange(Eigen::Matrix3d& ori1, Eigen::Matrix3d& ori2)
+{
+  ori1 = Eigen::AngleAxisd(0.2 * M_PI, Eigen::Vector3d::UnitZ());
+  ori2 = Eigen::AngleAxisd(0.4 * M_PI, Eigen::Vector3d::UnitZ());
+}
+
+void testutils::createFakeCartTraj(const robot_trajectory::RobotTrajectoryPtr& traj, const std::string& link_name,
+                                   moveit_msgs::RobotTrajectory& fake_traj)
+{
+  fake_traj.joint_trajectory.joint_names.push_back("x");
+  fake_traj.joint_trajectory.joint_names.push_back("y");
+  fake_traj.joint_trajectory.joint_names.push_back("z");
+  //  fake_traj.joint_trajectory.joint_names.push_back("a");
+  //  fake_traj.joint_trajectory.joint_names.push_back("b");
+  //  fake_traj.joint_trajectory.joint_names.push_back("c");
+
+  for (size_t i = 0; i < traj->getWayPointCount(); ++i)
+  {
+    trajectory_msgs::JointTrajectoryPoint waypoint;
+    waypoint.time_from_start = ros::Duration(traj->getWayPointDurationFromStart(i));
+    Eigen::Isometry3d waypoint_pose = traj->getWayPointPtr(i)->getFrameTransform(link_name);
+    Eigen::Vector3d waypoint_position = waypoint_pose.translation();
+    waypoint.positions.push_back(waypoint_position(0));
+    waypoint.positions.push_back(waypoint_position(1));
+    waypoint.positions.push_back(waypoint_position(2));
+    waypoint.velocities.push_back(0);
+    waypoint.velocities.push_back(0);
+    waypoint.velocities.push_back(0);
+    waypoint.accelerations.push_back(0);
+    waypoint.accelerations.push_back(0);
+    waypoint.accelerations.push_back(0);
+    fake_traj.joint_trajectory.points.push_back(waypoint);
+  }
+}
+
+bool testutils::getBlendTestData(const ros::NodeHandle& nh, const size_t& dataset_num, const std::string& name_prefix,
+                                 std::vector<testutils::BlendTestData>& datasets)
+{
+  datasets.clear();
+  testutils::BlendTestData dataset;
+  for (size_t i = 1; i < dataset_num + 1; ++i)
+  {
+    std::string data_set_name = "blend_set_" + std::to_string(i);
+    if (nh.getParam(name_prefix + data_set_name + "/start_position", dataset.start_position) &&
+        nh.getParam(name_prefix + data_set_name + "/mid_position", dataset.mid_position) &&
+        nh.getParam(name_prefix + data_set_name + "/end_position", dataset.end_position))
+    {
+      datasets.push_back(dataset);
+    }
+    else
+    {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool testutils::generateTrajFromBlendTestData(
+    const robot_model::RobotModelConstPtr& robot_model,
+    const std::shared_ptr<pilz_industrial_motion_planner::TrajectoryGenerator>& tg, const std::string& group_name,
+    const std::string& link_name, const testutils::BlendTestData& data, const double& sampling_time_1,
+    const double& sampling_time_2, planning_interface::MotionPlanResponse& res_1,
+    planning_interface::MotionPlanResponse& res_2, double& dis_1, double& dis_2)
+{
+  // generate first trajectory
+  planning_interface::MotionPlanRequest req_1;
+  req_1.group_name = group_name;
+  req_1.max_velocity_scaling_factor = 0.1;
+  req_1.max_acceleration_scaling_factor = 0.1;
+  // start state
+  robot_state::RobotState start_state(robot_model);
+  start_state.setToDefaultValues();
+  start_state.setJointGroupPositions(group_name, data.start_position);
+  moveit::core::robotStateToRobotStateMsg(start_state, req_1.start_state, false);
+  // goal constraint
+  robot_state::RobotState goal_state_1(robot_model);
+  goal_state_1.setToDefaultValues();
+  goal_state_1.setJointGroupPositions(group_name, data.mid_position);
+  req_1.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      goal_state_1, goal_state_1.getRobotModel()->getJointModelGroup(group_name)));
+
+  // trajectory generation
+  if (!tg->generate(req_1, res_1, sampling_time_1))
+  {
+    std::cout << "Failed to generate first trajectory." << std::endl;
+    return false;
+  }
+
+  // generate second LIN trajectory
+  planning_interface::MotionPlanRequest req_2;
+  req_2.group_name = group_name;
+  req_2.max_velocity_scaling_factor = 0.1;
+  req_2.max_acceleration_scaling_factor = 0.1;
+  // start state
+  moveit::core::robotStateToRobotStateMsg(goal_state_1, req_2.start_state, false);
+  // goal state
+  robot_state::RobotState goal_state_2(robot_model);
+  goal_state_2.setToDefaultValues();
+  goal_state_2.setJointGroupPositions(group_name, data.end_position);
+  req_2.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      goal_state_2, goal_state_2.getRobotModel()->getJointModelGroup(group_name)));
+  // trajectory generation
+  if (!tg->generate(req_2, res_2, sampling_time_2))
+  {
+    std::cout << "Failed to generate second trajectory." << std::endl;
+    return false;
+  }
+
+  // estimate a proper blend radius
+  dis_1 =
+      (start_state.getFrameTransform(link_name).translation() - goal_state_1.getFrameTransform(link_name).translation())
+          .norm();
+
+  dis_2 = (goal_state_1.getFrameTransform(link_name).translation() -
+           goal_state_2.getFrameTransform(link_name).translation())
+              .norm();
+
+  return true;
+}
+
+bool testutils::checkBlendResult(const pilz_industrial_motion_planner::TrajectoryBlendRequest& blend_req,
+                                 const pilz_industrial_motion_planner::TrajectoryBlendResponse& blend_res,
+                                 const pilz_industrial_motion_planner::LimitsContainer& limits,
+                                 double joint_velocity_tolerance, double joint_acceleration_tolerance,
+                                 double cartesian_velocity_tolerance, double cartesian_angular_velocity_tolerance)
+{
+  // ++++++++++++++++++++++
+  // + Check trajectories +
+  // ++++++++++++++++++++++
+  moveit_msgs::RobotTrajectory traj_msg;
+  blend_res.first_trajectory->getRobotTrajectoryMsg(traj_msg);
+  if (!testutils::checkJointTrajectory(traj_msg.joint_trajectory, limits.getJointLimitContainer()))
+  {
+    return false;
+  }
+
+  blend_res.blend_trajectory->getRobotTrajectoryMsg(traj_msg);
+  if (!testutils::checkJointTrajectory(traj_msg.joint_trajectory, limits.getJointLimitContainer()))
+  {
+    return false;
+  };
+
+  blend_res.second_trajectory->getRobotTrajectoryMsg(traj_msg);
+  if (!testutils::checkJointTrajectory(traj_msg.joint_trajectory, limits.getJointLimitContainer()))
+  {
+    return false;
+  };
+
+  Eigen::Isometry3d circ_pose =
+      blend_req.first_trajectory->getLastWayPointPtr()->getFrameTransform(blend_req.link_name);
+  if (!testutils::checkThatPointsInRadius(blend_req.link_name, blend_req.blend_radius, circ_pose, blend_res))
+  {
+    return false;
+  }
+
+  // check the first and second trajectories, if they are still the same before
+  // and after the bendling phase
+  if (!testutils::checkOriginalTrajectoryAfterBlending(blend_req, blend_res, 10e-5))
+  {
+    return false;
+  }
+
+  // check the continuity between the trajectories in joint space
+  if (!testutils::checkBlendingJointSpaceContinuity(blend_res, joint_velocity_tolerance, joint_acceleration_tolerance))
+  {
+    return false;
+  }
+
+  // check the continuity between the trajectories in cart space
+  if (!testutils::checkBlendingCartSpaceContinuity(blend_req, blend_res, limits))
+  {
+    return false;
+  }
+
+  // ++++++++++++++++++++++++
+  // + Visualize the result +
+  // ++++++++++++++++++++++++
+  //  ros::NodeHandle nh;
+  //  ros::Publisher pub =
+  //  nh.advertise<moveit_msgs::DisplayTrajectory>("my_planned_path", 1);
+  //  ros::Duration duration(1.0);
+  //  duration.sleep();
+
+  //  // visualize the joint trajectory
+  //  moveit_msgs::DisplayTrajectory displayTrajectory;
+  //  moveit_msgs::RobotTrajectory res_first_traj_msg, res_blend_traj_msg,
+  //  res_second_traj_msg;
+  //  blend_res.first_trajectory->getRobotTrajectoryMsg(res_first_traj_msg);
+  //  blend_res.blend_trajectory->getRobotTrajectoryMsg(res_blend_traj_msg);
+  //  blend_res.second_trajectory->getRobotTrajectoryMsg(res_second_traj_msg);
+  //  displayTrajectory.trajectory.push_back(res_first_traj_msg);
+  //  displayTrajectory.trajectory.push_back(res_blend_traj_msg);
+  //  displayTrajectory.trajectory.push_back(res_second_traj_msg);
+
+  //  pub.publish(displayTrajectory);
+
+  return true;
+}
+
+void testutils::generateRequestMsgFromBlendTestData(const moveit::core::RobotModelConstPtr& robot_model,
+                                                    const testutils::BlendTestData& data, const std::string& planner_id,
+                                                    const std::string& group_name, const std::string& link_name,
+                                                    moveit_msgs::MotionSequenceRequest& req_list)
+{
+  // motion plan request of first trajectory
+  planning_interface::MotionPlanRequest req_1;
+  req_1.planner_id = planner_id;
+  req_1.group_name = group_name;
+  req_1.max_velocity_scaling_factor = 0.1;
+  req_1.max_acceleration_scaling_factor = 0.1;
+  // start state
+  robot_state::RobotState start_state(robot_model);
+  start_state.setToDefaultValues();
+  start_state.setJointGroupPositions(group_name, data.start_position);
+  moveit::core::robotStateToRobotStateMsg(start_state, req_1.start_state, false);
+  // goal constraint
+  robot_state::RobotState goal_state_1(robot_model);
+  goal_state_1.setToDefaultValues();
+  goal_state_1.setJointGroupPositions(group_name, data.mid_position);
+  req_1.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      goal_state_1, goal_state_1.getRobotModel()->getJointModelGroup(group_name)));
+
+  // motion plan request of second trajectory
+  planning_interface::MotionPlanRequest req_2;
+  req_2.planner_id = planner_id;
+  req_2.group_name = group_name;
+  req_2.max_velocity_scaling_factor = 0.1;
+  req_2.max_acceleration_scaling_factor = 0.1;
+  // start state
+  // moveit::core::robotStateToRobotStateMsg(goal_state_1, req_2.start_state,
+  // false);
+  // goal state
+  robot_state::RobotState goal_state_2(robot_model);
+  goal_state_2.setToDefaultValues();
+  goal_state_2.setJointGroupPositions(group_name, data.end_position);
+  req_2.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+      goal_state_2, goal_state_2.getRobotModel()->getJointModelGroup(group_name)));
+
+  // select a proper blending radius
+  // estimate a proper blend radius
+  double dis_1 =
+      (start_state.getFrameTransform(link_name).translation() - goal_state_1.getFrameTransform(link_name).translation())
+          .norm();
+
+  double dis_2 = (goal_state_1.getFrameTransform(link_name).translation() -
+                  goal_state_2.getFrameTransform(link_name).translation())
+                     .norm();
+
+  double blend_radius = 0.5 * std::min(dis_1, dis_2);
+
+  moveit_msgs::MotionSequenceItem blend_req_1, blend_req_2;
+  blend_req_1.req = req_1;
+  blend_req_1.blend_radius = blend_radius;
+  blend_req_2.req = req_2;
+  blend_req_2.blend_radius = 0.0;
+
+  req_list.items.push_back(blend_req_1);
+  req_list.items.push_back(blend_req_2);
+}
+
+void testutils::checkRobotModel(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
+                                const std::string& link_name)
+{
+  ASSERT_TRUE(robot_model != nullptr) << "failed to load robot model";
+  ASSERT_FALSE(robot_model->isEmpty()) << "robot model is empty";
+  ASSERT_TRUE(robot_model->hasJointModelGroup(group_name)) << group_name << " is not known to robot";
+  ASSERT_TRUE(robot_model->hasLinkModel(link_name)) << link_name << " is not known to robot";
+  ASSERT_TRUE(robot_state::RobotState(robot_model).knowsFrameTransform(link_name))
+      << "Transform of " << link_name << " is unknown";
+}
+
+::testing::AssertionResult testutils::hasTrapezoidVelocity(std::vector<double> accelerations, const double acc_tol)
+{
+  // Check that acceleration is monotonously decreasing
+  if (!isMonotonouslyDecreasing(accelerations, acc_tol))
+  {
+    return ::testing::AssertionFailure() << "Cannot be a trapezoid since "
+                                            "acceleration is not monotonously "
+                                            "decreasing!";
+  }
+
+  // Check accelerations
+  double first_acc = accelerations.front();
+  auto it_last_acc = std::find_if(accelerations.begin(), accelerations.end(),
+                                  [first_acc, acc_tol](double el) { return (std::abs(el - first_acc) > acc_tol); }) -
+                     1;
+
+  auto it_last_intermediate =
+      std::find_if(it_last_acc + 1, accelerations.end(), [acc_tol](double el) { return (el < acc_tol); }) - 1;
+
+  // Check that there are 1 or 2 intermediate points
+  auto n_intermediate_1 = std::distance(it_last_acc, it_last_intermediate);
+
+  if (n_intermediate_1 != 1 && n_intermediate_1 != 2)
+  {
+    return ::testing::AssertionFailure() << "Expected 1 or 2 intermediate points between acceleration and "
+                                            "constant "
+                                            "velocity phase but found: "
+                                         << n_intermediate_1;
+  }
+
+  // Const phase (vel == 0)
+  auto it_first_const = it_last_intermediate + 1;
+  auto it_last_const =
+      std::find_if(it_first_const, accelerations.end(), [acc_tol](double el) { return (std::abs(el) > acc_tol); }) - 1;
+  // This test makes sense only if the generated traj has enough points such
+  // that the trapezoid is not degenerated.
+  if (std::distance(it_first_const, it_last_const) < 3)
+  {
+    return ::testing::AssertionFailure() << "Exptected the have at least 3 points during the phase of "
+                                            "constant "
+                                            "velocity.";
+  }
+
+  // Deceleration
+  double deceleration = accelerations.back();
+  auto it_first_dec =
+      std::find_if(it_last_const + 1, accelerations.end(),
+                   [deceleration, acc_tol](double el) { return (std::abs(el - deceleration) > acc_tol); }) +
+      1;
+
+  // Points between const and deceleration (again 1 or 2)
+  auto n_intermediate_2 = std::distance(it_last_const, it_first_dec);
+  if (n_intermediate_2 != 1 && n_intermediate_2 != 2)
+  {
+    return ::testing::AssertionFailure() << "Expected 1 or 2 intermediate points between constant velocity "
+                                            "and "
+                                            "deceleration phase but found: "
+                                         << n_intermediate_2;
+  }
+
+  std::stringstream debug_stream;
+  for (auto it = accelerations.begin(); it != it_last_acc + 1; it++)
+  {
+    debug_stream << *it << "(Acc)" << std::endl;
+  }
+
+  for (auto it = it_last_acc + 1; it != it_last_intermediate + 1; it++)
+  {
+    debug_stream << *it << "(Inter1)" << std::endl;
+  }
+
+  for (auto it = it_first_const; it != it_last_const + 1; it++)
+  {
+    debug_stream << *it << "(Const)" << std::endl;
+  }
+
+  for (auto it = it_last_const + 1; it != it_first_dec; it++)
+  {
+    debug_stream << *it << "(Inter2)" << std::endl;
+  }
+
+  for (auto it = it_first_dec; it != accelerations.end(); it++)
+  {
+    debug_stream << *it << "(Dec)" << std::endl;
+  }
+
+  ROS_DEBUG_STREAM(debug_stream.str());
+
+  return ::testing::AssertionSuccess();
+}
+
+::testing::AssertionResult
+testutils::checkCartesianTranslationalPath(const robot_trajectory::RobotTrajectoryConstPtr& trajectory,
+                                           const std::string& link_name, const double acc_tol)
+{
+  // We require the following such that the test makes sense, else the traj
+  // would have a degenerated velocity profile
+  EXPECT_GT(trajectory->getWayPointCount(), 9u);
+
+  std::vector<double> accelerations;
+
+  // Iterate over waypoints collect accelerations
+  for (size_t i = 2; i < trajectory->getWayPointCount(); ++i)
+  {
+    auto waypoint_pose_0 = trajectory->getWayPoint(i - 2).getFrameTransform(link_name);
+    auto waypoint_pose_1 = trajectory->getWayPoint(i - 1).getFrameTransform(link_name);
+    auto waypoint_pose_2 = trajectory->getWayPoint(i).getFrameTransform(link_name);
+
+    auto t1 = trajectory->getWayPointDurationFromPrevious(i - 1);
+    auto t2 = trajectory->getWayPointDurationFromPrevious(i);
+
+    auto vel1 = (waypoint_pose_1.translation() - waypoint_pose_0.translation()).norm() / t1;
+    auto vel2 = (waypoint_pose_2.translation() - waypoint_pose_1.translation()).norm() / t2;
+    auto acc_transl = (vel2 - vel1) / (t1 + t2);
+    accelerations.push_back(acc_transl);
+  }
+
+  return hasTrapezoidVelocity(accelerations, acc_tol);
+}
+
+::testing::AssertionResult
+testutils::checkCartesianRotationalPath(const robot_trajectory::RobotTrajectoryConstPtr& trajectory,
+                                        const std::string& link_name, const double rot_axis_tol, const double acc_tol)
+{
+  // skip computations if rotation angle is zero
+  if (trajectory->getFirstWayPoint().getFrameTransform(link_name).rotation().isApprox(
+          trajectory->getLastWayPoint().getFrameTransform(link_name).rotation(), rot_axis_tol))
+  {
+    return ::testing::AssertionSuccess();
+  }
+
+  // We require the following such that the test makes sense, else the traj
+  // would have a degenerated velocity profile
+  EXPECT_GT(trajectory->getWayPointCount(), 9u);
+
+  std::vector<double> accelerations;
+  std::vector<Eigen::AngleAxisd> rotation_axes;
+
+  // Iterate over waypoints collect accelerations and rotation axes
+  for (size_t i = 2; i < trajectory->getWayPointCount(); ++i)
+  {
+    auto waypoint_pose_0 = trajectory->getWayPoint(i - 2).getFrameTransform(link_name);
+    auto waypoint_pose_1 = trajectory->getWayPoint(i - 1).getFrameTransform(link_name);
+    auto waypoint_pose_2 = trajectory->getWayPoint(i).getFrameTransform(link_name);
+
+    auto t1 = trajectory->getWayPointDurationFromPrevious(i - 1);
+    auto t2 = trajectory->getWayPointDurationFromPrevious(i);
+
+    Eigen::Quaterniond orientation0(waypoint_pose_0.rotation());
+    Eigen::Quaterniond orientation1(waypoint_pose_1.rotation());
+    Eigen::Quaterniond orientation2(waypoint_pose_2.rotation());
+
+    Eigen::AngleAxisd axis1(orientation0 * orientation1.inverse());
+    Eigen::AngleAxisd axis2(orientation1 * orientation2.inverse());
+    if (i == 2)
+    {
+      rotation_axes.push_back(axis1);
+    }
+    rotation_axes.push_back(axis2);
+
+    double angular_vel1 = axis1.angle() / t1;
+    double angular_vel2 = axis2.angle() / t2;
+    double angular_acc = (angular_vel2 - angular_vel1) / (t1 + t2);
+    accelerations.push_back(angular_acc);
+  }
+
+  // Check that rotation axis is fixed
+  if (std::adjacent_find(rotation_axes.begin(), rotation_axes.end(),
+                         [rot_axis_tol](const Eigen::AngleAxisd& axis1, const Eigen::AngleAxisd& axis2) {
+                           return ((axis1.axis() - axis2.axis()).norm() > rot_axis_tol);
+                         }) != rotation_axes.end())
+  {
+    return ::testing::AssertionFailure() << "Rotational path of trajectory "
+                                            "does not have a fixed rotation "
+                                            "axis";
+  }
+
+  return hasTrapezoidVelocity(accelerations, acc_tol);
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h
new file mode 100644
index 0000000000..2937ff1dae
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h
@@ -0,0 +1,484 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <gtest/gtest.h>
+#ifndef INSTANTIATE_TEST_SUITE_P  // prior to gtest 1.10
+#define INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)
+#endif
+#ifndef TYPED_TEST_SUITE  // prior to gtest 1.10
+#define TYPED_TEST_SUITE(...) TYPED_TEST_CASE(__VA_ARGS__)
+#endif
+
+#include "moveit_msgs/MotionSequenceRequest.h"
+#include "pilz_industrial_motion_planner/limits_container.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_response.h"
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+#include <boost/core/demangle.hpp>
+#include <math.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit_msgs/Constraints.h>
+#include <moveit_msgs/MoveGroupAction.h>
+#include <ros/console.h>
+#include <sensor_msgs/JointState.h>
+#include <string>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/convert.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <utility>
+
+namespace testutils
+{
+const std::string JOINT_NAME_PREFIX("prbt_joint_");
+
+static constexpr int32_t DEFAULT_SERVICE_TIMEOUT(10);
+static constexpr double DEFAULT_ACCELERATION_EQUALITY_TOLERANCE{ 1e-6 };
+static constexpr double DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE{ 1e-8 };
+
+/**
+ * @brief Convert degree to rad.
+ */
+inline static constexpr double deg2Rad(double angle)
+{
+  return (angle / 180.0) * M_PI;
+}
+
+inline std::string getJointName(size_t joint_number, const std::string& joint_prefix)
+{
+  return joint_prefix + std::to_string(joint_number);
+}
+
+/**
+ * @brief Create limits for tests to avoid the need to get the limits from the
+ * parameter server
+ */
+pilz_industrial_motion_planner::JointLimitsContainer createFakeLimits(const std::vector<std::string>& joint_names);
+
+inline std::string demangel(char const* name)
+{
+  return boost::core::demangle(name);
+}
+
+//********************************************
+// Motion plan requests
+//********************************************
+
+inline sensor_msgs::JointState generateJointState(const std::vector<double>& pos, const std::vector<double>& vel,
+                                                  const std::string& joint_prefix = testutils::JOINT_NAME_PREFIX)
+{
+  sensor_msgs::JointState state;
+  auto posit = pos.cbegin();
+  size_t i = 0;
+
+  while (posit != pos.cend())
+  {
+    state.name.push_back(testutils::getJointName(i + 1, joint_prefix));
+    state.position.push_back(*posit);
+
+    i++;
+    posit++;
+  }
+  for (const auto& one_vel : vel)
+  {
+    state.velocity.push_back(one_vel);
+  }
+  return state;
+}
+
+inline sensor_msgs::JointState generateJointState(const std::vector<double>& pos,
+                                                  const std::string& joint_prefix = testutils::JOINT_NAME_PREFIX)
+{
+  return generateJointState(pos, std::vector<double>(), joint_prefix);
+}
+
+inline moveit_msgs::Constraints generateJointConstraint(const std::vector<double>& pos_list,
+                                                        const std::string& joint_prefix = testutils::JOINT_NAME_PREFIX)
+{
+  moveit_msgs::Constraints gc;
+
+  auto pos_it = pos_list.begin();
+
+  for (size_t i = 0; i < pos_list.size(); ++i)
+  {
+    moveit_msgs::JointConstraint jc;
+    jc.joint_name = testutils::getJointName(i + 1, joint_prefix);
+    jc.position = *pos_it;
+    gc.joint_constraints.push_back(jc);
+
+    ++pos_it;
+  }
+
+  return gc;
+}
+
+/**
+ * @brief Determines the goal position from the given request.
+ * TRUE if successful, FALSE otherwise.
+ */
+bool getExpectedGoalPose(const moveit::core::RobotModelConstPtr& robot_model,
+                         const planning_interface::MotionPlanRequest& req, std::string& link_name,
+                         Eigen::Isometry3d& goal_pose_expect);
+
+/**
+ * @brief create a dummy motion plan request with zero start state
+ * No goal constraint is given.
+ * @param robot_model
+ * @param planning_group
+ * @param req
+ */
+void createDummyRequest(const moveit::core::RobotModelConstPtr& robot_model, const std::string& planning_group,
+                        planning_interface::MotionPlanRequest& req);
+
+void createPTPRequest(const std::string& planning_group, const moveit::core::RobotState& start_state,
+                      const moveit::core::RobotState& goal_state, planning_interface::MotionPlanRequest& req);
+
+/**
+ * @brief check if the goal given in joint space is reached
+ * Only the last point in the trajectory is veryfied.
+ * @param trajectory: generated trajectory
+ * @param goal: goal in joint space
+ * @param joint_position_tolerance
+ * @param joint_velocity_tolerance
+ * @return true if satisfied
+ */
+bool isGoalReached(const trajectory_msgs::JointTrajectory& trajectory,
+                   const std::vector<moveit_msgs::JointConstraint>& goal, const double joint_position_tolerance,
+                   const double joint_velocity_tolerance = 1.0e-6);
+
+/**
+ * @brief check if the goal given in cartesian space is reached
+ * Only the last point in the trajectory is veryfied.
+ * @param robot_model
+ * @param trajectory
+ * @param req
+ * @param matrix_norm_tolerance: used to compare the transformation matrix
+ * @param joint_velocity_tolerance
+ * @return
+ */
+bool isGoalReached(const robot_model::RobotModelConstPtr& robot_model,
+                   const trajectory_msgs::JointTrajectory& trajectory, const planning_interface::MotionPlanRequest& req,
+                   const double pos_tolerance, const double orientation_tolerance);
+
+bool isGoalReached(const moveit::core::RobotModelConstPtr& robot_model,
+                   const trajectory_msgs::JointTrajectory& trajectory, const planning_interface::MotionPlanRequest& req,
+                   const double tolerance);
+
+/**
+ * @brief Check that given trajectory is straight line.
+ */
+bool checkCartesianLinearity(const robot_model::RobotModelConstPtr& robot_model,
+                             const trajectory_msgs::JointTrajectory& trajectory,
+                             const planning_interface::MotionPlanRequest& req, const double translation_norm_tolerance,
+                             const double rot_axis_norm_tolerance, const double rot_angle_tolerance = 10e-5);
+
+/**
+ * @brief check SLERP. The orientation should rotate around the same axis
+ * linearly.
+ * @param start_pose
+ * @param goal_pose
+ * @param wp_pose
+ * @param rot_axis_norm_tolerance
+ * @return
+ */
+bool checkSLERP(const Eigen::Isometry3d& start_pose, const Eigen::Isometry3d& goal_pose,
+                const Eigen::Isometry3d& wp_pose, const double rot_axis_norm_tolerance,
+                const double rot_angle_tolerance = 10e-5);
+
+/**
+ * @brief get the waypoint index from time from start
+ * @param trajectory
+ * @param time_from_start
+ * @return
+ */
+inline int getWayPointIndex(const robot_trajectory::RobotTrajectoryPtr& trajectory, const double time_from_start)
+{
+  int index_before, index_after;
+  double blend;
+  trajectory->findWayPointIndicesForDurationAfterStart(time_from_start, index_before, index_after, blend);
+  return blend > 0.5 ? index_after : index_before;
+}
+
+/**
+ * @brief check joint trajectory of consistency, position, velocity and
+ * acceleration limits
+ * @param trajectory
+ * @param joint_limits
+ * @return
+ */
+bool checkJointTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
+                          const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+/**
+ * @brief Checks that every waypoint in the trajectory has a non-zero duration
+ * between itself and its predecessor
+ *
+ * Usage in tests:
+ * @code
+ *    EXPECT_TRUE(HasStrictlyIncreasingTime(trajectory));
+ * @endcode
+ */
+::testing::AssertionResult hasStrictlyIncreasingTime(const robot_trajectory::RobotTrajectoryPtr& trajectory);
+
+/**
+ * @brief check if the sizes of the joint position/veloicty/acceleration are
+ * correct
+ * @param trajectory
+ * @return
+ */
+bool isTrajectoryConsistent(const trajectory_msgs::JointTrajectory& trajectory);
+
+/**
+ * @brief is Position Bounded
+ * @param trajectory
+ * @param joint_limits
+ * @return
+ */
+bool isPositionBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                       const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+/**
+ * @brief is Velocity Bounded
+ * @param trajectory
+ * @param joint_limits
+ * @return
+ */
+bool isVelocityBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                       const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+/**
+ * @brief is Acceleration Bounded
+ * @param trajectory
+ * @param joint_limits
+ * @return
+ */
+bool isAccelerationBounded(const trajectory_msgs::JointTrajectory& trajectory,
+                           const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
+
+/**
+ * @brief compute the tcp pose from joint values
+ * @param robot_model
+ * @param link_name
+ * @param joint_values
+ * @param pose
+ * @param joint_prefix Prefix of the joint names
+ * @return false if forward kinematics failed
+ */
+bool toTCPPose(const moveit::core::RobotModelConstPtr& robot_model, const std::string& link_name,
+               const std::vector<double>& joint_values, geometry_msgs::Pose& pose,
+               const std::string& joint_prefix = testutils::JOINT_NAME_PREFIX);
+
+/**
+ * @brief computeLinkFK
+ * @param robot_model
+ * @param link_name
+ * @param joint_state
+ * @param pose
+ * @return
+ */
+bool computeLinkFK(const robot_model::RobotModelConstPtr& robot_model, const std::string& link_name,
+                   const std::map<std::string, double>& joint_state, Eigen::Isometry3d& pose);
+
+/**
+ * @brief checkOriginalTrajectoryAfterBlending
+ * @param blend_res
+ * @param traj_1_res
+ * @param traj_2_res
+ * @param time_tolerance
+ * @return
+ */
+bool checkOriginalTrajectoryAfterBlending(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                          const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                          const double time_tolerance);
+
+/**
+ * @brief check the blending result, if the joint space continuity is fulfilled
+ * @param res: trajectory blending response, contains three trajectories.
+ * Between these three trajectories should be continuous.
+ * @return true if joint position/velocity is continuous. joint acceleration can
+ * have jumps.
+ */
+bool checkBlendingJointSpaceContinuity(const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                       double joint_velocity_tolerance, double joint_accleration_tolerance);
+
+bool checkBlendingCartSpaceContinuity(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
+                                      const pilz_industrial_motion_planner::TrajectoryBlendResponse& res,
+                                      const pilz_industrial_motion_planner::LimitsContainer& planner_limits);
+
+/**
+ * @brief Checks if all points of the blending trajectory lie within the
+ * blending radius.
+ */
+bool checkThatPointsInRadius(const std::string& link_name, const double& r, Eigen::Isometry3d& circ_pose,
+                             const pilz_industrial_motion_planner::TrajectoryBlendResponse& res);
+
+/**
+ * @brief compute Cartesian velocity
+ * @param pose_1
+ * @param pose_2
+ * @param duration
+ * @param v
+ * @param w
+ */
+void computeCartVelocity(const Eigen::Isometry3d& pose_1, const Eigen::Isometry3d& pose_2, double duration,
+                         Eigen::Vector3d& v, Eigen::Vector3d& w);
+
+/**
+ * @brief Returns an initial joint state and two poses which
+ * can be used to perform a Lin-Lin movement.
+ *
+ * @param frame_id
+ * @param initialJointState As cartesian position: (0.3, 0, 0.65, 0, 0, 0)
+ * @param p1 (0.05, 0, 0.65, 0, 0, 0)
+ * @param p2 (0.05, 0.4, 0.65, 0, 0, 0)
+ */
+void getLinLinPosesWithoutOriChange(const std::string& frame_id, sensor_msgs::JointState& initialJointState,
+                                    geometry_msgs::PoseStamped& p1, geometry_msgs::PoseStamped& p2);
+
+void getOriChange(Eigen::Matrix3d& ori1, Eigen::Matrix3d& ori2);
+
+void createFakeCartTraj(const robot_trajectory::RobotTrajectoryPtr& traj, const std::string& link_name,
+                        moveit_msgs::RobotTrajectory& fake_traj);
+
+inline geometry_msgs::Quaternion fromEuler(double a, double b, double c)
+{
+  tf2::Vector3 qvz(0., 0., 1.);
+  tf2::Vector3 qvy(0., 1., 0.);
+  tf2::Quaternion q1(qvz, a);
+
+  q1 = q1 * tf2::Quaternion(qvy, b);
+  q1 = q1 * tf2::Quaternion(qvz, c);
+
+  geometry_msgs::Quaternion msg;
+  tf2::convert(q1, msg);
+  return msg;
+}
+
+/**
+ * @brief Test data for blending, which contains three joint position vectors of
+ * three robot state.
+ */
+struct BlendTestData
+{
+  std::vector<double> start_position;
+  std::vector<double> mid_position;
+  std::vector<double> end_position;
+};
+
+/**
+ * @brief fetch test datasets from parameter server
+ * @param nh
+ * @return
+ */
+bool getBlendTestData(const ros::NodeHandle& nh, const size_t& dataset_num, const std::string& name_prefix,
+                      std::vector<BlendTestData>& datasets);
+
+/**
+ * @brief check the blending result of lin-lin
+ * @param lin_res_1
+ * @param lin_res_2
+ * @param blend_req
+ * @param blend_res
+ * @param checkAcceleration
+ */
+bool checkBlendResult(const pilz_industrial_motion_planner::TrajectoryBlendRequest& blend_req,
+                      const pilz_industrial_motion_planner::TrajectoryBlendResponse& blend_res,
+                      const pilz_industrial_motion_planner::LimitsContainer& limits, double joint_velocity_tolerance,
+                      double joint_acceleration_tolerance, double cartesian_velocity_tolerance,
+                      double cartesian_angular_velocity_tolerance);
+
+/**
+ * @brief generate two LIN trajectories from test data set
+ * @param data: contains joint poisitons of start/mid/end states
+ * @param sampling_time_1: sampling time for first LIN
+ * @param sampling_time_2: sampling time for second LIN
+ * @param[out] res_lin_1: result of the first LIN motion planning
+ * @param[out] res_lin_2: result of the second LIN motion planning
+ * @param[out] dis_lin_1: translational distance of the first LIN
+ * @param[out] dis_lin_2: translational distance of the second LIN
+ * @return true if succeed
+ */
+bool generateTrajFromBlendTestData(const moveit::core::RobotModelConstPtr& robot_model,
+                                   const std::shared_ptr<pilz_industrial_motion_planner::TrajectoryGenerator>& tg,
+                                   const std::string& group_name, const std::string& link_name,
+                                   const BlendTestData& data, const double& sampling_time_1,
+                                   const double& sampling_time_2, planning_interface::MotionPlanResponse& res_lin_1,
+                                   planning_interface::MotionPlanResponse& res_lin_2, double& dis_lin_1,
+                                   double& dis_lin_2);
+
+void generateRequestMsgFromBlendTestData(const moveit::core::RobotModelConstPtr& robot_model, const BlendTestData& data,
+                                         const std::string& planner_id, const std::string& group_name,
+                                         const std::string& link_name, moveit_msgs::MotionSequenceRequest& req_list);
+
+void checkRobotModel(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
+                     const std::string& link_name);
+
+/** @brief Check that a given vector of accelerations represents a trapezoid
+ * velocity profile
+ * @param acc_tol: tolerance for comparing acceleration values
+ */
+::testing::AssertionResult hasTrapezoidVelocity(std::vector<double> accelerations, const double acc_tol);
+
+/**
+ * @brief Check that the translational path of a given trajectory has a
+ * trapezoid velocity profile
+ * @param acc_tol: tolerance for comparing acceleration values
+ */
+::testing::AssertionResult
+checkCartesianTranslationalPath(const robot_trajectory::RobotTrajectoryConstPtr& trajectory,
+                                const std::string& link_name,
+                                const double acc_tol = DEFAULT_ACCELERATION_EQUALITY_TOLERANCE);
+
+/**
+ * @brief Check that the rotational path of a given trajectory is a quaternion
+ * slerp.
+ * @param rot_axis_tol: tolerance for comparing rotation axes (in the L2 norm)
+ * @param acc_tol: tolerance for comparing angular acceleration values
+ */
+::testing::AssertionResult
+checkCartesianRotationalPath(const robot_trajectory::RobotTrajectoryConstPtr& trajectory, const std::string& link_name,
+                             const double rot_axis_tol = DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE,
+                             const double acc_tol = DEFAULT_ACCELERATION_EQUALITY_TOLERANCE);
+
+inline bool isMonotonouslyDecreasing(const std::vector<double>& vec, const double& tol)
+{
+  return std::is_sorted(vec.begin(), vec.end(), [tol](double a, double b) {
+    return !(std::abs(a - b) < tol || a < b);  // true -> a is ordered before b -> list is not sorted
+  });
+}
+
+}  // namespace testutils
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.cpp
new file mode 100644
index 0000000000..1809ada9c7
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.cpp
@@ -0,0 +1,92 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <ros/ros.h>
+
+#include "pilz_industrial_motion_planner/cartesian_limit.h"
+#include "pilz_industrial_motion_planner/cartesian_limits_aggregator.h"
+
+/**
+ * @brief Unittest of the CartesianLimitsAggregator class
+ */
+class CartesianLimitsAggregator : public ::testing::Test
+{
+};
+
+/**
+ * @brief Check if only velocity is set
+ */
+TEST_F(CartesianLimitsAggregator, OnlyVelocity)
+{
+  ros::NodeHandle nh("~/vel_only");
+
+  pilz_industrial_motion_planner::CartesianLimit limit =
+      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(nh);
+  EXPECT_TRUE(limit.hasMaxTranslationalVelocity());
+  EXPECT_EQ(limit.getMaxTranslationalVelocity(), 10);
+  EXPECT_FALSE(limit.hasMaxTranslationalAcceleration());
+  EXPECT_FALSE(limit.hasMaxTranslationalDeceleration());
+  EXPECT_FALSE(limit.hasMaxRotationalVelocity());
+}
+
+/**
+ * @brief Check if all values are set correctly
+ */
+TEST_F(CartesianLimitsAggregator, AllValues)
+{
+  ros::NodeHandle nh("~/all");
+
+  pilz_industrial_motion_planner::CartesianLimit limit =
+      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(nh);
+  EXPECT_TRUE(limit.hasMaxTranslationalVelocity());
+  EXPECT_EQ(limit.getMaxTranslationalVelocity(), 1);
+
+  EXPECT_TRUE(limit.hasMaxTranslationalAcceleration());
+  EXPECT_EQ(limit.getMaxTranslationalAcceleration(), 2);
+
+  EXPECT_TRUE(limit.hasMaxTranslationalDeceleration());
+  EXPECT_EQ(limit.getMaxTranslationalDeceleration(), -3);
+
+  EXPECT_TRUE(limit.hasMaxRotationalVelocity());
+  EXPECT_EQ(limit.getMaxRotationalVelocity(), 4);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_cartesian_limits_aggregator");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.test
new file mode 100644
index 0000000000..382a5a5924
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_cartesian_limits_aggregator.test
@@ -0,0 +1,53 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+<include file="$(find moveit_resources_prbt_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+</include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner"
+        test-name="unittest_cartesian_limits_aggregator"
+        type="unittest_cartesian_limits_aggregator">
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_only_vel.yaml"
+    ns="vel_only"/>
+
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_cartesian_limits_aggregator/test_cartesian_limit_all.yaml"
+    ns="all"/>
+  </test>
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_get_solver_tip_frame.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_get_solver_tip_frame.cpp
new file mode 100644
index 0000000000..b749d48ae3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_get_solver_tip_frame.cpp
@@ -0,0 +1,145 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+#include <moveit/robot_model/joint_model_group.h>
+
+#include "pilz_industrial_motion_planner/tip_frame_getter.h"
+
+namespace pilz_industrial_motion_planner
+{
+using ::testing::AtLeast;
+using ::testing::Return;
+using ::testing::ReturnRef;
+
+class SolverMock
+{
+public:
+  MOCK_CONST_METHOD0(getTipFrames, const std::vector<std::string>&());
+};
+
+class JointModelGroupMock
+{
+public:
+  MOCK_CONST_METHOD0(getSolverInstance, SolverMock const*());
+  MOCK_CONST_METHOD0(getName, const std::string&());
+};
+
+/**
+ * @brief Test fixture for getSolverTipFrame tests.
+ */
+class GetSolverTipFrameTest : public testing::Test
+{
+protected:
+  void SetUp() override;
+
+protected:
+  SolverMock solver_mock_;
+  JointModelGroupMock jmg_mock_;
+  const std::string group_name_{ "fake_group" };
+};
+
+void GetSolverTipFrameTest::SetUp()
+{
+  EXPECT_CALL(jmg_mock_, getName()).WillRepeatedly(ReturnRef(group_name_));
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ */
+TEST_F(GetSolverTipFrameTest, TestExceptionErrorCodeMapping)
+{
+  {
+    std::shared_ptr<NoSolverException> nse_ex{ new NoSolverException("") };
+    EXPECT_EQ(nse_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+  }
+
+  {
+    std::shared_ptr<MoreThanOneTipFrameException> ex{ new MoreThanOneTipFrameException("") };
+    EXPECT_EQ(ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+  }
+}
+
+/**
+ * @brief Checks that an exceptions is thrown in case a group has more than
+ * one tip frame.
+ */
+TEST_F(GetSolverTipFrameTest, TestExceptionMoreThanOneTipFrame)
+{
+  std::vector<std::string> tip_frames{ "fake_tip_frame1", "fake_tip_frame2" };
+
+  EXPECT_CALL(jmg_mock_, getSolverInstance()).Times(AtLeast(1)).WillRepeatedly(Return(&solver_mock_));
+
+  EXPECT_CALL(solver_mock_, getTipFrames()).Times(AtLeast(1)).WillRepeatedly(ReturnRef(tip_frames));
+
+  EXPECT_THROW(getSolverTipFrame(&jmg_mock_), MoreThanOneTipFrameException);
+}
+
+/**
+ * @brief Checks that an exceptions is thrown in case a group does not
+ * possess a solver.
+ */
+TEST_F(GetSolverTipFrameTest, TestExceptionNoSolver)
+{
+  EXPECT_CALL(jmg_mock_, getSolverInstance()).WillOnce(Return(nullptr));
+
+  EXPECT_THROW(getSolverTipFrame(&jmg_mock_), NoSolverException);
+}
+
+/**
+ * @brief Checks that an exceptions is thrown in case a nullptr is
+ * specified as JointModelGroup.
+ */
+TEST_F(GetSolverTipFrameTest, NullptrJointGroup)
+{
+  moveit::core::JointModelGroup* group = nullptr;
+  EXPECT_THROW(hasSolver(group), std::invalid_argument);
+}
+
+}  // namespace pilz_industrial_motion_planner
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.cpp
new file mode 100644
index 0000000000..488a27bb00
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.cpp
@@ -0,0 +1,111 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "ros/ros.h"
+
+#include <gtest/gtest.h>
+
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include "pilz_industrial_motion_planner/joint_limits_interface_extension.h"
+
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner::joint_limits_interface;
+
+namespace pilz_extensions_tests
+{
+class JointLimitTest : public ::testing::Test
+{
+};
+
+TEST_F(JointLimitTest, SimpleRead)
+{
+  ros::NodeHandle node_handle("~");
+
+  // Joints limits interface
+  JointLimits joint_limits_extended;
+  JointLimits joint_limits;
+
+  getJointLimits("joint_1", node_handle, joint_limits_extended);
+
+  EXPECT_EQ(1, joint_limits_extended.max_acceleration);
+  EXPECT_EQ(-1, joint_limits_extended.max_deceleration);
+}
+
+TEST_F(JointLimitTest, readNonExistingJointLimit)
+{
+  ros::NodeHandle node_handle("~");
+
+  // Joints limits interface
+  JointLimits joint_limits_extended;
+  JointLimits joint_limits;
+
+  EXPECT_FALSE(getJointLimits("anything", node_handle, joint_limits_extended));
+}
+
+/**
+ * @brief Test reading a joint limit representing an invalid parameter key
+ *
+ * For full coverage.
+ */
+TEST_F(JointLimitTest, readInvalidParameterName)
+{
+  ros::NodeHandle node_handle("~");
+
+  // Joints limits interface
+  JointLimits joint_limits_extended;
+  JointLimits joint_limits;
+
+  EXPECT_FALSE(getJointLimits("~anything", node_handle, joint_limits_extended));
+}
+
+TEST_F(JointLimitTest, OldRead)
+{
+  ros::NodeHandle node_handle("~");
+
+  // Joints limits interface
+  JointLimits joint_limits;
+  getJointLimits("joint_1", node_handle, joint_limits);
+
+  EXPECT_EQ(1, joint_limits.max_acceleration);
+}
+}  // namespace pilz_extensions_tests
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_joint_limits_extended");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.test
new file mode 100644
index 0000000000..361e6f5102
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit.test
@@ -0,0 +1,40 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_joint_limit" type="unittest_joint_limit">
+      <rosparam command="load" file="$(find pilz_industrial_motion_planner)/test/unittest_joint_limit_config.yaml" />
+  </test>
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit_config.yaml b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit_config.yaml
new file mode 100644
index 0000000000..4f4bfffd6e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limit_config.yaml
@@ -0,0 +1,31 @@
+joint_limits:
+  joint_1:
+    has_acceleration_limits: true
+    max_acceleration: 1
+    has_deceleration_limits: true
+    max_deceleration: -1
+  joint_2:
+    has_acceleration_limits: true
+    max_acceleration: 2
+    has_deceleration_limits: true
+    max_deceleration: -2
+  joint_3:
+    has_acceleration_limits: true
+    max_acceleration: 3
+    has_deceleration_limits: true
+    max_deceleration: -3
+  joint_4:
+    has_acceleration_limits: true
+    max_acceleration: 4
+    has_deceleration_limits: true
+    max_deceleration: -4
+  joint_5:
+    has_acceleration_limits: true
+    max_acceleration: 5
+    has_deceleration_limits: true
+    max_deceleration: -5
+  joint_6:
+    has_acceleration_limits: true
+    max_acceleration: 6
+    has_deceleration_limits: true
+    max_deceleration: -6
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.cpp
new file mode 100644
index 0000000000..06827e3284
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.cpp
@@ -0,0 +1,208 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+#include "pilz_industrial_motion_planner/joint_limits_interface_extension.h"
+
+/**
+ * @brief Unittest of the JointLimitsAggregator class
+ */
+class JointLimitsAggregator : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    ros::NodeHandle node_handle("~");
+
+    // Load robot module
+    robot_model_loader::RobotModelLoader::Options opt("robot_description");
+    model_loader_.reset(new robot_model_loader::RobotModelLoader(opt));
+    robot_model_ = model_loader_->getModel();
+
+    return;
+  }
+
+  /// The robot model loader
+  robot_model_loader::RobotModelLoaderPtr model_loader_;
+
+  /// The robot model
+  robot_model::RobotModelConstPtr robot_model_;
+};
+
+/**
+ * @brief Check for that the size of the map and the size of the given joint
+ * models is equal
+ */
+TEST_F(JointLimitsAggregator, ExpectedMapSize)
+{
+  ros::NodeHandle nh("~");
+
+  pilz_industrial_motion_planner::JointLimitsContainer container =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(nh,
+                                                                                 robot_model_->getActiveJointModels());
+
+  EXPECT_EQ(robot_model_->getActiveJointModels().size(), container.getCount());
+}
+
+/**
+ * @brief Check that the value in the parameter server correctly overrides the
+ * position(if within limits)
+ */
+TEST_F(JointLimitsAggregator, CorrectOverwriteByParamterPosition)
+{
+  ros::NodeHandle nh("~/valid_1");
+
+  pilz_industrial_motion_planner::JointLimitsContainer container =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(nh,
+                                                                                 robot_model_->getActiveJointModels());
+
+  for (std::pair<std::string, pilz_industrial_motion_planner::JointLimit> lim : container)
+  {
+    // Check for the overwrite
+    if (lim.first == "prbt_joint_1")
+    {
+      EXPECT_EQ(2, container.getLimit(lim.first).max_position);
+      EXPECT_EQ(-2, container.getLimit(lim.first).min_position);
+    }
+    // Check that nothing else changed
+    else
+    {
+      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].min_position_,
+                container.getLimit(lim.first).min_position);
+      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].max_position_,
+                container.getLimit(lim.first).max_position);
+    }
+  }
+}
+
+/**
+ * @brief Check that the value in the parameter server correctly overrides the
+ * velocity(if within limits)
+ */
+TEST_F(JointLimitsAggregator, CorrectOverwriteByParamterVelocity)
+{
+  ros::NodeHandle nh("~/valid_1");
+
+  pilz_industrial_motion_planner::JointLimitsContainer container =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(nh,
+                                                                                 robot_model_->getActiveJointModels());
+
+  for (std::pair<std::string, pilz_industrial_motion_planner::JointLimit> lim : container)
+  {
+    // Check that velocity was only changed in joint "prbt_joint_3"
+    if (lim.first == "prbt_joint_3")
+    {
+      EXPECT_EQ(1.1, container.getLimit(lim.first).max_velocity);
+    }
+    else
+    {
+      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].max_velocity_,
+                container.getLimit(lim.first).max_velocity);
+    }
+  }
+}
+
+/**
+ * @brief Check that the acceleration and deceleration are set properly
+ */
+TEST_F(JointLimitsAggregator, CorrectSettingAccelerationAndDeceleration)
+{
+  ros::NodeHandle nh("~/valid_1");
+
+  pilz_industrial_motion_planner::JointLimitsContainer container =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(nh,
+                                                                                 robot_model_->getActiveJointModels());
+
+  for (std::pair<std::string, pilz_industrial_motion_planner::JointLimit> lim : container)
+  {
+    if (lim.first == "prbt_joint_4")
+    {
+      EXPECT_EQ(5.5, container.getLimit(lim.first).max_acceleration) << lim.first;
+      EXPECT_EQ(-5.5, container.getLimit(lim.first).max_deceleration) << lim.first;
+    }
+    else if (lim.first == "prbt_joint_5")
+    {
+      EXPECT_EQ(0, container.getLimit(lim.first).max_acceleration) << lim.first;
+      EXPECT_EQ(-6.6, container.getLimit(lim.first).max_deceleration) << lim.first;
+    }
+    else
+    {
+      EXPECT_EQ(0, container.getLimit(lim.first).max_acceleration) << lim.first;
+      EXPECT_EQ(0, container.getLimit(lim.first).max_deceleration) << lim.first;
+    }
+  }
+}
+
+/**
+ * @brief Check that position limit violations are detected properly
+ */
+TEST_F(JointLimitsAggregator, LimitsViolationPosition)
+{
+  ros::NodeHandle nh_min("~/violate_position_min");
+
+  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+                   nh_min, robot_model_->getActiveJointModels()),
+               pilz_industrial_motion_planner::AggregationBoundsViolationException);
+
+  ros::NodeHandle nh_max("~/violate_position_max");
+
+  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+                   nh_max, robot_model_->getActiveJointModels()),
+               pilz_industrial_motion_planner::AggregationBoundsViolationException);
+}
+
+/**
+ * @brief Check that velocity limit violations are detected properly
+ */
+TEST_F(JointLimitsAggregator, LimitsViolationVelocity)
+{
+  ros::NodeHandle nh("~/violate_velocity");
+
+  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+                   nh, robot_model_->getActiveJointModels()),
+               pilz_industrial_motion_planner::AggregationBoundsViolationException);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_joint_limits_aggregator");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.test
new file mode 100644
index 0000000000..28177da403
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_aggregator.test
@@ -0,0 +1,58 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <include file="$(find moveit_resources_prbt_moveit_config)/launch/planning_context.launch">
+      <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_joint_limits_aggregator" type="unittest_joint_limits_aggregator">
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_valid_1.yaml"
+    ns="valid_1"/>
+
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_min.yaml"
+    ns="violate_position_min"/>
+
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_position_max.yaml"
+    ns="violate_position_max"/>
+
+    <rosparam command="load"
+    file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/unittest_joint_limits_aggregator_testdata/test_joint_limits_violate_velocity.yaml"
+    ns="violate_velocity"/>
+  </test>
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_container.cpp
new file mode 100644
index 0000000000..2f7f7b80a4
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_container.cpp
@@ -0,0 +1,229 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+
+using namespace pilz_industrial_motion_planner;
+
+class JointLimitsContainerTest : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    JointLimit lim1;
+    lim1.has_position_limits = true;
+    lim1.min_position = -2;
+    lim1.max_position = 2;
+    lim1.has_acceleration_limits = true;
+    lim1.max_acceleration = 3;  //<- Expected for common_limit_.max_acceleration
+
+    JointLimit lim2;
+    lim2.has_position_limits = true;
+    lim2.min_position = -1;  //<- Expected for common_limit_.min_position
+    lim2.max_position = 1;   //<- Expected for common_limit_.max_position
+    lim2.has_deceleration_limits = true;
+    lim2.max_deceleration = -5;  //<- Expected for common_limit_.max_deceleration
+
+    JointLimit lim3;
+    lim3.has_velocity_limits = true;
+    lim3.max_velocity = 10;
+
+    JointLimit lim4;
+    lim4.has_position_limits = true;
+    lim4.min_position = -1;
+    lim4.max_position = 1;
+    lim4.has_acceleration_limits = true;
+    lim4.max_acceleration = 400;
+    lim4.has_deceleration_limits = false;
+    lim4.max_deceleration = -1;
+
+    JointLimit lim5;
+    lim5.has_position_limits = true;
+    lim5.min_position = -1;
+    lim5.max_position = 1;
+    lim5.has_acceleration_limits = false;
+    lim5.max_acceleration = 1;
+
+    JointLimit lim6;
+    lim6.has_velocity_limits = true;
+    lim6.max_velocity = 2;  //<- Expected for common_limit_.max_velocity
+    lim6.has_deceleration_limits = true;
+    lim6.max_deceleration = -100;
+
+    container_.addLimit("joint1", lim1);
+    container_.addLimit("joint2", lim2);
+    container_.addLimit("joint3", lim3);
+    container_.addLimit("joint4", lim4);
+    container_.addLimit("joint5", lim5);
+    container_.addLimit("joint6", lim6);
+
+    common_limit_ = container_.getCommonLimit();
+  }
+
+  pilz_industrial_motion_planner::JointLimitsContainer container_;
+  JointLimit common_limit_;
+};
+
+/**
+ * @brief Check postion
+ */
+TEST_F(JointLimitsContainerTest, CheckPositionUnification)
+{
+  EXPECT_EQ(-1, common_limit_.min_position);
+  EXPECT_EQ(1, common_limit_.max_position);
+}
+
+/**
+ * @brief Check velocity
+ */
+TEST_F(JointLimitsContainerTest, CheckVelocityUnification)
+{
+  EXPECT_EQ(2, common_limit_.max_velocity);
+}
+
+/**
+ * @brief Check acceleration
+ */
+TEST_F(JointLimitsContainerTest, CheckAccelerationUnification)
+{
+  EXPECT_EQ(3, common_limit_.max_acceleration);
+}
+
+/**
+ * @brief Check deceleration
+ */
+TEST_F(JointLimitsContainerTest, CheckDecelerationUnification)
+{
+  EXPECT_EQ(-5, common_limit_.max_deceleration);
+}
+
+/**
+ * @brief Check AddLimit for positive and null deceleration
+ */
+TEST_F(JointLimitsContainerTest, CheckAddLimitDeceleration)
+{
+  JointLimit lim_invalid1;
+  lim_invalid1.has_deceleration_limits = true;
+  lim_invalid1.max_deceleration = 0;
+
+  JointLimit lim_invalid2;
+  lim_invalid2.has_deceleration_limits = true;
+  lim_invalid2.max_deceleration = 1;
+
+  JointLimit lim_valid;
+  lim_valid.has_deceleration_limits = true;
+  lim_valid.max_deceleration = -1;
+
+  pilz_industrial_motion_planner::JointLimitsContainer container;
+
+  EXPECT_EQ(false, container.addLimit("joint_invalid1", lim_invalid1));
+  EXPECT_EQ(false, container.addLimit("joint_invalid2", lim_invalid2));
+  EXPECT_EQ(true, container.addLimit("joint_valid", lim_valid));
+}
+
+/**
+ * @brief Check AddLimit for already contained limit
+ */
+TEST_F(JointLimitsContainerTest, CheckAddLimitAlreadyContained)
+{
+  JointLimit lim_valid;
+  lim_valid.has_deceleration_limits = true;
+  lim_valid.max_deceleration = -1;
+
+  pilz_industrial_motion_planner::JointLimitsContainer container;
+  ASSERT_TRUE(container.addLimit("joint_valid", lim_valid));
+  EXPECT_FALSE(container.addLimit("joint_valid", lim_valid));
+}
+
+/**
+ * @brief An uninitialized container should not have any limits set.
+ */
+TEST_F(JointLimitsContainerTest, CheckEmptyContainer)
+{
+  pilz_industrial_motion_planner::JointLimitsContainer container;
+  JointLimit limits = container.getCommonLimit();
+  EXPECT_FALSE(limits.has_position_limits);
+  EXPECT_FALSE(limits.has_velocity_limits);
+  EXPECT_FALSE(limits.has_acceleration_limits);
+}
+
+/**
+ * @brief empty position limits for first joint, second one should be returned
+ */
+TEST_F(JointLimitsContainerTest, FirstPositionEmpty)
+{
+  JointLimit lim1;
+
+  JointLimit lim2;
+  lim2.has_position_limits = true;
+  lim2.min_position = -1;  //<- Expected for common_limit_.min_position
+  lim2.max_position = 1;   //<- Expected for common_limit_.max_position
+
+  pilz_industrial_motion_planner::JointLimitsContainer container;
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  JointLimit limits = container.getCommonLimit();
+  EXPECT_TRUE(limits.has_position_limits);
+  EXPECT_EQ(1, limits.max_position);
+  EXPECT_EQ(-1, limits.min_position);
+}
+
+/**
+ * @brief Check position limits
+ */
+TEST_F(JointLimitsContainerTest, CheckVerifyPositionLimits)
+{
+  // positive check: inside limits
+  std::vector<std::string> joint_names{ "joint1", "joint2" };
+  std::vector<double> joint_positions{ 0.5, 0.5 };
+  EXPECT_TRUE(container_.verifyPositionLimits(joint_names, joint_positions));
+
+  // outside limit2
+  joint_positions[1] = 7;
+  EXPECT_FALSE(container_.verifyPositionLimits(joint_names, joint_positions));
+
+  // invalid size
+  std::vector<double> joint_positions1{ 0. };
+  EXPECT_THROW(container_.verifyPositionLimits(joint_names, joint_positions1), std::out_of_range);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_validator.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_validator.cpp
new file mode 100644
index 0000000000..f622cdf8f1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_joint_limits_validator.cpp
@@ -0,0 +1,490 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_extension.h"
+
+#include "pilz_industrial_motion_planner/joint_limits_validator.h"
+
+using namespace pilz_industrial_motion_planner;
+
+class JointLimitsValidatorTest : public ::testing::Test
+{
+};
+
+/**
+ * @brief Check postion equality
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionEquality)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_position_limits = true;
+  lim1.min_position = -1;
+  lim1.max_position = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim1);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check postion inequality in min_position detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMinPosition)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_position_limits = true;
+  lim1.min_position = -1;
+  lim1.max_position = 1;
+
+  JointLimit lim2;
+  lim2.has_position_limits = true;
+  lim2.min_position = -2;
+  lim2.max_position = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(false, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check postion inequality in max_position detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxPosition1)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_position_limits = true;
+  lim1.min_position = -1;
+  lim1.max_position = 2;
+
+  JointLimit lim2;
+  lim2.has_position_limits = true;
+  lim2.min_position = -1;
+  lim2.max_position = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(false, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check postion inequality in max_position detection (using 3 limits)
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxPosition2)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_position_limits = true;
+  lim1.min_position = -1;
+  lim1.max_position = 2;
+
+  JointLimit lim2;
+  lim2.has_position_limits = true;
+  lim2.min_position = -1;
+  lim2.max_position = 1;
+
+  JointLimit lim3;
+  lim3.has_position_limits = true;
+  lim3.min_position = -1;
+  lim3.max_position = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+  container.addLimit("joint3", lim3);
+
+  EXPECT_EQ(false, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check postion inequality in has_position_limits false detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityHasPositionLimits)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_position_limits = true;
+  lim1.min_position = -1;
+  lim1.max_position = 1;
+
+  JointLimit lim2;
+  lim2.has_position_limits = false;
+  lim2.min_position = -1;
+  lim2.max_position = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(false, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+// VELOCITY
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+
+/**
+ * @brief Check velocity equality
+ */
+TEST_F(JointLimitsValidatorTest, CheckVelocityEquality)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_velocity_limits = true;
+  lim1.max_velocity = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim1);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_velocity inequality
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxVelocity1)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_velocity_limits = true;
+  lim1.max_velocity = 1;
+
+  JointLimit lim2;
+  lim2.has_velocity_limits = true;
+  lim2.max_velocity = 2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_velocity inequality (using 3Limits)
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxVelocity2)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_velocity_limits = true;
+  lim1.max_velocity = 1;
+
+  JointLimit lim2;
+  lim2.has_velocity_limits = true;
+  lim2.max_velocity = 2;
+
+  JointLimit lim3;
+  lim3.has_velocity_limits = true;
+  lim3.max_velocity = 2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+  container.addLimit("joint3", lim3);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check postion inequality in has_position_limits false detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityHasVelocityLimits)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_velocity_limits = true;
+
+  JointLimit lim2;
+  lim2.has_velocity_limits = false;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+// ACCELERATION
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+
+/**
+ * @brief Check acceleration equality
+ */
+TEST_F(JointLimitsValidatorTest, CheckAccelerationEquality)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_acceleration_limits = true;
+  lim1.max_acceleration = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim1);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_acceleration inequality
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxAcceleration1)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_acceleration_limits = true;
+  lim1.max_acceleration = 1;
+
+  JointLimit lim2;
+  lim2.has_acceleration_limits = true;
+  lim2.max_acceleration = 2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_acceleration inequality (using 3 Limits)
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityMaxAcceleration2)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_acceleration_limits = true;
+  lim1.max_acceleration = 1;
+
+  JointLimit lim2;
+  lim2.has_acceleration_limits = true;
+  lim2.max_acceleration = 2;
+
+  JointLimit lim3;
+  lim3.has_acceleration_limits = true;
+  lim3.max_acceleration = 2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+  container.addLimit("joint3", lim3);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check acceleration inequality in has_acceleration_limits false
+ * detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckPositionInEqualityHasAccelerationLimits)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_acceleration_limits = true;
+
+  JointLimit lim2;
+  lim2.has_acceleration_limits = false;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+// DECELERATION
+//----------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------
+
+/**
+ * @brief Check deceleration equality
+ */
+TEST_F(JointLimitsValidatorTest, CheckDecelerationEquality)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_deceleration_limits = true;
+  lim1.max_deceleration = 1;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim1);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_deceleration inequality
+ */
+TEST_F(JointLimitsValidatorTest, CheckInEqualityMaxDeceleration1)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_deceleration_limits = true;
+  lim1.max_deceleration = -1;
+
+  JointLimit lim2;
+  lim2.has_deceleration_limits = true;
+  lim2.max_deceleration = -2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check max_deceleration inequality
+ */
+TEST_F(JointLimitsValidatorTest, CheckInEqualityMaxDeceleration2)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_deceleration_limits = true;
+  lim1.max_deceleration = -1;
+
+  JointLimit lim2;
+  lim2.has_deceleration_limits = true;
+  lim2.max_deceleration = -2;
+
+  JointLimit lim3;
+  lim3.has_deceleration_limits = true;
+  lim3.max_deceleration = -2;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+  container.addLimit("joint3", lim3);
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+/**
+ * @brief Check deceleration inequality in has_deceleration_limits false
+ * detection
+ */
+TEST_F(JointLimitsValidatorTest, CheckInEqualityHasDecelerationLimits)
+{
+  JointLimitsContainer container;
+
+  JointLimit lim1;
+  lim1.has_deceleration_limits = true;
+  lim1.max_deceleration = -1;
+
+  JointLimit lim2;
+  lim2.has_deceleration_limits = false;
+
+  container.addLimit("joint1", lim1);
+  container.addLimit("joint2", lim2);
+
+  ASSERT_EQ(2u, container.getCount());
+
+  EXPECT_EQ(true, JointLimitsValidator::validateAllPositionLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllVelocityLimitsEqual(container));
+  EXPECT_EQ(true, JointLimitsValidator::validateAllAccelerationLimitsEqual(container));
+  EXPECT_EQ(false, JointLimitsValidator::validateAllDecelerationLimitsEqual(container));
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp
new file mode 100644
index 0000000000..f413cb835a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp
@@ -0,0 +1,232 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include "pilz_industrial_motion_planner/pilz_industrial_motion_planner.h"
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+class CommandPlannerTest : public testing::TestWithParam<std::string>
+{
+protected:
+  void SetUp() override
+  {
+    createPlannerInstance();
+  }
+
+  /**
+   * @brief initialize the planner plugin
+   * The planner is loaded using the pluginlib. Checks that the planner was
+   * loaded properly.
+   * Exceptions will cause test failure.
+   *
+   * This function should be called only once during initialization of the
+   * class.
+   */
+  void createPlannerInstance()
+  {
+    // Load planner name from parameter server
+    if (!ph_.getParam("planning_plugin", planner_plugin_name_))
+    {
+      ROS_FATAL_STREAM("Could not find planner plugin name");
+      FAIL();
+    }
+
+    // Load the plugin
+    try
+    {
+      planner_plugin_loader_.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+          "moveit_core", "planning_interface::PlannerManager"));
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
+      FAIL();
+    }
+
+    // Create planner
+    try
+    {
+      planner_instance_.reset(planner_plugin_loader_->createUnmanagedInstance(planner_plugin_name_));
+      ASSERT_TRUE(planner_instance_->initialize(robot_model_, ph_.getNamespace()))
+          << "Initialzing the planner instance failed.";
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      FAIL() << "Could not create planner " << ex.what() << "\n";
+    }
+  }
+
+  void TearDown() override
+  {
+    planner_plugin_loader_->unloadLibraryForClass(planner_plugin_name_);
+  }
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+
+  std::string planner_plugin_name_;
+
+  std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader_;
+
+  planning_interface::PlannerManagerPtr planner_instance_;
+};
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, CommandPlannerTest,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+
+/**
+ * @brief Test that PTP can be loaded
+ * This needs to be extended with every new planning Algorithm
+ */
+TEST_P(CommandPlannerTest, ObtainLoadedPlanningAlgorithms)
+{
+  // Check for the algorithms
+  std::vector<std::string> algs;
+
+  planner_instance_->getPlanningAlgorithms(algs);
+  ASSERT_EQ(3u, algs.size()) << "Found more or less planning algorithms as expected! Found:"
+                             << ::testing::PrintToString(algs);
+
+  // Collect the algorithms, check for uniqueness
+  std::set<std::string> algs_set;
+  for (const auto& alg : algs)
+  {
+    algs_set.insert(alg);
+  }
+  ASSERT_EQ(algs.size(), algs_set.size()) << "There are two or more algorithms with the same name!";
+  ASSERT_TRUE(algs_set.find("LIN") != algs_set.end());
+  ASSERT_TRUE(algs_set.find("PTP") != algs_set.end());
+  ASSERT_TRUE(algs_set.find("CIRC") != algs_set.end());
+}
+
+/**
+ * @brief Check that all announced planning algorithms can perform the service
+ * request if the planner_id is set.
+ */
+TEST_P(CommandPlannerTest, CheckValidAlgorithmsForServiceRequest)
+{
+  // Check for the algorithms
+  std::vector<std::string> algs;
+  planner_instance_->getPlanningAlgorithms(algs);
+
+  for (const auto& alg : algs)
+  {
+    planning_interface::MotionPlanRequest req;
+    req.planner_id = alg;
+
+    EXPECT_TRUE(planner_instance_->canServiceRequest(req));
+  }
+}
+
+/**
+ * @brief Check that canServiceRequest(req) returns false if planner_id is not
+ * supported
+ */
+TEST_P(CommandPlannerTest, CheckInvalidAlgorithmsForServiceRequest)
+{
+  planning_interface::MotionPlanRequest req;
+  req.planner_id = "NON_EXISTEND_ALGORITHM_HASH_da39a3ee5e6b4b0d3255bfef95601890afd80709";
+
+  EXPECT_FALSE(planner_instance_->canServiceRequest(req));
+}
+
+/**
+ * @brief Check that canServiceRequest(req) returns false if planner_id is empty
+ */
+TEST_P(CommandPlannerTest, CheckEmptyPlannerIdForServiceRequest)
+{
+  planning_interface::MotionPlanRequest req;
+  req.planner_id = "";
+
+  EXPECT_FALSE(planner_instance_->canServiceRequest(req));
+}
+
+/**
+ * @brief Check integrety against empty input
+ */
+TEST_P(CommandPlannerTest, CheckPlanningContextRequestNull)
+{
+  moveit_msgs::MotionPlanRequest req;
+  moveit_msgs::MoveItErrorCodes error_code;
+  EXPECT_EQ(nullptr, planner_instance_->getPlanningContext(nullptr, req, error_code));
+}
+
+/**
+ * @brief Check that for the announced algorithmns getPlanningContext does not
+ * return nullptr
+ */
+TEST_P(CommandPlannerTest, CheckPlanningContextRequest)
+{
+  moveit_msgs::MotionPlanRequest req;
+  moveit_msgs::MoveItErrorCodes error_code;
+
+  // Check for the algorithms
+  std::vector<std::string> algs;
+  planner_instance_->getPlanningAlgorithms(algs);
+
+  for (const auto& alg : algs)
+  {
+    req.planner_id = alg;
+
+    EXPECT_NE(nullptr, planner_instance_->getPlanningContext(nullptr, req, error_code));
+  }
+}
+
+/**
+ * @brief Check the description can be obtained and is not empty
+ */
+TEST_P(CommandPlannerTest, CheckPlanningContextDescriptionNotEmptyAndStable)
+{
+  std::string desc = planner_instance_->getDescription();
+  EXPECT_GT(desc.length(), 0u);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_pilz_industrial_motion_planner");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.test
new file mode 100644
index 0000000000..574f005626
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.test
@@ -0,0 +1,48 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_pilz_industrial_motion_planner" type="unittest_pilz_industrial_motion_planner">
+      <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner"/>
+  </test>
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner_direct.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner_direct.cpp
new file mode 100644
index 0000000000..35bb528d27
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner_direct.cpp
@@ -0,0 +1,121 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/pilz_industrial_motion_planner.h"
+#include "pilz_industrial_motion_planner/planning_context_loader_ptp.h"
+#include "pilz_industrial_motion_planner/planning_exceptions.h"
+
+using namespace pilz_industrial_motion_planner;
+
+TEST(CommandPlannerTestDirect, ExceptionCoverage)
+{
+  std::shared_ptr<PlanningException> p_ex{ new PlanningException("") };
+  std::shared_ptr<ContextLoaderRegistrationException> clr_ex{ new ContextLoaderRegistrationException("") };
+}
+
+/**
+ *  This test uses pilz_industrial_motion_planner::CommandPlanner directly and
+ * is thus seperated from
+ * unittest_pilz_industrial_motion_planner.cpp since plugin loading via
+ * pluginlib does not allow loading of classes
+ * already
+ * defined.
+ */
+
+/**
+ * @brief Check that a exception is thrown if a already loaded
+ * PlanningContextLoader is loaded
+ *
+ * It this point the planning_instance_ has loaded ptp, lin, circ.
+ * A additional ptp is loaded which should throw the respective exception.
+ */
+TEST(CommandPlannerTestDirect, CheckDoubleLoadingException)
+{
+  /// Registed a found loader
+  pilz_industrial_motion_planner::CommandPlanner planner;
+  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader(
+      new pilz_industrial_motion_planner::PlanningContextLoaderPTP());
+
+  EXPECT_NO_THROW(planner.registerContextLoader(planning_context_loader));
+
+  EXPECT_THROW(planner.registerContextLoader(planning_context_loader),
+               pilz_industrial_motion_planner::ContextLoaderRegistrationException);
+}
+
+/**
+ * @brief Check that getPlanningContext() fails if the underlying ContextLoader
+ * fails to load the context.
+ */
+TEST(CommandPlannerTestDirect, FailOnLoadContext)
+{
+  pilz_industrial_motion_planner::CommandPlanner planner;
+
+  // Mock of failing PlanningContextLoader
+  class TestPlanningContextLoader : public pilz_industrial_motion_planner::PlanningContextLoader
+  {
+  public:
+    std::string getAlgorithm() const override
+    {
+      return "Test_Algorithm";
+    }
+
+    bool loadContext(planning_interface::PlanningContextPtr& /* planning_context */, const std::string& /* name */,
+                     const std::string& /* group */) const override
+    {
+      // Mock behaviour: Cannot load planning context.
+      return false;
+    }
+  };
+
+  /// Registed a found loader
+  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader(new TestPlanningContextLoader());
+  planner.registerContextLoader(planning_context_loader);
+
+  moveit_msgs::MotionPlanRequest req;
+  req.planner_id = "Test_Algorithm";
+
+  moveit_msgs::MoveItErrorCodes error_code;
+  EXPECT_FALSE(planner.getPlanningContext(nullptr, req, error_code));
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::PLANNING_FAILED, error_code.val);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.cpp
new file mode 100644
index 0000000000..016c612e0a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.cpp
@@ -0,0 +1,282 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <boost/core/demangle.hpp>
+#include <gtest/gtest.h>
+
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/planning_context_circ.h"
+#include "pilz_industrial_motion_planner/planning_context_lin.h"
+#include "pilz_industrial_motion_planner/planning_context_ptp.h"
+
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+
+/**
+ * A value type container to combine type and value
+ * In the tests types are trajectory generators.
+ * value = 0 refers to robot model without gripper
+ * value = 1 refers to robot model with gripper
+ */
+template <typename T, int N>
+class ValueTypeContainer
+{
+public:
+  typedef T Type_;
+  static const int VALUE = N;
+};
+template <typename T, int N>
+const int ValueTypeContainer<T, N>::VALUE;
+
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextPTP, 0> PTP_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextPTP, 1> PTP_WITH_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextLIN, 0> LIN_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextLIN, 1> LIN_WITH_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextCIRC, 0> CIRC_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextCIRC, 1> CIRC_WITH_GRIPPER;
+
+typedef ::testing::Types<PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER,
+                         CIRC_WITH_GRIPPER>
+    PlanningContextTestTypes;
+
+/**
+ * type parameterized test fixture
+ */
+template <typename T>
+class PlanningContextTest : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    ASSERT_FALSE(robot_model_ == nullptr) << "There is no robot model!";
+
+    // get parameters
+    ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+    ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+
+    pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+        testutils::createFakeLimits(robot_model_->getVariableNames());
+    pilz_industrial_motion_planner::CartesianLimit cartesian_limit;
+    cartesian_limit.setMaxRotationalVelocity(1.0 * M_PI);
+    cartesian_limit.setMaxTranslationalAcceleration(1.0 * M_PI);
+    cartesian_limit.setMaxTranslationalDeceleration(1.0 * M_PI);
+    cartesian_limit.setMaxTranslationalVelocity(1.0 * M_PI);
+
+    pilz_industrial_motion_planner::LimitsContainer limits;
+    limits.setJointLimits(joint_limits);
+    limits.setCartesianLimits(cartesian_limit);
+
+    planning_context_ = std::unique_ptr<typename T::Type_>(
+        new typename T::Type_("TestPlanningContext", "TestGroup", robot_model_, limits));
+
+    // Define and set the current scene
+    planning_scene::PlanningScenePtr scene(new planning_scene::PlanningScene(robot_model_));
+    robot_state::RobotState current_state(robot_model_);
+    current_state.setToDefaultValues();
+    current_state.setJointGroupPositions(planning_group_, { 0, 1.57, 1.57, 0, 0.2, 0 });
+    scene->setCurrentState(current_state);
+    planning_context_->setPlanningScene(scene);  // TODO Check what happens if this is missing
+  }
+
+  /**
+   * @brief Generate a valid fully defined request
+   */
+  planning_interface::MotionPlanRequest getValidRequest(const std::string& context_name) const
+  {
+    planning_interface::MotionPlanRequest req;
+
+    req.planner_id =
+        std::string(context_name).erase(0, std::string("pilz_industrial_motion_planner::PlanningContext").length());
+    req.group_name = this->planning_group_;
+    req.max_velocity_scaling_factor = 0.01;
+    req.max_acceleration_scaling_factor = 0.01;
+
+    // start state
+    robot_state::RobotState rstate(this->robot_model_);
+    rstate.setToDefaultValues();
+    // state state in joint space, used as initial positions, since IK does not
+    // work at zero positions
+    rstate.setJointGroupPositions(this->planning_group_,
+                                  { 4.430233957464225e-12, 0.007881892504574495, -1.8157263253868452,
+                                    1.1801525390026025e-11, 1.8236082178909834, 8.591793942969161e-12 });
+    Eigen::Isometry3d start_pose(Eigen::Isometry3d::Identity());
+    start_pose.translation() = Eigen::Vector3d(0.3, 0, 0.65);
+    rstate.setFromIK(this->robot_model_->getJointModelGroup(this->planning_group_), start_pose);
+    moveit::core::robotStateToRobotStateMsg(rstate, req.start_state, false);
+
+    // goal constraint
+    Eigen::Isometry3d goal_pose(Eigen::Isometry3d::Identity());
+    goal_pose.translation() = Eigen::Vector3d(0, 0.3, 0.65);
+    Eigen::Matrix3d goal_rotation;
+    goal_rotation = Eigen::AngleAxisd(0 * M_PI, Eigen::Vector3d::UnitZ());
+    goal_pose.linear() = goal_rotation;
+    rstate.setFromIK(this->robot_model_->getJointModelGroup(this->planning_group_), goal_pose);
+    req.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints(
+        rstate, this->robot_model_->getJointModelGroup(this->planning_group_)));
+
+    // path constraint
+    req.path_constraints.name = "center";
+    moveit_msgs::PositionConstraint center_point;
+    center_point.link_name = this->target_link_;
+    geometry_msgs::Pose center_position;
+    center_position.position.x = 0.0;
+    center_position.position.y = 0.0;
+    center_position.position.z = 0.65;
+    center_point.constraint_region.primitive_poses.push_back(center_position);
+    req.path_constraints.position_constraints.push_back(center_point);
+
+    return req;
+  }
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{
+    robot_model_loader::RobotModelLoader(!T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME : PARAM_MODEL_WITH_GRIPPER_NAME)
+        .getModel()
+  };
+
+  std::unique_ptr<planning_interface::PlanningContext> planning_context_;
+
+  std::string planning_group_, target_link_;
+};
+
+// Define the types we need to test
+TYPED_TEST_SUITE(PlanningContextTest, PlanningContextTestTypes);
+
+/**
+ * @brief No request is set. Check the output of solve. Using robot model
+ * without gripper.
+ */
+TYPED_TEST(PlanningContextTest, NoRequest)
+{
+  planning_interface::MotionPlanResponse res;
+  bool result = this->planning_context_->solve(res);
+
+  EXPECT_FALSE(result) << testutils::demangel(typeid(TypeParam).name());
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN, res.error_code_.val)
+      << testutils::demangel(typeid(TypeParam).name());
+}
+
+/**
+ * @brief Solve a valid request.
+ */
+TYPED_TEST(PlanningContextTest, SolveValidRequest)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangel(typeid(TypeParam).name()));
+
+  this->planning_context_->setMotionPlanRequest(req);
+
+  // TODO Formulate valid request
+  bool result = this->planning_context_->solve(res);
+
+  EXPECT_TRUE(result) << testutils::demangel(typeid(TypeParam).name());
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, res.error_code_.val)
+      << testutils::demangel(typeid(TypeParam).name());
+
+  planning_interface::MotionPlanDetailedResponse res_detailed;
+  bool result_detailed = this->planning_context_->solve(res_detailed);
+
+  EXPECT_TRUE(result_detailed) << testutils::demangel(typeid(TypeParam).name());
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, res.error_code_.val)
+      << testutils::demangel(typeid(TypeParam).name());
+}
+
+/**
+ * @brief Solve a valid request. Expect a detailed response.
+ */
+TYPED_TEST(PlanningContextTest, SolveValidRequestDetailedResponse)
+{
+  planning_interface::MotionPlanDetailedResponse res;  //<-- Detailed!
+  planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangel(typeid(TypeParam).name()));
+
+  this->planning_context_->setMotionPlanRequest(req);
+  bool result = this->planning_context_->solve(res);
+
+  EXPECT_TRUE(result) << testutils::demangel(typeid(TypeParam).name());
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::SUCCESS, res.error_code_.val)
+      << testutils::demangel(typeid(TypeParam).name());
+}
+
+/**
+ * @brief Call solve on a terminated context.
+ */
+TYPED_TEST(PlanningContextTest, SolveOnTerminated)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangel(typeid(TypeParam).name()));
+
+  this->planning_context_->setMotionPlanRequest(req);
+
+  bool result_termination = this->planning_context_->terminate();
+  EXPECT_TRUE(result_termination) << testutils::demangel(typeid(TypeParam).name());
+
+  bool result = this->planning_context_->solve(res);
+  EXPECT_FALSE(result) << testutils::demangel(typeid(TypeParam).name());
+
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::PLANNING_FAILED, res.error_code_.val)
+      << testutils::demangel(typeid(TypeParam).name());
+}
+
+/**
+ * @brief Check if clear can be called. So far only stability is expected.
+ */
+TYPED_TEST(PlanningContextTest, Clear)
+{
+  EXPECT_NO_THROW(this->planning_context_->clear()) << testutils::demangel(typeid(TypeParam).name());
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_planning_context");
+  // ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.test
new file mode 100644
index 0000000000..048e67c804
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context.test
@@ -0,0 +1,48 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- load test parameters-->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_planning_context" type="unittest_planning_context" >
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_tcp" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp
new file mode 100644
index 0000000000..a8926ed17e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp
@@ -0,0 +1,179 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+// Boost includes
+#include <boost/scoped_ptr.hpp>
+
+#include <pluginlib/class_loader.h>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+
+#include "pilz_industrial_motion_planner/planning_context_loader.h"
+
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+class PlanningContextLoadersTest : public ::testing::TestWithParam<std::vector<std::string>>
+{
+protected:
+  /**
+   * @brief To initialize the planning context loader
+   * The planning context loader is loaded using the pluginlib.
+   * Checks if planning context loader was loaded properly are performed.
+   * Exceptions will cause test failure.
+   */
+  void SetUp() override
+  {
+    ASSERT_FALSE(robot_model_ == nullptr) << "There is no robot model!";
+
+    // Load the plugin
+    try
+    {
+      planning_context_loader_class_loader_.reset(
+          new pluginlib::ClassLoader<pilz_industrial_motion_planner::PlanningContextLoader>(
+              "pilz_industrial_motion_planner", "pilz_industrial_motion_planner::PlanningContextLoader"));
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      ROS_FATAL_STREAM("Exception while creating planning context loader " << ex.what());
+      FAIL();
+    }
+
+    // Create planning context loader ptp
+    try
+    {
+      planning_context_loader_.reset(planning_context_loader_class_loader_->createUnmanagedInstance(GetParam().front()));
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      FAIL() << ex.what();
+    }
+    return;
+  }
+
+  void TearDown() override
+  {
+    if (planning_context_loader_class_loader_)
+    {
+      planning_context_loader_class_loader_->unloadLibraryForClass(GetParam().front());
+    }
+  }
+
+protected:
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam().back()).getModel() };
+
+  // Load the plugin
+  boost::scoped_ptr<pluginlib::ClassLoader<pilz_industrial_motion_planner::PlanningContextLoader>>
+      planning_context_loader_class_loader_;
+
+  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader_;
+};
+
+// Instantiate the test cases for all loaders, extend here if you added a new
+// ContextLoader you want to test
+INSTANTIATE_TEST_SUITE_P(
+    InstantiationName, PlanningContextLoadersTest,
+    ::testing::Values(std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderPTP", "PTP",
+                                                PARAM_MODEL_NO_GRIPPER_NAME },  // Test for PTP
+                      std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderPTP", "PTP",
+                                                PARAM_MODEL_WITH_GRIPPER_NAME },  // Test for PTP
+                      std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderLIN", "LIN",
+                                                PARAM_MODEL_NO_GRIPPER_NAME },  // Test for LIN
+                      std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderLIN", "LIN",
+                                                PARAM_MODEL_WITH_GRIPPER_NAME },  // Test for LIN
+                      std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderCIRC", "CIRC",
+                                                PARAM_MODEL_NO_GRIPPER_NAME },  // Test for CIRC
+                      std::vector<std::string>{ "pilz_industrial_motion_planner::PlanningContextLoaderCIRC", "CIRC",
+                                                PARAM_MODEL_WITH_GRIPPER_NAME }  // Test for CIRC
+                      ));
+
+/**
+ * @brief Test getAlgorithm returns PTP
+ */
+TEST_P(PlanningContextLoadersTest, GetAlgorithm)
+{
+  std::string alg = planning_context_loader_->getAlgorithm();
+  EXPECT_EQ(alg, GetParam().at(1));
+}
+
+/**
+ * @brief Check that load Context returns initialized shared pointer
+ */
+TEST_P(PlanningContextLoadersTest, LoadContext)
+{
+  planning_interface::PlanningContextPtr planning_context;
+
+  // Without limits should return false
+  bool res = planning_context_loader_->loadContext(planning_context, "test", "test");
+  EXPECT_EQ(false, res) << "Context returned even when no limits where set";
+
+  // After setting the limits this should work
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+      testutils::createFakeLimits(robot_model_->getVariableNames());
+  pilz_industrial_motion_planner::LimitsContainer limits;
+  limits.setJointLimits(joint_limits);
+  pilz_industrial_motion_planner::CartesianLimit cart_limits;
+  cart_limits.setMaxRotationalVelocity(1 * M_PI);
+  cart_limits.setMaxTranslationalAcceleration(2);
+  cart_limits.setMaxTranslationalDeceleration(2);
+  cart_limits.setMaxTranslationalVelocity(1);
+  limits.setCartesianLimits(cart_limits);
+
+  planning_context_loader_->setLimits(limits);
+  planning_context_loader_->setModel(robot_model_);
+
+  try
+  {
+    res = planning_context_loader_->loadContext(planning_context, "test", "test");
+  }
+  catch (std::exception& ex)
+  {
+    FAIL() << "Exception!" << ex.what() << " " << typeid(ex).name();
+  }
+
+  EXPECT_EQ(true, res) << "Context could not be loaded!";
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_planning_context_loaders");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.test
new file mode 100644
index 0000000000..766bc1af98
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.test
@@ -0,0 +1,48 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_planning_context_loaders"
+        type="unittest_planning_context_loaders"/>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp
new file mode 100644
index 0000000000..0b34d00991
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp
@@ -0,0 +1,727 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include <eigen_conversions/eigen_msg.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit_msgs/DisplayTrajectory.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include <pilz_industrial_motion_planner_testutils/command_types_typedef.h>
+#include <pilz_industrial_motion_planner_testutils/sequence.h>
+#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_request.h"
+#include "pilz_industrial_motion_planner/trajectory_blend_response.h"
+#include "pilz_industrial_motion_planner/trajectory_blender_transition_window.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+const std::string CARTESIAN_VELOCITY_TOLERANCE("cartesian_velocity_tolerance");
+const std::string CARTESIAN_ANGULAR_VELOCITY_TOLERANCE("cartesian_angular_velocity_tolerance");
+const std::string JOINT_VELOCITY_TOLERANCE("joint_velocity_tolerance");
+const std::string JOINT_ACCELERATION_TOLERANCE("joint_acceleration_tolerance");
+const std::string OTHER_TOLERANCE("other_tolerance");
+const std::string SAMPLING_TIME("sampling_time");
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner_testutils;
+
+class TrajectoryBlenderTransitionWindowTest : public testing::TestWithParam<std::string>
+{
+protected:
+  /**
+   * @brief Create test scenario for trajectory blender
+   *
+   */
+  void SetUp() override;
+
+  /**
+   * @brief Generate lin trajectories for blend sequences
+   */
+  std::vector<planning_interface::MotionPlanResponse> generateLinTrajs(const Sequence& seq, size_t num_cmds);
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+
+  std::unique_ptr<TrajectoryGenerator> lin_generator_;
+  std::unique_ptr<TrajectoryBlenderTransitionWindow> blender_;
+
+  // test parameters from parameter server
+  std::string planning_group_, target_link_;
+  double cartesian_velocity_tolerance_, cartesian_angular_velocity_tolerance_, joint_velocity_tolerance_,
+      joint_acceleration_tolerance_, sampling_time_;
+  LimitsContainer planner_limits_;
+
+  std::string test_data_file_name_;
+  XmlTestDataLoaderUPtr data_loader_;
+};
+
+void TrajectoryBlenderTransitionWindowTest::SetUp()
+{
+  // get parameters
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+  ASSERT_TRUE(ph_.getParam(CARTESIAN_VELOCITY_TOLERANCE, cartesian_velocity_tolerance_));
+  ASSERT_TRUE(ph_.getParam(CARTESIAN_ANGULAR_VELOCITY_TOLERANCE, cartesian_angular_velocity_tolerance_));
+  ASSERT_TRUE(ph_.getParam(JOINT_VELOCITY_TOLERANCE, joint_velocity_tolerance_));
+  ASSERT_TRUE(ph_.getParam(JOINT_ACCELERATION_TOLERANCE, joint_acceleration_tolerance_));
+  ASSERT_TRUE(ph_.getParam(SAMPLING_TIME, sampling_time_));
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+
+  // load the test data provider
+  data_loader_.reset(new XmlTestdataLoader(test_data_file_name_, robot_model_));
+  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
+
+  // check robot model
+  testutils::checkRobotModel(robot_model_, planning_group_, target_link_);
+
+  // create the limits container
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(ph_,
+                                                                                 robot_model_->getActiveJointModels());
+  CartesianLimit cart_limits;
+  cart_limits.setMaxRotationalVelocity(1 * M_PI);
+  cart_limits.setMaxTranslationalAcceleration(2);
+  cart_limits.setMaxTranslationalDeceleration(2);
+  cart_limits.setMaxTranslationalVelocity(1);
+  planner_limits_.setJointLimits(joint_limits);
+  planner_limits_.setCartesianLimits(cart_limits);
+
+  // initialize trajectory generators and blender
+  lin_generator_.reset(new TrajectoryGeneratorLIN(robot_model_, planner_limits_));
+  ASSERT_NE(nullptr, lin_generator_) << "failed to create LIN trajectory generator";
+  blender_.reset(new TrajectoryBlenderTransitionWindow(planner_limits_));
+  ASSERT_NE(nullptr, blender_) << "failed to create trajectory blender";
+}
+
+std::vector<planning_interface::MotionPlanResponse>
+TrajectoryBlenderTransitionWindowTest::generateLinTrajs(const Sequence& seq, size_t num_cmds)
+{
+  std::vector<planning_interface::MotionPlanResponse> responses(num_cmds);
+
+  for (size_t index = 0; index < num_cmds; ++index)
+  {
+    planning_interface::MotionPlanRequest req{ seq.getCmd<LinCart>(index).toRequest() };
+    // Set start state of request to end state of previous trajectory (except
+    // for first)
+    if (index > 0)
+    {
+      moveit::core::robotStateToRobotStateMsg(responses[index - 1].trajectory_->getLastWayPoint(), req.start_state);
+    }
+    // generate trajectory
+    planning_interface::MotionPlanResponse resp;
+    if (!lin_generator_->generate(req, resp, sampling_time_))
+    {
+      std::runtime_error("Failed to generate trajectory.");
+    }
+    responses.at(index) = resp;
+  }
+  return responses;
+}
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryBlenderTransitionWindowTest,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+
+/**
+ * @brief  Tests the blending of two trajectories with an invalid group name.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories.
+ *    2. Try to generate blending trajectory with invalid group name.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testInvalidGroupName)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = "invalid_group_name";
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories with an invalid target link.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories.
+ *    2. Try to generate blending trajectory with invalid target link.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testInvalidTargetLink)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = "invalid_target_link";
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories with a negative blending
+ * radius.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories.
+ *    2. Try to generate blending trajectory with negative blending radius.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testNegativeRadius)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  blend_req.blend_radius = -0.1;
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories with zero blending radius.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories.
+ *    2. Try to generate blending trajectory with zero blending radius.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testZeroRadius)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  blend_req.blend_radius = 0.;
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories with differenent sampling
+ * times.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories with different sampling times.
+ *    2. Try to generate blending trajectory.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testDifferentSamplingTimes)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  // perform lin trajectory generation and modify sampling time
+  std::size_t num_cmds{ 2 };
+  std::vector<planning_interface::MotionPlanResponse> responses(num_cmds);
+
+  for (size_t index = 0; index < num_cmds; ++index)
+  {
+    planning_interface::MotionPlanRequest req{ seq.getCmd<LinCart>(index).toRequest() };
+    // Set start state of request to end state of previous trajectory (except
+    // for first)
+    if (index > 0)
+    {
+      moveit::core::robotStateToRobotStateMsg(responses[index - 1].trajectory_->getLastWayPoint(), req.start_state);
+      sampling_time_ *= 2;
+    }
+    // generate trajectory
+    planning_interface::MotionPlanResponse resp;
+    if (!lin_generator_->generate(req, resp, sampling_time_))
+    {
+      std::runtime_error("Failed to generate trajectory.");
+    }
+    responses.at(index) = resp;
+  }
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = responses[0].trajectory_;
+  blend_req.second_trajectory = responses[1].trajectory_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories with one trajectory
+ * having non-uniform sampling time (apart from the last sample,
+ * which is ignored).
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories and corrupt uniformity of sampling
+ * time.
+ *    2. Try to generate blending trajectory.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testNonUniformSamplingTime)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  // Modify first time interval
+  EXPECT_GT(res[0].trajectory_->getWayPointCount(), 2u);
+  res[0].trajectory_->setWayPointDurationFromPrevious(1, 2 * sampling_time_);
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two trajectories which do not intersect.
+ *
+ * Test Sequence:
+ *    1. Generate two trajectories from valid test data set.
+ *    2. Replace the second trajectory by the first one.
+ *    2. Try to generate blending trajectory.
+ *
+ * Expected Results:
+ *    1. Two trajectories generated.
+ *    2. Two trajectories that do not intersect.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testNotIntersectingTrajectories)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 1) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  // replace the second trajectory to make the two trajectories timely not
+  // intersect
+  blend_req.second_trajectory = res.at(0).trajectory_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two cartesian trajectories with the
+ * shared point (last point of first, first point of second trajectory)
+ * having a non-zero velocity
+ *
+ * Test Sequence:
+ *    1. Generate two trajectories from the test data set.
+ *    2. Generate blending trajectory modify the shared point to have velocity.
+ * Expected Results:
+ *    1. Two trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testNonStationaryPoint)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  // Modify last waypoint of first trajectory and first point of second
+  // trajectory
+  blend_req.first_trajectory->getLastWayPointPtr()->setVariableVelocity(0, 1.0);
+  blend_req.second_trajectory->getFirstWayPointPtr()->setVariableVelocity(0, 1.0);
+
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief Tests the blending of two cartesian trajectories where the first
+ * trajectory is completely within the sphere defined by the blend radius
+ *
+ * Test Sequence:
+ *    1. Generate two trajectories from the test data set.
+ *    2. Generate blending trajectory with a blend_radius larger
+ *        than the smaller trajectory.
+ *
+ * Expected Results:
+ *    1. Two trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testTraj1InsideBlendRadius)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  double lin1_distance;
+  lin1_distance = (res[0].trajectory_->getFirstWayPoint().getFrameTransform(target_link_).translation() -
+                   res[0].trajectory_->getLastWayPoint().getFrameTransform(target_link_).translation())
+                      .norm();
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.blend_radius = 1.1 * lin1_distance;
+
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief Tests the blending of two cartesian trajectories where the second
+ * trajectory is completely within the sphere defined by the blend radius
+ *
+ * Test Sequence:
+ *    1. Generate two trajectories from the test data set.
+ *    2. Generate blending trajectory with a blend_radius larger
+ *        than the smaller trajectory.
+ *
+ * Expected Results:
+ *    1. Two trajectories generated.
+ *    2. Blending trajectory cannot be generated.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testTraj2InsideBlendRadius)
+{
+  Sequence seq{ data_loader_->getSequence("NoIntersectionTraj2") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  EXPECT_FALSE(blender_->blend(blend_req, blend_res));
+}
+
+/**
+ * @brief  Tests the blending of two cartesian linear trajectories using robot
+ * model
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories from the test data set.
+ *    2. Generate blending trajectory.
+ *    3. Check blending trajectory:
+ *      - for position, velocity, and acceleration bounds,
+ *      - for continuity in joint space,
+ *      - for continuity in cartesian space.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory generated.
+ *    3. No bound is violated, the trajectories are continuous
+ *        in joint and cartesian space.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testLinLinBlending)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+
+  EXPECT_TRUE(blender_->blend(blend_req, blend_res));
+
+  EXPECT_TRUE(testutils::checkBlendResult(blend_req, blend_res, planner_limits_, joint_velocity_tolerance_,
+                                          joint_acceleration_tolerance_, cartesian_velocity_tolerance_,
+                                          cartesian_angular_velocity_tolerance_));
+}
+
+/**
+ * @brief  Tests the blending of two cartesian linear trajectories which have
+ * an overlap in the blending sphere using robot model. To be precise,
+ * the trajectories exactly lie on top of each other.
+ *
+ * Test Sequence:
+ *    1. Generate two linear trajectories from the test data set. Set goal of
+ * second traj to start of first traj.
+ *    2. Generate blending trajectory.
+ *    3. Check blending trajectory:
+ *      - for position, velocity, and acceleration bounds,
+ *      - for continuity in joint space,
+ *      - for continuity in cartesian space.
+ *
+ * Expected Results:
+ *    1. Two linear trajectories generated.
+ *    2. Blending trajectory generated.
+ *    3. No bound is violated, the trajectories are continuous
+ *        in joint and cartesian space.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testOverlappingBlendTrajectories)
+{
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+  // Set goal of second traj to start of first traj.
+  seq.getCmd<LinCart>(1).setGoalConfiguration(seq.getCmd<LinCart>(0).getStartConfiguration());
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  pilz_industrial_motion_planner::TrajectoryBlendRequest blend_req;
+  pilz_industrial_motion_planner::TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.first_trajectory = res.at(0).trajectory_;
+  blend_req.second_trajectory = res.at(1).trajectory_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+  EXPECT_TRUE(blender_->blend(blend_req, blend_res));
+
+  EXPECT_TRUE(testutils::checkBlendResult(blend_req, blend_res, planner_limits_, joint_velocity_tolerance_,
+                                          joint_acceleration_tolerance_, cartesian_velocity_tolerance_,
+                                          cartesian_angular_velocity_tolerance_));
+}
+
+/**
+ * @brief Tests the blending of two cartesian trajectories which differ
+ * from a straight line.
+ *
+ * Test Sequence:
+ *    1. Generate two trajectories from the test data set.
+ *    2. Add scaled sine function to cartesian trajectories, such that
+ *        start and end state remain unchanged; generate resulting
+ *        joint trajectories using a time scaling in order to preserve
+ *        joint velocity limits.
+ *    3. Generate blending trajectory.
+ *    4. Check blending trajectory:
+ *      - for position, velocity, and acceleration bounds,
+ *      - for continuity in joint space,
+ *      - for continuity in cartesian space.
+ *
+ * Expected Results:
+ *    1. Two trajectories generated.
+ *    2. Modified joint trajectories generated.
+ *    3. Blending trajectory generated.
+ *    4. No bound is violated, the trajectories are continuous
+ *        in joint and cartesian space.
+ */
+TEST_P(TrajectoryBlenderTransitionWindowTest, testNonLinearBlending)
+{
+  const double sine_scaling_factor{ 0.01 };
+  const double time_scaling_factor{ 10 };
+
+  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
+
+  std::vector<planning_interface::MotionPlanResponse> res{ generateLinTrajs(seq, 2) };
+
+  // prepare looping over trajectories
+  std::vector<robot_trajectory::RobotTrajectoryPtr> sine_trajs(2);
+
+  for (size_t traj_index = 0; traj_index < 2; ++traj_index)
+  {
+    auto lin_traj{ res.at(traj_index).trajectory_ };
+
+    CartesianTrajectory cart_traj;
+    trajectory_msgs::JointTrajectory joint_traj;
+    const double duration{ lin_traj->getWayPointDurationFromStart(lin_traj->getWayPointCount()) };
+    // time from start zero does not work
+    const double time_from_start_offset{ time_scaling_factor * lin_traj->getWayPointDurations().back() };
+
+    // generate modified cartesian trajectory
+    for (size_t i = 0; i < lin_traj->getWayPointCount(); ++i)
+    {
+      // transform time to interval [0, 4*pi]
+      const double sine_arg{ 4 * M_PI * lin_traj->getWayPointDurationFromStart(i) / duration };
+
+      // get pose
+      CartesianTrajectoryPoint waypoint;
+      geometry_msgs::Pose waypoint_pose;
+      Eigen::Isometry3d eigen_pose{ lin_traj->getWayPointPtr(i)->getFrameTransform(target_link_) };
+      tf2::convert<Eigen::Isometry3d, geometry_msgs::Pose>(eigen_pose, waypoint_pose);
+
+      // add scaled sine function
+      waypoint_pose.position.x += sine_scaling_factor * sin(sine_arg);
+      waypoint_pose.position.y += sine_scaling_factor * sin(sine_arg);
+      waypoint_pose.position.z += sine_scaling_factor * sin(sine_arg);
+
+      // add to trajectory
+      waypoint.pose = waypoint_pose;
+      waypoint.time_from_start =
+          ros::Duration(time_from_start_offset + time_scaling_factor * lin_traj->getWayPointDurationFromStart(i));
+      cart_traj.points.push_back(waypoint);
+    }
+
+    // prepare ik
+    std::map<std::string, double> initial_joint_position, initial_joint_velocity;
+    for (const std::string& joint_name :
+         lin_traj->getFirstWayPointPtr()->getJointModelGroup(planning_group_)->getActiveJointModelNames())
+    {
+      if (traj_index == 0)
+      {
+        initial_joint_position[joint_name] = lin_traj->getFirstWayPoint().getVariablePosition(joint_name);
+        initial_joint_velocity[joint_name] = lin_traj->getFirstWayPoint().getVariableVelocity(joint_name);
+      }
+      else
+      {
+        initial_joint_position[joint_name] =
+            sine_trajs[traj_index - 1]->getLastWayPoint().getVariablePosition(joint_name);
+        initial_joint_velocity[joint_name] =
+            sine_trajs[traj_index - 1]->getLastWayPoint().getVariableVelocity(joint_name);
+      }
+    }
+
+    moveit_msgs::MoveItErrorCodes error_code;
+    if (!generateJointTrajectory(robot_model_, planner_limits_.getJointLimitContainer(), cart_traj, planning_group_,
+                                 target_link_, initial_joint_position, initial_joint_velocity, joint_traj, error_code,
+                                 true))
+    {
+      std::runtime_error("Failed to generate trajectory.");
+    }
+
+    joint_traj.points.back().velocities.assign(joint_traj.points.back().velocities.size(), 0.0);
+    joint_traj.points.back().accelerations.assign(joint_traj.points.back().accelerations.size(), 0.0);
+
+    // convert trajectory_msgs::JointTrajectory to
+    // robot_trajectory::RobotTrajectory
+    sine_trajs[traj_index] = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+    sine_trajs.at(traj_index)->setRobotTrajectoryMsg(lin_traj->getFirstWayPoint(), joint_traj);
+  }
+
+  TrajectoryBlendRequest blend_req;
+  TrajectoryBlendResponse blend_res;
+
+  blend_req.group_name = planning_group_;
+  blend_req.link_name = target_link_;
+  blend_req.blend_radius = seq.getBlendRadius(0);
+
+  blend_req.first_trajectory = sine_trajs.at(0);
+  blend_req.second_trajectory = sine_trajs.at(1);
+
+  EXPECT_TRUE(blender_->blend(blend_req, blend_res));
+
+  EXPECT_TRUE(testutils::checkBlendResult(blend_req, blend_res, planner_limits_, joint_velocity_tolerance_,
+                                          joint_acceleration_tolerance_, cartesian_velocity_tolerance_,
+                                          cartesian_angular_velocity_tolerance_));
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_blender_transition_window");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.test
new file mode 100644
index 0000000000..2d0bf6c3d5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.test
@@ -0,0 +1,65 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner"  time-limit="120.0" test-name="unittest_trajectory_blender_transition_window" type="unittest_trajectory_blender_transition_window">
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_tcp" />
+    <param name="cartesian_velocity_tolerance" value="1.0e-6" />
+    <param name="cartesian_angular_velocity_tolerance" value="1.0e-6" />
+    <param name="joint_velocity_tolerance" value="1.0e-6" />
+    <param name="joint_acceleration_tolerance" value="1.0e-2" />
+    <param name="sampling_time" value="0.01" />
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml" />
+  </test>
+
+  <arg name="display_plots" default="false" />
+  <node if="$(arg display_plots)"
+        name="plot_trajectory_msg"
+        pkg="pilz_industrial_motion_planner"
+        type="plot_display_trajectory_msg.py"
+        args="/my_planned_path"
+  />
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp
new file mode 100644
index 0000000000..a70575361f
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp
@@ -0,0 +1,971 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <map>
+#include <math.h>
+#include <string>
+#include <vector>
+
+#include <Eigen/Geometry>
+#include <eigen_conversions/eigen_msg.h>
+#include <kdl/frames.hpp>
+#include <kdl/path_roundedcomposite.hpp>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/trajectory.hpp>
+#include <kdl/trajectory_segment.hpp>
+#include <kdl/velocityprofile_trap.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model/joint_model_group.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit_msgs/RobotState.h>
+#include <moveit_msgs/RobotTrajectory.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include "pilz_industrial_motion_planner/cartesian_trajectory.h"
+#include "pilz_industrial_motion_planner/cartesian_trajectory_point.h"
+#include "pilz_industrial_motion_planner/limits_container.h"
+#include "pilz_industrial_motion_planner/trajectory_functions.h"
+#include "test_utils.h"
+
+#define _USE_MATH_DEFINES
+
+static constexpr double EPSILON{ 1.0e-6 };
+static constexpr double IK_SEED_OFFSET{ 0.1 };
+static constexpr double L0{ 0.2604 };  // Height of foot
+static constexpr double L1{ 0.3500 };  // Height of first connector
+static constexpr double L2{ 0.3070 };  // Height of second connector
+static constexpr double L3{ 0.0840 };  // Distance last joint to flange
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string GROUP_TIP_LINK_NAME("group_tip_link");
+const std::string ROBOT_TCP_LINK_NAME("tcp_link");
+const std::string IK_FAST_LINK_NAME("ik_fast_link");
+const std::string RANDOM_TEST_NUMBER("random_test_number");
+
+/**
+ * @brief test fixtures base class
+ */
+class TrajectoryFunctionsTestBase : public testing::TestWithParam<std::string>
+{
+protected:
+  /**
+   * @brief Create test scenario for trajectory functions
+   *
+   */
+  void SetUp() override;
+
+  /**
+   * @brief check if two transformations are close
+   * @param pose1
+   * @param pose2
+   * @param epsilon
+   * @return
+   */
+  bool tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, const double& epsilon);
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+
+  // test parameters from parameter server
+  std::string planning_group_, group_tip_link_, tcp_link_, ik_fast_link_;
+  int random_test_number_;
+  std::vector<std::string> joint_names_;
+  std::map<std::string, double> zero_state_;
+
+  // random seed
+  boost::uint32_t random_seed_{ 100 };
+  random_numbers::RandomNumberGenerator rng_{ random_seed_ };
+};
+
+void TrajectoryFunctionsTestBase::SetUp()
+{
+  // parameters
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(GROUP_TIP_LINK_NAME, group_tip_link_));
+  ASSERT_TRUE(ph_.getParam(ROBOT_TCP_LINK_NAME, tcp_link_));
+  ASSERT_TRUE(ph_.getParam(IK_FAST_LINK_NAME, ik_fast_link_));
+  ASSERT_TRUE(ph_.getParam(RANDOM_TEST_NUMBER, random_test_number_));
+
+  // check robot model
+  testutils::checkRobotModel(robot_model_, planning_group_, tcp_link_);
+
+  // initialize the zero state configurationg and test joint state
+  joint_names_ = robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames();
+  for (const auto& joint_name : joint_names_)
+  {
+    zero_state_[joint_name] = 0.0;
+  }
+}
+
+bool TrajectoryFunctionsTestBase::tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2,
+                                         const double& epsilon)
+{
+  for (std::size_t i = 0; i < 3; ++i)
+    for (std::size_t j = 0; j < 4; ++j)
+    {
+      if (fabs(pose1(i, j) - pose2(i, j)) > fabs(epsilon))
+        return false;
+    }
+  return true;
+}
+
+/**
+ * @brief Parametrized class for tests with and without gripper.
+ */
+class TrajectoryFunctionsTestFlangeAndGripper : public TrajectoryFunctionsTestBase
+{
+};
+
+/**
+ * @brief Parametrized class for tests, that only run with a gripper
+ */
+class TrajectoryFunctionsTestOnlyGripper : public TrajectoryFunctionsTestBase
+{
+};
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryFunctionsTestFlangeAndGripper,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+
+// Instantiate the test cases for robot model with a gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryFunctionsTestOnlyGripper,
+                         ::testing::Values(PARAM_MODEL_WITH_GRIPPER_NAME));
+
+/**
+ * @brief Test the forward kinematics function with simple robot poses for robot
+ * tip link
+ * using robot model without gripper.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, TipLinkFK)
+{
+  Eigen::Isometry3d tip_pose;
+  std::map<std::string, double> test_state = zero_state_;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(robot_model_, group_tip_link_, test_state, tip_pose));
+  EXPECT_NEAR(tip_pose(0, 3), 0, EPSILON);
+  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
+  EXPECT_NEAR(tip_pose(2, 3), L0 + L1 + L2 + L3, EPSILON);
+
+  test_state[joint_names_.at(1)] = M_PI_2;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(robot_model_, group_tip_link_, test_state, tip_pose));
+  EXPECT_NEAR(tip_pose(0, 3), L1 + L2 + L3, EPSILON);
+  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
+  EXPECT_NEAR(tip_pose(2, 3), L0, EPSILON);
+
+  test_state[joint_names_.at(1)] = -M_PI_2;
+  test_state[joint_names_.at(2)] = M_PI_2;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(robot_model_, group_tip_link_, test_state, tip_pose));
+  EXPECT_NEAR(tip_pose(0, 3), -L1, EPSILON);
+  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
+  EXPECT_NEAR(tip_pose(2, 3), L0 - L2 - L3, EPSILON);
+
+  // wrong link name
+  std::string link_name = "wrong_link_name";
+  EXPECT_FALSE(pilz_industrial_motion_planner::computeLinkFK(robot_model_, link_name, test_state, tip_pose));
+}
+
+/**
+ * @brief Test the inverse kinematics directly through ikfast solver
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIKSolver)
+{
+  // Load solver
+  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
+  const kinematics::KinematicsBaseConstPtr& solver = jmg->getSolverInstance();
+
+  // robot state
+  robot_state::RobotState rstate(robot_model_);
+
+  while (random_test_number_ > 0)
+  {
+    // sample random robot state
+    rstate.setToRandomPositions(jmg, rng_);
+    rstate.update();
+    geometry_msgs::Pose pose_expect;
+    tf2::convert<Eigen::Isometry3d, geometry_msgs::Pose>(rstate.getFrameTransform(ik_fast_link_), pose_expect);
+
+    // prepare inverse kinematics
+    std::vector<geometry_msgs::Pose> ik_poses;
+    ik_poses.push_back(pose_expect);
+    std::vector<double> ik_seed, ik_expect, ik_actual;
+    for (const auto& joint_name : jmg->getActiveJointModelNames())
+    {
+      ik_expect.push_back(rstate.getVariablePosition(joint_name));
+      if (rstate.getVariablePosition(joint_name) > 0)
+        ik_seed.push_back(rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET);
+      else
+        ik_seed.push_back(rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET);
+    }
+
+    std::vector<std::vector<double>> ik_solutions;
+    kinematics::KinematicsResult ik_result;
+    moveit_msgs::MoveItErrorCodes err_code;
+    kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions();
+
+    // compute all ik solutions
+    EXPECT_TRUE(solver->getPositionIK(ik_poses, ik_seed, ik_solutions, ik_result, options));
+
+    // compute one ik solution
+    EXPECT_TRUE(solver->getPositionIK(pose_expect, ik_seed, ik_actual, err_code));
+
+    ASSERT_EQ(ik_expect.size(), ik_actual.size());
+
+    for (std::size_t i = 0; i < ik_expect.size(); ++i)
+    {
+      EXPECT_NEAR(ik_actual.at(i), ik_expect.at(i), 4 * IK_SEED_OFFSET);
+    }
+
+    --random_test_number_;
+  }
+}
+
+/**
+ * @brief Test the inverse kinematics using RobotState class (setFromIK) using
+ * robot model
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotState)
+{
+  // robot state
+  robot_state::RobotState rstate(robot_model_);
+  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
+
+  while (random_test_number_ > 0)
+  {
+    // sample random robot state
+    rstate.setToRandomPositions(jmg, rng_);
+
+    Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
+
+    // copy the random state and set ik seed
+    std::map<std::string, double> ik_seed, ik_expect;
+    for (const auto& joint_name : joint_names_)
+    {
+      ik_expect[joint_name] = rstate.getVariablePosition(joint_name);
+      if (rstate.getVariablePosition(joint_name) > 0)
+        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET;
+      else
+        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET;
+    }
+
+    rstate.setVariablePositions(ik_seed);
+    rstate.update();
+
+    // compute the ik
+    std::map<std::string, double> ik_actual;
+
+    EXPECT_TRUE(rstate.setFromIK(robot_model_->getJointModelGroup(planning_group_), pose_expect, tcp_link_));
+
+    for (const auto& joint_name : joint_names_)
+    {
+      ik_actual[joint_name] = rstate.getVariablePosition(joint_name);
+    }
+
+    // compare ik solution and expected value
+    for (const auto& joint_pair : ik_actual)
+    {
+      EXPECT_NEAR(joint_pair.second, ik_expect.at(joint_pair.first), 4 * IK_SEED_OFFSET);
+    }
+
+    // compute the pose from ik_solution
+    rstate.setVariablePositions(ik_actual);
+    rstate.update();
+    Eigen::Isometry3d pose_actual = rstate.getFrameTransform(tcp_link_);
+
+    EXPECT_TRUE(tfNear(pose_expect, pose_actual, EPSILON));
+
+    --random_test_number_;
+  }
+}
+
+/**
+ * @brief Test the wrapper function to compute inverse kinematics using robot
+ * model
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIK)
+{
+  // robot state
+  robot_state::RobotState rstate(robot_model_);
+
+  const std::string frame_id = robot_model_->getModelFrame();
+  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
+
+  while (random_test_number_ > 0)
+  {
+    // sample random robot state
+    rstate.setToRandomPositions(jmg, rng_);
+
+    Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
+
+    // copy the random state and set ik seed
+    std::map<std::string, double> ik_seed, ik_expect;
+    for (const auto& joint_name : robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames())
+    {
+      ik_expect[joint_name] = rstate.getVariablePosition(joint_name);
+      if (rstate.getVariablePosition(joint_name) > 0)
+      {
+        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET;
+      }
+      else
+      {
+        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET;
+      }
+    }
+
+    // compute the ik
+    std::map<std::string, double> ik_actual;
+    EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                              frame_id, ik_seed, ik_actual, false));
+
+    // compare ik solution and expected value
+    for (const auto& joint_pair : ik_actual)
+    {
+      EXPECT_NEAR(joint_pair.second, ik_expect.at(joint_pair.first), 4 * IK_SEED_OFFSET);
+    }
+
+    --random_test_number_;
+  }
+}
+
+/**
+ * @brief Test computePoseIK for invalid group_name
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidGroupName)
+{
+  const std::string frame_id = robot_model_->getModelFrame();
+  Eigen::Isometry3d pose_expect;
+
+  std::map<std::string, double> ik_seed;
+
+  // compute the ik
+  std::map<std::string, double> ik_actual;
+  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(robot_model_, "InvalidGroupName", tcp_link_, pose_expect,
+                                                             frame_id, ik_seed, ik_actual, false));
+}
+
+/**
+ * @brief Test computePoseIK for invalid link_name
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidLinkName)
+{
+  const std::string frame_id = robot_model_->getModelFrame();
+  Eigen::Isometry3d pose_expect;
+
+  std::map<std::string, double> ik_seed;
+
+  // compute the ik
+  std::map<std::string, double> ik_actual;
+  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, "WrongLink", pose_expect,
+                                                             frame_id, ik_seed, ik_actual, false));
+}
+
+/**
+ * @brief Test computePoseIK for invalid frame_id
+ *
+ * Currently only robot_model_->getModelFrame() == frame_id
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidFrameId)
+{
+  Eigen::Isometry3d pose_expect;
+
+  std::map<std::string, double> ik_seed;
+
+  // compute the ik
+  std::map<std::string, double> ik_actual;
+  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                             "InvalidFrameId", ik_seed, ik_actual, false));
+}
+
+/**
+ * @brief Test if activated self collision for a pose that would be in self
+ * collision without the check results in a
+ * valid ik solution.
+ */
+TEST_P(TrajectoryFunctionsTestOnlyGripper, testComputePoseIKSelfCollisionForValidPosition)
+{
+  const std::string frame_id = robot_model_->getModelFrame();
+  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
+
+  // create seed
+  std::vector<double> ik_seed_states = { -0.553, 0.956, 1.758, 0.146, -1.059, 1.247 };
+  auto joint_names = jmg->getActiveJointModelNames();
+
+  std::map<std::string, double> ik_seed;
+  for (unsigned int i = 0; i < ik_seed_states.size(); ++i)
+  {
+    ik_seed[joint_names[i]] = ik_seed_states[i];
+  }
+
+  // create expected pose
+  geometry_msgs::Pose pose;
+  pose.position.x = -0.454;
+  pose.position.y = -0.15;
+  pose.position.z = 0.431;
+  pose.orientation.y = 0.991562;
+  pose.orientation.w = -0.1296328;
+  Eigen::Isometry3d pose_expect;
+  normalizeQuaternion(pose.orientation);
+  tf2::convert<geometry_msgs::Pose, Eigen::Isometry3d>(pose, pose_expect);
+
+  // compute the ik without self collision check and expect the resulting pose
+  // to be in self collission.
+  std::map<std::string, double> ik_actual1;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                            frame_id, ik_seed, ik_actual1, false));
+
+  robot_state::RobotState rstate(robot_model_);
+  planning_scene::PlanningScene rscene(robot_model_);
+
+  std::vector<double> ik_state;
+  std::transform(ik_actual1.begin(), ik_actual1.end(), std::back_inserter(ik_state),
+                 boost::bind(&std::map<std::string, double>::value_type::second, _1));
+
+  rstate.setJointGroupPositions(jmg, ik_state);
+  rstate.update();
+
+  collision_detection::CollisionRequest collision_req;
+  collision_req.group_name = jmg->getName();
+  collision_detection::CollisionResult collision_res;
+
+  rscene.checkSelfCollision(collision_req, collision_res, rstate);
+
+  EXPECT_TRUE(collision_res.collision);
+
+  // compute the ik with collision detection activated and expect the resulting
+  // pose to be without self collision.
+  std::map<std::string, double> ik_actual2;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                            frame_id, ik_seed, ik_actual2, true));
+
+  std::vector<double> ik_state2;
+  std::transform(ik_actual2.begin(), ik_actual2.end(), std::back_inserter(ik_state2),
+                 boost::bind(&std::map<std::string, double>::value_type::second, _1));
+  rstate.setJointGroupPositions(jmg, ik_state2);
+  rstate.update();
+
+  collision_detection::CollisionResult collision_res2;
+  rscene.checkSelfCollision(collision_req, collision_res2, rstate);
+
+  EXPECT_FALSE(collision_res2.collision);
+}
+
+/**
+ * @brief Test if self collision is considered by using a pose that always has
+ * self collision.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKSelfCollisionForInvalidPose)
+{
+  // robot state
+  robot_state::RobotState rstate(robot_model_);
+
+  const std::string frame_id = robot_model_->getModelFrame();
+  const robot_model::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
+
+  // create seed
+  std::map<std::string, double> ik_seed;
+  for (const auto& joint_name : jmg->getActiveJointModelNames())
+  {
+    ik_seed[joint_name] = 0;
+  }
+
+  // create goal
+  std::vector<double> ik_goal = { 0, 2.3, -2.3, 0, 0, 0 };
+
+  rstate.setJointGroupPositions(jmg, ik_goal);
+
+  Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
+
+  // compute the ik with disabled collision check
+  std::map<std::string, double> ik_actual;
+  EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                            frame_id, ik_seed, ik_actual, false));
+
+  // compute the ik with enabled collision check
+  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
+                                                             frame_id, ik_seed, ik_actual, true));
+}
+
+/**
+ * @brief Check that function VerifySampleJointLimits() returns 'false' in case
+ * of very small sample duration.
+ *
+ * Test Sequence:
+ *    1. Call function with very small sample duration.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsWithSmallDuration)
+{
+  const std::map<std::string, double> position_last, velocity_last, position_current;
+  double duration_last{ 0.0 };
+  const pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
+
+  double duration_current = 10e-7;
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
+                                                                       duration_last, duration_current, joint_limits));
+}
+
+/**
+ * @brief Check that function VerifySampleJointLimits() returns 'false' in case
+ * of a velocity violation.
+ *
+ * Test Sequence:
+ *    1. Call function with a velocity violation.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsVelocityViolation)
+{
+  const std::string test_joint_name{ "joint" };
+
+  std::map<std::string, double> position_last{ { test_joint_name, 2.0 } };
+  std::map<std::string, double> position_current{ { test_joint_name, 10.0 } };
+  std::map<std::string, double> velocity_last;
+  double duration_current{ 1.0 };
+  double duration_last{ 0.0 };
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
+
+  JointLimit test_joint_limits;
+  // Calculate the max allowed velocity in such a way that it is always smaller
+  // than the current velocity.
+  test_joint_limits.max_velocity =
+      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current) - 1.0;
+  test_joint_limits.has_velocity_limits = true;
+  joint_limits.addLimit(test_joint_name, test_joint_limits);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
+                                                                       duration_last, duration_current, joint_limits));
+}
+
+/**
+ * @brief Check that function VerifySampleJointLimits() returns 'false' in case
+ * of a acceleration violation.
+ *
+ * Test Sequence:
+ *    1. Call function with a acceleration violation.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsAccelerationViolation)
+{
+  const std::string test_joint_name{ "joint" };
+
+  double duration_current = 1.0;
+  double duration_last = 1.0;
+
+  std::map<std::string, double> position_last{ { test_joint_name, 2.0 } };
+  std::map<std::string, double> position_current{ { test_joint_name, 20.0 } };
+  double velocity_current =
+      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current);
+  std::map<std::string, double> velocity_last{ { test_joint_name, 9.0 } };
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
+
+  JointLimit test_joint_limits;
+  // Calculate the max allowed velocity in such a way that it is always bigger
+  // than the current velocity.
+  test_joint_limits.max_velocity = velocity_current + 1.0;
+  test_joint_limits.has_velocity_limits = true;
+
+  double acceleration_current =
+      (velocity_current - velocity_last.at(test_joint_name)) / (duration_last + duration_current) * 2;
+  // Calculate the max allowed acceleration in such a way that it is always
+  // smaller than the current acceleration.
+  test_joint_limits.max_acceleration = acceleration_current - 1.0;
+  test_joint_limits.has_acceleration_limits = true;
+
+  joint_limits.addLimit(test_joint_name, test_joint_limits);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
+                                                                       duration_last, duration_current, joint_limits));
+}
+
+/**
+ * @brief Check that function VerifySampleJointLimits() returns 'false' in case
+ * of a deceleration violation.
+ *
+ * Test Sequence:
+ *    1. Call function with a deceleration violation.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsDecelerationViolation)
+{
+  const std::string test_joint_name{ "joint" };
+
+  double duration_current = 1.0;
+  double duration_last = 1.0;
+
+  std::map<std::string, double> position_last{ { test_joint_name, 20.0 } };
+  std::map<std::string, double> position_current{ { test_joint_name, 2.0 } };
+  double velocity_current =
+      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current);
+  std::map<std::string, double> velocity_last{ { test_joint_name, 19.0 } };
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
+
+  JointLimit test_joint_limits;
+  // Calculate the max allowed velocity in such a way that it is always bigger
+  // than the current velocity.
+  test_joint_limits.max_velocity = fabs(velocity_current) + 1.0;
+  test_joint_limits.has_velocity_limits = true;
+
+  double acceleration_current =
+      (velocity_current - velocity_last.at(test_joint_name)) / (duration_last + duration_current) * 2;
+  // Calculate the max allowed deceleration in such a way that it is always
+  // bigger than the current acceleration.
+  test_joint_limits.max_deceleration = acceleration_current + 1.0;
+  test_joint_limits.has_deceleration_limits = true;
+
+  joint_limits.addLimit(test_joint_name, test_joint_limits);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
+                                                                       duration_last, duration_current, joint_limits));
+}
+
+/**
+ * @brief Check that function generateJointTrajectory() returns 'false' if
+ * a joint trajectory cannot be computed from a cartesian trajectory.
+ *
+ * Please note: Both function variants are tested in this test.
+ *
+ * Test Sequence:
+ *    1. Call function with a cartesian trajectory which cannot be transformed
+ * into a joint trajectory by using
+ *        an invalid group_name.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testGenerateJointTrajectoryWithInvalidCartesianTrajectory)
+{
+  // Create random test trajectory
+  // Note: 'path' is deleted by KDL::Trajectory_Segment
+  KDL::Path_RoundedComposite* path =
+      new KDL::Path_RoundedComposite(0.2, 0.01, new KDL::RotationalInterpolation_SingleAxis());
+  path->Add(KDL::Frame(KDL::Rotation::RPY(0, 0, 0), KDL::Vector(-1, 0, 0)));
+  path->Finish();
+  // Note: 'velprof' is deleted by KDL::Trajectory_Segment
+  KDL::VelocityProfile* vel_prof = new KDL::VelocityProfile_Trap(0.5, 0.1);
+  vel_prof->SetProfile(0, path->PathLength());
+  KDL::Trajectory_Segment kdl_trajectory(path, vel_prof);
+
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
+  std::string group_name{ "invalid_group_name" };
+  std::map<std::string, double> initial_joint_position;
+  double sampling_time{ 0.1 };
+  trajectory_msgs::JointTrajectory joint_trajectory;
+  moveit_msgs::MoveItErrorCodes error_code;
+  bool check_self_collision{ false };
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::generateJointTrajectory(
+      robot_model_, joint_limits, kdl_trajectory, group_name, tcp_link_, initial_joint_position, sampling_time,
+      joint_trajectory, error_code, check_self_collision));
+
+  std::map<std::string, double> initial_joint_velocity;
+
+  pilz_industrial_motion_planner::CartesianTrajectory cart_traj;
+  cart_traj.group_name = group_name;
+  cart_traj.link_name = tcp_link_;
+  pilz_industrial_motion_planner::CartesianTrajectoryPoint cart_traj_point;
+  cart_traj.points.push_back(cart_traj_point);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::generateJointTrajectory(
+      robot_model_, joint_limits, cart_traj, group_name, tcp_link_, initial_joint_position, initial_joint_velocity,
+      joint_trajectory, error_code, check_self_collision));
+}
+
+/**
+ * @brief Check that function determineAndCheckSamplingTime() returns 'false' if
+ * both of the needed vectors have an incorrect vector size.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with vectors of incorrect size.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeInvalidVectorSize)
+{
+  robot_trajectory::RobotTrajectoryPtr first_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  robot_trajectory::RobotTrajectoryPtr second_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  double epsilon{ 0.0 };
+  double sampling_time{ 0.0 };
+
+  robot_state::RobotState rstate(robot_model_);
+  first_trajectory->insertWayPoint(0, rstate, 0.1);
+  second_trajectory->insertWayPoint(0, rstate, 0.1);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
+                                                                             epsilon, sampling_time));
+}
+
+/**
+ * @brief Check that function determineAndCheckSamplingTime() returns 'true' if
+ * sampling time is correct.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with trajectories which do NOT violate sampling time.
+ *
+ * Expected Results:
+ *    1. Function returns 'true'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeCorrectSamplingTime)
+{
+  robot_trajectory::RobotTrajectoryPtr first_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  robot_trajectory::RobotTrajectoryPtr second_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  double epsilon{ 0.0001 };
+  double sampling_time{ 0.0 };
+  double expected_sampling_time{ 0.1 };
+
+  robot_state::RobotState rstate(robot_model_);
+  first_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
+  first_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
+
+  second_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
+  second_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
+  second_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
+
+  EXPECT_TRUE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
+                                                                            epsilon, sampling_time));
+  EXPECT_EQ(expected_sampling_time, sampling_time);
+}
+
+/**
+ * @brief Check that function determineAndCheckSamplingTime() returns 'false' if
+ * sampling time is violated.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with trajectories which violate sampling time.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeViolateSamplingTime)
+{
+  robot_trajectory::RobotTrajectoryPtr first_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  robot_trajectory::RobotTrajectoryPtr second_trajectory =
+      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
+  double epsilon{ 0.0001 };
+  double sampling_time{ 0.0 };
+  double expected_sampling_time{ 0.1 };
+
+  robot_state::RobotState rstate(robot_model_);
+  first_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
+  first_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
+  first_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
+  // Violate sampling time
+  first_trajectory->insertWayPoint(2, rstate, expected_sampling_time + 1.0);
+  first_trajectory->insertWayPoint(3, rstate, expected_sampling_time);
+
+  second_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
+  second_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
+  second_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
+  second_trajectory->insertWayPoint(3, rstate, expected_sampling_time);
+
+  EXPECT_FALSE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
+                                                                             epsilon, sampling_time));
+  EXPECT_EQ(expected_sampling_time, sampling_time);
+}
+
+/**
+ * @brief Check that function isRobotStateEqual() returns 'false' if
+ * the positions of the robot states are not equal.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with robot states with different positions.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualPositionUnequal)
+{
+  robot_state::RobotState rstate_1 = robot_state::RobotState(robot_model_);
+  robot_state::RobotState rstate_2 = robot_state::RobotState(robot_model_);
+
+  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
+  // Ensure that the joint positions of both robot states are different
+  default_joint_position[0] = default_joint_position[0] + 70.0;
+  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
+
+  double epsilon{ 0.0001 };
+  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
+}
+
+/**
+ * @brief Check that function isRobotStateEqual() returns 'false' if
+ * the velocity of the robot states are not equal.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with robot states with different velocities.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualVelocityUnequal)
+{
+  robot_state::RobotState rstate_1 = robot_state::RobotState(robot_model_);
+  robot_state::RobotState rstate_2 = robot_state::RobotState(robot_model_);
+
+  // Ensure that the joint positions of both robot state are equal
+  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
+  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
+
+  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
+  // Ensure that the joint velocites of both robot states are different
+  default_joint_velocity[1] = default_joint_velocity[1] + 10.0;
+  rstate_2.setJointGroupVelocities(planning_group_, default_joint_velocity);
+
+  double epsilon{ 0.0001 };
+  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
+}
+
+/**
+ * @brief Check that function isRobotStateEqual() returns 'false' if
+ * the acceleration of the robot states are not equal.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with robot states with different acceleration.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualAccelerationUnequal)
+{
+  robot_state::RobotState rstate_1 = robot_state::RobotState(robot_model_);
+  robot_state::RobotState rstate_2 = robot_state::RobotState(robot_model_);
+
+  // Ensure that the joint positions of both robot state are equal
+  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
+  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
+
+  // Ensure that the joint velocities of both robot state are equal
+  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
+  rstate_2.setJointGroupVelocities(planning_group_, default_joint_velocity);
+
+  double default_joint_acceleration[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
+  // Ensure that the joint accelerations of both robot states are different
+  default_joint_acceleration[1] = default_joint_acceleration[1] + 10.0;
+  rstate_2.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
+
+  double epsilon{ 0.0001 };
+  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
+}
+
+/**
+ * @brief Check that function isRobotStateStationary() returns 'false' if
+ * the joint velocities are not equal to zero.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with robot state with joint velocities != 0.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateStationaryVelocityUnequal)
+{
+  robot_state::RobotState rstate_1 = robot_state::RobotState(robot_model_);
+
+  // Ensure that the joint velocities are NOT zero
+  double default_joint_velocity[6] = { 1.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
+
+  double epsilon{ 0.0001 };
+  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateStationary(rstate_1, planning_group_, epsilon));
+}
+
+/**
+ * @brief Check that function isRobotStateStationary() returns 'false' if
+ * the joint acceleration are not equal to zero.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with robot state with joint acceleration != 0.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateStationaryAccelerationUnequal)
+{
+  robot_state::RobotState rstate_1 = robot_state::RobotState(robot_model_);
+
+  // Ensure that the joint velocities are zero
+  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
+
+  // Ensure that the joint acceleration are NOT zero
+  double default_joint_acceleration[6] = { 1.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+  rstate_1.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
+
+  double epsilon{ 0.0001 };
+  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateStationary(rstate_1, planning_group_, epsilon));
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_functions");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.test
new file mode 100644
index 0000000000..ff1c41bb0f
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.test
@@ -0,0 +1,53 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_trajectory_functions" type="unittest_trajectory_functions" >
+    <param name="planning_group" value="manipulator" />
+    <param name="group_tip_link" value="prbt_flange" />
+    <param name="tcp_link" value="prbt_tcp" />
+    <param name="ik_fast_link" value="prbt_flange" />
+    <param name="random_test_number" value="1000" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator.cpp
new file mode 100644
index 0000000000..c1a24e7285
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator.cpp
@@ -0,0 +1,146 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/trajectory_generator.h"
+
+using namespace pilz_industrial_motion_planner;
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ */
+TEST(TrajectoryGeneratorTest, TestExceptionErrorCodeMapping)
+{
+  {
+    std::shared_ptr<TrajectoryGeneratorInvalidLimitsException> tgil_ex{ new TrajectoryGeneratorInvalidLimitsException(
+        "") };
+    EXPECT_EQ(tgil_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+  }
+
+  {
+    std::shared_ptr<VelocityScalingIncorrect> vsi_ex{ new VelocityScalingIncorrect("") };
+    EXPECT_EQ(vsi_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<AccelerationScalingIncorrect> asi_ex{ new AccelerationScalingIncorrect("") };
+    EXPECT_EQ(asi_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<UnknownPlanningGroup> upg_ex{ new UnknownPlanningGroup("") };
+    EXPECT_EQ(upg_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME);
+  }
+
+  {
+    std::shared_ptr<NoJointNamesInStartState> njniss_ex{ new NoJointNamesInStartState("") };
+    EXPECT_EQ(njniss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<SizeMismatchInStartState> smiss_ex{ new SizeMismatchInStartState("") };
+    EXPECT_EQ(smiss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<JointsOfStartStateOutOfRange> jofssoor_ex{ new JointsOfStartStateOutOfRange("") };
+    EXPECT_EQ(jofssoor_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<NonZeroVelocityInStartState> nzviss_ex{ new NonZeroVelocityInStartState("") };
+    EXPECT_EQ(nzviss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<NotExactlyOneGoalConstraintGiven> neogcg_ex{ new NotExactlyOneGoalConstraintGiven("") };
+    EXPECT_EQ(neogcg_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<OnlyOneGoalTypeAllowed> oogta_ex{ new OnlyOneGoalTypeAllowed("") };
+    EXPECT_EQ(oogta_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<StartStateGoalStateMismatch> ssgsm_ex{ new StartStateGoalStateMismatch("") };
+    EXPECT_EQ(ssgsm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<JointConstraintDoesNotBelongToGroup> jcdnbtg_ex{ new JointConstraintDoesNotBelongToGroup("") };
+    EXPECT_EQ(jcdnbtg_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<JointsOfGoalOutOfRange> jogoor_ex{ new JointsOfGoalOutOfRange("") };
+    EXPECT_EQ(jogoor_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<PositionConstraintNameMissing> pcnm_ex{ new PositionConstraintNameMissing("") };
+    EXPECT_EQ(pcnm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<OrientationConstraintNameMissing> ocnm_ex{ new OrientationConstraintNameMissing("") };
+    EXPECT_EQ(ocnm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<PositionOrientationConstraintNameMismatch> pocnm_ex{ new PositionOrientationConstraintNameMismatch(
+        "") };
+    EXPECT_EQ(pocnm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<NoIKSolverAvailable> nisa_ex{ new NoIKSolverAvailable("") };
+    EXPECT_EQ(nisa_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+  }
+
+  {
+    std::shared_ptr<NoPrimitivePoseGiven> nppg_ex{ new NoPrimitivePoseGiven("") };
+    EXPECT_EQ(nppg_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp
new file mode 100644
index 0000000000..1c1024cb4e
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp
@@ -0,0 +1,785 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include <eigen_conversions/eigen_msg.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <tf2/convert.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_circ.h"
+#include "pilz_industrial_motion_planner_testutils/command_types_typedef.h"
+#include "pilz_industrial_motion_planner_testutils/xml_testdata_loader.h"
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+const std::string CARTESIAN_POSITION_TOLERANCE("cartesian_position_tolerance");
+const std::string ANGULAR_ACC_TOLERANCE("angular_acc_tolerance");
+const std::string ROTATION_AXIS_NORM_TOLERANCE("rot_axis_norm_tolerance");
+const std::string ACCELERATION_TOLERANCE("acceleration_tolerance");
+const std::string OTHER_TOLERANCE("other_tolerance");
+
+#define SKIP_IF_GRIPPER                                                                                                \
+  if (GetParam() == PARAM_MODEL_WITH_GRIPPER_NAME)                                                                     \
+  {                                                                                                                    \
+    SUCCEED();                                                                                                         \
+    return;                                                                                                            \
+  };
+
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner_testutils;
+
+class TrajectoryGeneratorCIRCTest : public testing::TestWithParam<std::string>
+{
+protected:
+  /**
+   * @brief Create test scenario for circ trajectory generator
+   *
+   */
+  void SetUp() override;
+
+  void checkCircResult(const planning_interface::MotionPlanRequest& req,
+                       const planning_interface::MotionPlanResponse& res);
+
+  void getCircCenter(const planning_interface::MotionPlanRequest& req,
+                     const planning_interface::MotionPlanResponse& res, Eigen::Vector3d& circ_center);
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  std::unique_ptr<TrajectoryGeneratorCIRC> circ_;
+  // test data provider
+  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> tdp_;
+
+  // test parameters from parameter server
+  std::string planning_group_, target_link_, test_data_file_name_;
+  int random_trial_num_;
+  double cartesian_position_tolerance_, angular_acc_tolerance_, rot_axis_norm_tolerance_, acceleration_tolerance_,
+      other_tolerance_;
+  LimitsContainer planner_limits_;
+};
+
+void TrajectoryGeneratorCIRCTest::SetUp()
+{
+  // get parameters
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+  ASSERT_TRUE(ph_.getParam(CARTESIAN_POSITION_TOLERANCE, cartesian_position_tolerance_));
+  ASSERT_TRUE(ph_.getParam(ANGULAR_ACC_TOLERANCE, angular_acc_tolerance_));
+  ASSERT_TRUE(ph_.getParam(ROTATION_AXIS_NORM_TOLERANCE, rot_axis_norm_tolerance_));
+  ASSERT_TRUE(ph_.getParam(ACCELERATION_TOLERANCE, acceleration_tolerance_));
+  ASSERT_TRUE(ph_.getParam(OTHER_TOLERANCE, other_tolerance_));
+
+  // check robot model
+  testutils::checkRobotModel(robot_model_, planning_group_, target_link_);
+
+  // load the test data provider
+  tdp_.reset(new pilz_industrial_motion_planner_testutils::XmlTestdataLoader{ test_data_file_name_ });
+  ASSERT_NE(nullptr, tdp_) << "Failed to load test data by provider.";
+
+  tdp_->setRobotModel(robot_model_);
+
+  // create the limits container
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(ph_,
+                                                                                 robot_model_->getActiveJointModels());
+  CartesianLimit cart_limits;
+  // Cartesian limits are chose as such values to ease the manually compute the
+  // trajectory
+
+  cart_limits.setMaxRotationalVelocity(1 * M_PI);
+  cart_limits.setMaxTranslationalAcceleration(1 * M_PI);
+  cart_limits.setMaxTranslationalDeceleration(1 * M_PI);
+  cart_limits.setMaxTranslationalVelocity(1 * M_PI);
+  planner_limits_.setJointLimits(joint_limits);
+  planner_limits_.setCartesianLimits(cart_limits);
+
+  // initialize the LIN trajectory generator
+  circ_.reset(new TrajectoryGeneratorCIRC(robot_model_, planner_limits_));
+  ASSERT_NE(nullptr, circ_) << "failed to create CIRC trajectory generator";
+}
+
+void TrajectoryGeneratorCIRCTest::checkCircResult(const planning_interface::MotionPlanRequest& req,
+                                                  const planning_interface::MotionPlanResponse& res)
+{
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  EXPECT_TRUE(testutils::isGoalReached(res.trajectory_->getFirstWayPointPtr()->getRobotModel(),
+                                       res_msg.trajectory.joint_trajectory, req, other_tolerance_));
+
+  EXPECT_TRUE(
+      testutils::checkJointTrajectory(res_msg.trajectory.joint_trajectory, planner_limits_.getJointLimitContainer()));
+
+  EXPECT_EQ(req.path_constraints.position_constraints.size(), 1u);
+  EXPECT_EQ(req.path_constraints.position_constraints.at(0).constraint_region.primitive_poses.size(), 1u);
+
+  // Check that all point have the equal distance to the center
+  Eigen::Vector3d circ_center;
+  getCircCenter(req, res, circ_center);
+
+  for (std::size_t i = 0; i < res.trajectory_->getWayPointCount(); ++i)
+  {
+    Eigen::Affine3d waypoint_pose = res.trajectory_->getWayPointPtr(i)->getFrameTransform(target_link_);
+    EXPECT_NEAR(
+        (res.trajectory_->getFirstWayPointPtr()->getFrameTransform(target_link_).translation() - circ_center).norm(),
+        (circ_center - waypoint_pose.translation()).norm(), cartesian_position_tolerance_);
+  }
+
+  // check translational and rotational paths
+  ASSERT_TRUE(testutils::checkCartesianTranslationalPath(res.trajectory_, target_link_, acceleration_tolerance_));
+  ASSERT_TRUE(testutils::checkCartesianRotationalPath(res.trajectory_, target_link_, angular_acc_tolerance_,
+                                                      rot_axis_norm_tolerance_));
+
+  for (size_t idx = 0; idx < res.trajectory_->getLastWayPointPtr()->getVariableCount(); ++idx)
+  {
+    EXPECT_NEAR(0.0, res.trajectory_->getLastWayPointPtr()->getVariableVelocity(idx), other_tolerance_);
+    EXPECT_NEAR(0.0, res.trajectory_->getLastWayPointPtr()->getVariableAcceleration(idx), other_tolerance_);
+  }
+}
+
+void TrajectoryGeneratorCIRCTest::getCircCenter(const planning_interface::MotionPlanRequest& req,
+                                                const planning_interface::MotionPlanResponse& res,
+                                                Eigen::Vector3d& circ_center)
+{
+  if (req.path_constraints.name == "center")
+  {
+    tf2::convert<geometry_msgs::Point, Eigen::Vector3d>(
+        req.path_constraints.position_constraints.at(0).constraint_region.primitive_poses.at(0).position, circ_center);
+  }
+  else if (req.path_constraints.name == "interim")
+  {
+    Eigen::Vector3d interim;
+    tf2::convert<geometry_msgs::Point, Eigen::Vector3d>(
+        req.path_constraints.position_constraints.at(0).constraint_region.primitive_poses.at(0).position, interim);
+    Eigen::Vector3d start = res.trajectory_->getFirstWayPointPtr()->getFrameTransform(target_link_).translation();
+    Eigen::Vector3d goal = res.trajectory_->getLastWayPointPtr()->getFrameTransform(target_link_).translation();
+
+    const Eigen::Vector3d t = interim - start;
+    const Eigen::Vector3d u = goal - start;
+    const Eigen::Vector3d v = goal - interim;
+
+    const Eigen::Vector3d w = t.cross(u);
+
+    ASSERT_GT(w.norm(), 1e-8) << "Circle center not well defined for given start, interim and goal.";
+
+    circ_center = start + (u * t.dot(t) * u.dot(v) - t * u.dot(u) * t.dot(v)) * 0.5 / pow(w.norm(), 2);
+  }
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ */
+TEST(TrajectoryGeneratorCIRCTest, TestExceptionErrorCodeMapping)
+{
+  {
+    std::shared_ptr<CircleNoPlane> cnp_ex{ new CircleNoPlane("") };
+    EXPECT_EQ(cnp_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<CircleToSmall> cts_ex{ new CircleToSmall("") };
+    EXPECT_EQ(cts_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<CenterPointDifferentRadius> cpdr_ex{ new CenterPointDifferentRadius("") };
+    EXPECT_EQ(cpdr_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<CircTrajectoryConversionFailure> ctcf_ex{ new CircTrajectoryConversionFailure("") };
+    EXPECT_EQ(ctcf_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<UnknownPathConstraintName> upcn_ex{ new UnknownPathConstraintName("") };
+    EXPECT_EQ(upcn_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<NoPositionConstraints> npc_ex{ new NoPositionConstraints("") };
+    EXPECT_EQ(npc_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<NoPrimitivePose> npp_ex{ new NoPrimitivePose("") };
+    EXPECT_EQ(npp_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+  }
+
+  {
+    std::shared_ptr<UnknownLinkNameOfAuxiliaryPoint> ulnoap_ex{ new UnknownLinkNameOfAuxiliaryPoint("") };
+    EXPECT_EQ(ulnoap_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME);
+  }
+
+  {
+    std::shared_ptr<NumberOfConstraintsMismatch> nocm_ex{ new NumberOfConstraintsMismatch("") };
+    EXPECT_EQ(nocm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<CircJointMissingInStartState> cjmiss_ex{ new CircJointMissingInStartState("") };
+    EXPECT_EQ(cjmiss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<CircInverseForGoalIncalculable> cifgi_ex{ new CircInverseForGoalIncalculable("") };
+    EXPECT_EQ(cifgi_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+  }
+}
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryGeneratorCIRCTest,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+
+/**
+ * @brief Construct a TrajectoryGeneratorCirc with no limits given
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, noLimits)
+{
+  LimitsContainer planner_limits;
+  EXPECT_THROW(TrajectoryGeneratorCIRC(this->robot_model_, planner_limits), TrajectoryGeneratorInvalidLimitsException);
+}
+
+/**
+ * @brief test invalid motion plan request with incomplete start state and
+ * cartesian goal
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, incompleteStartState)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  planning_interface::MotionPlanRequest req{ circ.toRequest() };
+  EXPECT_GT(req.start_state.joint_state.name.size(), 1u);
+  req.start_state.joint_state.name.resize(1);
+  req.start_state.joint_state.position.resize(1);  // prevent failing check for equal sizes
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief test invalid motion plan request with non zero start velocity
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, nonZeroStartVelocity)
+{
+  moveit_msgs::MotionPlanRequest req{ tdp_->getCircJointCenterCart("circ1_center_2").toRequest() };
+
+  // start state has non-zero velocity
+  req.start_state.joint_state.velocity.push_back(1.0);
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  req.start_state.joint_state.velocity.clear();
+}
+
+TEST_P(TrajectoryGeneratorCIRCTest, ValidCommand)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_TRUE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+}
+
+/**
+ * @brief Generate invalid circ with to high vel scaling
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, velScaleToHigh)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  circ.setVelocityScale(1.0);
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::PLANNING_FAILED);
+}
+
+/**
+ * @brief Generate invalid circ with to high acc scaling
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, accScaleToHigh)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  circ.setAccelerationScale(1.0);
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::PLANNING_FAILED);
+}
+
+/**
+ * @brief Use three points (with center) with a really small distance between to
+ * trigger a internal throw from KDL
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, samePointsWithCenter)
+{
+  // Define auxiliary point and goal to be the same as the start
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.x += 1e-8;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.y += 1e-8;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.z += 1e-8;
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().getPose().position.x -= 1e-8;
+  circ.getGoalConfiguration().getPose().position.y -= 1e-8;
+  circ.getGoalConfiguration().getPose().position.z -= 1e-8;
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief Use three points (with interim) with a really small distance between
+ *
+ * Expected: Planning should fail.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, samePointsWithInterim)
+{
+  // Define auxiliary point and goal to be the same as the start
+  auto circ{ tdp_->getCircCartInterimCart("circ3_interim") };
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.x += 1e-8;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.y += 1e-8;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.z += 1e-8;
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().getPose().position.x -= 1e-8;
+  circ.getGoalConfiguration().getPose().position.y -= 1e-8;
+  circ.getGoalConfiguration().getPose().position.z -= 1e-8;
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test invalid motion plan request with no aux point defined
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, emptyAux)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  planning_interface::MotionPlanRequest req = circ.toRequest();
+
+  req.path_constraints.position_constraints.clear();
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test invalid motion plan request with no aux name defined
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, invalidAuxName)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  planning_interface::MotionPlanRequest req = circ.toRequest();
+
+  req.path_constraints.name = "";
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test invalid motion plan request with invalid link name in the
+ * auxiliary point
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, invalidAuxLinkName)
+{
+  auto circ{ tdp_->getCircJointInterimCart("circ3_interim") };
+
+  planning_interface::MotionPlanRequest req = circ.toRequest();
+
+  req.path_constraints.position_constraints.front().link_name = "INVALID";
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME);
+}
+
+/**
+ * @brief test the circ planner with invalid center point
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, invalidCenter)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.y += 1;
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test the circ planner with colinear start/goal/center position
+ *
+ * Expected: Planning should fail since the path is not uniquely defined.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, colinearCenter)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+
+  // Stretch start and goal pose along line
+  circ.getStartConfiguration().getPose().position.x -= 0.1;
+  circ.getGoalConfiguration().getPose().position.x += 0.1;
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test the circ planner with  colinear start/goal/interim position
+ *
+ * Expected: Planning should fail. These positions do not even represent a
+ * circle.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, colinearInterim)
+{
+  auto circ{ tdp_->getCircCartInterimCart("circ3_interim") };
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+
+  // Stretch start and goal pose along line
+  circ.getStartConfiguration().getPose().position.x -= 0.1;
+  circ.getGoalConfiguration().getPose().position.x += 0.1;
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief test the circ planner with half circle with interim point
+ *
+ * The request contains start/interim/goal such that
+ * start, center (not explicitly given) and goal are colinear
+ *
+ * Expected: Planning should successfully return.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, colinearCenterDueToInterim)
+{
+  // get the test data from xml
+  auto circ{ tdp_->getCircCartInterimCart("circ3_interim") };
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(circ.toRequest(), res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+}
+
+/**
+ * @brief test the circ planner with colinear start/center/interim positions
+ *
+ * The request contains start/interim/goal such that
+ * start, center (not explicitly given) and interim are colinear.
+ * In case the interim is used as auxiliary point for KDL::Path_Circle this
+ * should fail.
+ *
+ * Expected: Planning should successfully return.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, colinearCenterAndInterim)
+{
+  auto circ{ tdp_->getCircCartInterimCart("circ3_interim") };
+
+  // alter start, interim and goal such that start/center and interim are
+  // colinear
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+
+  circ.getStartConfiguration().getPose().position.x -= 0.2;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.x += 0.2;
+  circ.getGoalConfiguration().getPose().position.y -= 0.2;
+
+  circ.setAccelerationScale(0.05);
+  circ.setVelocityScale(0.05);
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief test the circ planner with a circ path where the angle between goal
+ * and interim is larger than 180 degree
+ *
+ * The request contains start/interim/goal such that 180 degree < interim angle
+ * < goal angle.
+ *
+ * Expected: Planning should successfully return.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, interimLarger180Degree)
+{
+  auto circ{ tdp_->getCircCartInterimCart("circ3_interim") };
+
+  // alter start, interim and goal such that start/center and interim are
+  // colinear
+  circ.getAuxiliaryConfiguration().getConfiguration().setPose(circ.getStartConfiguration().getPose());
+  circ.getGoalConfiguration().setPose(circ.getStartConfiguration().getPose());
+
+  circ.getStartConfiguration().getPose().position.x -= 0.2;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.x += 0.14142136;
+  circ.getAuxiliaryConfiguration().getConfiguration().getPose().position.y -= 0.14142136;
+  circ.getGoalConfiguration().getPose().position.y -= 0.2;
+
+  circ.setAccelerationScale(0.05);
+  circ.setVelocityScale(0.05);
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief test the circ planner with center point and joint goal
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, centerPointJointGoal)
+{
+  SKIP_IF_GRIPPER
+
+  auto circ{ tdp_->getCircJointCenterCart("circ1_center_2") };
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief A valid circ request contains a helping point (interim or center), in
+ * this test a additional
+ * point is defined as an invalid test case
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, InvalidAdditionalPrimitivePose)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  // Contains one pose (interim / center)
+  ASSERT_EQ(req.path_constraints.position_constraints.back().constraint_region.primitive_poses.size(), 1u);
+
+  // Define a additional pose here
+  geometry_msgs::Pose center_position;
+  center_position.position.x = 0.0;
+  center_position.position.y = 0.0;
+  center_position.position.z = 0.65;
+  req.path_constraints.position_constraints.back().constraint_region.primitive_poses.push_back(center_position);
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief Joint Goals are expected to match the start state in number and
+ * joint_names
+ * Here an additional joint constraints is "falsely" defined to check for the
+ * error.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, InvalidExtraJointConstraint)
+{
+  auto circ{ tdp_->getCircJointCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  // Define the additional joint constraint
+  moveit_msgs::JointConstraint joint_constraint;
+  joint_constraint.joint_name = req.goal_constraints.front().joint_constraints.front().joint_name;
+  req.goal_constraints.front().joint_constraints.push_back(joint_constraint);  //<-- Additional constraint
+
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief test the circ planner with center point and pose goal
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, CenterPointPoseGoal)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief Set a frame id only on the position constrainst
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, CenterPointPoseGoalFrameIdPositionConstraints)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  req.goal_constraints.front().position_constraints.front().header.frame_id = robot_model_->getModelFrame();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief Set a frame id only on the orientation constrainst
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, CenterPointPoseGoalFrameIdOrientationConstraints)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+  req.goal_constraints.front().orientation_constraints.front().header.frame_id = robot_model_->getModelFrame();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief Set a frame_id on both position and orientation constraints
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, CenterPointPoseGoalFrameIdBothConstraints)
+{
+  auto circ{ tdp_->getCircCartCenterCart("circ1_center_2") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  // Both set
+  req.goal_constraints.front().position_constraints.front().header.frame_id = robot_model_->getModelFrame();
+  req.goal_constraints.front().orientation_constraints.front().header.frame_id = robot_model_->getModelFrame();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief test the circ planner with interim point with joint goal
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, InterimPointJointGoal)
+{
+  SKIP_IF_GRIPPER
+
+  auto circ{ tdp_->getCircJointInterimCart("circ3_interim") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief test the circ planner with interim point with joint goal and a close
+ * to zero velocity of the start state
+ *
+ * The generator is expected to be robust against a velocity beeing almost zero.
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, InterimPointJointGoalStartVelNearZero)
+{
+  SKIP_IF_GRIPPER
+
+  auto circ{ tdp_->getCircJointInterimCart("circ3_interim") };
+
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  // Set velocity near zero
+  req.start_state.joint_state.velocity = std::vector<double>(req.start_state.joint_state.position.size(), 1e-16);
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+/**
+ * @brief test the circ planner with interim point with pose goal
+ */
+TEST_P(TrajectoryGeneratorCIRCTest, InterimPointPoseGoal)
+{
+  auto circ{ tdp_->getCircJointInterimCart("circ3_interim") };
+  moveit_msgs::MotionPlanRequest req = circ.toRequest();
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(circ_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+  checkCircResult(req, res);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_generator_circ");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.test
new file mode 100644
index 0000000000..6d84d42105
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.test
@@ -0,0 +1,61 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- launch-prefix="xterm -e gdb - -args" time-limit="1000" -->
+
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_trajectory_generator_circ"
+  type="unittest_trajectory_generator_circ" time-limit="120.0">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_tcp" />
+    <param name="cartesian_position_tolerance" value="1.0e-3" />
+    <param name="angular_acc_tolerance" value="1.0e-3" />
+    <param name="rot_axis_norm_tolerance" value="1.0e-6" />
+    <param name="acceleration_tolerance" value="1.0e-3" />
+    <param name="other_tolerance" value="1.0e-6" />
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml" />
+  </test>
+
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp
new file mode 100644
index 0000000000..aaba86c0f1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp
@@ -0,0 +1,434 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <boost/core/demangle.hpp>
+#include <gtest/gtest.h>
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/joint_limits_container.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_circ.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_ptp.h"
+
+#include "test_utils.h"
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+
+/**
+ * A value type container to combine type and value
+ * In the tests types are trajectory generators.
+ * value = 0 refers to robot model without gripper
+ * value = 1 refers to robot model with gripper
+ */
+template <typename T, int N>
+class ValueTypeContainer
+{
+public:
+  typedef T Type_;
+  static const int VALUE = N;
+};
+template <typename T, int N>
+const int ValueTypeContainer<T, N>::VALUE;
+
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 0> PTP_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 1> PTP_WITH_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 0> LIN_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 1> LIN_WITH_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 0> CIRC_NO_GRIPPER;
+typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 1> CIRC_WITH_GRIPPER;
+
+typedef ::testing::Types<PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER,
+                         CIRC_WITH_GRIPPER>
+    TrajectoryGeneratorCommonTestTypes;
+
+typedef ::testing::Types<PTP_NO_GRIPPER, LIN_NO_GRIPPER, CIRC_NO_GRIPPER> TrajectoryGeneratorCommonTestTypesNoGripper;
+
+typedef ::testing::Types<PTP_WITH_GRIPPER, LIN_WITH_GRIPPER, CIRC_WITH_GRIPPER>
+    TrajectoryGeneratorCommonTestTypesWithGripper;
+
+/**
+ * type parameterized test fixture
+ */
+template <typename T>
+class TrajectoryGeneratorCommonTest : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+    ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+
+    testutils::checkRobotModel(robot_model_, planning_group_, target_link_);
+
+    // create the limits container
+    std::string robot_description_param = (!T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME : PARAM_MODEL_WITH_GRIPPER_NAME);
+    pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+        pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
+            ros::NodeHandle(robot_description_param + "_planning"), robot_model_->getActiveJointModels());
+    pilz_industrial_motion_planner::CartesianLimit cart_limits;
+    cart_limits.setMaxRotationalVelocity(0.5 * M_PI);
+    cart_limits.setMaxTranslationalAcceleration(2);
+    cart_limits.setMaxTranslationalDeceleration(2);
+    cart_limits.setMaxTranslationalVelocity(1);
+    pilz_industrial_motion_planner::LimitsContainer planner_limits;
+    planner_limits.setJointLimits(joint_limits);
+    planner_limits.setCartesianLimits(cart_limits);
+
+    // create planner instance
+    trajectory_generator_ = std::unique_ptr<typename T::Type_>(new typename T::Type_(robot_model_, planner_limits));
+    ASSERT_NE(nullptr, trajectory_generator_) << "failed to create trajectory generator";
+
+    // create a valid motion plan request with goal in joint space as basis for
+    // tests
+    req_.group_name = planning_group_;
+    req_.max_velocity_scaling_factor = 1.0;
+    req_.max_acceleration_scaling_factor = 1.0;
+    robot_state::RobotState rstate(robot_model_);
+    rstate.setToDefaultValues();
+    rstate.setJointGroupPositions(planning_group_, { 0, M_PI / 2, 0, M_PI / 2, 0, 0 });
+    rstate.setVariableVelocities(std::vector<double>(rstate.getVariableCount(), 0.0));
+    moveit::core::robotStateToRobotStateMsg(rstate, req_.start_state, false);
+    moveit_msgs::Constraints goal_constraint;
+    moveit_msgs::JointConstraint joint_constraint;
+    joint_constraint.joint_name = this->robot_model_->getActiveJointModels().front()->getName();
+    joint_constraint.position = 0.5;
+    goal_constraint.joint_constraints.push_back(joint_constraint);
+    req_.goal_constraints.push_back(goal_constraint);
+  }
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{
+    robot_model_loader::RobotModelLoader(!T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME : PARAM_MODEL_WITH_GRIPPER_NAME)
+        .getModel()
+  };
+
+  // trajectory generator
+  std::unique_ptr<pilz_industrial_motion_planner::TrajectoryGenerator> trajectory_generator_;
+  planning_interface::MotionPlanResponse res_;
+  planning_interface::MotionPlanRequest req_;
+  // test parameters from parameter server
+  std::string planning_group_, target_link_;
+};
+// Define the types we need to test
+TYPED_TEST_SUITE(TrajectoryGeneratorCommonTest, TrajectoryGeneratorCommonTestTypes);
+
+template <typename T>
+class TrajectoryGeneratorCommonTestNoGripper : public TrajectoryGeneratorCommonTest<T>
+{
+};
+TYPED_TEST_SUITE(TrajectoryGeneratorCommonTestNoGripper, TrajectoryGeneratorCommonTestTypesNoGripper);
+
+template <typename T>
+class TrajectoryGeneratorCommonTestWithGripper : public TrajectoryGeneratorCommonTest<T>
+{
+};
+TYPED_TEST_SUITE(TrajectoryGeneratorCommonTestWithGripper, TrajectoryGeneratorCommonTestTypesWithGripper);
+
+/**
+ * @brief test invalid scaling factor. The scaling factor must be in the range
+ * of [0.0001, 1]
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideScalingFactor)
+{
+  this->req_.max_velocity_scaling_factor = 2.0;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  this->req_.max_velocity_scaling_factor = 1.0;
+  this->req_.max_acceleration_scaling_factor = 0;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  this->req_.max_velocity_scaling_factor = 0.00001;
+  this->req_.max_acceleration_scaling_factor = 1;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+  this->req_.max_velocity_scaling_factor = 1;
+  this->req_.max_acceleration_scaling_factor = -1;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN);
+}
+
+/**
+ * @brief Test invalid motion plan request for all trajectory generators
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InvalidGroupName)
+{
+  this->req_.group_name = "foot";
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code_.val);
+}
+
+/**
+ * @brief Test invalid motion plan request for all trajectory generators
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTestNoGripper, GripperGroup)
+{
+  this->req_.group_name = "gripper";
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code_.val);
+}
+
+/**
+ * @brief Test invalid motion plan request for all trajectory generators
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTestWithGripper, GripperGroup)
+{
+  this->req_.group_name = "gripper";
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS, this->res_.error_code_.val);
+}
+
+/**
+ * @brief Test if there is a valid inverse kinematics solver for this planning
+ * group
+ * You can only test this case by commenting the planning_context.launch in the
+ * .test file
+ * //TODO create a separate robot model without ik solver and use it to create a
+ * trajectory generator
+ */
+// TYPED_TEST(TrajectoryGeneratorCommonTest, NoIKSolver)
+//{
+//  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+//  EXPECT_EQ(this->res_.error_code_.val,
+//  moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME);
+//}
+
+/**
+ * @brief test the case of empty joint names in start state
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyJointNamesInStartState)
+{
+  this->req_.start_state.joint_state.name.clear();
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief size of joint name and joint position does not match in start state
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InconsistentStartState)
+{
+  this->req_.start_state.joint_state.name.push_back("joint_7");
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief joint position out of limit in start state
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, StartPostionOutOfLimit)
+{
+  this->req_.start_state.joint_state.position[0] = 100;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief Check that no trajectory is generated if a start velocity is given
+ *
+ * @note This test is here for regression, however in general generators that
+ * can work with a given
+ * start velocity are highly desired.
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, StartPositionVelocityNoneZero)
+{
+  this->req_.start_state.joint_state.velocity[0] = 100;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief goal constraints is empty
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyGoalConstraints)
+{
+  this->req_.goal_constraints.clear();
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief multiple goals
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, MultipleGoals)
+{
+  moveit_msgs::JointConstraint joint_constraint;
+  moveit_msgs::PositionConstraint position_constraint;
+  moveit_msgs::OrientationConstraint orientation_constraint;
+  moveit_msgs::Constraints goal_constraint;
+
+  // two goal constraints
+  this->req_.goal_constraints.push_back(goal_constraint);
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  // one joint constraint and one orientation constraint
+  goal_constraint.joint_constraints.push_back(joint_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  // one joint constraint and one Cartesian constraint
+  goal_constraint.position_constraints.push_back(position_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  // two Cartesian constraints
+  goal_constraint.joint_constraints.clear();
+  goal_constraint.position_constraints.push_back(position_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  goal_constraint.position_constraints.push_back(position_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief invalid joint name in joint constraint
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideJointNameInGoal)
+{
+  moveit_msgs::JointConstraint joint_constraint;
+  joint_constraint.joint_name = "test_joint_2";
+  this->req_.goal_constraints.front().joint_constraints[0] = joint_constraint;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief MissingJointConstraint
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, MissingJointConstraint)
+{
+  moveit_msgs::JointConstraint joint_constraint;
+  joint_constraint.joint_name = "test_joint_2";
+  this->req_.goal_constraints.front().joint_constraints.pop_back();  //<-- Missing joint constraint
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief invalid joint position in joint constraint
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideJointPositionInGoal)
+{
+  this->req_.goal_constraints.front().joint_constraints[0].position = 100;
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief invalid link name in Cartesian goal constraint
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, InvalidLinkNameInCartesianGoal)
+{
+  moveit_msgs::PositionConstraint position_constraint;
+  moveit_msgs::OrientationConstraint orientation_constraint;
+  moveit_msgs::Constraints goal_constraint;
+  // link name not set
+  goal_constraint.position_constraints.push_back(position_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  // different link names in position and orientation goals
+  goal_constraint.position_constraints.front().link_name = "test_link_1";
+  goal_constraint.orientation_constraints.front().link_name = "test_link_2";
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  // no solver for the link
+  goal_constraint.orientation_constraints.front().link_name = "test_link_1";
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+}
+
+/**
+ * @brief no pose set in position constraint
+ */
+TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyPrimitivePoses)
+{
+  moveit_msgs::PositionConstraint position_constraint;
+  moveit_msgs::OrientationConstraint orientation_constraint;
+  moveit_msgs::Constraints goal_constraint;
+  position_constraint.link_name =
+      this->robot_model_->getJointModelGroup(this->planning_group_)->getLinkModelNames().back();
+  orientation_constraint.link_name = position_constraint.link_name;
+
+  goal_constraint.position_constraints.push_back(position_constraint);
+  goal_constraint.orientation_constraints.push_back(orientation_constraint);
+  this->req_.goal_constraints.clear();
+  this->req_.goal_constraints.push_back(goal_constraint);
+  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
+  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_generator_common");
+  // ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.test
new file mode 100644
index 0000000000..702c2dc5fc
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.test
@@ -0,0 +1,59 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_trajectory_generator_common"
+        type="unittest_trajectory_generator_common" time-limit="180.0">
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link" value="prbt_flange" />
+    <param name="random_trial_number" value="100" />
+    <param name="joint_position_tolerance" value="1.0e-3" />
+    <param name="joint_velocity_tolerance" value="0.3" />
+    <param name="pose_norm_tolerance" value="1.0e-6" />
+    <param name="rot_axis_norm_tolerance" value="1.0e-6" />
+    <param name="other_tolerance" value="1.0e-6" />
+    <param name="velocity_scaling_factor" value="0.1" />
+  </test>
+
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp
new file mode 100644
index 0000000000..f5724b7af5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp
@@ -0,0 +1,470 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+#include "pilz_industrial_motion_planner_testutils/command_types_typedef.h"
+#include "pilz_industrial_motion_planner_testutils/xml_testdata_loader.h"
+#include "test_utils.h"
+
+#include <eigen_conversions/eigen_msg.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/robot_state/robot_state.h>
+
+#include <ros/console.h>
+
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string TEST_DATA_FILE_NAME("testdata_file_name");
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string TARGET_LINK_HCD("target_link_hand_computed_data");
+const std::string RANDOM_TEST_TRIAL_NUM("random_trial_number");
+const std::string JOINT_POSITION_TOLERANCE("joint_position_tolerance");
+const std::string JOINT_VELOCITY_TOLERANCE("joint_velocity_tolerance");
+const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE("pose_norm_tolerance");
+const std::string ROTATION_AXIS_NORM_TOLERANCE("rot_axis_norm_tolerance");
+const std::string VELOCITY_SCALING_FACTOR("velocity_scaling_factor");
+const std::string OTHER_TOLERANCE("other_tolerance");
+
+using namespace pilz_industrial_motion_planner;
+using namespace pilz_industrial_motion_planner_testutils;
+
+/**
+ * @brief Parameterized unittest of trajectory generator LIN to enable tests
+ * against
+ * different robot models.The parameter is the name of robot model parameter on
+ * the
+ * ros parameter server.
+ */
+class TrajectoryGeneratorLINTest : public testing::TestWithParam<std::string>
+{
+protected:
+  /**
+   * @brief Create test scenario for lin trajectory generator
+   *
+   */
+  void SetUp() override;
+
+  bool checkLinResponse(const planning_interface::MotionPlanRequest& req,
+                        const planning_interface::MotionPlanResponse& res);
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+
+  // lin trajectory generator using model without gripper
+  std::unique_ptr<TrajectoryGenerator> lin_;
+  // test data provider
+  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> tdp_;
+
+  // test parameters from parameter server
+  std::string planning_group_, target_link_hcd_, test_data_file_name_;
+  int random_trial_num_;
+  double joint_position_tolerance_, joint_velocity_tolerance_, pose_norm_tolerance_, rot_axis_norm_tolerance_,
+      velocity_scaling_factor_, other_tolerance_;
+  LimitsContainer planner_limits_;
+};
+
+void TrajectoryGeneratorLINTest::SetUp()
+{
+  // get the parameters
+  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name_));
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(TARGET_LINK_HCD, target_link_hcd_));
+  ASSERT_TRUE(ph_.getParam(RANDOM_TEST_TRIAL_NUM, random_trial_num_));
+  ASSERT_TRUE(ph_.getParam(JOINT_POSITION_TOLERANCE, joint_position_tolerance_));
+  ASSERT_TRUE(ph_.getParam(JOINT_VELOCITY_TOLERANCE, joint_velocity_tolerance_));
+  ASSERT_TRUE(ph_.getParam(POSE_TRANSFORM_MATRIX_NORM_TOLERANCE, pose_norm_tolerance_));
+  ASSERT_TRUE(ph_.getParam(ROTATION_AXIS_NORM_TOLERANCE, rot_axis_norm_tolerance_));
+  ASSERT_TRUE(ph_.getParam(VELOCITY_SCALING_FACTOR, velocity_scaling_factor_));
+  ASSERT_TRUE(ph_.getParam(OTHER_TOLERANCE, other_tolerance_));
+
+  testutils::checkRobotModel(robot_model_, planning_group_, target_link_hcd_);
+
+  // load the test data provider
+  tdp_.reset(new pilz_industrial_motion_planner_testutils::XmlTestdataLoader{ test_data_file_name_ });
+  ASSERT_NE(nullptr, tdp_) << "Failed to load test data by provider.";
+
+  tdp_->setRobotModel(robot_model_);
+
+  // create the limits container
+  // TODO, move this also into test data set
+  pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
+      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(ph_,
+                                                                                 robot_model_->getActiveJointModels());
+  CartesianLimit cart_limits;
+  cart_limits.setMaxRotationalVelocity(0.5 * M_PI);
+  cart_limits.setMaxTranslationalAcceleration(2);
+  cart_limits.setMaxTranslationalDeceleration(2);
+  cart_limits.setMaxTranslationalVelocity(1);
+  planner_limits_.setJointLimits(joint_limits);
+  planner_limits_.setCartesianLimits(cart_limits);
+
+  // initialize the LIN trajectory generator
+  lin_.reset(new TrajectoryGeneratorLIN(robot_model_, planner_limits_));
+  ASSERT_NE(nullptr, lin_) << "Failed to create LIN trajectory generator.";
+}
+
+bool TrajectoryGeneratorLINTest::checkLinResponse(const planning_interface::MotionPlanRequest& req,
+                                                  const planning_interface::MotionPlanResponse& res)
+{
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  if (!testutils::isGoalReached(robot_model_, res_msg.trajectory.joint_trajectory, req, pose_norm_tolerance_))
+  {
+    return false;
+  }
+
+  if (!testutils::checkCartesianLinearity(robot_model_, res_msg.trajectory.joint_trajectory, req, pose_norm_tolerance_,
+                                          rot_axis_norm_tolerance_))
+  {
+    return false;
+  }
+
+  if (!testutils::checkJointTrajectory(res_msg.trajectory.joint_trajectory, planner_limits_.getJointLimitContainer()))
+  {
+    return false;
+  }
+
+  return true;
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ */
+TEST(TrajectoryGeneratorLINTest, TestExceptionErrorCodeMapping)
+{
+  {
+    std::shared_ptr<LinTrajectoryConversionFailure> ltcf_ex{ new LinTrajectoryConversionFailure("") };
+    EXPECT_EQ(ltcf_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+  }
+
+  {
+    std::shared_ptr<JointNumberMismatch> jnm_ex{ new JointNumberMismatch("") };
+    EXPECT_EQ(jnm_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+  }
+
+  {
+    std::shared_ptr<LinJointMissingInStartState> ljmiss_ex{ new LinJointMissingInStartState("") };
+    EXPECT_EQ(ljmiss_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+  }
+
+  {
+    std::shared_ptr<LinInverseForGoalIncalculable> lifgi_ex{ new LinInverseForGoalIncalculable("") };
+    EXPECT_EQ(lifgi_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+  }
+}
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryGeneratorLINTest,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+
+/**
+ * @brief test the lin planner with invalid motion plan request which has non
+ * zero start velocity
+ */
+TEST_P(TrajectoryGeneratorLINTest, nonZeroStartVelocity)
+{
+  planning_interface::MotionPlanRequest req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  // add non-zero velocity in the start state
+  req.start_state.joint_state.velocity.push_back(1.0);
+
+  // try to generate the result
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(lin_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief test the lin planner with joint space goal
+ */
+TEST_P(TrajectoryGeneratorLINTest, jointSpaceGoal)
+{
+  planning_interface::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  // generate the LIN trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_joint_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  // check the resulted trajectory
+  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
+}
+
+/**
+ * @brief test the lin planner with joint space goal with start velocity almost
+ * zero
+ */
+TEST_P(TrajectoryGeneratorLINTest, jointSpaceGoalNearZeroStartVelocity)
+{
+  planning_interface::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  // Set velocity near zero
+  lin_joint_req.start_state.joint_state.velocity =
+      std::vector<double>(lin_joint_req.start_state.joint_state.position.size(), 1e-16);
+
+  // generate the LIN trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_joint_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  // check the resulted trajectory
+  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
+}
+
+/**
+ * @brief test the lin planner with Cartesian goal
+ */
+TEST_P(TrajectoryGeneratorLINTest, cartesianSpaceGoal)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
+
+  // generate lin trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_cart_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  // check the resulted trajectory
+  EXPECT_TRUE(checkLinResponse(lin_cart_req, res));
+}
+
+/**
+ * @brief test the trapezoid shape of the planning trajectory in Cartesian space
+ *
+ * The test checks translational path for a trapezoid velocity profile.
+ * Due to the way the acceleration is calculated 1 or 2 intermediate points
+ * occur that are neither
+ * acceleration, constant or deceleration.
+ */
+TEST_P(TrajectoryGeneratorLINTest, cartesianTrapezoidProfile)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  /// +++++++++++++++++++++++
+  /// + plan LIN trajectory +
+  /// +++++++++++++++++++++++
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_joint_req, res, 0.01));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  ASSERT_TRUE(testutils::checkCartesianTranslationalPath(res.trajectory_, target_link_hcd_));
+
+  // check last point for vel=acc=0
+  for (size_t idx = 0; idx < res.trajectory_->getLastWayPointPtr()->getVariableCount(); ++idx)
+  {
+    EXPECT_NEAR(0.0, res.trajectory_->getLastWayPointPtr()->getVariableVelocity(idx), other_tolerance_);
+    EXPECT_NEAR(0.0, res.trajectory_->getLastWayPointPtr()->getVariableAcceleration(idx), other_tolerance_);
+  }
+}
+
+/**
+ * @brief Check that lin planner returns 'false' if
+ * calculated lin trajectory violates velocity/acceleration or deceleration
+ * limits.
+ *
+ *
+ * Test Sequence:
+ *    1. Call function with lin request violating velocity/acceleration or
+ * deceleration limits.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryGeneratorLINTest, LinPlannerLimitViolation)
+{
+  LinJoint lin{ tdp_->getLinJoint("lin2") };
+  lin.setAccelerationScale(1.01);
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_FALSE(lin_->generate(lin.toRequest(), res));
+}
+
+/**
+ * @brief test joint linear movement with discontinuities in joint space
+ *
+ * This will violate joint velocity/acceleration limits.
+ *
+ * Test Sequence:
+ *    1. Generate lin trajectory which is discontinuous in joint space.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryGeneratorLINTest, LinPlannerDiscontinuousJointTraj)
+{
+  LinJoint lin{ tdp_->getLinJoint("lin2") };
+  // Alter goal joint configuration (represents the same cartesian pose, but
+  // does not fit together with start config)
+  lin.getGoalConfiguration().setJoint(1, 1.63);
+  lin.getGoalConfiguration().setJoint(2, 0.96);
+  lin.getGoalConfiguration().setJoint(4, -2.48);
+  lin.setVelocityScale(1.0);
+  lin.setAccelerationScale(1.0);
+
+  planning_interface::MotionPlanResponse res;
+  ASSERT_FALSE(lin_->generate(lin.toRequest(), res));
+}
+
+/**
+ * @brief test joint linear movement with equal goal and start
+ *
+ * Test Sequence:
+ *    1. Call function with lin request start = goal
+ *
+ * Expected Results:
+ *    1. trajectory generation is successful.
+ */
+TEST_P(TrajectoryGeneratorLINTest, LinStartEqualsGoal)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  moveit::core::RobotState start_state(robot_model_);
+  jointStateToRobotState(lin_joint_req.start_state.joint_state, start_state);
+
+  for (auto& joint_constraint : lin_joint_req.goal_constraints.at(0).joint_constraints)
+  {
+    joint_constraint.position = start_state.getVariablePosition(joint_constraint.joint_name);
+  }
+
+  // generate the LIN trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_joint_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  // check the resulted trajectory
+  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
+}
+
+/**
+ * @brief Checks that constructor throws an exception if no limits are given.
+ *
+ * Test Sequence:
+ *    1. Call Ctor without set limits.
+ *
+ * Expected Results:
+ *    1. Ctor throws exception.
+ */
+TEST_P(TrajectoryGeneratorLINTest, CtorNoLimits)
+{
+  pilz_industrial_motion_planner::LimitsContainer planner_limits;
+
+  EXPECT_THROW(pilz_industrial_motion_planner::TrajectoryGeneratorLIN(robot_model_, planner_limits),
+               pilz_industrial_motion_planner::TrajectoryGeneratorInvalidLimitsException);
+}
+
+/**
+ * @brief Checks that generate() function returns 'false' if called with an
+ * incorrect number of joints.
+ *
+ * Test Sequence:
+ *    1. Call functions with incorrect number of joints.
+ *
+ * Expected Results:
+ *    1. Function returns 'false'.
+ */
+TEST_P(TrajectoryGeneratorLINTest, IncorrectJointNumber)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
+
+  // Ensure that request consists of an incorrect number of joints.
+  lin_joint_req.goal_constraints.front().joint_constraints.pop_back();
+
+  // generate the LIN trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_FALSE(lin_->generate(lin_joint_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief test invalid motion plan request with incomplete start state and
+ * cartesian goal
+ */
+TEST_P(TrajectoryGeneratorLINTest, cartGoalIncompleteStartState)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
+  EXPECT_GT(lin_cart_req.start_state.joint_state.name.size(), 1u);
+  lin_cart_req.start_state.joint_state.name.resize(1);
+  lin_cart_req.start_state.joint_state.position.resize(1);  // prevent failing check for equal sizes
+
+  // generate lin trajectory
+  planning_interface::MotionPlanResponse res;
+  EXPECT_FALSE(lin_->generate(lin_cart_req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE);
+}
+
+/**
+ * @brief Set a frame id in goal constraint with cartesian goal on both position
+ * and orientation constraints
+ */
+TEST_P(TrajectoryGeneratorLINTest, cartGoalFrameIdBothConstraints)
+{
+  // construct motion plan request
+  moveit_msgs::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
+
+  lin_cart_req.goal_constraints.front().position_constraints.front().header.frame_id = robot_model_->getModelFrame();
+  lin_cart_req.goal_constraints.front().orientation_constraints.front().header.frame_id = robot_model_->getModelFrame();
+
+  // generate lin trajectory
+  planning_interface::MotionPlanResponse res;
+  ASSERT_TRUE(lin_->generate(lin_cart_req, res));
+  EXPECT_TRUE(res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  // check the resulted trajectory
+  EXPECT_TRUE(checkLinResponse(lin_cart_req, res));
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_generator_lin");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.test
new file mode 100644
index 0000000000..9cec117a1d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.test
@@ -0,0 +1,62 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+  <!--launch-prefix="xterm -e gdb - -args" time-limit="1000" -->
+
+  <!-- Parametrized test running with and without gripper! -->
+
+  <!-- Load the context with and without the pg70 -->
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+  <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+    <arg name="gripper" value="pg70" />
+  </include>
+
+  <!-- run test -->
+  <test pkg="pilz_industrial_motion_planner" test-name="unittest_trajectory_generator_lin"
+  type="unittest_trajectory_generator_lin">
+    <param name="testdata_file_name" value="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/test_data/testdata_sequence.xml" />
+    <param name="planning_group" value="manipulator" />
+    <param name="target_link_hand_computed_data" value="prbt_flange" />
+    <param name="random_trial_number" value="100" />
+    <param name="joint_position_tolerance" value="1.0e-3" />
+    <param name="joint_velocity_tolerance" value="0.3" />
+    <param name="pose_norm_tolerance" value="1.0e-6" />
+    <param name="rot_axis_norm_tolerance" value="1.0e-6" />
+    <param name="other_tolerance" value="1.0e-5" />
+    <param name="velocity_scaling_factor" value="0.1" />
+    <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml" />
+  </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp
new file mode 100644
index 0000000000..94889460d3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp
@@ -0,0 +1,971 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <memory>
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/joint_limits_aggregator.h"
+#include "pilz_industrial_motion_planner/trajectory_generator_ptp.h"
+#include "test_utils.h"
+
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <pluginlib/class_loader.h>
+
+// parameters for parameterized tests
+const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
+const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
+
+// parameters from parameter server
+const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
+const std::string PARAM_TARGET_LINK_NAME("target_link");
+const std::string JOINT_POSITION_TOLERANCE("joint_position_tolerance");
+const std::string JOINT_VELOCITY_TOLERANCE("joint_velocity_tolerance");
+const std::string JOINT_ACCELERATION_TOLERANCE("joint_acceleration_tolerance");
+const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE("pose_norm_tolerance");
+
+using namespace pilz_industrial_motion_planner;
+
+class TrajectoryGeneratorPTPTest : public testing::TestWithParam<std::string>
+{
+protected:
+  /**
+   * @brief Create test fixture for ptp trajectory generator
+   *
+   */
+  void SetUp() override;
+
+  /**
+   * @brief check the resulted joint trajectory
+   * @param trajectory
+   * @param req
+   * @param joint_limits
+   * @return
+   */
+  bool checkTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
+                       const planning_interface::MotionPlanRequest& req, const JointLimitsContainer& joint_limits);
+
+protected:
+  // ros stuff
+  ros::NodeHandle ph_{ "~" };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+
+  // trajectory generator
+  std::unique_ptr<TrajectoryGenerator> ptp_;
+
+  // test parameters from parameter server
+  LimitsContainer planner_limits_;
+  std::string planning_group_, target_link_;
+  double joint_position_tolerance_, joint_velocity_tolerance_, joint_acceleration_tolerance_, pose_norm_tolerance_;
+};
+
+void TrajectoryGeneratorPTPTest::SetUp()
+{
+  // get parameters from parameter server
+  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
+  ASSERT_TRUE(ph_.getParam(PARAM_TARGET_LINK_NAME, target_link_));
+  ASSERT_TRUE(ph_.getParam(JOINT_POSITION_TOLERANCE, joint_position_tolerance_));
+  ASSERT_TRUE(ph_.getParam(JOINT_VELOCITY_TOLERANCE, joint_velocity_tolerance_));
+  ASSERT_TRUE(ph_.getParam(JOINT_ACCELERATION_TOLERANCE, joint_acceleration_tolerance_));
+  ASSERT_TRUE(ph_.getParam(POSE_TRANSFORM_MATRIX_NORM_TOLERANCE, pose_norm_tolerance_));
+
+  testutils::checkRobotModel(robot_model_, planning_group_, target_link_);
+
+  // create the limits container
+  JointLimitsContainer joint_limits;
+  for (const auto& jmg : robot_model_->getJointModelGroups())
+  {
+    std::vector<std::string> joint_names = jmg->getActiveJointModelNames();
+    JointLimit joint_limit;
+    joint_limit.max_position = 3.124;
+    joint_limit.min_position = -3.124;
+    joint_limit.has_velocity_limits = true;
+    joint_limit.max_velocity = 1;
+    joint_limit.has_acceleration_limits = true;
+    joint_limit.max_acceleration = 0.5;
+    joint_limit.has_deceleration_limits = true;
+    joint_limit.max_deceleration = -1;
+    for (const auto& joint_name : joint_names)
+    {
+      joint_limits.addLimit(joint_name, joint_limit);
+    }
+  }
+
+  // create the trajectory generator
+  planner_limits_.setJointLimits(joint_limits);
+  ptp_.reset(new TrajectoryGeneratorPTP(robot_model_, planner_limits_));
+  ASSERT_NE(nullptr, ptp_);
+}
+
+bool TrajectoryGeneratorPTPTest::checkTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
+                                                 const planning_interface::MotionPlanRequest& req,
+                                                 const JointLimitsContainer& joint_limits)
+{
+  return (testutils::isTrajectoryConsistent(trajectory) &&
+          testutils::isGoalReached(trajectory, req.goal_constraints.front().joint_constraints,
+                                   joint_position_tolerance_, joint_velocity_tolerance_) &&
+          testutils::isPositionBounded(trajectory, joint_limits) &&
+          testutils::isVelocityBounded(trajectory, joint_limits) &&
+          testutils::isAccelerationBounded(trajectory, joint_limits));
+}
+
+/**
+ * @brief Checks that each derived MoveItErrorCodeException contains the correct
+ * error code.
+ */
+TEST(TrajectoryGeneratorPTPTest, TestExceptionErrorCodeMapping)
+{
+  {
+    std::shared_ptr<PtpVelocityProfileSyncFailed> pvpsf_ex{ new PtpVelocityProfileSyncFailed("") };
+    EXPECT_EQ(pvpsf_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::FAILURE);
+  }
+
+  {
+    std::shared_ptr<PtpNoIkSolutionForGoalPose> pnisfgp_ex{ new PtpNoIkSolutionForGoalPose("") };
+    EXPECT_EQ(pnisfgp_ex->getErrorCode(), moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+  }
+}
+
+// Instantiate the test cases for robot model with and without gripper
+INSTANTIATE_TEST_SUITE_P(InstantiationName, TrajectoryGeneratorPTPTest,
+                         ::testing::Values(PARAM_MODEL_NO_GRIPPER_NAME, PARAM_MODEL_WITH_GRIPPER_NAME));
+/**
+ * @brief Construct a TrajectoryGeneratorPTP with no limits given
+ */
+TEST_P(TrajectoryGeneratorPTPTest, noLimits)
+{
+  LimitsContainer planner_limits;
+  EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits), TrajectoryGeneratorInvalidLimitsException);
+}
+
+/**
+ * @brief Send an empty request, define res.trajectory_
+ *
+ *  - Test Sequence:
+ *    1. Create request, define a trajectory in the result
+ *    2. assign at least one joint limit will all required limits
+ *
+ *  - Expected Results:
+ *    1. the res.trajectory_ should be cleared (contain no waypoints)
+ */
+TEST_P(TrajectoryGeneratorPTPTest, emptyRequest)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+
+  robot_trajectory::RobotTrajectoryPtr trajectory(
+      new robot_trajectory::RobotTrajectory(this->robot_model_, planning_group_));
+  robot_state::RobotState state(this->robot_model_);
+  trajectory->addPrefixWayPoint(state, 0);
+  res.trajectory_ = trajectory;
+
+  EXPECT_FALSE(res.trajectory_->empty());
+
+  EXPECT_FALSE(ptp_->generate(req, res));
+
+  EXPECT_TRUE(res.trajectory_->empty());
+}
+
+/**
+ * @brief Construct a TrajectoryGeneratorPTP with missing velocity limits
+ */
+TEST_P(TrajectoryGeneratorPTPTest, missingVelocityLimits)
+{
+  LimitsContainer planner_limits;
+
+  JointLimitsContainer joint_limits;
+  auto joint_models = robot_model_->getActiveJointModels();
+  JointLimit joint_limit;
+  joint_limit.has_velocity_limits = false;
+  joint_limit.has_acceleration_limits = true;
+  joint_limit.max_deceleration = -1;
+  joint_limit.has_deceleration_limits = true;
+  for (const auto& joint_model : joint_models)
+  {
+    ASSERT_TRUE(joint_limits.addLimit(joint_model->getName(), joint_limit))
+        << "Failed to add the limits for joint " << joint_model->getName();
+  }
+
+  planner_limits.setJointLimits(joint_limits);
+  EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits), TrajectoryGeneratorInvalidLimitsException);
+}
+
+/**
+ * @brief Construct a TrajectoryGeneratorPTP missing deceleration limits
+ */
+TEST_P(TrajectoryGeneratorPTPTest, missingDecelerationimits)
+{
+  LimitsContainer planner_limits;
+
+  JointLimitsContainer joint_limits;
+  const auto& joint_models = robot_model_->getActiveJointModels();
+  JointLimit joint_limit;
+  joint_limit.has_velocity_limits = true;
+  joint_limit.has_acceleration_limits = true;
+  joint_limit.has_deceleration_limits = false;
+  for (const auto& joint_model : joint_models)
+  {
+    ASSERT_TRUE(joint_limits.addLimit(joint_model->getName(), joint_limit))
+        << "Failed to add the limits for joint " << joint_model->getName();
+  }
+
+  planner_limits.setJointLimits(joint_limits);
+  EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits), TrajectoryGeneratorInvalidLimitsException);
+}
+
+/**
+ * @brief test the constructor when insufficient limits are given
+ *  - Test Sequence:
+ *    1. assign joint limits without acc and dec
+ *    2. assign at least one joint limit per group with all required limits
+ *
+ *  - Expected Results:
+ *    1. the constructor throws an exception of type
+ * TrajectoryGeneratorInvalidLimitsException
+ *    2. the constructor throws no exception
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testInsufficientLimit)
+{
+  /**********/
+  /* Step 1 */
+  /**********/
+  const auto& joint_models = robot_model_->getActiveJointModels();
+  ASSERT_TRUE(joint_models.size());
+
+  // joint limit with insufficient limits (no acc/dec limits)
+  JointLimit insufficient_limit;
+  insufficient_limit.has_position_limits = true;
+  insufficient_limit.max_position = 2.5;
+  insufficient_limit.min_position = -2.5;
+  insufficient_limit.has_velocity_limits = true;
+  insufficient_limit.max_velocity = 1.256;
+  insufficient_limit.has_acceleration_limits = false;
+  insufficient_limit.has_deceleration_limits = false;
+  JointLimitsContainer insufficient_joint_limits;
+  for (const auto& joint_model : joint_models)
+  {
+    ASSERT_TRUE(insufficient_joint_limits.addLimit(joint_model->getName(), insufficient_limit))
+        << "Failed to add the limits for joint " << joint_model->getName();
+  }
+  LimitsContainer insufficient_planner_limits;
+  insufficient_planner_limits.setJointLimits(insufficient_joint_limits);
+
+  EXPECT_THROW(
+      {
+        std::unique_ptr<TrajectoryGeneratorPTP> ptp_error(
+            new TrajectoryGeneratorPTP(robot_model_, insufficient_planner_limits));
+      },
+      TrajectoryGeneratorInvalidLimitsException);
+
+  /**********/
+  /* Step 2 */
+  /**********/
+  // joint limit with sufficient limits
+  JointLimit sufficient_limit;
+  sufficient_limit.has_position_limits = true;
+  sufficient_limit.max_position = 2.356;
+  sufficient_limit.min_position = -2.356;
+  sufficient_limit.has_velocity_limits = true;
+  sufficient_limit.max_velocity = 1;
+  sufficient_limit.has_acceleration_limits = true;
+  sufficient_limit.max_acceleration = 0.5;
+  sufficient_limit.has_deceleration_limits = true;
+  sufficient_limit.max_deceleration = -1;
+  JointLimitsContainer sufficient_joint_limits;
+  // fill joint limits container, such that it contains one sufficient limit and
+  // all others are insufficient
+  for (const auto& jmg : robot_model_->getJointModelGroups())
+  {
+    const auto& joint_names{ jmg->getActiveJointModelNames() };
+    ASSERT_FALSE(joint_names.empty());
+    ASSERT_TRUE(sufficient_joint_limits.addLimit(joint_names.front(), sufficient_limit))
+        << "Failed to add the limits for joint " << joint_names.front();
+
+    for (auto it = std::next(joint_names.begin()); it != joint_names.end(); ++it)
+    {
+      ASSERT_TRUE(sufficient_joint_limits.addLimit((*it), insufficient_limit))
+          << "Failed to add the limits for joint " << (*it);
+    }
+  }
+  LimitsContainer sufficient_planner_limits;
+  sufficient_planner_limits.setJointLimits(sufficient_joint_limits);
+
+  EXPECT_NO_THROW({
+    std::unique_ptr<TrajectoryGeneratorPTP> ptp_no_error(
+        new TrajectoryGeneratorPTP(robot_model_, sufficient_planner_limits));
+  });
+}
+
+/**
+ * @brief test the ptp trajectory generator of Cartesian space goal
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testCartesianGoal)
+{
+  //***************************************
+  //*** prepare the motion plan request ***
+  //***************************************
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+
+  // cartesian goal pose
+  geometry_msgs::PoseStamped pose;
+  pose.pose.position.x = 0.1;
+  pose.pose.position.y = 0.2;
+  pose.pose.position.z = 0.65;
+  pose.pose.orientation.w = 1.0;
+  pose.pose.orientation.x = 0.0;
+  pose.pose.orientation.y = 0.0;
+  pose.pose.orientation.z = 0.0;
+  std::vector<double> tolerance_pose(3, 0.01);
+  std::vector<double> tolerance_angle(3, 0.01);
+  moveit_msgs::Constraints pose_goal =
+      kinematic_constraints::constructGoalConstraints(target_link_, pose, tolerance_pose, tolerance_angle);
+  req.goal_constraints.push_back(pose_goal);
+
+  //****************************************
+  //*** test robot model without gripper ***
+  //****************************************
+  ASSERT_TRUE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  if (!res_msg.trajectory.joint_trajectory.points.empty())
+  {
+    EXPECT_TRUE(checkTrajectory(res_msg.trajectory.joint_trajectory, req, planner_limits_.getJointLimitContainer()));
+  }
+  else
+  {
+    FAIL() << "Received empty trajectory.";
+  }
+
+  // check goal pose
+  EXPECT_TRUE(testutils::isGoalReached(robot_model_, res_msg.trajectory.joint_trajectory, req, pose_norm_tolerance_));
+}
+
+/**
+ * @brief Check that missing a link_name in position or orientation constraints
+ * is detected
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testCartesianGoalMissingLinkNameConstraints)
+{
+  //***************************************
+  //*** prepare the motion plan request ***
+  //***************************************
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+
+  // cartesian goal pose
+  geometry_msgs::PoseStamped pose;
+  pose.pose.position.x = 0.1;
+  pose.pose.position.y = 0.2;
+  pose.pose.position.z = 0.65;
+  pose.pose.orientation.w = 1.0;
+  pose.pose.orientation.x = 0.0;
+  pose.pose.orientation.y = 0.0;
+  pose.pose.orientation.z = 0.0;
+  std::vector<double> tolerance_pose(3, 0.01);
+  std::vector<double> tolerance_angle(3, 0.01);
+  moveit_msgs::Constraints pose_goal =
+      kinematic_constraints::constructGoalConstraints(target_link_, pose, tolerance_pose, tolerance_angle);
+  req.goal_constraints.push_back(pose_goal);
+
+  planning_interface::MotionPlanRequest req_no_position_constaint_link_name = req;
+  req_no_position_constaint_link_name.goal_constraints.front().position_constraints.front().link_name = "";
+  ASSERT_FALSE(ptp_->generate(req_no_position_constaint_link_name, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+
+  planning_interface::MotionPlanRequest req_no_orientation_constaint_link_name = req;
+  req_no_orientation_constaint_link_name.goal_constraints.front().orientation_constraints.front().link_name = "";
+  ASSERT_FALSE(ptp_->generate(req_no_orientation_constaint_link_name, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+}
+
+/**
+ * @brief test the ptp trajectory generator of invalid Cartesian space goal
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testInvalidCartesianGoal)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+
+  geometry_msgs::PoseStamped pose;
+  pose.pose.position.x = 0.1;
+  pose.pose.position.y = 0.2;
+  pose.pose.position.z = 2.5;
+  pose.pose.orientation.w = 1.0;
+  pose.pose.orientation.x = 0.0;
+  pose.pose.orientation.y = 0.0;
+  pose.pose.orientation.z = 0.0;
+  std::vector<double> tolerance_pose(3, 0.01);
+  std::vector<double> tolerance_angle(3, 0.01);
+  moveit_msgs::Constraints pose_goal =
+      kinematic_constraints::constructGoalConstraints(target_link_, pose, tolerance_pose, tolerance_angle);
+  req.goal_constraints.push_back(pose_goal);
+
+  ASSERT_FALSE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION);
+  EXPECT_EQ(res.trajectory_, nullptr);
+}
+
+/**
+ * @brief test the ptp trajectory generator of joint space goal which is close
+ * enough to the start which does not need
+ * to plan the trajectory
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testJointGoalAlreadyReached)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+  ASSERT_TRUE(robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames().size())
+      << "No link exists in the planning group.";
+
+  moveit_msgs::Constraints gc;
+  moveit_msgs::JointConstraint jc;
+  jc.joint_name = robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames().front();
+  jc.position = 0.0;
+  gc.joint_constraints.push_back(jc);
+  req.goal_constraints.push_back(gc);
+
+  // TODO lin and circ has different settings
+  ASSERT_TRUE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  EXPECT_EQ(1u, res_msg.trajectory.joint_trajectory.points.size());
+}
+
+/**
+ * @brief test scaling factor
+ * with zero start velocity
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testScalingFactor)
+{
+  // create ptp generator with different limits
+  JointLimit joint_limit;
+  JointLimitsContainer joint_limits;
+
+  // set the joint limits
+  joint_limit.has_position_limits = true;
+  joint_limit.max_position = 2.967;
+  joint_limit.min_position = -2.967;
+  joint_limit.has_velocity_limits = true;
+  joint_limit.max_velocity = 2;
+  joint_limit.has_acceleration_limits = true;
+  joint_limit.max_acceleration = 1.5;
+  joint_limit.has_deceleration_limits = true;
+  joint_limit.max_deceleration = -3;
+  joint_limits.addLimit("prbt_joint_1", joint_limit);
+  joint_limit.max_position = 2.530;
+  joint_limit.min_position = -2.530;
+  joint_limits.addLimit("prbt_joint_2", joint_limit);
+  joint_limit.max_position = 2.356;
+  joint_limit.min_position = -2.356;
+  joint_limits.addLimit("prbt_joint_3", joint_limit);
+  joint_limit.max_position = 2.967;
+  joint_limit.min_position = -2.967;
+  joint_limits.addLimit("prbt_joint_4", joint_limit);
+  joint_limit.max_position = 2.967;
+  joint_limit.min_position = -2.967;
+  joint_limits.addLimit("prbt_joint_5", joint_limit);
+  joint_limit.max_position = 3.132;
+  joint_limit.min_position = -3.132;
+  joint_limits.addLimit("prbt_joint_6", joint_limit);
+  // add gripper limit such that generator does not complain about missing limit
+  joint_limits.addLimit("prbt_gripper_finger_left_joint", joint_limit);
+
+  pilz_industrial_motion_planner::LimitsContainer planner_limits;
+  planner_limits.setJointLimits(joint_limits);
+
+  // create the generator with new limits
+  ptp_.reset(new TrajectoryGeneratorPTP(robot_model_, planner_limits));
+
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+  req.start_state.joint_state.position[2] = 0.1;
+  moveit_msgs::Constraints gc;
+  moveit_msgs::JointConstraint jc;
+  jc.joint_name = "prbt_joint_1";
+  jc.position = 1.5;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_3";
+  jc.position = 2.1;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_6";
+  jc.position = 3.0;
+  gc.joint_constraints.push_back(jc);
+  req.goal_constraints.push_back(gc);
+  req.max_velocity_scaling_factor = 0.5;
+  req.max_acceleration_scaling_factor = 1.0 / 3.0;
+
+  ASSERT_TRUE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  EXPECT_TRUE(checkTrajectory(res_msg.trajectory.joint_trajectory, req, planner_limits_.getJointLimitContainer()));
+
+  // trajectory duration
+  EXPECT_NEAR(4.5, res.trajectory_->getWayPointDurationFromStart(res.trajectory_->getWayPointCount()),
+              joint_acceleration_tolerance_);
+
+  // way point at 1s
+  int index;
+  index = testutils::getWayPointIndex(res.trajectory_, 1.0);
+  // joint_1
+  EXPECT_NEAR(0.125, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(1.0 / 6.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[4], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[4], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[4], joint_acceleration_tolerance_);
+
+  // way point at 2s
+  index = testutils::getWayPointIndex(res.trajectory_, 2.0);
+  // joint_1
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.0 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[1], joint_acceleration_tolerance_);
+
+  // way point at 3s
+  index = testutils::getWayPointIndex(res.trajectory_, 3.0);
+  // joint_1
+  EXPECT_NEAR(1, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(4.0 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2], joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[3], joint_acceleration_tolerance_);
+
+  // way point at 4s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.0);
+  // joint_1
+  EXPECT_NEAR(2.875 / 2.0, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(5.75 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.875, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(-1.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+
+  // way point at 4.5s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.5);
+  // joint_1
+  EXPECT_NEAR(1.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.1, res_msg.trajectory.joint_trajectory.points[index].positions[2], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(3.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+}
+
+/**
+ * @brief test the ptp trajectory generator of joint space goal
+ * with (almost) zero start velocity
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testJointGoalAndAlmostZeroStartVelocity)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+  req.start_state.joint_state.position[2] = 0.1;
+
+  // Set velocity to all 1e-16
+  req.start_state.joint_state.velocity = std::vector<double>(req.start_state.joint_state.position.size(), 1e-16);
+
+  moveit_msgs::Constraints gc;
+  moveit_msgs::JointConstraint jc;
+  jc.joint_name = "prbt_joint_1";
+  jc.position = 1.5;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_3";
+  jc.position = 2.1;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_6";
+  jc.position = 3.0;
+  gc.joint_constraints.push_back(jc);
+  req.goal_constraints.push_back(gc);
+
+  ASSERT_TRUE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  EXPECT_TRUE(checkTrajectory(res_msg.trajectory.joint_trajectory, req, planner_limits_.getJointLimitContainer()));
+
+  // trajectory duration
+  EXPECT_NEAR(4.5, res.trajectory_->getWayPointDurationFromStart(res.trajectory_->getWayPointCount()),
+              joint_acceleration_tolerance_);
+
+  // way point at 1s
+  int index;
+  index = testutils::getWayPointIndex(res.trajectory_, 1.0);
+  // joint_1
+  EXPECT_NEAR(0.125, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(1.0 / 6.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[4], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[4], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[4], joint_acceleration_tolerance_);
+
+  // way point at 2s
+  index = testutils::getWayPointIndex(res.trajectory_, 2.0);
+  // joint_1
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.0 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[1], joint_acceleration_tolerance_);
+
+  // way point at 3s
+  index = testutils::getWayPointIndex(res.trajectory_, 3.0);
+  // joint_1
+  EXPECT_NEAR(1, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(4.0 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2], joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+  // other joints
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[3], joint_acceleration_tolerance_);
+
+  // way point at 4s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.0);
+  // joint_1
+  EXPECT_NEAR(2.875 / 2.0, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(5.75 / 3.0 + 0.1, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.875, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(-1.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+
+  // way point at 4.5s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.5);
+  // joint_1
+  EXPECT_NEAR(1.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.1, res_msg.trajectory.joint_trajectory.points[index].positions[2], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(3.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+
+  // Check that velocity at the end is all zero
+  EXPECT_TRUE(std::all_of(res_msg.trajectory.joint_trajectory.points.back().velocities.cbegin(),
+                          res_msg.trajectory.joint_trajectory.points.back().velocities.cend(),
+                          [this](double v) { return std::fabs(v) < this->joint_velocity_tolerance_; }));
+
+  // Check that acceleration at the end is all zero
+  EXPECT_TRUE(std::all_of(res_msg.trajectory.joint_trajectory.points.back().accelerations.cbegin(),
+                          res_msg.trajectory.joint_trajectory.points.back().accelerations.cend(),
+                          [this](double v) { return std::fabs(v) < this->joint_acceleration_tolerance_; }));
+}
+
+/**
+ * @brief test the ptp_ trajectory generator of joint space goal
+ * with zero start velocity
+ */
+TEST_P(TrajectoryGeneratorPTPTest, testJointGoalNoStartVel)
+{
+  planning_interface::MotionPlanResponse res;
+  planning_interface::MotionPlanRequest req;
+  testutils::createDummyRequest(robot_model_, planning_group_, req);
+  req.start_state.joint_state.position[4] = 0.3;
+  req.start_state.joint_state.position[2] = 0.11;
+
+  moveit_msgs::Constraints gc;
+  moveit_msgs::JointConstraint jc;
+
+  jc.joint_name = "prbt_joint_1";
+  jc.position = 1.5;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_2";
+  jc.position = -1.5;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_3";
+  jc.position = 2.11;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_4";
+  jc.position = -2.0;
+  gc.joint_constraints.push_back(jc);
+  jc.joint_name = "prbt_joint_6";
+  jc.position = 3.0;
+  gc.joint_constraints.push_back(jc);
+  req.goal_constraints.push_back(gc);
+
+  ASSERT_TRUE(ptp_->generate(req, res));
+  EXPECT_EQ(res.error_code_.val, moveit_msgs::MoveItErrorCodes::SUCCESS);
+
+  moveit_msgs::MotionPlanResponse res_msg;
+  res.getMessage(res_msg);
+  EXPECT_TRUE(checkTrajectory(res_msg.trajectory.joint_trajectory, req, planner_limits_.getJointLimitContainer()));
+
+  // trajectory duration
+  EXPECT_NEAR(4.5, res.trajectory_->getWayPointDurationFromStart(res.trajectory_->getWayPointCount()),
+              joint_position_tolerance_);
+
+  // way point at 0s
+  // joint_1
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].velocities[0], joint_velocity_tolerance_);
+  // joint_2
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].velocities[1], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(0.11, res_msg.trajectory.joint_trajectory.points[0].positions[2], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].velocities[2], joint_velocity_tolerance_);
+  // joint_4
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].velocities[3], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[0].velocities[5], joint_velocity_tolerance_);
+
+  // way point at 1s
+  int index;
+  index = testutils::getWayPointIndex(res.trajectory_, 1.0);
+  // joint_1
+  EXPECT_NEAR(0.125, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_2
+  EXPECT_NEAR(-0.125, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(-0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  EXPECT_NEAR(-0.25, res_msg.trajectory.joint_trajectory.points[index].accelerations[1], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(1.0 / 6.0 + 0.11, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_4
+  EXPECT_NEAR(-1.0 / 6.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(-1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  EXPECT_NEAR(-1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[3],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+
+  // way point at 2s
+  index = testutils::getWayPointIndex(res.trajectory_, 2.0);
+  // joint_1
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_2
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.0 / 3.0 + 0.11, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_4
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+
+  // way point at 3s
+  index = testutils::getWayPointIndex(res.trajectory_, 3.0);
+  // joint_1
+  EXPECT_NEAR(1, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_2
+  EXPECT_NEAR(-1, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[1], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(4.0 / 3.0 + 0.11, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2], joint_acceleration_tolerance_);
+  // joint_4
+  EXPECT_NEAR(-4.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[3], joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(1.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+
+  // way point at 4s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.0);
+  // joint_1
+  EXPECT_NEAR(2.875 / 2.0, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  EXPECT_NEAR(-0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[0], joint_acceleration_tolerance_);
+  // joint_2
+  EXPECT_NEAR(-2.875 / 2.0, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(-0.25, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].accelerations[1], joint_acceleration_tolerance_);
+  // joint_3
+  EXPECT_NEAR(5.75 / 3.0 + 0.11, res_msg.trajectory.joint_trajectory.points[index].positions[2],
+              joint_position_tolerance_);
+  EXPECT_NEAR(1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  EXPECT_NEAR(-2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[2],
+              joint_acceleration_tolerance_);
+  // joint_4
+  EXPECT_NEAR(-5.75 / 3.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(-1.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  EXPECT_NEAR(2.0 / 3.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[3],
+              joint_acceleration_tolerance_);
+  // joint_6
+  EXPECT_NEAR(2.875, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.5, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+  EXPECT_NEAR(-1.0, res_msg.trajectory.joint_trajectory.points[index].accelerations[5], joint_acceleration_tolerance_);
+
+  // way point at 4.5s
+  index = testutils::getWayPointIndex(res.trajectory_, 4.5);
+  // joint_1
+  EXPECT_NEAR(1.5, res_msg.trajectory.joint_trajectory.points[index].positions[0], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[0], joint_velocity_tolerance_);
+  // joint_2
+  EXPECT_NEAR(-1.5, res_msg.trajectory.joint_trajectory.points[index].positions[1], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[1], joint_velocity_tolerance_);
+  // joint_3
+  EXPECT_NEAR(2.11, res_msg.trajectory.joint_trajectory.points[index].positions[2], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[2], joint_velocity_tolerance_);
+  // joint_4
+  EXPECT_NEAR(-2.0, res_msg.trajectory.joint_trajectory.points[index].positions[3], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[3], joint_velocity_tolerance_);
+  // joint_6
+  EXPECT_NEAR(3.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+  EXPECT_NEAR(0.0, res_msg.trajectory.joint_trajectory.points[index].velocities[5], joint_velocity_tolerance_);
+
+  // Check last point
+  EXPECT_NEAR(3.0, res_msg.trajectory.joint_trajectory.points[index].positions[5], joint_position_tolerance_);
+
+  // Check that velocity at the end is all zero
+  EXPECT_TRUE(std::all_of(res_msg.trajectory.joint_trajectory.points.back().velocities.cbegin(),
+                          res_msg.trajectory.joint_trajectory.points.back().velocities.cend(),
+                          [this](double v) { return std::fabs(v) < this->joint_velocity_tolerance_; }));
+
+  // Check that acceleration at the end is all zero
+  EXPECT_TRUE(std::all_of(res_msg.trajectory.joint_trajectory.points.back().accelerations.cbegin(),
+                          res_msg.trajectory.joint_trajectory.points.back().accelerations.cend(),
+                          [this](double v) { return std::fabs(v) < this->joint_acceleration_tolerance_; }));
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unittest_trajectory_generator_ptp");
+  ros::NodeHandle nh;
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.test b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.test
new file mode 100644
index 0000000000..86dbff3599
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.test
@@ -0,0 +1,56 @@
+<!--
+Software License Agreement (BSD License)
+
+Copyright (c) 2018 Pilz GmbH & Co. KG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of Pilz GmbH & Co. KG nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+    <!-- Parametrized test running with and without gripper! -->
+
+    <!-- Load the context with and without the pg70 -->
+    <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch" />
+    <include file="$(find pilz_industrial_motion_planner)/test/test_robots/prbt/launch/test_context.launch">
+      <arg name="gripper" value="pg70" />
+    </include>
+
+    <!-- run test -->
+    <test pkg="pilz_industrial_motion_planner" test-name="unittest_trajectory_generator_ptp"
+    type="unittest_trajectory_generator_ptp">
+      <param name="planning_group" value="manipulator" />
+      <param name="target_link" value="prbt_tcp" />
+      <param name="joint_position_tolerance" value="1.0e-8" />
+      <param name="joint_velocity_tolerance" value="1.0e-8" />
+      <param name="joint_acceleration_tolerance" value="1.0e-8" />
+      <param name="pose_norm_tolerance" value="1.0e-6" />
+      <rosparam command="load" file="$(find moveit_resources_prbt_moveit_config)/config/joint_limits.yaml" />
+    </test>
+
+</launch>
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_velocity_profile_atrap.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_velocity_profile_atrap.cpp
new file mode 100644
index 0000000000..4962ab5301
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner/test/unittest_velocity_profile_atrap.cpp
@@ -0,0 +1,631 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include "pilz_industrial_motion_planner/velocity_profile_atrap.h"
+
+// Modultest Level1 of Class VelocityProfileATrap
+#define EPSILON 1.0e-10
+
+TEST(ATrapTest, Test_SetProfile1)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // can reach the maximal velocity
+  vp.SetProfile(3, 35);
+
+  EXPECT_NEAR(vp.Duration(), 11.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 7.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(4.5), 17.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(4.5), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(4.5), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(7), 27.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(7), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(7), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(9), 33.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(9), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(9), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(11), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(11), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(11), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(12), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(12), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(12), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_SetProfile2)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(6, 2, 1.5);
+
+  // just arrive the maximal velocity
+  vp.SetProfile(5, 26);
+
+  EXPECT_NEAR(vp.Duration(), 7.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1.5), 7.25, EPSILON);
+  EXPECT_NEAR(vp.Vel(1.5), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1.5), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 14.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 6.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(5), 23.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(5), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(5), -1.5, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(7), 26.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(7), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(7), -1.5, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(8), 26.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(8), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(8), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_SetProfile3)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(6, 2, 1);
+
+  // cannot reach the maximal velocity
+  vp.SetProfile(5, 17);
+
+  EXPECT_NEAR(vp.Duration(), 6.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 6.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 9.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(4), 15.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(4), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(4), -1, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(6), 17.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(6), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(6), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(7), 17.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(7), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(7), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_SetProfile4)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(6, 2, 1);
+
+  // empty profile
+  vp.SetProfile(5, 5);
+
+  EXPECT_NEAR(vp.Duration(), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+}
+
+/**
+ * @brief Test Description
+ *
+ * Test Sequence:
+ *   1. Generate two profiles with same specifica
+ *   2. Set double EPSILON as duration of the first
+ *   3. Set the resulting duration as the duration of the second trajectory
+ *
+ * Expected Results:
+ *   1. -
+ *   2. -
+ *   3. Both profiles should be the same (checked with testpoints in the middle
+ * of each phase
+ */
+TEST(ATrapTest, Test_SetProfileToLowDuration)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp1 =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+  pilz_industrial_motion_planner::VelocityProfileATrap vp2 = vp1;
+
+  vp1.SetProfileDuration(3, 35, std::numeric_limits<double>::epsilon());
+  double fastest_duration = vp1.Duration();
+
+  vp2.SetProfileDuration(3, 35, fastest_duration);
+
+  EXPECT_TRUE(vp1 == vp2) << "Not equal! Profile 1: \n" << vp1 << "\n Profile 2: " << vp2;
+}
+
+/**
+ * @brief Define Profile with setProfileAllDurations with to low duration
+ *
+ * Test Sequence:
+ *    1. Define a profile with SetProfile(double, double), this will yield the
+ * fastest duration
+ *    2. Try to define a profile with setProfileAllDurations with a faster
+ * combination of durations
+ *
+ * Expected Results:
+ *    1.
+ *    2. Both trajectories should be equal
+ */
+TEST(ATrapTest, Test_setProfileAllDurationsToLowDuration)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp1 =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+  pilz_industrial_motion_planner::VelocityProfileATrap vp2 = vp1;
+
+  vp1.SetProfile(3, 35);
+  double fastest_duration = vp1.Duration();
+
+  // Trigger Duration()>(3*fastest_duration/4)
+  vp2.setProfileAllDurations(3, 35, fastest_duration / 4, fastest_duration / 4, fastest_duration / 4);
+
+  EXPECT_TRUE(vp1 == vp2) << "Not equal! Profile 1: \n" << vp1 << "\n Profile 2: " << vp2;
+}
+
+/**
+ * @brief Define Profile with setProfileStartVelocity with zero velocity
+ *
+ * Test Sequence:
+ *    1. Define a profile with SetProfile(double, double)
+ *    2. Try to define a profile with setProfileStartVelocity with zero velocity
+ *
+ * Expected Results:
+ *    1.
+ *    2. Both trajectories should be equal
+ */
+TEST(ATrapTest, Test_SetProfileZeroStartVelocity)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp1 =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+  pilz_industrial_motion_planner::VelocityProfileATrap vp2 = vp1;
+
+  vp1.SetProfile(1, 2);
+
+  vp2.setProfileStartVelocity(1, 2, 0);  // <-- Set zero velocity
+  EXPECT_TRUE(vp1 == vp2) << "Not equal! Profile 1: \n" << vp1 << "\n Profile 2: " << vp2;
+}
+
+TEST(ATrapTest, Test_SetProfileDuration)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // set the duration as twice as the fastest profile
+  vp.SetProfileDuration(3, 35, 22.0);
+
+  EXPECT_NEAR(vp.Duration(), 22.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 1.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), 0.5, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(4), 7.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(4), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(4), 0.5, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(9), 17.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(9), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(9), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(14), 27.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(14), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(14), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(18), 33.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(18), 1.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(18), -0.25, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(22), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(22), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(22), -0.25, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(23), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(23), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(23), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileAllDurations1)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // set durations
+  EXPECT_TRUE(vp.setProfileAllDurations(3, 35, 3.0, 4.0, 5.0));
+
+  EXPECT_NEAR(vp.Duration(), 12.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 3.0 + 8.0 / 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 8.0 / 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), 4.0 / 3.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 9.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), 4.0 / 3.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(5), 17.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(5), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(5), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(7), 25.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(7), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(7), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(9), 31.4, EPSILON);
+  EXPECT_NEAR(vp.Vel(9), 2.4, EPSILON);
+  EXPECT_NEAR(vp.Acc(9), -0.8, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(12), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(12), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(12), -0.8, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(13), 35.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(13), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(13), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileAllDurations2)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // invalid maximal velocity
+  EXPECT_FALSE(vp.setProfileAllDurations(3, 35, 3.0, 3.0, 5.0));
+  // invalid acceleration
+  EXPECT_FALSE(vp.setProfileAllDurations(3, 35, 1.0, 4.0, 7.0));
+  // invalid deceleration
+  EXPECT_FALSE(vp.setProfileAllDurations(3, 35, 7.0, 4.0, 1.0));
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity1)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // invalide cases
+  EXPECT_FALSE(vp.setProfileStartVelocity(3.0, 5.0, -1.0));
+
+  // only deceleration
+  vp.setProfileStartVelocity(3.0, 5.0, 2.0);
+
+  EXPECT_NEAR(vp.Duration(), 2.0, EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 2.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), 0.0, EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 4.5, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 1.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity2)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // deceleration, acceleration and deceleration
+  vp.setProfileStartVelocity(3.0, 4.0, 2.0);
+  EXPECT_NEAR(vp.Duration(), 2.0 + 3 * sqrt(1.0 / 3.0), EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 2.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), sqrt(1.0 / 3.0), EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 2 * sqrt(1.0 / 3.0), EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 4.5, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 1.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 5.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2.1), 4.99, EPSILON);
+  EXPECT_NEAR(vp.Vel(2.1), -0.2, EPSILON);
+  EXPECT_NEAR(vp.Acc(2.1), -2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2 + sqrt(1.0 / 3.0)), 5.0 - 1.0 / 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2 + sqrt(1.0 / 3.0)), -2 * sqrt(1.0 / 3.0), EPSILON);
+  EXPECT_NEAR(vp.Acc(2 + sqrt(1.0 / 3.0)), -2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2 + 3 * sqrt(1.0 / 3.0) - 0.2), 4.02, EPSILON);
+  EXPECT_NEAR(vp.Vel(2 + 3 * sqrt(1.0 / 3.0) - 0.2), -0.2, EPSILON);
+  EXPECT_NEAR(vp.Acc(2 + 3 * sqrt(1.0 / 3.0) - 0.2), 1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2 + 3 * sqrt(1.0 / 3.0)), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(2 + 3 * sqrt(1.0 / 3.0)), 0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2 + 3 * sqrt(1.0 / 3.0)), 1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(5), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(5), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(5), 0.0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity3)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // acceleration, deceleration
+  vp.setProfileStartVelocity(3, 14, 2);
+  EXPECT_NEAR(vp.Duration(), 5.0, EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 1.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), 0.0, EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 4.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 6.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 9.5, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 12.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(5), 14.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(5), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(5), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(6), 14, EPSILON);
+  EXPECT_NEAR(vp.Vel(6), 0, EPSILON);
+  EXPECT_NEAR(vp.Acc(6), 0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity4)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // acceleration, constant, deceleration
+  vp.setProfileStartVelocity(3, 14, 2);
+  EXPECT_NEAR(vp.Duration(), 5.0, EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 1.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), 0.0, EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 4.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 6.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 9.5, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 12.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(5), 14.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(5), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(5), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(6), 14, EPSILON);
+  EXPECT_NEAR(vp.Vel(6), 0, EPSILON);
+  EXPECT_NEAR(vp.Acc(6), 0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity5)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // acceleration, constant, deceleration
+  vp.setProfileStartVelocity(3, 18, 2);
+  EXPECT_NEAR(vp.Duration(), 6.0, EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 1.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), 1.0, EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 4.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 6.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 2.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(2), 10, EPSILON);
+  EXPECT_NEAR(vp.Vel(2), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(2), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 13.5, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(4), 16.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(4), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(4), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(6), 18.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(6), 0.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(6), -1.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(7), 18, EPSILON);
+  EXPECT_NEAR(vp.Vel(7), 0, EPSILON);
+  EXPECT_NEAR(vp.Acc(7), 0, EPSILON);
+}
+
+TEST(ATrapTest, Test_setProfileStartVelocity6)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 2, 1);
+
+  // acceleration, constant, deceleration
+  vp.setProfileStartVelocity(3, 15, 4);
+  EXPECT_NEAR(vp.Duration(), 5.0, EPSILON);
+  EXPECT_NEAR(vp.firstPhaseDuration(), 0.0, EPSILON);
+  EXPECT_NEAR(vp.secondPhaseDuration(), 1.0, EPSILON);
+  EXPECT_NEAR(vp.thirdPhaseDuration(), 4.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(-1), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(-1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(-1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(0), 3.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(0), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(0), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(1), 7.0, EPSILON);
+  EXPECT_NEAR(vp.Vel(1), 4.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(1), 0.0, EPSILON);
+
+  EXPECT_NEAR(vp.Pos(3), 13, EPSILON);
+  EXPECT_NEAR(vp.Vel(3), 2.0, EPSILON);
+  EXPECT_NEAR(vp.Acc(3), -1.0, EPSILON);
+}
+
+/**
+ * @brief Check that the clone function returns a equal profile
+ *
+ * Note: Definitions other than setProfileAllDurations could fail due to numeric
+ * noise
+ */
+TEST(ATrapTest, Test_Clone)
+{
+  pilz_industrial_motion_planner::VelocityProfileATrap vp =
+      pilz_industrial_motion_planner::VelocityProfileATrap(4, 1, 1);
+  vp.setProfileAllDurations(0, 10, 10, 10, 10);
+  pilz_industrial_motion_planner::VelocityProfileATrap* vp_clone =
+      static_cast<pilz_industrial_motion_planner::VelocityProfileATrap*>(vp.Clone());
+  EXPECT_EQ(vp, *vp_clone);
+  delete vp_clone;
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
new file mode 100644
index 0000000000..241af55e15
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
@@ -0,0 +1,84 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pilz_industrial_motion_planner_testutils
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.10 (2019-12-04)
+-------------------
+
+0.4.9 (2019-11-28)
+------------------
+
+0.4.8 (2019-11-22)
+------------------
+
+0.4.7 (2019-09-10)
+------------------
+* Fix clang-tidy issues
+* integrate clang-tidy via CMake flag
+* Contributors: Pilz GmbH and Co. KG
+
+0.4.6 (2019-09-04)
+------------------
+
+0.4.5 (2019-09-03)
+------------------
+
+0.4.4 (2019-06-19)
+------------------
+
+0.4.3 (2019-04-08)
+------------------
+* update package dependencies
+* Add missing intialization
+* Add getter for CircJointInterimCart in XMLTestdataLoader
+
+0.4.2 (2019-03-13)
+------------------
+
+0.4.1 (2019-02-27)
+------------------
+
+0.3.6 (2019-02-26)
+------------------
+
+0.3.5 (2019-02-06)
+------------------
+
+0.3.4 (2019-02-05)
+------------------
+* Add high level abstraction data classes to represent configuration of robot
+* Add high level abstraction data classes to represent different command types
+* Add functions to TestdataLoader returning the high level abstraction classes
+
+0.4.0 (2018-12-18)
+------------------
+* Use Eigen::Isometry3d to keep up with the recent changes in moveit
+* Contributors: Chris Lalancette
+
+0.3.1 (2018-12-17)
+------------------
+* Add RobotMotionObserver in testutils
+* Contributors: Pilz GmbH and Co. KG
+
+0.3.0 (2018-11-28)
+------------------
+* rename get_current_joint_values -> get_current_joint_states
+
+0.2.2 (2018-09-26)
+------------------
+* fix missing dependency for melodic
+* Contributors: Pilz GmbH and Co. KG
+
+0.2.1 (2018-09-25)
+------------------
+
+0.1.1 (2018-09-25)
+------------------
+
+0.2.0 (2018-09-14)
+------------------
+
+0.1.0 (2018-09-14)
+------------------
+* xml test data loader.
+* Contributors: Pilz GmbH and Co. KG
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
new file mode 100644
index 0000000000..fc692408c9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(pilz_industrial_motion_planner_testutils)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+add_definitions(-std=c++11)
+add_definitions(-Wall)
+add_definitions(-Wextra)
+add_definitions(-Wno-unused-parameter)
+add_definitions(-Werror)
+
+find_package(catkin REQUIRED COMPONENTS
+  eigen_conversions
+  moveit_core
+  moveit_msgs
+)
+
+find_package(Boost REQUIRED COMPONENTS)
+
+################
+## Clang tidy ##
+################
+if(CATKIN_ENABLE_CLANG_TIDY)
+  find_program(
+    CLANG_TIDY_EXE
+    NAMES "clang-tidy"
+    DOC "Path to clang-tidy executable"
+    )
+  if(NOT CLANG_TIDY_EXE)
+    message(FATAL_ERROR "clang-tidy not found.")
+  else()
+    message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
+    set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+  endif()
+endif()
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS moveit_core moveit_msgs
+  DEPENDS Boost
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/cartesianconfiguration.cpp
+  src/jointconfiguration.cpp
+  src/robotconfiguration.cpp
+  src/sequence.cpp
+  src/xml_testdata_loader.cpp
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS})
+
+#############
+## Install ##
+#############
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/README.md b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/README.md
new file mode 100644
index 0000000000..d24acad427
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/README.md
@@ -0,0 +1,34 @@
+# Test data provider/loader
+
+## General information
+- Use as little as possible test points (Reason: Reduces maintenance overhead).
+- Test points should be defined following the concept shown below.
+![TestDataConcept](../../pilz_trajectory_generation/test/test_robots/concept_testdata.png)
+- Test points can be defined in joint space or Cartesian space. However, one
+test point should not be defined in both spaces (data redundancy)
+- If a test point is defined in Cartesian space, then also state the
+corresponding seed.
+- Store preferably only valid test points and test commands. You can use the
+valid test points and test commands to create invalid test points or commands if
+needed (Reason: Reduces maintenance overhead).
+
+## Diagrams/ Data types
+- The following diagrams show the main classes which can be loaded from the
+test data provider/loader, and the relationship between them.
+
+### Robot configurations
+![RobotConfigurations](diagrams/diag_class_robot_configurations.png)
+
+### Command types
+![Commands](diagrams/diag_class_commands.png)
+
+### Circ auxiliary types
+![AuxiliaryTypes](diagrams/diag_class_circ_auxiliary.png)
+
+## Usage
+The usage of the TestDataLoader is as shown below.
+![RobotConfigurations](diagrams/diag_seq_testdataloader_usage.png)
+
+The idea is that the TestdataLoader returns high level data abstraction classes
+which can then directly be used to generate/build the ROS messages needed
+for testing.
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.png b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.png
new file mode 100644
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diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.uxf b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.uxf
new file mode 100644
index 0000000000..a1f7b6b415
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.uxf
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <zoom_level>10</zoom_level>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>40</x>
+      <y>100</y>
+      <w>380</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>CartesianPathConstraintsBuilder
+--
++ to PathConstraints() : moveit_msgs::Constraints</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>410</x>
+      <y>430</y>
+      <w>210</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>CartesianCenter</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>460</x>
+      <y>90</y>
+      <w>470</w>
+      <h>80</h>
+    </coordinates>
+    <panel_attributes>template=ConfigType&gt; 
+CircAuxiliary
+{abstract}
+--
++ toPathConstraints(): moveit_msgs::Constraints</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>470</x>
+      <y>280</y>
+      <w>230</w>
+      <h>50</h>
+    </coordinates>
+    <panel_attributes>template=ConfigType, Builder&gt; 
+Center</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>730</x>
+      <y>280</y>
+      <w>220</w>
+      <h>50</h>
+    </coordinates>
+    <panel_attributes>template=ConfigType, Builder&gt; 
+Interim</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>730</x>
+      <y>160</y>
+      <w>30</w>
+      <h>150</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;.</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;130.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>470</x>
+      <y>160</y>
+      <w>40</w>
+      <h>150</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;.</panel_attributes>
+    <additional_attributes>20.0;10.0;17.0;130.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>490</x>
+      <y>320</y>
+      <w>340</w>
+      <h>130</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;.
+&lt;&lt;bind&gt;&gt; 
+&lt;ConfigType-&gt;CartesianConfiguration&gt;
+&lt;Builder-&gt;CartesianPathConstraintsBuilder&gt;</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;110.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>710</x>
+      <y>510</y>
+      <w>210</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>CartesianInterim</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>800</x>
+      <y>320</y>
+      <w>340</w>
+      <h>210</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;.
+
+
+
+
+
+
+&lt;&lt;bind&gt;&gt; 
+&lt;ConfigType-&gt;CartesianConfiguration&gt;
+&lt;Builder-&gt;CartesianPathConstraintsBuilder&gt;</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;190.0</additional_attributes>
+  </element>
+</diagram>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.png b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.png
new file mode 100644
index 0000000000000000000000000000000000000000..74900cf3381f2af13a6d3064c368752c7be8c92f
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diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.uxf b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.uxf
new file mode 100644
index 0000000000..1c57939fb2
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.uxf
@@ -0,0 +1,175 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <zoom_level>10</zoom_level>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>530</x>
+      <y>370</y>
+      <w>560</w>
+      <h>150</h>
+    </coordinates>
+    <panel_attributes>template=StartType, GoalType 
+BaseCommand
+{abstract}
+--
++ setStartConfiguration(...)
++ getStartConfiguration(...) : StartType
+
++ setGoalConfiguration(...)
++ getGoalConfiguration(...) : GoalType
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>910</x>
+      <y>560</y>
+      <w>230</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>template=StartType, GoalType 
+Ptp</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>970</x>
+      <y>510</y>
+      <w>30</w>
+      <h>80</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>710</x>
+      <y>510</y>
+      <w>30</w>
+      <h>80</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>650</x>
+      <y>560</y>
+      <w>230</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>template=StartType, GoalType 
+Lin</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>530</x>
+      <y>670</y>
+      <w>300</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>template=StartType, AuxiliaryType, GoalType 
+Circ</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>540</x>
+      <y>510</y>
+      <w>30</w>
+      <h>190</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;170.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>50</x>
+      <y>200</y>
+      <w>400</w>
+      <h>150</h>
+    </coordinates>
+    <panel_attributes>Sequence
+--
++ add(cmd : MotionCmdUPtr)
++ setAllBlendRadiiToZero()
++ getBlendRadius(index: int)
++ getCmd() : MotionCmd&amp;
+
++ toRequest() : moveit_msgs::MotionSequenceRequest</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>590</x>
+      <y>200</y>
+      <w>390</w>
+      <h>120</h>
+    </coordinates>
+    <panel_attributes>MotionCmd
+{abstract}
+--
++ setPlanningGroup(...)
++ setTargetLink(...)
++ setVelocityScale(...)
++ setAccelerationScale(...)</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>750</x>
+      <y>310</y>
+      <w>30</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>640</x>
+      <y>80</y>
+      <w>260</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>MPReqConvertible
+{abstract}
+--
+/+ toRequest(): MotionPlanRequest/</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>750</x>
+      <y>130</y>
+      <w>30</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>440</x>
+      <y>280</y>
+      <w>170</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;&lt;&lt;-
+m2=*</panel_attributes>
+    <additional_attributes>10.0;10.0;150.0;10.0</additional_attributes>
+  </element>
+</diagram>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.png b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.png
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diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.uxf b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.uxf
new file mode 100644
index 0000000000..a6d1c2b94b
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.uxf
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <zoom_level>10</zoom_level>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>330</x>
+      <y>210</y>
+      <w>280</w>
+      <h>70</h>
+    </coordinates>
+    <panel_attributes>RobotConfiguration
+--
++ setRobotModel()
++ setGroupName()</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>220</x>
+      <y>340</y>
+      <w>170</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>JointConfiguration</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>530</x>
+      <y>340</y>
+      <w>170</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>CartesianConfiguration</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>310</x>
+      <y>270</y>
+      <w>110</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>90.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>480</x>
+      <y>270</y>
+      <w>140</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;120.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>700</x>
+      <y>200</y>
+      <w>210</w>
+      <h>40</h>
+    </coordinates>
+    <panel_attributes>Defines a configuration of the robot in space</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>600</x>
+      <y>210</y>
+      <w>120</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>lt=..</panel_attributes>
+    <additional_attributes>10.0;10.0;100.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>20</x>
+      <y>20</y>
+      <w>450</w>
+      <h>80</h>
+    </coordinates>
+    <panel_attributes>RobotStateMsgConvertible
+{abstract}
+--
+/+ toMoveitMsgRobotState() : moveit_msgs::RobotState /</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>490</x>
+      <y>20</y>
+      <w>400</w>
+      <h>80</h>
+    </coordinates>
+    <panel_attributes>GoalConstraintMsgConvertible
+{abstract}
+--
+/+ toGoalConstraints() : moveit_msgs::Constraints /</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>470</x>
+      <y>90</y>
+      <w>150</w>
+      <h>140</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>130.0;10.0;10.0;120.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>270</x>
+      <y>90</y>
+      <w>160</w>
+      <h>140</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;140.0;120.0</additional_attributes>
+  </element>
+</diagram>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.png b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.png
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diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.uxf b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.uxf
new file mode 100644
index 0000000000..9707b26ea5
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.uxf
@@ -0,0 +1,215 @@
+<?xml version="1.0" encoding="UTF-8"?><diagram program="umlet" version="13.3">
+  <help_text>// Uncomment the following line to change the fontsize and font:
+fontsize=10
+// fontfamily=SansSerif //possible: SansSerif,Serif,Monospaced
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// Welcome to UMLet!
+//
+// Double-click on elements to add them to the diagram, or to copy them
+// Edit elements by modifying the text in this panel
+// Hold Ctrl to select multiple elements
+// Use Ctrl+mouse to select via lasso
+//
+// Use +/- or Ctrl+mouse wheel to zoom
+// Drag a whole relation at its central square icon
+//
+// Press Ctrl+C to copy the whole diagram to the system clipboard (then just paste it to, eg, Word)
+// Edit the files in the "palettes" directory to create your own element palettes
+//
+// Select "Custom Elements &gt; New..." to create new element types
+//////////////////////////////////////////////////////////////////////////////////////////////
+
+
+// This text will be stored with each diagram;  use it for notes.</help_text>
+  <zoom_level>12</zoom_level>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>252</x>
+      <y>96</y>
+      <w>168</w>
+      <h>36</h>
+    </coordinates>
+    <panel_attributes>_:ExampleTestClass_</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>324</x>
+      <y>120</y>
+      <w>36</w>
+      <h>408</h>
+    </coordinates>
+    <panel_attributes>lt=.
+layer=-10</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;320.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>708</x>
+      <y>96</y>
+      <w>144</w>
+      <h>36</h>
+    </coordinates>
+    <panel_attributes>_:TestDataLoader_</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>768</x>
+      <y>120</y>
+      <w>36</w>
+      <h>396</h>
+    </coordinates>
+    <panel_attributes>lt=.
+layer=-10</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;310.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>324</x>
+      <y>156</y>
+      <w>24</w>
+      <h>312</h>
+    </coordinates>
+    <panel_attributes>layer=10
+transparency=0</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>132</x>
+      <y>144</y>
+      <w>24</w>
+      <h>24</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>144</x>
+      <y>132</y>
+      <w>204</w>
+      <h>48</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-
+myAwesomeTest()</panel_attributes>
+    <additional_attributes>150.0;20.0;10.0;20.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>768</x>
+      <y>204</y>
+      <w>24</w>
+      <h>84</h>
+    </coordinates>
+    <panel_attributes>layer=10
+transparency=0</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>336</x>
+      <y>180</y>
+      <w>456</w>
+      <h>48</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-
+getPtpCart() : PtpCart</panel_attributes>
+    <additional_attributes>360.0;20.0;10.0;20.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>612</x>
+      <y>360</y>
+      <w>24</w>
+      <h>24</h>
+    </coordinates>
+    <panel_attributes>layer=10
+transparency=0</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>348</x>
+      <y>336</y>
+      <w>288</w>
+      <h>48</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-
+toRequest() : 
+moveit_msgs::MotionPlanRequest</panel_attributes>
+    <additional_attributes>220.0;20.0;10.0;20.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>576</x>
+      <y>252</y>
+      <w>96</w>
+      <h>36</h>
+    </coordinates>
+    <panel_attributes>_:PtpCart_</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>612</x>
+      <y>276</y>
+      <w>36</w>
+      <h>216</h>
+    </coordinates>
+    <panel_attributes>lt=.</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;160.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>252</y>
+      <w>132</w>
+      <h>36</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-</panel_attributes>
+    <additional_attributes>10.0;10.0;90.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLGeneric</id>
+    <coordinates>
+      <x>336</x>
+      <y>324</y>
+      <w>24</w>
+      <h>96</h>
+    </coordinates>
+    <panel_attributes>layer=100
+transparency=0
+</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>336</x>
+      <y>276</y>
+      <w>204</w>
+      <h>72</h>
+    </coordinates>
+    <panel_attributes>lt=&lt;-
+doAwesomeThings()</panel_attributes>
+    <additional_attributes>20.0;40.0;50.0;40.0;50.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+</diagram>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h
new file mode 100644
index 0000000000..4b408e2bd8
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h
@@ -0,0 +1,176 @@
+/*
+ * Copyright (c) 2018 Pilz GmbH & Co. KG
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ASYNC_TEST_H
+#define ASYNC_TEST_H
+
+#include <mutex>
+#include <condition_variable>
+#include <algorithm>
+#include <chrono>
+#include <string>
+
+#include <gmock/gmock.h>
+
+#include <ros/ros.h>
+
+namespace testing
+{
+/**
+ * @brief Test class that allows the handling of asynchronous test objects
+ *
+ * The class provides the two basic functions AsyncTest::barricade and AsyncTest::triggerClearEvent.
+ * During the test setup gates between the steps with one or more clear events. Allow passing on by calling
+ * triggerClearEvent after a test.
+ *
+ * \e Usage:<br>
+ * Suppose you want to test a function that calls another function asynchronously, like the following example:
+ *
+ * \code
+ * void asyncCall(std::function<void()> fun)
+ * {
+ *     std::thread t(fun);
+ *     t.detach();
+ * }
+ * \endcode
+ *
+ * You expect that fun gets called, so your test thread has to wait for the completion, else it would fail. This can be
+ * achieved via:
+ *
+ * \code
+ * class MyTest : public testing::Test, public testing::AsyncTest
+ * {
+ * public:
+ *     MOCK_METHOD0(myMethod, void());
+ * };
+ *
+ * TEST_F(MyTest, testCase)
+ * {
+ *     EXPECT_CALL(*this, myMethod()).Times(1).WillOnce(ACTION_OPEN_BARRIER_VOID("myMethod"));
+ *     const int timeout_ms {100};
+ *     asyncCall(std::bind(&MyTest::myMethod, this));
+ *     BARRIER("myMethod", timeout_ms) << "Timed-out waiting for myMethod call.";
+ * }
+ * \endcode
+ */
+class AsyncTest
+{
+public:
+  /**
+   * @brief Triggeres a clear event. If a call to barricade is currently pending it will unblock as soon as all clear
+   * events are triggered. Else the event is put on the waitlist. This waitlist is emptied upon a call to barricade.
+   *
+   * @param event The event that is triggered
+   */
+  void triggerClearEvent(const std::string& event);
+
+  /**
+   * @brief Will block until the event given by clear_event is triggered or a timeout is reached.
+   * Unblocks immediately, if the event was on the waitlist.
+   *
+   * @param clear_event Event that allows the test to pass on
+   * @param timeout_ms Timeout [ms] (optional).
+   * @return True if the event was triggered, false otherwise.
+   */
+  bool barricade(const std::string& clear_event, const int timeout_ms = -1);
+
+  /**
+   * @brief Will block until all events given by clear_events are triggered or a timeout is reached.
+   * Events on the waitlist are taken into account, too.
+   *
+   * @param clear_events List of events that allow the test to pass on
+   * @param timeout_ms Timeout [ms] (optional).
+   * @return True if all events were triggered, false otherwise.
+   */
+  bool barricade(std::initializer_list<std::string> clear_events, const int timeout_ms = -1);
+
+protected:
+  std::mutex m_;
+  std::condition_variable cv_;
+  std::set<std::string> clear_events_{};
+  std::set<std::string> waitlist_{};
+};
+
+// for better readability in tests
+#define BARRIER(...) EXPECT_TRUE(barricade(__VA_ARGS__))
+#define BARRIER_FATAL(...) ASSERT_TRUE(barricade(__VA_ARGS__))
+
+#define ACTION_OPEN_BARRIER(str)                                                                                       \
+  ::testing::InvokeWithoutArgs([this](void) {                                                                          \
+    this->triggerClearEvent(str);                                                                                      \
+    return true;                                                                                                       \
+  })
+#define ACTION_OPEN_BARRIER_VOID(str) ::testing::InvokeWithoutArgs([this](void) { this->triggerClearEvent(str); })
+
+inline void AsyncTest::triggerClearEvent(const std::string& event)
+{
+  std::lock_guard<std::mutex> lk(m_);
+
+  if (clear_events_.empty())
+  {
+    ROS_DEBUG_NAMED("Test", "Clearing Barricade[%s]", event.c_str());
+    waitlist_.insert(event);
+  }
+  else if (clear_events_.erase(event) < 1)
+  {
+    ROS_WARN_STREAM("Triggered event " << event << " despite not waiting for it.");
+  }
+  cv_.notify_one();
+}
+
+inline bool AsyncTest::barricade(const std::string& clear_event, const int timeout_ms)
+{
+  return barricade({ clear_event }, timeout_ms);
+}
+
+inline bool AsyncTest::barricade(std::initializer_list<std::string> clear_events, const int timeout_ms)
+{
+  std::unique_lock<std::mutex> lk(m_);
+
+  std::stringstream events_stringstream;
+  for (const auto& event : clear_events)
+  {
+    events_stringstream << event << ", ";
+  }
+  ROS_DEBUG_NAMED("Test", "Adding Barricade[%s]", events_stringstream.str().c_str());
+
+  std::copy_if(clear_events.begin(), clear_events.end(), std::inserter(clear_events_, clear_events_.end()),
+               [this](std::string event) { return this->waitlist_.count(event) == 0; });
+  waitlist_.clear();
+
+  auto end_time_point = std::chrono::system_clock::now() + std::chrono::milliseconds(timeout_ms);
+
+  while (!clear_events_.empty())
+  {
+    if (timeout_ms < 0)
+    {
+      cv_.wait(lk);
+    }
+    else
+    {
+      std::cv_status status = cv_.wait_for(lk, end_time_point - std::chrono::system_clock::now());
+      if (status == std::cv_status::timeout)
+      {
+        return clear_events_.empty();
+      }
+    }
+  }
+  return true;
+}
+
+}  // namespace testing
+
+#endif  // ASYNC_TEST_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/basecmd.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/basecmd.h
new file mode 100644
index 0000000000..8b1e0382ea
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/basecmd.h
@@ -0,0 +1,128 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef BASECMD_H
+#define BASECMD_H
+
+#include <string>
+
+#include "motioncmd.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+template <class StartType, class GoalType>
+class BaseCmd : public MotionCmd
+{
+public:
+  BaseCmd() : MotionCmd()
+  {
+  }
+
+  virtual ~BaseCmd() = default;
+
+public:
+  planning_interface::MotionPlanRequest toRequest() const override;
+
+  void setStartConfiguration(StartType start);
+  void setGoalConfiguration(GoalType goal);
+
+  StartType& getStartConfiguration();
+  const StartType& getStartConfiguration() const;
+
+  GoalType& getGoalConfiguration();
+  const GoalType& getGoalConfiguration() const;
+
+private:
+  virtual std::string getPlannerId() const = 0;
+
+protected:
+  GoalType goal_;
+  StartType start_;
+};
+
+//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+template <class StartType, class GoalType>
+inline void BaseCmd<StartType, GoalType>::setStartConfiguration(StartType start)
+{
+  start_ = start;
+}
+
+template <class StartType, class GoalType>
+inline void BaseCmd<StartType, GoalType>::setGoalConfiguration(GoalType goal)
+{
+  goal_ = goal;
+}
+
+template <class StartType, class GoalType>
+inline StartType& BaseCmd<StartType, GoalType>::getStartConfiguration()
+{
+  return start_;
+}
+
+template <class StartType, class GoalType>
+inline const StartType& BaseCmd<StartType, GoalType>::getStartConfiguration() const
+{
+  return start_;
+}
+
+template <class StartType, class GoalType>
+inline GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration()
+{
+  return goal_;
+}
+
+template <class StartType, class GoalType>
+inline const GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration() const
+{
+  return goal_;
+}
+
+template <class StartType, class GoalType>
+planning_interface::MotionPlanRequest BaseCmd<StartType, GoalType>::toRequest() const
+{
+  planning_interface::MotionPlanRequest req;
+  req.planner_id = getPlannerId();
+  req.group_name = this->planning_group_;
+
+  req.max_velocity_scaling_factor = this->vel_scale_;
+  req.max_acceleration_scaling_factor = this->acc_scale_;
+
+  req.start_state = this->start_.toMoveitMsgsRobotState();
+  req.goal_constraints.push_back(this->goal_.toGoalConstraints());
+
+  return req;
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // BASECMD_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianconfiguration.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianconfiguration.h
new file mode 100644
index 0000000000..b1c9dbeb53
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianconfiguration.h
@@ -0,0 +1,188 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CARTESIANCONFIGURATION_H
+#define CARTESIANCONFIGURATION_H
+
+#include <vector>
+#include <sstream>
+
+#include <boost/optional.hpp>
+
+#include <eigen_conversions/eigen_msg.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/kinematic_constraints/utils.h>
+
+#include "robotconfiguration.h"
+#include "jointconfiguration.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Class to define a robot configuration in space
+ * with the help of cartesian coordinates.
+ */
+class CartesianConfiguration : public RobotConfiguration
+{
+public:
+  CartesianConfiguration();
+
+  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config);
+
+  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config,
+                         const moveit::core::RobotModelConstPtr& robot_model);
+
+public:
+  moveit_msgs::Constraints toGoalConstraints() const override;
+  moveit_msgs::RobotState toMoveitMsgsRobotState() const override;
+
+  void setLinkName(const std::string& link_name);
+  const std::string& getLinkName() const;
+
+  void setPose(const geometry_msgs::Pose& pose);
+  const geometry_msgs::Pose& getPose() const;
+  geometry_msgs::Pose& getPose();
+
+  void setSeed(const JointConfiguration& config);
+  const JointConfiguration& getSeed() const;
+  //! @brief States if a seed for the cartesian configuration is set.
+  bool hasSeed() const;
+
+  void setPoseTolerance(const double tol);
+  const boost::optional<double> getPoseTolerance() const;
+
+  void setAngleTolerance(const double tol);
+  const boost::optional<double> getAngleTolerance() const;
+
+private:
+  static geometry_msgs::Pose toPose(const std::vector<double>& pose);
+  static geometry_msgs::PoseStamped toStampedPose(const geometry_msgs::Pose& pose);
+
+private:
+  std::string link_name_;
+  geometry_msgs::Pose pose_;
+
+  //! @brief The dimensions of the sphere associated with the target region
+  //! of the position constraint.
+  boost::optional<double> tolerance_pose_{ boost::none };
+
+  //! @brief The value to assign to the absolute tolerances of the
+  //! orientation constraint.
+  boost::optional<double> tolerance_angle_{ boost::none };
+
+  //! @brief The seed for computing the IK solution of the cartesian configuration.
+  boost::optional<JointConfiguration> seed_{ boost::none };
+};
+
+std::ostream& operator<<(std::ostream& /*os*/, const CartesianConfiguration& /*obj*/);
+
+inline void CartesianConfiguration::setLinkName(const std::string& link_name)
+{
+  link_name_ = link_name;
+}
+
+inline const std::string& CartesianConfiguration::getLinkName() const
+{
+  return link_name_;
+}
+
+inline void CartesianConfiguration::setPose(const geometry_msgs::Pose& pose)
+{
+  pose_ = pose;
+}
+
+inline const geometry_msgs::Pose& CartesianConfiguration::getPose() const
+{
+  return pose_;
+}
+
+inline geometry_msgs::Pose& CartesianConfiguration::getPose()
+{
+  return pose_;
+}
+
+inline moveit_msgs::Constraints CartesianConfiguration::toGoalConstraints() const
+{
+  if (!tolerance_pose_ || !tolerance_angle_)
+  {
+    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_));
+  }
+  else
+  {
+    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_), tolerance_pose_.value(),
+                                                           tolerance_angle_.value());
+  }
+}
+
+inline void CartesianConfiguration::setSeed(const JointConfiguration& config)
+{
+  seed_ = config;
+}
+
+inline const JointConfiguration& CartesianConfiguration::getSeed() const
+{
+  return seed_.value();
+}
+
+inline bool CartesianConfiguration::hasSeed() const
+{
+  return seed_.is_initialized();
+}
+
+inline void CartesianConfiguration::setPoseTolerance(const double tol)
+{
+  tolerance_pose_ = tol;
+}
+
+inline const boost::optional<double> CartesianConfiguration::getPoseTolerance() const
+{
+  return tolerance_pose_;
+}
+
+inline void CartesianConfiguration::setAngleTolerance(const double tol)
+{
+  tolerance_angle_ = tol;
+}
+
+inline const boost::optional<double> CartesianConfiguration::getAngleTolerance() const
+{
+  return tolerance_angle_;
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CARTESIANCONFIGURATION_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianpathconstraintsbuilder.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianpathconstraintsbuilder.h
new file mode 100644
index 0000000000..c30ce98360
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianpathconstraintsbuilder.h
@@ -0,0 +1,90 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CARTESIANPATHCONSTRAINTSBUILDER_H
+#define CARTESIANPATHCONSTRAINTSBUILDER_H
+
+#include <string>
+
+#include <moveit_msgs/Constraints.h>
+
+#include "cartesianconfiguration.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Helper class to build moveit_msgs::Constraints from a
+ * given configuration.
+ */
+class CartesianPathConstraintsBuilder
+{
+public:
+  CartesianPathConstraintsBuilder& setConstraintName(const std::string& constraint_name);
+  CartesianPathConstraintsBuilder& setConfiguration(const CartesianConfiguration& configuration);
+
+  moveit_msgs::Constraints toPathConstraints() const;
+
+private:
+  std::string constraint_name_;
+  CartesianConfiguration configuration_;
+};
+
+inline CartesianPathConstraintsBuilder&
+CartesianPathConstraintsBuilder::setConstraintName(const std::string& constraint_name)
+{
+  constraint_name_ = constraint_name;
+  return *this;
+}
+
+inline CartesianPathConstraintsBuilder&
+CartesianPathConstraintsBuilder::setConfiguration(const CartesianConfiguration& configuration)
+{
+  configuration_ = configuration;
+  return *this;
+}
+
+inline moveit_msgs::Constraints CartesianPathConstraintsBuilder::toPathConstraints() const
+{
+  moveit_msgs::PositionConstraint pos_constraint;
+  pos_constraint.link_name = configuration_.getLinkName();
+  pos_constraint.constraint_region.primitive_poses.push_back(configuration_.getPose());
+
+  moveit_msgs::Constraints path_constraints;
+  path_constraints.name = constraint_name_;
+  path_constraints.position_constraints.push_back(pos_constraint);
+  return path_constraints;
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CARTESIANPATHCONSTRAINTSBUILDER_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/center.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/center.h
new file mode 100644
index 0000000000..3e7d7f8a55
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/center.h
@@ -0,0 +1,60 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CENTERAUXILIARY_H
+#define CENTERAUXILIARY_H
+
+#include "circauxiliary.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Class to define the center point of the circle
+ * on which the robot is supposed to move via circ command.
+ */
+template <class ConfigType, class BuilderType>
+class Center : public CircAuxiliary<ConfigType, BuilderType>
+{
+private:
+  std::string getConstraintName() const override;
+};
+
+template <class ConfigType, class BuilderType>
+std::string Center<ConfigType, BuilderType>::getConstraintName() const
+{
+  return "center";
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CENTERAUXILIARY_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/checks.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/checks.h
new file mode 100644
index 0000000000..e9519f2071
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/checks.h
@@ -0,0 +1,62 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CHECKS_H
+#define CHECKS_H
+
+#include <gtest/gtest.h>
+#include <moveit/robot_state/robot_state.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+::testing::AssertionResult isAtExpectedPosition(const robot_state::RobotState& expected,
+                                                const robot_state::RobotState& actual, const double epsilon,
+                                                const std::string& group_name = "")
+{
+  if (group_name.empty() && expected.distance(actual) <= epsilon)
+  {
+    return ::testing::AssertionSuccess();
+  }
+  else if (!group_name.empty() && expected.distance(actual, actual.getJointModelGroup(group_name)) <= epsilon)
+  {
+    return ::testing::AssertionSuccess();
+  }
+  std::stringstream msg;
+  msg << " expected: " << expected << " actual: " << actual;
+
+  return ::testing::AssertionFailure() << msg.str();
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CENTERAUXILIARY_H
\ No newline at end of file
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ.h
new file mode 100644
index 0000000000..1888cfbffb
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ.h
@@ -0,0 +1,106 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CIRC_H
+#define CIRC_H
+
+#include <memory>
+
+#include "basecmd.h"
+#include "circauxiliary.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Data class storing all information regarding a Circ command.
+ */
+template <class StartType, class AuxiliaryType, class GoalType>
+class Circ : public BaseCmd<StartType, GoalType>
+{
+public:
+  Circ() : BaseCmd<StartType, GoalType>()
+  {
+  }
+
+public:
+  void setAuxiliaryConfiguration(AuxiliaryType auxiliary);
+  AuxiliaryType& getAuxiliaryConfiguration();
+  const AuxiliaryType& getAuxiliaryConfiguration() const;
+
+public:
+  planning_interface::MotionPlanRequest toRequest() const override;
+
+private:
+  std::string getPlannerId() const override;
+
+private:
+  AuxiliaryType auxiliary_;
+};
+
+//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+template <class StartType, class AuxiliaryType, class GoalType>
+inline void Circ<StartType, AuxiliaryType, GoalType>::setAuxiliaryConfiguration(AuxiliaryType auxiliary)
+{
+  auxiliary_ = auxiliary;
+}
+
+template <class StartType, class AuxiliaryType, class GoalType>
+inline std::string Circ<StartType, AuxiliaryType, GoalType>::getPlannerId() const
+{
+  return "CIRC";
+}
+
+template <class StartType, class AuxiliaryType, class GoalType>
+inline planning_interface::MotionPlanRequest Circ<StartType, AuxiliaryType, GoalType>::toRequest() const
+{
+  planning_interface::MotionPlanRequest req{ BaseCmd<StartType, GoalType>::toRequest() };
+  req.path_constraints = auxiliary_.toPathConstraints();
+
+  return req;
+}
+
+template <class StartType, class AuxiliaryType, class GoalType>
+inline AuxiliaryType& Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration()
+{
+  return auxiliary_;
+}
+
+template <class StartType, class AuxiliaryType, class GoalType>
+inline const AuxiliaryType& Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration() const
+{
+  return auxiliary_;
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CIRC_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ_auxiliary_types.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ_auxiliary_types.h
new file mode 100644
index 0000000000..3fbe7b7b7d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circ_auxiliary_types.h
@@ -0,0 +1,49 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CIRC_AUXILIARY_TYPES_H
+#define CIRC_AUXILIARY_TYPES_H
+
+#include "center.h"
+#include "interim.h"
+#include "cartesianconfiguration.h"
+#include "cartesianpathconstraintsbuilder.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+using CartesianCenter = Center<CartesianConfiguration, CartesianPathConstraintsBuilder>;
+using CartesianInterim = Interim<CartesianConfiguration, CartesianPathConstraintsBuilder>;
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CIRC_AUXILIARY_TYPES_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circauxiliary.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circauxiliary.h
new file mode 100644
index 0000000000..81958f9b67
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/circauxiliary.h
@@ -0,0 +1,91 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef CIRCAUXILIARY_H
+#define CIRCAUXILIARY_H
+
+#include <string>
+
+#include <moveit_msgs/Constraints.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Base class to define an auxiliary point needed to specify
+ * circ commands.
+ */
+template <class ConfigType, class BuilderType>
+class CircAuxiliary
+{
+public:
+  void setConfiguration(const ConfigType& auxiliary_config);
+  ConfigType& getConfiguration();
+  const ConfigType& getConfiguration() const;
+
+public:
+  moveit_msgs::Constraints toPathConstraints() const;
+
+private:
+  virtual std::string getConstraintName() const = 0;
+
+protected:
+  ConfigType auxiliary_config_;
+};
+
+template <class ConfigType, class BuilderType>
+void CircAuxiliary<ConfigType, BuilderType>::setConfiguration(const ConfigType& auxiliary_config)
+{
+  auxiliary_config_ = auxiliary_config;
+}
+
+template <class ConfigType, class BuilderType>
+inline ConfigType& CircAuxiliary<ConfigType, BuilderType>::getConfiguration()
+{
+  return auxiliary_config_;
+}
+
+template <class ConfigType, class BuilderType>
+inline const ConfigType& CircAuxiliary<ConfigType, BuilderType>::getConfiguration() const
+{
+  return auxiliary_config_;
+}
+
+template <class ConfigType, class BuilderType>
+inline moveit_msgs::Constraints CircAuxiliary<ConfigType, BuilderType>::toPathConstraints() const
+{
+  return BuilderType().setConstraintName(getConstraintName()).setConfiguration(getConfiguration()).toPathConstraints();
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // CIRCAUXILIARY_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/command_types_typedef.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/command_types_typedef.h
new file mode 100644
index 0000000000..6bd4356637
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/command_types_typedef.h
@@ -0,0 +1,69 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef COMMAND_TYPES_TYPEDEF_H
+#define COMMAND_TYPES_TYPEDEF_H
+
+#include <boost/variant.hpp>
+
+#include "ptp.h"
+#include "lin.h"
+#include "circ.h"
+#include "gripper.h"
+#include "jointconfiguration.h"
+#include "cartesianconfiguration.h"
+#include "circ_auxiliary_types.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+typedef Ptp<JointConfiguration, JointConfiguration> PtpJoint;
+typedef Ptp<JointConfiguration, CartesianConfiguration> PtpJointCart;
+typedef Ptp<CartesianConfiguration, CartesianConfiguration> PtpCart;
+
+typedef Lin<JointConfiguration, JointConfiguration> LinJoint;
+typedef Lin<JointConfiguration, CartesianConfiguration> LinJointCart;
+typedef Lin<CartesianConfiguration, CartesianConfiguration> LinCart;
+
+typedef Circ<CartesianConfiguration, CartesianCenter, CartesianConfiguration> CircCenterCart;
+typedef Circ<CartesianConfiguration, CartesianInterim, CartesianConfiguration> CircInterimCart;
+
+typedef Circ<JointConfiguration, CartesianCenter, JointConfiguration> CircJointCenterCart;
+typedef Circ<JointConfiguration, CartesianInterim, JointConfiguration> CircJointInterimCart;
+
+typedef boost::variant<PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart,
+                       CircJointCenterCart, CircJointInterimCart, Gripper>
+    CmdVariant;
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // COMMAND_TYPES_TYPEDEF_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/default_values.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/default_values.h
new file mode 100644
index 0000000000..ddded20bf3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/default_values.h
@@ -0,0 +1,51 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef DEFAULT_VALUES_H
+#define DEFAULT_VALUES_H
+
+/*
+ * @brief This file contains all default values needed for testing.
+ */
+namespace pilz_industrial_motion_planner_testutils
+{
+static constexpr double DEFAULT_VEL{ 0.01 };
+static constexpr double DEFAULT_ACC{ 0.01 };
+static constexpr double DEFAULT_BLEND_RADIUS{ 0.01 };
+
+static constexpr double DEFAULT_VEL_GRIPPER{ 0.5 };
+static constexpr double DEFAULT_ACC_GRIPPER{ 0.8 };
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // DEFAULT_VALUES_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/exception_types.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/exception_types.h
new file mode 100644
index 0000000000..dec173bbc1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/exception_types.h
@@ -0,0 +1,52 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef EXCEPTION_TYPES_H
+#define EXCEPTION_TYPES_H
+
+#include <stdexcept>
+#include <string>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+class TestDataLoaderReadingException : public std::runtime_error
+{
+public:
+  TestDataLoaderReadingException(const std::string& error_desc) : std::runtime_error(error_desc)
+  {
+  }
+};
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // EXCEPTION_TYPES_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/goalconstraintsmsgconvertible.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/goalconstraintsmsgconvertible.h
new file mode 100644
index 0000000000..1595570449
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/goalconstraintsmsgconvertible.h
@@ -0,0 +1,56 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef GOALCONSTRAINTSMSGCONVERTIBLE_H
+#define GOALCONSTRAINTSMSGCONVERTIBLE_H
+
+#include <string>
+
+#include <moveit_msgs/Constraints.h>
+#include <moveit/robot_model/robot_model.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Interface class to express that a derived class can be converted
+ * into a moveit_msgs::Constaints.
+ */
+class GoalConstraintMsgConvertible
+{
+public:
+  virtual moveit_msgs::Constraints toGoalConstraints() const = 0;
+};
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // GOALCONSTRAINTSMSGCONVERTIBLE_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/gripper.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/gripper.h
new file mode 100644
index 0000000000..b3d0f2fd5a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/gripper.h
@@ -0,0 +1,48 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef GRIPPER_H
+#define GRIPPER_H
+
+#include "ptp.h"
+#include "jointconfiguration.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+class Gripper : public Ptp<JointConfiguration, JointConfiguration>
+{
+};
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // GRIPPER_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/interim.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/interim.h
new file mode 100644
index 0000000000..d6822ab43a
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/interim.h
@@ -0,0 +1,60 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef INTERIMAXILIARY_H
+#define INTERIMAXILIARY_H
+
+#include "circauxiliary.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Class to define a point on the circle on which the robot is supposed
+ * to move via circ command.
+ */
+template <class ConfigType, class BuilderType>
+class Interim : public CircAuxiliary<ConfigType, BuilderType>
+{
+private:
+  std::string getConstraintName() const override;
+};
+
+template <class ConfigType, class BuilderType>
+std::string Interim<ConfigType, BuilderType>::getConstraintName() const
+{
+  return "interim";
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // INTERIMAXILIARY_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/jointconfiguration.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/jointconfiguration.h
new file mode 100644
index 0000000000..b133d568c2
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/jointconfiguration.h
@@ -0,0 +1,145 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef JOINTCONFIGURATION_H
+#define JOINTCONFIGURATION_H
+
+#include <string>
+#include <utility>
+#include <vector>
+#include <functional>
+#include <stdexcept>
+
+#include <sensor_msgs/JointState.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_state/conversions.h>
+
+#include "robotconfiguration.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+class JointConfigurationException : public std::runtime_error
+{
+public:
+  JointConfigurationException(const std::string& error_desc) : std::runtime_error(error_desc)
+  {
+  }
+};
+
+using CreateJointNameFunc = std::function<std::string(const size_t&)>;
+
+/**
+ * @brief Class to define a robot configuration in space with the help
+ * of joint values.
+ */
+class JointConfiguration : public RobotConfiguration
+{
+public:
+  JointConfiguration();
+
+  JointConfiguration(const std::string& group_name, const std::vector<double>& config,
+                     CreateJointNameFunc&& create_joint_name_func);
+
+  JointConfiguration(const std::string& group_name, const std::vector<double>& config,
+                     const moveit::core::RobotModelConstPtr& robot_model);
+
+public:
+  void setJoint(const size_t index, const double value);
+  double getJoint(const size_t index) const;
+  const std::vector<double> getJoints() const;
+
+  size_t size() const;
+
+  moveit_msgs::Constraints toGoalConstraints() const override;
+  moveit_msgs::RobotState toMoveitMsgsRobotState() const override;
+
+  sensor_msgs::JointState toSensorMsg() const;
+
+  robot_state::RobotState toRobotState() const;
+
+  void setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func);
+
+private:
+  moveit_msgs::RobotState toMoveitMsgsRobotStateWithoutModel() const;
+  moveit_msgs::RobotState toMoveitMsgsRobotStateWithModel() const;
+
+  moveit_msgs::Constraints toGoalConstraintsWithoutModel() const;
+  moveit_msgs::Constraints toGoalConstraintsWithModel() const;
+
+private:
+  //! Joint positions
+  std::vector<double> joints_;
+
+  CreateJointNameFunc create_joint_name_func_;
+};
+
+std::ostream& operator<<(std::ostream& /*os*/, const JointConfiguration& /*obj*/);
+
+inline moveit_msgs::Constraints JointConfiguration::toGoalConstraints() const
+{
+  return robot_model_ ? toGoalConstraintsWithModel() : toGoalConstraintsWithoutModel();
+}
+
+inline moveit_msgs::RobotState JointConfiguration::toMoveitMsgsRobotState() const
+{
+  return robot_model_ ? toMoveitMsgsRobotStateWithModel() : toMoveitMsgsRobotStateWithoutModel();
+}
+
+inline void JointConfiguration::setJoint(const size_t index, const double value)
+{
+  joints_.at(index) = value;
+}
+
+inline double JointConfiguration::getJoint(const size_t index) const
+{
+  return joints_.at(index);
+}
+
+inline const std::vector<double> JointConfiguration::getJoints() const
+{
+  return joints_;
+}
+
+inline size_t JointConfiguration::size() const
+{
+  return joints_.size();
+}
+
+inline void JointConfiguration::setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func)
+{
+  create_joint_name_func_ = std::move(create_joint_name_func);
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // JOINTCONFIGURATION_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/lin.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/lin.h
new file mode 100644
index 0000000000..56e74a51d3
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/lin.h
@@ -0,0 +1,67 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef LIN_H
+#define LIN_H
+
+#include <stdexcept>
+
+#include "basecmd.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Data class storing all information regarding a linear command.
+ */
+template <class StartType, class GoalType>
+class Lin : public BaseCmd<StartType, GoalType>
+{
+public:
+  Lin() : BaseCmd<StartType, GoalType>()
+  {
+  }
+
+private:
+  std::string getPlannerId() const override;
+};
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+template <class StartType, class GoalType>
+inline std::string Lin<StartType, GoalType>::getPlannerId() const
+{
+  return "LIN";
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // LIN_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motioncmd.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motioncmd.h
new file mode 100644
index 0000000000..f54beb0c56
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motioncmd.h
@@ -0,0 +1,93 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef MOTIONCMD_H
+#define MOTIONCMD_H
+
+#include <string>
+#include <memory>
+
+#include "motionplanrequestconvertible.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Base class for commands storing all general information of a command.
+ */
+class MotionCmd : public MotionPlanRequestConvertible
+{
+public:
+  MotionCmd() : MotionPlanRequestConvertible()
+  {
+  }
+
+public:
+  void setPlanningGroup(const std::string& planning_group);
+  const std::string& getPlanningGroup() const;
+
+  void setVelocityScale(double velocity_scale);
+  void setAccelerationScale(double acceleration_scale);
+
+protected:
+  std::string planning_group_;
+  //! Link to which all cartesian poses refer to.
+  std::string target_link_;
+  double vel_scale_{ 1.0 };
+  double acc_scale_{ 1.0 };
+};
+
+inline void MotionCmd::setPlanningGroup(const std::string& planning_group)
+{
+  planning_group_ = planning_group;
+}
+
+inline const std::string& MotionCmd::getPlanningGroup() const
+{
+  return planning_group_;
+}
+
+inline void MotionCmd::setVelocityScale(double velocity_scale)
+{
+  vel_scale_ = velocity_scale;
+}
+
+inline void MotionCmd::setAccelerationScale(double acceleration_scale)
+{
+  acc_scale_ = acceleration_scale;
+}
+
+using MotionCmdUPtr = std::unique_ptr<MotionCmd>;
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // MOTIONCMD_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motionplanrequestconvertible.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motionplanrequestconvertible.h
new file mode 100644
index 0000000000..803fc499fa
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/motionplanrequestconvertible.h
@@ -0,0 +1,54 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef MOTIONPLANREQUESTCONVERTIBLE_H
+#define MOTIONPLANREQUESTCONVERTIBLE_H
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_interface/planning_interface.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Interface class to express that a derived class can be converted
+ * into a planning_interface::MotionPlanRequest.
+ */
+class MotionPlanRequestConvertible
+{
+public:
+  virtual planning_interface::MotionPlanRequest toRequest() const = 0;
+};
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // MOTIONPLANREQUESTCONVERTIBLE_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/ptp.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/ptp.h
new file mode 100644
index 0000000000..cc7c2ce228
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/ptp.h
@@ -0,0 +1,67 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef PTP_H
+#define PTP_H
+
+#include <stdexcept>
+
+#include "basecmd.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Data class storing all information regarding a Ptp command.
+ */
+template <class StartType, class GoalType>
+class Ptp : public BaseCmd<StartType, GoalType>
+{
+public:
+  Ptp() : BaseCmd<StartType, GoalType>()
+  {
+  }
+
+private:
+  std::string getPlannerId() const override;
+};
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+template <class StartType, class GoalType>
+inline std::string Ptp<StartType, GoalType>::getPlannerId() const
+{
+  return "PTP";
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // PTP_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotconfiguration.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotconfiguration.h
new file mode 100644
index 0000000000..433146dcfb
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotconfiguration.h
@@ -0,0 +1,92 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef ROBOTCONFIGURATION_H
+#define ROBOTCONFIGURATION_H
+
+#include <string>
+#include <utility>
+
+#include <moveit/robot_model/robot_model.h>
+
+#include "goalconstraintsmsgconvertible.h"
+#include "robotstatemsgconvertible.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Class to define robot configuration in space.
+ */
+class RobotConfiguration : public RobotStateMsgConvertible, public GoalConstraintMsgConvertible
+{
+public:
+  RobotConfiguration();
+
+  RobotConfiguration(const std::string& group_name);
+
+  RobotConfiguration(const std::string& group_name, const moveit::core::RobotModelConstPtr& robot_model);
+
+public:
+  void setRobotModel(moveit::core::RobotModelConstPtr robot_model);
+  void setGroupName(const std::string& group_name);
+  std::string getGroupName() const;
+  void clearModel();
+
+protected:
+  std::string group_name_;
+  moveit::core::RobotModelConstPtr robot_model_;
+};
+
+inline void RobotConfiguration::setRobotModel(moveit::core::RobotModelConstPtr robot_model)
+{
+  robot_model_ = std::move(robot_model);
+}
+
+inline void RobotConfiguration::setGroupName(const std::string& group_name)
+{
+  group_name_ = group_name;
+}
+
+inline std::string RobotConfiguration::getGroupName() const
+{
+  return group_name_;
+}
+
+inline void RobotConfiguration::clearModel()
+{
+  robot_model_ = nullptr;
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // ROBOTCONFIGURATION_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotstatemsgconvertible.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotstatemsgconvertible.h
new file mode 100644
index 0000000000..4b9ba87df4
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotstatemsgconvertible.h
@@ -0,0 +1,54 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef ROBOTSTATEMSGCONVERTIBLE_H
+#define ROBOTSTATEMSGCONVERTIBLE_H
+
+#include <moveit_msgs/RobotState.h>
+#include <moveit/robot_model/robot_model.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Interface class to express that a derived class can be converted
+ * into a moveit_msgs::RobotState.
+ */
+class RobotStateMsgConvertible
+{
+public:
+  virtual moveit_msgs::RobotState toMoveitMsgsRobotState() const = 0;
+};
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // ROBOTSTATEMSGCONVERTIBLE_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/sequence.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/sequence.h
new file mode 100644
index 0000000000..e555b8405d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/sequence.h
@@ -0,0 +1,147 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef SEQUENCE_H
+#define SEQUENCE_H
+
+#include <stdexcept>
+#include <vector>
+#include <utility>
+#include <typeinfo>
+
+#include <moveit_msgs/MotionSequenceRequest.h>
+
+#include "command_types_typedef.h"
+#include "motioncmd.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Data class storing all information regarding a Sequence command.
+ */
+class Sequence
+{
+public:
+  /**
+   * @brief Adds a command to the end of the sequence.
+   * @param cmd The command which has to be added.
+   */
+  void add(const CmdVariant& cmd, const double blend_radius = 0.);
+
+  /**
+   * @brief Returns the number of commands.
+   */
+  size_t size() const;
+
+  template <class T>
+  T& getCmd(const size_t index_cmd);
+
+  template <class T>
+  const T& getCmd(const size_t index_cmd) const;
+
+  /**
+   * @return TRUE if the specified command is of the specified type,
+   * otherwise FALSE.
+   */
+  template <class T>
+  bool cmdIsOfType(const size_t index_cmd) const;
+
+  /**
+   * @brief Returns the specific command as base class reference.
+   * This function allows the user to operate on the sequence without
+   * having knowledge of the underlying specific command type.
+   */
+  MotionCmd& getCmd(const size_t index_cmd);
+
+  void setAllBlendRadiiToZero();
+  void setBlendRadius(const size_t index_cmd, const double blend_radius);
+  double getBlendRadius(const size_t index_cmd) const;
+
+  /**
+   * @brief Deletes all commands from index 'start' to index 'end'.
+   */
+  void erase(const size_t start, const size_t end);
+
+  moveit_msgs::MotionSequenceRequest toRequest() const;
+
+private:
+  using TCmdRadiiPair = std::pair<CmdVariant, double>;
+  std::vector<TCmdRadiiPair> cmds_;
+};
+
+inline void Sequence::add(const CmdVariant& cmd, const double blend_radius)
+{
+  cmds_.emplace_back(cmd, blend_radius);
+}
+
+inline size_t Sequence::size() const
+{
+  return cmds_.size();
+}
+
+template <class T>
+inline T& Sequence::getCmd(const size_t index_cmd)
+{
+  return boost::get<T>(cmds_.at(index_cmd).first);
+}
+
+template <class T>
+inline const T& Sequence::getCmd(const size_t index_cmd) const
+{
+  return boost::get<T>(cmds_.at(index_cmd).first);
+}
+
+inline double Sequence::getBlendRadius(const size_t index_cmd) const
+{
+  return cmds_.at(index_cmd).second;
+}
+
+inline void Sequence::setBlendRadius(const size_t index_cmd, const double blend_radius)
+{
+  cmds_.at(index_cmd).second = blend_radius;
+}
+
+inline void Sequence::setAllBlendRadiiToZero()
+{
+  std::for_each(cmds_.begin(), cmds_.end(), [](TCmdRadiiPair& cmd) { cmd.second = 0.; });
+}
+
+template <class T>
+inline bool Sequence::cmdIsOfType(const size_t index_cmd) const
+{
+  return cmds_.at(index_cmd).first.type() == typeid(T);
+}
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // SEQUENCE_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/testdata_loader.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/testdata_loader.h
new file mode 100644
index 0000000000..5b2f550bfb
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/testdata_loader.h
@@ -0,0 +1,117 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef TESTDATA_LOADER_H
+#define TESTDATA_LOADER_H
+
+#include <string>
+#include <utility>
+
+#include <moveit/robot_model/robot_model.h>
+
+#include "jointconfiguration.h"
+#include "cartesianconfiguration.h"
+#include "command_types_typedef.h"
+#include "sequence.h"
+#include "gripper.h"
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Abstract base class describing the interface to access
+ * test data like robot poses and robot commands.
+ */
+class TestdataLoader
+{
+public:
+  TestdataLoader() = default;
+
+  TestdataLoader(moveit::core::RobotModelConstPtr robot_model) : robot_model_(std::move(robot_model))
+  {
+  }
+
+  virtual ~TestdataLoader() = default;
+
+public:
+  void setRobotModel(moveit::core::RobotModelConstPtr robot_model);
+
+  virtual JointConfiguration getJoints(const std::string& pos_name, const std::string& group_name) const = 0;
+
+  virtual CartesianConfiguration getPose(const std::string& pos_name, const std::string& group_name) const = 0;
+
+  /**
+   * @brief Returns the command with the specified name from the test data.
+   */
+  virtual PtpJoint getPtpJoint(const std::string& cmd_name) const = 0;
+  virtual PtpCart getPtpCart(const std::string& cmd_name) const = 0;
+  virtual PtpJointCart getPtpJointCart(const std::string& cmd_name) const = 0;
+
+  /**
+   * @brief Returns the command with the specified name from the test data.
+   */
+  virtual LinJoint getLinJoint(const std::string& cmd_name) const = 0;
+  virtual LinCart getLinCart(const std::string& cmd_name) const = 0;
+  virtual LinJointCart getLinJointCart(const std::string& cmd_name) const = 0;
+
+  /**
+   * @brief Returns the command with the specified name from the test data.
+   */
+  virtual CircCenterCart getCircCartCenterCart(const std::string& cmd_name) const = 0;
+  virtual CircJointCenterCart getCircJointCenterCart(const std::string& cmd_name) const = 0;
+  virtual CircInterimCart getCircCartInterimCart(const std::string& cmd_name) const = 0;
+  virtual CircJointInterimCart getCircJointInterimCart(const std::string& cmd_name) const = 0;
+
+  /**
+   * @brief Returns the command with the specified name from the test data.
+   */
+  virtual Sequence getSequence(const std::string& cmd_name) const = 0;
+
+  /**
+   * @brief Returns the command with the specified name from the test data.
+   */
+  virtual Gripper getGripper(const std::string& cmd_name) const = 0;
+
+protected:
+  moveit::core::RobotModelConstPtr robot_model_;
+};
+
+inline void TestdataLoader::setRobotModel(moveit::core::RobotModelConstPtr robot_model)
+{
+  robot_model_ = std::move(robot_model);
+}
+
+using TestdataLoaderUPtr = std::unique_ptr<TestdataLoader>;
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // TESTDATA_LOADER_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_constants.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_constants.h
new file mode 100644
index 0000000000..8c6c4e6914
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_constants.h
@@ -0,0 +1,80 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef XML_CONSTANTS_H
+#define XML_CONSTANTS_H
+
+#include <string>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+const std::string EMPTY_STR{};
+
+const std::string XML_ATTR_STR{ "<xmlattr>" };
+const std::string JOINT_STR{ "joints" };
+const std::string POSE_STR{ "pos" };
+const std::string XYZ_QUAT_STR{ "xyzQuat" };
+const std::string XYZ_EULER_STR{ "xyzEuler" };
+const std::string SEED_STR{ "seed" };
+
+const std::string PTP_STR{ "ptp" };
+const std::string LIN_STR{ "lin" };
+const std::string CIRC_STR{ "circ" };
+const std::string BLEND_STR{ "blend" };
+const std::string GRIPPER_STR{ "gripper" };
+
+const std::string PLANNING_GROUP_STR{ "planningGroup" };
+const std::string TARGET_LINK_STR{ "targetLink" };
+const std::string START_POS_STR{ "startPos" };
+const std::string END_POS_STR{ "endPos" };
+const std::string INTERMEDIATE_POS_STR{ "intermediatePos" };
+const std::string CENTER_POS_STR{ "centerPos" };
+const std::string VEL_STR{ "vel" };
+const std::string ACC_STR{ "acc" };
+
+const std::string POSES_PATH_STR{ "testdata.poses" };
+const std::string PTPS_PATH_STR{ "testdata." + PTP_STR + "s" };
+const std::string LINS_PATH_STR{ "testdata." + LIN_STR + "s" };
+const std::string CIRCS_PATH_STR{ "testdata." + CIRC_STR + "s" };
+const std::string SEQUENCE_PATH_STR{ "testdata.sequences" };
+const std::string GRIPPERS_PATH_STR{ "testdata." + GRIPPER_STR + "s" };
+
+const std::string NAME_PATH_STR{ XML_ATTR_STR + ".name" };
+const std::string CMD_TYPE_PATH_STR{ XML_ATTR_STR + ".type" };
+const std::string BLEND_RADIUS_PATH_STR{ XML_ATTR_STR + ".blend_radius" };
+const std::string LINK_NAME_PATH_STR{ XML_ATTR_STR + ".link_name" };
+const std::string GROUP_NAME_PATH_STR{ XML_ATTR_STR + ".group_name" };
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // XML_CONSTANTS_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h
new file mode 100644
index 0000000000..c07da6ffb7
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h
@@ -0,0 +1,223 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef XML_TESTDATA_LOADER_H
+#define XML_TESTDATA_LOADER_H
+
+#include <string>
+#include <vector>
+#include <functional>
+#include <map>
+#include <memory>
+
+#include <boost/property_tree/ptree.hpp>
+
+#include "pilz_industrial_motion_planner_testutils/testdata_loader.h"
+
+namespace pt = boost::property_tree;
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Implements a test data loader which uses a xml file
+ * to store the test data.
+ *
+ * The Xml-file has the following structure:
+ *
+ * <testdata>
+ *
+ *  <poses>
+ *    <pos name="MyTestPos1">
+ *      <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints>
+ *      <xyzQuat group_name="manipulator" link_name="prbt_tcp">
+ *        x y z wx wy wz w
+ *        <seed><joints group_name="manipulator">s1 s2 s3 s4 s5 s6</joints></seed>
+ *      </xyzQuat>
+ *      <joints group_name="gripper">j_gripper</joints>
+ *    </pos>
+ *
+ *    <pos name="MyTestPos2">
+ *      <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints>
+ *      <xyzQuat group_name="manipulator" link_name="prbt_tcp">x y z wx wy wz w</xyzQuat>
+ *      <joints group_name="gripper">j_gripper</joints>
+ *    </pos>
+ *  </poses>
+ *
+ *  <ptps>
+ *    <ptp name="MyPtp1">
+ *      <startPos>MyTestPos1</startPos>
+ *      <endPos>MyTestPos2</endPos>
+ *      <vel>0.1</vel>
+ *      <acc>0.2</acc>
+ *    </ptp>
+ *  </ptps>
+ *
+ *  <lins>
+ *    <lin name="MyTestLin1">
+ *      <planningGroup>manipulator</planningGroup>
+ *      <targetLink>prbt_tcp</targetLink>
+ *      <startPos>MyTestPos1</startPos>
+ *      <endPos>MyTestPos2</endPos>
+ *      <vel>0.3</vel>
+ *      <acc>0.4</acc>
+ *    </lin>
+ *  </lins>
+ *
+ *  <circs>
+ *    <circ name="MyTestCirc1">
+ *       <planningGroup>manipulator</planningGroup>
+ *       <targetLink>prbt_tcp</targetLink>
+ *      <startPos>MyTestPos1</startPos>
+ *      <intermediatePos>MyTestPos1</intermediatePos>
+ *      <centerPos>MyTestPos2</centerPos>
+ *      <endPos>MyTestPos1</endPos>
+ *      <vel>0.2</vel>
+ *      <acc>0.5</acc>
+ *    </circ>
+ *  </circs>
+ *
+ *  <sequences>
+ *    <blend name="TestBlend">
+ *      <sequenceCmd name="TestPtp" type="ptp" blend_radius="0.2" />
+ *      <sequenceCmd name="MyTestLin1" type="lin" blend_radius="0.01" />
+ *      <sequenceCmd name="MyTestCirc1" type="circ" blend_radius="0" />
+ *    </blend>
+ *  </sequences>
+ *
+ * </testdata>
+ */
+
+class XmlTestdataLoader : public TestdataLoader
+{
+public:
+  XmlTestdataLoader(const std::string& path_filename);
+  XmlTestdataLoader(const std::string& path_filename, const moveit::core::RobotModelConstPtr& robot_model);
+  ~XmlTestdataLoader() override;
+
+public:
+  JointConfiguration getJoints(const std::string& pos_name, const std::string& group_name) const override;
+
+  CartesianConfiguration getPose(const std::string& pos_name, const std::string& group_name) const override;
+
+  PtpJoint getPtpJoint(const std::string& cmd_name) const override;
+  PtpCart getPtpCart(const std::string& cmd_name) const override;
+  PtpJointCart getPtpJointCart(const std::string& cmd_name) const override;
+
+  LinJoint getLinJoint(const std::string& cmd_name) const override;
+  LinCart getLinCart(const std::string& cmd_name) const override;
+  LinJointCart getLinJointCart(const std::string& cmd_name) const override;
+
+  CircCenterCart getCircCartCenterCart(const std::string& cmd_name) const override;
+  CircInterimCart getCircCartInterimCart(const std::string& cmd_name) const override;
+  CircJointCenterCart getCircJointCenterCart(const std::string& cmd_name) const override;
+  CircJointInterimCart getCircJointInterimCart(const std::string& cmd_name) const override;
+
+  Sequence getSequence(const std::string& cmd_name) const override;
+
+  Gripper getGripper(const std::string& cmd_name) const override;
+
+private:
+  /**
+   * @brief Use this function to search for a node (like an pos or cmd)
+   * with a given name.
+   *
+   * @param tree Tree containing the node.
+   * @param name Name of node to look for.
+   */
+  const pt::ptree::value_type& findNodeWithName(const boost::property_tree::ptree& tree, const std::string& name,
+                                                const std::string& key, const std::string& path = "") const;
+
+  /**
+   * @brief Use this function to search for a cmd-node with a given name.
+   */
+  const pt::ptree::value_type& findCmd(const std::string& cmd_name, const std::string& cmd_path,
+                                       const std::string& cmd_key) const;
+
+  CartesianCenter getCartesianCenter(const std::string& cmd_name, const std::string& planning_group) const;
+
+  CartesianInterim getCartesianInterim(const std::string& cmd_name, const std::string& planning_group) const;
+
+private:
+  JointConfiguration getJoints(const boost::property_tree::ptree& joints_tree, const std::string& group_name) const;
+
+private:
+  /**
+   * @brief Converts string vector to double vector.
+   */
+  inline static std::vector<double> strVec2doubleVec(std::vector<std::string>& strVec);
+
+public:
+  /**
+   * @brief Abstract base class providing a GENERIC getter-function signature
+   * which can be used to load DIFFERENT command types (like Ptp, Lin, etc.)
+   * from the test data file.
+   */
+  class AbstractCmdGetterAdapter
+  {
+  public:
+    virtual CmdVariant getCmd(const std::string& /*cmd_name*/) const = 0;
+    virtual ~AbstractCmdGetterAdapter() = default;
+  };
+
+private:
+  std::string path_filename_;
+  pt::ptree tree_{};
+
+  using AbstractCmdGetterUPtr = std::unique_ptr<AbstractCmdGetterAdapter>;
+
+  //! Stores the mapping between command type and the getter function
+  //! which have to be called.
+  //!
+  //! Please note:
+  //! This mapping is only relevant for sequence commands.
+  std::map<std::string, AbstractCmdGetterUPtr> cmd_getter_funcs_;
+
+private:
+  const pt::ptree::value_type empty_value_type_{};
+  const pt::ptree empty_tree_{};
+};
+
+std::vector<double> XmlTestdataLoader::strVec2doubleVec(std::vector<std::string>& strVec)
+{
+  std::vector<double> vec;
+
+  vec.resize(strVec.size());
+  std::transform(strVec.begin(), strVec.end(), vec.begin(), [](const std::string& val) { return std::stod(val); });
+
+  return vec;
+}
+
+using XmlTestDataLoaderUPtr = std::unique_ptr<TestdataLoader>;
+}  // namespace pilz_industrial_motion_planner_testutils
+
+#endif  // XML_TESTDATA_LOADER_H
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
new file mode 100644
index 0000000000..624abcec8c
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package>
+  <name>pilz_industrial_motion_planner_testutils</name>
+  <version>0.4.10</version>
+  <description>Helper scripts and functionality to test industrial motion generation</description>
+
+  <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>
+  <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>
+  <maintainer email="i.martini@pilz.de">Immanuel Martini</maintainer>
+  <maintainer email="j.schleicher@pilz.de">Joachim Schleicher</maintainer>
+  <maintainer email="h.slusarek@pilz.de">Hagen Slusarek</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <build_depend>eigen_conversions</build_depend>
+  <build_depend>moveit_core</build_depend>
+  <build_depend>moveit_msgs</build_depend>
+
+  <run_depend>moveit_core</run_depend>
+  <run_depend>moveit_msgs</run_depend>
+  <run_depend>moveit_commander</run_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/src/cartesianconfiguration.cpp b/moveit_planners/pilz_industrial_motion_planner_testutils/src/cartesianconfiguration.cpp
new file mode 100644
index 0000000000..104d762567
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/src/cartesianconfiguration.cpp
@@ -0,0 +1,132 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner_testutils/cartesianconfiguration.h"
+
+#include <stdexcept>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+CartesianConfiguration::CartesianConfiguration() : RobotConfiguration()
+{
+}
+
+CartesianConfiguration::CartesianConfiguration(const std::string& group_name, const std::string& link_name,
+                                               const std::vector<double>& config)
+  : RobotConfiguration(group_name), link_name_(link_name), pose_(toPose(config))
+{
+}
+
+CartesianConfiguration::CartesianConfiguration(const std::string& group_name, const std::string& link_name,
+                                               const std::vector<double>& config,
+                                               const moveit::core::RobotModelConstPtr& robot_model)
+  : RobotConfiguration(group_name, robot_model), link_name_(link_name), pose_(toPose(config))
+{
+  if (robot_model && (!robot_model_->hasLinkModel(link_name_)))
+  {
+    std::string msg{ "Link \"" };
+    msg.append(link_name).append("\" not known to robot model");
+    throw std::invalid_argument(msg);
+  }
+
+  if (robot_model && (!robot_state::RobotState(robot_model_).knowsFrameTransform(link_name_)))
+  {
+    std::string msg{ "Tranform of \"" };
+    msg.append(link_name).append("\" is unknown");
+    throw std::invalid_argument(msg);
+  }
+}
+
+geometry_msgs::Pose CartesianConfiguration::toPose(const std::vector<double>& pose)
+{
+  geometry_msgs::Pose pose_msg;
+  pose_msg.position.x = pose.at(0);
+  pose_msg.position.y = pose.at(1);
+  pose_msg.position.z = pose.at(2);
+  pose_msg.orientation.x = pose.at(3);
+  pose_msg.orientation.y = pose.at(4);
+  pose_msg.orientation.z = pose.at(5);
+  pose_msg.orientation.w = pose.at(6);
+
+  return pose_msg;
+}
+
+geometry_msgs::PoseStamped CartesianConfiguration::toStampedPose(const geometry_msgs::Pose& pose)
+{
+  geometry_msgs::PoseStamped pose_stamped_msg;
+  pose_stamped_msg.pose = pose;
+  return pose_stamped_msg;
+}
+
+moveit_msgs::RobotState CartesianConfiguration::toMoveitMsgsRobotState() const
+{
+  if (!robot_model_)
+  {
+    throw std::runtime_error("No robot model set");
+  }
+
+  robot_state::RobotState rstate(robot_model_);
+  rstate.setToDefaultValues();
+  if (hasSeed())
+  {
+    rstate.setJointGroupPositions(group_name_, getSeed().getJoints());
+  }
+
+  rstate.update();
+
+  // set to Cartesian pose
+  Eigen::Isometry3d start_pose;
+  tf::poseMsgToEigen(pose_, start_pose);
+  if (!rstate.setFromIK(rstate.getRobotModel()->getJointModelGroup(group_name_), start_pose, link_name_))
+  {
+    std::ostringstream os;
+    os << "No solution for ik \n" << start_pose.translation() << "\n" << start_pose.linear();
+    throw std::runtime_error(os.str());
+  }
+
+  // Conversion to RobotState msg type
+  moveit_msgs::RobotState robot_state_msg;
+  moveit::core::robotStateToRobotStateMsg(rstate, robot_state_msg, true);
+  return robot_state_msg;
+}
+
+std::ostream& operator<<(std::ostream& os, const CartesianConfiguration& obj)
+{
+  os << "Group name: \"" << obj.getGroupName() << "\"";
+  os << " | link name: \"" << obj.getLinkName() << "\"";
+  os << "\n" << obj.getPose();
+  return os;
+}
+
+}  // namespace pilz_industrial_motion_planner_testutils
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/src/jointconfiguration.cpp b/moveit_planners/pilz_industrial_motion_planner_testutils/src/jointconfiguration.cpp
new file mode 100644
index 0000000000..4ab2cbb5d9
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/src/jointconfiguration.cpp
@@ -0,0 +1,161 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner_testutils/jointconfiguration.h"
+
+#include <moveit/kinematic_constraints/utils.h>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+JointConfiguration::JointConfiguration() : RobotConfiguration()
+{
+}
+
+JointConfiguration::JointConfiguration(const std::string& group_name, const std::vector<double>& config,
+                                       CreateJointNameFunc&& create_joint_name_func)
+  : RobotConfiguration(group_name), joints_(config), create_joint_name_func_(create_joint_name_func)
+{
+}
+
+JointConfiguration::JointConfiguration(const std::string& group_name, const std::vector<double>& config,
+                                       const moveit::core::RobotModelConstPtr& robot_model)
+  : RobotConfiguration(group_name, robot_model), joints_(config)
+{
+}
+
+moveit_msgs::Constraints JointConfiguration::toGoalConstraintsWithoutModel() const
+{
+  if (!create_joint_name_func_)
+  {
+    throw JointConfigurationException("Create-Joint-Name function not set");
+  }
+
+  moveit_msgs::Constraints gc;
+
+  for (size_t i = 0; i < joints_.size(); ++i)
+  {
+    moveit_msgs::JointConstraint jc;
+    jc.joint_name = create_joint_name_func_(i);
+    jc.position = joints_.at(i);
+    gc.joint_constraints.push_back(jc);
+  }
+
+  return gc;
+}
+
+moveit_msgs::Constraints JointConfiguration::toGoalConstraintsWithModel() const
+{
+  if (!robot_model_)
+  {
+    throw JointConfigurationException("No robot model set");
+  }
+
+  robot_state::RobotState state(robot_model_);
+  state.setToDefaultValues();
+  state.setJointGroupPositions(group_name_, joints_);
+
+  return kinematic_constraints::constructGoalConstraints(state, state.getRobotModel()->getJointModelGroup(group_name_));
+}
+
+moveit_msgs::RobotState JointConfiguration::toMoveitMsgsRobotStateWithoutModel() const
+{
+  if (!create_joint_name_func_)
+  {
+    throw JointConfigurationException("Create-Joint-Name function not set");
+  }
+
+  moveit_msgs::RobotState robot_state;
+  for (size_t i = 0; i < joints_.size(); ++i)
+  {
+    robot_state.joint_state.name.emplace_back(create_joint_name_func_(i));
+    robot_state.joint_state.position.push_back(joints_.at(i));
+  }
+  return robot_state;
+}
+
+robot_state::RobotState JointConfiguration::toRobotState() const
+{
+  if (!robot_model_)
+  {
+    throw JointConfigurationException("No robot model set");
+  }
+
+  robot_state::RobotState robot_state(robot_model_);
+  robot_state.setToDefaultValues();
+  robot_state.setJointGroupPositions(group_name_, joints_);
+  return robot_state;
+}
+
+moveit_msgs::RobotState JointConfiguration::toMoveitMsgsRobotStateWithModel() const
+{
+  robot_state::RobotState start_state(toRobotState());
+  moveit_msgs::RobotState rob_state_msg;
+  moveit::core::robotStateToRobotStateMsg(start_state, rob_state_msg, false);
+  return rob_state_msg;
+}
+
+sensor_msgs::JointState JointConfiguration::toSensorMsg() const
+{
+  if (!create_joint_name_func_)
+  {
+    throw JointConfigurationException("Create-Joint-Name function not set");
+  }
+
+  sensor_msgs::JointState state;
+  for (size_t i = 0; i < joints_.size(); ++i)
+  {
+    state.name.emplace_back(create_joint_name_func_(i));
+    state.position.push_back(joints_.at(i));
+  }
+  return state;
+}
+
+std::ostream& operator<<(std::ostream& os, const JointConfiguration& obj)
+{
+  const size_t n{ obj.size() };
+  os << "JointConfiguration: [";
+  for (size_t i = 0; i < n; ++i)
+  {
+    os << obj.getJoint(i);
+    if (i != n - 1)
+    {
+      os << ", ";
+    }
+  }
+  os << "]";
+
+  return os;
+}
+
+}  // namespace pilz_industrial_motion_planner_testutils
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/src/robotconfiguration.cpp b/moveit_planners/pilz_industrial_motion_planner_testutils/src/robotconfiguration.cpp
new file mode 100644
index 0000000000..7de626c3f1
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/src/robotconfiguration.cpp
@@ -0,0 +1,62 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner_testutils/robotconfiguration.h"
+
+#include <stdexcept>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+RobotConfiguration::RobotConfiguration() : RobotStateMsgConvertible(), GoalConstraintMsgConvertible()
+{
+}
+
+RobotConfiguration::RobotConfiguration(const std::string& group_name)
+  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name)
+{
+}
+
+RobotConfiguration::RobotConfiguration(const std::string& group_name,
+                                       const moveit::core::RobotModelConstPtr& robot_model)
+  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name), robot_model_(robot_model)
+{
+  if (robot_model && (!robot_model_->hasJointModelGroup(group_name_)))
+  {
+    std::string msg{ "Specified robot model does not contain specified group \"" };
+    msg.append(group_name).append("\"");
+    throw std::invalid_argument(msg);
+  }
+}
+
+}  // namespace pilz_industrial_motion_planner_testutils
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/src/sequence.cpp b/moveit_planners/pilz_industrial_motion_planner_testutils/src/sequence.cpp
new file mode 100644
index 0000000000..b606668385
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/src/sequence.cpp
@@ -0,0 +1,120 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner_testutils/sequence.h"
+
+#include <algorithm>
+#include <boost/variant.hpp>
+
+namespace pilz_industrial_motion_planner_testutils
+{
+/**
+ * @brief Visitor transforming the stored command into a MotionPlanRequest.
+ */
+class ToReqVisitor : public boost::static_visitor<planning_interface::MotionPlanRequest>
+{
+public:
+  template <typename T>
+  planning_interface::MotionPlanRequest operator()(T& cmd) const
+  {
+    return cmd.toRequest();
+  }
+};
+
+/**
+ * @brief Visitor returning not the specific command type but the base type.
+ */
+class ToBaseVisitor : public boost::static_visitor<MotionCmd&>
+{
+public:
+  template <typename T>
+  MotionCmd& operator()(T& cmd) const
+  {
+    return cmd;
+  }
+};
+
+moveit_msgs::MotionSequenceRequest Sequence::toRequest() const
+{
+  moveit_msgs::MotionSequenceRequest req;
+
+  std::vector<std::string> group_names;
+  for (const auto& cmd : cmds_)
+  {
+    moveit_msgs::MotionSequenceItem item;
+    item.req = boost::apply_visitor(ToReqVisitor(), cmd.first);
+
+    if (std::find(group_names.begin(), group_names.end(), item.req.group_name) != group_names.end())
+    {
+      // Remove start state because only the first request of a group
+      // is allowed to have a start state in a sequence.
+      item.req.start_state = moveit_msgs::RobotState();
+    }
+    else
+    {
+      group_names.emplace_back(item.req.group_name);
+    }
+
+    item.blend_radius = cmd.second;
+    req.items.push_back(item);
+  }
+  return req;
+}
+
+void Sequence::erase(const size_t start, const size_t end)
+{
+  const size_t orig_n{ size() };
+  if (start > orig_n || end > orig_n)
+  {
+    std::string msg;
+    msg.append("Parameter start=").append(std::to_string(start));
+    msg.append(" and end=").append(std::to_string(end));
+    msg.append(" must not be greater then the number of #commands=");
+    msg.append(std::to_string(size()));
+    throw std::invalid_argument(msg);
+  }
+  cmds_.erase(cmds_.begin() + start, cmds_.begin() + end);
+  if (end == orig_n)
+  {
+    // Make sure last radius is set zero
+    cmds_.at(size() - 1).second = 0.;
+  }
+}
+
+MotionCmd& Sequence::getCmd(const size_t index_cmd)
+{
+  return boost::apply_visitor(ToBaseVisitor(), cmds_.at(index_cmd).first);
+}
+
+}  // namespace pilz_industrial_motion_planner_testutils
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/src/xml_testdata_loader.cpp b/moveit_planners/pilz_industrial_motion_planner_testutils/src/xml_testdata_loader.cpp
new file mode 100644
index 0000000000..69054bc45d
--- /dev/null
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/src/xml_testdata_loader.cpp
@@ -0,0 +1,555 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include "pilz_industrial_motion_planner_testutils/xml_testdata_loader.h"
+
+#include <iostream>
+
+#include <boost/property_tree/xml_parser.hpp>
+#include <boost/algorithm/string.hpp>
+#include <boost/optional.hpp>
+
+#include "pilz_industrial_motion_planner_testutils/default_values.h"
+#include "pilz_industrial_motion_planner_testutils/exception_types.h"
+#include "pilz_industrial_motion_planner_testutils/xml_constants.h"
+
+namespace pt = boost::property_tree;
+namespace pilz_industrial_motion_planner_testutils
+{
+class CmdReader
+{
+public:
+  CmdReader(const pt::ptree::value_type& node) : cmd_node_(node)
+  {
+  }
+
+public:
+  std::string getPlanningGroup() const;
+  std::string getTargetLink() const;
+  std::string getStartPoseName() const;
+  std::string getEndPoseName() const;
+
+  double getVelocityScale() const;
+  double getAccelerationScale() const;
+
+  CmdReader& setDefaultVelocityScale(double scale);
+  CmdReader& setDefaultAccelerationScale(double scale);
+
+private:
+  const pt::ptree::value_type& cmd_node_;
+
+  double default_velocity_scale_{ DEFAULT_VEL };
+  double default_acceleration_scale_{ DEFAULT_ACC };
+};
+
+inline std::string CmdReader::getPlanningGroup() const
+{
+  return cmd_node_.second.get<std::string>(PLANNING_GROUP_STR);
+}
+
+inline std::string CmdReader::getTargetLink() const
+{
+  return cmd_node_.second.get<std::string>(TARGET_LINK_STR);
+}
+
+inline std::string CmdReader::getStartPoseName() const
+{
+  return cmd_node_.second.get<std::string>(START_POS_STR);
+}
+
+inline std::string CmdReader::getEndPoseName() const
+{
+  return cmd_node_.second.get<std::string>(END_POS_STR);
+}
+
+inline double CmdReader::getVelocityScale() const
+{
+  return cmd_node_.second.get<double>(VEL_STR, default_velocity_scale_);
+}
+
+inline double CmdReader::getAccelerationScale() const
+{
+  return cmd_node_.second.get<double>(ACC_STR, default_acceleration_scale_);
+}
+
+inline CmdReader& CmdReader::setDefaultVelocityScale(double scale)
+{
+  default_velocity_scale_ = scale;
+  return *this;
+}
+
+inline CmdReader& CmdReader::setDefaultAccelerationScale(double scale)
+{
+  default_acceleration_scale_ = scale;
+  return *this;
+}
+
+template <class CmdType>
+class CmdGetterAdapter : public XmlTestdataLoader::AbstractCmdGetterAdapter
+{
+public:
+  using FuncType = std::function<CmdType(const std::string&)>;
+
+  CmdGetterAdapter(FuncType func) : AbstractCmdGetterAdapter(), func_(func)
+  {
+  }
+
+public:
+  CmdVariant getCmd(const std::string& cmd_name) const override
+  {
+    return CmdVariant(func_(cmd_name));
+  }
+
+private:
+  FuncType func_;
+};
+
+XmlTestdataLoader::XmlTestdataLoader(const std::string& path_filename) : TestdataLoader(), path_filename_(path_filename)
+{
+  // Parse the XML into the property tree.
+  pt::read_xml(path_filename_, tree_, pt::xml_parser::no_comments);
+
+  using std::placeholders::_1;
+  cmd_getter_funcs_["ptp"] =
+      AbstractCmdGetterUPtr(new CmdGetterAdapter<PtpJoint>(std::bind(&XmlTestdataLoader::getPtpJoint, this, _1)));
+  cmd_getter_funcs_["ptp_joint_cart"] = AbstractCmdGetterUPtr(
+      new CmdGetterAdapter<PtpJointCart>(std::bind(&XmlTestdataLoader::getPtpJointCart, this, _1)));
+  cmd_getter_funcs_["ptp_cart_cart"] =
+      AbstractCmdGetterUPtr(new CmdGetterAdapter<PtpCart>(std::bind(&XmlTestdataLoader::getPtpCart, this, _1)));
+
+  cmd_getter_funcs_["lin"] =
+      AbstractCmdGetterUPtr(new CmdGetterAdapter<LinJoint>(std::bind(&XmlTestdataLoader::getLinJoint, this, _1)));
+  cmd_getter_funcs_["lin_cart"] =
+      AbstractCmdGetterUPtr(new CmdGetterAdapter<LinCart>(std::bind(&XmlTestdataLoader::getLinCart, this, _1)));
+
+  cmd_getter_funcs_["circ_center_cart"] = AbstractCmdGetterUPtr(
+      new CmdGetterAdapter<CircCenterCart>(std::bind(&XmlTestdataLoader::getCircCartCenterCart, this, _1)));
+  cmd_getter_funcs_["circ_interim_cart"] = AbstractCmdGetterUPtr(
+      new CmdGetterAdapter<CircInterimCart>(std::bind(&XmlTestdataLoader::getCircCartInterimCart, this, _1)));
+  cmd_getter_funcs_["circ_joint_interim_cart"] = AbstractCmdGetterUPtr(
+      new CmdGetterAdapter<CircJointInterimCart>(std::bind(&XmlTestdataLoader::getCircJointInterimCart, this, _1)));
+
+  cmd_getter_funcs_["gripper"] =
+      AbstractCmdGetterUPtr(new CmdGetterAdapter<Gripper>(std::bind(&XmlTestdataLoader::getGripper, this, _1)));
+}
+
+XmlTestdataLoader::XmlTestdataLoader(const std::string& path_filename,
+                                     const moveit::core::RobotModelConstPtr& robot_model)
+  : XmlTestdataLoader(path_filename)
+{
+  setRobotModel(robot_model);
+}
+
+XmlTestdataLoader::~XmlTestdataLoader()
+{
+}
+
+const pt::ptree::value_type& XmlTestdataLoader::findNodeWithName(const boost::property_tree::ptree& tree,
+                                                                 const std::string& name, const std::string& key,
+                                                                 const std::string& path) const
+{
+  std::string path_str{ (path.empty() ? NAME_PATH_STR : path) };
+
+  // Search for node with given name.
+  for (const pt::ptree::value_type& val : tree)
+  {
+    // Ignore attributes which are always the first element of a tree.
+    if (val.first == XML_ATTR_STR)
+    {
+      continue;
+    }
+
+    if (val.first != key)
+    {
+      continue;
+    }
+
+    const auto& node{ val.second.get_child(path_str, empty_tree_) };
+    if (node == empty_tree_)
+    {
+      break;
+    }
+    if (node.data() == name)
+    {
+      return val;
+    }
+  }
+
+  std::string msg;
+  msg.append("Node of type \"")
+      .append(key)
+      .append("\" with ")
+      .append(path_str)
+      .append("=\"")
+      .append(name)
+      .append("\" "
+              "not "
+              "foun"
+              "d.");
+  throw TestDataLoaderReadingException(msg);
+}
+
+JointConfiguration XmlTestdataLoader::getJoints(const std::string& pos_name, const std::string& group_name) const
+{
+  // Search for node with given name.
+  const auto& poses_tree{ tree_.get_child(POSES_PATH_STR, empty_tree_) };
+  if (poses_tree == empty_tree_)
+  {
+    throw TestDataLoaderReadingException("No poses found.");
+  }
+  return getJoints(findNodeWithName(poses_tree, pos_name, POSE_STR).second, group_name);
+}
+
+JointConfiguration XmlTestdataLoader::getJoints(const boost::property_tree::ptree& joints_tree,
+                                                const std::string& group_name) const
+{
+  // Search joints node with given group_name.
+  if (joints_tree == empty_tree_)
+  {
+    throw TestDataLoaderReadingException("No joints found.");
+  }
+  const auto& joint_node{ findNodeWithName(joints_tree, group_name, JOINT_STR, GROUP_NAME_PATH_STR) };
+
+  std::vector<std::string> strs;
+  boost::split(strs, joint_node.second.data(), boost::is_any_of(" "));
+  return JointConfiguration(group_name, strVec2doubleVec(strs), robot_model_);
+}
+
+CartesianConfiguration XmlTestdataLoader::getPose(const std::string& pos_name, const std::string& group_name) const
+{
+  const auto& all_poses_tree{ tree_.get_child(POSES_PATH_STR, empty_tree_) };
+  if (all_poses_tree == empty_tree_)
+  {
+    throw TestDataLoaderReadingException("No poses found.");
+  }
+  const auto& pose_tree{ findNodeWithName(all_poses_tree, pos_name, POSE_STR).second };
+  const auto& xyz_quat_tree{ findNodeWithName(pose_tree, group_name, XYZ_QUAT_STR, GROUP_NAME_PATH_STR).second };
+  const boost::property_tree::ptree& link_name_attr{ xyz_quat_tree.get_child(LINK_NAME_PATH_STR, empty_tree_) };
+  if (link_name_attr == empty_tree_)
+  {
+    throw TestDataLoaderReadingException("No link name found.");
+  }
+
+  // Get rid of things like "\n", etc.
+  std::string data{ xyz_quat_tree.data() };
+  boost::trim(data);
+
+  std::vector<std::string> pos_ori_str;
+  boost::split(pos_ori_str, data, boost::is_any_of(" "));
+  CartesianConfiguration cart_config{ CartesianConfiguration(group_name, link_name_attr.data(),
+                                                             strVec2doubleVec(pos_ori_str), robot_model_) };
+
+  const auto& seeds_tree{ xyz_quat_tree.get_child(SEED_STR, empty_tree_) };
+  if (seeds_tree != empty_tree_)
+  {
+    cart_config.setSeed(getJoints(seeds_tree, group_name));
+  }
+  return cart_config;
+}
+
+PtpJoint XmlTestdataLoader::getPtpJoint(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, PTPS_PATH_STR, PTP_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  PtpJoint cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getJoints(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+PtpJointCart XmlTestdataLoader::getPtpJointCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, PTPS_PATH_STR, PTP_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  PtpJointCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+PtpCart XmlTestdataLoader::getPtpCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, PTPS_PATH_STR, PTP_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  PtpCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getPose(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+LinJoint XmlTestdataLoader::getLinJoint(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, LINS_PATH_STR, LIN_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  LinJoint cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getJoints(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+LinCart XmlTestdataLoader::getLinCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, LINS_PATH_STR, LIN_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  LinCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getPose(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+LinJointCart XmlTestdataLoader::getLinJointCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, LINS_PATH_STR, LIN_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  LinJointCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+const pt::ptree::value_type& XmlTestdataLoader::findCmd(const std::string& cmd_name, const std::string& cmd_path,
+                                                        const std::string& cmd_key) const
+{
+  // Search for node with given name.
+  const boost::property_tree::ptree& cmds_tree{ tree_.get_child(cmd_path, empty_tree_) };
+  if (cmds_tree == empty_tree_)
+  {
+    throw TestDataLoaderReadingException("No list of commands of type \"" + cmd_key + "\" found");
+  }
+
+  return findNodeWithName(cmds_tree, cmd_name, cmd_key);
+}
+
+CartesianCenter XmlTestdataLoader::getCartesianCenter(const std::string& cmd_name,
+                                                      const std::string& planning_group) const
+{
+  const pt::ptree::value_type& cmd_node{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string aux_pos_name;
+  try
+  {
+    aux_pos_name = cmd_node.second.get<std::string>(CENTER_POS_STR);
+  }
+  catch (...)
+  {
+    throw TestDataLoaderReadingException("Did not find center of circ");
+  }
+
+  CartesianCenter aux;
+  aux.setConfiguration(getPose(aux_pos_name, planning_group));
+  return aux;
+}
+
+CartesianInterim XmlTestdataLoader::getCartesianInterim(const std::string& cmd_name,
+                                                        const std::string& planning_group) const
+{
+  const pt::ptree::value_type& cmd_node{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string aux_pos_name;
+  try
+  {
+    aux_pos_name = cmd_node.second.get<std::string>(INTERMEDIATE_POS_STR);
+  }
+  catch (...)
+  {
+    throw TestDataLoaderReadingException("Did not find interim of circ");
+  }
+
+  CartesianInterim aux;
+  aux.setConfiguration(getPose(aux_pos_name, planning_group));
+  return aux;
+}
+
+CircCenterCart XmlTestdataLoader::getCircCartCenterCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  CircCenterCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getPose(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setAuxiliaryConfiguration(getCartesianCenter(cmd_name, planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+CircInterimCart XmlTestdataLoader::getCircCartInterimCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  CircInterimCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getPose(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setAuxiliaryConfiguration(getCartesianInterim(cmd_name, planning_group));
+  cmd.setGoalConfiguration(getPose(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+CircJointInterimCart XmlTestdataLoader::getCircJointInterimCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  CircJointInterimCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setAuxiliaryConfiguration(getCartesianInterim(cmd_name, planning_group));
+  cmd.setGoalConfiguration(getJoints(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+CircJointCenterCart XmlTestdataLoader::getCircJointCenterCart(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, CIRCS_PATH_STR, CIRC_STR) };
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  CircJointCenterCart cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setAuxiliaryConfiguration(getCartesianCenter(cmd_name, planning_group));
+  cmd.setGoalConfiguration(getJoints(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+Sequence XmlTestdataLoader::getSequence(const std::string& cmd_name) const
+{
+  Sequence seq;
+
+  // Find sequence with given name and loop over all its cmds
+  const auto& sequence_cmd_tree{ findCmd(cmd_name, SEQUENCE_PATH_STR, BLEND_STR).second };
+  for (const pt::ptree::value_type& seq_cmd : sequence_cmd_tree)
+  {
+    // Ignore attributes which are always the first element of a tree.
+    if (seq_cmd.first == XML_ATTR_STR)
+    {
+      continue;
+    }
+
+    // Get name of blend cmd.
+    const boost::property_tree::ptree& cmd_name_attr = seq_cmd.second.get_child(NAME_PATH_STR, empty_tree_);
+    if (cmd_name_attr == empty_tree_)
+    {
+      throw TestDataLoaderReadingException("Did not find name of sequence cmd");
+    }
+
+    const std::string& cmd_name{ cmd_name_attr.data() };
+
+    // Get type of blend cmd
+    const boost::property_tree::ptree& type_name_attr{ seq_cmd.second.get_child(CMD_TYPE_PATH_STR, empty_tree_) };
+    if (type_name_attr == empty_tree_)
+    {
+      throw TestDataLoaderReadingException("Did not find type of sequence cmd \"" + cmd_name + "\"");
+    }
+    const std::string& cmd_type{ type_name_attr.data() };
+
+    // Get blend radius of blend cmd.
+    double blend_radius{ seq_cmd.second.get<double>(BLEND_RADIUS_PATH_STR, DEFAULT_BLEND_RADIUS) };
+
+    // Read current command from test data + Add command to sequence
+    seq.add(cmd_getter_funcs_.at(cmd_type)->getCmd(cmd_name), blend_radius);
+  }
+
+  return seq;
+}
+
+Gripper XmlTestdataLoader::getGripper(const std::string& cmd_name) const
+{
+  CmdReader cmd_reader{ findCmd(cmd_name, GRIPPERS_PATH_STR, GRIPPER_STR) };
+  cmd_reader.setDefaultVelocityScale(DEFAULT_VEL_GRIPPER);
+  cmd_reader.setDefaultAccelerationScale(DEFAULT_ACC_GRIPPER);
+  std::string planning_group{ cmd_reader.getPlanningGroup() };
+
+  Gripper cmd;
+  cmd.setPlanningGroup(planning_group);
+  cmd.setVelocityScale(cmd_reader.getVelocityScale());
+  cmd.setAccelerationScale(cmd_reader.getAccelerationScale());
+
+  cmd.setStartConfiguration(getJoints(cmd_reader.getStartPoseName(), planning_group));
+  cmd.setGoalConfiguration(getJoints(cmd_reader.getEndPoseName(), planning_group));
+
+  return cmd;
+}
+
+}  // namespace pilz_industrial_motion_planner_testutils
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index f32c11dbda..c6351baef6 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -516,6 +516,8 @@ bool MoveItConfigData::outputFakeControllersYAML(const std::string& file_path)
     const std::vector<const moveit::core::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
     emitter << YAML::Key << "name";
     emitter << YAML::Value << "fake_" + group.name_ + "_controller";
+    emitter << YAML::Key << "type";
+    emitter << YAML::Value << "$(arg execution_type)";
     emitter << YAML::Key << "joints";
     emitter << YAML::Value << YAML::BeginSeq;
 
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index b39ea2c013..4535e99498 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -297,6 +297,17 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;  // Can they be changed?
   gen_files_.push_back(file);
 
+  // cartesian_limits.yaml --------------------------------------------------------------------------------------
+  file.file_name_ = "cartesian_limits.yaml";
+  file.rel_path_ = config_data_->appendPaths(config_path, file.file_name_);
+  template_path = config_data_->appendPaths(config_data_->template_package_path_, file.rel_path_);
+  file.description_ = "Cartesian velocity for planning in the workspace."
+                      "The velocity is used by pilz industrial motion planner as maximum velocity for cartesian "
+                      "planning requests scaled by the velocity scaling factor of an individual planning request.";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;  // Can they be changed?
+  gen_files_.push_back(file);
+
   // fake_controllers.yaml --------------------------------------------------------------------------------------
   file.file_name_ = "fake_controllers.yaml";
   file.rel_path_ = config_data_->appendPaths(config_path, file.file_name_);
@@ -380,6 +391,18 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
+  // pilz_industrial_motion_planner_planning_pipeline.launch
+  // --------------------------------------------------------------------------------------
+  file.file_name_ = "pilz_industrial_motion_planner_planning_pipeline.launch.xml";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
+  file.description_ = "Intended to be included in other launch files that require the Pilz industrial motion planner "
+                      "planning plugin. Defines the proper plugin name on the parameter server and a default selection "
+                      "of planning request adapters.";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;
+  gen_files_.push_back(file);
+
   // chomp_planning_pipeline.launch
   // --------------------------------------------------------------------------------------
   file.file_name_ = "chomp_planning_pipeline.launch.xml";
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/config/cartesian_limits.yaml b/moveit_setup_assistant/templates/moveit_config_pkg_template/config/cartesian_limits.yaml
new file mode 100644
index 0000000000..7df72f693b
--- /dev/null
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
index c9eb4e24c8..f334bb4d57 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
@@ -1,21 +1,30 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt -->
-   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-   <arg name="start_state_max_bounds_error" value="0.1" />
-   <!-- The request adapters (plugins) used when planning.
-        ORDER MATTERS -->
-   <arg name="planning_adapters"
-        value="default_planner_request_adapters/AddTimeParameterization
-               default_planner_request_adapters/ResolveConstraintFrames
-               default_planner_request_adapters/FixWorkspaceBounds
-               default_planner_request_adapters/FixStartStateBounds
-               default_planner_request_adapters/FixStartStateCollision
-               default_planner_request_adapters/FixStartStatePathConstraints"
-               />
+  <!-- CHOMP Plugin for MoveIt -->
+  <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
 
-   <param name="planning_plugin" value="$(arg planning_plugin)" />
-   <param name="request_adapters" value="$(arg planning_adapters)" />
-   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
 
-   <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/chomp_planning.yaml" />
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <!-- The request adapters (plugins) used when planning.
+       ORDER MATTERS -->
+  <arg name="planning_adapters"
+       value="default_planner_request_adapters/AddTimeParameterization
+              default_planner_request_adapters/ResolveConstraintFrames
+              default_planner_request_adapters/FixWorkspaceBounds
+              default_planner_request_adapters/FixStartStateBounds
+              default_planner_request_adapters/FixStartStateCollision
+              default_planner_request_adapters/FixStartStatePathConstraints"
+              />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+  <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/chomp_planning.yaml" />
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
index 06b3a93e74..f668745bb0 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
@@ -1,9 +1,12 @@
 <launch>
 
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="execution_type" default="interpolate" />
+
   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam file="$(find [GENERATED_PACKAGE_NAME])/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find [GENERATED_PACKAGE_NAME])/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
index b41620c229..6637d21031 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch
@@ -15,6 +15,7 @@
   <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
   <arg name="fake_execution" default="false"/>
+  <arg name="execution_type" default="interpolate"/> <!-- set to 'last point' to skip intermediate trajectory in fake execution -->
   <arg name="max_safe_path_cost" default="1"/>
   <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
@@ -46,6 +47,8 @@
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
   </include>
 
   <!-- Trajectory Execution Functionality -->
@@ -53,6 +56,7 @@
     <arg name="moveit_manage_controllers" value="true" />
     <arg name="moveit_controller_manager" value="[ROBOT_NAME]" unless="$(arg fake_execution)"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="execution_type" value="$(arg execution_type)" />
   </include>
 
   <!-- Sensors Functionality -->
@@ -68,8 +72,6 @@
     <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
     <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
     <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-    <param name="capabilities" value="$(arg capabilities)"/>
-    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
 
 
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
index 9ce2a6e1f0..f85ed516e2 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
@@ -3,6 +3,12 @@
   <!-- OMPL Plugin for MoveIt -->
   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
   <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <arg name="planning_adapters"
@@ -19,6 +25,8 @@
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
   <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/ompl_planning.yaml"/>
 
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000000..ac6272e235
--- /dev/null
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,28 @@
+<launch>
+
+  <!-- Pilz Command Planner Plugin for MoveIt -->
+  <arg name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+
+  <!-- The request adapters (plugins) used when planning.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="" />
+
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <!-- MoveGroup capabilities to load, append sequence capability -->
+  <param name="capabilities" value="$(arg capabilities)
+                                    pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService
+                                   " />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+</launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
index 54efbec4e7..635179b3b8 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_context.launch
@@ -14,6 +14,7 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
index b58d3f4660..f1b5c7fcec 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
@@ -5,6 +5,15 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="capabilities" value="$(arg capabilities)"/>
+    <arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
+  </include>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
index aec604748b..2de6f893f6 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
@@ -2,6 +2,8 @@
 
   <!-- This file makes it easy to include the settings for trajectory execution  -->
 
+  <arg name="execution_type" default="interpolate" />
+
   <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
   <arg name="moveit_manage_controllers" default="true"/>
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@@ -15,6 +17,8 @@
 
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="[ROBOT_NAME]" />
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
+    <arg name="execution_type" value="$(arg execution_type)" />
+  </include>
 
 </launch>
diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
index 07ebf68e85..59470ce087 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
@@ -3,6 +3,12 @@
   <!-- TrajOpt Plugin for MoveIt -->
   <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
 
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
   <!-- The request adapters (plugins) used when planning with TrajOpt.
        ORDER MATTERS -->
   <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
@@ -16,6 +22,8 @@
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
   <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/trajopt_planning.yaml"/>
 

From 9f9e69c54529e1aa156851abb6aae7047b20780d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 3 Nov 2020 17:10:16 +0100
Subject: [PATCH 508/612] FixStartStateBounds: Copy attached bodies when
 adapting the start state (#2398)

---
 .../src/fix_start_state_bounds.cpp                              | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
index 6fe04103fa..83ecdda130 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
+++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
@@ -181,7 +181,7 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
     if (change_req)
     {
       planning_interface::MotionPlanRequest req2 = req;
-      moveit::core::robotStateToRobotStateMsg(start_state, req2.start_state, false);
+      moveit::core::robotStateToRobotStateMsg(start_state, req2.start_state);
       solved = planner(planning_scene, req2, res);
     }
     else

From f85db808303cb7787320dc48162eabdc07593fdc Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Wed, 4 Nov 2020 08:34:01 -0700
Subject: [PATCH 509/612] [meta] first-timers-only issue template (#2385)

Co-authored-by: Felix von Drigalski <FvDrigalski@gmail.com>
Co-authored-by: Sebastian Jahr <jahr.sebastian@t-online.de>
---
 .github/ISSUE_TEMPLATE/first_timers_only.md | 65 +++++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 .github/ISSUE_TEMPLATE/first_timers_only.md

diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.github/ISSUE_TEMPLATE/first_timers_only.md
new file mode 100644
index 0000000000..b907471b29
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/first_timers_only.md
@@ -0,0 +1,65 @@
+---
+name: First Timers Only Issue
+about: Create an issue to welcome a new contributor into the community.
+title: ''
+labels: first-timers-only
+assignees: ''
+
+---
+
+## Background
+
+Overview of your issue here.
+
+## Instructions
+Hi, this is a `first-timer-only` issue. This means we've worked to make it more legible to people who either **haven't contributed to our codebase before, or even folks who haven't contributed to open source before**.
+
+We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!
+
+We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
+
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-planning/moveit/labels/bug) issues. Thanks!
+
+### 🤔 What you will need to know.
+
+Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.
+
+### 📋 Step by Step
+
+- [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
+
+- [ ] 🗄️**Create a local workspace** for making your changes and testing [follwing these instructions](https://moveit.ros.org/install/source/)
+
+- [ ] 📝 **Update** the file(s) `$FILENAME`by applying the change shown in the diff below.
+
+```diff
+$DIFF
+```
+
+- [ ] 🤖 **Apply `clang-format-10`** auto formatting, [following these instructions](https://moveit.ros.org//documentation/contributing/code/?#clang-format-auto-code-formatting)
+
+- [ ] 💾 **Commit** your changes
+
+- [ ] 🔀 **Start a Pull Request**. There are two ways how you can start a pull request:
+1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
+2. If you are familiar with the terminal or would like to learn to use it, [here is a great tutorial](https://egghead.io/series/how-to-contribute-to-an-open-source-project-on-github) on how to send a pull request using the terminal.
+
+- [ ] 🏁 **Done** Ask in comments for a review :)
+
+### Is someone else already working on this?
+
+🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.
+
+👥- **If someone seems stuck, offer them some help!**
+
+### 🤔❓ Questions?
+
+Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
+Furthermore, you find helpful resources here:
+* [MoveIt FAQ](https://moveit.ros.org/documentation/faqs/)
+* [MoveIt Tutorials](https://ros-planning.github.io/moveit_tutorials/)
+* [MoveIt contribution guide](https://moveit.ros.org/documentation/contributing/)
+* [ROS Tutorials](https://wiki.ros.org/ROS/Tutorials)
+* [ROS Answers](https://answers.ros.org/questions/)
+
+**Good luck with your first issue!**

From 382aa5a8cdd39eace07536d39c497a4b21f0f653 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 4 Nov 2020 19:10:32 +0100
Subject: [PATCH 510/612] Fix QObject::connect: Cannot queue arguments of type
 'QVector<int>' (#2392)

---
 .../planning_scene_display.h                          |  1 +
 .../src/planning_scene_display.cpp                    | 11 +++++++----
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 99f9ab8634..ff32a3e5d4 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -130,6 +130,7 @@ private Q_SLOTS:
   void changedSceneDisplayTime();
   void changedOctreeRenderMode();
   void changedOctreeColorMode();
+  void setSceneName(const QString& name);
 
 protected Q_SLOTS:
   virtual void changedAttachedBodyColor();
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 862e41ba63..067ead8875 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -583,14 +583,17 @@ void PlanningSceneDisplay::sceneMonitorReceivedUpdate(
 void PlanningSceneDisplay::onSceneMonitorReceivedUpdate(
     planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType /*update_type*/)
 {
-  bool old_state = scene_name_property_->blockSignals(true);
   getPlanningSceneRW()->getCurrentStateNonConst().update();
-  scene_name_property_->setStdString(getPlanningSceneRO()->getName());
-  scene_name_property_->blockSignals(old_state);
-
+  QMetaObject::invokeMethod(this, "setSceneName", Qt::QueuedConnection,
+                            Q_ARG(QString, QString::fromStdString(getPlanningSceneRO()->getName())));
   planning_scene_needs_render_ = true;
 }
 
+void PlanningSceneDisplay::setSceneName(const QString& name)
+{
+  scene_name_property_->setString(name);
+}
+
 void PlanningSceneDisplay::onEnable()
 {
   Display::onEnable();

From 0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Fri, 6 Nov 2020 14:49:50 -0700
Subject: [PATCH 511/612] [maint] Changelogs in pilz planner (#2408)

---
 .../CHANGELOG.rst                             | 105 +-----------------
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  83 +-------------
 .../package.xml                               |   2 +-
 4 files changed, 10 insertions(+), 182 deletions(-)

diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
index 1acf7f0272..b711926f83 100644
--- a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
+++ b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
@@ -2,105 +2,8 @@
 Changelog for package pilz_industrial_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.4.10 (2019-12-04)
--------------------
+Forthcoming
+-----------
+* [feature] Add Pilz industrial motion planner (`#1893 <https://github.com/tylerjw/moveit/issues/1893>`_)
+* Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer
 
-0.4.9 (2019-11-28)
-------------------
-
-0.4.8 (2019-11-22)
-------------------
-
-0.4.7 (2019-09-10)
-------------------
-* Fix clang-tidy issues
-* integrate clang-tidy via CMake flag
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.6 (2019-09-04)
-------------------
-
-0.4.5 (2019-09-03)
-------------------
-* Adapt to changes in pilz_robots
-* add static code analyzing (clang-tidy)
-* drop deprecated isRobotStateEqual()
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.4 (2019-06-19)
-------------------
-* fixed an error that led to trajectories not strictly increasing in time
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.3 (2019-04-08)
-------------------
-* update dependencies of trajectory_generation
-* fix CIRC path generator and increase test coverage
-* adopt strictest limits in ptp planner (refactor JointLimitsContainer and TrajectoryGeneratorPTP)
-* Enable gripper commands inside a sequence
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.2 (2019-03-13)
-------------------
-* re-adapt to new RobotState API: remove #attempts
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.1 (2019-02-27)
-------------------
-
-0.3.6 (2019-02-26)
-------------------
-* refactor the testdataloader
-* adapt to new RobotState API: remove #attempts
-* Contributors: Pilz GmbH and Co. KG
-
-0.3.5 (2019-02-06)
-------------------
-* Increase line coverage for blending to 100%
-* refactor determining the trajectory alignment in the blend implementation
-* extend and refactor unittest of blender_transition_window
-* add planning group check to blender_transition_window
-* add more details to blend algorithm description
-* change handling of empty sequences in capabilities to be non-erroneous
-* rename command_planner -> pilz_command_planner
-* use pilz_testutils package for blend test
-* use collision-aware ik calculation
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.0 (2018-12-18)
-------------------
-* Use Eigen::Isometry3d to keep up with the recent changes in moveit
-* Contributors: Chris Lalancette
-
-0.3.1 (2018-12-17)
-------------------
-
-0.3.0 (2018-11-28)
-------------------
-* add append method for avoiding duplicate points in robot_trajectory trajectories
-* Relax the precondition on trajectory generators from v_start==0 to |v_start| < 1e-10 to gain robustness
-* Set last point of generated trajectories to have vel=acc=0 to match the first point.
-* add sequence action and service capabilities to concatenate multiple requests
-* Contributors: Pilz GmbH and Co. KG
-
-0.2.2 (2018-09-26)
-------------------
-
-0.2.1 (2018-09-25)
-------------------
-
-0.1.1 (2018-09-25)
-------------------
-* port to melodic
-* drop unused dependencies
-* Contributors: Pilz GmbH and Co. KG
-
-0.2.0 (2018-09-14)
-------------------
-* Changes for melodic
-* Contributors: Pilz GmbH and Co. KG
-
-0.1.0 (2018-09-14)
-------------------
-* Created trajectory generation package with ptp, lin, circ and blend planner
-* Contributors: Pilz GmbH and Co. KG
diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
index d69a541779..41f8eb032d 100644
--- a/moveit_planners/pilz_industrial_motion_planner/package.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>pilz_industrial_motion_planner</name>
-  <version>0.4.10</version>
+  <version>1.1.1</version>
   <description>MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.</description>
 
   <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
index 241af55e15..69e8a98417 100644
--- a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
@@ -2,83 +2,8 @@
 Changelog for package pilz_industrial_motion_planner_testutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.4.10 (2019-12-04)
--------------------
+Forthcoming
+-----------
+* [feature] Add Pilz industrial motion planner (`#1893 <https://github.com/tylerjw/moveit/issues/1893>`_)
+* Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer
 
-0.4.9 (2019-11-28)
-------------------
-
-0.4.8 (2019-11-22)
-------------------
-
-0.4.7 (2019-09-10)
-------------------
-* Fix clang-tidy issues
-* integrate clang-tidy via CMake flag
-* Contributors: Pilz GmbH and Co. KG
-
-0.4.6 (2019-09-04)
-------------------
-
-0.4.5 (2019-09-03)
-------------------
-
-0.4.4 (2019-06-19)
-------------------
-
-0.4.3 (2019-04-08)
-------------------
-* update package dependencies
-* Add missing intialization
-* Add getter for CircJointInterimCart in XMLTestdataLoader
-
-0.4.2 (2019-03-13)
-------------------
-
-0.4.1 (2019-02-27)
-------------------
-
-0.3.6 (2019-02-26)
-------------------
-
-0.3.5 (2019-02-06)
-------------------
-
-0.3.4 (2019-02-05)
-------------------
-* Add high level abstraction data classes to represent configuration of robot
-* Add high level abstraction data classes to represent different command types
-* Add functions to TestdataLoader returning the high level abstraction classes
-
-0.4.0 (2018-12-18)
-------------------
-* Use Eigen::Isometry3d to keep up with the recent changes in moveit
-* Contributors: Chris Lalancette
-
-0.3.1 (2018-12-17)
-------------------
-* Add RobotMotionObserver in testutils
-* Contributors: Pilz GmbH and Co. KG
-
-0.3.0 (2018-11-28)
-------------------
-* rename get_current_joint_values -> get_current_joint_states
-
-0.2.2 (2018-09-26)
-------------------
-* fix missing dependency for melodic
-* Contributors: Pilz GmbH and Co. KG
-
-0.2.1 (2018-09-25)
-------------------
-
-0.1.1 (2018-09-25)
-------------------
-
-0.2.0 (2018-09-14)
-------------------
-
-0.1.0 (2018-09-14)
-------------------
-* xml test data loader.
-* Contributors: Pilz GmbH and Co. KG
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
index 624abcec8c..e2b1718a89 100644
--- a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>pilz_industrial_motion_planner_testutils</name>
-  <version>0.4.10</version>
+  <version>1.1.1</version>
   <description>Helper scripts and functionality to test industrial motion generation</description>
 
   <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>

From 09afa50b40ac8cb8644ba1a627bb7643137959d3 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Fri, 6 Nov 2020 15:53:06 -0600
Subject: [PATCH 512/612] Update collision-related comments (#2382) (#2388)

Co-authored-by: Ghenohenomohe <71963599+Ghenohenomohe@users.noreply.github.com>
---
 .../include/moveit/collision_detection_fcl/collision_common.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
index 62db457a55..2359081e9a 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
@@ -274,7 +274,7 @@ struct FCLManager
  *   \param o1 First FCL collision object
  *   \param o2 Second FCL collision object
  *   \data General pointer to arbitrary data which is used during the callback
- *   \return True terminates the distance check, false continues it to the next pair of objects */
+ *   \return True terminates the collision check, false continues it to the next pair of objects */
 bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data);
 
 /** \brief Callback function used by the FCLManager used for each pair of collision objects to
@@ -283,7 +283,7 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
  *   \param o1 First FCL collision object
  *   \param o2 Second FCL collision object
  *   \data General pointer to arbitrary data which is used during the callback
- *   \return True terminates the collision check, false continues it to the next pair of objects */
+ *   \return True terminates the distance check, false continues it to the next pair of objects */
 bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data, double& min_dist);
 
 /** \brief Create new FCLGeometry object out of robot link model. */

From c616ef9aa86b34c4b237ca7b1cdd66c19dfc6f20 Mon Sep 17 00:00:00 2001
From: "David V. Lu!!" <davidvlu@gmail.com>
Date: Tue, 10 Nov 2020 16:04:04 -0500
Subject: [PATCH 513/612] Fix empty sequence in moveit_setup_assistant (#2406)

---
 moveit_setup_assistant/src/tools/moveit_config_data.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index c6351baef6..2ce3543a18 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -572,6 +572,10 @@ bool MoveItConfigData::outputFakeControllersYAML(const std::string& file_path)
     emitter << YAML::Newline;
     emitter << YAML::Comment(" - group: " + default_group_name) << YAML::Newline;
     emitter << YAML::Comment("   pose: home") << YAML::Newline;
+
+    // Add empty list for valid yaml
+    emitter << YAML::BeginSeq;
+    emitter << YAML::EndSeq;
   }
 
   emitter << YAML::EndMap;

From e8f1a4c8156fd1655f9fa6d8e0c57806b4c2ec8b Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 4 Nov 2020 13:08:20 -0600
Subject: [PATCH 514/612] Move timer initialization down to fix potential race
 condition

---
 moveit_ros/moveit_servo/src/servo_calcs.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 8e34341380..bbec0c173c 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -182,13 +182,13 @@ void ServoCalcs::start()
   initial_joint_trajectory->points.push_back(point);
   last_sent_command_ = initial_joint_trajectory;
 
-  timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
-
   current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
   tf_moveit_to_ee_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                            current_state_->getGlobalLinkTransform(parameters_.ee_frame_name);
   tf_moveit_to_robot_cmd_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                                   current_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
+
+  timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
 }
 
 void ServoCalcs::run(const ros::TimerEvent& timer_event)

From 7f647b0594ef50674d711d97ac8f73b06bf06298 Mon Sep 17 00:00:00 2001
From: Thomas G <thomas.godden@outlook.com>
Date: Sat, 14 Nov 2020 00:12:11 +0000
Subject: [PATCH 515/612] Changed processing_thread_ spin to use
 std::make_unique instead of new (#2412)

---
 moveit_core/background_processing/src/background_processing.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/background_processing/src/background_processing.cpp b/moveit_core/background_processing/src/background_processing.cpp
index 37991357b7..e2b05c11c1 100644
--- a/moveit_core/background_processing/src/background_processing.cpp
+++ b/moveit_core/background_processing/src/background_processing.cpp
@@ -46,7 +46,7 @@ BackgroundProcessing::BackgroundProcessing()
   // spin a thread that will process user events
   run_processing_thread_ = true;
   processing_ = false;
-  processing_thread_.reset(new boost::thread(boost::bind(&BackgroundProcessing::processingThread, this)));
+  processing_thread_ = std::make_unique<boost::thread>(boost::bind(&BackgroundProcessing::processingThread, this));
 }
 
 BackgroundProcessing::~BackgroundProcessing()

From a15af07ee83b909ca5ef0a14e764dc87d62a93f1 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tyler@picknik.ai>
Date: Mon, 16 Nov 2020 11:43:01 -0700
Subject: [PATCH 516/612] [feature] Low latency mode (#2401)

Co-authored-by: AndyZe <andyz@utexas.edu>
---
 moveit_ros/moveit_servo/CMakeLists.txt        |  10 +
 .../config/ur_simulated_config.yaml           |   1 +
 .../include/moveit_servo/servo_calcs.h        |  31 ++-
 .../include/moveit_servo/servo_parameters.h   |   1 +
 moveit_ros/moveit_servo/src/servo.cpp         |  13 +-
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 133 ++++++++++---
 .../test/config/servo_settings.yaml           |   1 +
 .../config/servo_settings_low_latency.yaml    |  68 +++++++
 .../test/servo_low_latency_test.cpp           | 185 ++++++++++++++++++
 .../test/servo_low_latency_test.test          |  18 ++
 10 files changed, 420 insertions(+), 41 deletions(-)
 create mode 100644 moveit_ros/moveit_servo/test/config/servo_settings_low_latency.yaml
 create mode 100644 moveit_ros/moveit_servo/test/servo_low_latency_test.cpp
 create mode 100644 moveit_ros/moveit_servo/test/servo_low_latency_test.test

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index fcded51b2f..b167019ec2 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -175,6 +175,16 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
   )
 
+  # low_latency
+  add_rostest_gtest(servo_low_latency_test
+    test/servo_low_latency_test.test
+    test/servo_low_latency_test.cpp
+  )
+  target_link_libraries(servo_low_latency_test
+    ${SERVO_LIB_NAME}
+    ${catkin_LIBRARIES}
+  )
+
   # pose_tracking
   add_rostest_gtest(pose_tracking_test
     test/pose_tracking_test.test
diff --git a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
index 59b6599e5d..21a2c6aecd 100644
--- a/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/ur_simulated_config.yaml
@@ -15,6 +15,7 @@ low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the
 
 ## Properties of outgoing commands
 publish_period: 0.008  # 1/Nominal publish rate [seconds]
+low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index c92171b179..055335e3f6 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -39,7 +39,9 @@
 #pragma once
 
 // C++
+#include <condition_variable>
 #include <mutex>
+#include <thread>
 
 // ROS
 #include <control_msgs/JointJog.h>
@@ -69,10 +71,7 @@ class ServoCalcs
   ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
              const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
-  ~ServoCalcs()
-  {
-    timer_.stop();
-  }
+  ~ServoCalcs();
 
   /** \brief Start the timer where we do work and publish outputs */
   void start();
@@ -106,8 +105,14 @@ class ServoCalcs
   void changeRobotLinkCommandFrame(const std::string& new_command_frame);
 
 private:
-  /** \brief Timer method */
-  void run(const ros::TimerEvent& timer_event);
+  /** \brief Run the main calculation loop */
+  void mainCalcLoop();
+
+  /** \brief Do calculations for a single iteration. Publish one outgoing command */
+  void calculateSingleIteration();
+
+  /** \brief Stop the currently running thread */
+  void stop();
 
   /** \brief Do servoing calculations for Cartesian twist commands. */
   bool cartesianServoCalcs(geometry_msgs::TwistStamped& cmd, trajectory_msgs::JointTrajectory& joint_trajectory);
@@ -257,8 +262,6 @@ class ServoCalcs
   trajectory_msgs::JointTrajectoryConstPtr last_sent_command_;
 
   // ROS
-  ros::Timer timer_;
-  ros::Duration period_;
   ros::Subscriber joint_state_sub_;
   ros::Subscriber twist_stamped_sub_;
   ros::Subscriber joint_cmd_sub_;
@@ -270,6 +273,10 @@ class ServoCalcs
   ros::ServiceServer control_dimensions_server_;
   ros::ServiceServer reset_servo_status_;
 
+  // Main tracking / result publisher loop
+  std::thread thread_;
+  bool stop_requested_;
+
   // Status
   StatusCode status_ = StatusCode::NO_WARNING;
   bool paused_ = false;
@@ -292,8 +299,8 @@ class ServoCalcs
   // The dimesions to control. In the command frame. [x, y, z, roll, pitch, yaw]
   std::array<bool, 6> control_dimensions_ = { { true, true, true, true, true, true } };
 
-  // latest_state_mutex_ is used to protect the state below it
-  mutable std::mutex latest_state_mutex_;
+  // input_mutex_ is used to protect the state below it
+  mutable std::mutex input_mutex_;
   Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_;
   Eigen::Isometry3d tf_moveit_to_ee_frame_;
   geometry_msgs::TwistStampedConstPtr latest_twist_stamped_;
@@ -302,5 +309,9 @@ class ServoCalcs
   ros::Time latest_joint_command_stamp_ = ros::Time(0.);
   bool latest_nonzero_twist_stamped_ = false;
   bool latest_nonzero_joint_cmd_ = false;
+
+  // input condition variable used for low latency mode
+  std::condition_variable input_cv_;
+  bool new_input_cmd_ = false;
 };
 }  // namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
index 45b208db8e..14d993cc71 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_parameters.h
@@ -71,6 +71,7 @@ struct ServoParameters
   bool publish_joint_positions;
   bool publish_joint_velocities;
   bool publish_joint_accelerations;
+  bool low_latency_mode;
   // Collision checking
   bool check_collisions;
   std::string collision_check_type;
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index b35267cc5b..aba61fc1fe 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -136,7 +136,7 @@ bool Servo::readParameters()
   // 'collision_proximity_threshold' parameter was removed, replaced with separate self- and scene-collision proximity
   // thresholds
   // TODO(JStech): remove this deprecation warning in ROS Noetic; simplify error case handling
-  if (nh_.hasParam("collision_proximity_threshold") &&
+  if (nh.hasParam("collision_proximity_threshold") &&
       rosparam_shortcuts::get(LOGNAME, nh, "collision_proximity_threshold", collision_proximity_threshold))
   {
     ROS_WARN_NAMED(LOGNAME, "'collision_proximity_threshold' parameter is deprecated, and has been replaced by separate"
@@ -170,6 +170,17 @@ bool Servo::readParameters()
     error += !rosparam_shortcuts::get(LOGNAME, nh, "warning_topic", parameters_.status_topic);
   }
 
+  if (nh.hasParam("low_latency_mode"))
+  {
+    error += !rosparam_shortcuts::get(LOGNAME, nh, "low_latency_mode", parameters_.low_latency_mode);
+  }
+  else
+  {
+    ROS_WARN_NAMED(LOGNAME, "'low_latency_mode' is a new parameter that runs servo calc immediately after receiving "
+                            "input.  Setting to the default value of false.");
+    parameters_.low_latency_mode = false;
+  }
+
   rosparam_shortcuts::shutdownIfError(LOGNAME, error);
 
   // Input checking
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index bbec0c173c..e94800d9d7 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -86,7 +86,7 @@ geometry_msgs::TransformStamped convertIsometryToTransform(const Eigen::Isometry
 // Constructor for the class that handles servoing calculations
 ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-  : nh_(nh), parameters_(parameters), planning_scene_monitor_(planning_scene_monitor), period_(parameters.publish_period)
+  : nh_(nh), parameters_(parameters), planning_scene_monitor_(planning_scene_monitor), stop_requested_(true)
 {
   // MoveIt Setup
   current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
@@ -150,8 +150,16 @@ ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
   tf_moveit_to_robot_cmd_frame_ = empty_matrix;
 }
 
+ServoCalcs::~ServoCalcs()
+{
+  stop();
+}
+
 void ServoCalcs::start()
 {
+  // Stop the thread if we are currently running
+  stop();
+
   // We will update last_sent_command_ every time we start servo
   auto initial_joint_trajectory = moveit::util::make_shared_from_pool<trajectory_msgs::JointTrajectory>();
 
@@ -188,19 +196,78 @@ void ServoCalcs::start()
   tf_moveit_to_robot_cmd_frame_ = current_state_->getGlobalLinkTransform(parameters_.planning_frame).inverse() *
                                   current_state_->getGlobalLinkTransform(parameters_.robot_link_command_frame);
 
-  timer_ = nh_.createTimer(period_, &ServoCalcs::run, this);
+  stop_requested_ = false;
+  thread_ = std::thread([this] { mainCalcLoop(); });
+  new_input_cmd_ = false;
 }
 
-void ServoCalcs::run(const ros::TimerEvent& timer_event)
+void ServoCalcs::stop()
 {
-  // Log warning when the last loop duration was longer than the period
-  if (timer_event.profile.last_duration.toSec() > period_.toSec())
+  // Request stop
+  stop_requested_ = true;
+
+  // Notify condition variable in case the thread is blocked on it
   {
-    ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
-                                   "last_duration: " << timer_event.profile.last_duration.toSec() << " ("
-                                                     << period_.toSec() << ")");
+    // scope so the mutex is unlocked after so the thread can continue
+    // and therefore be joinable
+    const std::lock_guard<std::mutex> lock(input_mutex_);
+    new_input_cmd_ = false;
+    input_cv_.notify_all();
+  }
+
+  // Join the thread
+  if (thread_.joinable())
+  {
+    thread_.join();
+  }
+}
+
+void ServoCalcs::mainCalcLoop()
+{
+  ros::Rate rate(1.0 / parameters_.publish_period);
+
+  while (ros::ok() && !stop_requested_)
+  {
+    // lock the input state mutex
+    std::unique_lock<std::mutex> input_lock(input_mutex_);
+
+    // low latency mode
+    if (parameters_.low_latency_mode)
+    {
+      input_cv_.wait(input_lock, [this] { return (new_input_cmd_ || stop_requested_); });
+
+      // break out of the loop if stop was requested
+      if (stop_requested_)
+        break;
+    }
+
+    // reset new_input_cmd_ flag
+    new_input_cmd_ = false;
+
+    // run servo calcs
+    const auto start_time = ros::Time::now();
+    calculateSingleIteration();
+    const auto run_duration = ros::Time::now() - start_time;
+
+    // Log warning when the run duration was longer than the period
+    if (run_duration.toSec() > parameters_.publish_period)
+    {
+      ROS_WARN_STREAM_THROTTLE_NAMED(ROS_LOG_THROTTLE_PERIOD, LOGNAME,
+                                     "run_duration: " << run_duration.toSec() << " (" << parameters_.publish_period
+                                                      << ")");
+    }
+
+    // normal mode, unlock input mutex and wait for the period of the loop
+    if (!parameters_.low_latency_mode)
+    {
+      input_lock.unlock();
+      rate.sleep();
+    }
   }
+}
 
+void ServoCalcs::calculateSingleIteration()
+{
   // Publish status each loop iteration
   auto status_msg = moveit::util::make_shared_from_pool<std_msgs::Int8>();
   status_msg->data = static_cast<int8_t>(status_);
@@ -213,22 +280,20 @@ void ServoCalcs::run(const ros::TimerEvent& timer_event)
 
   // Update from latest state
   current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
-  {
-    const std::lock_guard<std::mutex> lock(latest_state_mutex_);
-    if (latest_twist_stamped_)
-      twist_stamped_cmd_ = *latest_twist_stamped_;
-    if (latest_joint_cmd_)
-      joint_servo_cmd_ = *latest_joint_cmd_;
-
-    // Check for stale cmds
-    twist_command_is_stale_ =
-        ((ros::Time::now() - latest_twist_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
-    joint_command_is_stale_ =
-        ((ros::Time::now() - latest_joint_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
-
-    have_nonzero_twist_stamped_ = latest_nonzero_twist_stamped_;
-    have_nonzero_joint_command_ = latest_nonzero_joint_cmd_;
-  }
+
+  if (latest_twist_stamped_)
+    twist_stamped_cmd_ = *latest_twist_stamped_;
+  if (latest_joint_cmd_)
+    joint_servo_cmd_ = *latest_joint_cmd_;
+
+  // Check for stale cmds
+  twist_command_is_stale_ =
+      ((ros::Time::now() - latest_twist_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+  joint_command_is_stale_ =
+      ((ros::Time::now() - latest_joint_command_stamp_) >= ros::Duration(parameters_.incoming_command_timeout));
+
+  have_nonzero_twist_stamped_ = latest_nonzero_twist_stamped_;
+  have_nonzero_joint_command_ = latest_nonzero_joint_cmd_;
 
   // Get the transform from MoveIt planning frame to servoing command frame
   // Calculate this transform to ensure it is available via C++ API
@@ -980,7 +1045,7 @@ void ServoCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& del
 
 bool ServoCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   transform = tf_moveit_to_robot_cmd_frame_;
 
   // All zeros means the transform wasn't initialized, so return false
@@ -989,7 +1054,7 @@ bool ServoCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform)
 
 bool ServoCalcs::getCommandFrameTransform(geometry_msgs::TransformStamped& transform)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   // All zeros means the transform wasn't initialized, so return false
   if (tf_moveit_to_robot_cmd_frame_.matrix().isZero(0))
   {
@@ -1003,7 +1068,7 @@ bool ServoCalcs::getCommandFrameTransform(geometry_msgs::TransformStamped& trans
 
 bool ServoCalcs::getEEFrameTransform(Eigen::Isometry3d& transform)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   transform = tf_moveit_to_ee_frame_;
 
   // All zeros means the transform wasn't initialized, so return false
@@ -1012,7 +1077,7 @@ bool ServoCalcs::getEEFrameTransform(Eigen::Isometry3d& transform)
 
 bool ServoCalcs::getEEFrameTransform(geometry_msgs::TransformStamped& transform)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   // All zeros means the transform wasn't initialized, so return false
   if (tf_moveit_to_ee_frame_.matrix().isZero(0))
   {
@@ -1025,22 +1090,30 @@ bool ServoCalcs::getEEFrameTransform(geometry_msgs::TransformStamped& transform)
 
 void ServoCalcs::twistStampedCB(const geometry_msgs::TwistStampedConstPtr& msg)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   latest_twist_stamped_ = msg;
   latest_nonzero_twist_stamped_ = isNonZero(*latest_twist_stamped_);
 
   if (msg->header.stamp != ros::Time(0.))
     latest_twist_command_stamp_ = msg->header.stamp;
+
+  // notify that we have a new input
+  new_input_cmd_ = true;
+  input_cv_.notify_all();
 }
 
 void ServoCalcs::jointCmdCB(const control_msgs::JointJogConstPtr& msg)
 {
-  const std::lock_guard<std::mutex> lock(latest_state_mutex_);
+  const std::lock_guard<std::mutex> lock(input_mutex_);
   latest_joint_cmd_ = msg;
   latest_nonzero_joint_cmd_ = isNonZero(*latest_joint_cmd_);
 
   if (msg->header.stamp != ros::Time(0.))
     latest_joint_command_stamp_ = msg->header.stamp;
+
+  // notify that we have a new input
+  new_input_cmd_ = true;
+  input_cv_.notify_all();
 }
 
 void ServoCalcs::collisionVelocityScaleCB(const std_msgs::Float64ConstPtr& msg)
diff --git a/moveit_ros/moveit_servo/test/config/servo_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
index 802aeadca2..b081f28c73 100644
--- a/moveit_ros/moveit_servo/test/config/servo_settings.yaml
+++ b/moveit_ros/moveit_servo/test/config/servo_settings.yaml
@@ -14,6 +14,7 @@ scale:
 low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
 
 ## Properties of outgoing commands
+low_latency_mode: false  # Set this to true to tie the output rate to the input rate
 publish_period: 0.01  # 1/Nominal publish rate [seconds]
 
 # What type of topic does your robot driver expect?
diff --git a/moveit_ros/moveit_servo/test/config/servo_settings_low_latency.yaml b/moveit_ros/moveit_servo/test/config/servo_settings_low_latency.yaml
new file mode 100644
index 0000000000..b470e02ac2
--- /dev/null
+++ b/moveit_ros/moveit_servo/test/config/servo_settings_low_latency.yaml
@@ -0,0 +1,68 @@
+###############################################
+# Modify all parameters related to servoing here
+###############################################
+use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale:
+  # Scale parameters are only used if command_in_type=="unitless"
+  linear:  0.003  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational:  0.006 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+  joint: 0.01
+low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
+
+## Properties of outgoing commands
+low_latency_mode: true  # Set this to true to tie the output rate to the input rate
+publish_period: 0.01  # 1/Nominal publish rate [seconds]
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
+# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
+command_out_type: trajectory_msgs/JointTrajectory
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: false
+publish_joint_accelerations: false
+
+## MoveIt properties
+move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
+planning_frame: panda_link0  # The MoveIt planning frame. Often 'panda_link0' or 'world'
+
+## Other frames
+ee_frame_name: panda_link7  # The name of the end effector link, used to return the EE pose
+robot_link_command_frame:  panda_link0  # commands must be given in the frame of a robot link. Usually either the base or end effector
+
+## Stopping behaviour
+incoming_command_timeout:  1  # Stop servoing if X seconds elapse without a new command
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_outgoing_halt_msgs_to_publish: 1
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold:  30  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 45 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: servo_server/delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: servo_server/delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic:  joint_states
+status_topic: servo_server/status # Publish status to this topic
+command_out_topic: servo_server/command # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+# Two collision check algorithms are available:
+# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
+# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
+collision_check_type: stop_distance
+# Parameters for "threshold_distance"-type collision checking
+self_collision_proximity_threshold: 0.01 # Start decelerating when a collision is this far [m]
+scene_collision_proximity_threshold: 0.03 # Start decelerating when a collision is this far [m]
+# Parameters for "stop_distance"-type collision checking
+collision_distance_safety_factor: 1000 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
diff --git a/moveit_ros/moveit_servo/test/servo_low_latency_test.cpp b/moveit_ros/moveit_servo/test/servo_low_latency_test.cpp
new file mode 100644
index 0000000000..011e7bab1b
--- /dev/null
+++ b/moveit_ros/moveit_servo/test/servo_low_latency_test.cpp
@@ -0,0 +1,185 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik LLC
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik LLC nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Tyler Weaver
+   Desc:   Test for the low latency mode of servo
+*/
+
+// C++
+#include <string>
+
+// ROS
+#include <ros/ros.h>
+
+// Testing
+#include <gtest/gtest.h>
+
+// Servo
+#include <moveit_servo/make_shared_from_pool.h>
+#include <moveit_servo/servo.h>
+
+static const std::string LOGNAME = "servo_low_latency_test";
+
+namespace moveit_servo
+{
+class ServoFixture : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    // Wait for several key topics / parameters
+    ros::topic::waitForMessage<sensor_msgs::JointState>("/joint_states");
+    while (!nh_.hasParam("/robot_description") && ros::ok())
+    {
+      ros::Duration(0.1).sleep();
+    }
+
+    // Load the planning scene monitor
+    planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
+    planning_scene_monitor_->startSceneMonitor();
+    planning_scene_monitor_->startStateMonitor();
+    planning_scene_monitor_->startWorldGeometryMonitor(
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC,
+        planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC,
+        false /* skip octomap monitor */);
+
+    // Create moveit_servo
+    servo_ = std::make_shared<Servo>(nh_, planning_scene_monitor_);
+  }
+  void TearDown() override
+  {
+  }
+
+protected:
+  ros::NodeHandle nh_{ "~" };
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
+  moveit_servo::ServoPtr servo_;
+};  // class ServoFixture
+
+TEST_F(ServoFixture, SendTwistStampedTest)
+{
+  servo_->start();
+
+  auto parameters = servo_->getParameters();
+
+  // count trajectory messages sent by servo
+  size_t received_count = 0;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& /*msg*/) { ++received_count; };
+  auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
+
+  // Create publisher to send servo commands
+  auto twist_stamped_pub = nh_.advertise<geometry_msgs::TwistStamped>(parameters.cartesian_command_in_topic, 1);
+
+  constexpr double test_duration = 1.0;
+  const double publish_period = parameters.publish_period;
+  const size_t num_commands = static_cast<size_t>(test_duration / publish_period);
+
+  // Set the rate differently from the publish period from the parameters to show that
+  // the number of outputs is set by the number of commands sent and not the rate they are sent.
+  ros::Rate publish_rate(2. / publish_period);
+
+  // Send a few Cartesian velocity commands
+  for (size_t i = 0; i < num_commands && ros::ok(); ++i)
+  {
+    auto msg = moveit::util::make_shared_from_pool<geometry_msgs::TwistStamped>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "panda_link0";
+    msg->twist.angular.y = 1.0;
+
+    // Send the message
+    twist_stamped_pub.publish(msg);
+    publish_rate.sleep();
+  }
+
+  EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_GT(received_count, (unsigned)0);
+  EXPECT_LT(received_count, num_commands + 20);
+  servo_->setPaused(true);
+}
+
+TEST_F(ServoFixture, SendJointServoTest)
+{
+  servo_->start();
+
+  auto parameters = servo_->getParameters();
+
+  // count trajectory messages sent by servo
+  size_t received_count = 0;
+  boost::function<void(const trajectory_msgs::JointTrajectoryConstPtr&)> traj_callback =
+      [&received_count](const trajectory_msgs::JointTrajectoryConstPtr& /*msg*/) { ++received_count; };
+  auto traj_sub = nh_.subscribe(parameters.command_out_topic, 1, traj_callback);
+
+  // Create publisher to send servo commands
+  auto joint_servo_pub = nh_.advertise<control_msgs::JointJog>(parameters.joint_command_in_topic, 1);
+
+  constexpr double test_duration = 1.0;
+  const double publish_period = parameters.publish_period;
+  const size_t num_commands = static_cast<size_t>(test_duration / publish_period);
+
+  // Set the rate differently from the publish period from the parameters to show that
+  // the number of outputs is set by the number of commands sent and not the rate they are sent.
+  ros::Rate publish_rate(2. / publish_period);
+
+  // Send a few joint velocity commands
+  for (size_t i = 0; i < num_commands && ros::ok(); ++i)
+  {
+    auto msg = moveit::util::make_shared_from_pool<control_msgs::JointJog>();
+    msg->header.stamp = ros::Time::now();
+    msg->header.frame_id = "panda_link3";
+    msg->velocities.push_back(0.1);
+
+    // Send the message
+    joint_servo_pub.publish(msg);
+    publish_rate.sleep();
+  }
+
+  EXPECT_GT(received_count, num_commands - 20);
+  EXPECT_GT(received_count, (unsigned)0);
+  EXPECT_LT(received_count, num_commands + 20);
+  servo_->setPaused(true);
+}
+}  // namespace moveit_servo
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, LOGNAME);
+  testing::InitGoogleTest(&argc, argv);
+
+  ros::AsyncSpinner spinner(8);
+  spinner.start();
+
+  int result = RUN_ALL_TESTS();
+  return result;
+}
diff --git a/moveit_ros/moveit_servo/test/servo_low_latency_test.test b/moveit_ros/moveit_servo/test/servo_low_latency_test.test
new file mode 100644
index 0000000000..6df90be617
--- /dev/null
+++ b/moveit_ros/moveit_servo/test/servo_low_latency_test.test
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load URDF, SRDF -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Initial joint positions -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam command="load" file="$(find moveit_servo)/test/config/initial_position.yaml" />
+    <param name="publish_frequency" type="double" value="50.0"/>
+  </node>
+
+  <test pkg="moveit_servo" type="servo_low_latency_test" test-name="servo_low_latency_test" time-limit="60" args="">
+    <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
+    <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings_low_latency.yaml" ns="optional_parameter_namespace"/>
+  </test>
+</launch>

From f56e17508c5f24f96c840a07243101f38f26096f Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 18 Nov 2020 01:24:43 -0800
Subject: [PATCH 517/612] Add Stargazer chart to README (#2417)

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index f84724d9e7..785b82079e 100644
--- a/README.md
+++ b/README.md
@@ -79,3 +79,8 @@ geometric_shapes | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ks
 rviz_marker_tools |  |  |  |  | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__rviz_marker_tools__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__rviz_marker_tools__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__rviz_marker_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__rviz_marker_tools__ubuntu_focal_amd64__binary)
 rviz_visual_tools | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__rviz_visual_tools__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__rviz_visual_tools__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__rviz_visual_tools__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__rviz_visual_tools__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__rviz_visual_tools__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__rviz_visual_tools__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__rviz_visual_tools__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__rviz_visual_tools__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__rviz_visual_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__rviz_visual_tools__ubuntu_focal_amd64__binary)
 srdfdom | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__srdfdom__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__srdfdom__ubuntu_xenial__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__srdfdom__ubuntu_xenial_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__srdfdom__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__srdfdom__ubuntu_bionic__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__srdfdom__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__srdfdom__ubuntu_focal__source)](http://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__srdfdom__ubuntu_focal__source) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__srdfdom__ubuntu_focal_amd64__binary)](http://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__srdfdom__ubuntu_focal_amd64__binary)
+
+
+## Stargazers over time
+
+[![Stargazers over time](https://starchart.cc/ros-planning/moveit.svg)](https://starchart.cc/ros-planning/moveit)

From bd53490301b4c0076483e713af082e44dfcd4074 Mon Sep 17 00:00:00 2001
From: Stuart Anderson <57372215+stuart-fb@users.noreply.github.com>
Date: Wed, 18 Nov 2020 09:05:36 -0500
Subject: [PATCH 518/612] Fix OrientationConstraint::decide (#2414)

* Fix OrientationConstraint::decide

* Add new test case for OrientationConstraintsSimple

* Add comments for clarity
---
 .../kinematic_constraints/src/kinematic_constraint.cpp     | 7 ++++---
 .../kinematic_constraints/test/test_constraints.cpp        | 7 +++++++
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index f6f74656b3..7bc9c6434e 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -620,9 +620,10 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
     xyz = diff.linear().eulerAngles(0, 1, 2);  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   }
 
-  xyz(0) = std::min(fabs(xyz(0)), boost::math::constants::pi<double>() - fabs(xyz(0)));
-  xyz(1) = std::min(fabs(xyz(1)), boost::math::constants::pi<double>() - fabs(xyz(1)));
-  xyz(2) = std::min(fabs(xyz(2)), boost::math::constants::pi<double>() - fabs(xyz(2)));
+  // Account for angle wrapping
+  xyz(0) = std::min(fabs(xyz(0)), boost::math::constants::two_pi<double>() - fabs(xyz(0)));
+  xyz(1) = std::min(fabs(xyz(1)), boost::math::constants::two_pi<double>() - fabs(xyz(1)));
+  xyz(2) = std::min(fabs(xyz(2)), boost::math::constants::two_pi<double>() - fabs(xyz(2)));
   bool result = xyz(2) < absolute_z_axis_tolerance_ + std::numeric_limits<double>::epsilon() &&
                 xyz(1) < absolute_y_axis_tolerance_ + std::numeric_limits<double>::epsilon() &&
                 xyz(0) < absolute_x_axis_tolerance_ + std::numeric_limits<double>::epsilon();
diff --git a/moveit_core/kinematic_constraints/test/test_constraints.cpp b/moveit_core/kinematic_constraints/test/test_constraints.cpp
index 2ffe6df1ee..2dcb7acbf9 100644
--- a/moveit_core/kinematic_constraints/test/test_constraints.cpp
+++ b/moveit_core/kinematic_constraints/test/test_constraints.cpp
@@ -40,6 +40,7 @@
 #include <fstream>
 #include <tf2_eigen/tf2_eigen.h>
 #include <moveit/utils/robot_model_test_utils.h>
+#include <boost/math/constants/constants.hpp>
 
 class LoadPlanningModelsPr2 : public testing::Test
 {
@@ -652,6 +653,12 @@ TEST_F(LoadPlanningModelsPr2, OrientationConstraintsSimple)
   robot_state.setVariablePositions(jvals);
   robot_state.update();
   EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  // rotation by pi does not wrap to zero
+  jvals["r_wrist_roll_joint"] = boost::math::constants::pi<double>();
+  robot_state.setVariablePositions(jvals);
+  robot_state.update();
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
 }
 
 TEST_F(LoadPlanningModelsPr2, VisibilityConstraintsSimple)

From eca2deb1b80cbeb3eceaf00090ad853cc12851f2 Mon Sep 17 00:00:00 2001
From: harshgupta246 <53207868+harshgupta246@users.noreply.github.com>
Date: Fri, 20 Nov 2020 23:01:05 +0530
Subject: [PATCH 519/612] Updated First Timers Only Issue Template (#2419)

---
 .github/ISSUE_TEMPLATE/first_timers_only.md | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.github/ISSUE_TEMPLATE/first_timers_only.md
index b907471b29..c85e0638a7 100644
--- a/.github/ISSUE_TEMPLATE/first_timers_only.md
+++ b/.github/ISSUE_TEMPLATE/first_timers_only.md
@@ -28,7 +28,9 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
-- [ ] 🗄️**Create a local workspace** for making your changes and testing [follwing these instructions](https://moveit.ros.org/install/source/)
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://moveit.ros.org/install/source/)
+
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_moveit/src/moveit`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `moveit` folder before cloning your own fork)
 
 - [ ] 📝 **Update** the file(s) `$FILENAME`by applying the change shown in the diff below.
 
@@ -38,9 +40,9 @@ $DIFF
 
 - [ ] 🤖 **Apply `clang-format-10`** auto formatting, [following these instructions](https://moveit.ros.org//documentation/contributing/code/?#clang-format-auto-code-formatting)
 
-- [ ] 💾 **Commit** your changes
+- [ ] 💾 **Commit and Push** your changes
 
-- [ ] 🔀 **Start a Pull Request**. There are two ways how you can start a pull request:
+- [ ] 🔀 **Start a Pull Request** to request to merge your code into `master`. There are two ways that you can start a pull request:
 1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
 2. If you are familiar with the terminal or would like to learn to use it, [here is a great tutorial](https://egghead.io/series/how-to-contribute-to-an-open-source-project-on-github) on how to send a pull request using the terminal.
 

From 712a73a485226e7f7b9344136058347a4e2019ff Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nathanbrooks@picknik.ai>
Date: Fri, 20 Nov 2020 12:38:53 -0700
Subject: [PATCH 520/612] Prevent moveit_servo transforms between fixed frames
 from causing timeout (#2418)

---
 moveit_ros/moveit_servo/src/pose_tracking.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index e8dcff87b1..c51a54f75a 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -238,6 +238,9 @@ void PoseTracking::targetPoseCallback(const geometry_msgs::PoseStampedConstPtr&
       geometry_msgs::TransformStamped target_to_planning_frame = transform_buffer_.lookupTransform(
           planning_frame_, target_pose_.header.frame_id, ros::Time(0), ros::Duration(0.1));
       tf2::doTransform(target_pose_, target_pose_, target_to_planning_frame);
+
+      // Prevent doTransform from copying a stamp of 0, which will cause the haveRecentTargetPose check to fail servo motions
+      target_pose_.header.stamp = ros::Time::now();
     }
     catch (const tf2::TransformException& ex)
     {

From ad8ce6621bd676ef93f02d96753400d32ee6b58b Mon Sep 17 00:00:00 2001
From: archonixX <72344256+archonixX@users.noreply.github.com>
Date: Thu, 26 Nov 2020 00:59:33 -0700
Subject: [PATCH 521/612] docker-source: support running clang-tidy (#2430)

---
 .docker/source/Dockerfile | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
index 1cfeb73e87..4328ec4ded 100644
--- a/.docker/source/Dockerfile
+++ b/.docker/source/Dockerfile
@@ -24,7 +24,11 @@ RUN \
 
 ENV PYTHONIOENCODING UTF-8
 RUN cd .. && \
-    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && \
     # Status rate is limited so that just enough info is shown to keep Docker from timing out,
     # but not too much such that the Docker log gets too long (another form of timeout)
     catkin build --limit-status-rate 0.001 --no-notify
+
+# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
+ENV CATKIN_WS /root/ws_moveit
+

From bdd4bde4938c7bdac3a57a791cf738146c8834e0 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Mon, 23 Nov 2020 15:02:26 -0600
Subject: [PATCH 522/612] Delete CollisionRequest min_cost_density

---
 .../include/moveit/collision_detection/collision_common.h     | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index fcda6e9efc..fde530f553 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -190,7 +190,6 @@ struct CollisionRequest
     , max_contacts(1)
     , max_contacts_per_pair(1)
     , max_cost_sources(1)
-    , min_cost_density(0.2)
     , verbose(false)
   {
   }
@@ -220,9 +219,6 @@ struct CollisionRequest
   /** \brief When costs are computed, this value defines how many of the top cost sources should be returned */
   std::size_t max_cost_sources;
 
-  /** \brief When costs are computed, this is the minimum cost density for a CostSource to be included in the results */
-  double min_cost_density;
-
   /** \brief Function call that decides whether collision detection should stop. */
   boost::function<bool(const CollisionResult&)> is_done;
 

From 10d6380438b2a5a5798ef9e02daf173e7a67b82c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Tue, 8 Dec 2020 22:17:32 +0100
Subject: [PATCH 523/612] Upgrade cmake_minimum_required to 3.1 (#2453)

to suppress CMP0048 warning
---
 .../pilz_industrial_motion_planner/CMakeLists.txt           | 6 +++---
 .../pilz_industrial_motion_planner_testutils/CMakeLists.txt | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
index 7c3f86c8a1..05ed96c791 100644
--- a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
+++ b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(pilz_industrial_motion_planner)
 
 ## Add support for C++11, supported in ROS Kinetic and newer
@@ -339,7 +339,7 @@ if(CATKIN_ENABLE_TESTING)
     test/unittest_velocity_profile_atrap.cpp
     src/velocity_profile_atrap.cpp
   )
-  target_link_libraries(unittest_velocity_profile_atrap 
+  target_link_libraries(unittest_velocity_profile_atrap
     ${catkin_LIBRARIES}
   )
 
@@ -502,7 +502,7 @@ if(CATKIN_ENABLE_TESTING)
   catkin_add_gmock(unittest_get_solver_tip_frame
     test/unittest_get_solver_tip_frame.cpp
   )
-  target_link_libraries(unittest_get_solver_tip_frame 
+  target_link_libraries(unittest_get_solver_tip_frame
     ${catkin_LIBRARIES}
   )
 
diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
index fc692408c9..3e8b72f629 100644
--- a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
+++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(pilz_industrial_motion_planner_testutils)
 
 ## Add support for C++11, supported in ROS Kinetic and newer

From 7e1ccecde9b956c358d9d40630b13635171ec70d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 9 Dec 2020 08:24:50 +0100
Subject: [PATCH 524/612] RobotModelBuilder: Allow adding end effectors (#2454)

---
 .../include/moveit/utils/robot_model_test_utils.h     |  3 +++
 moveit_core/utils/src/robot_model_test_utils.cpp      | 11 +++++++++++
 2 files changed, 14 insertions(+)

diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index ad6246dc37..e4946d85d5 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -164,6 +164,9 @@ class RobotModelBuilder
    */
   void addGroup(const std::vector<std::string>& links, const std::vector<std::string>& joints, const std::string& name);
 
+  void addEndEffector(const std::string& name, const std::string& parent_link, const std::string& parent_group = "",
+                      const std::string& component_group = "");
+
   /** \} */
 
   /** \brief Returns true if the building process so far has been valid. */
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index eabeb14af1..ad73be4756 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -342,6 +342,17 @@ void RobotModelBuilder::addGroup(const std::vector<std::string>& links, const st
   srdf_writer_->groups_.push_back(new_group);
 }
 
+void RobotModelBuilder::addEndEffector(const std::string& name, const std::string& parent_link,
+                                       const std::string& parent_group, const std::string& component_group)
+{
+  srdf::Model::EndEffector eef;
+  eef.name_ = name;
+  eef.parent_link_ = parent_link;
+  eef.parent_group_ = parent_group;
+  eef.component_group_ = component_group;
+  srdf_writer_->end_effectors_.push_back(eef);
+}
+
 bool RobotModelBuilder::isValid()
 {
   return is_valid_;

From 5d2549fe5018bca5fa5cf22f90ecdc7b8b3f7762 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Fri, 27 Nov 2020 23:18:33 +0300
Subject: [PATCH 525/612] RobotModelBuilder: Add parameter to specify the joint
 rotation axis

---
 .../utils/include/moveit/utils/robot_model_test_utils.h       | 4 +++-
 moveit_core/utils/src/robot_model_test_utils.cpp              | 4 ++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index e4946d85d5..0667b0408e 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -101,9 +101,11 @@ class RobotModelBuilder
    * the joints will be given this type. To add multiple types of joints, call this method multiple times
    * \param[in] joint_origins The "parent to joint" origins for the joints connecting the links. If not used, all
    * origins will default to the identity transform
+   * \param[in] joint_axis The joint axis specified in the joint frame defaults to (1,0,0)
    */
   void addChain(const std::string& section, const std::string& type,
-                const std::vector<geometry_msgs::Pose>& joint_origins = {});
+                const std::vector<geometry_msgs::Pose>& joint_origins = {},
+                urdf::Vector3 joint_axis = urdf::Vector3(1.0, 0.0, 0.0));
 
   /** \brief Adds a collision mesh to a specific link.
    *  \param[in] link_name The name of the link to which the mesh will be added. Must already be in the builder
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index ad73be4756..3492e12dbd 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -110,7 +110,7 @@ RobotModelBuilder::RobotModelBuilder(const std::string& name, const std::string&
 }
 
 void RobotModelBuilder::addChain(const std::string& section, const std::string& type,
-                                 const std::vector<geometry_msgs::Pose>& joint_origins)
+                                 const std::vector<geometry_msgs::Pose>& joint_origins, urdf::Vector3 joint_axis)
 {
   std::vector<std::string> link_names;
   boost::split_regex(link_names, section, boost::regex("->"));
@@ -182,7 +182,7 @@ void RobotModelBuilder::addChain(const std::string& section, const std::string&
       return;
     }
 
-    joint->axis = urdf::Vector3(1.0, 0.0, 0.0);
+    joint->axis = joint_axis;
     if (joint->type == urdf::Joint::REVOLUTE || joint->type == urdf::Joint::PRISMATIC)
     {
       urdf::JointLimitsSharedPtr limits(new urdf::JointLimits);

From 253a2177f23c2d5e2e3fa415c75f720c9d6a98a5 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Fri, 27 Nov 2020 23:19:50 +0300
Subject: [PATCH 526/612] Fix validation of orientation constraints (#2434)

* Add tests that trigger the bug
* Use the angle differece between the desired and the current orientation
  to check if the constraint is satisfied
* Handle singularities
---
 .../kinematic_constraints/CMakeLists.txt      |   3 +
 .../src/kinematic_constraint.cpp              |  80 +++++-
 .../test/test_orientation_constraints.cpp     | 244 ++++++++++++++++++
 3 files changed, 320 insertions(+), 7 deletions(-)
 create mode 100644 moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp

diff --git a/moveit_core/kinematic_constraints/CMakeLists.txt b/moveit_core/kinematic_constraints/CMakeLists.txt
index 619f7a4229..31198de4aa 100644
--- a/moveit_core/kinematic_constraints/CMakeLists.txt
+++ b/moveit_core/kinematic_constraints/CMakeLists.txt
@@ -20,4 +20,7 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_constraints test/test_constraints.cpp)
   target_link_libraries(test_constraints moveit_test_utils ${MOVEIT_LIB_NAME})
+
+  catkin_add_gtest(test_orientation_constraints test/test_orientation_constraints.cpp)
+  target_link_libraries(test_orientation_constraints moveit_test_utils ${MOVEIT_LIB_NAME})
 endif()
diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
index 7bc9c6434e..9a63c5c3b4 100644
--- a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
+++ b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -58,6 +58,58 @@ static double normalizeAngle(double angle)
   return v;
 }
 
+// Normalizes an angle to the interval [-pi, +pi] and then take the absolute value
+// The returned values will be in the following range [0, +pi]
+static double normalizeAbsoluteAngle(const double angle)
+{
+  const double normalized_angle = std::fmod(std::abs(angle), 2 * M_PI);
+  return std::min(2 * M_PI - normalized_angle, normalized_angle);
+}
+
+/**
+ * This's copied from
+ * https://gitlab.com/libeigen/eigen/-/blob/master/unsupported/Eigen/src/EulerAngles/EulerSystem.h#L187
+ * Return the intrinsic Roll-Pitch-Yaw euler angles given the input rotation matrix and boolean indicating whether the
+ * there's a singularity in the input rotation matrix (true: the input rotation matrix don't have a singularity, false:
+ * the input rotation matrix have a singularity) The returned angles are in the ranges [-pi:pi]x[-pi/2:pi/2]x[-pi:pi]
+ */
+template <typename Derived>
+std::tuple<Eigen::Matrix<typename Eigen::MatrixBase<Derived>::Scalar, 3, 1>, bool>
+CalcEulerAngles(const Eigen::MatrixBase<Derived>& R)
+{
+  using std::atan2;
+  using std::sqrt;
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
+  using Index = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
+  using Scalar = typename Eigen::MatrixBase<Derived>::Scalar;
+  const Index i = 0;
+  const Index j = 1;
+  const Index k = 2;
+  Eigen::Matrix<Scalar, 3, 1> res;
+  const Scalar rsum = sqrt((R(i, i) * R(i, i) + R(i, j) * R(i, j) + R(j, k) * R(j, k) + R(k, k) * R(k, k)) / 2);
+  res[1] = atan2(R(i, k), rsum);
+  // There is a singularity when cos(beta) == 0
+  if (rsum > 4 * Eigen::NumTraits<Scalar>::epsilon())
+  {  // cos(beta) != 0
+    res[0] = atan2(-R(j, k), R(k, k));
+    res[2] = atan2(-R(i, j), R(i, i));
+    return { res, true };
+  }
+  else if (R(i, k) > 0)
+  {                                         // cos(beta) == 0 and sin(beta) == 1
+    const Scalar spos = R(j, i) + R(k, j);  // 2*sin(alpha + gamma)
+    const Scalar cpos = R(j, j) - R(k, i);  // 2*cos(alpha + gamma)
+    res[0] = atan2(spos, cpos);
+    res[2] = 0;
+    return { res, false };
+  }                                       // cos(beta) == 0 and sin(beta) == -1
+  const Scalar sneg = R(k, j) - R(j, i);  // 2*sin(alpha + gamma)
+  const Scalar cneg = R(j, j) + R(k, i);  // 2*cos(alpha + gamma)
+  res[0] = atan2(sneg, cneg);
+  res[2] = 0;
+  return { res, false };
+}
+
 KinematicConstraint::KinematicConstraint(const moveit::core::RobotModelConstPtr& model)
   : type_(UNKNOWN_CONSTRAINT), robot_model_(model), constraint_weight_(std::numeric_limits<double>::epsilon())
 {
@@ -603,27 +655,41 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
   if (!link_model_)
     return ConstraintEvaluationResult(true, 0.0);
 
-  Eigen::Vector3d xyz;
+  std::tuple<Eigen::Vector3d, bool> euler_angles_error;
   if (mobile_frame_)
   {
     // getFrameTransform() returns a valid isometry by contract
     Eigen::Matrix3d tmp = state.getFrameTransform(desired_rotation_frame_id_).linear() * desired_rotation_matrix_;
     // getGlobalLinkTransform() returns a valid isometry by contract
     Eigen::Isometry3d diff(tmp.transpose() * state.getGlobalLinkTransform(link_model_).linear());  // valid isometry
-    xyz = diff.linear().eulerAngles(0, 1, 2);
-    // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
+    euler_angles_error = CalcEulerAngles(diff.linear());
   }
   else
   {
     // diff is valid isometry by construction
     Eigen::Isometry3d diff(desired_rotation_matrix_inv_ * state.getGlobalLinkTransform(link_model_).linear());
-    xyz = diff.linear().eulerAngles(0, 1, 2);  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
+    euler_angles_error = CalcEulerAngles(diff.linear());
   }
 
+  // Converting from a rotation matrix to an intrinsic XYZ euler angles have 2 singularities:
+  // pitch ~= pi/2 ==> roll + yaw = theta
+  // pitch ~= -pi/2 ==> roll - yaw = theta
+  // in those cases CalcEulerAngles will set roll (xyz(0)) to theta and yaw (xyz(2)) to zero, so for us to be able to
+  // capture yaw tolerance violation we do the following, if theta violate the absolute yaw tolerance we think of it as
+  // pure yaw rotation and set roll to zero
+  auto& xyz = std::get<Eigen::Vector3d>(euler_angles_error);
+  if (!std::get<bool>(euler_angles_error))
+  {
+    if (normalizeAbsoluteAngle(xyz(0)) > absolute_z_axis_tolerance_ + std::numeric_limits<double>::epsilon())
+    {
+      xyz(2) = xyz(0);
+      xyz(0) = 0;
+    }
+  }
   // Account for angle wrapping
-  xyz(0) = std::min(fabs(xyz(0)), boost::math::constants::two_pi<double>() - fabs(xyz(0)));
-  xyz(1) = std::min(fabs(xyz(1)), boost::math::constants::two_pi<double>() - fabs(xyz(1)));
-  xyz(2) = std::min(fabs(xyz(2)), boost::math::constants::two_pi<double>() - fabs(xyz(2)));
+  xyz = xyz.unaryExpr(&normalizeAbsoluteAngle);
+
+  // 0,1,2 corresponds to XYZ, the convention used in sampling constraints
   bool result = xyz(2) < absolute_z_axis_tolerance_ + std::numeric_limits<double>::epsilon() &&
                 xyz(1) < absolute_y_axis_tolerance_ + std::numeric_limits<double>::epsilon() &&
                 xyz(0) < absolute_x_axis_tolerance_ + std::numeric_limits<double>::epsilon();
diff --git a/moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp b/moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp
new file mode 100644
index 0000000000..dc4eb8a37e
--- /dev/null
+++ b/moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp
@@ -0,0 +1,244 @@
+#include <moveit/kinematic_constraints/kinematic_constraint.h>
+#include <gtest/gtest.h>
+#include <urdf_parser/urdf_parser.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <boost/math/constants/constants.hpp>
+
+class SphericalRobot : public testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    moveit::core::RobotModelBuilder builder("robot", "base_link");
+    geometry_msgs::Pose origin;
+    origin.orientation.w = 1;
+    builder.addChain("base_link->roll", "revolute", { origin }, urdf::Vector3(1, 0, 0));
+    builder.addChain("roll->pitch", "revolute", { origin }, urdf::Vector3(0, 1, 0));
+    builder.addChain("pitch->yaw", "revolute", { origin }, urdf::Vector3(0, 0, 1));
+    ASSERT_TRUE(builder.isValid());
+    robot_model_ = builder.build();
+  }
+
+  std::map<std::string, double> getJointValues(const double roll, const double pitch, const double yaw)
+  {
+    std::map<std::string, double> jvals;
+    jvals["base_link-roll-joint"] = roll;
+    jvals["roll-pitch-joint"] = pitch;
+    jvals["pitch-yaw-joint"] = yaw;
+    return jvals;
+  }
+
+  void TearDown() override
+  {
+  }
+
+protected:
+  moveit::core::RobotModelPtr robot_model_;
+};
+
+TEST_F(SphericalRobot, Test1)
+{
+  kinematic_constraints::OrientationConstraint oc(robot_model_);
+
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
+  moveit_msgs::OrientationConstraint ocm;
+
+  ocm.link_name = "yaw";
+  ocm.header.frame_id = robot_model_->getModelFrame();
+  ocm.orientation.x = 0.0;
+  ocm.orientation.y = 0.0;
+  ocm.orientation.z = 0.0;
+  ocm.orientation.w = 1.0;
+  ocm.absolute_x_axis_tolerance = 0.8;
+  ocm.absolute_y_axis_tolerance = 0.8;
+  ocm.absolute_z_axis_tolerance = 3.15;
+  ocm.weight = 1.0;
+
+  moveit::core::RobotState robot_state(robot_model_);
+  // This's identical to a -1.57rad rotation around Z-axis
+  robot_state.setVariablePositions(getJointValues(3.140208, 3.141588, 1.570821));
+  robot_state.update();
+
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_TRUE(oc.decide(robot_state).satisfied);
+}
+
+TEST_F(SphericalRobot, Test2)
+{
+  kinematic_constraints::OrientationConstraint oc(robot_model_);
+
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
+  moveit_msgs::OrientationConstraint ocm;
+
+  ocm.link_name = "yaw";
+  ocm.header.frame_id = robot_model_->getModelFrame();
+  ocm.orientation.x = 0.0;
+  ocm.orientation.y = 0.0;
+  ocm.orientation.z = 0.0;
+  ocm.orientation.w = 1.0;
+  ocm.absolute_x_axis_tolerance = 0.2;
+  ocm.absolute_y_axis_tolerance = 2.0;
+  ocm.absolute_z_axis_tolerance = 0.2;
+  ocm.weight = 1.0;
+
+  moveit::core::RobotState robot_state(robot_model_);
+  // Singularity: roll + yaw = theta
+  // These violate either absolute_x_axis_tolerance or absolute_z_axis_tolerance
+  robot_state.setVariablePositions(getJointValues(0.15, boost::math::constants::half_pi<double>(), 0.15));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.21, boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.0, boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  // Singularity: roll - yaw = theta
+  // This's identical to -pi/2 pitch rotation
+  robot_state.setVariablePositions(getJointValues(0.15, -boost::math::constants::half_pi<double>(), 0.15));
+  robot_state.update();
+
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_TRUE(oc.decide(robot_state).satisfied);
+}
+
+TEST_F(SphericalRobot, Test3)
+{
+  kinematic_constraints::OrientationConstraint oc(robot_model_);
+
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
+  moveit_msgs::OrientationConstraint ocm;
+
+  ocm.link_name = "yaw";
+  ocm.header.frame_id = robot_model_->getModelFrame();
+  ocm.orientation.x = 0.0;
+  ocm.orientation.y = 0.0;
+  ocm.orientation.z = 0.0;
+  ocm.orientation.w = 1.0;
+  ocm.absolute_x_axis_tolerance = 0.2;
+  ocm.absolute_y_axis_tolerance = 2.0;
+  ocm.absolute_z_axis_tolerance = 0.3;
+  ocm.weight = 1.0;
+
+  moveit::core::RobotState robot_state(robot_model_);
+  // Singularity: roll + yaw = theta
+
+  // These tests violate absolute_x_axis_tolerance
+  robot_state.setVariablePositions(getJointValues(0.21, boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.0, boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  ocm.absolute_x_axis_tolerance = 0.3;
+  ocm.absolute_y_axis_tolerance = 2.0;
+  ocm.absolute_z_axis_tolerance = 0.2;
+
+  // These tests violate absolute_z_axis_tolerance
+  robot_state.setVariablePositions(getJointValues(0.21, boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.0, boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+}
+
+TEST_F(SphericalRobot, Test4)
+{
+  kinematic_constraints::OrientationConstraint oc(robot_model_);
+
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
+  moveit_msgs::OrientationConstraint ocm;
+
+  ocm.link_name = "yaw";
+  ocm.header.frame_id = robot_model_->getModelFrame();
+  ocm.orientation.x = 0.0;
+  ocm.orientation.y = 0.0;
+  ocm.orientation.z = 0.0;
+  ocm.orientation.w = 1.0;
+  ocm.absolute_x_axis_tolerance = 0.2;
+  ocm.absolute_y_axis_tolerance = 2.0;
+  ocm.absolute_z_axis_tolerance = 0.3;
+  ocm.weight = 1.0;
+
+  moveit::core::RobotState robot_state(robot_model_);
+  // Singularity: roll + yaw = theta
+
+  // These tests violate absolute_x_axis_tolerance
+  robot_state.setVariablePositions(getJointValues(0.21, -boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.0, -boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  ocm.absolute_x_axis_tolerance = 0.3;
+  ocm.absolute_y_axis_tolerance = 2.0;
+  ocm.absolute_z_axis_tolerance = 0.2;
+
+  // These tests violate absolute_z_axis_tolerance
+  robot_state.setVariablePositions(getJointValues(0.21, -boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.0, -boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+
+  robot_state.setVariablePositions(getJointValues(0.5, -boost::math::constants::half_pi<double>(), 0.21));
+  robot_state.update();
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_FALSE(oc.decide(robot_state).satisfied);
+}
+
+// Both the current and the desired orientations are in singularities
+TEST_F(SphericalRobot, Test5)
+{
+  kinematic_constraints::OrientationConstraint oc(robot_model_);
+
+  moveit::core::Transforms tf(robot_model_->getModelFrame());
+  moveit_msgs::OrientationConstraint ocm;
+
+  moveit::core::RobotState robot_state(robot_model_);
+  robot_state.setVariablePositions(getJointValues(0.0, boost::math::constants::half_pi<double>(), 0.0));
+  robot_state.update();
+
+  ocm.link_name = "yaw";
+  ocm.header.frame_id = robot_model_->getModelFrame();
+  tf2::convert(Eigen::Quaterniond(robot_state.getGlobalLinkTransform(ocm.link_name).linear()), ocm.orientation);
+  ocm.absolute_x_axis_tolerance = 0.0;
+  ocm.absolute_y_axis_tolerance = 0.0;
+  ocm.absolute_z_axis_tolerance = 1.0;
+  ocm.weight = 1.0;
+
+  robot_state.setVariablePositions(getJointValues(0.2, boost::math::constants::half_pi<double>(), 0.3));
+  robot_state.update();
+
+  EXPECT_TRUE(oc.configure(ocm, tf));
+  EXPECT_TRUE(oc.decide(robot_state, true).satisfied);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

From 97c0b28f5580eadaade3f752f66f8eb12b0f7063 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Thu, 17 Dec 2020 11:01:38 -0600
Subject: [PATCH 527/612] Fix doxygen documentation for setToIKSolverFrame
 (#2461)

* Fix doxygen documentation for setToIKSolverFrame

* "Convert" -> "Transform"

* Make function private. Update comments.

* Make inline and private

* Longer function should not be inline

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .../include/moveit/robot_state/robot_state.h  | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index a762528935..db7e2470e9 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -900,22 +900,6 @@ class RobotState
    *  @{
    */
 
-  /**
-   * \brief Convert the frame of reference of the pose to that same frame as the IK solver expects
-   * @param pose - the input to change
-   * @param solver - a kin solver whose base frame is important to us
-   * @return true if no error
-   */
-  bool setToIKSolverFrame(Eigen::Isometry3d& pose, const kinematics::KinematicsBaseConstPtr& solver);
-
-  /**
-   * \brief Convert the frame of reference of the pose to that same frame as the IK solver expects
-   * @param pose - the input to change
-   * @param ik_frame - the name of frame of reference of base of ik solver
-   * @return true if no error
-   */
-  bool setToIKSolverFrame(Eigen::Isometry3d& pose, const std::string& ik_frame);
-
   /** \brief If the group this state corresponds to is a chain and a solver is available, then the joint values can be
      set by computing inverse kinematics.
       The pose is assumed to be in the reference frame of the kinematic model. Returns true on success.
@@ -1757,6 +1741,22 @@ class RobotState
   void initTransforms();
   void copyFrom(const RobotState& other);
 
+  /**
+   * \brief Transform pose from the robot model's base frame to the reference frame of the IK solver
+   * @param pose - the input to change
+   * @param solver - a kin solver whose base frame is important to us
+   * @return true if no error
+   */
+  inline bool setToIKSolverFrame(Eigen::Isometry3d& pose, const kinematics::KinematicsBaseConstPtr& solver);
+
+  /**
+   * \brief Transform pose from the robot model's base frame to the reference frame of the IK solver
+   * @param pose - the input to change
+   * @param ik_frame - the name of frame of reference of base of ik solver
+   * @return true if no error
+   */
+  bool setToIKSolverFrame(Eigen::Isometry3d& pose, const std::string& ik_frame);
+
   void markDirtyJointTransforms(const JointModel* joint)
   {
     dirty_joint_transforms_[joint->getJointIndex()] = 1;

From 798b32f6769d3bd5635cf50a4aa3ef2a269558d3 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Fri, 18 Dec 2020 15:12:24 -0600
Subject: [PATCH 528/612] Add an important sleep in Servo pose tracking (#2463)

---
 moveit_ros/moveit_servo/src/pose_tracking.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index c51a54f75a..0c134db35c 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -128,6 +128,11 @@ PoseTrackingStatusCode PoseTracking::moveToPose(const Eigen::Vector3d& positiona
 
     // Compute servo command from PID controller output and send it to the Servo object, for execution
     twist_stamped_pub_.publish(calculateTwistCommand());
+
+    if (!loop_rate_.sleep())
+    {
+      ROS_WARN_STREAM_THROTTLE_NAMED(1, LOGNAME, "Target control rate was missed");
+    }
   }
 
   doPostMotionReset();

From da926ac95154ea2699247fedf6e3690b15d8eef3 Mon Sep 17 00:00:00 2001
From: "David V. Lu!!" <davidvlu@gmail.com>
Date: Mon, 21 Dec 2020 10:55:49 -0500
Subject: [PATCH 529/612] Missing RViz and moveit_simple_controller_manager
 dependencies in MSA template (#2455)

---
 .../templates/moveit_config_pkg_template/package.xml.template   | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
index a4d4c40b2c..c0555ce40c 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/package.xml.template
@@ -22,9 +22,11 @@
   <run_depend>moveit_planners_ompl</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
   <run_depend>joint_state_publisher</run_depend>
   <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
   <run_depend>tf2_ros</run_depend>
   <run_depend>xacro</run_depend>
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->

From abb83f178075b4d5bb655df2dc9dd3e400e258ca Mon Sep 17 00:00:00 2001
From: Udbhavbisarya23 <43880582+Udbhavbisarya23@users.noreply.github.com>
Date: Wed, 23 Dec 2020 01:54:33 +0530
Subject: [PATCH 530/612] Fix some typos in comments (#2466)

---
 moveit_ros/planning/plan_execution/src/plan_execution.cpp    | 2 +-
 moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
index e7657122d9..f4ef67a931 100644
--- a/moveit_ros/planning/plan_execution/src/plan_execution.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -220,7 +220,7 @@ void plan_execution::PlanExecution::planAndExecuteHelper(ExecutableMotionPlan& p
       if (preempt_requested_)
         break;
 
-      // execute the trajectory, and monitor its executionm
+      // execute the trajectory, and monitor its execution
       plan.error_code_ = executeAndMonitor(plan);
     }
 
diff --git a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
index 0078ad5578..1ef3147279 100644
--- a/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
+++ b/moveit_ros/planning/plan_execution/src/plan_with_sensing.cpp
@@ -150,7 +150,7 @@ bool plan_execution::PlanWithSensing::computePlan(ExecutableMotionPlan& plan,
   unsigned int look_attempts = 0;
 
   // this flag is set to true when all conditions for looking around are met, and the command is sent.
-  // the intention is for the planning looop not to terminate when having just looked around
+  // the intention is for the planning loop not to terminate when having just looked around
   bool just_looked_around = false;
 
   // this flag indicates whether the last lookAt() operation failed. If this operation fails once, we assume that
@@ -212,7 +212,7 @@ bool plan_execution::PlanWithSensing::computePlan(ExecutableMotionPlan& plan,
 
       bool looked_at_result = lookAt(cost_sources, plan.planning_scene_->getPlanningFrame());
       if (looked_at_result)
-        ROS_INFO("Sensor was succesfully actuated. Attempting to recompute a motion plan.");
+        ROS_INFO("Sensor was successfully actuated. Attempting to recompute a motion plan.");
       else
       {
         if (look_around_failed)

From be0cbaff7546348b9c19bd46a98ee253341f2c97 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <s.schmeisser@gmx.net>
Date: Mon, 28 Dec 2020 11:40:06 +0100
Subject: [PATCH 531/612] Catch exceptions during RobotModel loading in rviz
 (#2468)

---
 .../src/robot_state_display.cpp               | 35 +++++++++++--------
 .../src/trajectory_display.cpp                | 35 +++++++++++--------
 2 files changed, 42 insertions(+), 28 deletions(-)

diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
index 983622814f..9568dd8978 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp
@@ -375,20 +375,27 @@ void RobotStateDisplay::loadRobotModel()
 
   if (rdf_loader_->getURDF())
   {
-    const srdf::ModelSharedPtr& srdf =
-        rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
-    robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
-    robot_->load(*robot_model_->getURDF());
-    robot_state_.reset(new moveit::core::RobotState(robot_model_));
-    robot_state_->setToDefaultValues();
-    bool old_state = root_link_name_property_->blockSignals(true);
-    root_link_name_property_->setStdString(getRobotModel()->getRootLinkName());
-    root_link_name_property_->blockSignals(old_state);
-    update_state_ = true;
-    setStatus(rviz::StatusProperty::Ok, "RobotModel", "Loaded successfully");
-
-    changedEnableVisualVisible();
-    changedEnableCollisionVisible();
+    try
+    {
+      const srdf::ModelSharedPtr& srdf =
+          rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
+      robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
+      robot_->load(*robot_model_->getURDF());
+      robot_state_.reset(new moveit::core::RobotState(robot_model_));
+      robot_state_->setToDefaultValues();
+      bool old_state = root_link_name_property_->blockSignals(true);
+      root_link_name_property_->setStdString(getRobotModel()->getRootLinkName());
+      root_link_name_property_->blockSignals(old_state);
+      update_state_ = true;
+      setStatus(rviz::StatusProperty::Ok, "RobotModel", "Loaded successfully");
+
+      changedEnableVisualVisible();
+      changedEnableCollisionVisible();
+    }
+    catch (std::exception& e)
+    {
+      setStatus(rviz::StatusProperty::Error, "RobotModel", QString("Loading failed: %1").arg(e.what()));
+    }
   }
   else
     setStatus(rviz::StatusProperty::Error, "RobotModel", "Loading failed");
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
index e5fa830afa..a3b5edb7d1 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp
@@ -64,22 +64,29 @@ void TrajectoryDisplay::onInitialize()
 
 void TrajectoryDisplay::loadRobotModel()
 {
-  rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
-
-  if (!rdf_loader_->getURDF())
+  try
   {
-    this->setStatus(rviz::StatusProperty::Error, "Robot Model",
-                    "Failed to load from parameter " + robot_description_property_->getString());
-    return;
+    rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
+
+    if (!rdf_loader_->getURDF())
+    {
+      this->setStatus(rviz::StatusProperty::Error, "Robot Model",
+                      "Failed to load from parameter " + robot_description_property_->getString());
+      return;
+    }
+    this->setStatus(rviz::StatusProperty::Ok, "Robot Model", "Successfully loaded");
+
+    const srdf::ModelSharedPtr& srdf =
+        rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
+    robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
+
+    // Send to child class
+    trajectory_visual_->onRobotModelLoaded(robot_model_);
+  }
+  catch (std::exception& e)
+  {
+    setStatus(rviz::StatusProperty::Error, "RobotModel", QString("Loading failed: %1").arg(e.what()));
   }
-  this->setStatus(rviz::StatusProperty::Ok, "Robot Model", "Successfully loaded");
-
-  const srdf::ModelSharedPtr& srdf =
-      rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
-  robot_model_.reset(new moveit::core::RobotModel(rdf_loader_->getURDF(), srdf));
-
-  // Send to child class
-  trajectory_visual_->onRobotModelLoaded(robot_model_);
 }
 
 void TrajectoryDisplay::reset()

From 59a372484f8f928152eec71bad636c58087d0f15 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <s.schmeisser@gmx.net>
Date: Thu, 31 Dec 2020 16:25:32 +0100
Subject: [PATCH 532/612] Provide a function to set the position of active
 joints in a JointModelGroup (#2456)

* RobotState::setJointGroupPositions: assert correct size of  vector

fixes #2442

* setJointGroupActivePositions sets only the positions of active joints

* Add overloads

* fix asserts

* implement JointModelGroup::getActiveVariableCount
---
 .../moveit/robot_model/joint_model_group.h    | 10 +++++
 .../robot_model/src/joint_model_group.cpp     |  2 +
 .../include/moveit/robot_state/robot_state.h  | 43 +++++++++++++++++++
 moveit_core/robot_state/src/robot_state.cpp   | 24 +++++++++++
 4 files changed, 79 insertions(+)

diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
index 7626306b6d..256370877b 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -411,6 +411,13 @@ class JointModelGroup
     return variable_count_;
   }
 
+  /** \brief Get the number of variables that describe the active joints in this joint group. This excludes variables
+      necessary for mimic joints. */
+  unsigned int getActiveVariableCount() const
+  {
+    return active_variable_count_;
+  }
+
   /** \brief Set the names of the subgroups for this group */
   void setSubgroupNames(const std::vector<std::string>& subgroups);
 
@@ -694,6 +701,9 @@ class JointModelGroup
   /** \brief The number of variables necessary to describe this group of joints */
   unsigned int variable_count_;
 
+  /** \brief The number of variables necessary to describe the active joints in this group of joints */
+  unsigned int active_variable_count_;
+
   /** \brief True if the state of this group is contiguous within the full robot state; this also means that
       the index values in variable_index_list_ are consecutive integers */
   bool is_contiguous_index_list_;
diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
index b9c6685a9c..6ee0d03e80 100644
--- a/moveit_core/robot_model/src/joint_model_group.cpp
+++ b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -105,6 +105,7 @@ JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Mode
   , name_(group_name)
   , common_root_(nullptr)
   , variable_count_(0)
+  , active_variable_count_(0)
   , is_contiguous_index_list_(true)
   , is_chain_(false)
   , is_single_dof_(true)
@@ -133,6 +134,7 @@ JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Mode
         active_joint_model_name_vector_.push_back(joint_model->getName());
         active_joint_model_start_index_.push_back(variable_count_);
         active_joint_models_bounds_.push_back(&joint_model->getVariableBounds());
+        active_variable_count_ += vc;
       }
       else
         mimic_joints_.push_back(joint_model);
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index db7e2470e9..9f05a95602 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -615,13 +615,17 @@ class RobotState
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
     if (jmg)
+    {
+      assert(gstate.size() == jmg->getVariableCount());
       setJointGroupPositions(jmg, &gstate[0]);
+    }
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
    *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const JointModelGroup* group, const std::vector<double>& gstate)
   {
+    assert(gstate.size() == group->getVariableCount());
     setJointGroupPositions(group, &gstate[0]);
   }
 
@@ -635,13 +639,52 @@ class RobotState
   {
     const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
     if (jmg)
+    {
+      assert(values.size() == jmg->getVariableCount());
       setJointGroupPositions(jmg, values);
+    }
   }
 
   /** \brief Given positions for the variables that make up a group, in the order found in the group (including values
    *   of mimic joints), set those as the new values that correspond to the group */
   void setJointGroupPositions(const JointModelGroup* group, const Eigen::VectorXd& values);
 
+  /** \brief Given positions for the variables of active joints that make up a group,
+   * in the order found in the group (excluding values of mimic joints), set those
+   * as the new values that correspond to the group */
+  void setJointGroupActivePositions(const JointModelGroup* group, const std::vector<double>& gstate);
+
+  /** \brief Given positions for the variables of active joints that make up a group,
+   * in the order found in the group (excluding values of mimic joints), set those
+   * as the new values that correspond to the group */
+  void setJointGroupActivePositions(const std::string& joint_group_name, const std::vector<double>& gstate)
+  {
+    const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
+    if (jmg)
+    {
+      assert(gstate.size() == jmg->getActiveVariableCount());
+      setJointGroupActivePositions(jmg, gstate);
+    }
+  }
+
+  /** \brief Given positions for the variables of active joints that make up a group,
+   * in the order found in the group (excluding values of mimic joints), set those
+   * as the new values that correspond to the group */
+  void setJointGroupActivePositions(const JointModelGroup* group, const Eigen::VectorXd& values);
+
+  /** \brief Given positions for the variables of active joints that make up a group,
+   * in the order found in the group (excluding values of mimic joints), set those
+   * as the new values that correspond to the group */
+  void setJointGroupActivePositions(const std::string& joint_group_name, const Eigen::VectorXd& values)
+  {
+    const JointModelGroup* jmg = robot_model_->getJointModelGroup(joint_group_name);
+    if (jmg)
+    {
+      assert(values.size() == jmg->getActiveVariableCount());
+      setJointGroupActivePositions(jmg, values);
+    }
+  }
+
   /** \brief For a given group, copy the position values of the variables that make up the group into another location,
    * in the order that the variables are found in the group. This is not necessarily a contiguous block of memory in the
    * RobotState itself, so we copy instead of returning a pointer.*/
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 010820cdbc..f147b2eb6f 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -511,6 +511,30 @@ void RobotState::setJointGroupPositions(const JointModelGroup* group, const Eige
   updateMimicJoints(group);
 }
 
+void RobotState::setJointGroupActivePositions(const JointModelGroup* group, const std::vector<double>& gstate)
+{
+  assert(gstate.size() == group->getActiveVariableCount());
+  std::size_t i = 0;
+  for (const JointModel* jm : group->getActiveJointModels())
+  {
+    setJointPositions(jm, &gstate[i]);
+    i += jm->getVariableCount();
+  }
+  updateMimicJoints(group);
+}
+
+void RobotState::setJointGroupActivePositions(const JointModelGroup* group, const Eigen::VectorXd& values)
+{
+  assert(values.size() == group->getActiveVariableCount());
+  std::size_t i = 0;
+  for (const JointModel* jm : group->getActiveJointModels())
+  {
+    setJointPositions(jm, &values(i));
+    i += jm->getVariableCount();
+  }
+  updateMimicJoints(group);
+}
+
 void RobotState::copyJointGroupPositions(const JointModelGroup* group, double* gstate) const
 {
   const std::vector<int>& il = group->getVariableIndexList();

From ac55f9e252fb24321c4066d71bca4f447b55d961 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Wed, 6 Jan 2021 19:14:07 +1000
Subject: [PATCH 533/612] Python3 compatibility for ikfast's
 round_collada_numbers.py (#2473)

---
 .../scripts/round_collada_numbers.py                   | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/round_collada_numbers.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/round_collada_numbers.py
index 2e587ae49a..d299c51e5c 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/round_collada_numbers.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/round_collada_numbers.py
@@ -39,6 +39,8 @@
 # Author: Dave Coleman
 # Desc:   Rounds all the numbers to <decimal places> places
 
+from __future__ import print_function
+
 from lxml import etree
 import shlex
 import sys
@@ -69,12 +71,12 @@ def doRound(values,decimal_places):
         decimal_places = int(sys.argv[3])
         assert( len(sys.argv) < 5 )   # invalid num-arguments
     except:
-        print '\nUsage: round_collada_numbers.py <input_dae> <output_dae> <decimal places>'
-        print 'Rounds all the numbers to <decimal places> places\n'
+        print('\nUsage: round_collada_numbers.py <input_dae> <output_dae> <decimal places>')
+        print('Rounds all the numbers to <decimal places> places\n')
         sys.exit(-1)
 
-    print '\nCollada Number Rounder'
-    print 'Rounding numbers to', decimal_places, ' decimal places\n'
+    print('\nCollada Number Rounder')
+    print('Rounding numbers to', decimal_places, 'decimal places\n')
 
     # Read string from file
     f = open(input_file,'r')

From 475e5810911961ae51cdb5cab0961471f5d4aa1a Mon Sep 17 00:00:00 2001
From: AdamPettinger <adam.pettinger@utexas.edu>
Date: Thu, 7 Jan 2021 13:00:50 -0600
Subject: [PATCH 534/612] [Servo] Fix initial angle error is always 0 (#2464)

Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: Bjar Ne <gleichdick@users.noreply.github.com>
---
 .../include/moveit_servo/pose_tracking.h             |  3 ++-
 moveit_ros/moveit_servo/src/pose_tracking.cpp        | 12 ++++++++----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
index ad391b158b..5163cc08c8 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
@@ -39,6 +39,7 @@
 #pragma once
 
 #include <atomic>
+#include <boost/optional.hpp>
 #include <control_toolbox/pid.h>
 #include <moveit_servo/make_shared_from_pool.h>
 #include <moveit_servo/servo.h>
@@ -187,7 +188,7 @@ class PoseTracking
   // Flag that a different thread has requested a stop.
   std::atomic<bool> stop_requested_;
 
-  double angular_error_;
+  boost::optional<double> angular_error_;
 };
 
 // using alias
diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
index 0c134db35c..723fe2d8f7 100644
--- a/moveit_ros/moveit_servo/src/pose_tracking.cpp
+++ b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -50,7 +50,7 @@ PoseTracking::PoseTracking(const ros::NodeHandle& nh,
   , loop_rate_(DEFAULT_LOOP_RATE)
   , transform_listener_(transform_buffer_)
   , stop_requested_(false)
-  , angular_error_(0)
+  , angular_error_(boost::none)
 {
   readROSParams();
 
@@ -226,8 +226,12 @@ bool PoseTracking::satisfiesPoseTolerance(const Eigen::Vector3d& positional_tole
   double y_error = target_pose_.pose.position.y - command_frame_transform_.translation()(1);
   double z_error = target_pose_.pose.position.z - command_frame_transform_.translation()(2);
 
+  // If uninitialized, likely haven't received the target pose yet.
+  if (!angular_error_)
+    return false;
+
   return ((std::abs(x_error) < positional_tolerance(0)) && (std::abs(y_error) < positional_tolerance(1)) &&
-          (std::abs(z_error) < positional_tolerance(2)) && (std::abs(angular_error_) < angular_tolerance));
+          (std::abs(z_error) < positional_tolerance(2)) && (std::abs(*angular_error_) < angular_tolerance));
 }
 
 void PoseTracking::targetPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg)
@@ -293,7 +297,7 @@ geometry_msgs::TwistStampedConstPtr PoseTracking::calculateTwistCommand()
   // Cache the angular error, for rotation tolerance checking
   angular_error_ = axis_angle.angle();
   double ang_vel_magnitude =
-      cartesian_orientation_pids_[0].computeCommand(angular_error_, loop_rate_.expectedCycleTime());
+      cartesian_orientation_pids_[0].computeCommand(*angular_error_, loop_rate_.expectedCycleTime());
   twist.angular.x = ang_vel_magnitude * axis_angle.axis()[0];
   twist.angular.y = ang_vel_magnitude * axis_angle.axis()[1];
   twist.angular.z = ang_vel_magnitude * axis_angle.axis()[2];
@@ -306,7 +310,7 @@ geometry_msgs::TwistStampedConstPtr PoseTracking::calculateTwistCommand()
 void PoseTracking::doPostMotionReset()
 {
   stop_requested_ = false;
-  angular_error_ = 0;
+  angular_error_ = boost::none;
 
   // Reset error integrals and previous errors of PID controllers
   cartesian_position_pids_[0].reset();

From cc5d5a4e21c513e1527e306c2adaa8386a4bcef8 Mon Sep 17 00:00:00 2001
From: sevangelatos <sevangelatos@gmail.com>
Date: Mon, 11 Jan 2021 18:00:19 +0200
Subject: [PATCH 535/612] Fix RobotState::dropAccelerations/dropEffort to not
 drop velocities (#2478)

---
 moveit_core/robot_state/src/robot_state.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index f147b2eb6f..909017f573 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -257,12 +257,12 @@ void RobotState::dropVelocities()
 
 void RobotState::dropAccelerations()
 {
-  has_velocity_ = false;
+  has_acceleration_ = false;
 }
 
 void RobotState::dropEffort()
 {
-  has_velocity_ = false;
+  has_effort_ = false;
 }
 
 void RobotState::dropDynamics()

From 50e19608d8d27a86f1e69fd2cd8c8b7abc330fb0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Tue, 12 Jan 2021 13:21:56 +0100
Subject: [PATCH 536/612] pilz planner: add string includes (#2483)

---
 .../pilz_industrial_motion_planner/joint_limits_container.h      | 1 +
 .../pilz_industrial_motion_planner/joint_limits_extension.h      | 1 +
 2 files changed, 2 insertions(+)

diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
index fac49e9106..7a91ffe545 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
@@ -38,6 +38,7 @@
 
 #include <map>
 #include <vector>
+#include <string>
 
 namespace pilz_industrial_motion_planner
 {
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
index 84bb1fc79f..789cafa88e 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_extension.h
@@ -37,6 +37,7 @@
 
 #include <joint_limits_interface/joint_limits.h>
 #include <map>
+#include <string>
 
 namespace pilz_industrial_motion_planner
 {

From 680db65c14b3f0ac84beccd55bfc548719b8af84 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Tue, 12 Jan 2021 14:38:41 -0600
Subject: [PATCH 537/612] Clean up collision-related log statements (#2480)

---
 .../src/collision_env_bullet.cpp                    |  5 +++--
 .../src/collision_env_fcl.cpp                       | 13 ++++++-------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
index a9f2b57757..0be13bcfbc 100644
--- a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
@@ -45,6 +45,7 @@ namespace collision_detection
 {
 const std::string CollisionDetectorAllocatorBullet::NAME("Bullet");
 const double MAX_DISTANCE_MARGIN = 99;
+constexpr char LOGNAME[] = "collision_detection.bullet";
 
 CollisionEnvBullet::CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, double padding, double scale)
   : CollisionEnv(model, padding, scale)
@@ -227,13 +228,13 @@ void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& re
 void CollisionEnvBullet::distanceSelf(const DistanceRequest& req, DistanceResult& res,
                                       const moveit::core::RobotState& state) const
 {
-  ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
+  ROS_INFO_NAMED(LOGNAME, "distanceSelf is not implemented for Bullet.");
 }
 
 void CollisionEnvBullet::distanceRobot(const DistanceRequest& req, DistanceResult& res,
                                        const moveit::core::RobotState& state) const
 {
-  ROS_INFO_NAMED("collision_detection.bullet", "Distance to self not implemented yet.");
+  ROS_INFO_NAMED(LOGNAME, "distanceRobot is not implemented for Bullet.");
 }
 
 void CollisionEnvBullet::addToManager(const World::Object* obj)
diff --git a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
index f44f4b7d56..e99c954100 100644
--- a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
@@ -47,6 +47,7 @@
 namespace collision_detection
 {
 const std::string CollisionDetectorAllocatorFCL::NAME("FCL");
+constexpr char LOGNAME[] = "collision_detection.fcl";
 
 CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, double padding, double scale)
   : CollisionEnv(model, padding, scale)
@@ -74,8 +75,7 @@ CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model,
             FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(link_geometry->collision_geometry_));
       }
       else
-        ROS_ERROR_NAMED("collision_detection.fcl", "Unable to construct collision geometry for link '%s'",
-                        link->getName().c_str());
+        ROS_ERROR_NAMED(LOGNAME, "Unable to construct collision geometry for link '%s'", link->getName().c_str());
     }
 
   auto m = new fcl::DynamicAABBTreeCollisionManagerd();
@@ -112,8 +112,7 @@ CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model,
         robot_fcl_objs_[index] = FCLCollisionObjectConstPtr(new fcl::CollisionObjectd(g->collision_geometry_));
       }
       else
-        ROS_ERROR_NAMED("collision_detection.fcl", "Unable to construct collision geometry for link '%s'",
-                        link->getName().c_str());
+        ROS_ERROR_NAMED(LOGNAME, "Unable to construct collision geometry for link '%s'", link->getName().c_str());
     }
 
   auto m = new fcl::DynamicAABBTreeCollisionManagerd();
@@ -273,7 +272,7 @@ void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, Collision
                                           const moveit::core::RobotState& state1,
                                           const moveit::core::RobotState& state2) const
 {
-  ROS_ERROR_NAMED("collision_detection.bullet", "Continuous collision not implemented");
+  ROS_ERROR_NAMED(LOGNAME, "Continuous collision not implemented");
 }
 
 void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
@@ -281,7 +280,7 @@ void CollisionEnvFCL::checkRobotCollision(const CollisionRequest& req, Collision
                                           const moveit::core::RobotState& state2,
                                           const AllowedCollisionMatrix& acm) const
 {
-  ROS_ERROR_NAMED("collision_detection.fcl", "Not implemented");
+  ROS_ERROR_NAMED(LOGNAME, "Not implemented");
 }
 
 void CollisionEnvFCL::checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
@@ -429,7 +428,7 @@ void CollisionEnvFCL::updatedPaddingOrScaling(const std::vector<std::string>& li
       }
     }
     else
-      ROS_ERROR_NAMED("collision_detection.fcl", "Updating padding or scaling for unknown link: '%s'", link.c_str());
+      ROS_ERROR_NAMED(LOGNAME, "Updating padding or scaling for unknown link: '%s'", link.c_str());
   }
 }
 

From 0983cf9ab0a289af975971cc7374bd9182938b88 Mon Sep 17 00:00:00 2001
From: Shota Aoki <macakasit@gmail.com>
Date: Wed, 13 Jan 2021 20:24:17 +0900
Subject: [PATCH 538/612] Fix scaling factor parameter names (#2452)

---
 .../move_group_interface/src/move_group_interface.cpp         | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index e524e17e2e..17c4523c25 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -126,9 +126,9 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     goal_orientation_tolerance_ = 1e-3;  // ~0.1 deg
     allowed_planning_time_ = 5.0;
     num_planning_attempts_ = 1;
-    node_handle_.param<double>("robot_description_planning/joint_limits/default_velocity_scaling_factor",
+    node_handle_.param<double>("robot_description_planning/default_velocity_scaling_factor",
                                max_velocity_scaling_factor_, 0.1);
-    node_handle_.param<double>("robot_description_planning/joint_limits/default_acceleration_scaling_factor",
+    node_handle_.param<double>("robot_description_planning/default_acceleration_scaling_factor",
                                max_acceleration_scaling_factor_, 0.1);
     initializing_constraints_ = false;
 

From e573a36c6009c200c70d805d546865d0d1974bc9 Mon Sep 17 00:00:00 2001
From: Boston Cleek <36201047+bostoncleek@users.noreply.github.com>
Date: Wed, 13 Jan 2021 08:10:19 -0700
Subject: [PATCH 539/612] Improve robustness of move group interface test
 (#2484)

---
 .../test/move_group_interface_cpp_test.cpp    | 216 +++++++-----------
 1 file changed, 88 insertions(+), 128 deletions(-)

diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
index ceae107b73..3789ed631e 100644
--- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
+++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Tyler Weaver */
+/* Author: Tyler Weaver, Boston Cleek */
 
 /* These integration tests are based on the tutorials for using move_group:
  * https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html
@@ -150,16 +150,27 @@ class MoveGroupTestFixture : public ::testing::Test
   moveit::planning_interface::PlanningSceneInterface planning_scene_interface_;
 };
 
-TEST_F(MoveGroupTestFixture, MoveToPoseTest)
+TEST_F(MoveGroupTestFixture, PathConstraintCollisionTest)
 {
-  SCOPED_TRACE("MoveToPoseTest");
+  SCOPED_TRACE("PathConstraintCollisionTest");
 
+  ////////////////////////////////////////////////////////////////////
+  // set a custom start state
+  // this simplifies planning for the orientation constraint bellow
+  geometry_msgs::Pose start_pose;
+  start_pose.orientation.w = 1.0;
+  start_pose.position.x = 0.3;
+  start_pose.position.y = 0.0;
+  start_pose.position.z = 0.6;
+  planAndMoveToPose(start_pose);
+
+  ////////////////////////////////////////////////////////////////////
   // Test setting target pose with eigen and with geometry_msgs
   geometry_msgs::Pose target_pose;
   target_pose.orientation.w = 1.0;
-  target_pose.position.x = 0.28;
-  target_pose.position.y = -0.2;
-  target_pose.position.z = 0.5;
+  target_pose.position.x = 0.3;
+  target_pose.position.y = -0.3;
+  target_pose.position.z = 0.6;
 
   // convert to eigen
   Eigen::Isometry3d eigen_target_pose;
@@ -174,46 +185,7 @@ TEST_F(MoveGroupTestFixture, MoveToPoseTest)
   // expect that they are identical
   testEigenPose(eigen_target_pose, eigen_set_target_pose);
 
-  // plan and move
-  planAndMove();
-
-  // get the pose after the movement
-  testPose(eigen_target_pose);
-}
-
-TEST_F(MoveGroupTestFixture, JointSpaceGoalTest)
-{
-  SCOPED_TRACE("JointSpaceGoalTest");
-
-  // Next get the current set of joint values for the group.
-  std::vector<double> plan_joint_positions;
-  move_group_->getCurrentState()->copyJointGroupPositions(
-      move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP), plan_joint_positions);
-
-  // Now, let's modify the joint positions.  (radians)
-  ASSERT_EQ(plan_joint_positions.size(), std::size_t(7));
-  plan_joint_positions = { 1.2, -1.0, -0.1, -2.4, 0.0, 1.5, 0.6 };
-  move_group_->setJointValueTarget(plan_joint_positions);
-
-  // plan and move
-  planAndMove();
-
-  // test that we moved to the expected joint positions
-  testJointPositions(plan_joint_positions);
-}
-
-TEST_F(MoveGroupTestFixture, PathConstraintTest)
-{
-  SCOPED_TRACE("PathConstraintTest");
-
-  // set a custom start state
-  geometry_msgs::Pose start_pose;
-  start_pose.orientation.w = 1.0;
-  start_pose.position.x = 0.55;
-  start_pose.position.y = -0.05;
-  start_pose.position.z = 0.8;
-  planAndMoveToPose(start_pose);
-
+  ////////////////////////////////////////////////////////////////////
   // create an orientation constraint
   moveit_msgs::OrientationConstraint ocm;
   ocm.link_name = move_group_->getEndEffectorLink();
@@ -227,72 +199,7 @@ TEST_F(MoveGroupTestFixture, PathConstraintTest)
   test_constraints.orientation_constraints.push_back(ocm);
   move_group_->setPathConstraints(test_constraints);
 
-  // move to a custom target pose
-  geometry_msgs::Pose target_pose;
-  target_pose.orientation.w = 1.0;
-  target_pose.position.x = 0.28;
-  target_pose.position.y = -0.2;
-  target_pose.position.z = 0.5;
-  planAndMoveToPose(target_pose);
-
-  // clear path constraints
-  move_group_->clearPathConstraints();
-
-  // get the pose after the movement
-  testPose(target_pose);
-}
-
-TEST_F(MoveGroupTestFixture, CartPathTest)
-{
-  SCOPED_TRACE("CartPathTest");
-
-  // set a custom start state
-  geometry_msgs::Pose start_pose;
-  start_pose.orientation.w = 1.0;
-  start_pose.position.x = 0.55;
-  start_pose.position.y = -0.05;
-  start_pose.position.z = 0.8;
-  planAndMoveToPose(start_pose);
-
-  std::vector<geometry_msgs::Pose> waypoints;
-  waypoints.push_back(start_pose);
-
-  geometry_msgs::Pose target_waypoint = start_pose;
-  target_waypoint.position.z -= 0.2;
-  waypoints.push_back(target_waypoint);  // down
-
-  target_waypoint.position.y -= 0.2;
-  waypoints.push_back(target_waypoint);  // right
-
-  target_waypoint.position.z += 0.2;
-  target_waypoint.position.y += 0.2;
-  target_waypoint.position.x -= 0.2;
-  waypoints.push_back(target_waypoint);  // up and left
-
-  moveit_msgs::RobotTrajectory trajectory;
-  const double jump_threshold = 0.0;
-  const double eef_step = 0.01;
-  move_group_->computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
-
-  // Execute trajectory
-  EXPECT_EQ(move_group_->execute(trajectory), moveit::planning_interface::MoveItErrorCode::SUCCESS);
-
-  // get the pose after the movement
-  testPose(target_waypoint);
-}
-
-TEST_F(MoveGroupTestFixture, CollisionObjectsTest)
-{
-  SCOPED_TRACE("CollisionObjectsTest");
-
-  // set a custom start state
-  geometry_msgs::Pose start_pose;
-  start_pose.orientation.w = 1.0;
-  start_pose.position.x = 0.28;
-  start_pose.position.y = -0.2;
-  start_pose.position.z = 0.5;
-  planAndMoveToPose(start_pose);
-
+  ////////////////////////////////////////////////////////////////////
   // Define a collision object ROS message.
   moveit_msgs::CollisionObject collision_object;
   collision_object.header.frame_id = move_group_->getPlanningFrame();
@@ -304,16 +211,16 @@ TEST_F(MoveGroupTestFixture, CollisionObjectsTest)
   shape_msgs::SolidPrimitive primitive;
   primitive.type = primitive.BOX;
   primitive.dimensions.resize(3);
-  primitive.dimensions[0] = 0.4;
-  primitive.dimensions[1] = 0.1;
-  primitive.dimensions[2] = 0.1;
+  primitive.dimensions[0] = 0.1;
+  primitive.dimensions[1] = 1.0;
+  primitive.dimensions[2] = 1.0;
 
   // Define a pose for the box (specified relative to frame_id)
   geometry_msgs::Pose box_pose;
   box_pose.orientation.w = 1.0;
-  box_pose.position.x = 0.4;
-  box_pose.position.y = -0.2;
-  box_pose.position.z = 0.8;
+  box_pose.position.x = 0.5;
+  box_pose.position.y = 0.0;
+  box_pose.position.z = 0.5;
 
   collision_object.primitives.push_back(primitive);
   collision_object.primitive_poses.push_back(box_pose);
@@ -325,16 +232,15 @@ TEST_F(MoveGroupTestFixture, CollisionObjectsTest)
   // Now, let's add the collision object into the world
   planning_scene_interface_.addCollisionObjects(collision_objects);
 
-  // plan trajectory avoiding object
-  geometry_msgs::Pose target_pose;
-  target_pose.orientation.w = 0.0;
-  target_pose.position.x = 0.4;
-  target_pose.position.y = -0.4;
-  target_pose.position.z = 0.7;
-  planAndMoveToPose(target_pose);
+  ////////////////////////////////////////////////////////////////////
+  // plan and move
+  planAndMove();
 
   // get the pose after the movement
-  testPose(target_pose);
+  testPose(eigen_target_pose);
+
+  // clear path constraints
+  move_group_->clearPathConstraints();
 
   // attach and detach collision object
   EXPECT_TRUE(move_group_->attachObject(collision_object.id));
@@ -343,13 +249,67 @@ TEST_F(MoveGroupTestFixture, CollisionObjectsTest)
   EXPECT_EQ(planning_scene_interface_.getAttachedObjects().size(), std::size_t(0));
 
   // remove object from world
-  std::vector<std::string> object_ids;
-  object_ids.push_back(collision_object.id);
+  const std::vector<std::string> object_ids = { collision_object.id };
   EXPECT_EQ(planning_scene_interface_.getObjects().size(), std::size_t(1));
   planning_scene_interface_.removeCollisionObjects(object_ids);
   EXPECT_EQ(planning_scene_interface_.getObjects().size(), std::size_t(0));
 }
 
+TEST_F(MoveGroupTestFixture, CartPathTest)
+{
+  SCOPED_TRACE("CartPathTest");
+
+  // Plan from current pose
+  const geometry_msgs::PoseStamped start_pose = move_group_->getCurrentPose();
+
+  std::vector<geometry_msgs::Pose> waypoints;
+  waypoints.push_back(start_pose.pose);
+
+  geometry_msgs::Pose target_waypoint = start_pose.pose;
+  target_waypoint.position.z -= 0.2;
+  waypoints.push_back(target_waypoint);  // down
+
+  target_waypoint.position.y -= 0.2;
+  waypoints.push_back(target_waypoint);  // right
+
+  target_waypoint.position.z += 0.2;
+  target_waypoint.position.y += 0.2;
+  target_waypoint.position.x -= 0.2;
+  waypoints.push_back(target_waypoint);  // up and left
+
+  moveit_msgs::RobotTrajectory trajectory;
+  const auto jump_threshold = 0.0;
+  const auto eef_step = 0.01;
+  move_group_->computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
+
+  // Execute trajectory
+  EXPECT_EQ(move_group_->execute(trajectory), moveit::planning_interface::MoveItErrorCode::SUCCESS);
+
+  // get the pose after the movement
+  testPose(target_waypoint);
+}
+
+TEST_F(MoveGroupTestFixture, JointSpaceGoalTest)
+{
+  SCOPED_TRACE("JointSpaceGoalTest");
+
+  // Next get the current set of joint values for the group.
+  std::vector<double> plan_joint_positions;
+  move_group_->getCurrentState()->copyJointGroupPositions(
+      move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP), plan_joint_positions);
+
+  // Now, let's modify the joint positions.  (radians)
+  ASSERT_EQ(plan_joint_positions.size(), std::size_t(7));
+  plan_joint_positions = { 1.2, -1.0, -0.1, -2.4, 0.0, 1.5, 0.6 };
+  move_group_->setJointValueTarget(plan_joint_positions);
+
+  // plan and move
+  planAndMove();
+
+  // test that we moved to the expected joint positions
+  testJointPositions(plan_joint_positions);
+}
+
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "move_group_interface_cpp_test");

From a9c8f939382193bc250788c62dd57c6627b25a2b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 14 Jan 2021 11:45:14 +0100
Subject: [PATCH 540/612] Suppress warnings "mesh_use_embedded_materials is
 ignored"

rviz more stricly checks marker parameters and thus issues this warning
if mesh_use_embedded_materials was set although no mesh_resource was specified
---
 moveit_ros/robot_interaction/src/robot_interaction.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index f2ebf2a4a1..5f7d8f9c6a 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -413,7 +413,7 @@ void RobotInteraction::addEndEffectorMarkers(const InteractionHandlerPtr& handle
   for (visualization_msgs::Marker& marker : marker_array.markers)
   {
     marker.header = im.header;
-    marker.mesh_use_embedded_materials = true;
+    marker.mesh_use_embedded_materials = !marker.mesh_resource.empty();
     // - - - - - - Do some math for the offset - - - - - -
     tf2::Transform tf_root_to_im, tf_root_to_mesh, tf_im_to_eef;
     tf2::fromMsg(im.pose, tf_root_to_im);

From 664ae01803abf5e0b4649063102357262de9e05c Mon Sep 17 00:00:00 2001
From: Boston Cleek <boston@picknik.ai>
Date: Thu, 14 Jan 2021 23:20:58 -0700
Subject: [PATCH 541/612] Improve robustness of subframes test (#2488)

---
 moveit_ros/planning_interface/test/subframes_test.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/moveit_ros/planning_interface/test/subframes_test.cpp b/moveit_ros/planning_interface/test/subframes_test.cpp
index f38be9ea73..d18d8b4939 100644
--- a/moveit_ros/planning_interface/test/subframes_test.cpp
+++ b/moveit_ros/planning_interface/test/subframes_test.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver */
+/* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver, Boston Cleek */
 
 /* This integration test is based on the tutorial for using subframes
  * https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html
@@ -59,7 +59,8 @@
 #include <eigen_conversions/eigen_msg.h>
 
 constexpr double EPSILON = 1e-2;
-constexpr double Z_OFFSET = 0.01;
+constexpr double Z_OFFSET = 0.05;
+constexpr double PLANNING_TIME_S = 30.0;
 
 // Function copied from tutorial
 // a small helper function to create our planning requests and move the robot.
@@ -73,7 +74,9 @@ bool moveToCartPose(const geometry_msgs::PoseStamped& pose, moveit::planning_int
 
   moveit::planning_interface::MoveGroupInterface::Plan myplan;
   if (group.plan(myplan) && group.execute(myplan))
+  {
     return true;
+  }
 
   ROS_WARN("Failed to perform motion.");
   return false;
@@ -150,7 +153,7 @@ TEST(TestPlanUsingSubframes, SubframesTests)
   auto planning_scene_monitor = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
   moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
   moveit::planning_interface::MoveGroupInterface group("panda_arm");
-  group.setPlanningTime(10.0);
+  group.setPlanningTime(PLANNING_TIME_S);
 
   spawnCollisionObjects(planning_scene_interface);
   moveit_msgs::AttachedCollisionObject att_coll_object;

From 960745c8d7aaf8cec9703b810576d22cd321c54d Mon Sep 17 00:00:00 2001
From: Immanuel Martini <35950815+martiniil@users.noreply.github.com>
Date: Wed, 20 Jan 2021 19:57:56 +0100
Subject: [PATCH 542/612] Use kinematics solver timeout if not specified
 otherwise (#2489)

---
 .../pilz_industrial_motion_planner/trajectory_functions.h   | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
index f31bbada01..6a23e3f41e 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
@@ -61,18 +61,18 @@ namespace pilz_industrial_motion_planner
  * @param solution: solution of IK
  * @param check_self_collision: true to enable self collision checking after IK
  * computation
- * @param max_attempt: maximal attempts of IK
+ * @param timeout: timeout for IK, if not set the default solver timeout is used
  * @return true if succeed
  */
 bool computePoseIK(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
                    const std::string& link_name, const Eigen::Isometry3d& pose, const std::string& frame_id,
                    const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
-                   bool check_self_collision = true, const double timeout = 0.1);
+                   bool check_self_collision = true, const double timeout = 0.0);
 
 bool computePoseIK(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
                    const std::string& link_name, const geometry_msgs::Pose& pose, const std::string& frame_id,
                    const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
-                   bool check_self_collision = true, const double timeout = 0.1);
+                   bool check_self_collision = true, const double timeout = 0.0);
 
 /**
  * @brief compute the pose of a link at give robot state

From e32288400e80a1999474be4f076febb6c289046e Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Fri, 22 Jan 2021 08:20:58 -0600
Subject: [PATCH 543/612] Do not break out of loop -- need to update low pass
 filters (#2496)

---
 moveit_ros/moveit_servo/src/servo_calcs.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index e94800d9d7..5190b3889d 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -231,14 +231,10 @@ void ServoCalcs::mainCalcLoop()
     // lock the input state mutex
     std::unique_lock<std::mutex> input_lock(input_mutex_);
 
-    // low latency mode
+    // low latency mode -- begin calculations as soon as a new command is received.
     if (parameters_.low_latency_mode)
     {
       input_cv_.wait(input_lock, [this] { return (new_input_cmd_ || stop_requested_); });
-
-      // break out of the loop if stop was requested
-      if (stop_requested_)
-        break;
     }
 
     // reset new_input_cmd_ flag

From 0e5911316ed51a765fc6b08a35f48c35f275e026 Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Fri, 22 Jan 2021 08:21:24 -0600
Subject: [PATCH 544/612] Protect paused_ flag, for thread safety (#2494)

---
 moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h | 2 +-
 moveit_ros/moveit_servo/src/servo_calcs.cpp                | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 055335e3f6..5303b8a296 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -279,7 +279,7 @@ class ServoCalcs
 
   // Status
   StatusCode status_ = StatusCode::NO_WARNING;
-  bool paused_ = false;
+  std::atomic<bool> paused_;
   bool twist_command_is_stale_ = false;
   bool joint_command_is_stale_ = false;
   bool ok_to_publish_ = false;
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 5190b3889d..2857ef13bf 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -86,7 +86,11 @@ geometry_msgs::TransformStamped convertIsometryToTransform(const Eigen::Isometry
 // Constructor for the class that handles servoing calculations
 ServoCalcs::ServoCalcs(ros::NodeHandle& nh, ServoParameters& parameters,
                        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
-  : nh_(nh), parameters_(parameters), planning_scene_monitor_(planning_scene_monitor), stop_requested_(true)
+  : nh_(nh)
+  , parameters_(parameters)
+  , planning_scene_monitor_(planning_scene_monitor)
+  , stop_requested_(true)
+  , paused_(false)
 {
   // MoveIt Setup
   current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();

From 74b3e30db2e8683ac17b339cc124675ae52a5114 Mon Sep 17 00:00:00 2001
From: Christian Henkel <post@henkelchristian.de>
Date: Wed, 27 Jan 2021 19:50:34 +0100
Subject: [PATCH 545/612] Add missing dependency on joint_limits_interface
 (#2487)

---
 moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt | 1 +
 moveit_planners/pilz_industrial_motion_planner/package.xml    | 1 +
 2 files changed, 2 insertions(+)

diff --git a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
index 05ed96c791..5f9be95485 100644
--- a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
+++ b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
@@ -9,6 +9,7 @@ add_definitions(-Wno-unused-parameter)
 
 find_package(catkin REQUIRED COMPONENTS
   eigen_conversions
+  joint_limits_interface
   kdl_conversions
   moveit_core
   moveit_msgs
diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
index 41f8eb032d..5c4635686f 100644
--- a/moveit_planners/pilz_industrial_motion_planner/package.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>eigen_conversions</depend>
+  <depend>joint_limits_interface</depend>
   <depend>kdl_conversions</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_msgs</depend>

From 8878682c2a71faf822db638a8ce21cedc512e4d5 Mon Sep 17 00:00:00 2001
From: Jere Liukkonen <jere@picknik.ai>
Date: Thu, 4 Feb 2021 09:35:40 -0700
Subject: [PATCH 546/612] Refactor Servo velocity bounds enforcement (#2471)

* Refactor/fix Servo enforceVelLimits function to utilize joint velocity limits correctly.

* Use uniform scaling factor instead of joint specific velocity bounds.

* Move joint increment outside of if()

* Add friend test for velocity limits

* Clean up debug code, clang format

* Test for negative velocities, too

* Apply velocity scaling correctly and skip clamping zero velocities.

* Improve enforceVelLimits unit tests.

* Use EXPECT_NEAR in the new unit test

Co-authored-by: AndyZe <andyz@utexas.edu>
---
 moveit_ros/moveit_servo/CMakeLists.txt        | 20 ++---
 .../moveit_servo/include/moveit_servo/servo.h |  8 ++
 .../include/moveit_servo/servo_calcs.h        |  3 +
 moveit_ros/moveit_servo/src/servo_calcs.cpp   | 56 +++----------
 ...latency_test.cpp => basic_servo_tests.cpp} | 78 ++++++++++++++++++-
 ...tency_test.test => basic_servo_tests.test} |  2 +-
 6 files changed, 108 insertions(+), 59 deletions(-)
 rename moveit_ros/moveit_servo/test/{servo_low_latency_test.cpp => basic_servo_tests.cpp} (72%)
 rename moveit_ros/moveit_servo/test/{servo_low_latency_test.test => basic_servo_tests.test} (86%)

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index b167019ec2..96791050e7 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -165,22 +165,22 @@ install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
 
-  # servo_cpp_interface
-  add_rostest_gtest(servo_cpp_interface_test
-    test/servo_cpp_interface_test.test
-    test/servo_cpp_interface_test.cpp
+  # basic functionality
+  add_rostest_gtest(basic_servo_tests
+    test/basic_servo_tests.test
+    test/basic_servo_tests.cpp
   )
-  target_link_libraries(servo_cpp_interface_test
+  target_link_libraries(basic_servo_tests
     ${SERVO_LIB_NAME}
     ${catkin_LIBRARIES}
   )
 
-  # low_latency
-  add_rostest_gtest(servo_low_latency_test
-    test/servo_low_latency_test.test
-    test/servo_low_latency_test.cpp
+  # servo_cpp_interface
+  add_rostest_gtest(servo_cpp_interface_test
+    test/servo_cpp_interface_test.test
+    test/servo_cpp_interface_test.cpp
   )
-  target_link_libraries(servo_low_latency_test
+  target_link_libraries(servo_cpp_interface_test
     ${SERVO_LIB_NAME}
     ${catkin_LIBRARIES}
   )
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
index aeb61dab2b..8258c72923 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h
@@ -38,12 +38,17 @@
 
 #pragma once
 
+// System
 #include <memory>
 
+// MoveIt
 #include <moveit_servo/collision_check.h>
 #include <moveit_servo/servo_parameters.h>
 #include <moveit_servo/servo_calcs.h>
 
+// testing
+#include <gtest/gtest.h>
+
 namespace moveit_servo
 {
 /**
@@ -93,6 +98,9 @@ class Servo
     servo_calcs_->changeRobotLinkCommandFrame(new_command_frame);
   }
 
+  // Give test access to private/protected methods
+  friend class ServoFixture;
+
 private:
   bool readParameters();
 
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 5303b8a296..437700c4d5 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -104,6 +104,9 @@ class ServoCalcs
    */
   void changeRobotLinkCommandFrame(const std::string& new_command_frame);
 
+  // Give test access to private/protected methods
+  friend class ServoFixture;
+
 private:
   /** \brief Run the main calculation loop */
   void mainCalcLoop();
diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
index 2857ef13bf..6270c507eb 100644
--- a/moveit_ros/moveit_servo/src/servo_calcs.cpp
+++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -758,58 +758,26 @@ double ServoCalcs::velocityScalingFactorForSingularity(const Eigen::VectorXd& co
 
 void ServoCalcs::enforceVelLimits(Eigen::ArrayXd& delta_theta)
 {
+  // Convert to joint angle velocities for checking and applying joint specific velocity limits.
   Eigen::ArrayXd velocity = delta_theta / parameters_.publish_period;
 
-  std::size_t joint_delta_index = 0;
-  // Track the smallest velocity scaling factor required, across all joints
-  double velocity_limit_scaling_factor = 1;
-
-  for (auto joint : joint_model_group_->getActiveJointModels())
+  std::size_t joint_delta_index{ 0 };
+  double velocity_scaling_factor{ 1.0 };
+  for (const moveit::core::JointModel* joint : joint_model_group_->getActiveJointModels())
   {
-    // Some joints do not have bounds defined
-    const auto bounds = joint->getVariableBounds(joint->getName());
-
-    if (bounds.velocity_bounded_)
+    const auto& bounds = joint->getVariableBounds(joint->getName());
+    if (bounds.velocity_bounded_ && velocity(joint_delta_index) != 0.0)
     {
-      velocity(joint_delta_index) = delta_theta(joint_delta_index) / parameters_.publish_period;
-
-      bool clip_velocity = false;
-      double velocity_limit = 0.0;
-      if (velocity(joint_delta_index) < bounds.min_velocity_)
-      {
-        clip_velocity = true;
-        velocity_limit = bounds.min_velocity_;
-      }
-      else if (velocity(joint_delta_index) > bounds.max_velocity_)
-      {
-        clip_velocity = true;
-        velocity_limit = bounds.max_velocity_;
-      }
-
-      // Apply velocity bounds
-      if (clip_velocity)
-      {
-        const double scaling_factor =
-            fabs(velocity_limit * parameters_.publish_period) / fabs(delta_theta(joint_delta_index));
-
-        // Store the scaling factor if it's the smallest yet
-        if (scaling_factor < velocity_limit_scaling_factor)
-          velocity_limit_scaling_factor = scaling_factor;
-      }
+      const double unbounded_velocity = velocity(joint_delta_index);
+      // Clamp each joint velocity to a joint specific [min_velocity, max_velocity] range.
+      const auto bounded_velocity = std::min(std::max(unbounded_velocity, bounds.min_velocity_), bounds.max_velocity_);
+      velocity_scaling_factor = std::min(velocity_scaling_factor, bounded_velocity / unbounded_velocity);
     }
     ++joint_delta_index;
   }
 
-  // Apply the velocity scaling to all joints
-  if (velocity_limit_scaling_factor < 1)
-  {
-    for (joint_delta_index = 0; joint_delta_index < joint_model_group_->getActiveJointModels().size();
-         ++joint_delta_index)
-    {
-      delta_theta(joint_delta_index) = velocity_limit_scaling_factor * delta_theta(joint_delta_index);
-      velocity(joint_delta_index) = velocity_limit_scaling_factor * velocity(joint_delta_index);
-    }
-  }
+  // Convert back to joint angle increments.
+  delta_theta = velocity_scaling_factor * velocity * parameters_.publish_period;
 }
 
 bool ServoCalcs::enforcePositionLimits()
diff --git a/moveit_ros/moveit_servo/test/servo_low_latency_test.cpp b/moveit_ros/moveit_servo/test/basic_servo_tests.cpp
similarity index 72%
rename from moveit_ros/moveit_servo/test/servo_low_latency_test.cpp
rename to moveit_ros/moveit_servo/test/basic_servo_tests.cpp
index 011e7bab1b..b73e59c5c6 100644
--- a/moveit_ros/moveit_servo/test/servo_low_latency_test.cpp
+++ b/moveit_ros/moveit_servo/test/basic_servo_tests.cpp
@@ -32,11 +32,11 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-/* Author: Tyler Weaver
-   Desc:   Test for the low latency mode of servo
+/* Author: Tyler Weaver, Andy Zelenak
+   Desc:   Basic functionality tests
 */
 
-// C++
+// System
 #include <string>
 
 // ROS
@@ -49,7 +49,7 @@
 #include <moveit_servo/make_shared_from_pool.h>
 #include <moveit_servo/servo.h>
 
-static const std::string LOGNAME = "servo_low_latency_test";
+static const std::string LOGNAME = "basic_servo_tests";
 
 namespace moveit_servo
 {
@@ -82,6 +82,10 @@ class ServoFixture : public ::testing::Test
   }
 
 protected:
+  void enforceVelLimits(Eigen::ArrayXd& delta_theta)
+  {
+    servo_->servo_calcs_->enforceVelLimits(delta_theta);
+  }
   ros::NodeHandle nh_{ "~" };
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
   moveit_servo::ServoPtr servo_;
@@ -170,6 +174,72 @@ TEST_F(ServoFixture, SendJointServoTest)
   EXPECT_LT(received_count, num_commands + 20);
   servo_->setPaused(true);
 }
+
+// This a friend test of a private member function
+TEST_F(ServoFixture, EnforceVelLimitsTest)
+{
+  auto parameters = servo_->getParameters();
+  const double publish_period = parameters.publish_period;
+
+  // Request joint angle changes that are too fast, given the control period in servo settings YAML file.
+  Eigen::ArrayXd delta_theta(7);
+  delta_theta[0] = 0;  // rad
+  delta_theta[1] = 0.01;
+  delta_theta[2] = 0.02;
+  delta_theta[3] = 0.03;
+  delta_theta[4] = 0.04;
+  delta_theta[5] = 0.05;
+  delta_theta[6] = 0.06;
+
+  // Store the original joint commands for comparison before applying velocity scaling.
+  Eigen::ArrayXd orig_delta_theta = delta_theta;
+  enforceVelLimits(delta_theta);
+
+  // From Panda arm MoveIt joint_limits.yaml. The largest velocity limits for a joint.
+  const double panda_max_joint_vel = 2.610;  // rad/s
+  const double velocity_scaling_factor = panda_max_joint_vel / (orig_delta_theta.maxCoeff() / publish_period);
+  const double tolerance = 5e-3;
+  for (int i = 0; i < 7; ++i)
+  {
+    EXPECT_NEAR(orig_delta_theta(i) * velocity_scaling_factor, delta_theta(i), tolerance);
+  }
+
+  // Now, negative joint angle deltas. Some will result to velocities
+  // greater than the arm joint velocity limits.
+  delta_theta[0] = 0;  // rad
+  delta_theta[1] = -0.01;
+  delta_theta[2] = -0.02;
+  delta_theta[3] = -0.03;
+  delta_theta[4] = -0.04;
+  delta_theta[5] = -0.05;
+  delta_theta[6] = -0.06;
+
+  // Store the original joint commands for comparison before applying velocity scaling.
+  orig_delta_theta = delta_theta;
+  enforceVelLimits(delta_theta);
+  for (int i = 0; i < 7; ++i)
+  {
+    EXPECT_NEAR(orig_delta_theta(i) * velocity_scaling_factor, delta_theta(i), tolerance);
+  }
+
+  // Final test with joint angle deltas that will result in velocities
+  // below the lowest Panda arm joint velocity limit.
+  delta_theta[0] = 0;  // rad
+  delta_theta[1] = -0.013;
+  delta_theta[2] = 0.023;
+  delta_theta[3] = -0.004;
+  delta_theta[4] = 0.021;
+  delta_theta[5] = 0.012;
+  delta_theta[6] = 0.0075;
+
+  // Store the original joint commands for comparison before applying velocity scaling.
+  orig_delta_theta = delta_theta;
+  enforceVelLimits(delta_theta);
+  for (int i = 0; i < 7; ++i)
+  {
+    EXPECT_NEAR(orig_delta_theta(i), delta_theta(i), tolerance);
+  }
+}
 }  // namespace moveit_servo
 
 int main(int argc, char** argv)
diff --git a/moveit_ros/moveit_servo/test/servo_low_latency_test.test b/moveit_ros/moveit_servo/test/basic_servo_tests.test
similarity index 86%
rename from moveit_ros/moveit_servo/test/servo_low_latency_test.test
rename to moveit_ros/moveit_servo/test/basic_servo_tests.test
index 6df90be617..930d0d0e41 100644
--- a/moveit_ros/moveit_servo/test/servo_low_latency_test.test
+++ b/moveit_ros/moveit_servo/test/basic_servo_tests.test
@@ -11,7 +11,7 @@
     <param name="publish_frequency" type="double" value="50.0"/>
   </node>
 
-  <test pkg="moveit_servo" type="servo_low_latency_test" test-name="servo_low_latency_test" time-limit="60" args="">
+  <test pkg="moveit_servo" type="basic_servo_tests" test-name="basic_servo_tests" time-limit="60" args="">
     <param name="parameter_ns" type="string" value="optional_parameter_namespace" />
     <rosparam command="load" file="$(find moveit_servo)/test/config/servo_settings_low_latency.yaml" ns="optional_parameter_namespace"/>
   </test>

From 6512d987b8379519146193267906ee957586c4e8 Mon Sep 17 00:00:00 2001
From: Pawan Wadhwani <40732709+pawanw17@users.noreply.github.com>
Date: Fri, 5 Feb 2021 03:26:23 +0530
Subject: [PATCH 547/612] resolved typo in first-timers-only.md (#2443)

---
 .../{first_timers_only.md => first_timer_only.md}             | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
 rename .github/ISSUE_TEMPLATE/{first_timers_only.md => first_timer_only.md} (98%)

diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.github/ISSUE_TEMPLATE/first_timer_only.md
similarity index 98%
rename from .github/ISSUE_TEMPLATE/first_timers_only.md
rename to .github/ISSUE_TEMPLATE/first_timer_only.md
index c85e0638a7..57cdf54dfa 100644
--- a/.github/ISSUE_TEMPLATE/first_timers_only.md
+++ b/.github/ISSUE_TEMPLATE/first_timer_only.md
@@ -1,8 +1,8 @@
 ---
-name: First Timers Only Issue
+name: First Timer Only Issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: first-timers-only
+labels: first-timer-only
 assignees: ''
 
 ---

From ea5080167be92f1ed4441b560f9d94d542b06f4c Mon Sep 17 00:00:00 2001
From: AndyZe <zelenak@picknik.ai>
Date: Thu, 11 Feb 2021 09:03:48 -0600
Subject: [PATCH 548/612] Fix logic, improve function comment for clearDiffs()
 (#2497)

---
 .../include/moveit/planning_scene/planning_scene.h     |  6 ++++--
 moveit_core/planning_scene/src/planning_scene.cpp      | 10 ++++------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index c4f648959e..7e85755e51 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -774,8 +774,10 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
   void removeObjectType(const std::string& id);
   void getKnownObjectTypes(ObjectTypeMap& kc) const;
 
-  /** \brief Clear the diffs accumulated for this planning scene, with respect to the parent. This function is a no-op
-   * if there is no parent specified. */
+  /** \brief Clear the diffs accumulated for this planning scene, with respect to:
+   * the parent PlanningScene (if it exists)
+   * the parent CollisionDetector (if it exists)
+   * This function is a no-op if there is no parent planning scene. */
   void clearDiffs();
 
   /** \brief If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index a8a05ccb6f..969a596820 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -389,17 +389,15 @@ void PlanningScene::clearDiffs()
 
     if (it.second->parent_)
     {
-      it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
-      it.second->cenv_const_ = it.second->cenv_;
-
       it.second->cenv_unpadded_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_unpadded_, world_);
       it.second->cenv_unpadded_const_ = it.second->cenv_unpadded_;
+
+      it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
+      it.second->cenv_const_ = it.second->cenv_;
     }
-    else
+    else  // This is the parent CollisionDetector
     {
       it.second->copyPadding(*parent_->active_collision_);
-
-      it.second->cenv_ = it.second->alloc_->allocateEnv(it.second->parent_->cenv_, world_);
       it.second->cenv_const_ = it.second->cenv_;
     }
   }

From 14cce9e124dc0d86765bce5fb1922ad42d4ceaa6 Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid@picknik.ai>
Date: Tue, 11 Jun 2019 18:51:26 -0600
Subject: [PATCH 549/612] TrajOpt Planner (Empty Template) (#1478)

* Created EmptyPlan, a MoveIt planning plugin template

* added trajopt from example_planner

* fixed trajopt_planner_mannager

* modified emaptyplan_planner_manager.cpp

* applied Dave's modifications

* The rest of the modifications from Dave's comments

* removed moveit_ros_planning dependency from package.xml

* fixed clangformat error and dependency issu

* added include directory

* edited package.xml

* added include

* remove include

* remove version_gte from package.xml

* updated the setup assitant to work with trajopt planner

* removed unsuded part in initialize() from trajopt_planner_manager.cpp, kept the initialize() itself for later use

* Update moveit_planners/trajopt/src/trajopt_planner_manager.cpp

Co-Authored-By: Dave Coleman <dave@picknik.ai>

* added README
added description to trajopt_interface_plugin_description.xml
---
 moveit_planners/trajopt/CMakeLists.txt        | 29 +++++++++++++++++++
 .../widgets/configuration_files_widget.cpp    | 21 ++++++++++++++
 2 files changed, 50 insertions(+)

diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/CMakeLists.txt
index 4d7d8f54e1..b1e7e4c3fb 100644
--- a/moveit_planners/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/CMakeLists.txt
@@ -11,6 +11,7 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
+<<<<<<< HEAD
 find_package(catkin REQUIRED
     COMPONENTS
       moveit_core
@@ -66,10 +67,28 @@ set_target_properties(
   VERSION
   "${${PROJECT_NAME}_VERSION}"
 )
+=======
+find_package(catkin REQUIRED COMPONENTS
+  moveit_core
+  roscpp
+  pluginlib
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    moveit_core
+)
+
+# The following include_directory should have include folder of the new planner.
+include_directories(${Boost_INCLUDE_DIRS}
+                    ${catkin_INCLUDE_DIRS}
+                    ${TrajOpt_INCLUDE_DIRS})
+>>>>>>> TrajOpt Planner (Empty Template) (#1478)
 
 # TrajOpt planning plugin
 add_library(moveit_trajopt_planner_plugin src/trajopt_planner_manager.cpp)
 set_target_properties(moveit_trajopt_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+<<<<<<< HEAD
 target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
 
 #############
@@ -115,3 +134,13 @@ if(CATKIN_ENABLE_TESTING)
   )
 
 endif()
+=======
+
+install(TARGETS
+  moveit_trajopt_planner_plugin
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(FILES trajopt_interface_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+>>>>>>> TrajOpt Planner (Empty Template) (#1478)
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 4535e99498..3005044159 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -403,6 +403,18 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
+  // trajopt_planning_pipeline.launch
+  // --------------------------------------------------------------------------------------
+  file.file_name_ = "trajopt_planning_pipeline.launch.xml";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
+  file.description_ = "Intended to be included in other launch files that require the TrajOpt planning plugin. Defines "
+                      "the proper plugin name on the parameter server and a default selection of planning request "
+                      "adapters.";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;
+  gen_files_.push_back(file);
+
   // chomp_planning_pipeline.launch
   // --------------------------------------------------------------------------------------
   file.file_name_ = "chomp_planning_pipeline.launch.xml";
@@ -460,6 +472,15 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
+  // run_benchmark_trajopt.launch --------------------------------------------------------------------------------------
+  file.file_name_ = "run_benchmark_trajopt.launch";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
+  file.description_ = "Launch file for benchmarking TrajOpt planners";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;
+  gen_files_.push_back(file);
+
   // sensor_manager.launch --------------------------------------------------------------------------------------
   file.file_name_ = "sensor_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);

From 260d4c5ccd9932b206e5483668c4ff78f8d29ad3 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 6 Jun 2019 19:31:17 -0600
Subject: [PATCH 550/612] added solve from tesseract. added launch file
 improved test_trajopt node edited package.xml

---
 moveit_planners/trajopt/config/setup.yaml     |   0
 .../include/trajopt_planning_context.h        |  84 +++++++
 .../trajopt/launch/gdb_settings.gdb           |   8 +
 .../trajopt/launch/test_trajopt_launch.launch |  27 ++
 moveit_planners/trajopt/src/test_trajopt.cpp  | 230 ++++++++++++++++++
 5 files changed, 349 insertions(+)
 create mode 100644 moveit_planners/trajopt/config/setup.yaml
 create mode 100644 moveit_planners/trajopt/include/trajopt_planning_context.h
 create mode 100644 moveit_planners/trajopt/launch/gdb_settings.gdb
 create mode 100644 moveit_planners/trajopt/launch/test_trajopt_launch.launch
 create mode 100644 moveit_planners/trajopt/src/test_trajopt.cpp

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
new file mode 100644
index 0000000000..3866c51c10
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -0,0 +1,84 @@
+#ifndef TrajOpt_PLANNING_CONTEXT_H
+#define TrajOpt_PLANNING_CONTEXT_H
+
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <trajopt/plot_callback.hpp>
+#include <trajopt/file_write_callback.hpp>
+#include <trajopt/problem_description.hpp>
+#include <trajopt_utils/config.hpp>
+#include <trajopt_utils/logging.hpp>
+
+#include <tesseract_planning/basic_planner_types.h>
+
+#include <trajopt_sco/solver_interface.hpp>
+
+//using namespace trajopt;
+
+namespace trajopt_interface
+{
+
+MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
+
+struct TrajOptPlannerConfiguration{
+
+  TrajOptPlannerConfiguration() {}
+  virtual ~TrajOptPlannerConfiguration() {}
+
+  /** @brief Trajopt problem to be solved (Required) */
+  //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
+
+  std::string model_type; // sco::ModelType::AUTO_SOLVER
+  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(model_type));
+
+
+  /** @brief Optimization parameters to be used (Optional) */
+  sco::BasicTrustRegionSQPParameters params;
+
+  /** @brief Callback functions called on each iteration of the optimization (Optional) */
+  //std::vector<sco::Optimizer::Callback> callbacks;
+  sco::Optimizer::Callback callbacks;
+
+};
+
+TrajOptPlannerConfiguration spec_;
+
+class TrajOptPlanningContext : public planning_interface::PlanningContext
+{
+public:
+  TrajOptPlanningContext(const std::string& name, const std::string& group,
+                         const robot_model::RobotModelConstPtr& model);
+  ~TrajOptPlanningContext() override
+  {
+  }
+
+  bool solve(planning_interface::MotionPlanResponse& res) override;
+  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
+
+  bool terminate() override;
+  void clear() override;
+
+  void setTrajOptPlannerConfiguration();
+
+
+
+protected:
+
+private:
+  //  trajectory_msgs::JointTrajectory interpolateMultDOF(const std::vector<double>& v1, const std::vector<double>& v2,
+  //                                                   const int& num);
+  //  std::vector<double> interpolateSingleDOF(const double& d1, const double& d2, const int& num);
+   int dof;
+
+  moveit::core::RobotModelConstPtr robot_model_;
+  robot_state::RobotStatePtr robot_state_;
+
+  trajectory_msgs::JointTrajectory convert_TrajArray_to_JointTrajectory(const trajopt::TrajArray& traj_array);
+
+  tesseract::tesseract_planning::PlannerRequest tess_request_;
+};
+} // namespace trajopt_interface
+
+#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/launch/gdb_settings.gdb b/moveit_planners/trajopt/launch/gdb_settings.gdb
new file mode 100644
index 0000000000..d8ac14fee4
--- /dev/null
+++ b/moveit_planners/trajopt/launch/gdb_settings.gdb
@@ -0,0 +1,8 @@
+## This file allows developers to set breakpoints in the CPP_EXECUTABLE_NAME.launch file
+## To set a breakpoint, compile with debug flag set to true. Add a line below with the source file name,
+## a colon, then the line number to break on. Then launch CPP_EXECUTABLE_NAME with argument debug:=true
+
+set breakpoint pending on
+
+## Example break point:
+# break CPP_EXECUTABLE_NAME.cpp:52
\ No newline at end of file
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
new file mode 100644
index 0000000000..e5931e4b4c
--- /dev/null
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- GDB Debug Arguments -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(find moveit_planners_trajopt)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Callgrind Arguments -->
+  <arg name="callgrind" default="false" />
+  <arg unless="$(arg callgrind)" name="launch_prefix2" value="" />
+  <arg     if="$(arg callgrind)" name="launch_prefix2" value="valgrind --tool=callgrind --collect-atstart=no" />
+
+  <!-- Valgrind Arguments -->
+  <arg name="valgrind" default="false" />
+  <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
+  <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
+
+  <!-- Launch main node -->
+  <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
+
+    <!-- Robot-specific settings -->
+    <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
+  </node>
+
+</launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
new file mode 100644
index 0000000000..af56adc99a
--- /dev/null
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -0,0 +1,230 @@
+#include <ros/ros.h>
+#include "trajopt_planning_context.h"
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit_msgs/DisplayTrajectory.h>
+#include <moveit_msgs/PlanningScene.h>
+#include <moveit_visual_tools/moveit_visual_tools.h>
+#include "moveit/planning_interface/planning_request.h"
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+
+// test
+
+int main(int argc, char** argv)
+{
+    const std::string node_name = "trajopot_planning_tutorial";
+      ros::init(argc, argv, node_name);
+      ros::AsyncSpinner spinner(1);
+      spinner.start();
+      ros::NodeHandle node_handle("~");
+
+      const std::string PLANNING_GROUP = "panda_arm";
+      robot_model_loader::RobotModelLoaderPtr robot_model_loader(new robot_model_loader::RobotModelLoader("robot_description"));
+      robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
+      /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+      robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
+      const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
+
+      const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
+
+      planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
+
+      // With the planning scene we create a planing scene monitor that
+      // monitors planning scene diffs and applys them to the planning scene
+      planning_scene_monitor::PlanningSceneMonitorPtr psm(
+          new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
+      psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
+      psm->startStateMonitor();
+      psm->startSceneMonitor();
+
+        while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+        {
+          ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+        }
+      // We will now construct a loader to load a planner, by name.
+      // Note that we are using the ROS pluginlib library here.
+      boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
+      planning_interface::PlannerManagerPtr planner_instance;
+
+      std::string planner_plugin_name;
+
+      planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+      node_handle.setParam("planning_plugin", planner_plugin_name);
+
+      // We will get the name of planning plugin we want to load
+    // from the ROS parameter server, and then load the planner
+    // making sure to catch all exceptions.
+    if (!node_handle.getParam("planning_plugin", planner_plugin_name))
+      ROS_FATAL_STREAM("Could not find planner plugin name");
+    try
+    {
+      planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+          "moveit_core", "planning_interface::PlannerManager"));
+      printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
+    }
+    try
+    {
+      planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+      if (!planner_instance->initialize(robot_model, node_handle.getNamespace())) // namespace ????. I dont use it
+        ROS_FATAL_STREAM("Could not initialize planner instance");
+      ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
+      std::stringstream ss;
+      for (std::size_t i = 0; i < classes.size(); ++i)
+        ss << classes[i] << " ";
+      ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
+                                                           << "Available plugins: " << ss.str());
+     }
+
+
+
+
+
+
+
+
+
+
+
+
+    // Visualization
+    // ^^^^^^^^^^^^^
+    // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
+    // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
+    namespace rvt = rviz_visual_tools;
+    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
+    visual_tools.loadRobotStatePub("/display_robot_state");
+    visual_tools.enableBatchPublishing();
+    visual_tools.deleteAllMarkers();  // clear all old markers
+    visual_tools.trigger();
+
+    /* Remote control is an introspection tool that allows users to step through a high level script
+       via buttons and keyboard shortcuts in RViz */
+    visual_tools.loadRemoteControl();
+
+    /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
+    Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
+    text_pose.translation().z() = 1.75;
+    visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
+
+    /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
+    visual_tools.trigger();
+
+    /* We can also use visual_tools to wait for user input */
+    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
+
+    // Pose Goal
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // We will now create a motion plan request for the arm of the Panda
+    // specifying the desired pose of the end-effector as input.
+    visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+    visual_tools.trigger();
+    planning_interface::MotionPlanRequest req;
+    planning_interface::MotionPlanResponse res;
+    geometry_msgs::PoseStamped pose;
+    pose.header.frame_id = "panda_link0";
+    pose.pose.position.x = 0.3;
+    pose.pose.position.y = 0.4;
+    pose.pose.position.z = 0.75;
+    pose.pose.orientation.w = 1.0;
+
+    // A tolerance of 0.01 m is specified in position
+    // and 0.01 radians in orientation
+    std::vector<double> tolerance_pose(3, 0.01);
+    std::vector<double> tolerance_angle(3, 0.01);
+
+    // We will create the request as a constraint using a helper function available
+    // from the
+    // `kinematic_constraints`_
+    // package.
+    //
+    // .. _kinematic_constraints:
+    //     http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+    moveit_msgs::Constraints pose_goal =
+        kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
+
+    req.group_name = PLANNING_GROUP;
+    req.goal_constraints.push_back(pose_goal);
+
+    // set the request start joint state
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+    // get the joint values of the start state
+    std::vector<double> start_joint_values;
+    robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
+    int r = 0;
+    for (auto x : start_joint_values)
+    {
+      printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
+      ++r;
+    }
+    req.start_state.joint_state.position = start_joint_values;
+
+
+    // set the goal joint state
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    robot_state::RobotState goal_state(robot_model);
+    std::vector<double> joint_values = { 0.8, 0.7, 1, 1.3, 1.9, 2.2, 3 };
+    goal_state.setJointGroupPositions(joint_model_group, joint_values);
+    moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
+    req.goal_constraints.clear();
+    req.goal_constraints.push_back(joint_goal);
+
+    // retrive joint values at goal
+    std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
+    std::cout << "===>>> number of constraints in goal: " << goal_constraints.size() << std::endl;
+    std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;
+    for (auto x : goal_joint_constraint)
+    {
+      std::cout << "==>> joint position at goal " << x.position << std::endl;
+    }
+
+
+    //------
+    // We now construct a planning context that encapsulate the scene,
+    // the request and the response. We call the planner using this
+    // planning context
+    planning_interface::PlanningContextPtr context =
+        planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+
+    context->solve(res);
+    if (res.error_code_.val != res.error_code_.SUCCESS)
+    {
+      ROS_ERROR("Could not compute plan successfully");
+      return 0;
+  }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

From 70c6dbd901966974b6dc4b46ed121dce3db90e98 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 2 Jul 2019 17:07:38 -0600
Subject: [PATCH 551/612] updated resp req updated planning context working
 trajopt without any velocity constraint

---
 moveit_planners/trajopt/config/setup.yaml     |  13 ++
 .../trajopt/include/problem_description.h     | 120 ++++++++++++++++++
 .../include/trajopt_planning_context.h        |  34 +++--
 .../trajopt/launch/test_trajopt_launch.launch |   6 +
 moveit_planners/trajopt/src/test_trajopt.cpp  |  69 +++++-----
 5 files changed, 202 insertions(+), 40 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/problem_description.h

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index e69de29bb2..f44b12ef66 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -0,0 +1,13 @@
+improve_ratio_threshold: 0.25;
+min_trust_box_size: 1e-4;
+min_approx_improve: 1e-4;
+min_approx_improve_frac: -1000; # should br -infinity
+max_iter: 50;
+trust_shrink_ratio: 0.1;
+trust_expand_ratio: 1.5;
+cnt_tolerance: 1e-4;
+max_merit_coeff_increases: 5;
+merit_coeff_increase_ratio : 10;
+max_time: 1000; # should be +infinity
+merit_error_coeff: 10;
+trust_box_size: 1e-1;
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
new file mode 100644
index 0000000000..73d7d1abe6
--- /dev/null
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -0,0 +1,120 @@
+#pragma once
+#include <tesseract_core/basic_env.h>
+#include <tesseract_core/basic_kin.h>
+#include <trajopt/common.hpp>
+#include <trajopt/json_marshal.hpp>
+#include <trajopt_sco/optimizers.hpp>
+
+
+namespace trajopt_interface
+{
+
+class TrajOptProblem;
+typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
+
+/**
+ * Holds all the data for a trajectory optimization problem
+ * so you can modify it programmatically, e.g. add your own costs
+ */
+class  TrajOptProblem :  public sco::OptProb
+{
+public:
+  TrajOptProblem();
+  TrajOptProblem(const int& n_steps, bool& use_time, const robot_model::RobotModelConstPtr& robot_model);
+  virtual ~TrajOptProblem() = default;
+  sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
+  sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
+  sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
+  trajopt::VarArray& GetVars() { return m_traj_vars; }
+  /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
+  int GetNumSteps() { return m_traj_vars.rows(); }
+  /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
+   * Note that this is not necessarily the same as the kinematic DOF.*/
+  int GetNumDOF() { return m_traj_vars.cols(); }
+  // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
+  //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
+  void SetInitTraj(const trajopt::TrajArray& x){
+    std::cout << "====>>>>> setInitTraj is called " << std::endl;
+    std::cout << "x.size: " << x.size()  << std::endl;
+    m_init_traj = x;
+    //    std::cout << m_init_traj << std::endl;
+  }
+  trajopt::TrajArray GetInitTraj() {
+    std::cout << "====>>>>> GetInitTraj is called " << std::endl;
+    return m_init_traj;
+  }
+  //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
+  /** @brief Returns TrajOptProb.has_time */
+  bool GetHasTime() { return has_time; }
+  /** @brief Sets TrajOptProb.has_time  */
+  void SetHasTime(bool tmp) { has_time = tmp; }
+
+private:
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool has_time;
+  trajopt::VarArray m_traj_vars;
+  // tesseract::BasicKinConstPtr m_kin;
+  // tesseract::BasicEnvConstPtr m_env;
+  trajopt::TrajArray m_init_traj;
+};
+
+/**
+When cost or constraint element of JSON doc is read, one of these guys gets
+constructed to hold the parameters.
+Then it later gets converted to a Cost object by the hatch method
+*/
+struct TermInfo
+{
+  std::string name;
+  int term_type;
+  int getSupportedTypes() { return supported_term_types_; }
+  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
+
+  //  static TermInfoPtr fromName(const std::string& type);
+
+  /**
+   * Registers a user-defined TermInfo so you can use your own cost
+   * see function RegisterMakers.cpp
+   */
+  //  typedef TermInfoPtr (*MakerFunc)(void);
+  //  static void RegisterMaker(const std::string& type, MakerFunc);
+
+  virtual ~TermInfo() = default;
+
+protected:
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+private:
+  //  static std::map<std::string, MakerFunc> name2maker;
+  int supported_term_types_;
+};
+
+struct CartPoseTermInfo : public TermInfo
+{
+  //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** @brief Timestep at which to apply term */
+  int timestep;
+  /** @brief  Cartesian position */
+  Eigen::Vector3d xyz;
+  /** @brief Rotation quaternion */
+  Eigen::Vector4d wxyz;
+  /** @brief coefficients for position and rotation */
+  Eigen::Vector3d pos_coeffs, rot_coeffs;
+  /** @brief Link which should reach desired pose */
+  std::string link;
+  /** @brief Static transform applied to the link */
+  Eigen::Isometry3d tcp;
+
+  CartPoseTermInfo();
+
+  /** @brief Used to add term to pci from json */
+  //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+  // DEFINE_CREATE(CartPoseTermInfo)
+};
+
+
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 3866c51c10..01e277eb37 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -15,6 +15,11 @@
 
 #include <trajopt_sco/solver_interface.hpp>
 
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+
+#include "problem_description.h"
+
 //using namespace trajopt;
 
 namespace trajopt_interface
@@ -24,15 +29,20 @@ MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
 
 struct TrajOptPlannerConfiguration{
 
-  TrajOptPlannerConfiguration() {}
+  // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
+
+  TrajOptPlannerConfiguration() {prob.reset(new TrajOptProblem());}
+
   virtual ~TrajOptPlannerConfiguration() {}
 
-  /** @brief Trajopt problem to be solved (Required) */
+  //  std::string model_type = sco::ModelType::AUTO_SOLVER
   //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
 
-  std::string model_type; // sco::ModelType::AUTO_SOLVER
-  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(model_type));
+  /** @brief Trajopt problem to be solved (Required) */
+  TrajOptProblemPtr prob;
 
+  //    TrajOptProblemPtr prob(new TrajOptProblem());
+  //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
 
   /** @brief Optimization parameters to be used (Optional) */
   sco::BasicTrustRegionSQPParameters params;
@@ -43,8 +53,12 @@ struct TrajOptPlannerConfiguration{
 
 };
 
+trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
 TrajOptPlannerConfiguration spec_;
+int dof_;
 
+void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
+ 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
 public:
@@ -62,20 +76,18 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
 
   void setTrajOptPlannerConfiguration();
 
-
-
 protected:
 
 private:
-  //  trajectory_msgs::JointTrajectory interpolateMultDOF(const std::vector<double>& v1, const std::vector<double>& v2,
-  //                                                   const int& num);
-  //  std::vector<double> interpolateSingleDOF(const double& d1, const double& d2, const int& num);
-   int dof;
 
   moveit::core::RobotModelConstPtr robot_model_;
   robot_state::RobotStatePtr robot_state_;
 
-  trajectory_msgs::JointTrajectory convert_TrajArray_to_JointTrajectory(const trajopt::TrajArray& traj_array);
+ 
+  
+  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);
+
+  //  sco::VarArray convertVarVectorToVarArray(const VarVector& vv);
 
   tesseract::tesseract_planning::PlannerRequest tess_request_;
 };
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index e5931e4b4c..f0d35bdeaa 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -17,6 +17,12 @@
   <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
   <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
 
+  <!-- Run Panda launch -->
+  <include file="$(find panda_moveit_config)/launch/demo.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="planner" value="trajopt"/>
+  </include>
+
   <!-- Launch main node -->
   <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
 
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index af56adc99a..55a26c08be 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -31,7 +31,9 @@ int main(int argc, char** argv)
       robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
       const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
 
-      const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
+
+      const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
+      std::cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>> dof: " << joint_names.size()  << std::endl;
 
       planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
@@ -43,9 +45,9 @@ int main(int argc, char** argv)
       psm->startStateMonitor();
       psm->startSceneMonitor();
 
-        while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-        {
-          ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+      while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+       {
+         ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
         }
       // We will now construct a loader to load a planner, by name.
       // Note that we are using the ROS pluginlib library here.
@@ -56,7 +58,7 @@ int main(int argc, char** argv)
 
       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
       node_handle.setParam("planning_plugin", planner_plugin_name);
-
+      
       // We will get the name of planning plugin we want to load
     // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
@@ -192,39 +194,48 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-
+    
     //------
     // We now construct a planning context that encapsulate the scene,
     // the request and the response. We call the planner using this
     // planning context
-    planning_interface::PlanningContextPtr context =
+         planning_interface::PlanningContextPtr context =
         planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-
-    context->solve(res);
-    if (res.error_code_.val != res.error_code_.SUCCESS)
+	 
+	       context->solve(res);
+	          if (res.error_code_.val != res.error_code_.SUCCESS)
     {
       ROS_ERROR("Could not compute plan successfully");
       return 0;
   }
 
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+ visual_tools.prompt("Press 'next' to visualize the reslt ");
+ 
+// Visualize the result
+  // ^^^^^^^^^^^^^^^^^^^^
+  ros::Publisher display_publisher =
+      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
+  moveit_msgs::DisplayTrajectory display_trajectory;
+
+  /* Visualize the trajectory */
+  moveit_msgs::MotionPlanResponse response;
+  res.getMessage(response);
+
+  display_trajectory.trajectory_start = response.trajectory_start;
+  display_trajectory.trajectory.push_back(response.trajectory);
+  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+  visual_tools.trigger();
+  display_publisher.publish(display_trajectory);
+  /*
+  // Set the state in the planning scene to the final state of the last plan 
+  robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
+  planning_scene->setCurrentState(*robot_state.get());
+
+  // Display the goal state
+  visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+  visual_tools.publishAxisLabeled(pose.pose, "goal_1");
+  visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
+  visual_tools.trigger();      
+*/	   
 
 }

From 4b84e1754228dac5f73d9f0ded7e5877237660a6 Mon Sep 17 00:00:00 2001
From: Omid Heidari <heidomid@isu.edu>
Date: Sun, 14 Jul 2019 21:25:53 -0600
Subject: [PATCH 552/612] added trajopt_interface class

---
 .../trajopt/include/trajopt_interface.h       | 93 +++++++++++++++++++
 .../include/trajopt_planning_context.h        | 18 ++--
 2 files changed, 104 insertions(+), 7 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface.h

diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
new file mode 100644
index 0000000000..12ce32b414
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -0,0 +1,93 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
+#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+
+#include <ros/ros.h>
+
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+#include <trajopt/plot_callback.hpp>
+#include <trajopt/file_write_callback.hpp>
+#include <trajopt/problem_description.hpp>
+#include <trajopt_utils/config.hpp>
+#include <trajopt_utils/logging.hpp>
+
+#include <tesseract_planning/basic_planner_types.h>
+
+#include <trajopt_sco/solver_interface.hpp>
+
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+
+#include "problem_description.h"
+
+
+namespace trajopt_interface
+{
+  //  MOVEIT_CLASS_FORWARD(TrajOptInterface);
+
+class TrajOptInterface //: public trajopt::TrajOptPlanner
+{
+public:
+  TrajOptInterface();
+  virtual ~TrajOptInterface() = 0;
+  
+  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
+
+  const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
+
+protected:
+  /** @brief Configure everything using the param server */
+  void setTrajOptPlannerConfiguration();
+
+  ros::NodeHandle nh_;  /// The ROS node handle
+
+  sco::BasicTrustRegionSQPParameters params_;
+
+  sco::Optimizer::Callback callbacks_;
+
+  TrajOptProblemPtr prob_;
+
+  void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
+
+};
+}
+
+#endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 01e277eb37..debb20a29d 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -20,13 +20,15 @@
 
 #include "problem_description.h"
 
+#include "trajopt_interface.h"
+
 //using namespace trajopt;
 
 namespace trajopt_interface
 {
 
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-
+/*
 struct TrajOptPlannerConfiguration{
 
   // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
@@ -38,23 +40,24 @@ struct TrajOptPlannerConfiguration{
   //  std::string model_type = sco::ModelType::AUTO_SOLVER
   //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
 
-  /** @brief Trajopt problem to be solved (Required) */
+  // @brief Trajopt problem to be solved (Required) 
   TrajOptProblemPtr prob;
 
   //    TrajOptProblemPtr prob(new TrajOptProblem());
   //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
 
-  /** @brief Optimization parameters to be used (Optional) */
+  // @brief Optimization parameters to be used (Optional) 
   sco::BasicTrustRegionSQPParameters params;
 
-  /** @brief Callback functions called on each iteration of the optimization (Optional) */
+  // @brief Callback functions called on each iteration of the optimization (Optional) 
   //std::vector<sco::Optimizer::Callback> callbacks;
   sco::Optimizer::Callback callbacks;
 
 };
+*/
 
-trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
-TrajOptPlannerConfiguration spec_;
+// trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
+//TrajOptPlannerConfiguration spec_;
 int dof_;
 
 void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
@@ -74,7 +77,7 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-  void setTrajOptPlannerConfiguration();
+  //  void setTrajOptPlannerConfiguration();
 
 protected:
 
@@ -83,6 +86,7 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   moveit::core::RobotModelConstPtr robot_model_;
   robot_state::RobotStatePtr robot_state_;
 
+  TrajOptInterfacePtr trajopot_interface_;
  
   
   trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);

From dc272dff77c8e96b2f4f4ae8eb114bd14e55d028 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 15 Jul 2019 18:13:53 -0600
Subject: [PATCH 553/612] changed the architectrue and used TrajoptInterface
 class to contain the solve function details. Created a TrajOptInterface
 object in TrajoptPlanningContext class instead

---
 .../trajopt/include/problem_description.h     |  2 +-
 .../trajopt/include/trajopt_interface.h       | 25 +++++++---
 .../include/trajopt_planning_context.h        | 47 +------------------
 3 files changed, 21 insertions(+), 53 deletions(-)

diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 73d7d1abe6..58286cc273 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -4,7 +4,7 @@
 #include <trajopt/common.hpp>
 #include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
-
+#include <moveit/robot_model/robot_model.h>
 
 namespace trajopt_interface
 {
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index 12ce32b414..683fa6d187 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -58,24 +58,32 @@
 
 #include "problem_description.h"
 
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_interface/planning_interface.h>
 
 namespace trajopt_interface
 {
-  //  MOVEIT_CLASS_FORWARD(TrajOptInterface);
+MOVEIT_CLASS_FORWARD(TrajOptInterface);
 
 class TrajOptInterface //: public trajopt::TrajOptPlanner
 {
 public:
-  TrajOptInterface();
-  virtual ~TrajOptInterface() = 0;
-  
+
   TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
+  virtual ~TrajOptInterface();
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
+             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res) const; // const
+
+  trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
+
 protected:
   /** @brief Configure everything using the param server */
-  void setTrajOptPlannerConfiguration();
+  void setParamsFromRosParamServer();
+  void setDefaultParams();
 
   ros::NodeHandle nh_;  /// The ROS node handle
 
@@ -85,9 +93,12 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 
   TrajOptProblemPtr prob_;
 
-  void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
-
+  // a function to convert TrajArray (TrajArray has no dependency on tesseract) from trajopt_ros to trajectory_msgs::JointTrajectory.Points
+  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array, const std::vector<std::string>& j_names);
 };
+
+void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
+
 }
 
 #endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index debb20a29d..20edb5cdbb 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -19,7 +19,6 @@
 #include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
-
 #include "trajopt_interface.h"
 
 //using namespace trajopt;
@@ -28,40 +27,7 @@ namespace trajopt_interface
 {
 
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-/*
-struct TrajOptPlannerConfiguration{
-
-  // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
-
-  TrajOptPlannerConfiguration() {prob.reset(new TrajOptProblem());}
-
-  virtual ~TrajOptPlannerConfiguration() {}
-
-  //  std::string model_type = sco::ModelType::AUTO_SOLVER
-  //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
-
-  // @brief Trajopt problem to be solved (Required) 
-  TrajOptProblemPtr prob;
-
-  //    TrajOptProblemPtr prob(new TrajOptProblem());
-  //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
-
-  // @brief Optimization parameters to be used (Optional) 
-  sco::BasicTrustRegionSQPParameters params;
 
-  // @brief Callback functions called on each iteration of the optimization (Optional) 
-  //std::vector<sco::Optimizer::Callback> callbacks;
-  sco::Optimizer::Callback callbacks;
-
-};
-*/
-
-// trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
-//TrajOptPlannerConfiguration spec_;
-int dof_;
-
-void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
- 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
 public:
@@ -77,23 +43,14 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-  //  void setTrajOptPlannerConfiguration();
-
 protected:
 
 private:
 
   moveit::core::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
-
-  TrajOptInterfacePtr trajopot_interface_;
- 
-  
-  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);
-
-  //  sco::VarArray convertVarVectorToVarArray(const VarVector& vv);
+  //  robot_state::RobotStatePtr robot_state_;
 
-  tesseract::tesseract_planning::PlannerRequest tess_request_;
+  TrajOptInterfacePtr trajopt_interface_;
 };
 } // namespace trajopt_interface
 

From f5c954a063e1cf688ac66c4eb4c6c09bc3c73c69 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 19 Jul 2019 17:15:39 -0600
Subject: [PATCH 554/612] added kinematic_terms in problem_description, added
 comments anout term_type added ProblemInfo, TermInfo, InitInfo, BasicInfo in
 kinematic_terms, added  operator() added ConstructProblem added some param
 for problem_info

---
 .../trajopt/include/kinematic_terms.hpp       |  41 ++++
 .../trajopt/include/problem_description.h     | 195 ++++++++++++++----
 .../trajopt/include/trajopt_interface.h       |   3 +-
 3 files changed, 194 insertions(+), 45 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/kinematic_terms.hpp

diff --git a/moveit_planners/trajopt/include/kinematic_terms.hpp b/moveit_planners/trajopt/include/kinematic_terms.hpp
new file mode 100644
index 0000000000..4167344ee6
--- /dev/null
+++ b/moveit_planners/trajopt/include/kinematic_terms.hpp
@@ -0,0 +1,41 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/common.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_sco/sco_fwd.hpp>
+
+namespace trajopt_interface
+{
+
+/**
+ * @brief Used to calculate the error for StaticCartPoseTermInfo
+ * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
+ */
+struct CartPoseErrCalculator : public VectorOfVector
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  Eigen::Isometry3d target_pose_inv_;
+  //  tesseract::BasicKinConstPtr manip_;
+  // tesseract::BasicEnvConstPtr env_;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string link_;
+  Eigen::Isometry3d tcp_;
+
+  CartPoseErrCalculator(const Eigen::Isometry3d& pose,
+                        const planning_scene::PlanningSceneConstPtr& planning_scene,
+                        std::string link,
+                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+    : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
+};
+
+
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 58286cc273..a9e8c31868 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -6,12 +6,153 @@
 #include <trajopt_sco/optimizers.hpp>
 #include <moveit/robot_model/robot_model.h>
 
+#include <moveit/planning_scene/planning_scene.h>
+
 namespace trajopt_interface
 {
 
+/**
+@brief Used to apply cost/constraint to joint-space velocity
+
+Term is applied to every step between first_step and last_step. It applies two limits, upper_limits/lower_limits,
+to the joint velocity subject to the following cases.
+
+* term_type = TT_COST
+** upper_limit = lower_limit = 0 - Cost is applied with a SQUARED error scaled for each joint by coeffs
+** upper_limit != lower_limit - 2 hinge costs are applied scaled for each joint by coeffs. If velocity < upper_limit and
+velocity > lower_limit, no penalty.
+
+* term_type = TT_CNT
+** upper_limit = lower_limit = 0 - Equality constraint is applied
+** upper_limit != lower_limit - 2 Inequality constraints are applied. These are both satisfied when velocity <
+upper_limit and velocity > lower_limit
+
+Note: coeffs, upper_limits, and lower_limits are optional. If a term is not given it will default to 0 for all joints.
+If one value is given, this will be broadcast to all joints.
+
+Note: Velocity is calculated numerically using forward finite difference
+
+\f{align*}{
+  cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2
+\f}
+where j indexes over DOF, and \f$c_j\f$ are the coeffs.
+*/
+
+
+struct TermInfo;
+typedef std::shared_ptr<TermInfo> TermInfoPtr;
+
 class TrajOptProblem;
 typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
 
+TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
+
+struct BasicInfo
+{
+  /** @brief If true first time step is fixed with a joint level constraint*/
+  bool start_fixed;
+  /** @brief Number of time steps (rows) in the optimization matrix */
+  int n_steps;
+  std::string manip;
+  std::string robot;             // optional
+  IntVec dofs_fixed;             // optional
+  sco::ModelType convex_solver;  // which convex solver to use
+
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool use_time = false;
+  /** @brief The upper limit of 1/dt values allowed in the optimization*/
+  double dt_upper_lim = 1.0;
+  /** @brief The lower limit of 1/dt values allowed in the optimization*/
+  double dt_lower_lim = 1.0;
+};
+
+/**
+Initialization info read from json
+*/
+struct InitInfo
+{
+  /** @brief Methods of initializing the optimization matrix
+
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env
+    pci.env->getCurrentJointValues)
+    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
+    GIVEN_TRAJ: Initializes the matrix to a given trajectory
+
+    In all cases the dt column (if present) is appended the selected method is defined.
+ */
+  enum Type
+  {
+    STATIONARY,
+    JOINT_INTERPOLATED,
+    GIVEN_TRAJ,
+  };
+  /** @brief Specifies the type of initialization to use */
+  Type type;
+  /** @brief Data used during initialization. Use depends on the initialization selected. */
+  TrajArray data;
+  /** @brief Default value the final column of the optimization is initialized too if time is being used */
+  double dt = 1.0;
+};
+
+/**
+When cost or constraint element of JSON doc is read, one of these guys gets
+constructed to hold the parameters.
+Then it later gets converted to a Cost object by the hatch method
+*/
+struct TermInfo
+{
+  std::string name;
+  int term_type;
+  int getSupportedTypes() { return supported_term_types_; }
+  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
+  virtual void hatch(TrajOptProb& prob) = 0;
+
+  static TermInfoPtr fromName(const std::string& type);
+
+  /**
+   * Registers a user-defined TermInfo so you can use your own cost
+   * see function RegisterMakers.cpp
+   */
+  typedef TermInfoPtr (*MakerFunc)(void);
+  static void RegisterMaker(const std::string& type, MakerFunc);
+
+  virtual ~TermInfo() = default;
+
+protected:
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+private:
+  static std::map<std::string, MakerFunc> name2maker;
+  int supported_term_types_;
+};
+
+
+struct ProblemInfo
+{
+public:
+  BasicInfo basic_info;
+  sco::BasicTrustRegionSQPParameters opt_info;
+  std::vector<TermInfoPtr> cost_infos;
+  std::vector<TermInfoPtr> cnt_infos;
+  InitInfo init_info;
+
+  //  tesseract::BasicEnvConstPtr env;
+  //  tesseract::BasicKinConstPtr kin;
+  planning_scene::PlanningSceneConstPtr planning_scene;
+  std::string planning_group_name;
+
+  ProblemConstructionInfo(planning_scene::PlanningSceneConstPtr& ps, std::string pg)
+    : planning_scene_(ps), planning_group_name(pg) {}
+  //  void fromJson(const Json::Value& v);
+
+private:
+  // void readBasicInfo(const Json::Value& v);
+  // void readOptInfo(const Json::Value& v);
+  // void readCosts(const Json::Value& v);
+  // void readConstraints(const Json::Value& v);
+  //  void readInitInfo(const Json::Value& v);
+};
+
+
 /**
  * Holds all the data for a trajectory optimization problem
  * so you can modify it programmatically, e.g. add your own costs
@@ -20,7 +161,7 @@ class  TrajOptProblem :  public sco::OptProb
 {
 public:
   TrajOptProblem();
-  TrajOptProblem(const int& n_steps, bool& use_time, const robot_model::RobotModelConstPtr& robot_model);
+  TrajOptProblem(const int& n_steps, ProblemInfo problem_info);
   virtual ~TrajOptProblem() = default;
   sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
@@ -33,16 +174,9 @@ class  TrajOptProblem :  public sco::OptProb
   int GetNumDOF() { return m_traj_vars.cols(); }
   // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
   //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
-  void SetInitTraj(const trajopt::TrajArray& x){
-    std::cout << "====>>>>> setInitTraj is called " << std::endl;
-    std::cout << "x.size: " << x.size()  << std::endl;
-    m_init_traj = x;
-    //    std::cout << m_init_traj << std::endl;
-  }
-  trajopt::TrajArray GetInitTraj() {
-    std::cout << "====>>>>> GetInitTraj is called " << std::endl;
-    return m_init_traj;
-  }
+  planning_scene::PlanningSceneConstPtr GetPlanningScene() { return planning_scene_;}
+  void SetInitTraj(const trajopt::TrajArray& x){  m_init_traj = x; }
+  trajopt::TrajArray GetInitTraj() { return m_init_traj; }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
   bool GetHasTime() { return has_time; }
@@ -55,40 +189,16 @@ class  TrajOptProblem :  public sco::OptProb
   trajopt::VarArray m_traj_vars;
   // tesseract::BasicKinConstPtr m_kin;
   // tesseract::BasicEnvConstPtr m_env;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string planning_group_;
   trajopt::TrajArray m_init_traj;
 };
 
-/**
-When cost or constraint element of JSON doc is read, one of these guys gets
-constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
-*/
-struct TermInfo
-{
-  std::string name;
-  int term_type;
-  int getSupportedTypes() { return supported_term_types_; }
-  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
-
-  //  static TermInfoPtr fromName(const std::string& type);
-
-  /**
-   * Registers a user-defined TermInfo so you can use your own cost
-   * see function RegisterMakers.cpp
-   */
-  //  typedef TermInfoPtr (*MakerFunc)(void);
-  //  static void RegisterMaker(const std::string& type, MakerFunc);
-
-  virtual ~TermInfo() = default;
 
-protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
-private:
-  //  static std::map<std::string, MakerFunc> name2maker;
-  int supported_term_types_;
-};
+/** @brief This term is used when the goal frame is fixed in cartesian space
 
+  Set term_type == TT_COST or TT_CNT for cost or constraint.
+*/
 struct CartPoseTermInfo : public TermInfo
 {
   //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -111,10 +221,9 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
-  // DEFINE_CREATE(CartPoseTermInfo)
+  void hatch(TrajOptProb& prob) override;
+  DEFINE_CREATE(CartPoseTermInfo)
 };
 
 
-
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index 683fa6d187..bf1978cf5e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -71,12 +71,11 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 public:
 
   TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-  virtual ~TrajOptInterface();
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res) const; // const
+             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res);
 
   trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 

From 96a1e766d51ef1647582bc26fd69a6558fd8f61d Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Sun, 21 Jul 2019 20:56:01 -0600
Subject: [PATCH 555/612] moved rotVec and concat from kinematics_term header
 to implementation in problem_Description, added term_type used
 MotionPlaneRequest from planning_interface instead that of moveit_msgs for
 solve function input added generateInitiaTrajectory added basic_info to
 problem_info

---
 ...{kinematic_terms.hpp => kinematic_terms.h} | 38 +++++++++++++++-
 .../trajopt/include/problem_description.h     | 33 +++++++++++---
 .../trajopt/include/trajopt_interface.h       |  6 +--
 moveit_planners/trajopt/src/test_trajopt.cpp  | 44 +++++++++++--------
 4 files changed, 91 insertions(+), 30 deletions(-)
 rename moveit_planners/trajopt/include/{kinematic_terms.hpp => kinematic_terms.h} (61%)

diff --git a/moveit_planners/trajopt/include/kinematic_terms.hpp b/moveit_planners/trajopt/include/kinematic_terms.h
similarity index 61%
rename from moveit_planners/trajopt/include/kinematic_terms.hpp
rename to moveit_planners/trajopt/include/kinematic_terms.h
index 4167344ee6..b5223a73b0 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.hpp
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -8,15 +8,49 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
 #include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/num_diff.hpp>
+
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <Eigen/Geometry>
+
+using namespace Eigen;
+using namespace std;
 
 namespace trajopt_interface
 {
 
+Vector3d rotVec(const Matrix3d& m)
+{
+  Quaterniond q; q = m;
+  return Vector3d(q.x(), q.y(), q.z());
+}
+
+
+VectorXd concat(const VectorXd& a, const VectorXd& b)
+{
+  VectorXd out(a.size()+b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
+  return out;
+}
+
+template <typename T>
+vector<T> concat(const vector<T>& a, const vector<T>& b)
+{
+  vector<T> out;
+  vector<int> x;
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
+  return out;
+}
+
+
 /**
  * @brief Used to calculate the error for StaticCartPoseTermInfo
  * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
  */
-struct CartPoseErrCalculator : public VectorOfVector
+struct CartPoseErrCalculator : public sco::VectorOfVector
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   Eigen::Isometry3d target_pose_inv_;
@@ -27,7 +61,7 @@ struct CartPoseErrCalculator : public VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose,
-                        const planning_scene::PlanningSceneConstPtr& planning_scene,
+                        const planning_scene::PlanningSceneConstPtr planning_scene,
                         std::string link,
                         Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index a9e8c31868..cab7481232 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -45,8 +45,26 @@ typedef std::shared_ptr<TermInfo> TermInfoPtr;
 class TrajOptProblem;
 typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
 
+struct ProblemInfo;
+
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
+
+enum TermType
+{
+  TT_COST = 0x1,      // 0000 0001
+  TT_CNT = 0x2,       // 0000 0010
+  TT_USE_TIME = 0x4,  // 0000 0100
+};
+
+#define DEFINE_CREATE(classname)                                                                                       \
+  static TermInfoPtr create()                                                                                          \
+  {                                                                                                                    \
+    TermInfoPtr out(new classname());                                                                                  \
+    return out;                                                                                                        \
+  }
+
+
 struct BasicInfo
 {
   /** @brief If true first time step is fixed with a joint level constraint*/
@@ -55,7 +73,7 @@ struct BasicInfo
   int n_steps;
   std::string manip;
   std::string robot;             // optional
-  IntVec dofs_fixed;             // optional
+  sco::IntVec dofs_fixed;             // optional
   sco::ModelType convex_solver;  // which convex solver to use
 
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
@@ -89,7 +107,7 @@ struct InitInfo
   /** @brief Specifies the type of initialization to use */
   Type type;
   /** @brief Data used during initialization. Use depends on the initialization selected. */
-  TrajArray data;
+  trajopt::TrajArray data;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -105,7 +123,7 @@ struct TermInfo
   int term_type;
   int getSupportedTypes() { return supported_term_types_; }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProb& prob) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -140,8 +158,8 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemConstructionInfo(planning_scene::PlanningSceneConstPtr& ps, std::string pg)
-    : planning_scene_(ps), planning_group_name(pg) {}
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg)
+    : planning_scene(ps), planning_group_name(pg) {}
   //  void fromJson(const Json::Value& v);
 
 private:
@@ -161,7 +179,7 @@ class  TrajOptProblem :  public sco::OptProb
 {
 public:
   TrajOptProblem();
-  TrajOptProblem(const int& n_steps, ProblemInfo problem_info);
+  TrajOptProblem(const ProblemInfo& problem_info);
   virtual ~TrajOptProblem() = default;
   sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
@@ -221,9 +239,10 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob) override;
+  void hatch(TrajOptProblem& prob) override;
   DEFINE_CREATE(CartPoseTermInfo)
 };
 
+trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index bf1978cf5e..b4dd24c9b2 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -74,10 +74,10 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res);
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const planning_interface::MotionPlanRequest& req,
+             const sco::BasicTrustRegionSQPParameters& params,  moveit_msgs::MotionPlanDetailedResponse& res);
+
 
-  trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 protected:
   /** @brief Configure everything using the param server */
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 55a26c08be..232c6f9f54 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -58,7 +58,7 @@ int main(int argc, char** argv)
 
       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
       node_handle.setParam("planning_plugin", planner_plugin_name);
-      
+
       // We will get the name of planning plugin we want to load
     // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
@@ -194,23 +194,20 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-    
-    //------
-    // We now construct a planning context that encapsulate the scene,
-    // the request and the response. We call the planner using this
+
     // planning context
          planning_interface::PlanningContextPtr context =
         planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-	 
-	       context->solve(res);
-	          if (res.error_code_.val != res.error_code_.SUCCESS)
-    {
-      ROS_ERROR("Could not compute plan successfully");
-      return 0;
-  }
 
- visual_tools.prompt("Press 'next' to visualize the reslt ");
- 
+         context->solve(res);
+         if (res.error_code_.val != res.error_code_.SUCCESS)
+           {
+             ROS_ERROR("Could not compute plan successfully");
+             return 0;
+           }
+
+         visual_tools.prompt("Press 'next' to visualize the reslt ");
+
 // Visualize the result
   // ^^^^^^^^^^^^^^^^^^^^
   ros::Publisher display_publisher =
@@ -221,13 +218,24 @@ int main(int argc, char** argv)
   moveit_msgs::MotionPlanResponse response;
   res.getMessage(response);
 
+  for (int timestep_index = 0; timestep_index < 10; ++timestep_index)
+    {
+      for (int joint_index = 0; joint_index < 7; ++joint_index)
+        {
+          response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index];
+        }
+      std::cout << "-------------------- next timestep ---------------" << std::endl;
+    }
+
+
+
   display_trajectory.trajectory_start = response.trajectory_start;
   display_trajectory.trajectory.push_back(response.trajectory);
   visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
   visual_tools.trigger();
   display_publisher.publish(display_trajectory);
-  /*
-  // Set the state in the planning scene to the final state of the last plan 
+
+  // Set the state in the planning scene to the final state of the last plan
   robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
   planning_scene->setCurrentState(*robot_state.get());
 
@@ -235,7 +243,7 @@ int main(int argc, char** argv)
   visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
   visual_tools.publishAxisLabeled(pose.pose, "goal_1");
   visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();      
-*/	   
+  visual_tools.trigger();
+
 
 }

From 2f0aca234e772e1cc1969bb8929347c6720aef28 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 22 Jul 2019 20:00:21 -0600
Subject: [PATCH 556/612] added panda_omple_planning added checkParameterSize
 function in problem_description added JointPoseTermInfo::hatch in
 problem_description added res.error.code.val to check the request in
 trajopt_interface.cpp convert req.goal_constraint to JointPoseTermInfo in
 trajopt_interface.cpp feed the response with the trajopt solution in
 trajopt_interface.cpp remove comments from trajopt_planning_context.cpp

---
 .../trajopt/config/panda_ompl_planning.yaml   | 203 ++++++++++++++++++
 moveit_planners/trajopt/config/setup.yaml     |  27 +--
 .../trajopt/include/kinematic_terms.h         |   5 +
 .../trajopt/include/problem_description.h     |  36 ++++
 .../include/trajopt_planning_context.h        |   2 -
 .../trajopt/launch/test_trajopt_launch.launch |   1 +
 moveit_planners/trajopt/src/test_trajopt.cpp  | 114 +++++-----
 7 files changed, 310 insertions(+), 78 deletions(-)
 create mode 100644 moveit_planners/trajopt/config/panda_ompl_planning.yaml

diff --git a/moveit_planners/trajopt/config/panda_ompl_planning.yaml b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
new file mode 100644
index 0000000000..491e82914e
--- /dev/null
+++ b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
@@ -0,0 +1,203 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+  FMTkConfigDefault:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMTkConfigDefault:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDSTkConfigDefault:
+    type: geometric::PDST
+  STRIDEkConfigDefault:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRTkConfigDefault:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRTkConfigDefault:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiESTkConfigDefault:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjESTkConfigDefault:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRMkConfigDefault:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstarkConfigDefault:
+    type: geometric::LazyPRMstar
+  SPARSkConfigDefault:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwokConfigDefault:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+  TrajOptDefault:
+    type: geometric::TrajOpt
+
+panda_arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
+panda_arm_hand:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
+hand:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index f44b12ef66..d5e7728589 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,13 +1,14 @@
-improve_ratio_threshold: 0.25;
-min_trust_box_size: 1e-4;
-min_approx_improve: 1e-4;
-min_approx_improve_frac: -1000; # should br -infinity
-max_iter: 50;
-trust_shrink_ratio: 0.1;
-trust_expand_ratio: 1.5;
-cnt_tolerance: 1e-4;
-max_merit_coeff_increases: 5;
-merit_coeff_increase_ratio : 10;
-max_time: 1000; # should be +infinity
-merit_error_coeff: 10;
-trust_box_size: 1e-1;
+trajopt_param:
+  improve_ratio_threshold: 0.25;
+  min_trust_box_size: 1e-4;
+  min_approx_improve: 1e-4;
+  min_approx_improve_frac: -1000; # should br -infinity
+  max_iter: 50;
+  trust_shrink_ratio: 0.1;
+  trust_expand_ratio: 1.5;
+  cnt_tolerance: 1e-4;
+  max_merit_coeff_increases: 5;
+  merit_coeff_increase_ratio : 10;
+  max_time: 1000; # should be +infinity
+  merit_error_coeff: 10;
+  trust_box_size: 1e-1;
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/kinematic_terms.h
index b5223a73b0..25162f8abe 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -71,5 +71,10 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
+  //TODO(omid): The following should be added and adjusted from trajopt
+  // JointPosEqCost
+  // JointPosIneqCost
+  // JointPosEqConstraint
+  // JointPosIneqConstraint
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index cab7481232..77f4adbcc2 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -243,6 +243,42 @@ struct CartPoseTermInfo : public TermInfo
   DEFINE_CREATE(CartPoseTermInfo)
 };
 
+
+/**
+  \brief Joint space position cost
+    Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space
+    position waypoints
+
+  \f{align*}{
+  \sum_i c_i (x_i - xtarg_i)^2
+  \f}
+  where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
+ */
+struct JointPosTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of position targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0 */
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointPosTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME) {}
+
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+  DEFINE_CREATE(JointPosTermInfo)
+};
+
+
+
 trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 20edb5cdbb..92d6642aa6 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -21,7 +21,6 @@
 #include "problem_description.h"
 #include "trajopt_interface.h"
 
-//using namespace trajopt;
 
 namespace trajopt_interface
 {
@@ -48,7 +47,6 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
 private:
 
   moveit::core::RobotModelConstPtr robot_model_;
-  //  robot_state::RobotStatePtr robot_state_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index f0d35bdeaa..c80e5c93e1 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -28,6 +28,7 @@
 
     <!-- Robot-specific settings -->
     <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
+    <rosparam file="$(find moveit_planners_trajopt)/config/panda_ompl_planning.yaml" command="load"/>
   </node>
 
 </launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 232c6f9f54..28c2c27033 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -30,11 +30,9 @@ int main(int argc, char** argv)
       /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
       robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
       const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-
+      robot_state->setToDefaultValues();
 
       const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-      std::cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>> dof: " << joint_names.size()  << std::endl;
-
       planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
       // With the planning scene we create a planing scene monitor that
@@ -56,11 +54,13 @@ int main(int argc, char** argv)
 
       std::string planner_plugin_name;
 
-      planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+
+      // planner_plugin_name = "ompl_interface/OMPLPlanner";
+      // node_handle.getParam("...", ...);
+
       node_handle.setParam("planning_plugin", planner_plugin_name);
 
-      // We will get the name of planning plugin we want to load
-    // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
     if (!node_handle.getParam("planning_plugin", planner_plugin_name))
       ROS_FATAL_STREAM("Could not find planner plugin name");
@@ -91,19 +91,8 @@ int main(int argc, char** argv)
                                                            << "Available plugins: " << ss.str());
      }
 
-
-
-
-
-
-
-
-
-
-
-
     // Visualization
-    // ^^^^^^^^^^^^^
+    // ========================================================================================
     // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
     // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
     namespace rvt = rviz_visual_tools;
@@ -129,7 +118,7 @@ int main(int argc, char** argv)
     visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
 
     // Pose Goal
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // ========================================================================================
     // We will now create a motion plan request for the arm of the Panda
     // specifying the desired pose of the end-effector as input.
     visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
@@ -158,12 +147,11 @@ int main(int argc, char** argv)
     moveit_msgs::Constraints pose_goal =
         kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
 
-    req.group_name = PLANNING_GROUP;
-    req.goal_constraints.push_back(pose_goal);
+    //    req.group_name = PLANNING_GROUP;
+    // req.goal_constraints.push_back(pose_goal);
 
     // set the request start joint state
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
+    // ========================================================================================
     // get the joint values of the start state
     std::vector<double> start_joint_values;
     robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
@@ -173,17 +161,19 @@ int main(int argc, char** argv)
       printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
       ++r;
     }
-    req.start_state.joint_state.position = start_joint_values;
 
+    req.start_state.joint_state.name = joint_names;
+    req.start_state.joint_state.position = start_joint_values;
 
     // set the goal joint state
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // ========================================================================================
     robot_state::RobotState goal_state(robot_model);
-    std::vector<double> joint_values = { 0.8, 0.7, 1, 1.3, 1.9, 2.2, 3 };
+    std::vector<double> joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1};
     goal_state.setJointGroupPositions(joint_model_group, joint_values);
     moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
     req.goal_constraints.clear();
     req.goal_constraints.push_back(joint_goal);
+    req.group_name = PLANNING_GROUP;
 
     // retrive joint values at goal
     std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
@@ -194,56 +184,54 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-
     // planning context
-         planning_interface::PlanningContextPtr context =
-        planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+    planning_interface::PlanningContextPtr context =
+      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
 
-         context->solve(res);
-         if (res.error_code_.val != res.error_code_.SUCCESS)
-           {
-             ROS_ERROR("Could not compute plan successfully");
-             return 0;
-           }
+    context->solve(res);
+    if (res.error_code_.val != res.error_code_.SUCCESS)
+    {
+      ROS_ERROR("Could not compute plan successfully");
+      return 0;
+    }
 
-         visual_tools.prompt("Press 'next' to visualize the reslt ");
+    visual_tools.prompt("Press 'next' to visualize the result");
 
-// Visualize the result
-  // ^^^^^^^^^^^^^^^^^^^^
-  ros::Publisher display_publisher =
+    // Visualize the result
+    // ========================================================================================
+    ros::Publisher display_publisher =
       node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-  moveit_msgs::DisplayTrajectory display_trajectory;
+    moveit_msgs::DisplayTrajectory display_trajectory;
 
-  /* Visualize the trajectory */
-  moveit_msgs::MotionPlanResponse response;
-  res.getMessage(response);
-
-  for (int timestep_index = 0; timestep_index < 10; ++timestep_index)
-    {
-      for (int joint_index = 0; joint_index < 7; ++joint_index)
-        {
-          response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index];
-        }
-      std::cout << "-------------------- next timestep ---------------" << std::endl;
-    }
+    /* Visualize the trajectory */
+    moveit_msgs::MotionPlanResponse response;
+    res.getMessage(response);
 
+    for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
+      {
+        for (int joint_index = 0; joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
+          {
+            std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
+          }
+        std::cout << std::endl;
+      }
 
+    display_trajectory.trajectory_start = response.trajectory_start;
+    display_trajectory.trajectory.push_back(response.trajectory);
 
-  display_trajectory.trajectory_start = response.trajectory_start;
-  display_trajectory.trajectory.push_back(response.trajectory);
-  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-  visual_tools.trigger();
-  display_publisher.publish(display_trajectory);
+    visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+    visual_tools.trigger();
+    display_publisher.publish(display_trajectory);
 
   // Set the state in the planning scene to the final state of the last plan
-  robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
-  planning_scene->setCurrentState(*robot_state.get());
+  // robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
+  // planning_scene->setCurrentState(*robot_state.get());
 
   // Display the goal state
-  visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-  visual_tools.publishAxisLabeled(pose.pose, "goal_1");
-  visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
+  // visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+  // visual_tools.publishAxisLabeled(pose.pose, "goal_1");
+  // visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
+  // visual_tools.trigger();
 
 
 }

From 0375247aca6d28a6db3054976dce823074da86e7 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 22 Jul 2019 20:25:57 -0600
Subject: [PATCH 557/612] addressed the comments fixed start state corrected
 the yaml file multiple joint constraints

---
 .gitignore                                    |   4 +
 .../trajopt/config/panda_ompl_planning.yaml   | 203 --------
 moveit_planners/trajopt/config/setup.yaml     |  60 ++-
 .../trajopt/include/kinematic_terms.h         |  62 ++-
 .../trajopt/include/problem_description.h     | 199 ++++---
 .../trajopt/include/trajopt_interface.h       |  53 +-
 .../include/trajopt_planning_context.h        |  20 +-
 .../trajopt/launch/gdb_settings.gdb           |   8 -
 .../trajopt/launch/test_trajopt_launch.launch |   1 -
 moveit_planners/trajopt/src/test_trajopt.cpp  | 489 ++++++++++--------
 10 files changed, 526 insertions(+), 573 deletions(-)
 delete mode 100644 moveit_planners/trajopt/config/panda_ompl_planning.yaml
 delete mode 100644 moveit_planners/trajopt/launch/gdb_settings.gdb

diff --git a/.gitignore b/.gitignore
index 808fe85341..cfc7f50ba4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -58,3 +58,7 @@ qtcreator-*
 
 #gdb
 *.gdb
+<<<<<<< HEAD
+=======
+/moveit_planners/trajopt/launch/gdb_settings.gdb
+>>>>>>> addressed the comments
diff --git a/moveit_planners/trajopt/config/panda_ompl_planning.yaml b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
deleted file mode 100644
index 491e82914e..0000000000
--- a/moveit_planners/trajopt/config/panda_ompl_planning.yaml
+++ /dev/null
@@ -1,203 +0,0 @@
-planner_configs:
-  SBLkConfigDefault:
-    type: geometric::SBL
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ESTkConfigDefault:
-    type: geometric::EST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LBKPIECEkConfigDefault:
-    type: geometric::LBKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  BKPIECEkConfigDefault:
-    type: geometric::BKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  KPIECEkConfigDefault:
-    type: geometric::KPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  RRTkConfigDefault:
-    type: geometric::RRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  RRTstarkConfigDefault:
-    type: geometric::RRTstar
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
-  TRRTkConfigDefault:
-    type: geometric::TRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    max_states_failed: 10  # when to start increasing temp. default: 10
-    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
-    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
-    init_temperature: 10e-6  # initial temperature. default: 10e-6
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
-  PRMkConfigDefault:
-    type: geometric::PRM
-    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
-  PRMstarkConfigDefault:
-    type: geometric::PRMstar
-  FMTkConfigDefault:
-    type: geometric::FMT
-    num_samples: 1000  # number of states that the planner should sample. default: 1000
-    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
-    nearest_k: 1  # use Knearest strategy. default: 1
-    cache_cc: 1  # use collision checking cache. default: 1
-    heuristics: 0  # activate cost to go heuristics. default: 0
-    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
-  BFMTkConfigDefault:
-    type: geometric::BFMT
-    num_samples: 1000  # number of states that the planner should sample. default: 1000
-    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
-    nearest_k: 1  # use the Knearest strategy. default: 1
-    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
-    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
-    heuristics: 1  # activates cost to go heuristics. default: 1
-    cache_cc: 1  # use the collision checking cache. default: 1
-    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
-  PDSTkConfigDefault:
-    type: geometric::PDST
-  STRIDEkConfigDefault:
-    type: geometric::STRIDE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
-    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
-    max_degree: 18  # max degree of a node in the GNAT. default: 12
-    min_degree: 12  # min degree of a node in the GNAT. default: 12
-    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
-    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
-    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
-  BiTRRTkConfigDefault:
-    type: geometric::BiTRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
-    init_temperature: 100  # initial temperature. default: 100
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
-  LBTRRTkConfigDefault:
-    type: geometric::LBTRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    epsilon: 0.4  # optimality approximation factor. default: 0.4
-  BiESTkConfigDefault:
-    type: geometric::BiEST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ProjESTkConfigDefault:
-    type: geometric::ProjEST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LazyPRMkConfigDefault:
-    type: geometric::LazyPRM
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  LazyPRMstarkConfigDefault:
-    type: geometric::LazyPRMstar
-  SPARSkConfigDefault:
-    type: geometric::SPARS
-    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
-    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
-    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
-    max_failures: 1000  # maximum consecutive failure limit. default: 1000
-  SPARStwokConfigDefault:
-    type: geometric::SPARStwo
-    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
-    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
-    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
-    max_failures: 5000  # maximum consecutive failure limit. default: 5000
-  TrajOptDefault:
-    type: geometric::TrajOpt
-
-panda_arm:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
-panda_arm_hand:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
-hand:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index d5e7728589..d844f801d5 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,14 +1,48 @@
 trajopt_param:
-  improve_ratio_threshold: 0.25;
-  min_trust_box_size: 1e-4;
-  min_approx_improve: 1e-4;
-  min_approx_improve_frac: -1000; # should br -infinity
-  max_iter: 50;
-  trust_shrink_ratio: 0.1;
-  trust_expand_ratio: 1.5;
-  cnt_tolerance: 1e-4;
-  max_merit_coeff_increases: 5;
-  merit_coeff_increase_ratio : 10;
-  max_time: 1000; # should be +infinity
-  merit_error_coeff: 10;
-  trust_box_size: 1e-1;
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence
+  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
+  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
+  max_iter: 100                   # The max number of iterations
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time
+  max_time: .inf                  # not yet implemented
+  merit_error_coeff: 10           # initial penalty coefficient
+  trust_box_size: 1e-1            # current size of trust region (component-wise)
+
+problem_info:
+  basic_info:
+    n_steps: 20                # 2 * steps_per_phase
+    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
+    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
+    start_fixed: true          # if true, start pose is the current pose and the req.start_state is ignored
+    # if false, the start pose is the one given by req.start_state
+    use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
+    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
+    convex_solver: 1           # which convex solver to use
+    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
+
+  init_info:
+    type: 2                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
+    dt: 0.5
+
+joint_pos_term_info:
+  start_pos:
+    name: start_pos
+    first_timestep: 0                # First time step to which the term is applied.
+    last_timestep: 0                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  middle_pos:
+    name: middle_pos
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  goal_pos:
+    name: goal_pos
+    first_timestep: 19                # First time step to which the term is applied.
+    last_timestep: 19                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/kinematic_terms.h
index 25162f8abe..c61052194a 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -1,14 +1,4 @@
 #pragma once
-#include <trajopt_utils/macros.h>
-TRAJOPT_IGNORE_WARNINGS_PUSH
-#include <Eigen/Core>
-TRAJOPT_IGNORE_WARNINGS_POP
-
-#include <trajopt/common.hpp>
-#include <trajopt_sco/modeling.hpp>
-#include <trajopt_sco/modeling_utils.hpp>
-#include <trajopt_sco/sco_fwd.hpp>
-#include <trajopt_sco/num_diff.hpp>
 
 #include <moveit/planning_scene/planning_scene.h>
 
@@ -19,17 +9,16 @@ using namespace std;
 
 namespace trajopt_interface
 {
-
 Vector3d rotVec(const Matrix3d& m)
 {
-  Quaterniond q; q = m;
+  Quaterniond q;
+  q = m;
   return Vector3d(q.x(), q.y(), q.z());
 }
 
-
 VectorXd concat(const VectorXd& a, const VectorXd& b)
 {
-  VectorXd out(a.size()+b.size());
+  VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
   out.middleRows(a.size(), b.size()) = b;
   return out;
@@ -39,13 +28,12 @@ template <typename T>
 vector<T> concat(const vector<T>& a, const vector<T>& b)
 {
   vector<T> out;
-  vector<int> x;
+  vector<int> x(a.size() + b.size());
   out.insert(out.end(), a.begin(), a.end());
   out.insert(out.end(), b.begin(), b.end());
   return out;
 }
 
-
 /**
  * @brief Used to calculate the error for StaticCartPoseTermInfo
  * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
@@ -54,16 +42,12 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   Eigen::Isometry3d target_pose_inv_;
-  //  tesseract::BasicKinConstPtr manip_;
-  // tesseract::BasicEnvConstPtr env_;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string link_;
   Eigen::Isometry3d tcp_;
 
-  CartPoseErrCalculator(const Eigen::Isometry3d& pose,
-                        const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link,
-                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+  CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
+                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
@@ -71,10 +55,34 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
-  //TODO(omid): The following should be added and adjusted from trajopt
-  // JointPosEqCost
-  // JointPosIneqCost
-  // JointPosEqConstraint
-  // JointPosIneqConstraint
+// TODO(omid): The following should be added and adjusted from trajopt
+// JointPosEqCost
+// JointPosIneqCost
+// JointPosEqConstraint
+// JointPosIneqConstraint
+
+struct JointVelErrCalculator : sco::VectorOfVector
+{
+  /** @brief Velocity target */
+  double target_;
+  /** @brief Upper tolerance */
+  double upper_tol_;
+  /** @brief Lower tolerance */
+  double lower_tol_;
+  JointVelErrCalculator() : target_(0.0), upper_tol_(0.0), lower_tol_(0.0)
+  {
+  }
+  JointVelErrCalculator(double target, double upper_tol, double lower_tol)
+    : target_(target), upper_tol_(upper_tol), lower_tol_(lower_tol)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
+};
+
+struct JointVelJacobianCalculator : sco::MatrixOfVector
+{
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
+};
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 77f4adbcc2..8d1bd605e1 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -1,16 +1,15 @@
 #pragma once
-#include <tesseract_core/basic_env.h>
-#include <tesseract_core/basic_kin.h>
 #include <trajopt/common.hpp>
 #include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <moveit/robot_model/robot_model.h>
 
+#include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h>
 
+#include <memory>
+
 namespace trajopt_interface
 {
-
 /**
 @brief Used to apply cost/constraint to joint-space velocity
 
@@ -38,17 +37,20 @@ Note: Velocity is calculated numerically using forward finite difference
 where j indexes over DOF, and \f$c_j\f$ are the coeffs.
 */
 
-
 struct TermInfo;
-typedef std::shared_ptr<TermInfo> TermInfoPtr;
+MOVEIT_CLASS_FORWARD(TermInfo);
 
 class TrajOptProblem;
-typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
+MOVEIT_CLASS_FORWARD(TrajOptProblem);
 
-struct ProblemInfo;
+struct JointPoseTermInfo;
+MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
 
-TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
+struct CartPoseTermInfo;
+MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
 
+struct ProblemInfo;
+TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
 enum TermType
 {
@@ -57,23 +59,21 @@ enum TermType
   TT_USE_TIME = 0x4,  // 0000 0100
 };
 
-#define DEFINE_CREATE(classname)                                                                                       \
-  static TermInfoPtr create()                                                                                          \
-  {                                                                                                                    \
-    TermInfoPtr out(new classname());                                                                                  \
-    return out;                                                                                                        \
-  }
-
-
 struct BasicInfo
 {
-  /** @brief If true first time step is fixed with a joint level constraint*/
+  /** @brief If true, first time step is fixed with a joint level constraint
+      If this is false, the starting point of the trajectory will
+      not be the current position of the robot. The use case example is: if we are trying to execute a process like
+      sanding the critical part which is the actual process path not how we get to the start of the process path. So we
+     plan the
+      process path first leaving the start free to hopefully get the most optimal and then we plan from the current
+     location with
+      start fixed to the start of the process path. It depends on what we want the default behavior to be
+   */
   bool start_fixed;
   /** @brief Number of time steps (rows) in the optimization matrix */
   int n_steps;
-  std::string manip;
-  std::string robot;             // optional
-  sco::IntVec dofs_fixed;             // optional
+  sco::IntVec dofs_fixed;        // optional
   sco::ModelType convex_solver;  // which convex solver to use
 
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
@@ -89,10 +89,10 @@ Initialization info read from json
 */
 struct InitInfo
 {
-  /** @brief Methods of initializing the optimization matrix
+  /** @brief Methods of initializing the optimization matrix. This defines how robot moves from the current
+      state to the start state
 
-    STATIONARY: Initializes all joint values to the initial value (the current value in the env
-    pci.env->getCurrentJointValues)
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env)
     JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
     GIVEN_TRAJ: Initializes the matrix to a given trajectory
 
@@ -106,8 +106,12 @@ struct InitInfo
   };
   /** @brief Specifies the type of initialization to use */
   Type type;
-  /** @brief Data used during initialization. Use depends on the initialization selected. */
-  trajopt::TrajArray data;
+  /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
+      to create initialization matrix. We need to give the goal information to this init info
+   */
+  //trajopt::TrajArray data; This data type does not seem correct, it should be of type VectorXd
+  Eigen::VectorXd end_pos;
+  trajopt::TrajArray start_to_end_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -121,7 +125,10 @@ struct TermInfo
 {
   std::string name;
   int term_type;
-  int getSupportedTypes() { return supported_term_types_; }
+  int getSupportedTypes()
+  {
+    return supported_term_types_;
+  }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
   virtual void hatch(TrajOptProblem& prob) = 0;
 
@@ -137,13 +144,15 @@ struct TermInfo
   virtual ~TermInfo() = default;
 
 protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types)
+  {
+  }
+
 private:
   static std::map<std::string, MakerFunc> name2maker;
   int supported_term_types_;
 };
 
-
 struct ProblemInfo
 {
 public:
@@ -153,66 +162,91 @@ struct ProblemInfo
   std::vector<TermInfoPtr> cnt_infos;
   InitInfo init_info;
 
-  //  tesseract::BasicEnvConstPtr env;
-  //  tesseract::BasicKinConstPtr kin;
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg)
-    : planning_scene(ps), planning_group_name(pg) {}
-  //  void fromJson(const Json::Value& v);
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  {
+  }
 
 private:
-  // void readBasicInfo(const Json::Value& v);
-  // void readOptInfo(const Json::Value& v);
-  // void readCosts(const Json::Value& v);
-  // void readConstraints(const Json::Value& v);
-  //  void readInitInfo(const Json::Value& v);
-};
 
+};
 
 /**
  * Holds all the data for a trajectory optimization problem
  * so you can modify it programmatically, e.g. add your own costs
  */
-class  TrajOptProblem :  public sco::OptProb
+class TrajOptProblem : public sco::OptProb
 {
 public:
   TrajOptProblem();
   TrajOptProblem(const ProblemInfo& problem_info);
   virtual ~TrajOptProblem() = default;
-  sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
-  sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
-  sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
-  trajopt::VarArray& GetVars() { return m_traj_vars; }
+  /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i, int start_col, int num_col)
+  {
+    return m_traj_vars.rblock(i, start_col, num_col);
+  }
+  /** @brief Returns the values of all joints for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i)
+  {
+    return m_traj_vars.row(i);
+  }
+  /** @brief Returns the value of the specified joint j for the specified timestep i.*/
+  sco::Var& GetVar(int i, int j)
+  {
+    return m_traj_vars.at(i, j);
+  }
+  trajopt::VarArray& GetVars()
+  {
+    return m_traj_vars;
+  }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
-  int GetNumSteps() { return m_traj_vars.rows(); }
+  int GetNumSteps()
+  {
+    return m_traj_vars.rows();
+  }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
-  int GetNumDOF() { return m_traj_vars.cols(); }
-  // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
-  //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
-  planning_scene::PlanningSceneConstPtr GetPlanningScene() { return planning_scene_;}
-  void SetInitTraj(const trajopt::TrajArray& x){  m_init_traj = x; }
-  trajopt::TrajArray GetInitTraj() { return m_init_traj; }
+  int GetNumDOF()
+  {
+    return m_traj_vars.cols();
+  }
+  planning_scene::PlanningSceneConstPtr GetPlanningScene()
+  {
+    return planning_scene_;
+  }
+  void SetInitTraj(const trajopt::TrajArray& x)
+  {
+    m_init_traj = x;
+  }
+  trajopt::TrajArray GetInitTraj()
+  {
+    return m_init_traj;
+  }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
-  bool GetHasTime() { return has_time; }
+  bool GetHasTime()
+  {
+    return has_time;
+  }
   /** @brief Sets TrajOptProb.has_time  */
-  void SetHasTime(bool tmp) { has_time = tmp; }
+  void SetHasTime(bool tmp)
+  {
+    has_time = tmp;
+  }
 
 private:
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
+  /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
   trajopt::VarArray m_traj_vars;
-  // tesseract::BasicKinConstPtr m_kin;
-  // tesseract::BasicEnvConstPtr m_env;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
   trajopt::TrajArray m_init_traj;
 };
 
-
 /** @brief This term is used when the goal frame is fixed in cartesian space
 
   Set term_type == TT_COST or TT_CNT for cost or constraint.
@@ -240,9 +274,13 @@ struct CartPoseTermInfo : public TermInfo
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void hatch(TrajOptProblem& prob) override;
-  DEFINE_CREATE(CartPoseTermInfo)
-};
 
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new CartPoseTermInfo());
+    return out;
+  }
+};
 
 /**
   \brief Joint space position cost
@@ -254,7 +292,7 @@ struct CartPoseTermInfo : public TermInfo
   \f}
   where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
  */
-struct JointPosTermInfo : public TermInfo
+struct JointPoseTermInfo : public TermInfo
 {
   /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
   trajopt::DblVec coeffs;
@@ -270,15 +308,50 @@ struct JointPosTermInfo : public TermInfo
   int last_step = -1;
 
   /** @brief Initialize term with it's supported types */
-  JointPosTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME) {}
+  JointPoseTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void hatch(TrajOptProblem& prob) override;
-  DEFINE_CREATE(JointPosTermInfo)
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointPoseTermInfo());
+    return out;
+  }
 };
 
+struct JointVelTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of velocity targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of velocity upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of velocity lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0*/
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
 
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointVelTermInfo());
+    return out;
+  }
+};
 
-trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
+  void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values, trajopt::TrajArray& init_traj);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index b4dd24c9b2..deabc02168 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2012, Willow Garage, Inc.
+ *  Copyright (c) 2019, PickNik, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
+ *   * Neither the name of PickNik nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -39,65 +39,44 @@
 
 #include <ros/ros.h>
 
-#include <trajopt_sco/sco_common.hpp>
-#include <trajopt_sco/optimizers.hpp>
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt/plot_callback.hpp>
-#include <trajopt/file_write_callback.hpp>
-#include <trajopt/problem_description.hpp>
-#include <trajopt_utils/config.hpp>
-#include <trajopt_utils/logging.hpp>
-
-#include <tesseract_planning/basic_planner_types.h>
-
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt_sco/optimizers.hpp>
 #include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
 
-#include <moveit/planning_interface/planning_request.h>
-#include <moveit/planning_interface/planning_response.h>
 #include <moveit/planning_interface/planning_interface.h>
 
 namespace trajopt_interface
 {
 MOVEIT_CLASS_FORWARD(TrajOptInterface);
 
-class TrajOptInterface //: public trajopt::TrajOptPlanner
+class TrajOptInterface
 {
 public:
+  TrajOptInterface(const ros::NodeHandle& nh  = ros::NodeHandle("~"));
 
-  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-
-  const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
-
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const planning_interface::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params,  moveit_msgs::MotionPlanDetailedResponse& res);
-
+  const sco::BasicTrustRegionSQPParameters& getParams() const
+  {
+    return params_;
+  }
 
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+             const planning_interface::MotionPlanRequest& req,
+             moveit_msgs::MotionPlanDetailedResponse& res);
 
 protected:
   /** @brief Configure everything using the param server */
-  void setParamsFromRosParamServer();
-  void setDefaultParams();
+  void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
+  void setDefaultTrajOPtParams();
+  void setProblemInfoParam(ProblemInfo& problem_info);
+  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
 
   ros::NodeHandle nh_;  /// The ROS node handle
-
   sco::BasicTrustRegionSQPParameters params_;
-
-  sco::Optimizer::Callback callbacks_;
-
+  std::vector<sco::Optimizer::Callback> callbacks_;
   TrajOptProblemPtr prob_;
-
-  // a function to convert TrajArray (TrajArray has no dependency on tesseract) from trajopt_ros to trajectory_msgs::JointTrajectory.Points
-  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array, const std::vector<std::string>& j_names);
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
-
 }
 
 #endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 92d6642aa6..3a6497bcf8 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -1,30 +1,14 @@
 #ifndef TrajOpt_PLANNING_CONTEXT_H
 #define TrajOpt_PLANNING_CONTEXT_H
 
-#include <moveit/planning_interface/planning_request.h>
-#include <moveit/planning_interface/planning_response.h>
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt/plot_callback.hpp>
-#include <trajopt/file_write_callback.hpp>
-#include <trajopt/problem_description.hpp>
-#include <trajopt_utils/config.hpp>
-#include <trajopt_utils/logging.hpp>
-
-#include <tesseract_planning/basic_planner_types.h>
-
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt_sco/optimizers.hpp>
-#include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
 #include "trajopt_interface.h"
 
-
 namespace trajopt_interface
 {
-
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
@@ -43,13 +27,11 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   void clear() override;
 
 protected:
-
 private:
-
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
-} // namespace trajopt_interface
+}  // namespace trajopt_interface
 
 #endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/launch/gdb_settings.gdb b/moveit_planners/trajopt/launch/gdb_settings.gdb
deleted file mode 100644
index d8ac14fee4..0000000000
--- a/moveit_planners/trajopt/launch/gdb_settings.gdb
+++ /dev/null
@@ -1,8 +0,0 @@
-## This file allows developers to set breakpoints in the CPP_EXECUTABLE_NAME.launch file
-## To set a breakpoint, compile with debug flag set to true. Add a line below with the source file name,
-## a colon, then the line number to break on. Then launch CPP_EXECUTABLE_NAME with argument debug:=true
-
-set breakpoint pending on
-
-## Example break point:
-# break CPP_EXECUTABLE_NAME.cpp:52
\ No newline at end of file
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index c80e5c93e1..f0d35bdeaa 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -28,7 +28,6 @@
 
     <!-- Robot-specific settings -->
     <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
-    <rosparam file="$(find moveit_planners_trajopt)/config/panda_ompl_planning.yaml" command="load"/>
   </node>
 
 </launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 28c2c27033..5b3d48a1c2 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -2,8 +2,13 @@
 #include "trajopt_planning_context.h"
 #include <moveit/planning_interface/planning_interface.h>
 
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/robot_state.h>
+
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit_msgs/DisplayTrajectory.h>
@@ -14,224 +19,304 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 
-// test
+#include <geometry_msgs/TransformStamped.h>
+#include <tf2/utils.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/transform_listener.h>
+
+
+// This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
+// MotionPlanRequest
+// and visualize the result using trajopt planner.
+// Three cases:
+// 1- joint constraint with start_fixed true, meaining current state of the robot is the initial state of trajectory.
+// 2- joint constraint with start_fixed false, meainig more than one goal should be given. The robot jumps to the first
+// goal
+//    and motion planning is done between first goal and second goal.
+// 3- Cartesian constraint.
 
 int main(int argc, char** argv)
 {
-    const std::string node_name = "trajopot_planning_tutorial";
-      ros::init(argc, argv, node_name);
-      ros::AsyncSpinner spinner(1);
-      spinner.start();
-      ros::NodeHandle node_handle("~");
-
-      const std::string PLANNING_GROUP = "panda_arm";
-      robot_model_loader::RobotModelLoaderPtr robot_model_loader(new robot_model_loader::RobotModelLoader("robot_description"));
-      robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
-      /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
-      robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
-      const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-      robot_state->setToDefaultValues();
-
-      const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-      planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
-
-      // With the planning scene we create a planing scene monitor that
-      // monitors planning scene diffs and applys them to the planning scene
-      planning_scene_monitor::PlanningSceneMonitorPtr psm(
-          new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
-      psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
-      psm->startStateMonitor();
-      psm->startSceneMonitor();
-
-      while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-       {
-         ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
-        }
-      // We will now construct a loader to load a planner, by name.
-      // Note that we are using the ROS pluginlib library here.
-      boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
-      planning_interface::PlannerManagerPtr planner_instance;
-
-      std::string planner_plugin_name;
-
-       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
-
-      // planner_plugin_name = "ompl_interface/OMPLPlanner";
-      // node_handle.getParam("...", ...);
-
-      node_handle.setParam("planning_plugin", planner_plugin_name);
-
-    // making sure to catch all exceptions.
-    if (!node_handle.getParam("planning_plugin", planner_plugin_name))
-      ROS_FATAL_STREAM("Could not find planner plugin name");
-    try
-    {
-      planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-          "moveit_core", "planning_interface::PlannerManager"));
-      printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
-    }
-    catch (pluginlib::PluginlibException& ex)
-    {
-      ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
-    }
-    try
-    {
-      planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
-      if (!planner_instance->initialize(robot_model, node_handle.getNamespace())) // namespace ????. I dont use it
-        ROS_FATAL_STREAM("Could not initialize planner instance");
-      ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
-    }
-    catch (pluginlib::PluginlibException& ex)
-    {
-      const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
-      std::stringstream ss;
-      for (std::size_t i = 0; i < classes.size(); ++i)
-        ss << classes[i] << " ";
-      ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
-                                                           << "Available plugins: " << ss.str());
-     }
-
-    // Visualization
-    // ========================================================================================
-    // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
-    // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
-    namespace rvt = rviz_visual_tools;
-    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
-    visual_tools.loadRobotStatePub("/display_robot_state");
-    visual_tools.enableBatchPublishing();
-    visual_tools.deleteAllMarkers();  // clear all old markers
-    visual_tools.trigger();
-
-    /* Remote control is an introspection tool that allows users to step through a high level script
-       via buttons and keyboard shortcuts in RViz */
-    visual_tools.loadRemoteControl();
-
-    /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
-    Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
-    text_pose.translation().z() = 1.75;
-    visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
-
-    /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
-    visual_tools.trigger();
-
-    /* We can also use visual_tools to wait for user input */
-    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
-
-    // Pose Goal
-    // ========================================================================================
-    // We will now create a motion plan request for the arm of the Panda
-    // specifying the desired pose of the end-effector as input.
-    visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-    visual_tools.trigger();
-    planning_interface::MotionPlanRequest req;
-    planning_interface::MotionPlanResponse res;
-    geometry_msgs::PoseStamped pose;
-    pose.header.frame_id = "panda_link0";
-    pose.pose.position.x = 0.3;
-    pose.pose.position.y = 0.4;
-    pose.pose.position.z = 0.75;
-    pose.pose.orientation.w = 1.0;
-
-    // A tolerance of 0.01 m is specified in position
-    // and 0.01 radians in orientation
-    std::vector<double> tolerance_pose(3, 0.01);
-    std::vector<double> tolerance_angle(3, 0.01);
-
-    // We will create the request as a constraint using a helper function available
-    // from the
-    // `kinematic_constraints`_
-    // package.
-    //
-    // .. _kinematic_constraints:
-    //     http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
-    moveit_msgs::Constraints pose_goal =
-        kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
-
-    //    req.group_name = PLANNING_GROUP;
-    // req.goal_constraints.push_back(pose_goal);
-
-    // set the request start joint state
-    // ========================================================================================
-    // get the joint values of the start state
-    std::vector<double> start_joint_values;
-    robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
-    int r = 0;
-    for (auto x : start_joint_values)
-    {
-      printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
-      ++r;
-    }
+  const std::string node_name = "trajopot_planning_tutorial";
+  ros::init(argc, argv, node_name);
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+  ros::NodeHandle node_handle("~");
+
+  const std::string PLANNING_GROUP = "panda_arm";
+  robot_model_loader::RobotModelLoaderPtr robot_model_loader(
+      new robot_model_loader::RobotModelLoader("robot_description"));
+  robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
+
+  /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
+  current_state->setToDefaultValues();
+
+  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
+  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
+  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
+
+  // With the planning scene we create a planing scene monitor that
+  // monitors planning scene diffs and applys them to the planning scene
+  planning_scene_monitor::PlanningSceneMonitorPtr psm(
+      new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
+  psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
+  psm->startStateMonitor();
+  psm->startSceneMonitor();
+
+  // set the start joint state
+  // ========================================================================================
+  // panda_arm joint limits:
+  //   -2.8973  2.8973
+  //   -1.7628  1.7628
+  //   -2.8973  2.8973
+  //   -3.0718 -0.0698
+  //   -2.8973  2.8973
+  //   -0.0175  3.7525
+  //   -2.8973  2.8973
+
+  std::vector<double> start_joint_values = {0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
+  start_state->setJointGroupPositions(joint_model_group, start_joint_values);
+  start_state->update();
+
+  //  planning_scene->setCurrentState(*robot_state);
+
+  // get the joint values of the start state
+  // std::vector<double> tmp_joint_values;
+  // robot_state->copyJointGroupPositions(joint_model_group, tmp_joint_values);
+  // int r = 0;
+  // for (auto x : tmp_joint_values)
+  // {
+  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
+  //   ++r;
+  // }
+
+  // printf("--- get the joint values from planning scene current state");
+  // robot_state::RobotState current_state = planning_scene->getCurrentState();
+  // std::vector<double> tmp_j_values;
+  // current_state.copyJointGroupPositions(joint_model_group, tmp_j_values);
+  // r = 0;
+  // for (auto x : tmp_j_values)
+  // {
+  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
+  //   ++r;
+  // }
+
+
+
+  // ========================================================================================
+
+  while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+  {
+    ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+  }
+  // We will now construct a loader to load a planner, by name.
+  // Note that we are using the ROS pluginlib library here.
+  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
+  planning_interface::PlannerManagerPtr planner_instance;
+
+  std::string planner_plugin_name;
+
+  planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+  node_handle.setParam("planning_plugin", planner_plugin_name);
+
+  // making sure to catch all exceptions.
+  if (!node_handle.getParam("planning_plugin", planner_plugin_name))
+    ROS_FATAL_STREAM("Could not find planner plugin name");
+  try
+  {
+    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+        "moveit_core", "planning_interface::PlannerManager"));
+    printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
+  }
+  try
+  {
+    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+    if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))  // namespace ????. I dont use it
+      ROS_FATAL_STREAM("Could not initialize planner instance");
+    ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
+    std::stringstream ss;
+    for (std::size_t i = 0; i < classes.size(); ++i)
+      ss << classes[i] << " ";
+    ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
+                                                         << "Available plugins: " << ss.str());
+  }
+
+  // Visualization
+  // ========================================================================================
+  // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
+  // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
+  namespace rvt = rviz_visual_tools;
+  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
+  visual_tools.loadRobotStatePub("/display_robot_state");
+  visual_tools.enableBatchPublishing();
+  visual_tools.deleteAllMarkers();  // clear all old markers
+  visual_tools.trigger();
+
+  /* Remote control is an introspection tool that allows users to step through a high level script
+     via buttons and keyboard shortcuts in RViz */
+  visual_tools.loadRemoteControl();
+
+  /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
+  Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
+  text_pose.translation().z() = 1.75;
+  visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
+
+  /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
+  visual_tools.trigger();
+
+  /* We can also use visual_tools to wait for user input */
+  visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
+
+  // res req
+  planning_interface::MotionPlanRequest req;
+  planning_interface::MotionPlanResponse res;
+
+  req.start_state.joint_state.name = joint_names;
+  req.start_state.joint_state.position = start_joint_values;
+
+  // set the goal joint state and joints tolerance
+  // ========================================================================================
+  robot_state::RobotState goal_state(robot_model);
+  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
+  goal_state.setJointGroupPositions(joint_model_group, goal_joint_values);
+  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
+  req.goal_constraints.clear();
+  req.goal_constraints.push_back(joint_goal);
+  req.group_name = PLANNING_GROUP;
+  req.goal_constraints[0].name = "goal_pos";
+
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[0].joint_constraints;
+  for (int x = 0; x < goal_joint_constraint.size(); ++x)
+  {
+    std::cout << "==>> joint position at goal " << goal_joint_constraint[x].position << std::endl;
+    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.1;
+    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.1;
+  }
+
+  robot_state::RobotState middle_state(robot_model);
+  std::vector<double> middle_joint_values = {0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
+  middle_state.setJointGroupPositions(joint_model_group, middle_joint_values);
+  middle_state.update();
+  moveit_msgs::Constraints joint_middle = kinematic_constraints::constructGoalConstraints(middle_state, joint_model_group);
+  req.goal_constraints.push_back(joint_middle);
+  req.goal_constraints[1].name = "middle_pos";
+  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 1 " << req.goal_constraints[1].joint_constraints[0].position  << std::endl;
+  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[1].joint_constraints;
+  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 2" << std::endl;
+  for (int x = 0; x < middle_joint_constraint.size(); ++x)
+  {
+    std::cout << "==>> joint position at middle " << middle_joint_constraint[x].position << std::endl;
+    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.1;
+    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.1;
+  }
+
+  std::cout << "===>>> number of constraints in goal: " << req.goal_constraints.size() << std::endl;
+  // planning context
+  // ========================================================================================
+  planning_interface::PlanningContextPtr context =
+      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
 
-    req.start_state.joint_state.name = joint_names;
-    req.start_state.joint_state.position = start_joint_values;
-
-    // set the goal joint state
-    // ========================================================================================
-    robot_state::RobotState goal_state(robot_model);
-    std::vector<double> joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1};
-    goal_state.setJointGroupPositions(joint_model_group, joint_values);
-    moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
-    req.goal_constraints.clear();
-    req.goal_constraints.push_back(joint_goal);
-    req.group_name = PLANNING_GROUP;
-
-    // retrive joint values at goal
-    std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
-    std::cout << "===>>> number of constraints in goal: " << goal_constraints.size() << std::endl;
-    std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;
-    for (auto x : goal_joint_constraint)
-    {
-      std::cout << "==>> joint position at goal " << x.position << std::endl;
-    }
+  context->solve(res);
+  if (res.error_code_.val != res.error_code_.SUCCESS)
+  {
+    ROS_ERROR("Could not compute plan successfully");
+    return 0;
+  }
 
-    // planning context
-    planning_interface::PlanningContextPtr context =
-      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+  visual_tools.prompt("Press 'next' to visualize the result");
+
+  // Visualize the result
+  // ========================================================================================
+  ros::Publisher display_publisher =
+      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
+  moveit_msgs::DisplayTrajectory display_trajectory;
+
+  /* Visualize the trajectory */
+  moveit_msgs::MotionPlanResponse response;
+  res.getMessage(response);
 
-    context->solve(res);
-    if (res.error_code_.val != res.error_code_.SUCCESS)
+  for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
+  {
+    for (int joint_index = 0;
+         joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
     {
-      ROS_ERROR("Could not compute plan successfully");
-      return 0;
+      std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
     }
+    std::cout << std::endl;
+  }
 
-    visual_tools.prompt("Press 'next' to visualize the result");
+  display_trajectory.trajectory_start = response.trajectory_start;
+  display_trajectory.trajectory.push_back(response.trajectory);
 
-    // Visualize the result
-    // ========================================================================================
-    ros::Publisher display_publisher =
-      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-    moveit_msgs::DisplayTrajectory display_trajectory;
+  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+  visual_tools.trigger();
+  display_publisher.publish(display_trajectory);
+
+
+  std::cout << "===>>> group name:" << response.group_name << std::endl;
+  std::cout << "===>>> traj start joint name size: " << response.trajectory_start.joint_state.name.size() << std::endl;
+  std::cout << "===>>> traj start joint position size: " << response.trajectory_start.joint_state.position.size()
+            << std::endl;
+
+  std::cout << "===>>> traj joint names size: " << response.trajectory.joint_trajectory.joint_names.size() << std::endl;
+
+  for (int jn = 0; jn < response.trajectory.joint_trajectory.joint_names.size(); ++jn)
+  {
+    std::cout << "===>>> joint_" << jn << ": " << response.trajectory.joint_trajectory.joint_names[jn]  << std::endl;
+  }
+
+
+  const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
+  printf("end effector name %s\n", str.back().c_str());
+
+  const Eigen::Affine3d& end_effector_transform_current =  current_state->getGlobalLinkTransform(str.back());
+  geometry_msgs::PoseStamped pose_msg;
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_current);
+
+  visual_tools.publishAxisLabeled(pose_msg.pose, "current");
+  visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
+  visual_tools.trigger();
 
-    /* Visualize the trajectory */
-    moveit_msgs::MotionPlanResponse response;
-    res.getMessage(response);
+  const Eigen::Affine3d& end_effector_transform_start =  start_state->getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_start);
 
-    for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
-      {
-        for (int joint_index = 0; joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
-          {
-            std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
-          }
-        std::cout << std::endl;
-      }
+  visual_tools.publishAxisLabeled(pose_msg.pose, "start");
+  visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
-    display_trajectory.trajectory_start = response.trajectory_start;
-    display_trajectory.trajectory.push_back(response.trajectory);
 
-    visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-    visual_tools.trigger();
-    display_publisher.publish(display_trajectory);
+  const Eigen::Affine3d& end_effector_transform_middle =  middle_state.getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
 
-  // Set the state in the planning scene to the final state of the last plan
-  // robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
-  // planning_scene->setCurrentState(*robot_state.get());
+  visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
+  visual_tools.publishText(text_pose, "middle pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
-  // Display the goal state
-  // visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-  // visual_tools.publishAxisLabeled(pose.pose, "goal_1");
-  // visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  // visual_tools.trigger();
+  const Eigen::Affine3d& end_effector_transform_goal =  goal_state.getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
 
+  visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
+  visual_tools.publishText(text_pose, "goal pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
+  visual_tools.prompt("Press 'next' to finish demo \n");
 }

From 1f4f13d854a359c9c8aba30fc4bb8737dadbf9ac Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 30 Jul 2019 14:55:02 -0600
Subject: [PATCH 558/612] addressed some comments leave setup assistant changes
 for later on another PR cleaned up test_trajopt added unittest

---
 moveit_planners/trajopt/config/setup.yaml     |  42 ++---
 .../trajopt_interface/kinematic_terms.h       |  39 ++--
 .../kinematic_terms.h~HEAD}                   |  41 +++--
 .../trajopt_interface/problem_description.h   |  49 +++--
 .../problem_description.h~HEAD}               |  60 ++++---
 .../trajopt_interface/trajopt_interface.h     |  18 +-
 .../trajopt_interface.h~HEAD}                 |  25 ++-
 .../trajopt_planning_context.h                |  10 +-
 .../trajopt_planning_context.h~HEAD}          |  11 +-
 moveit_planners/trajopt/src/test_trajopt.cpp  | 170 ++++++------------
 .../widgets/configuration_files_widget.cpp    |   9 -
 11 files changed, 207 insertions(+), 267 deletions(-)
 rename moveit_planners/trajopt/include/{kinematic_terms.h => trajopt_interface/kinematic_terms.h~HEAD} (63%)
 rename moveit_planners/trajopt/include/{problem_description.h => trajopt_interface/problem_description.h~HEAD} (88%)
 rename moveit_planners/trajopt/include/{trajopt_interface.h => trajopt_interface/trajopt_interface.h~HEAD} (83%)
 rename moveit_planners/trajopt/include/{trajopt_planning_context.h => trajopt_interface/trajopt_planning_context.h~HEAD} (80%)

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index d844f801d5..d3c8518cdd 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,24 +1,24 @@
 trajopt_param:
-  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step
-  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
   min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
   min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
   max_iter: 100                   # The max number of iterations
-  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
-  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
-  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done
-  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient
-  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
   max_time: .inf                  # not yet implemented
-  merit_error_coeff: 10           # initial penalty coefficient
-  trust_box_size: 1e-1            # current size of trust region (component-wise)
+  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
+  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
 
 problem_info:
   basic_info:
     n_steps: 20                # 2 * steps_per_phase
     dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
     dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
-    start_fixed: true          # if true, start pose is the current pose and the req.start_state is ignored
+    start_fixed: true          # if true, start pose is the current pose at timestep = 0
     # if false, the start pose is the one given by req.start_state
     use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
     # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
@@ -26,23 +26,25 @@ problem_info:
     #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
 
   init_info:
-    type: 2                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
     # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
     dt: 0.5
 
 joint_pos_term_info:
-  start_pos:
+  start_pos:   # from req.start_state
     name: start_pos
-    first_timestep: 0                # First time step to which the term is applied.
-    last_timestep: 0                # Last time step to which the term is applied. n_steps - 1
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied.
+    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
+    # to be ignored and only the current pose would be the constraint at timestep = 0.
     term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
   middle_pos:
     name: middle_pos
-    first_timestep: 10                # First time step to which the term is applied.
-    last_timestep: 10                # Last time step to which the term is applied. n_steps - 1
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+    first_timestep: 15
+    last_timestep: 15
+    term_type: 2
   goal_pos:
     name: goal_pos
-    first_timestep: 19                # First time step to which the term is applied.
-    last_timestep: 19                # Last time step to which the term is applied. n_steps - 1
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+    first_timestep: 19
+    last_timestep: 19
+    term_type: 2
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 96274cf9c7..51dac66b6a 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -4,38 +4,33 @@
 
 #include <Eigen/Geometry>
 
+using namespace Eigen;
+using namespace std;
+
 namespace trajopt_interface
 {
-/**
- * @brief Extracts the vector part of quaternion
- */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
+Vector3d rotVec(const Matrix3d& m)
 {
-  Eigen::Quaterniond quaternion;
-  quaternion = matrix;
-  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
+  Quaterniond q;
+  q = m;
+  return Vector3d(q.x(), q.y(), q.z());
 }
 
-/**
- * @brief Appends b to a of type VectorXd
- */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
+VectorXd concat(const VectorXd& a, const VectorXd& b)
 {
-  Eigen::VectorXd out(vector_a.size() + vector_b.size());
-  out.topRows(vector_a.size()) = vector_a;
-  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
+  VectorXd out(a.size() + b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
   return out;
 }
 
-/**
- * @brief Appends b to a of type T
- */
 template <typename T>
-inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
+vector<T> concat(const vector<T>& a, const vector<T>& b)
 {
-  std::vector<T> out;
-  out.insert(out.end(), vector_a.begin(), vector_a.end());
-  out.insert(out.end(), vector_b.begin(), vector_b.end());
+  vector<T> out;
+  vector<int> x(a.size() + b.size());
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
   return out;
 }
 
@@ -52,7 +47,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
similarity index 63%
rename from moveit_planners/trajopt/include/kinematic_terms.h
rename to moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
index c61052194a..96274cf9c7 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
@@ -4,33 +4,38 @@
 
 #include <Eigen/Geometry>
 
-using namespace Eigen;
-using namespace std;
-
 namespace trajopt_interface
 {
-Vector3d rotVec(const Matrix3d& m)
+/**
+ * @brief Extracts the vector part of quaternion
+ */
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
 {
-  Quaterniond q;
-  q = m;
-  return Vector3d(q.x(), q.y(), q.z());
+  Eigen::Quaterniond quaternion;
+  quaternion = matrix;
+  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
 }
 
-VectorXd concat(const VectorXd& a, const VectorXd& b)
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
 {
-  VectorXd out(a.size() + b.size());
-  out.topRows(a.size()) = a;
-  out.middleRows(a.size(), b.size()) = b;
+  Eigen::VectorXd out(vector_a.size() + vector_b.size());
+  out.topRows(vector_a.size()) = vector_a;
+  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
   return out;
 }
 
+/**
+ * @brief Appends b to a of type T
+ */
 template <typename T>
-vector<T> concat(const vector<T>& a, const vector<T>& b)
+inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
 {
-  vector<T> out;
-  vector<int> x(a.size() + b.size());
-  out.insert(out.end(), a.begin(), a.end());
-  out.insert(out.end(), b.begin(), b.end());
+  std::vector<T> out;
+  out.insert(out.end(), vector_a.begin(), vector_a.end());
+  out.insert(out.end(), vector_b.begin(), vector_b.end());
   return out;
 }
 
@@ -47,7 +52,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
@@ -85,4 +90,4 @@ struct JointVelJacobianCalculator : sco::MatrixOfVector
   Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
 };
 
-}  // namespace trajopt
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 6ad995e4ff..1aa2397f6e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -112,7 +112,7 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  trajopt::TrajArray data;
+  trajopt::TrajArray data;  // This data type does not seem correct, it should be of type VectorXd
   //  Eigen::VectorXd data_vec;
   //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
@@ -122,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the addObjectiveTerms method
+Then it later gets converted to a Cost object by the hatch method
 */
 struct TermInfo
 {
@@ -133,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -141,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  using MakerFunc = TermInfoPtr (*)(void);
+  typedef TermInfoPtr (*MakerFunc)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -152,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name_to_maker_;
+  static std::map<std::string, MakerFunc> name2maker;
   int supported_term_types_;
 };
 
@@ -168,10 +168,11 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
-    : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
   {
   }
+
+private:
 };
 
 /**
@@ -187,38 +188,32 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return matrix_traj_vars.rblock(i, start_col, num_col);
+    return m_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return matrix_traj_vars.row(i);
+    return m_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return matrix_traj_vars.at(i, j);
+    return m_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return matrix_traj_vars;
+    return m_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return matrix_traj_vars.rows();
+    return m_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return matrix_traj_vars.cols();
-  }
-  /** @brief Returns the kinematic DOF of the active joint model group
-   */
-  int GetActiveGroupNumDOF()
-  {
-    return dof_;
+    return m_traj_vars.cols();
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -226,11 +221,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    matrix_init_traj = x;
+    m_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return matrix_init_traj;
+    return m_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -248,12 +243,10 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray matrix_traj_vars;
+  trajopt::VarArray m_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  /** @brief Kinematic DOF of the active joint model group  */
-  int dof_;
-  trajopt::TrajArray matrix_init_traj;
+  trajopt::TrajArray m_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -282,7 +275,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -322,7 +315,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,7 +345,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
similarity index 88%
rename from moveit_planners/trajopt/include/problem_description.h
rename to moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
index 8d1bd605e1..825c82262d 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
@@ -49,6 +49,9 @@ MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
 struct CartPoseTermInfo;
 MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
 
+struct JointVelTermInfo;
+MOVEIT_CLASS_FORWARD(JointVelTermInfo);
+
 struct ProblemInfo;
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
@@ -109,9 +112,9 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  //trajopt::TrajArray data; This data type does not seem correct, it should be of type VectorXd
-  Eigen::VectorXd end_pos;
-  trajopt::TrajArray start_to_end_trajectory;
+  trajopt::TrajArray data;
+  //  Eigen::VectorXd data_vec;
+  //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -119,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
+Then it later gets converted to a Cost object by the addObjectiveTerms method
 */
 struct TermInfo
 {
@@ -130,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
+  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -138,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  typedef TermInfoPtr (*MakerFunc)(void);
+  using MakerFunc = TermInfoPtr (*)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -149,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name2maker;
+  static std::map<std::string, MakerFunc> name_to_maker_;
   int supported_term_types_;
 };
 
@@ -165,12 +168,10 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
+    : planning_scene(ps), planning_group_name(pg)
   {
   }
-
-private:
-
 };
 
 /**
@@ -186,32 +187,38 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return m_traj_vars.rblock(i, start_col, num_col);
+    return matrix_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return m_traj_vars.row(i);
+    return matrix_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return m_traj_vars.at(i, j);
+    return matrix_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return m_traj_vars;
+    return matrix_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return m_traj_vars.rows();
+    return matrix_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return m_traj_vars.cols();
+    return matrix_traj_vars.cols();
+  }
+  /** @brief Returns the kinematic DOF of the active joint model group
+   */
+  int GetActiveGroupNumDOF()
+  {
+    return dof_;
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -219,11 +226,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    m_init_traj = x;
+    matrix_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return m_init_traj;
+    return matrix_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -241,10 +248,12 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray m_traj_vars;
+  trajopt::VarArray matrix_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  trajopt::TrajArray m_init_traj;
+  /** @brief Kinematic DOF of the active joint model group  */
+  int dof_;
+  trajopt::TrajArray matrix_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -273,7 +282,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -313,7 +322,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -343,7 +352,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,6 +361,7 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
-  void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values, trajopt::TrajArray& init_traj);
+void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
+                               trajopt::TrajArray& init_traj);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index bb48692b88..c2df8a74b4 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, LLC.
+ *  Copyright (c) 2019, PickNik, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,13 +33,18 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-#pragma once
+
+#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
 
 #include <ros/ros.h>
+
 #include <trajopt_sco/sco_common.hpp>
-#include <moveit/planning_interface/planning_interface.h>
+
 #include "problem_description.h"
 
+#include <moveit/planning_interface/planning_interface.h>
+
 namespace trajopt_interface
 {
 MOVEIT_CLASS_FORWARD(TrajOptInterface);  // Defines TrajOptInterfacePtr, ConstPtr, WeakPtr... etc
@@ -63,14 +68,11 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
-  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
-                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
-  std::string name_;
+  std::vector<sco::Optimizer::Callback> callbacks_;
+  TrajOptProblemPtr prob_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
similarity index 83%
rename from moveit_planners/trajopt/include/trajopt_interface.h
rename to moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
index deabc02168..74432fa83c 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, Inc.
+ *  Copyright (c) 2019, PickNik, LLC.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,17 +33,12 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-
-#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
-#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#pragma once
 
 #include <ros/ros.h>
-
 #include <trajopt_sco/sco_common.hpp>
-
-#include "problem_description.h"
-
 #include <moveit/planning_interface/planning_interface.h>
+#include "problem_description.h"
 
 namespace trajopt_interface
 {
@@ -52,7 +47,7 @@ MOVEIT_CLASS_FORWARD(TrajOptInterface);
 class TrajOptInterface
 {
 public:
-  TrajOptInterface(const ros::NodeHandle& nh  = ros::NodeHandle("~"));
+  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
 
   const sco::BasicTrustRegionSQPParameters& getParams() const
   {
@@ -60,8 +55,7 @@ class TrajOptInterface
   }
 
   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
-             const planning_interface::MotionPlanRequest& req,
-             moveit_msgs::MotionPlanDetailedResponse& res);
+             const planning_interface::MotionPlanRequest& req, moveit_msgs::MotionPlanDetailedResponse& res);
 
 protected:
   /** @brief Configure everything using the param server */
@@ -69,14 +63,15 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> callbacks_;
-  TrajOptProblemPtr prob_;
+  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
+  TrajOptProblemPtr trajopt_problem_;
+  std::string name_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
 }
-
-#endif
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index 9c06eb0f5e..34aff9355a 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -1,9 +1,10 @@
-#pragma once
+#ifndef TrajOpt_PLANNING_CONTEXT_H
+#define TrajOpt_PLANNING_CONTEXT_H
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/trajopt_interface.h>
+#include "trajopt_interface/problem_description.h"
+#include "trajopt_interface/trajopt_interface.h"
 
 namespace trajopt_interface
 {
@@ -24,9 +25,12 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
+protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
+
+#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
similarity index 80%
rename from moveit_planners/trajopt/include/trajopt_planning_context.h
rename to moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
index 3a6497bcf8..12676f57e7 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
@@ -1,11 +1,9 @@
-#ifndef TrajOpt_PLANNING_CONTEXT_H
-#define TrajOpt_PLANNING_CONTEXT_H
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 
-
-#include "problem_description.h"
-#include "trajopt_interface.h"
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
 {
@@ -26,12 +24,9 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
-
-#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 5b3d48a1c2..5dd17985b2 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -1,5 +1,4 @@
 #include <ros/ros.h>
-#include "trajopt_planning_context.h"
 #include <moveit/planning_interface/planning_interface.h>
 
 #include <moveit/move_group_interface/move_group_interface.h>
@@ -24,16 +23,11 @@
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
 
+#include "trajopt_interface/trajopt_planning_context.h"
 
 // This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
-// MotionPlanRequest
-// and visualize the result using trajopt planner.
+// MotionPlanRequest and visualize the result calculated by using trajopt planner.
 // Three cases:
-// 1- joint constraint with start_fixed true, meaining current state of the robot is the initial state of trajectory.
-// 2- joint constraint with start_fixed false, meainig more than one goal should be given. The robot jumps to the first
-// goal
-//    and motion planning is done between first goal and second goal.
-// 3- Cartesian constraint.
 
 int main(int argc, char** argv)
 {
@@ -48,7 +42,7 @@ int main(int argc, char** argv)
       new robot_model_loader::RobotModelLoader("robot_description"));
   robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
 
-  /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
   robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
   current_state->setToDefaultValues();
 
@@ -56,16 +50,19 @@ int main(int argc, char** argv)
   const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
   planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
-  // With the planning scene we create a planing scene monitor that
-  // monitors planning scene diffs and applys them to the planning scene
+  // With the planning scene we create a planing scene monitor
   planning_scene_monitor::PlanningSceneMonitorPtr psm(
       new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
   psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
   psm->startStateMonitor();
   psm->startSceneMonitor();
 
-  // set the start joint state
-  // ========================================================================================
+  // res req
+  planning_interface::MotionPlanRequest req;
+  planning_interface::MotionPlanResponse res;
+
+  // set start state
+  // ======================================================================================
   // panda_arm joint limits:
   //   -2.8973  2.8973
   //   -1.7628  1.7628
@@ -75,38 +72,54 @@ int main(int argc, char** argv)
   //   -0.0175  3.7525
   //   -2.8973  2.8973
 
-  std::vector<double> start_joint_values = {0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+  std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
   robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
   start_state->setJointGroupPositions(joint_model_group, start_joint_values);
   start_state->update();
 
-  //  planning_scene->setCurrentState(*robot_state);
-
-  // get the joint values of the start state
-  // std::vector<double> tmp_joint_values;
-  // robot_state->copyJointGroupPositions(joint_model_group, tmp_joint_values);
-  // int r = 0;
-  // for (auto x : tmp_joint_values)
-  // {
-  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
-  //   ++r;
-  // }
-
-  // printf("--- get the joint values from planning scene current state");
-  // robot_state::RobotState current_state = planning_scene->getCurrentState();
-  // std::vector<double> tmp_j_values;
-  // current_state.copyJointGroupPositions(joint_model_group, tmp_j_values);
-  // r = 0;
-  // for (auto x : tmp_j_values)
-  // {
-  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
-  //   ++r;
-  // }
-
-
-
+  req.start_state.joint_state.name = joint_names;
+  req.start_state.joint_state.position = start_joint_values;
+  req.goal_constraints.clear();
+  req.group_name = PLANNING_GROUP;
+  ROS_INFO(" ==================================== 0");
+  // set the middle and goal state and joints tolerance
   // ========================================================================================
+  robot_state::RobotStatePtr middle_state(new robot_state::RobotState(robot_model));
+  std::vector<double> middle_joint_values = { 0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
+  middle_state->setJointGroupPositions(joint_model_group, middle_joint_values);
+  middle_state->update();
+  moveit_msgs::Constraints joint_middle =
+      kinematic_constraints::constructGoalConstraints(*middle_state, joint_model_group);
+  req.goal_constraints.push_back(joint_middle);
+  req.goal_constraints[0].name = "middle_pos";
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[0].joint_constraints;
+  for (int x = 0; x < middle_joint_constraint.size(); ++x)
+  {
+    ROS_INFO(" ======================================= joint position at goal: %f",
+             middle_joint_constraint[x].position);
+    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.001;
+    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
+  }
 
+  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model));
+  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
+  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
+  goal_state->update();
+  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
+  req.goal_constraints.push_back(joint_goal);
+  req.goal_constraints[1].name = "goal_pos";
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[1].joint_constraints;
+  for (int x = 0; x < goal_joint_constraint.size(); ++x)
+  {
+    ROS_INFO(" ======================================= joint position at goal: %f", goal_joint_constraint[x].position);
+    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.001;
+    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.001;
+  }
+
+  // Load planner
+  // ======================================================================================
   while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
   {
     ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
@@ -153,8 +166,6 @@ int main(int argc, char** argv)
 
   // Visualization
   // ========================================================================================
-  // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
-  // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
   namespace rvt = rviz_visual_tools;
   moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
   visual_tools.loadRobotStatePub("/display_robot_state");
@@ -177,51 +188,6 @@ int main(int argc, char** argv)
   /* We can also use visual_tools to wait for user input */
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
 
-  // res req
-  planning_interface::MotionPlanRequest req;
-  planning_interface::MotionPlanResponse res;
-
-  req.start_state.joint_state.name = joint_names;
-  req.start_state.joint_state.position = start_joint_values;
-
-  // set the goal joint state and joints tolerance
-  // ========================================================================================
-  robot_state::RobotState goal_state(robot_model);
-  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
-  goal_state.setJointGroupPositions(joint_model_group, goal_joint_values);
-  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
-  req.goal_constraints.clear();
-  req.goal_constraints.push_back(joint_goal);
-  req.group_name = PLANNING_GROUP;
-  req.goal_constraints[0].name = "goal_pos";
-
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[0].joint_constraints;
-  for (int x = 0; x < goal_joint_constraint.size(); ++x)
-  {
-    std::cout << "==>> joint position at goal " << goal_joint_constraint[x].position << std::endl;
-    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.1;
-    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.1;
-  }
-
-  robot_state::RobotState middle_state(robot_model);
-  std::vector<double> middle_joint_values = {0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
-  middle_state.setJointGroupPositions(joint_model_group, middle_joint_values);
-  middle_state.update();
-  moveit_msgs::Constraints joint_middle = kinematic_constraints::constructGoalConstraints(middle_state, joint_model_group);
-  req.goal_constraints.push_back(joint_middle);
-  req.goal_constraints[1].name = "middle_pos";
-  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 1 " << req.goal_constraints[1].joint_constraints[0].position  << std::endl;
-  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[1].joint_constraints;
-  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 2" << std::endl;
-  for (int x = 0; x < middle_joint_constraint.size(); ++x)
-  {
-    std::cout << "==>> joint position at middle " << middle_joint_constraint[x].position << std::endl;
-    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.1;
-    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.1;
-  }
-
-  std::cout << "===>>> number of constraints in goal: " << req.goal_constraints.size() << std::endl;
   // planning context
   // ========================================================================================
   planning_interface::PlanningContextPtr context =
@@ -263,24 +229,10 @@ int main(int argc, char** argv)
   visual_tools.trigger();
   display_publisher.publish(display_trajectory);
 
-
-  std::cout << "===>>> group name:" << response.group_name << std::endl;
-  std::cout << "===>>> traj start joint name size: " << response.trajectory_start.joint_state.name.size() << std::endl;
-  std::cout << "===>>> traj start joint position size: " << response.trajectory_start.joint_state.position.size()
-            << std::endl;
-
-  std::cout << "===>>> traj joint names size: " << response.trajectory.joint_trajectory.joint_names.size() << std::endl;
-
-  for (int jn = 0; jn < response.trajectory.joint_trajectory.joint_names.size(); ++jn)
-  {
-    std::cout << "===>>> joint_" << jn << ": " << response.trajectory.joint_trajectory.joint_names[jn]  << std::endl;
-  }
-
-
   const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
-  printf("end effector name %s\n", str.back().c_str());
+  ROS_INFO("end effector name %s\n", str.back().c_str());
 
-  const Eigen::Affine3d& end_effector_transform_current =  current_state->getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_current = current_state->getGlobalLinkTransform(str.back());
   geometry_msgs::PoseStamped pose_msg;
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
@@ -288,34 +240,30 @@ int main(int argc, char** argv)
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "current");
   visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
 
-  const Eigen::Affine3d& end_effector_transform_start =  start_state->getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_start = start_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_start);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "start");
   visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
-  visual_tools.trigger();
-
 
-  const Eigen::Affine3d& end_effector_transform_middle =  middle_state.getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_middle = middle_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
-  visual_tools.publishText(text_pose, "middle pose", rvt::BLUE, rvt::XLARGE);
-  visual_tools.trigger();
+  visual_tools.publishText(text_pose, "middle pose", rvt::RED, rvt::XLARGE);
 
-  const Eigen::Affine3d& end_effector_transform_goal =  goal_state.getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_goal = goal_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
-  visual_tools.publishText(text_pose, "goal pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.publishText(text_pose, "goal pose", rvt::WHITE, rvt::XLARGE);
   visual_tools.trigger();
 
   visual_tools.prompt("Press 'next' to finish demo \n");
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 3005044159..3840253681 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -472,15 +472,6 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
-  // run_benchmark_trajopt.launch --------------------------------------------------------------------------------------
-  file.file_name_ = "run_benchmark_trajopt.launch";
-  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
-  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
-  file.description_ = "Launch file for benchmarking TrajOpt planners";
-  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
-  file.write_on_changes = 0;
-  gen_files_.push_back(file);
-
   // sensor_manager.launch --------------------------------------------------------------------------------------
   file.file_name_ = "sensor_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);

From cab97a7b7d55eb99aeacae498ca8a9c7e2e639ec Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 1 Aug 2019 15:32:41 -0600
Subject: [PATCH 559/612] added kinematic DOF of the active joint model group
 to TrajOptProblem class added name_ for ROS_DEBUG_STREAM_NAMED addressed the
 comments moved launch file to moveit_tutorial moved yaml file to
 panda_moveit_config used bullet for collision checking

---
 .gitignore                                    |   3 +
 moveit_planners/trajopt/config/setup.yaml     |  50 ----
 .../trajopt_interface/kinematic_terms.h       |  31 +-
 .../trajopt_interface/problem_description.h   |  38 ++-
 .../trajopt_interface/trajopt_interface.h     |   8 +-
 .../trajopt_planning_context.h                |   1 -
 .../trajopt/launch/test_trajopt_launch.launch |  33 ---
 moveit_planners/trajopt/src/test_trajopt.cpp  | 270 ------------------
 8 files changed, 48 insertions(+), 386 deletions(-)
 delete mode 100644 moveit_planners/trajopt/config/setup.yaml
 delete mode 100644 moveit_planners/trajopt/launch/test_trajopt_launch.launch
 delete mode 100644 moveit_planners/trajopt/src/test_trajopt.cpp

diff --git a/.gitignore b/.gitignore
index cfc7f50ba4..917f3b56be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -59,6 +59,9 @@ qtcreator-*
 #gdb
 *.gdb
 <<<<<<< HEAD
+<<<<<<< HEAD
 =======
 /moveit_planners/trajopt/launch/gdb_settings.gdb
 >>>>>>> addressed the comments
+=======
+>>>>>>> added kinematic DOF of the active joint model group to TrajOptProblem class
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
deleted file mode 100644
index d3c8518cdd..0000000000
--- a/moveit_planners/trajopt/config/setup.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-trajopt_param:
-  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
-  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
-  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
-  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
-  max_iter: 100                   # The max number of iterations
-  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
-  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
-  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
-  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
-  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
-  max_time: .inf                  # not yet implemented
-  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
-  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
-
-problem_info:
-  basic_info:
-    n_steps: 20                # 2 * steps_per_phase
-    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
-    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
-    start_fixed: true          # if true, start pose is the current pose at timestep = 0
-    # if false, the start pose is the one given by req.start_state
-    use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
-    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
-    convex_solver: 1           # which convex solver to use
-    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
-
-  init_info:
-    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
-    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
-    dt: 0.5
-
-joint_pos_term_info:
-  start_pos:   # from req.start_state
-    name: start_pos
-    first_timestep: 10                # First time step to which the term is applied.
-    last_timestep: 10                # Last time step to which the term is applied.
-    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
-    # to be ignored and only the current pose would be the constraint at timestep = 0.
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
-  middle_pos:
-    name: middle_pos
-    first_timestep: 15
-    last_timestep: 15
-    term_type: 2
-  goal_pos:
-    name: goal_pos
-    first_timestep: 19
-    last_timestep: 19
-    term_type: 2
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 51dac66b6a..9a9a8a5d38 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -4,31 +4,38 @@
 
 #include <Eigen/Geometry>
 
-using namespace Eigen;
-using namespace std;
-
 namespace trajopt_interface
 {
-Vector3d rotVec(const Matrix3d& m)
+
+/**
+ * @brief Extracts the vector part of quaternion
+ */
+inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
 {
-  Quaterniond q;
+  Eigen::Quaterniond q;
   q = m;
-  return Vector3d(q.x(), q.y(), q.z());
+  return Eigen::Vector3d(q.x(), q.y(), q.z());
 }
 
-VectorXd concat(const VectorXd& a, const VectorXd& b)
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
 {
-  VectorXd out(a.size() + b.size());
+  Eigen::VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
   out.middleRows(a.size(), b.size()) = b;
   return out;
 }
 
+/**
+ * @brief Appends b to a of type T
+ */
 template <typename T>
-vector<T> concat(const vector<T>& a, const vector<T>& b)
+std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
 {
-  vector<T> out;
-  vector<int> x(a.size() + b.size());
+  std::vector<T> out;
+  std::vector<int> x(a.size() + b.size());
   out.insert(out.end(), a.begin(), a.end());
   out.insert(out.end(), b.begin(), b.end());
   return out;
@@ -47,7 +54,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 1aa2397f6e..b87446715c 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -141,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  typedef TermInfoPtr (*MakerFunc)(void);
+  using MakerFunc = TermInfoPtr (*)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -152,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name2maker;
+  static std::map<std::string, MakerFunc> name_to_maker_;
   int supported_term_types_;
 };
 
@@ -168,11 +168,9 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg) : planning_scene(ps), planning_group_name(pg)
   {
   }
-
-private:
 };
 
 /**
@@ -188,32 +186,38 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return m_traj_vars.rblock(i, start_col, num_col);
+    return matrix_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return m_traj_vars.row(i);
+    return matrix_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return m_traj_vars.at(i, j);
+    return matrix_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return m_traj_vars;
+    return matrix_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return m_traj_vars.rows();
+    return matrix_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return m_traj_vars.cols();
+    return matrix_traj_vars.cols();
+  }
+  /** @brief Returns the kinematic DOF of the active joint model group
+   */
+  int GetActiveGroupNumDOF()
+  {
+    return dof_;
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -221,11 +225,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    m_init_traj = x;
+    matrix_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return m_init_traj;
+    return matrix_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -243,10 +247,12 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray m_traj_vars;
+  trajopt::VarArray matrix_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  trajopt::TrajArray m_init_traj;
+  /** @brief Kinematic DOF of the active joint model group  */
+  int dof_;
+  trajopt::TrajArray matrix_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -354,6 +360,8 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
+
+
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj);
 
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index c2df8a74b4..183b4b3406 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, Inc.
+ *  Copyright (c) 2019, PickNik, LLC.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -38,12 +38,9 @@
 #define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
 
 #include <ros/ros.h>
-
 #include <trajopt_sco/sco_common.hpp>
-
-#include "problem_description.h"
-
 #include <moveit/planning_interface/planning_interface.h>
+#include "problem_description.h"
 
 namespace trajopt_interface
 {
@@ -73,6 +70,7 @@ class TrajOptInterface
   sco::BasicTrustRegionSQPParameters params_;
   std::vector<sco::Optimizer::Callback> callbacks_;
   TrajOptProblemPtr prob_;
+  std::string name_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index 34aff9355a..fc8641c59e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -25,7 +25,6 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
deleted file mode 100644
index f0d35bdeaa..0000000000
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB Debug Arguments -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix"
-           value="gdb -x $(find moveit_planners_trajopt)/launch/gdb_settings.gdb --ex run --args" />
-
-  <!-- Callgrind Arguments -->
-  <arg name="callgrind" default="false" />
-  <arg unless="$(arg callgrind)" name="launch_prefix2" value="" />
-  <arg     if="$(arg callgrind)" name="launch_prefix2" value="valgrind --tool=callgrind --collect-atstart=no" />
-
-  <!-- Valgrind Arguments -->
-  <arg name="valgrind" default="false" />
-  <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
-  <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
-
-  <!-- Run Panda launch -->
-  <include file="$(find panda_moveit_config)/launch/demo.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="planner" value="trajopt"/>
-  </include>
-
-  <!-- Launch main node -->
-  <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
-
-    <!-- Robot-specific settings -->
-    <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
-  </node>
-
-</launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
deleted file mode 100644
index 5dd17985b2..0000000000
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-#include <ros/ros.h>
-#include <moveit/planning_interface/planning_interface.h>
-
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/robot_state.h>
-
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit_msgs/DisplayTrajectory.h>
-#include <moveit_msgs/PlanningScene.h>
-#include <moveit_visual_tools/moveit_visual_tools.h>
-#include "moveit/planning_interface/planning_request.h"
-
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_state/robot_state.h>
-
-#include <geometry_msgs/TransformStamped.h>
-#include <tf2/utils.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_ros/transform_listener.h>
-
-#include "trajopt_interface/trajopt_planning_context.h"
-
-// This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
-// MotionPlanRequest and visualize the result calculated by using trajopt planner.
-// Three cases:
-
-int main(int argc, char** argv)
-{
-  const std::string node_name = "trajopot_planning_tutorial";
-  ros::init(argc, argv, node_name);
-  ros::AsyncSpinner spinner(1);
-  spinner.start();
-  ros::NodeHandle node_handle("~");
-
-  const std::string PLANNING_GROUP = "panda_arm";
-  robot_model_loader::RobotModelLoaderPtr robot_model_loader(
-      new robot_model_loader::RobotModelLoader("robot_description"));
-  robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
-
-  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
-  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
-  current_state->setToDefaultValues();
-
-  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
-  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
-
-  // With the planning scene we create a planing scene monitor
-  planning_scene_monitor::PlanningSceneMonitorPtr psm(
-      new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
-  psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
-  psm->startStateMonitor();
-  psm->startSceneMonitor();
-
-  // res req
-  planning_interface::MotionPlanRequest req;
-  planning_interface::MotionPlanResponse res;
-
-  // set start state
-  // ======================================================================================
-  // panda_arm joint limits:
-  //   -2.8973  2.8973
-  //   -1.7628  1.7628
-  //   -2.8973  2.8973
-  //   -3.0718 -0.0698
-  //   -2.8973  2.8973
-  //   -0.0175  3.7525
-  //   -2.8973  2.8973
-
-  std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
-  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
-  start_state->setJointGroupPositions(joint_model_group, start_joint_values);
-  start_state->update();
-
-  req.start_state.joint_state.name = joint_names;
-  req.start_state.joint_state.position = start_joint_values;
-  req.goal_constraints.clear();
-  req.group_name = PLANNING_GROUP;
-  ROS_INFO(" ==================================== 0");
-  // set the middle and goal state and joints tolerance
-  // ========================================================================================
-  robot_state::RobotStatePtr middle_state(new robot_state::RobotState(robot_model));
-  std::vector<double> middle_joint_values = { 0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
-  middle_state->setJointGroupPositions(joint_model_group, middle_joint_values);
-  middle_state->update();
-  moveit_msgs::Constraints joint_middle =
-      kinematic_constraints::constructGoalConstraints(*middle_state, joint_model_group);
-  req.goal_constraints.push_back(joint_middle);
-  req.goal_constraints[0].name = "middle_pos";
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[0].joint_constraints;
-  for (int x = 0; x < middle_joint_constraint.size(); ++x)
-  {
-    ROS_INFO(" ======================================= joint position at goal: %f",
-             middle_joint_constraint[x].position);
-    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.001;
-    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
-  }
-
-  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model));
-  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
-  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
-  goal_state->update();
-  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
-  req.goal_constraints.push_back(joint_goal);
-  req.goal_constraints[1].name = "goal_pos";
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[1].joint_constraints;
-  for (int x = 0; x < goal_joint_constraint.size(); ++x)
-  {
-    ROS_INFO(" ======================================= joint position at goal: %f", goal_joint_constraint[x].position);
-    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.001;
-    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.001;
-  }
-
-  // Load planner
-  // ======================================================================================
-  while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-  {
-    ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
-  }
-  // We will now construct a loader to load a planner, by name.
-  // Note that we are using the ROS pluginlib library here.
-  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
-  planning_interface::PlannerManagerPtr planner_instance;
-
-  std::string planner_plugin_name;
-
-  planner_plugin_name = "trajopt_interface/TrajOptPlanner";
-  node_handle.setParam("planning_plugin", planner_plugin_name);
-
-  // making sure to catch all exceptions.
-  if (!node_handle.getParam("planning_plugin", planner_plugin_name))
-    ROS_FATAL_STREAM("Could not find planner plugin name");
-  try
-  {
-    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-        "moveit_core", "planning_interface::PlannerManager"));
-    printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
-  }
-  try
-  {
-    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
-    if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))  // namespace ????. I dont use it
-      ROS_FATAL_STREAM("Could not initialize planner instance");
-    ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
-    std::stringstream ss;
-    for (std::size_t i = 0; i < classes.size(); ++i)
-      ss << classes[i] << " ";
-    ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
-                                                         << "Available plugins: " << ss.str());
-  }
-
-  // Visualization
-  // ========================================================================================
-  namespace rvt = rviz_visual_tools;
-  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
-  visual_tools.loadRobotStatePub("/display_robot_state");
-  visual_tools.enableBatchPublishing();
-  visual_tools.deleteAllMarkers();  // clear all old markers
-  visual_tools.trigger();
-
-  /* Remote control is an introspection tool that allows users to step through a high level script
-     via buttons and keyboard shortcuts in RViz */
-  visual_tools.loadRemoteControl();
-
-  /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
-  Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
-  text_pose.translation().z() = 1.75;
-  visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
-
-  /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
-  visual_tools.trigger();
-
-  /* We can also use visual_tools to wait for user input */
-  visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
-
-  // planning context
-  // ========================================================================================
-  planning_interface::PlanningContextPtr context =
-      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-
-  context->solve(res);
-  if (res.error_code_.val != res.error_code_.SUCCESS)
-  {
-    ROS_ERROR("Could not compute plan successfully");
-    return 0;
-  }
-
-  visual_tools.prompt("Press 'next' to visualize the result");
-
-  // Visualize the result
-  // ========================================================================================
-  ros::Publisher display_publisher =
-      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-  moveit_msgs::DisplayTrajectory display_trajectory;
-
-  /* Visualize the trajectory */
-  moveit_msgs::MotionPlanResponse response;
-  res.getMessage(response);
-
-  for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
-  {
-    for (int joint_index = 0;
-         joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
-    {
-      std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
-    }
-    std::cout << std::endl;
-  }
-
-  display_trajectory.trajectory_start = response.trajectory_start;
-  display_trajectory.trajectory.push_back(response.trajectory);
-
-  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-  visual_tools.trigger();
-  display_publisher.publish(display_trajectory);
-
-  const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
-  ROS_INFO("end effector name %s\n", str.back().c_str());
-
-  const Eigen::Affine3d& end_effector_transform_current = current_state->getGlobalLinkTransform(str.back());
-  geometry_msgs::PoseStamped pose_msg;
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_current);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "current");
-  visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_start = start_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_start);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "start");
-  visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_middle = middle_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
-  visual_tools.publishText(text_pose, "middle pose", rvt::RED, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_goal = goal_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
-  visual_tools.publishText(text_pose, "goal pose", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
-
-  visual_tools.prompt("Press 'next' to finish demo \n");
-}

From 345d2908b66c24688660a320a3dd49bc4b1a9694 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 8 Aug 2019 18:04:29 -0600
Subject: [PATCH 560/612] clang format

---
 .../trajopt/include/trajopt_interface/kinematic_terms.h      | 1 -
 .../trajopt/include/trajopt_interface/problem_description.h  | 5 ++---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 9a9a8a5d38..5c60137b8e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -6,7 +6,6 @@
 
 namespace trajopt_interface
 {
-
 /**
  * @brief Extracts the vector part of quaternion
  */
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index b87446715c..d682e38f42 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -168,7 +168,8 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
+    : planning_scene(ps), planning_group_name(pg)
   {
   }
 };
@@ -360,8 +361,6 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
-
-
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj);
 

From de90464fc6b256877244b79007607f828de3d392 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Wed, 7 Aug 2019 09:01:56 -0600
Subject: [PATCH 561/612] Added comments about initial trajectory changed my
 email address renamed rotVec and concat added tesseract license

---
 .../trajopt/include/trajopt_interface/kinematic_terms.h     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 5c60137b8e..2796d0dffa 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -9,7 +9,7 @@ namespace trajopt_interface
 /**
  * @brief Extracts the vector part of quaternion
  */
-inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& m)
 {
   Eigen::Quaterniond q;
   q = m;
@@ -19,7 +19,7 @@ inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
 /**
  * @brief Appends b to a of type VectorXd
  */
-inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
 {
   Eigen::VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
@@ -31,7 +31,7 @@ inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b
  * @brief Appends b to a of type T
  */
 template <typename T>
-std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
+std::vector<T> concatVector(const std::vector<T>& a, const std::vector<T>& b)
 {
   std::vector<T> out;
   std::vector<int> x(a.size() + b.size());

From 23b9acad21f63d2ac7fff3eb429fe708135453f3 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 12 Aug 2019 09:45:00 -0600
Subject: [PATCH 562/612] applied Henning's comments

---
 .../trajopt/include/trajopt_interface/problem_description.h     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index d682e38f42..97d4b046e8 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -112,7 +112,7 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  trajopt::TrajArray data;  // This data type does not seem correct, it should be of type VectorXd
+  trajopt::TrajArray data;
   //  Eigen::VectorXd data_vec;
   //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */

From c8f1011b5417858b82d61dae0c7de4bd2261fb23 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 12 Aug 2019 13:33:07 -0600
Subject: [PATCH 563/612] added catkin ignore to ignore this package for now as
 it has dependencies. The next PR wont have any dependencies

---
 .gitignore | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/.gitignore b/.gitignore
index 917f3b56be..808fe85341 100644
--- a/.gitignore
+++ b/.gitignore
@@ -58,10 +58,3 @@ qtcreator-*
 
 #gdb
 *.gdb
-<<<<<<< HEAD
-<<<<<<< HEAD
-=======
-/moveit_planners/trajopt/launch/gdb_settings.gdb
->>>>>>> addressed the comments
-=======
->>>>>>> added kinematic DOF of the active joint model group to TrajOptProblem class

From d119525ee51a7e70995e5d7abc38332eb8419d07 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 13 Aug 2019 12:23:27 -0600
Subject: [PATCH 564/612] addressed the comments

---
 .../trajopt_interface/kinematic_terms.h       | 23 +++++++++----------
 .../trajopt_interface/trajopt_interface.h     | 10 ++++----
 .../trajopt_planning_context.h                |  9 +++-----
 3 files changed, 19 insertions(+), 23 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 2796d0dffa..96274cf9c7 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -9,21 +9,21 @@ namespace trajopt_interface
 /**
  * @brief Extracts the vector part of quaternion
  */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& m)
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
 {
-  Eigen::Quaterniond q;
-  q = m;
-  return Eigen::Vector3d(q.x(), q.y(), q.z());
+  Eigen::Quaterniond quaternion;
+  quaternion = matrix;
+  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
 }
 
 /**
  * @brief Appends b to a of type VectorXd
  */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
 {
-  Eigen::VectorXd out(a.size() + b.size());
-  out.topRows(a.size()) = a;
-  out.middleRows(a.size(), b.size()) = b;
+  Eigen::VectorXd out(vector_a.size() + vector_b.size());
+  out.topRows(vector_a.size()) = vector_a;
+  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
   return out;
 }
 
@@ -31,12 +31,11 @@ inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::Vecto
  * @brief Appends b to a of type T
  */
 template <typename T>
-std::vector<T> concatVector(const std::vector<T>& a, const std::vector<T>& b)
+inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
 {
   std::vector<T> out;
-  std::vector<int> x(a.size() + b.size());
-  out.insert(out.end(), a.begin(), a.end());
-  out.insert(out.end(), b.begin(), b.end());
+  out.insert(out.end(), vector_a.begin(), vector_a.end());
+  out.insert(out.end(), vector_b.begin(), vector_b.end());
   return out;
 }
 
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index 183b4b3406..bb48692b88 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -33,9 +33,7 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-
-#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
-#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#pragma once
 
 #include <ros/ros.h>
 #include <trajopt_sco/sco_common.hpp>
@@ -65,11 +63,13 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> callbacks_;
-  TrajOptProblemPtr prob_;
+  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
+  TrajOptProblemPtr trajopt_problem_;
   std::string name_;
 };
 
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index fc8641c59e..9c06eb0f5e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -1,10 +1,9 @@
-#ifndef TrajOpt_PLANNING_CONTEXT_H
-#define TrajOpt_PLANNING_CONTEXT_H
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include "trajopt_interface/problem_description.h"
-#include "trajopt_interface/trajopt_interface.h"
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
 {
@@ -31,5 +30,3 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
-
-#endif  // TrajOpt_PLANNING_CONTEXT_H

From a1d26bec2de80f14db9ab2da1cc2cbf53151a005 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 13 Aug 2019 14:36:49 -0600
Subject: [PATCH 565/612] renamed hatch to addObjectiveTerms

---
 .../include/trajopt_interface/problem_description.h    | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 97d4b046e8..6ad995e4ff 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -122,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
+Then it later gets converted to a Cost object by the addObjectiveTerms method
 */
 struct TermInfo
 {
@@ -133,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
+  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -282,7 +282,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -322,7 +322,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,7 +352,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {

From 9eb372b5212af8aeb663d1223ea925d77f0d8f60 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 10:00:37 -0600
Subject: [PATCH 566/612] addressed Dave's comments

---
 moveit_planners/trajopt/CATKIN_IGNORE | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 moveit_planners/trajopt/CATKIN_IGNORE

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000

From 529cb65993452382e8879640a48492e0037c87f4 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 10:34:31 -0600
Subject: [PATCH 567/612] added catkin_ignore

---
 moveit_planners/trajopt/CATKIN_IGNORE | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 moveit_planners/trajopt/CATKIN_IGNORE

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2

From 7d3c518f5ef0ed51f5ecf37aa7e328fea9dc63e6 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 16:44:31 -0600
Subject: [PATCH 568/612] prepare for merge

---
 moveit_planners/trajopt/CATKIN_IGNORE                             | 0
 .../include/trajopt}/kinematic_terms.h                            | 0
 .../include/trajopt}/problem_description.h                        | 0
 moveit_planners/trajopt/{ => trajopt}/src/kinematic_terms.cpp     | 0
 moveit_planners/trajopt/{ => trajopt}/src/problem_description.cpp | 0
 moveit_planners/trajopt/{ => trajopt_interface}/CMakeLists.txt    | 0
 moveit_planners/trajopt/{ => trajopt_interface}/README.md         | 0
 .../include/trajopt_interface/trajopt_interface.h                 | 0
 .../include/trajopt_interface/trajopt_planning_context.h          | 0
 moveit_planners/trajopt/{ => trajopt_interface}/package.xml       | 0
 .../trajopt/{ => trajopt_interface}/src/trajopt_interface.cpp     | 0
 .../{ => trajopt_interface}/src/trajopt_planner_manager.cpp       | 0
 .../{ => trajopt_interface}/src/trajopt_planning_context.cpp      | 0
 .../trajopt/{ => trajopt_interface}/test/trajectory_test.cpp      | 0
 .../trajopt/{ => trajopt_interface}/test/trajectory_test.test     | 0
 .../trajopt_interface_plugin_description.xml                      | 0
 16 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 moveit_planners/trajopt/CATKIN_IGNORE
 rename moveit_planners/trajopt/{include/trajopt_interface => trajopt/include/trajopt}/kinematic_terms.h (100%)
 rename moveit_planners/trajopt/{include/trajopt_interface => trajopt/include/trajopt}/problem_description.h (100%)
 rename moveit_planners/trajopt/{ => trajopt}/src/kinematic_terms.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt}/src/problem_description.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/CMakeLists.txt (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/README.md (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/include/trajopt_interface/trajopt_interface.h (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/include/trajopt_interface/trajopt_planning_context.h (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/package.xml (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_interface.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_planner_manager.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_planning_context.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/test/trajectory_test.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/test/trajectory_test.test (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/trajopt_interface_plugin_description.xml (100%)

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
rename to moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/problem_description.h
rename to moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
diff --git a/moveit_planners/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/kinematic_terms.cpp
rename to moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
diff --git a/moveit_planners/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/problem_description.cpp
rename to moveit_planners/trajopt/trajopt/src/problem_description.cpp
diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
similarity index 100%
rename from moveit_planners/trajopt/CMakeLists.txt
rename to moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
diff --git a/moveit_planners/trajopt/README.md b/moveit_planners/trajopt/trajopt_interface/README.md
similarity index 100%
rename from moveit_planners/trajopt/README.md
rename to moveit_planners/trajopt/trajopt_interface/README.md
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
rename to moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
rename to moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
diff --git a/moveit_planners/trajopt/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
similarity index 100%
rename from moveit_planners/trajopt/package.xml
rename to moveit_planners/trajopt/trajopt_interface/package.xml
diff --git a/moveit_planners/trajopt/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_interface.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
diff --git a/moveit_planners/trajopt/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_planner_manager.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
diff --git a/moveit_planners/trajopt/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_planning_context.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
diff --git a/moveit_planners/trajopt/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
similarity index 100%
rename from moveit_planners/trajopt/test/trajectory_test.cpp
rename to moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
diff --git a/moveit_planners/trajopt/test/trajectory_test.test b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
similarity index 100%
rename from moveit_planners/trajopt/test/trajectory_test.test
rename to moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
diff --git a/moveit_planners/trajopt/trajopt_interface_plugin_description.xml b/moveit_planners/trajopt/trajopt_interface/trajopt_interface_plugin_description.xml
similarity index 100%
rename from moveit_planners/trajopt/trajopt_interface_plugin_description.xml
rename to moveit_planners/trajopt/trajopt_interface/trajopt_interface_plugin_description.xml

From b7d5ec8bf71242d390279054786a5c00b954b4dd Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 17:52:42 -0600
Subject: [PATCH 569/612] resolved conflicts

---
 .../trajopt_interface/kinematic_terms.h~HEAD  |  93 --
 .../problem_description.h~HEAD                | 367 -------
 .../trajopt_interface.h~HEAD                  |  77 --
 .../trajopt_planning_context.h~HEAD           |  32 -
 .../trajopt/trajopt/CMakeLists.txt            |  70 ++
 moveit_planners/trajopt/trajopt/LICENSE       |  11 +
 .../trajopt/trajopt/include/trajopt/cache.hxx |  26 +
 .../trajopt/include/trajopt/common.hpp        |   3 +
 .../trajopt/include/trajopt/kinematic_terms.h |   4 +-
 .../include/trajopt/problem_description.h     |   8 +-
 .../include/trajopt/trajectory_costs.hpp      | 533 ++++++++++
 .../trajopt/include/trajopt/typedefs.hpp      |  77 ++
 .../trajopt/trajopt/include/trajopt/utils.hpp | 153 +++
 moveit_planners/trajopt/trajopt/package.xml   |  28 +
 .../trajopt/trajopt/src/kinematic_terms.cpp   |   6 +-
 .../trajopt/src/problem_description.cpp       |   9 +-
 .../trajopt/trajopt/src/trajectory_costs.cpp  | 955 ++++++++++++++++++
 moveit_planners/trajopt/trajopt/src/utils.cpp |  90 ++
 .../trajopt/trajopt_interface/CMakeLists.txt  |  37 +-
 .../trajopt/trajopt_interface/README.md       |   2 +-
 .../trajopt_interface/trajopt_interface.h     |  12 +-
 .../trajopt_planning_context.h                |   2 +-
 .../src/trajopt_interface.cpp                 |  61 +-
 .../trajopt_sco/3rdpartylib/bpmpd_linux32.a   | Bin 0 -> 532260 bytes
 .../trajopt_sco/3rdpartylib/bpmpd_linux64.a   | Bin 0 -> 740972 bytes
 .../trajopt/trajopt_sco/CMakeLists.txt        | 138 +++
 moveit_planners/trajopt/trajopt_sco/LICENSE   |  11 +
 .../cmake/Modules/FindGUROBI.cmake            |  43 +
 .../cmake/Modules/FindqpOASES.cmake           |  51 +
 .../include/trajopt_sco/bpmpd_interface.hpp   |  40 +
 .../include/trajopt_sco/bpmpd_io.hpp          | 168 +++
 .../include/trajopt_sco/expr_op_overloads.hpp |  40 +
 .../include/trajopt_sco/expr_ops.hpp          | 163 +++
 .../include/trajopt_sco/expr_vec_ops.hpp      |  30 +
 .../include/trajopt_sco/gurobi_interface.hpp  |  53 +
 .../include/trajopt_sco/modeling.hpp          | 239 +++++
 .../include/trajopt_sco/modeling_utils.hpp    | 108 ++
 .../include/trajopt_sco/num_diff.hpp          |  72 ++
 .../include/trajopt_sco/optimizers.hpp        | 128 +++
 .../include/trajopt_sco/osqp_interface.hpp    |  84 ++
 .../include/trajopt_sco/qpoases_interface.hpp |  95 ++
 .../include/trajopt_sco/sco_common.hpp        |  52 +
 .../include/trajopt_sco/sco_fwd.hpp           |  48 +
 .../include/trajopt_sco/solver_interface.hpp  | 206 ++++
 .../include/trajopt_sco/solver_utils.hpp      | 154 +++
 .../trajopt/trajopt_sco/package.xml           |  17 +
 .../trajopt/trajopt_sco/src/bpmpd.par         | 189 ++++
 .../trajopt/trajopt_sco/src/bpmpd_caller.cpp  | 102 ++
 .../trajopt_sco/src/bpmpd_interface.cpp       | 521 ++++++++++
 .../trajopt/trajopt_sco/src/expr_ops.cpp      | 103 ++
 .../trajopt/trajopt_sco/src/expr_vec_ops.cpp  |  12 +
 .../trajopt_sco/src/gurobi_interface.cpp      | 306 ++++++
 .../trajopt/trajopt_sco/src/modeling.cpp      | 266 +++++
 .../trajopt_sco/src/modeling_utils.cpp        | 266 +++++
 .../trajopt/trajopt_sco/src/num_diff.cpp      | 118 +++
 .../trajopt/trajopt_sco/src/optimizers.cpp    | 491 +++++++++
 .../trajopt_sco/src/osqp_interface.cpp        | 270 +++++
 .../trajopt_sco/src/qpoases_interface.cpp     | 251 +++++
 .../trajopt_sco/src/solver_interface.cpp      | 305 ++++++
 .../trajopt/trajopt_sco/src/solver_utils.cpp  | 134 +++
 .../trajopt_sco/test/small-problems-unit.cpp  | 175 ++++
 .../test/solver-interface-unit.cpp            | 244 +++++
 .../trajopt_sco/test/solver-utils-unit.cpp    | 261 +++++
 .../trajopt/trajopt_sco/test/unit.cpp         |  10 +
 .../trajopt/trajopt_utils/CMakeLists.txt      |  49 +
 moveit_planners/trajopt/trajopt_utils/LICENSE |  11 +
 .../include/trajopt_utils/basic_array.hpp     | 102 ++
 .../include/trajopt_utils/clock.hpp           |   7 +
 .../include/trajopt_utils/config.hpp          |  63 ++
 .../trajopt_utils/eigen_conversions.hpp       |  18 +
 .../include/trajopt_utils/eigen_slicing.hpp   |  27 +
 .../include/trajopt_utils/interpolation.hpp   |  48 +
 .../include/trajopt_utils/logging.hpp         |  71 ++
 .../include/trajopt_utils/macros.h            |  71 ++
 .../include/trajopt_utils/math.hpp            |  10 +
 .../include/trajopt_utils/stl_to_string.hpp   |  73 ++
 .../include/trajopt_utils/vector_ops.hpp      |  17 +
 .../trajopt/trajopt_utils/package.xml         |  16 +
 .../trajopt/trajopt_utils/src/clock.cpp       |  40 +
 .../trajopt/trajopt_utils/src/config.cpp      |  27 +
 .../trajopt/trajopt_utils/src/logging.cpp     |  54 +
 .../trajopt_utils/src/stl_to_string.cpp       |  24 +
 .../trajopt_utils/src/test_logging.cpp        |  12 +
 83 files changed, 8708 insertions(+), 652 deletions(-)
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
 create mode 100644 moveit_planners/trajopt/trajopt/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
 create mode 100644 moveit_planners/trajopt/trajopt/src/utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
 create mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a
 create mode 100644 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt_sco/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
 create mode 100644 moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt_utils/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/clock.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/config.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/logging.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
deleted file mode 100644
index 96274cf9c7..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
+++ /dev/null
@@ -1,93 +0,0 @@
-#pragma once
-
-#include <moveit/planning_scene/planning_scene.h>
-
-#include <Eigen/Geometry>
-
-namespace trajopt_interface
-{
-/**
- * @brief Extracts the vector part of quaternion
- */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
-{
-  Eigen::Quaterniond quaternion;
-  quaternion = matrix;
-  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
-}
-
-/**
- * @brief Appends b to a of type VectorXd
- */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
-{
-  Eigen::VectorXd out(vector_a.size() + vector_b.size());
-  out.topRows(vector_a.size()) = vector_a;
-  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
-  return out;
-}
-
-/**
- * @brief Appends b to a of type T
- */
-template <typename T>
-inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
-{
-  std::vector<T> out;
-  out.insert(out.end(), vector_a.begin(), vector_a.end());
-  out.insert(out.end(), vector_b.begin(), vector_b.end());
-  return out;
-}
-
-/**
- * @brief Used to calculate the error for StaticCartPoseTermInfo
- * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
- */
-struct CartPoseErrCalculator : public sco::VectorOfVector
-{
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  Eigen::Isometry3d target_pose_inv_;
-  planning_scene::PlanningSceneConstPtr planning_scene_;
-  std::string link_;
-  Eigen::Isometry3d tcp_;
-
-  CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
-    : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
-  {
-  }
-
-  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
-};
-
-// TODO(omid): The following should be added and adjusted from trajopt
-// JointPosEqCost
-// JointPosIneqCost
-// JointPosEqConstraint
-// JointPosIneqConstraint
-
-struct JointVelErrCalculator : sco::VectorOfVector
-{
-  /** @brief Velocity target */
-  double target_;
-  /** @brief Upper tolerance */
-  double upper_tol_;
-  /** @brief Lower tolerance */
-  double lower_tol_;
-  JointVelErrCalculator() : target_(0.0), upper_tol_(0.0), lower_tol_(0.0)
-  {
-  }
-  JointVelErrCalculator(double target, double upper_tol, double lower_tol)
-    : target_(target), upper_tol_(upper_tol), lower_tol_(lower_tol)
-  {
-  }
-
-  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
-};
-
-struct JointVelJacobianCalculator : sco::MatrixOfVector
-{
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
-};
-
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
deleted file mode 100644
index 825c82262d..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
+++ /dev/null
@@ -1,367 +0,0 @@
-#pragma once
-#include <trajopt/common.hpp>
-#include <trajopt/json_marshal.hpp>
-#include <trajopt_sco/optimizers.hpp>
-
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/planning_scene/planning_scene.h>
-
-#include <memory>
-
-namespace trajopt_interface
-{
-/**
-@brief Used to apply cost/constraint to joint-space velocity
-
-Term is applied to every step between first_step and last_step. It applies two limits, upper_limits/lower_limits,
-to the joint velocity subject to the following cases.
-
-* term_type = TT_COST
-** upper_limit = lower_limit = 0 - Cost is applied with a SQUARED error scaled for each joint by coeffs
-** upper_limit != lower_limit - 2 hinge costs are applied scaled for each joint by coeffs. If velocity < upper_limit and
-velocity > lower_limit, no penalty.
-
-* term_type = TT_CNT
-** upper_limit = lower_limit = 0 - Equality constraint is applied
-** upper_limit != lower_limit - 2 Inequality constraints are applied. These are both satisfied when velocity <
-upper_limit and velocity > lower_limit
-
-Note: coeffs, upper_limits, and lower_limits are optional. If a term is not given it will default to 0 for all joints.
-If one value is given, this will be broadcast to all joints.
-
-Note: Velocity is calculated numerically using forward finite difference
-
-\f{align*}{
-  cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2
-\f}
-where j indexes over DOF, and \f$c_j\f$ are the coeffs.
-*/
-
-struct TermInfo;
-MOVEIT_CLASS_FORWARD(TermInfo);
-
-class TrajOptProblem;
-MOVEIT_CLASS_FORWARD(TrajOptProblem);
-
-struct JointPoseTermInfo;
-MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
-
-struct CartPoseTermInfo;
-MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
-
-struct JointVelTermInfo;
-MOVEIT_CLASS_FORWARD(JointVelTermInfo);
-
-struct ProblemInfo;
-TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
-
-enum TermType
-{
-  TT_COST = 0x1,      // 0000 0001
-  TT_CNT = 0x2,       // 0000 0010
-  TT_USE_TIME = 0x4,  // 0000 0100
-};
-
-struct BasicInfo
-{
-  /** @brief If true, first time step is fixed with a joint level constraint
-      If this is false, the starting point of the trajectory will
-      not be the current position of the robot. The use case example is: if we are trying to execute a process like
-      sanding the critical part which is the actual process path not how we get to the start of the process path. So we
-     plan the
-      process path first leaving the start free to hopefully get the most optimal and then we plan from the current
-     location with
-      start fixed to the start of the process path. It depends on what we want the default behavior to be
-   */
-  bool start_fixed;
-  /** @brief Number of time steps (rows) in the optimization matrix */
-  int n_steps;
-  sco::IntVec dofs_fixed;        // optional
-  sco::ModelType convex_solver;  // which convex solver to use
-
-  /** @brief If true, the last column in the optimization matrix will be 1/dt */
-  bool use_time = false;
-  /** @brief The upper limit of 1/dt values allowed in the optimization*/
-  double dt_upper_lim = 1.0;
-  /** @brief The lower limit of 1/dt values allowed in the optimization*/
-  double dt_lower_lim = 1.0;
-};
-
-/**
-Initialization info read from json
-*/
-struct InitInfo
-{
-  /** @brief Methods of initializing the optimization matrix. This defines how robot moves from the current
-      state to the start state
-
-    STATIONARY: Initializes all joint values to the initial value (the current value in the env)
-    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
-    GIVEN_TRAJ: Initializes the matrix to a given trajectory
-
-    In all cases the dt column (if present) is appended the selected method is defined.
- */
-  enum Type
-  {
-    STATIONARY,
-    JOINT_INTERPOLATED,
-    GIVEN_TRAJ,
-  };
-  /** @brief Specifies the type of initialization to use */
-  Type type;
-  /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
-      to create initialization matrix. We need to give the goal information to this init info
-   */
-  trajopt::TrajArray data;
-  //  Eigen::VectorXd data_vec;
-  //  trajopt::TrajArray data_trajectory;
-  /** @brief Default value the final column of the optimization is initialized too if time is being used */
-  double dt = 1.0;
-};
-
-/**
-When cost or constraint element of JSON doc is read, one of these guys gets
-constructed to hold the parameters.
-Then it later gets converted to a Cost object by the addObjectiveTerms method
-*/
-struct TermInfo
-{
-  std::string name;
-  int term_type;
-  int getSupportedTypes()
-  {
-    return supported_term_types_;
-  }
-  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
-
-  static TermInfoPtr fromName(const std::string& type);
-
-  /**
-   * Registers a user-defined TermInfo so you can use your own cost
-   * see function RegisterMakers.cpp
-   */
-  using MakerFunc = TermInfoPtr (*)(void);
-  static void RegisterMaker(const std::string& type, MakerFunc);
-
-  virtual ~TermInfo() = default;
-
-protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types)
-  {
-  }
-
-private:
-  static std::map<std::string, MakerFunc> name_to_maker_;
-  int supported_term_types_;
-};
-
-struct ProblemInfo
-{
-public:
-  BasicInfo basic_info;
-  sco::BasicTrustRegionSQPParameters opt_info;
-  std::vector<TermInfoPtr> cost_infos;
-  std::vector<TermInfoPtr> cnt_infos;
-  InitInfo init_info;
-
-  planning_scene::PlanningSceneConstPtr planning_scene;
-  std::string planning_group_name;
-
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
-    : planning_scene(ps), planning_group_name(pg)
-  {
-  }
-};
-
-/**
- * Holds all the data for a trajectory optimization problem
- * so you can modify it programmatically, e.g. add your own costs
- */
-class TrajOptProblem : public sco::OptProb
-{
-public:
-  TrajOptProblem();
-  TrajOptProblem(const ProblemInfo& problem_info);
-  virtual ~TrajOptProblem() = default;
-  /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
-  sco::VarVector GetVarRow(int i, int start_col, int num_col)
-  {
-    return matrix_traj_vars.rblock(i, start_col, num_col);
-  }
-  /** @brief Returns the values of all joints for the specified timestep i.*/
-  sco::VarVector GetVarRow(int i)
-  {
-    return matrix_traj_vars.row(i);
-  }
-  /** @brief Returns the value of the specified joint j for the specified timestep i.*/
-  sco::Var& GetVar(int i, int j)
-  {
-    return matrix_traj_vars.at(i, j);
-  }
-  trajopt::VarArray& GetVars()
-  {
-    return matrix_traj_vars;
-  }
-  /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
-  int GetNumSteps()
-  {
-    return matrix_traj_vars.rows();
-  }
-  /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
-   * Note that this is not necessarily the same as the kinematic DOF.*/
-  int GetNumDOF()
-  {
-    return matrix_traj_vars.cols();
-  }
-  /** @brief Returns the kinematic DOF of the active joint model group
-   */
-  int GetActiveGroupNumDOF()
-  {
-    return dof_;
-  }
-  planning_scene::PlanningSceneConstPtr GetPlanningScene()
-  {
-    return planning_scene_;
-  }
-  void SetInitTraj(const trajopt::TrajArray& x)
-  {
-    matrix_init_traj = x;
-  }
-  trajopt::TrajArray GetInitTraj()
-  {
-    return matrix_init_traj;
-  }
-  //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
-  /** @brief Returns TrajOptProb.has_time */
-  bool GetHasTime()
-  {
-    return has_time;
-  }
-  /** @brief Sets TrajOptProb.has_time  */
-  void SetHasTime(bool tmp)
-  {
-    has_time = tmp;
-  }
-
-private:
-  /** @brief If true, the last column in the optimization matrix will be 1/dt */
-  bool has_time;
-  /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray matrix_traj_vars;
-  planning_scene::PlanningSceneConstPtr planning_scene_;
-  std::string planning_group_;
-  /** @brief Kinematic DOF of the active joint model group  */
-  int dof_;
-  trajopt::TrajArray matrix_init_traj;
-};
-
-/** @brief This term is used when the goal frame is fixed in cartesian space
-
-  Set term_type == TT_COST or TT_CNT for cost or constraint.
-*/
-struct CartPoseTermInfo : public TermInfo
-{
-  //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  /** @brief Timestep at which to apply term */
-  int timestep;
-  /** @brief  Cartesian position */
-  Eigen::Vector3d xyz;
-  /** @brief Rotation quaternion */
-  Eigen::Vector4d wxyz;
-  /** @brief coefficients for position and rotation */
-  Eigen::Vector3d pos_coeffs, rot_coeffs;
-  /** @brief Link which should reach desired pose */
-  std::string link;
-  /** @brief Static transform applied to the link */
-  Eigen::Isometry3d tcp;
-
-  CartPoseTermInfo();
-
-  /** @brief Used to add term to pci from json */
-  //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new CartPoseTermInfo());
-    return out;
-  }
-};
-
-/**
-  \brief Joint space position cost
-    Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space
-    position waypoints
-
-  \f{align*}{
-  \sum_i c_i (x_i - xtarg_i)^2
-  \f}
-  where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
- */
-struct JointPoseTermInfo : public TermInfo
-{
-  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec coeffs;
-  /** @brief Vector of position targets. This is a required value. Size should be the DOF of the system */
-  trajopt::DblVec targets;
-  /** @brief Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec upper_tols;
-  /** @brief Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec lower_tols;
-  /** @brief First time step to which the term is applied. Default: 0 */
-  int first_step = 0;
-  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
-  int last_step = -1;
-
-  /** @brief Initialize term with it's supported types */
-  JointPoseTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
-  {
-  }
-
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new JointPoseTermInfo());
-    return out;
-  }
-};
-
-struct JointVelTermInfo : public TermInfo
-{
-  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec coeffs;
-  /** @brief Vector of velocity targets. This is a required value. Size should be the DOF of the system */
-  trajopt::DblVec targets;
-  /** @brief Vector of velocity upper limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec upper_tols;
-  /** @brief Vector of velocity lower limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec lower_tols;
-  /** @brief First time step to which the term is applied. Default: 0*/
-  int first_step = 0;
-  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
-  int last_step = -1;
-
-  /** @brief Initialize term with it's supported types */
-  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
-  {
-  }
-
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new JointVelTermInfo());
-    return out;
-  }
-};
-
-void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
-                               trajopt::TrajArray& init_traj);
-
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
deleted file mode 100644
index 74432fa83c..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
+++ /dev/null
@@ -1,77 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, PickNik, LLC.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of PickNik nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Omid Heidari */
-#pragma once
-
-#include <ros/ros.h>
-#include <trajopt_sco/sco_common.hpp>
-#include <moveit/planning_interface/planning_interface.h>
-#include "problem_description.h"
-
-namespace trajopt_interface
-{
-MOVEIT_CLASS_FORWARD(TrajOptInterface);
-
-class TrajOptInterface
-{
-public:
-  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-
-  const sco::BasicTrustRegionSQPParameters& getParams() const
-  {
-    return params_;
-  }
-
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
-             const planning_interface::MotionPlanRequest& req, moveit_msgs::MotionPlanDetailedResponse& res);
-
-protected:
-  /** @brief Configure everything using the param server */
-  void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
-  void setDefaultTrajOPtParams();
-  void setProblemInfoParam(ProblemInfo& problem_info);
-  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
-  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
-                                          const std::vector<std::string>& group_joint_names);
-
-  ros::NodeHandle nh_;  /// The ROS node handle
-  sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
-  std::string name_;
-};
-
-void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
-}
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
deleted file mode 100644
index 12676f57e7..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <moveit/planning_interface/planning_interface.h>
-
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/trajopt_interface.h>
-
-namespace trajopt_interface
-{
-MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-
-class TrajOptPlanningContext : public planning_interface::PlanningContext
-{
-public:
-  TrajOptPlanningContext(const std::string& name, const std::string& group,
-                         const robot_model::RobotModelConstPtr& model);
-  ~TrajOptPlanningContext() override
-  {
-  }
-
-  bool solve(planning_interface::MotionPlanResponse& res) override;
-  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
-
-  bool terminate() override;
-  void clear() override;
-
-private:
-  moveit::core::RobotModelConstPtr robot_model_;
-
-  TrajOptInterfacePtr trajopt_interface_;
-};
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
new file mode 100644
index 0000000000..3e6b065bc2
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+find_package(catkin REQUIRED COMPONENTS
+  trajopt_sco
+  trajopt_utils
+  roscpp
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system python thread program_options REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+
+link_directories(
+    /usr/local/lib
+    /usr/local/lib64
+)
+
+set(TRAJOPT_SOURCE_FILES
+    src/trajectory_costs.cpp
+    src/kinematic_terms.cpp
+    src/problem_description.cpp
+    src/utils.cpp
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+    ${JSONCPP_LIBRARIES}
+  CATKIN_DEPENDS
+    trajopt_sco
+    trajopt_utils
+    roscpp
+  DEPENDS
+    EIGEN3
+    Boost
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${Boost_INCLUDE_DIRS}
+  SYSTEM ${JSONCPP_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARY} ${JSONCPP_LIBRARIES} ${catkin_LIBRARIES})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
+  PATTERN ".svn" EXCLUDE
+ )
diff --git a/moveit_planners/trajopt/trajopt/LICENSE b/moveit_planners/trajopt/trajopt/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
new file mode 100644
index 0000000000..7fc8edaa1c
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
@@ -0,0 +1,26 @@
+#pragma once
+
+template <class KeyT, class ValueT, unsigned bufsize>
+class Cache
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  KeyT keybuf[bufsize];    // circular buffer
+  ValueT valbuf[bufsize];  // circular buffer
+  int m_i;
+  Cache() : m_i(0) { memset(keybuf, 666, sizeof(keybuf)); }
+  void put(const KeyT& key, const ValueT& value)
+  {
+    keybuf[m_i] = key;
+    valbuf[m_i] = value;
+    ++m_i;
+    if (m_i == bufsize)
+      m_i = 0;
+  }
+  ValueT* get(const KeyT& key)
+  {
+    KeyT* it = std::find(&keybuf[0], &keybuf[0] + bufsize, key);
+    return (it == &keybuf[0] + bufsize) ? nullptr : &valbuf[it - &keybuf[0]];
+  }
+};
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
new file mode 100644
index 0000000000..41b82a6046
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
@@ -0,0 +1,3 @@
+#pragma once
+#include <trajopt/typedefs.hpp>
+#include <trajopt/utils.hpp>
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
index 96274cf9c7..8149180af3 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
@@ -4,7 +4,7 @@
 
 #include <Eigen/Geometry>
 
-namespace trajopt_interface
+namespace trajopt
 {
 /**
  * @brief Extracts the vector part of quaternion
@@ -90,4 +90,4 @@ struct JointVelJacobianCalculator : sco::MatrixOfVector
   Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
 };
 
-}  // namespace trajopt_interface
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 6ad995e4ff..9e56462cac 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -1,6 +1,6 @@
 #pragma once
+
 #include <trajopt/common.hpp>
-#include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
 
 #include <moveit/robot_model/robot_model.h>
@@ -8,7 +8,7 @@
 
 #include <memory>
 
-namespace trajopt_interface
+namespace trajopt
 {
 /**
 @brief Used to apply cost/constraint to joint-space velocity
@@ -109,12 +109,12 @@ struct InitInfo
   };
   /** @brief Specifies the type of initialization to use */
   Type type;
+
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
   trajopt::TrajArray data;
-  //  Eigen::VectorXd data_vec;
-  //  trajopt::TrajArray data_trajectory;
+
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
new file mode 100644
index 0000000000..5741151f74
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
@@ -0,0 +1,533 @@
+#pragma once
+
+/**
+Simple quadratic costs on trajectory
+*/
+
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_utils/macros.h>
+
+#include "trajopt/common.hpp"
+
+namespace trajopt
+{
+class TRAJOPT_API JointPosEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+/**
+ * @brief The JointVelIneqCost class
+ * Assumes that the target is ...
+ */
+class TRAJOPT_API JointPosIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targetss,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointVelEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values using Eigen*/
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointVelIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targets,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-1) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-1)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointAccEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointAccEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointAccIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targets,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointJerkEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointJerkEqCost(const VarArray& traj,
+                  const Eigen::VectorXd& coeffs,
+                  const Eigen::VectorXd& targets,
+                  int& first_step,
+                  int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of jerk targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointJerkIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkIneqCost(const VarArray& traj,
+                    const Eigen::VectorXd& coeffs,
+                    const Eigen::VectorXd& targets,
+                    const Eigen::VectorXd& upper_limits,
+                    const Eigen::VectorXd& lower_limits,
+                    int& first_step,
+                    int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of jerk targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkEqConstraint(const VarArray& traj,
+                        const Eigen::VectorXd& coeffs,
+                        const Eigen::VectorXd& targets,
+                        int& first_step,
+                        int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkIneqConstraint(const VarArray& traj,
+                          const Eigen::VectorXd& coeffs,
+                          const Eigen::VectorXd& targets,
+                          const Eigen::VectorXd& upper_limits,
+                          const Eigen::VectorXd& lower_limits,
+                          int& first_step,
+                          int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
new file mode 100644
index 0000000000..28b06f3054
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
@@ -0,0 +1,77 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+#include <trajopt_utils/basic_array.hpp>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <map>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+
+namespace trajopt
+{
+typedef util::BasicArray<sco::Var> VarArray;
+typedef util::BasicArray<sco::AffExpr> AffArray;
+typedef util::BasicArray<sco::Cnt> CntArray;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> DblMatrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> TrajArray;
+typedef sco::DblVec DblVec;
+typedef sco::IntVec IntVec;
+
+
+/**  @brief Adds plotting to the CostFromErrFunc class in trajopt_sco */
+class TrajOptCostFromErrFunc : public sco::CostFromErrFunc
+{
+public:
+  /// supply error function, obtain derivative numerically
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
+                         const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type,
+                         const std::string& name)
+    : CostFromErrFunc(f, vars, coeffs, pen_type, name)
+  {
+  }
+
+  /// supply error function and gradient
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
+                         sco::MatrixOfVectorPtr dfdx,
+                         const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type,
+                         const std::string& name)
+    : CostFromErrFunc(f, dfdx, vars, coeffs, pen_type, name)
+  {
+  }
+
+};
+
+/**  @brief Adds plotting to the ConstraintFromFunc class in trajopt_sco */
+class TrajOptConstraintFromErrFunc : public sco::ConstraintFromErrFunc
+{
+public:
+  /// supply error function, obtain derivative numerically
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
+                               const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type,
+                               const std::string& name)
+    : ConstraintFromErrFunc(f, vars, coeffs, type, name)
+  {
+  }
+
+  /// supply error function and gradient
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
+                               sco::MatrixOfVectorPtr dfdx,
+                               const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type,
+                               const std::string& name)
+    : ConstraintFromErrFunc(f, dfdx, vars, coeffs, type, name)
+  {
+  }
+
+};
+}
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
new file mode 100644
index 0000000000..9d24300402
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
@@ -0,0 +1,153 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <unordered_map>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/typedefs.hpp>
+
+namespace trajopt
+{
+template <typename Key, typename Value>
+using AlignedUnorderedMap = std::unordered_map<Key,
+                                               Value,
+                                               std::hash<Key>,
+                                               std::equal_to<Key>,
+                                               Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+/**
+Extract trajectory array from solution vector x using indices in array vars
+*/
+TrajArray TRAJOPT_API getTraj(const DblVec& x, const VarArray& vars);
+TrajArray TRAJOPT_API getTraj(const DblVec& x, const AffArray& arr);
+
+inline DblVec trajToDblVec(const TrajArray& x) { return DblVec(x.data(), x.data() + x.rows() * x.cols()); }
+
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+{
+  Eigen::VectorXd out(a.size() + b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
+  return out;
+}
+
+/**
+ * @brief Appends b to a of type T
+ */
+template <typename T>
+std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
+{
+  std::vector<T> out;
+  std::vector<int> x(a.size() + b.size());
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
+  return out;
+}
+
+template <typename T>
+std::vector<T> singleton(const T& x)
+{
+  return std::vector<T>(1, x);
+}
+
+void TRAJOPT_API AddVarArrays(sco::OptProb& prob,
+                              int rows,
+                              const std::vector<int>& cols,
+                              const std::vector<std::string>& name_prefix,
+                              const std::vector<VarArray*>& newvars);
+
+void TRAJOPT_API AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars);
+
+/** @brief Store Safety Margin Data for a given timestep */
+struct SafetyMarginData
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  SafetyMarginData(const double& default_safety_margin, const double& default_safety_margin_coeff)
+    : default_safety_margin_data_(default_safety_margin, default_safety_margin_coeff)
+    , max_safety_margin_(default_safety_margin)
+  {
+  }
+
+  /**
+   * @brief Set the safety margin for a given contact pair
+   *
+   * The order of the object names does not matter, that is handled internal to
+   * the class.
+   *
+   * @param obj1 The first object name
+   * @param obj2 The Second object name
+   * @param safety_margins contacts with distance < safety_margin are penalized
+   * @param safety_margin_coeffs A safety margin coefficient vector where each
+   * element corresponds to a given timestep.
+   */
+  void SetPairSafetyMarginData(const std::string& obj1,
+                               const std::string& obj2,
+                               const double& safety_margin,
+                               const double& safety_margin_coeff)
+  {
+    Eigen::Vector2d data(safety_margin, safety_margin_coeff);
+
+    pair_lookup_table_[obj1 + obj2] = data;
+    pair_lookup_table_[obj2 + obj1] = data;
+
+    if (safety_margin > max_safety_margin_)
+    {
+      max_safety_margin_ = safety_margin;
+    }
+  }
+
+  const Eigen::Vector2d& getPairSafetyMarginData(const std::string& obj1, const std::string& obj2) const
+  {
+    const std::string& key = obj1 + obj2;
+    auto it = pair_lookup_table_.find(key);
+
+    if (it != pair_lookup_table_.end())
+    {
+      return it->second;
+    }
+    else
+    {
+      return default_safety_margin_data_;
+    }
+  }
+
+  const double& getMaxSafetyMargin() const { return max_safety_margin_; }
+private:
+  /// The coeff used during optimization
+  /// safety margin: contacts with distance < dist_pen are penalized
+  /// Stores [dist_pen, coeff]
+  Eigen::Vector2d default_safety_margin_data_;
+
+  /// This use when requesting collision data because you can only provide a
+  /// single contact distance threshold.
+  double max_safety_margin_;
+
+  /// A map of link pair to contact distance setting [dist_pen, coeff]
+  AlignedUnorderedMap<std::string, Eigen::Vector2d> pair_lookup_table_;
+};
+typedef std::shared_ptr<SafetyMarginData> SafetyMarginDataPtr;
+typedef std::shared_ptr<const SafetyMarginData> SafetyMarginDataConstPtr;
+
+/**
+ * @brief This is a utility function for creating the Safety Margin data vector
+ * @param num_elements The number of objects to create
+ * @param default_safety_margin Default safety margin
+ * @param default_safety_margin_coeff Default safety margin coeff
+ * @return A vector of Safety Margin Data
+ */
+inline std::vector<SafetyMarginDataPtr> createSafetyMarginDataVector(int num_elements,
+                                                                     const double& default_safety_margin,
+                                                                     const double& default_safety_margin_coeff)
+{
+  std::vector<SafetyMarginDataPtr> info;
+  info.reserve(static_cast<size_t>(num_elements));
+  for (auto i = 0; i < num_elements; ++i)
+  {
+    info.push_back(SafetyMarginDataPtr(new SafetyMarginData(default_safety_margin, default_safety_margin_coeff)));
+  }
+  return info;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt/package.xml b/moveit_planners/trajopt/trajopt/package.xml
new file mode 100644
index 0000000000..d17422a2a7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt</name>
+  <version>0.1.0</version>
+  <description>The trajopt package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+  <license>Apache 2.0</license>
+  <author>Levi Armstrong</author>
+  <author>John Schulman</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>trajopt_sco</depend>
+  <depend>trajopt_utils</depend>
+  <depend>roscpp</depend>
+
+  <test_depend>gtest</test_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>roslib</test_depend>
+  <test_depend>trajopt_test_support</test_depend>
+  <test_depend>libpcl-all-dev</test_depend>
+  <test_depend>pcl_conversions</test_depend>
+  <test_depend>pr2_description</test_depend>
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
index 92d75fb78b..4559e5b8a1 100644
--- a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
@@ -4,13 +4,13 @@
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
 
-#include "trajopt_interface/kinematic_terms.h"
+#include "trajopt/kinematic_terms.h"
 
 using namespace std;
 using namespace sco;
 using namespace Eigen;
 
-namespace trajopt_interface
+namespace trajopt
 {
 VectorXd CartPoseErrCalculator::operator()(const VectorXd& dof_vals) const
 {
@@ -61,4 +61,4 @@ MatrixXd JointVelJacobianCalculator::operator()(const VectorXd& var_vals) const
   return jac;
 }
 
-}  // namespace trajopt_interface
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index c5d263bd99..4f1625b965 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -32,6 +32,7 @@
  *********************************************************************/
 
 #include <boost/algorithm/string.hpp>
+#include <boost/format.hpp>
 
 #include <ros/ros.h>
 
@@ -39,7 +40,6 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit_msgs/MotionPlanRequest.h>
 
-#include <trajopt/trajectory_costs.hpp>
 #include <trajopt_sco/expr_op_overloads.hpp>
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_utils/eigen_conversions.hpp>
@@ -47,8 +47,9 @@
 #include <trajopt_utils/logging.hpp>
 #include <trajopt_utils/vector_ops.hpp>
 
-#include "trajopt_interface/problem_description.h"
-#include "trajopt_interface/kinematic_terms.h"
+#include <trajopt/trajectory_costs.hpp>
+#include <trajopt/kinematic_terms.h>
+#include "trajopt/problem_description.h"
 
 /**
  * @brief Checks the size of the parameter given and throws if incorrect
@@ -71,7 +72,7 @@ void checkParameterSize(trajopt::DblVec& parameter, const unsigned int& expected
   }
 }
 
-namespace trajopt_interface
+namespace trajopt
 {
 TrajOptProblem::TrajOptProblem()
 {
diff --git a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
new file mode 100644
index 0000000000..eaaa1b0fd4
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
@@ -0,0 +1,955 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+
+#include "trajopt/trajectory_costs.hpp"
+
+namespace
+{
+/** @brief Returns the difference between each row of a matrixXd and the row before */
+static Eigen::MatrixXd diffAxis0(const Eigen::MatrixXd& in)
+{
+  return in.middleRows(1, in.rows() - 1) - in.middleRows(0, in.rows() - 1);
+}
+}  // namespace
+
+namespace trajopt
+{
+//////////// Joint cost functions /////////////////
+
+//////////////////// Position /////////////////////
+JointPosEqCost::JointPosEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointPosEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      // expr_ = coeff * vel^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(pos), coeffs_[j]));
+    }
+  }
+}
+double JointPosEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())).rowwise() - targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointPosEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointPosIneqCost::JointPosIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointPosIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr, pos);           // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);  // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr_neg, pos);          // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);  // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointPosIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd pos = traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols());
+  // Subtract targets to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (pos.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointPosIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointPosEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(pos, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointPosEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())).rowwise() - targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointPosEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointPosIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr, pos);           // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);  // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (upper_tol-(vel-targ))
+      sco::exprDec(expr_neg, pos);          // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);  // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointPosIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd pos = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (pos.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out);
+}
+
+sco::ConvexConstraintsPtr JointPosIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Velocity /////////////////////
+JointVelEqCost::JointVelEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointVelEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      exprDec(vel, targets_[j]);
+      // expr_ = coeff * vel^2
+      exprInc(expr_, exprMult(exprSquare(vel), coeffs_[j]));
+    }
+  }
+}
+double JointVelEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff = (diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))).rowwise() -
+                         targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointVelEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointVelIneqCost::JointVelIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointVelIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, vel);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr =  (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, vel);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointVelIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd vel = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (vel.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointVelIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointVelEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(vel, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointVelEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff = (diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))).rowwise() -
+                         targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointVelEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointVelIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, vel);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, vel);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointVelIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd vel = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (vel.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointVelIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Acceleration /////////////////////
+JointAccEqCost::JointAccEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointAccEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+
+      sco::exprDec(acc, targets_[j]);
+      // expr_ = coeff * acc^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(acc), coeffs_[j]));
+    }
+  }
+}
+double JointAccEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))).rowwise() -
+      targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointAccEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointAccIneqCost::JointAccIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointAccIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(acc-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, acc);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(acc-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, acc);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointAccIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointAccIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointAccEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(acc, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointAccEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))).rowwise() -
+      targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointAccEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointAccIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  // Form upper limit expr = - (upper_tol-(vel-targ))
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, acc);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, acc);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointAccIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointAccIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Jerk /////////////////////
+JointJerkEqCost::JointJerkEqCost(const VarArray& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 const Eigen::VectorXd& targets,
+                                 int& first_step,
+                                 int& last_step)
+  : Cost("JointJerkEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+
+      sco::exprDec(jerk, targets_[j]);
+      // expr_ = coeff * jerk^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(jerk), coeffs_[j]));
+    }
+  }
+}
+double JointJerkEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))))
+          .rowwise() -
+      targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointJerkEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars,
+                                     const Eigen::VectorXd& coeffs,
+                                     const Eigen::VectorXd& targets,
+                                     const Eigen::VectorXd& upper_tols,
+                                     const Eigen::VectorXd& lower_tols,
+                                     int& first_step,
+                                     int& last_step)
+  : Cost("JointJerkIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+      sco::exprDec(jerk, targets_[j]);
+
+      // Form upper limit expr = - (upper_tol-(jerk-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, jerk);            // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(acc-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, jerk);            // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointJerkIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd jerk =
+      diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (jerk.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointJerkIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             const Eigen::VectorXd& targets,
+                                             int& first_step,
+                                             int& last_step)
+  : EqConstraint("JointJerkEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+
+      sco::exprDec(jerk, targets_[j]);  // offset to center about 0
+      // expr_ = coeff * jerk - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(jerk, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointJerkEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))))
+          .rowwise() -
+      targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointJerkEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars,
+                                                 const Eigen::VectorXd& coeffs,
+                                                 const Eigen::VectorXd& targets,
+                                                 const Eigen::VectorXd& upper_tols,
+                                                 const Eigen::VectorXd& lower_tols,
+                                                 int& first_step,
+                                                 int& last_step)
+  : IneqConstraint("JointJerkIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+      sco::exprDec(jerk, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, jerk);            // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, jerk);            // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointJerkIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointJerkIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/utils.cpp b/moveit_planners/trajopt/trajopt/src/utils.cpp
new file mode 100644
index 0000000000..95fb423fbb
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/src/utils.cpp
@@ -0,0 +1,90 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Geometry>
+#include <boost/format.hpp>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/utils.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace trajopt
+{
+TrajArray getTraj(const DblVec& x, const VarArray& vars)
+{
+  TrajArray out(vars.rows(), vars.cols());
+  for (int i = 0; i < vars.rows(); ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      out(i, j) = vars(i, j).value(x);
+    }
+  }
+  return out;
+}
+
+TrajArray getTraj(const DblVec& x, const AffArray& arr)
+{
+  Eigen::MatrixXd out(arr.rows(), arr.cols());
+  for (int i = 0; i < arr.rows(); ++i)
+  {
+    for (int j = 0; j < arr.cols(); ++j)
+    {
+      out(i, j) = arr(i, j).value(x);
+    }
+  }
+  return out;
+}
+
+void AddVarArrays(sco::OptProb& prob,
+                  int rows,
+                  const IntVec& cols,
+                  const std::vector<std::string>& name_prefix,
+                  const std::vector<VarArray*>& newvars)
+{
+  size_t n_arr = name_prefix.size();
+  assert(static_cast<unsigned>(n_arr) == newvars.size());
+
+  std::vector<Eigen::MatrixXi> index(n_arr);
+  for (size_t i = 0; i < n_arr; ++i)
+  {
+    newvars[i]->resize(rows, cols[i]);
+    index[i].resize(rows, cols[i]);
+  }
+
+  std::vector<std::string> names;
+  int var_idx = prob.getNumVars();
+  for (int i = 0; i < rows; ++i)
+  {
+    for (size_t k = 0; k < n_arr; ++k)
+    {
+      for (int j = 0; j < cols[k]; ++j)
+      {
+        index[k](i, j) = var_idx;
+        names.push_back((boost::format("%s_%i_%i") % name_prefix[k] % i % j).str());
+        ++var_idx;
+      }
+    }
+  }
+  prob.createVariables(names);  // note that w,r, are both unbounded
+
+  const std::vector<sco::Var>& vars = prob.getVars();
+  for (size_t k = 0; k < n_arr; ++k)
+  {
+    for (int i = 0; i < rows; ++i)
+    {
+      for (int j = 0; j < cols[k]; ++j)
+      {
+        (*newvars[k])(i, j) = vars[static_cast<size_t>(index[k](i, j))];
+      }
+    }
+  }
+}
+
+void AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars)
+{
+  std::vector<VarArray*> arrs(1, &newvars);
+  std::vector<std::string> prefixes(1, name_prefix);
+  std::vector<int> colss(1, cols);
+  AddVarArrays(prob, rows, colss, prefixes, arrs);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index b1e7e4c3fb..b415435f4e 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -11,7 +11,6 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-<<<<<<< HEAD
 find_package(catkin REQUIRED
     COMPONENTS
       moveit_core
@@ -20,8 +19,9 @@ find_package(catkin REQUIRED
       moveit_ros_planning_interface
       pluginlib
       roscpp
-      rosparam_shortcuts
       trajopt
+      trajopt_sco
+      trajopt_utils
 )
 
 catkin_package(
@@ -50,8 +50,6 @@ include_directories(
 add_library(
   ${PROJECT_NAME}
   src/trajopt_interface.cpp
-  src/problem_description.cpp
-  src/kinematic_terms.cpp
   src/trajopt_planning_context.cpp
 )
 
@@ -67,28 +65,11 @@ set_target_properties(
   VERSION
   "${${PROJECT_NAME}_VERSION}"
 )
-=======
-find_package(catkin REQUIRED COMPONENTS
-  moveit_core
-  roscpp
-  pluginlib
-)
-
-catkin_package(
-  CATKIN_DEPENDS
-    moveit_core
-)
-
-# The following include_directory should have include folder of the new planner.
-include_directories(${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
-                    ${TrajOpt_INCLUDE_DIRS})
->>>>>>> TrajOpt Planner (Empty Template) (#1478)
 
 # TrajOpt planning plugin
 add_library(moveit_trajopt_planner_plugin src/trajopt_planner_manager.cpp)
 set_target_properties(moveit_trajopt_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-<<<<<<< HEAD
+
 target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
 
 #############
@@ -133,14 +114,4 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
   )
 
-endif()
-=======
-
-install(TARGETS
-  moveit_trajopt_planner_plugin
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-install(FILES trajopt_interface_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
->>>>>>> TrajOpt Planner (Empty Template) (#1478)
+endif()
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_interface/README.md b/moveit_planners/trajopt/trajopt_interface/README.md
index 98824eadb2..84e0ce1d44 100644
--- a/moveit_planners/trajopt/trajopt_interface/README.md
+++ b/moveit_planners/trajopt/trajopt_interface/README.md
@@ -1 +1 @@
-As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
\ No newline at end of file
+As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
diff --git a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
index bb48692b88..a534d01cff 100644
--- a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
@@ -36,9 +36,11 @@
 #pragma once
 
 #include <ros/ros.h>
-#include <trajopt_sco/sco_common.hpp>
+
 #include <moveit/planning_interface/planning_interface.h>
-#include "problem_description.h"
+
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt/problem_description.h>
 
 namespace trajopt_interface
 {
@@ -61,15 +63,15 @@ class TrajOptInterface
   /** @brief Configure everything using the param server */
   void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
   void setDefaultTrajOPtParams();
-  void setProblemInfoParam(ProblemInfo& problem_info);
-  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  void setProblemInfoParam(trajopt::ProblemInfo& problem_info);
+  void setJointPoseTermInfoParams(trajopt::JointPoseTermInfoPtr& jp, std::string name);
   trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
                                           const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
   std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
+  trajopt::TrajOptProblemPtr trajopt_problem_;
   std::string name_;
 };
 
diff --git a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
index 9c06eb0f5e..6241d09396 100644
--- a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
@@ -2,7 +2,7 @@
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt_interface/problem_description.h>
+#include <trajopt/problem_description.h>
 #include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 7a5e95b71f..f721c16c09 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -42,11 +42,10 @@
 #include <trajopt_sco/sco_common.hpp>
 #include <trajopt_sco/optimizers.hpp>
 #include <trajopt_sco/solver_interface.hpp>
-
+#include <trajopt/problem_description.h>
 #include <trajopt/trajectory_costs.hpp>
 
 #include <ros/ros.h>
-#include <rosparam_shortcuts/rosparam_shortcuts.h>
 
 #include <limits>
 #include <vector>
@@ -54,13 +53,12 @@
 #include <unordered_map>
 
 #include "trajopt_interface/trajopt_interface.h"
-#include "trajopt_interface/problem_description.h"
 
 namespace trajopt_interface
 {
 TrajOptInterface::TrajOptInterface(const ros::NodeHandle& nh) : nh_(nh), name_("TrajOptInterface")
 {
-  trajopt_problem_ = TrajOptProblemPtr(new TrajOptProblem);
+  trajopt_problem_ = trajopt::TrajOptProblemPtr(new trajopt::TrajOptProblem);
   setDefaultTrajOPtParams();
 
   // TODO: callbacks should be defined by the user
@@ -87,11 +85,13 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   bool robot_model_ok = static_cast<bool>(robot_model);
   if (!robot_model_ok)
     ROS_ERROR_STREAM_NAMED(name_, "robot model is not loaded properly");
-  moveit::core::RobotStatePtr current_state(new moveit::core::RobotState(robot_model));
+
+  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
   *current_state = planning_scene->getCurrentState();
   const moveit::core::JointModelGroup* joint_model_group = current_state->getJointModelGroup(req.group_name);
   if (joint_model_group == nullptr)
     ROS_ERROR_STREAM_NAMED(name_, "joint model group is empty");
+
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
   int dof = group_joint_names.size();
   std::vector<double> current_joint_values;
@@ -117,7 +117,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   }
 
   ROS_INFO(" ======================================= Create ProblemInfo");
-  ProblemInfo problem_info(planning_scene, req.group_name);
+  trajopt::ProblemInfo problem_info(planning_scene, req.group_name);
 
   setProblemInfoParam(problem_info);
 
@@ -131,11 +131,11 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     current_joint_values_eigen(joint_index) = current_joint_values[joint_index];
   }
 
-  if (problem_info.init_info.type == InitInfo::JOINT_INTERPOLATED)
+  if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
     problem_info.init_info.data = current_joint_values_eigen;
   }
-  else if (problem_info.init_info.type == InitInfo::GIVEN_TRAJ)
+  else if (problem_info.init_info.type == trajopt::InitInfo::GIVEN_TRAJ)
   {
     problem_info.init_info.data = current_joint_values_eigen.transpose().replicate(problem_info.basic_info.n_steps, 1);
   }
@@ -151,7 +151,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   ROS_INFO(" ======================================= Cartesian Constraints");
   if (!req.goal_constraints[0].position_constraints.empty() && !req.goal_constraints[0].orientation_constraints.empty())
   {
-    CartPoseTermInfoPtr cart_goal_pos(new CartPoseTermInfo);
+    trajopt::CartPoseTermInfoPtr cart_goal_pos(new trajopt::CartPoseTermInfo);
 
     // TODO: Feed cart_goal_pos with request information and the needed param to the setup.yaml file
     // TODO: Multiple Cartesian constraints
@@ -177,7 +177,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   ROS_INFO(" ======================================= Constraints from request goal_constraints");
   for (auto goal_cnt : req.goal_constraints)
   {
-    JointPoseTermInfoPtr joint_pos_term(new JointPoseTermInfo);
+    trajopt::JointPoseTermInfoPtr joint_pos_term(new trajopt::JointPoseTermInfo);
     // When using MotionPlanning Display in RViz, the created request has no name for the constriant
     setJointPoseTermInfoParams(joint_pos_term, (goal_cnt.name != "") ? goal_cnt.name : "goal_tmp");
 
@@ -192,7 +192,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Constraints from request start_state");
   // add the start pos from request as a constraint
-  JointPoseTermInfoPtr joint_start_pos(new JointPoseTermInfo);
+  trajopt::JointPoseTermInfoPtr joint_start_pos(new trajopt::JointPoseTermInfo);
 
   joint_start_pos->targets = start_joint_values;
   setJointPoseTermInfoParams(joint_start_pos, "start_pos");
@@ -200,14 +200,14 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Velocity Constraints, hard-coded");
   // TODO: should be defined by user, its parametes should be added to setup.yaml
-  JointVelTermInfoPtr joint_vel(new JointVelTermInfo);
+  trajopt::JointVelTermInfoPtr joint_vel(new trajopt::JointVelTermInfo);
 
   joint_vel->coeffs = std::vector<double>(dof, 5.0);
   joint_vel->targets = std::vector<double>(dof, 0.0);
   joint_vel->first_step = 0;
   joint_vel->last_step = problem_info.basic_info.n_steps - 1;
   joint_vel->name = "joint_vel";
-  joint_vel->term_type = trajopt_interface::TT_COST;
+  joint_vel->term_type = trajopt::TT_COST;
   problem_info.cost_infos.push_back(joint_vel);
 
   ROS_INFO(" ======================================= Visibility Constraints");
@@ -239,15 +239,15 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   std::string problem_info_type;
   switch (problem_info.init_info.type)
   {
-    case InitInfo::STATIONARY:
-      problem_info_type = "STATIONARY";
-      break;
-    case InitInfo::JOINT_INTERPOLATED:
-      problem_info_type = "JOINT_INTERPOLATED";
-      break;
-    case InitInfo::GIVEN_TRAJ:
-      problem_info_type = "GIVEN_TRAJ";
-      break;
+  case trajopt::InitInfo::STATIONARY:
+    problem_info_type = "STATIONARY";
+    break;
+  case trajopt::InitInfo::JOINT_INTERPOLATED:
+    problem_info_type = "JOINT_INTERPOLATED";
+    break;
+  case trajopt::InitInfo::GIVEN_TRAJ:
+    problem_info_type = "GIVEN_TRAJ";
+    break;
   }
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.type: " << problem_info_type);
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt: " << problem_info.init_info.dt);
@@ -266,6 +266,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   // Add all callbacks
   for (const sco::Optimizer::Callback& callback : optimizer_callbacks_)
+
   {
     opt.addCallback(callback);
   }
@@ -366,7 +367,7 @@ void TrajOptInterface::setTrajOptParams(sco::BasicTrustRegionSQPParameters& para
   nh_.param("trajopt_param/trust_box_size", params.trust_box_size, 1e-1);
 }
 
-void TrajOptInterface::setProblemInfoParam(ProblemInfo& problem_info)
+void TrajOptInterface::setProblemInfoParam(trajopt::ProblemInfo& problem_info)
 {
   nh_.param("problem_info/basic_info/n_steps", problem_info.basic_info.n_steps, 20);
   nh_.param("problem_info/basic_info/dt_upper_lim", problem_info.basic_info.dt_upper_lim, 2.0);
@@ -400,18 +401,18 @@ void TrajOptInterface::setProblemInfoParam(ProblemInfo& problem_info)
   switch (type_index)
   {
     case 1:
-      problem_info.init_info.type = InitInfo::STATIONARY;
+      problem_info.init_info.type = trajopt::InitInfo::STATIONARY;
       break;
     case 2:
-      problem_info.init_info.type = InitInfo::JOINT_INTERPOLATED;
+      problem_info.init_info.type = trajopt::InitInfo::JOINT_INTERPOLATED;
       break;
     case 3:
-      problem_info.init_info.type = InitInfo::GIVEN_TRAJ;
+      problem_info.init_info.type = trajopt::InitInfo::GIVEN_TRAJ;
       break;
   }
 }
 
-void TrajOptInterface::setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name)
+void TrajOptInterface::setJointPoseTermInfoParams(trajopt::JointPoseTermInfoPtr& jp, std::string name)
 {
   int term_type_index;
   std::string term_type_address = "joint_pos_term_info/" + name + "/term_type";
@@ -420,13 +421,13 @@ void TrajOptInterface::setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std:
   switch (term_type_index)
   {
     case 1:
-      jp->term_type = TT_COST;
+      jp->term_type = trajopt::TT_COST;
       break;
     case 2:
-      jp->term_type = TT_CNT;
+      jp->term_type = trajopt::TT_CNT;
       break;
     case 3:
-      jp->term_type = TT_USE_TIME;
+      jp->term_type = trajopt::TT_USE_TIME;
       break;
   }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a b/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
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diff --git a/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a b/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a
new file mode 100644
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HcmV?d00001

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
new file mode 100644
index 0000000000..037c11ae27
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -0,0 +1,138 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt_sco)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
+find_package(catkin REQUIRED COMPONENTS trajopt_utils)
+find_package(GUROBI QUIET)
+find_package(osqp QUIET)
+find_package(qpOASES QUIET)
+find_package(Eigen3 REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+
+set(SCO_SOURCE_FILES
+    src/solver_interface.cpp
+    src/solver_utils.cpp
+    src/modeling.cpp
+    src/expr_ops.cpp
+    src/expr_vec_ops.cpp
+    src/optimizers.cpp
+    src/modeling_utils.cpp
+    src/num_diff.cpp
+)
+
+if (NOT APPLE)
+  set (HAVE_BPMPD TRUE)
+endif()
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+    ${JSONCPP_LIBRARIES}
+  CATKIN_DEPENDS trajopt_utils
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${JSONCPP_INCLUDE_DIRS}
+)
+
+if (HAVE_BPMPD)
+  add_executable(bpmpd_caller src/bpmpd_caller.cpp)
+
+  if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64 bits
+        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux64.a")
+  else()
+        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux32.a")
+  endif()
+
+  target_link_libraries(bpmpd_caller ${BPMPD_LIBRARY} -static)
+  target_compile_options(bpmpd_caller PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+  list(APPEND SCO_SOURCE_FILES src/bpmpd_interface.cpp)
+  set_property(SOURCE src/bpmpd_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS BPMPD_CALLER="\\\"${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/bpmpd_caller\\\"")
+
+  #TODO: Levi check if this is correct.
+  set(BPMPD_WORKING_DIR "${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/")
+  set_property(SOURCE src/bpmpd_caller.cpp APPEND PROPERTY COMPILE_DEFINITIONS BPMPD_WORKING_DIR="${BPMPD_WORKING_DIR}")
+  file(COPY src/bpmpd.par DESTINATION ${BPMPD_WORKING_DIR})
+
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_BPMPD)
+endif()
+
+if (GUROBI_FOUND)
+  include_directories(${GUROBI_INCLUDE_DIR})
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_GUROBI)
+  list(APPEND SCO_SOURCE_FILES src/gurobi_interface.cpp)
+endif(GUROBI_FOUND)
+
+if (osqp_FOUND)
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_OSQP)
+  list(APPEND SCO_SOURCE_FILES src/osqp_interface.cpp)
+endif()
+
+if (qpOASES_FOUND)
+  include_directories(${qpOASES_INCLUDE_DIRS})
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_QPOASES)
+  list(APPEND SCO_SOURCE_FILES src/qpoases_interface.cpp)
+endif()
+
+add_library(${PROJECT_NAME} ${SCO_SOURCE_FILES})
+
+set (SCO_LINK_LIBS ${catkin_LIBRARIES} ${CMAKE_DL_LIBS})
+if (GUROBI_FOUND)
+  list(APPEND SCO_LINK_LIBS ${GUROBI_LIBRARIES})
+endif()
+if (HAVE_BPMPD)
+  list(APPEND SCO_LINK_LIBS ${BPMPD_LIBRARY})
+endif()
+if (osqp_FOUND)
+  target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqpstatic)
+endif()
+if (qpOASES_FOUND)
+  target_link_libraries(${PROJECT_NAME} PRIVATE ${qpOASES_LIBRARIES})
+endif()
+
+target_link_libraries(${PROJECT_NAME} PRIVATE ${JSONCPP_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${SCO_LINK_LIBS})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+ )
+
+if (CATKIN_ENABLE_TESTING)
+  set(SCO_TEST_SOURCE
+    test/unit.cpp
+    test/small-problems-unit.cpp
+    test/solver-interface-unit.cpp
+    test/solver-utils-unit.cpp
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test ${SCO_TEST_SOURCE})
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+  if (osqp_FOUND)
+    target_link_libraries(${PROJECT_NAME}-test osqp::osqpstatic)
+  endif()
+endif()
diff --git a/moveit_planners/trajopt/trajopt_sco/LICENSE b/moveit_planners/trajopt/trajopt_sco/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
new file mode 100644
index 0000000000..5a0b849f15
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
@@ -0,0 +1,43 @@
+# - Try to find GUROBI
+#
+# This modules reads hints about search locations from the following
+# environment variables:
+# GUROBI_HOME
+# 
+# e.g. GUROBI_HOME=/opt/gurobobi810/linux64
+#
+# The module will define:
+# GUROBI_FOUND - If we found Gurobi in the system
+# GUROBI_INCLUDE_DIR - Gurobi include directories
+# GUROBI_LIBRARIES - libraries needed to use Gurobi
+#
+# This module will NOT enforce a specific GUROBI version, rather it will
+# only work with latest GUROBI version (8.1.0)
+
+find_path(GUROBI_INCLUDE_DIR NAMES gurobi_c++.h
+          HINTS
+          ENV GUROBI_HOME
+          PATH_SUFFIXES include
+          )
+
+find_library(GUROBI_LIBRARY NAMES gurobi81
+             HINTS
+             ENV GUROBI_HOME
+             PATH_SUFFIXES lib
+             )
+
+find_library(GUROBI_CXX_LIBRARY NAMES gurobi_c++
+             HINTS
+             ENV GUROBI_HOME
+             PATH_SUFFIXES lib
+             )
+
+set(GUROBI_LIBRARIES  ${GUROBI_LIBRARY} ${GUROBI_CXX_LIBRARY})
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set GUROBI_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(GUROBI  DEFAULT_MSG
+                                  GUROBI_LIBRARY GUROBI_CXX_LIBRARY GUROBI_INCLUDE_DIR)
+
+mark_as_advanced(GUROBI_INCLUDE_DIR GUROBI_LIBRARY GUROBI_CXX_LIBRARY GUROBI_LIBRARIES)
diff --git a/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
new file mode 100644
index 0000000000..457824faf3
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
@@ -0,0 +1,51 @@
+#.rst:
+# FindqpOASES
+# -----------
+#
+# Try to find the qpOASES library.
+# Once done this will define the following variables::
+#
+#  qpOASES_FOUND         - System has qpOASES
+#  qpOASES_INCLUDE_DIRS  - qpOASES include directory
+#  qpOASES_LIBRARIES     - qpOASES libraries
+#
+# qpOASES does not have an "install" step, and the includes are in the source
+# tree, while the libraries are in the build tree.
+# Therefore the environment and cmake variables `qpOASES_SOURCE_DIR` and
+# `qpOASES_BINARY_DIR` will be used to locate the includes and libraries.
+
+#=============================================================================
+# Copyright 2014 iCub Facility, Istituto Italiano di Tecnologia
+#   Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of YCM, substitute the full
+#  License text for the above reference.)
+
+
+include(FindPackageHandleStandardArgs)
+
+find_path(qpOASES_INCLUDEDIR
+          NAMES qpOASES.hpp
+          HINTS "${qpOASES_SOURCE_DIR}"
+                ENV qpOASES_SOURCE_DIR
+          PATH_SUFFIXES include)
+find_library(qpOASES_LIB
+             NAMES qpOASES
+             HINTS "${qpOASES_BINARY_DIR}"
+                   ENV qpOASES_BINARY_DIR
+             PATH_SUFFIXES lib
+                           libs)
+
+set(qpOASES_INCLUDE_DIRS ${qpOASES_INCLUDEDIR})
+set(qpOASES_LIBRARIES ${qpOASES_LIB})
+
+find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARIES
+                                                      qpOASES_INCLUDE_DIRS)
+set(qpOASES_FOUND ${QPOASES_FOUND})
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
new file mode 100644
index 0000000000..e0516e880d
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
@@ -0,0 +1,40 @@
+#pragma once
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+class BPMPDModel : public Model
+{
+public:
+  VarVector m_vars;
+  CntVector m_cnts;
+  AffExprVector m_cntExprs;
+  ConstraintTypeVector m_cntTypes;
+  DblVec m_soln;
+  DblVec m_lbs, m_ubs;
+
+  QuadExpr m_objective;
+
+  int m_pipeIn, m_pipeOut, m_pid;
+
+  BPMPDModel();
+  ~BPMPDModel() override;
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
new file mode 100644
index 0000000000..f2e6d4a0e9
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
@@ -0,0 +1,168 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <string>
+#include <vector>
+#include <assert.h>
+#include <iostream>
+#include <stdlib.h>
+#include <unistd.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace bpmpd_io
+{
+enum SerMode
+{
+  DESER,
+  SER
+};
+
+template <typename T>
+void ser(int fp, T& x, SerMode mode)
+{
+  switch (mode)
+  {
+    case SER:
+    {
+      T xcopy = x;
+      long n = write(fp, &xcopy, sizeof(T));
+      assert(n == sizeof(T));
+      break;
+    }
+    case DESER:
+    {
+      long n = read(fp, &x, sizeof(T));
+      assert(n == sizeof(T));
+      break;
+    }
+  }
+}
+
+template <typename T>
+void ser(int fp, std::vector<T>& x, SerMode mode)
+{
+  unsigned long size = x.size();
+  ser(fp, size, mode);
+  switch (mode)
+  {
+    case SER:
+    {
+      long n = write(fp, x.data(), sizeof(T) * size);
+      assert(static_cast<unsigned long>(n) == sizeof(T) * size);
+      break;
+    }
+    case DESER:
+    {
+      x.resize(size);
+      long n = read(fp, x.data(), sizeof(T) * size);
+      assert(static_cast<unsigned>(n) == sizeof(T) * size);
+      break;
+    }
+  }
+}
+
+struct bpmpd_input
+{
+  int m, n, nz, qn, qnz;
+  std::vector<int> acolcnt, acolidx;
+  std::vector<double> acolnzs;
+  std::vector<int> qcolcnt, qcolidx;
+  std::vector<double> qcolnzs;
+  std::vector<double> rhs, obj, lbound, ubound;
+
+  bpmpd_input() {}
+  bpmpd_input(int m,
+              int n,
+              int nz,
+              int qn,
+              int qnz,
+              const std::vector<int>& acolcnt,
+              const std::vector<int>& acolidx,
+              const std::vector<double>& acolnzs,
+              const std::vector<int>& qcolcnt,
+              const std::vector<int>& qcolidx,
+              const std::vector<double>& qcolnzs,
+              const std::vector<double>& rhs,
+              const std::vector<double>& obj,
+              const std::vector<double>& lbound,
+              const std::vector<double>& ubound)
+    : m(m)
+    , n(n)
+    , nz(nz)
+    , qn(qn)
+    , qnz(qnz)
+    , acolcnt(acolcnt)
+    , acolidx(acolidx)
+    , acolnzs(acolnzs)
+    , qcolcnt(qcolcnt)
+    , qcolidx(qcolidx)
+    , qcolnzs(qcolnzs)
+    , rhs(rhs)
+    , obj(obj)
+    , lbound(lbound)
+    , ubound(ubound)
+  {
+  }
+};
+
+const char EXIT_CHAR = 123;
+const char CHECK_CHAR = 111;
+
+void ser(int fp, bpmpd_input& bi, SerMode mode)
+{
+  char scorrect = 'z', s = (mode == SER) ? scorrect : 0;
+  ser(fp, s, mode);
+  if (s == EXIT_CHAR)
+  {
+    exit(0);
+  }
+
+  ser(fp, bi.m, mode);
+  ser(fp, bi.n, mode);
+  ser(fp, bi.nz, mode);
+  ser(fp, bi.qn, mode);
+  ser(fp, bi.qnz, mode);
+  ser(fp, bi.acolcnt, mode);
+  ser(fp, bi.acolidx, mode);
+  ser(fp, bi.acolnzs, mode);
+  ser(fp, bi.qcolcnt, mode);
+  ser(fp, bi.qcolidx, mode);
+  ser(fp, bi.qcolnzs, mode);
+  ser(fp, bi.rhs, mode);
+  ser(fp, bi.obj, mode);
+  ser(fp, bi.lbound, mode);
+  ser(fp, bi.ubound, mode);
+}
+
+struct bpmpd_output
+{
+  std::vector<double> primal, dual;
+  std::vector<int> status;
+  int code;
+  double opt;
+  bpmpd_output() {}
+  bpmpd_output(const std::vector<double>& primal,
+               const std::vector<double>& dual,
+               const std::vector<int>& status,
+               int code,
+               double opt)
+    : primal(primal), dual(dual), status(status), code(code), opt(opt)
+  {
+  }
+};
+
+void ser(int fp, bpmpd_output& bo, SerMode mode)
+{
+  char scorrect = CHECK_CHAR, s = (mode == SER) ? scorrect : 0;
+  ser(fp, s, mode);
+  if (s == EXIT_CHAR)
+  {
+    exit(0);
+  }
+  ser(fp, bo.primal, mode);
+  ser(fp, bo.dual, mode);
+  ser(fp, bo.status, mode);
+  ser(fp, bo.code, mode);
+  ser(fp, bo.opt, mode);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
new file mode 100644
index 0000000000..6878b8beb0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
@@ -0,0 +1,40 @@
+#pragma once
+#include <trajopt_sco/expr_ops.hpp>
+
+namespace sco
+{
+inline AffExpr operator+(const Var& x, double y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, double y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, double y) { return exprAdd(x, y); }
+inline AffExpr operator+(const Var& x, const Var& y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, const Var& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, const Var& y) { return exprAdd(x, y); }
+inline AffExpr operator+(const Var& x, const AffExpr& y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, const AffExpr& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const Var& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
+inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
+inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y) { return exprAdd(x, y); }
+inline AffExpr operator-(const Var& x, double y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, double y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, double y) { return exprSub(x, y); }
+inline AffExpr operator-(const Var& x, const Var& y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, const Var& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, const Var& y) { return exprSub(x, y); }
+inline AffExpr operator-(const Var& x, const AffExpr& y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, const AffExpr& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const Var& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
+inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
+inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y) { return exprSub(x, y); }
+///////////////
+
+inline AffExpr operator*(double a, const Var& b) { return exprMult(b, a); }
+inline AffExpr operator*(double a, const AffExpr& b) { return exprMult(b, a); }
+inline QuadExpr operator*(double a, const QuadExpr& b) { return exprMult(b, a); }
+inline AffExpr operator*(const Var& a, double b) { return exprMult(a, b); }
+inline AffExpr operator*(const AffExpr& a, double b) { return exprMult(a, b); }
+inline QuadExpr operator*(const QuadExpr& a, double b) { return exprMult(a, b); }
+inline AffExpr operator-(const Var& a) { return exprMult(a, -1); }
+inline AffExpr operator-(const AffExpr& a) { return exprMult(a, -1); }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
new file mode 100644
index 0000000000..ac4facc9c1
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
@@ -0,0 +1,163 @@
+#pragma once
+#include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+////// In-place operations ///////
+
+// multiplication
+inline void exprScale(AffExpr& v, double a)
+{
+  v.constant *= a;
+  for (unsigned i = 0; i < v.coeffs.size(); ++i)
+    v.coeffs[i] *= a;
+}
+inline void exprScale(QuadExpr& q, double a)
+{
+  exprScale(q.affexpr, a);
+  for (unsigned i = 0; i < q.coeffs.size(); ++i)
+    q.coeffs[i] *= a;
+}
+
+// addition
+inline void exprInc(AffExpr& a, double b) { a.constant += b; }
+inline void exprInc(AffExpr& a, const AffExpr& b)
+{
+  a.constant += b.constant;
+  a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
+  a.vars.insert(a.vars.end(), b.vars.begin(), b.vars.end());
+}
+inline void exprInc(AffExpr& a, const Var& b) { exprInc(a, AffExpr(b)); }
+inline void exprInc(QuadExpr& a, double b) { exprInc(a.affexpr, b); }
+inline void exprInc(QuadExpr& a, const Var& b) { exprInc(a.affexpr, AffExpr(b)); }
+inline void exprInc(QuadExpr& a, const AffExpr& b) { exprInc(a.affexpr, b); }
+inline void exprInc(QuadExpr& a, const QuadExpr& b)
+{
+  exprInc(a.affexpr, b.affexpr);
+  a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
+  a.vars1.insert(a.vars1.end(), b.vars1.begin(), b.vars1.end());
+  a.vars2.insert(a.vars2.end(), b.vars2.begin(), b.vars2.end());
+}
+
+// subtraction
+inline void exprDec(AffExpr& a, double b) { a.constant -= b; }
+inline void exprDec(AffExpr& a, AffExpr b)
+{
+  exprScale(b, -1);
+  exprInc(a, b);
+}
+inline void exprDec(AffExpr& a, const Var& b) { exprDec(a, AffExpr(b)); }
+inline void exprDec(QuadExpr& a, double b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, const Var& b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, const AffExpr& b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, QuadExpr b)
+{
+  exprScale(b, -1);
+  exprInc(a, b);
+}
+
+/////////////////////
+
+inline AffExpr exprMult(const Var& a, double b)
+{
+  AffExpr c(a);
+  exprScale(c, b);
+  return c;
+}
+// multiplication
+inline AffExpr exprMult(AffExpr a, double b)
+{
+  exprScale(a, b);
+  return a;
+}
+inline QuadExpr exprMult(QuadExpr a, double b)
+{
+  exprScale(a, b);
+  return a;
+}
+
+inline AffExpr exprAdd(AffExpr a, double b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline AffExpr exprAdd(AffExpr a, const Var& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline AffExpr exprAdd(AffExpr a, const AffExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, double b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const Var& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const AffExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const QuadExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+
+inline AffExpr exprSub(AffExpr a, double b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline AffExpr exprSub(AffExpr a, const Var& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline AffExpr exprSub(AffExpr a, const AffExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, double b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const Var& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const AffExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const QuadExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+
+//////////////////////
+/**
+ * @brief Multiplies two AffExpr. Does not consider any optimizations for shared variables
+ * @return The QuadExpr result of the multiplication
+ */
+QuadExpr exprMult(const AffExpr&, const AffExpr&);
+
+QuadExpr exprSquare(const Var&);
+QuadExpr exprSquare(const AffExpr&);
+
+AffExpr cleanupAff(const AffExpr&);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
new file mode 100644
index 0000000000..050cea9a95
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
@@ -0,0 +1,30 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+#if 0
+Matrix3d leftCrossProdMat(const Vector3d& x);
+Matrix3d rightCrossProdMat(const Vector3d& x);
+
+ExprVector exprMatMult(const MatrixXd& A, const VarVector& x);
+ExprVector exprMatMult(const MatrixXd& A, const ExprVector& x);
+
+ExprVector exprCross(const VectorXd& x, const VarVector& y);
+ExprVector exprCross(const VarVector& x, const VectorXd& y);
+ExprVector exprCross(const VectorXd& x, const ExprVector& y);
+ExprVector exprCross(const ExprVector& x, const VectorXd& y);
+
+#endif
+AffExpr varDot(const Eigen::VectorXd& x, const VarVector& v);
+AffExpr exprDot(const Eigen::VectorXd& x, const AffExprVector& v);
+#if 0
+QuadExpr varNorm2(const VarVector& v);
+QuadExpr exprNorm2(const ExprVector& v);
+#endif
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
new file mode 100644
index 0000000000..39809169ca
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
@@ -0,0 +1,53 @@
+#pragma once
+#include <trajopt_sco/solver_interface.hpp>
+
+/**
+
+@file gurobi_interface.hpp
+
+Gurobi backend
+
+*/
+
+struct _GRBmodel;
+typedef struct _GRBmodel GRBmodel;
+
+namespace sco
+{
+class GurobiModel : public Model
+{
+public:
+  GRBmodel* m_model;
+  VarVector m_vars;
+  CntVector m_cnts;
+
+  GurobiModel();
+
+  Var addVar(const std::string& name) override;
+  Var addVar(const std::string& name, double lower, double upper) override;
+
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+
+  void removeVars(const VarVector&) override;
+  void removeCnts(const CntVector&) override;
+
+  void update() override;
+  void setVarBounds(const VarVector&, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector&) const override;
+
+  CvxOptStatus optimize() override;
+  /** Don't use this function, because it adds constraints that aren't tracked
+   */
+  CvxOptStatus optimizeFeasRelax();
+
+  void setObjective(const AffExpr&) override;
+  void setObjective(const QuadExpr&) override;
+  void writeToFile(const std::string& fname) override;
+
+  VarVector getVars() const override;
+
+  ~GurobiModel();
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
new file mode 100644
index 0000000000..2081144679
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
@@ -0,0 +1,239 @@
+#pragma once
+
+/*
+ * Model a non-convex optimization problem by defining Cost and Constraint
+ * objects
+ * which know how to generate a convex approximation
+ *
+ *
+ */
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+/**
+Stores convex terms in a objective
+For non-quadratic terms like hinge(x) and abs(x), it needs to add auxilliary
+variables and linear constraints to the model
+Note: When this object is deleted, the constraints and variables it added to the
+model are removed
+ */
+class ConvexObjective
+{
+public:
+  ConvexObjective(Model* model) : model_(model) {}
+  void addAffExpr(const AffExpr&);
+  void addQuadExpr(const QuadExpr&);
+  void addHinge(const AffExpr&, double coeff);
+  void addAbs(const AffExpr&, double coeff);
+  void addHinges(const AffExprVector&);
+  void addL1Norm(const AffExprVector&);
+  void addL2Norm(const AffExprVector&);
+  void addMax(const AffExprVector&);
+
+  bool inModel() { return model_ != nullptr; }
+  void addConstraintsToModel();
+  void removeFromModel();
+  double value(const DblVec& x);
+
+  ~ConvexObjective();
+
+  Model* model_;
+  QuadExpr quad_;
+  VarVector vars_;
+  AffExprVector eqs_;
+  AffExprVector ineqs_;
+  CntVector cnts_;
+
+private:
+  ConvexObjective() {}
+  ConvexObjective(ConvexObjective&) {}
+};
+
+/**
+Stores convex inequality constraints and affine equality constraints.
+Actually only affine inequality constraints are currently implemented.
+*/
+class ConvexConstraints
+{
+public:
+  ConvexConstraints(Model* model) : model_(model) {}
+  /** Expression that should == 0 */
+  void addEqCnt(const AffExpr&);
+  /** Expression that should <= 0 */
+  void addIneqCnt(const AffExpr&);
+  void setModel(Model* model)
+  {
+    assert(!inModel());
+    model_ = model;
+  }
+  bool inModel() { return model_ != nullptr; }
+  void addConstraintsToModel();
+  void removeFromModel();
+
+  DblVec violations(const DblVec& x);
+  double violation(const DblVec& x);
+
+  ~ConvexConstraints();
+  AffExprVector eqs_;
+  AffExprVector ineqs_;
+
+private:
+  Model* model_;
+  CntVector cnts_;
+  ConvexConstraints() : model_(nullptr) {}
+  ConvexConstraints(ConvexConstraints&) {}
+};
+
+/**
+Non-convex cost function, which knows how to calculate its convex approximation
+(convexify() method)
+*/
+class Cost
+{
+public:
+  /** Evaluate at solution vector x*/
+  virtual double value(const DblVec&) = 0;
+  /** Convexify at solution vector x*/
+  virtual ConvexObjectivePtr convex(const DblVec& x, Model* model) = 0;
+  /** Get problem variables associated with this cost */
+  virtual VarVector getVars() = 0;
+  std::string name() { return name_; }
+  void setName(const std::string& name) { name_ = name; }
+  Cost() : name_("unnamed") {}
+  Cost(const std::string& name) : name_(name) {}
+  virtual ~Cost() = default;
+
+protected:
+  std::string name_;
+};
+
+/**
+Non-convex vector-valued constraint function, which knows how to calculate its
+convex approximation
+*/
+class Constraint
+{
+public:
+  /** inequality vs equality */
+  virtual ConstraintType type() = 0;
+  /** Evaluate at solution vector x*/
+  virtual DblVec value(const DblVec& x) = 0;
+  /** Convexify at solution vector x*/
+  virtual ConvexConstraintsPtr convex(const DblVec& x, Model* model) = 0;
+  /** Calculate constraint violations (positive part for inequality constraint,
+   * absolute value for inequality constraint)*/
+  DblVec violations(const DblVec& x);
+  /** Sum of violations */
+  double violation(const DblVec& x);
+  /** Get problem variables associated with this constraint */
+  virtual VarVector getVars() = 0;
+  std::string name() { return name_; }
+  void setName(const std::string& name) { name_ = name; }
+  Constraint() : name_("unnamed") {}
+  Constraint(const std::string& name) : name_(name) {}
+  virtual ~Constraint() {}
+protected:
+  std::string name_;
+};
+
+class EqConstraint : public Constraint
+{
+public:
+  ConstraintType type() override { return EQ; }
+  EqConstraint() : Constraint() {}
+  EqConstraint(const std::string& name) : Constraint(name) {}
+};
+
+class IneqConstraint : public Constraint
+{
+public:
+  ConstraintType type() override { return INEQ; }
+  IneqConstraint() : Constraint() {}
+  IneqConstraint(const std::string& name) : Constraint(name) {}
+};
+
+/**
+Non-convex optimization problem
+*/
+class OptProb
+{
+public:
+  OptProb(ModelType convex_solver = ModelType::AUTO_SOLVER);
+  virtual ~OptProb() = default;
+
+  /** create variables with bounds [-INFINITY, INFINITY]  */
+  VarVector createVariables(const std::vector<std::string>& names);
+  /** create variables with bounds [lb[i], ub[i] */
+  VarVector createVariables(const std::vector<std::string>& names, const DblVec& lb, const DblVec& ub);
+  /** set the lower bounds of all the variables */
+  void setLowerBounds(const DblVec& lb);
+  /** set the upper bounds of all the variables */
+  void setUpperBounds(const DblVec& ub);
+  /** set lower bounds of some of the variables */
+  void setLowerBounds(const DblVec& lb, const VarVector& vars);
+  /** set upper bounds of some of the variables */
+  void setUpperBounds(const DblVec& ub, const VarVector& vars);
+  /** Note: in the current implementation, this function just adds the
+   * constraint to the
+   * model. So if you're not careful, you might end up with an infeasible
+   * problem. */
+  void addLinearConstraint(const AffExpr&, ConstraintType type);
+  /** Add nonlinear cost function */
+  void addCost(CostPtr);
+  /** Add nonlinear constraint function */
+  void addConstraint(ConstraintPtr);
+  void addEqConstraint(ConstraintPtr);
+  void addIneqConstraint(ConstraintPtr);
+  /** Find closest point to solution vector x that satisfies linear inequality
+   * constraints */
+  DblVec getCentralFeasiblePoint(const DblVec& x);
+  DblVec getClosestFeasiblePoint(const DblVec& x);
+
+  std::vector<ConstraintPtr> getConstraints() const;
+  const std::vector<CostPtr>& getCosts() { return costs_; }
+  const std::vector<ConstraintPtr>& getIneqConstraints() { return ineqcnts_; }
+  const std::vector<ConstraintPtr>& getEqConstraints() { return eqcnts_; }
+  const DblVec& getLowerBounds() { return lower_bounds_; }
+  const DblVec& getUpperBounds() { return upper_bounds_; }
+  ModelPtr getModel() { return model_; }
+  const VarVector& getVars() { return vars_; }
+  int getNumCosts() { return static_cast<int>(costs_.size()); }
+  int getNumConstraints() { return static_cast<int>(eqcnts_.size() + ineqcnts_.size()); }
+  int getNumVars() { return static_cast<int>(vars_.size()); }
+protected:
+  ModelPtr model_;
+  VarVector vars_;
+  DblVec lower_bounds_;
+  DblVec upper_bounds_;
+  std::vector<CostPtr> costs_;
+  std::vector<ConstraintPtr> eqcnts_;
+  std::vector<ConstraintPtr> ineqcnts_;
+
+  OptProb(OptProb&);
+};
+
+template <typename VecType>
+inline void setVec(DblVec& x, const VarVector& vars, const VecType& vals)
+{
+  assert(vars.size() == vals.size());
+  for (size_t i = 0; i < vars.size(); ++i)
+  {
+    x[static_cast<size_t>(vars[i].var_rep->index)] = vals[i];
+  }
+}
+template <typename OutVecType>
+inline OutVecType getVec1(const DblVec& x, const VarVector& vars)
+{
+  OutVecType out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[vars[i].var_rep->index];
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
new file mode 100644
index 0000000000..32e5580629
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
@@ -0,0 +1,108 @@
+#pragma once
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/num_diff.hpp>
+#include <trajopt_sco/sco_common.hpp>
+/**
+@file modeling_utils.hpp
+@brief Build problem from user-defined functions
+Utilities for creating Cost and Constraint objects from functions
+using numerical derivatives or user-defined analytic derivatives.
+ */
+
+namespace sco
+{
+enum PenaltyType
+{
+  SQUARED,
+  ABS,
+  HINGE
+};
+
+/**
+x is the big solution vector of the whole problem. vars are variables that
+index into the vector x
+this function extracts (from x) the values of the variables in vars
+ */
+Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars);
+/**
+Same idea as above, but different output type
+ */
+DblVec getDblVec(const DblVec& x, const VarVector& vars);
+
+AffExpr affFromValGrad(double y, const Eigen::VectorXd& x, const Eigen::VectorXd& dydx, const VarVector& vars);
+
+class CostFromFunc : public Cost
+{
+public:
+  /// supply function, obtain derivative and hessian numerically
+  CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian = false);
+  double value(const DblVec& x) override;
+  ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
+  VarVector getVars() override { return vars_; }
+protected:
+  ScalarOfVectorPtr f_;
+  VarVector vars_;
+  bool full_hessian_;
+  double epsilon_;
+};
+
+class CostFromErrFunc : public Cost
+{
+public:
+  /// supply error function, obtain derivative numerically
+  CostFromErrFunc(VectorOfVectorPtr f,
+                  const VarVector& vars,
+                  const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type,
+                  const std::string& name);
+  /// supply error function and gradient
+  CostFromErrFunc(VectorOfVectorPtr f,
+                  MatrixOfVectorPtr dfdx,
+                  const VarVector& vars,
+                  const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type,
+                  const std::string& name);
+  double value(const DblVec& x) override;
+  ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
+  VarVector getVars() override { return vars_; }
+protected:
+  VectorOfVectorPtr f_;
+  MatrixOfVectorPtr dfdx_;
+  VarVector vars_;
+  Eigen::VectorXd coeffs_;
+  PenaltyType pen_type_;
+  double epsilon_;
+};
+
+class ConstraintFromErrFunc : public Constraint
+{
+public:
+  /// supply error function, obtain derivative numerically
+  ConstraintFromErrFunc(VectorOfVectorPtr f,
+                        const VarVector& vars,
+                        const Eigen::VectorXd& coeffs,
+                        ConstraintType type,
+                        const std::string& name);
+  /// supply error function and gradient
+  ConstraintFromErrFunc(VectorOfVectorPtr f,
+                        MatrixOfVectorPtr dfdx,
+                        const VarVector& vars,
+                        const Eigen::VectorXd& coeffs,
+                        ConstraintType type,
+                        const std::string& name);
+  DblVec value(const DblVec& x) override;
+  ConvexConstraintsPtr convex(const DblVec& x, Model* model) override;
+  ConstraintType type() override { return type_; }
+  VarVector getVars() override { return vars_; }
+protected:
+  VectorOfVectorPtr f_;
+  MatrixOfVectorPtr dfdx_;
+  VarVector vars_;
+  Eigen::VectorXd coeffs_;
+  ConstraintType type_;
+  double epsilon_;
+  Eigen::VectorXd scaling_;
+};
+
+std::string AffExprToString(const AffExpr& aff);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
new file mode 100644
index 0000000000..ddcfb07b19
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
@@ -0,0 +1,72 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Dense>
+#include <functional>
+#include <memory>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+/*
+ * Numerical derivatives
+ */
+
+namespace sco
+{
+class ScalarOfVector;
+class VectorOfVector;
+class MatrixOfVector;
+typedef std::shared_ptr<ScalarOfVector> ScalarOfVectorPtr;
+typedef std::shared_ptr<VectorOfVector> VectorOfVectorPtr;
+typedef std::shared_ptr<MatrixOfVector> MatrixOfVectorPtr;
+
+class ScalarOfVector
+{
+public:
+  virtual double operator()(const Eigen::VectorXd& x) const = 0;
+  double call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~ScalarOfVector() {}
+  typedef std::function<double(Eigen::VectorXd)> func;
+  static ScalarOfVectorPtr construct(const func&);
+  //  typedef VectorXd (*c_func)(const VectorXd&);
+  //  static ScalarOfVectorPtr construct(const c_func&);
+};
+class VectorOfVector
+{
+public:
+  virtual Eigen::VectorXd operator()(const Eigen::VectorXd& x) const = 0;
+  Eigen::VectorXd call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~VectorOfVector() {}
+  typedef std::function<Eigen::VectorXd(Eigen::VectorXd)> func;
+  static VectorOfVectorPtr construct(const func&);
+  //  typedef VectorXd (*c_func)(const VectorXd&);
+  //  static VectorOfVectorPtr construct(const c_func&);
+};
+class MatrixOfVector
+{
+public:
+  virtual Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const = 0;
+  Eigen::MatrixXd call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~MatrixOfVector() {}
+  typedef std::function<Eigen::MatrixXd(Eigen::VectorXd)> func;
+  static MatrixOfVectorPtr construct(const func&);
+  //  typedef VectorMatrixXd (*c_func)(const VectorXd&);
+  //  static MatrixOfVectorPtr construct(const c_func&);
+};
+
+Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon);
+Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon);
+void calcGradAndDiagHess(const ScalarOfVector& f,
+                         const Eigen::VectorXd& x,
+                         double epsilon,
+                         double& y,
+                         Eigen::VectorXd& grad,
+                         Eigen::VectorXd& hess);
+void calcGradHess(ScalarOfVectorPtr f,
+                  const Eigen::VectorXd& x,
+                  double epsilon,
+                  double& y,
+                  Eigen::VectorXd& grad,
+                  Eigen::MatrixXd& hess);
+VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon);
+MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
new file mode 100644
index 0000000000..7aed5bb507
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
@@ -0,0 +1,128 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <functional>
+#include <string>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/modeling.hpp>
+/*
+ * Algorithms for non-convex, constrained optimization
+ */
+
+namespace sco
+{
+enum OptStatus
+{
+  OPT_CONVERGED,
+  OPT_SCO_ITERATION_LIMIT,  // hit iteration limit before convergence
+  OPT_PENALTY_ITERATION_LIMIT,
+  OPT_FAILED,
+  INVALID
+};
+static const char* OptStatus_strings[] = { "CONVERGED",
+                                           "SCO_ITERATION_LIMIT",
+                                           "PENALTY_ITERATION_LIMIT",
+                                           "FAILED",
+                                           "INVALID" };
+inline std::string statusToString(OptStatus status) { return OptStatus_strings[status]; }
+struct OptResults
+{
+  DblVec x;  // solution estimate
+  OptStatus status;
+  double total_cost;
+  DblVec cost_vals;
+  DblVec cnt_viols;
+  int n_func_evals, n_qp_solves;
+  void clear()
+  {
+    x.clear();
+    status = INVALID;
+    cost_vals.clear();
+    cnt_viols.clear();
+    n_func_evals = 0;
+    n_qp_solves = 0;
+  }
+  OptResults() { clear(); }
+};
+std::ostream& operator<<(std::ostream& o, const OptResults& r);
+
+class Optimizer
+{
+  /*
+   * Solves an optimization problem
+   */
+public:
+  virtual ~Optimizer() = default;
+  virtual OptStatus optimize() = 0;
+  virtual void setProblem(OptProbPtr prob) { prob_ = prob; }
+  void initialize(const DblVec& x);
+  DblVec& x() { return results_.x; }
+  OptResults& results() { return results_; }
+  typedef std::function<void(OptProb*, OptResults&)> Callback;
+  void addCallback(const Callback& f);  // called before each iteration
+protected:
+  std::vector<Callback> callbacks_;
+  void callCallbacks();
+  OptProbPtr prob_;
+  OptResults results_;
+};
+
+struct BasicTrustRegionSQPParameters
+{
+  double improve_ratio_threshold;  // minimum ratio true_improve/approx_improve
+                                   // to accept step
+  double min_trust_box_size;       // if trust region gets any smaller, exit and
+                                   // report convergence
+  double min_approx_improve;       // if model improves less than this, exit and
+                                   // report convergence
+  double min_approx_improve_frac;  // if model improves less than this, exit and
+                                   // report convergence
+  double max_iter;                 // The max number of iterations
+  double trust_shrink_ratio;       // if improvement is less than
+  // improve_ratio_threshold, shrink trust region by
+  // this ratio
+  double trust_expand_ratio;  // if improvement is less than
+                              // improve_ratio_threshold, shrink trust region by
+                              // this ratio
+  double cnt_tolerance;       // after convergence of penalty subproblem, if
+  // constraint violation is less than this, we're done
+  double max_merit_coeff_increases;   // number of times that we jack up penalty
+                                      // coefficient
+  double merit_coeff_increase_ratio;  // ratio that we increate coeff each time
+  double max_time;                    // not yet implemented
+  double merit_error_coeff;           // initial penalty coefficient
+  double trust_box_size;              // current size of trust region (component-wise)
+
+  BasicTrustRegionSQPParameters();
+};
+
+class BasicTrustRegionSQP : public Optimizer
+{
+  /*
+   * Alternates between convexifying objectives and constraints and then solving
+   * convex subproblem
+   * Uses a merit function to decide whether or not to accept the step
+   * merit function = objective + merit_err_coeff * | constraint_error |
+   * Note: sometimes the convexified objectives and constraints lead to an
+   * infeasible subproblem
+   * In that case, you should turn them into penalties and solve that problem
+   * (todo: implement penalty-based sqp that gracefully handles infeasible
+   * constraints)
+   */
+public:
+  BasicTrustRegionSQP();
+  BasicTrustRegionSQP(OptProbPtr prob);
+  void setProblem(OptProbPtr prob) override;
+  void setParameters(const BasicTrustRegionSQPParameters& param) { param_ = param; }
+  const BasicTrustRegionSQPParameters& getParameters() const { return param_; }
+  BasicTrustRegionSQPParameters& getParameters() { return param_; }
+  OptStatus optimize() override;
+
+protected:
+  void adjustTrustRegion(double ratio);
+  void setTrustBoxConstraints(const DblVec& x);
+  ModelPtr model_;
+  BasicTrustRegionSQPParameters param_;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
new file mode 100644
index 0000000000..b17f7256a7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
@@ -0,0 +1,84 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <osqp.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+/**
+ * OSQPModel uses the BSD solver OSQP to solve a linearly constrained QP.
+ * OSQP solves a problem in the form:
+ * ```
+ * min   1/2*x'Px + q'x
+ * s.t.  l <= Ax <= u
+ * ```
+ *
+ * More informations about the solver are available at:
+ * https://osqp.org/docs/
+ */
+class OSQPModel : public Model
+{
+  OSQPSettings osqp_settings_; /**< OSQP Settings */
+                               /** OSQPData. Some fields here (`osp_data_.A` and `osp_data_.P`) are
+                                *  automatically allocated by OSQP, but deallocated by us. */
+  OSQPData osqp_data_;
+  /** OSQP Workspace. Memory here is managed by OSQP */
+  OSQPWorkspace* osqp_workspace_;
+
+  /** Updates OSQP quadratic cost matrix from QuadExpr expression.
+   *  Transforms QuadExpr objective_ into the OSQP CSC matrix P_ */
+  void updateObjective();
+
+  /** Updates qpOASES constraints from AffExpr expression.
+   *  Transforms AffExpr cntr_exprs_ and box bounds lbs_ and ubs_ into the
+   *  OSQP CSC matrix A_, and vectors lbA_ and ubA_ */
+  void updateConstraints();
+
+  /** Creates or updates the solver and its workspace */
+  void createOrUpdateSolver();
+
+  VarVector vars_;                 /**< model variables */
+  CntVector cnts_;                 /**< model's constraints sizes */
+  DblVec lbs_, ubs_;               /**< variables bounds */
+  AffExprVector cnt_exprs_;        /**< constraints expressions */
+  ConstraintTypeVector cnt_types_; /**< constraints types */
+  DblVec solution_;                /**< optimizizer's solution for current model */
+
+  std::vector<c_int> P_row_indices_;     /**< row indices for P, CSC format */
+  std::vector<c_int> P_column_pointers_; /**< column pointers for P, CSC format */
+  DblVec P_csc_data_;                    /**< P values in CSC format */
+  Eigen::VectorXd q_;                    /**< linear part of the objective */
+
+  std::vector<c_int> A_row_indices_;     /**< row indices for constraint matrix, CSC format */
+  std::vector<c_int> A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;                    /**< constraint matrix values in CSC format */
+  DblVec l_, u_;                         /**< linear constraints upper and lower limits */
+
+  QuadExpr objective_; /**< objective QuadExpr expression */
+
+public:
+  OSQPModel();
+  virtual ~OSQPModel();
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
new file mode 100644
index 0000000000..ddf1ce9153
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
@@ -0,0 +1,95 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <qpOASES.hpp>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+/**
+ * qpOASESModel uses the LGPL solver qpOASES to solve a linearly constrained QP.
+ * qpOASES solves a problem in the form:
+ * ```
+ * min   1/2*x'Hx + x'g
+ * s.t.  lb  <=  x <= ub
+ * lbA <= Ax <= ubA
+ * ```
+ *
+ * More informations about the solver are available at:
+ * https://projects.coin-or.org/qpOASES
+ */
+class qpOASESModel : public Model
+{
+  /** pointer to a qpOASES Sequential Quadratic Problem*/
+  std::shared_ptr<qpOASES::SQProblem> qpoases_problem_;
+  qpOASES::Options qpoases_options_; /**< qpOASES solver options */
+
+  qpOASES::SymSparseMat H_; /**< Quadratic cost matrix */
+  qpOASES::SparseMatrix A_; /**< Constraints matrix */
+
+  /** Updates qpOASES Hessian matrix from QuadExpr expression.
+   *  Transforms QuadExpr objective_ into the qpOASES sparse matrix H_*/
+  void updateObjective();
+
+  /** Updates qpOASES constraints from AffExpr expression.
+   *  Transforms AffExpr cntr_exprs_ into the qpOASES sparse matrix A_, and
+   *  vectors lbA_ and ubA_ */
+  void updateConstraints();
+
+  /**
+   * Instantiates a new qpOASES problem if it has not been instantiated yet
+   * or if the size of the problem has changed.
+   *
+   * @returns true if a new qpOASES problem has been instantiated
+   */
+  bool updateSolver();
+
+  /**
+   * Instantiates a new qpOASES problem
+   */
+  void createSolver();
+
+  VarVector vars_;                 /**< model variables */
+  CntVector cnts_;                 /**< model's constraints sizes */
+  DblVec lb_, ub_;                 /**< variables bounds */
+  AffExprVector cnt_exprs_;        /**< constraints expressions */
+  ConstraintTypeVector cnt_types_; /**< constraints types */
+  DblVec solution_;                /**< optimizizer's solution for current model */
+
+  IntVec H_row_indices_;     /**< row indices for Hessian, CSC format */
+  IntVec H_column_pointers_; /**< column pointers for Hessian, CSC format */
+  DblVec H_csc_data_;        /**< Hessian values in CSC format */
+  Eigen::VectorXd g_;        /**< gradient of the optimization problem */
+
+  IntVec A_row_indices_;     /**< row indices for constraint matrix, CSC format */
+  IntVec A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;        /**< constraint matrix values in CSC format */
+  DblVec lbA_, ubA_;         /**< linear constraints upper and lower limits */
+
+  QuadExpr objective_; /**< objective QuadExpr expression */
+
+public:
+  qpOASESModel();
+  virtual ~qpOASESModel();
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
new file mode 100644
index 0000000000..2233e9fec5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
@@ -0,0 +1,52 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <algorithm>
+#include <cmath>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/sco_fwd.hpp>
+
+namespace sco
+{
+typedef std::vector<double> DblVec;
+typedef std::vector<int> IntVec;
+typedef std::vector<Var> VarVector;
+typedef std::vector<AffExpr> AffExprVector;
+typedef std::vector<QuadExpr> QuadExprVector;
+typedef std::vector<Cnt> CntVector;
+
+inline double vecSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += v[i];
+  return out;
+}
+inline double vecAbsSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += fabs(v[i]);
+  return out;
+}
+inline double pospart(double x) { return (x > 0) ? x : 0; }
+inline double sq(double x) { return x * x; }
+inline double vecHingeSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += pospart(v[i]);
+  return out;
+}
+inline double vecMax(const DblVec& v) { return *std::max_element(v.begin(), v.end()); }
+inline double vecDot(const DblVec& a, const DblVec& b)
+{
+  assert(a.size() == b.size());
+  double out = 0;
+  for (unsigned i = 0; i < a.size(); ++i)
+    out += a[i] * b[i];
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
new file mode 100644
index 0000000000..982c8a9ee0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
@@ -0,0 +1,48 @@
+// autogenerated forward declaration header
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <memory>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace sco
+{
+class GurobiModel;
+typedef std::shared_ptr<GurobiModel> GurobiModelPtr;
+class ConvexObjective;
+typedef std::shared_ptr<ConvexObjective> ConvexObjectivePtr;
+class ConvexConstraints;
+typedef std::shared_ptr<ConvexConstraints> ConvexConstraintsPtr;
+class Cost;
+typedef std::shared_ptr<Cost> CostPtr;
+class Constraint;
+typedef std::shared_ptr<Constraint> ConstraintPtr;
+class EqConstraint;
+typedef std::shared_ptr<EqConstraint> EqConstraintPtr;
+class IneqConstraint;
+typedef std::shared_ptr<IneqConstraint> IneqConstraintPtr;
+class OptProb;
+typedef std::shared_ptr<OptProb> OptProbPtr;
+class CostFromFunc;
+typedef std::shared_ptr<CostFromFunc> CostFromFuncPtr;
+class ConstraintFromErrFunc;
+typedef std::shared_ptr<ConstraintFromErrFunc> ConstraintFromFuncPtr;
+class Optimizer;
+typedef std::shared_ptr<Optimizer> OptimizerPtr;
+class BasicTrustRegionSQP;
+typedef std::shared_ptr<BasicTrustRegionSQP> BasicTrustRegionSQPPtr;
+class Model;
+typedef std::shared_ptr<Model> ModelPtr;
+struct VarRep;
+typedef std::shared_ptr<VarRep> VarRepPtr;
+struct Var;
+typedef std::shared_ptr<Var> VarPtr;
+struct CntRep;
+typedef std::shared_ptr<CntRep> CntRepPtr;
+struct Cnt;
+typedef std::shared_ptr<Cnt> CntPtr;
+struct AffExpr;
+typedef std::shared_ptr<AffExpr> AffExprPtr;
+struct QuadExpr;
+typedef std::shared_ptr<QuadExpr> QuadExprPtr;
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
new file mode 100644
index 0000000000..8fb2dc7c08
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
@@ -0,0 +1,206 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cassert>
+#include <iosfwd>
+#include <jsoncpp/json/json.h>
+#include <limits>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+#include <trajopt_sco/sco_common.hpp>
+
+/**
+@file solver_interface.hpp
+@brief Interface to convex solvers
+
+  This is based on Gurobi's nice c++ API (though the SCO Gurobi backend uses the
+Gurobi c api).
+  However, our intention is to allow for different solvers to be used as
+backends.
+ */
+
+namespace sco
+{
+enum ConstraintType
+{
+  EQ,
+  INEQ
+};
+
+typedef std::vector<ConstraintType> ConstraintTypeVector;
+
+enum CvxOptStatus
+{
+  CVX_SOLVED,
+  CVX_INFEASIBLE,
+  CVX_FAILED
+};
+
+/** @brief Convex optimization problem
+
+Gotchas:
+- after adding a variable, need to call update() before doing anything else with
+that variable
+
+ */
+class Model
+{
+public:
+  virtual Var addVar(const std::string& name) = 0;
+  virtual Var addVar(const std::string& name, double lb, double ub);
+
+  virtual Cnt addEqCnt(const AffExpr&, const std::string& name) = 0;     // expr == 0
+  virtual Cnt addIneqCnt(const AffExpr&, const std::string& name) = 0;   // expr <= 0
+  virtual Cnt addIneqCnt(const QuadExpr&, const std::string& name) = 0;  // expr <= 0
+
+  virtual void removeVar(const Var& var);
+  virtual void removeCnt(const Cnt& cnt);
+  virtual void removeVars(const VarVector& vars) = 0;
+  virtual void removeCnts(const CntVector& cnts) = 0;
+
+  virtual void update() = 0;  // call after adding/deleting stuff
+  virtual void setVarBounds(const Var& var, double lower, double upper);
+  virtual void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) = 0;
+  virtual double getVarValue(const Var& var) const;
+  virtual DblVec getVarValues(const VarVector& vars) const = 0;
+  virtual CvxOptStatus optimize() = 0;
+
+  virtual void setObjective(const AffExpr&) = 0;
+  virtual void setObjective(const QuadExpr&) = 0;
+  virtual void writeToFile(const std::string& fname) = 0;
+
+  virtual VarVector getVars() const = 0;
+
+  virtual ~Model() {}
+};
+
+struct VarRep
+{
+  VarRep(int _index, const std::string& _name, void* _creator)
+    : index(_index), name(_name), removed(false), creator(_creator)
+  {
+  }
+  int index;
+  std::string name;
+  bool removed;
+  void* creator;
+};
+
+struct Var
+{
+  VarRep* var_rep;
+  Var() : var_rep(nullptr) {}
+  Var(VarRep* var_rep) : var_rep(var_rep) {}
+  Var(const Var& other) : var_rep(other.var_rep) {}
+  double value(const double* x) const { return x[var_rep->index]; }
+  double value(const DblVec& x) const
+  {
+    assert(var_rep->index < static_cast<int>(x.size()));
+    return x[static_cast<size_t>(var_rep->index)];
+  }
+};
+
+struct CntRep
+{
+  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator) {}
+  int index;
+  bool removed;
+  void* creator;
+  ConstraintType type;
+  std::string expr;  // todo placeholder
+};
+
+struct Cnt
+{
+  CntRep* cnt_rep;
+  Cnt() : cnt_rep(nullptr) {}
+  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep) {}
+  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep) {}
+};
+
+struct AffExpr
+{  // affine expression
+  double constant;
+  DblVec coeffs;
+  VarVector vars;
+  AffExpr() : constant(0) {}
+  explicit AffExpr(double a) : constant(a) {}
+  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v) {}
+  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars) {}
+  size_t size() const { return coeffs.size(); }
+  double value(const double* x) const;
+  double value(const DblVec& x) const;
+};
+
+struct QuadExpr
+{
+  AffExpr affexpr;
+  DblVec coeffs;
+  VarVector vars1;
+  VarVector vars2;
+  QuadExpr() {}
+  explicit QuadExpr(double a) : affexpr(a) {}
+  explicit QuadExpr(const Var& v) : affexpr(v) {}
+  explicit QuadExpr(const AffExpr& aff) : affexpr(aff) {}
+  size_t size() const { return coeffs.size(); }
+  double value(const double* x) const;
+  double value(const DblVec& x) const;
+};
+
+std::ostream& operator<<(std::ostream&, const Var&);
+std::ostream& operator<<(std::ostream&, const Cnt&);
+std::ostream& operator<<(std::ostream&, const AffExpr&);
+std::ostream& operator<<(std::ostream&, const QuadExpr&);
+
+class ModelType
+{
+public:
+  enum Value
+  {
+    GUROBI,
+    BPMPD,
+    OSQP,
+    QPOASES,
+    AUTO_SOLVER
+  };
+
+  static const std::vector<std::string> MODEL_NAMES_;
+
+  ModelType();
+  ModelType(const ModelType::Value& v);
+  ModelType(const int& v);
+  ModelType(const std::string& s);
+  operator int() const;
+  bool operator==(const ModelType::Value& a) const;
+  bool operator==(const ModelType& a) const;
+  bool operator!=(const ModelType& a) const;
+  void fromJson(const Json::Value& v);
+  friend std::ostream& operator<<(std::ostream& os, const ModelType& cs);
+
+private:
+  Value value_;
+};
+
+std::vector<ModelType> availableSolvers();
+
+std::ostream& operator<<(std::ostream& os, const ModelType& cs);
+
+ModelPtr createModel(ModelType model_type = ModelType::AUTO_SOLVER);
+
+IntVec vars2inds(const VarVector& vars);
+
+IntVec cnts2inds(const CntVector& cnts);
+
+/**
+ * @brief simplify2 gets as input a list of indices, corresponding to non-zero
+ *        values in vals, checks that all indexed values are actually non-zero,
+ *        and if they are not, removes them from vals and inds, so that
+ *        inds_out.size() <= inds.size(). Also, it will compact vals so that
+ *        vals_out.size() == inds_out.size()
+ *
+ * @param[in,out] inds indices of non-vero variables in vals
+ * @param[in,out] val values
+ */
+void simplify2(IntVec& inds, DblVec& vals);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
new file mode 100644
index 0000000000..3edbcbdbba
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
@@ -0,0 +1,154 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <Eigen/SparseCore>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+/**
+ * @brief transform an `AffExpr` to an `Eigen::SparseVector`
+ *
+ * @param [in] expr an `AffExpr` expression
+ * @param [out] sparse_vector vector where to store results. It will be resized
+ *                            to the correct size.
+ * @param [in] n_vars the number of variables in expr. It is usually equal
+ *                    to `expr.size()`, but it might be larger.
+ */
+void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector, const int& n_vars);
+
+/**
+ * @brief transform a `QuadExpr` to an `Eigen::SparseMatrix` plus
+ *        `Eigen::VectorXd`
+ *
+ * @param [in] expr a `QuadExpr` expression
+ * @param [out] sparse_matrix matrix where to store results. It will be resized
+ *                            to the correct size.
+ * @param [out] vector        vector where to store the affine part of the
+ *                            `QuadExpr`. It will be resized to the correct size.
+ * @param [in] n_vars the number of variables in expr. It is usually equal
+ *                    to `expr.size()`, but it might be larger.
+ * @param [in] matrix_is_halved if `true`, sparse_matrix will be premultiplied
+ *                              by the coefficient `2`.
+ * @param [in] force_diagonal if true, we will forcibly add elements to the
+ *                            diagonal of the sparse matrix, adding `0.` if needed
+ */
+void exprToEigen(const QuadExpr& expr,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars,
+                 const bool& matrix_is_halved = false,
+                 const bool& force_diagonal = false);
+
+/**
+ * @brief transform a vector of `AffExpr` to an `Eigen::SparseMatrix` plus an
+ *        `Eigen::VectorXd`.
+ *        Notice that the underlying transformation is so that the the affine
+ *        expressions of the type `ax + b` will be stacked in matrix form into
+ *        `Ax + b` and then transformed into the expression `Ax <= -b` so that
+ *        `vector[i] = -expr_vec[i].constant`
+ * @param [in] expr_vec a an `AffExprVector`
+ * @param [out] sparse_matrix matrix where to store results. It will be resized
+ *                            to the correct size.
+ * @param [out] vector vector where to store all the constants of each `AffExpr`,
+ *                     ordered by their appearance order in `expr_vec`.
+ *                     It will be resized to the correct size.
+ * @param [in] n_vars the larger number of variables in expr.
+ *                    It is usually the same for each `expr` in `expr_vec`,
+ *                    and equal to `expr.size()`, but it might be larger.
+ */
+void exprToEigen(const AffExprVector& expr_vec,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars = -1);
+/**
+ * @brief Converts triplets to an `Eigen::SparseMatrix`.
+ * @param [in] rows_i a vector of row indices
+ * @param [in] cols_j a vector of columns indices
+ * @param [in] values_ij a vector of values, so that:
+ *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
+ * @param [in,out] sparse_matrix must be of the right size, as we should not
+ *                               be guessing the right size of sparse_matrix from
+ *                               a sparse triplet representation.
+ */
+void tripletsToEigen(const IntVec& rows_i,
+                     const IntVec& cols_j,
+                     const DblVec& values_ij,
+                     Eigen::SparseMatrix<double>& sparse_matrix);
+
+/**
+ * @brief Converts an `Eigen::SparseMatrix` into triplets format
+ * @param [in] sparse_matrix an `Eigen::SparseMatrix`
+ * @param [out] rows_i a vector of row indices
+ * @param [out] cols_j a vector of columns indices
+ * @param [out] values_ij a vector of values, so that:
+ *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
+ */
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
+                     IntVec& rows_i,
+                     IntVec& cols_j,
+                     DblVec& values_ij);
+
+/**
+ * @brief converts a sparse matrix into compressed
+ *        sparse column representation (CSC).
+ *
+ * @param [out] row_indices row indices for a CSC matrix
+ * @param [out] column_pointers column pointer for a CSC matrix
+ * @param [out] values pointer to non-zero elements in CSC representation
+ * @param [in,out] sparse_matrix input matrix: will be compressed
+ */
+template <int eigenUpLoType = 0, typename T>
+void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
+                std::vector<T>& row_indices,
+                std::vector<T>& column_pointers,
+                DblVec& values)
+{
+  Eigen::SparseMatrix<double> sm_t;
+  auto sm_ref = std::ref(sparse_matrix);
+
+  if (eigenUpLoType > 0)
+  {
+    sm_t = sparse_matrix.triangularView<eigenUpLoType>();
+    sm_ref = std::ref(sm_t);
+  }
+  sm_ref.get().makeCompressed();
+
+  if (sizeof(T) != sizeof(int))
+  {
+    IntVec row_indices_int, column_pointers_int;
+    auto si_p = sm_ref.get().innerIndexPtr();
+    row_indices_int.assign(si_p, si_p + sm_ref.get().nonZeros());
+    row_indices.clear();
+    row_indices.reserve(row_indices_int.size());
+    for (const auto& v : row_indices_int)
+      row_indices.push_back(static_cast<T>(v));
+
+    si_p = sm_ref.get().outerIndexPtr();
+    column_pointers_int.assign(si_p, si_p + sm_ref.get().outerSize());
+    column_pointers.clear();
+    column_pointers.reserve(column_pointers_int.size());
+    for (const auto& v : column_pointers_int)
+      column_pointers.push_back(static_cast<T>(v));
+  }
+  else
+  {
+    auto si_p = sm_ref.get().innerIndexPtr();
+    row_indices.assign(si_p, si_p + sm_ref.get().nonZeros());
+
+    si_p = sm_ref.get().outerIndexPtr();
+    column_pointers.assign(si_p, si_p + sm_ref.get().outerSize());
+  }
+
+  // while Eigen does not enforce this, CSC format requires that column
+  // pointers ends with the number of non-zero elements
+  column_pointers.push_back(sm_ref.get().nonZeros());
+
+  auto csc_v = sm_ref.get().valuePtr();
+  values.assign(csc_v, csc_v + sm_ref.get().nonZeros());
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/package.xml b/moveit_planners/trajopt/trajopt_sco/package.xml
new file mode 100644
index 0000000000..2198ffb689
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt_sco</name>
+  <version>0.1.0</version>
+  <description>The trajopt_sco package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>trajopt_utils</depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par b/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
new file mode 100644
index 0000000000..342c55aee8
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
@@ -0,0 +1,189 @@
+!  Parameter file for multiply predictor - corrector method
+
+MPS and Input/Output definitions
+
+BEGIN_PROB                ! Begin marker
+NAME      =  default      ! Problem name, max. 36 characters
+STARTSOL  =               ! Warm start solution file name
+MAXMN     =  250000.      ! Upper bound for M+N
+MINMAX    =  1.           !  =1. (mininmize)        =-1. (maximize)
+OUTPUT    =  1.           ! Output level 0 :only statistic, 1 :solution
+OBJNAM    =               ! Objective function name  (first N type row)
+RHSNAM    =               ! RHS   name   (first)
+BNDNAM    =               ! BOUND name   (first)
+RNGNAM    =               ! RANGE name   (first)
+EXPLSLACK =  1.           ! Include slack as variables
+BIGBOUND  = 1.0d+15       ! Skip bounds and ranges exceeding this limit
+SMALLVAL  = 1.0d-12       ! Skip matrix (and bound) values under this limit
+ITERLOG   =  3.           ! 0:no report, 1: stdout, 2: logfile, 3:both
+                          ! 4:advanced debug info   8: debug on steplengths
+                          ! 256: generating bpmpd.qps at start
+END_PROB
+
+
+Optimization parameter section
+
+
+BEGIN_OPT
+
+! Supernode parameters
+
+PSUPNODE  =     4.        ! Primer supernode length
+SSUPNODE  =     4.        ! Secunder supernode length
+CACHESIZ  =   256.        ! Size of the cache in kilobytes
+PUSHFACT  =     2.        ! 0: pull Cholesky
+                          ! 1: single-pass push Cholesky
+                          ! 2: multi-pass push Cholesky
+
+! Density handling and factorization type parameters
+
+MAXDENSE  = 0.20          ! maximal dense columns rate
+DENSGAP   = 3.50          ! density gap parameter
+DENSLEN   = 10.           ! Value for the possibily dense columns
+SUPDENS   = 350.          ! 'Super' dense column length
+SETLAM    =  0.           !  0 : density gap heuristic, ( AAT )
+                          ! -1 : use LAM, ( AAT )
+
+! Pivot and factorization parameters
+
+TPIV1     = 1.0D-03       ! First  threshold pivot tolerance
+TPIV2     = 1.0D-08       ! Second threshold pivot tolerance
+TABS      = 1.0D-12       ! Abs. pivot tolerance for the first factorization
+TRABS     = 1.0D-15       ! Abs. pivot tolerance during the algorithm
+LAM       = 1.0D-05       ! Minimum value of lambda
+TFIND     = 25.           ! Pivot search loop count
+ORDERING  =  0.           !  0 : Selected automatically
+                          !  1 : Minimum degree
+                          !  2 : Minimum local fill-in
+                          !  3 : Nested dissection (METIS at the moment)
+                          ! -1 : No ordering
+
+! Stopping criterion parameters
+
+TOPT1     = 1.0D-08       ! Relative duality gap tolerance
+TOPT2     = 1.0D-25       ! Average complementary gap tolerance
+TFEAS1    = 1.0D-07       ! Relative primal feasibility tolerance
+TFEAS2    = 1.0D-07       ! Relative dual   feasibility tolerance
+INFTOL    = 1.0D+04       ! Infeasibility check tolerance
+TSDIR     = 1.0D-16       ! Search direction maximum norm tolerance
+MAXITER   = 99.           ! Iteration limit
+
+! Numerical tolerances
+
+TPLUS     = 1.0D-10       ! Relative addition tolerance
+TZER      = 1.0D-35       ! Relative zero tolerance
+
+! Iterative refinement tolerances
+
+TRESX     = 1.0D-10       ! Acceptable residual in the primal space
+TRESY     = 1.0D-10       ! Acceptable residual in the dual space
+MAXREF    =  5.           ! Maximal number of refinement
+REFMET    =  3.           ! Refinement method: 1: Iterative improvement
+                          !                    2: Preconditioned QMR
+                          !                    4: Preconditioned CGM
+
+! Scaling parameters      ! Scaling methods:
+                          !  0. : No scaling
+                          !  1. : Simple scaling to rowmax=1, colmax=1
+                          !  2. : Geometric mean scaling + simple scaling
+                          !  3. : Curtis-Reid's algorithm + simple scaling
+                          !  4. : Geometric mean scaling only
+                          !  5. : Curtis-Reid's algorithm only
+OBJNORM   = 1.0D+02       ! Scaling the objective to this max. norm
+RHSNORM   = 0.0D+00       ! Scaling the rhs to this max. norm
+SIGNORE   = 1.0D-12       ! Ignore values during scaling under this parameter
+                          ! BEFORE AGGREGATOR
+SPASSES1   = 5.           ! Maximum number of passes ( <128 )
+SMETHOD1   = 2.           ! Scaling method
+                          ! AFTER AGGREGATOR
+SPASSES2   = 0.           ! Maximum number of passes ( <128 )
+SMETHOD2   = 0.           ! Scaling method
+
+! Complementary gap ballancing
+
+MINSTEP   = 5.0d-01       ! Minimum stepsize
+COMPLMIN  = 1.0d-03       ! Min/Max complementarity component threshold
+
+! Predictor-corrector and barrier parameters
+
+STOPCOR   = 1.00D-03      ! Correction stop parameter
+BARSET    = 2.00D-01      ! Barrier set-up limit
+BARGROW   = 1.00D+03      ! Barrier grow controll
+BARMIN    = 1.00D-15      ! Minimum barrier threshold
+MINCORR   = -1.           ! Number of the minimum corrections
+MAXCORR   =  1.           ! Number of the maximum corrections
+INIBARR   = 0.0d+0        ! Use initial barrier parameter
+
+! Centrality corrections parameters
+
+TARGET    = 9.00D-02      ! Trial steplength improvement
+TSMALL    = 2.00D-01      ! Small complementarity bound
+TLARGE    = 2.00D+01      ! Large compelmentarity bound
+CENTER    = 5.00D+00      ! Centrality force
+CORSTOP   = 1.01D+00      ! Correction stop parameter
+MINCCORR  = 0.            ! Number of the minimum corrections
+MAXCCORR  = 9.            ! Number of the maximum corrections
+
+! Steplenth parameters
+
+PRDARE    = 0.999D+00     ! Maximal primal steplength
+DUDARE    = 0.999D+00     ! Maximal dual   steplength
+
+! Variable fixing tolerances
+
+TFIXVAR   = 1.0D-20       ! Variable reset parameter
+TFIXSLACK = 1.0D-20       ! Slack reset parameter
+DSLACKLIM = 1.0D-20       ! Dual slack variable limit
+
+! Starting point paramerers
+
+PRMIN     =   150.00      ! Minimum initial variable value
+UPMAX     = 50000.00      ! Maximum initial variable value
+DUMIN     =   150.00      ! Minimum initial slack value
+LSQWEIGHT =    10.00      ! LSQ weight over quadratic objective
+SMETHOD   =  2.           ! Starting method  (1. or 2.)
+SAFEMET   = -3.           ! Safe method  (1. 2. or 3.)
+
+!
+! Presolv parameters
+!
+
+PRESOLV   = 2047.         !    1 : singleton row check         (895)
+                          !    2 : singleton column check
+                          !    4 : min/max row value check
+                          !    8 : cheap dual tests
+                          !   16 : dual check
+                          !   32 : primal bound check and relaxation
+                          !   64 : search identical variables
+                          !  128 : setting vars free in row doubletons
+                          !  256 : elimination of free variables
+                          !  512 : linear dependency check
+                          ! 1024 : sparser
+                          ! 2048 : Restore original bounds after elimination
+                          ! 4096 : extended dual tests
+
+BNDLOOP   =      5.       ! Maximum loops in bound check
+DULOOP    =     10.       ! Maximum loops in dual check
+PRIMALBND =   1000.       ! Maximal upper bound allowed during bndcheck
+DUALBND   =  10000.       ! Maximal upper bound allowed during ducheck
+PRESFEAS  =  1.0d-8       ! Feasibility tolerance during presolve
+PIVRTOL   =  1.0D-2       ! Relative pivot tolerance in aggragation
+PIVATOL   =  1.0D-4       ! Absolute pivot tolerance in aggregation
+PIVXTOL   =  1.0D-8       ! Absolute pivot tolerance in linear dep. check
+FILLTOL   =      4.       ! Fill-in controll during aggregation
+
+!
+! Regularization parameters
+!
+
+SOFTREG   = 1.0D-12       ! Soft regularization parameter
+HARDREG   = 1.0D-16       ! Hard regularization parameter
+SCFREE    = 1.0D-06       ! Regularization for free variables
+REGULARIZE= 27.           ! Regularization method
+                          !  1. Pre-regularize free variables
+                          !  2. Pre-regularize equalities, AS
+                          !  4. Pre-regularize equalities, NE
+                          !  8. Post-regularize free variables
+                          ! 16. Post-regularize equalities, AS
+                          ! 32. Post-regularize equalities, NE
+END_OPT
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
new file mode 100644
index 0000000000..f61e82b66e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
@@ -0,0 +1,102 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <errno.h>
+#include <iostream>
+#include <string.h>
+#include <unistd.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/bpmpd_io.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+extern "C" {
+extern void bpmpd(int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  double*,
+                  int*,
+                  int*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  int*,
+                  double*,
+                  int*,
+                  double*,
+                  int*);
+}
+
+int main(int /*argc*/, char** /*argv*/)
+{
+  std::string working_dir = BPMPD_WORKING_DIR;
+  int err = chdir(working_dir.c_str());
+  if (err != 0)
+  {
+    std::cerr << "error going to BPMPD working dir\n";
+    std::cerr << strerror(err) << std::endl;
+    abort();
+  }
+  // int counter=0;
+  while (true)
+  {
+    bpmpd_io::bpmpd_input bi;
+    bpmpd_io::ser(STDIN_FILENO, bi, bpmpd_io::DESER);
+
+    int memsiz = 0;
+    double BIG = 1e30;
+    bpmpd_io::bpmpd_output bo;
+    bo.primal.resize(static_cast<unsigned long>(bi.m + bi.n));
+    bo.dual.resize(static_cast<unsigned long>(bi.m + bi.n));
+    bo.status.resize(static_cast<unsigned long>(bi.m + bi.n));
+
+#define DBG(expr)  // cerr << #expr << ": " << CSTR(expr) << std::endl
+    DBG(bi.m);
+    DBG(bi.n);
+    DBG(bi.nz);
+    DBG(bi.qn);
+    DBG(bi.qnz);
+    DBG(bi.acolcnt);
+    DBG(bi.acolidx);
+    DBG(bi.acolnzs);
+    DBG(bi.qcolcnt);
+    DBG(bi.qcolidx);
+    DBG(bi.qcolnzs);
+    DBG(bi.rhs);
+    DBG(bi.obj);
+    DBG(bi.lbound);
+    DBG(bi.ubound);
+
+    bpmpd(&bi.m,
+          &bi.n,
+          &bi.nz,
+          &bi.qn,
+          &bi.qnz,
+          bi.acolcnt.data(),
+          bi.acolidx.data(),
+          bi.acolnzs.data(),
+          bi.qcolcnt.data(),
+          bi.qcolidx.data(),
+          bi.qcolnzs.data(),
+          bi.rhs.data(),
+          bi.obj.data(),
+          bi.lbound.data(),
+          bi.ubound.data(),
+          bo.primal.data(),
+          bo.dual.data(),
+          bo.status.data(),
+          &BIG,
+          &bo.code,
+          &bo.opt,
+          &memsiz);
+
+    bpmpd_io::ser(STDOUT_FILENO, bo, bpmpd_io::SER);
+  }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
new file mode 100644
index 0000000000..82679c6982
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
@@ -0,0 +1,521 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/bpmpd_interface.hpp>
+#include <trajopt_sco/bpmpd_io.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+/**
+This is a readme file for the linux DLL version of BPMPD version 2.21
+The DLL solves linear and convex quadratic problems.
+
+
+The objective function is assumed to be in the form:
+
+                1
+   min    c'x + - x'Qx
+                2
+
+
+The interface (Fortran-like) for BPMPD:
+
+    subroutine bpmpd(m,n,nz,qn,qnz,
+               acolcnt,acolidx,acolnzs,
+               qcolcnt,qcolidx,qcolnzs,
+               rhs,obj,lbound,ubound,primal,dual,status,
+               big,code,opt,memsiz)
+
+integer*4 m,n,nz,qn,qnz,acolcnt(n),acolidx(nz),qcolcnt(n),qcolidx(qnz),
+          status(n+m),code,
+real*8    acolnzs(nz),qcolnzs(qnz),rhs(m),obj(n),lbound(n+m),ubound(n+m),
+          primal(n+m),dual(n+m),big,opt
+
+
+or C-like:
+
+void bpmpd(int *m, int *n, int *nz, int *qn, int *qnz, int *acolcnt,
+          int *acolidx, double *acolnzs, int *qcolcnt, int *qcolidx,
+          double *qcolnzs, double *rhs, double *obj, double *lbound,
+          double *ubound, double *primal, double *dual, int *status,
+          double *big, int *code, double *opt, int *memsiz)
+
+where
+
+  memsiz : Number of bytes to be allocated by bpmpd. If memsiz <= 0
+           bpmpd determines the allocatable memory itself. As output
+           memsiz contains the memory in bytes which was used during
+           the process.
+
+       m : number of rows in the constraint matrix
+       n : number of columns in the constraint matrix
+      nz : number of nonzeros in the constraint matrix
+      qn : number of quadratic variables
+     qnz : number of nonzeros in the lower triangular of Q (with diagonals)
+
+ acolcnt : number of nonzeros in each column of A
+ acolidx : A matrix index values
+ acolnzs : A matrix nonzero values
+           It is supposed that the columns are placed continuousely from
+           the first positions of the parallel arrays acolidx-acolnzs.
+
+ qcolcnt : number of nonzeros in each column of the lower triangular part of Q
+ qcolidx : Q matrix index values
+ qcolnzs : Q matrix nonzero values
+           It is supposed that the the lower triangular part (with diagonal)
+           of Q is provided and its columns are placed continuousely from
+           the first positions of the parallel arrays qcolidx-qcolnzs.
+
+     rhs : right hand side
+     obj : objective function
+  lbound :    1 ..   n lower bounds of the variables
+            n+1 .. n+m lower bounds on rows (slacks)
+  ubound : upper bounds (like lbound)
+
+  primal : optimal primal values
+  dual   : optimal dual values
+  status : basic/nonbasic status estimation of variables (1/0)
+
+     big : Represents infinity (recommended big = 1.0d+30 )
+    code : return code
+           if code < 0 --> not enought memory
+           if code = 1 --> solver stopped at feasible point (suboptimal
+solution)
+           if code = 2 --> optimal solution found
+           if code = 3 --> problem dual infeasible
+           if code = 4 --> problem primal infeasible
+
+    opt : final primal objective value
+
+The DLL will read the parameter file called bpmpd.par (if presented) and
+write a log file called bpmpd.log.
+
+
+  As example the LP problem :
+
+                min x1 + x1*x1 + 2*x1*x2 + 2*x2*x2 + x4*x4
+
+              1x1  + 2x2 + 0x3 -4x4 >=   0
+              3x1  + 0x2 - 2x3 -1x4 <= 100
+       30 >=  1x1  + 3x2 + 3x3 -2x4 >=  10
+
+                  x1,x2,x3 >=0
+                        x1 <= 20
+
+  Then the input parameters:
+
+  m=3, n=4, nz=10, qn=3, qnz=4
+
+  ubound :  (20, big, big,  big,    big,    0,  20)
+  lbound :  ( 0,   0,   0, -big,      0, -big,   0)
+  rhs    :  ( 0, 100,  10)
+  obj    :  ( 1,   0,   0,    0)
+
+acolcnt  :  ( 3,         2,      2,      3)
+acolidx  :  ( 1, 2, 3,   1, 3,   2, 3,   1, 2, 3)
+acolnzs  :  ( 1, 3, 1,   2, 3,  -2, 3,  -4,-1,-2)
+
+qcolcnt  :  ( 2,         1,      0,      1)
+qcolidx  :  ( 1,2,       2,              4)
+qcolnzs  :  ( 2,2,       4,              2)
+
+                                      1        1  1  0         2  2  0
+(Note : 2*x1*x2 = x1*x2+x2*x1   thus  - * Q =  1  2  0 and Q = 2  4  0 )
+                                      2        0  0  1         0  0  2
+
+NOTE:
+The subroutine solves minimization problems, therefore you
+have to change the sign of the objective, if you have a maximization
+problem.
+
+NOTE:
+The DLL routine will create a log file called "bpmpd.log" at every call.
+The old bpmpd.log file will be overwritten.
+
+NOTE:
+A sample driver solving the above problem is included as well as the
+logfile it generates.
+  **/
+
+// extern "C" {
+//   extern void bpmpd(int *, int *, int *, int *, int *, int *, int *,
+//          double *, int *, int *, double *, double *, double *, double *,
+//          double *, double *, double *, int *, double *, int *, double *, int
+//          *);
+// }
+
+namespace sco
+{
+static double BPMPD_BIG = 1e+30;
+
+ModelPtr createBPMPDModel()
+{
+  ModelPtr out(new BPMPDModel());
+  return out;
+}
+
+#define READ 0
+#define WRITE 1
+
+pid_t popen2(const char* command, int* infp, int* outfp)
+{
+  int p_stdin[2], p_stdout[2];
+  pid_t pid;
+
+  if (pipe(p_stdin) != 0 || pipe(p_stdout) != 0)
+    return -1;
+
+  pid = fork();
+
+  if (pid < 0)
+  {
+    assert(0);
+    return pid;
+  }
+  else if (pid == 0)
+  {
+    close(p_stdin[WRITE]);
+    dup2(p_stdin[READ], READ);
+    close(p_stdout[READ]);
+    dup2(p_stdout[WRITE], WRITE);
+
+    execl("/bin/sh", "sh", "-c", command, nullptr);
+    perror("execl");
+    exit(1);
+  }
+
+  if (infp == nullptr)
+    close(p_stdin[WRITE]);
+  else
+    *infp = p_stdin[WRITE];
+
+  if (outfp == nullptr)
+    close(p_stdout[READ]);
+  else
+    *outfp = p_stdout[READ];
+
+  return pid;
+}
+
+static pid_t gPID = 0;
+static int gPipeIn = 0;
+static int gPipeOut = 0;
+
+void fexit()
+{
+  char text[1] = { bpmpd_io::EXIT_CHAR };
+  long n = write(gPipeIn, text, 1);
+  ALWAYS_ASSERT(n == 1);
+}
+
+BPMPDModel::BPMPDModel() : m_pipeIn(0), m_pipeOut(0)
+{
+  if (gPID == 0)
+  {
+    atexit(fexit);
+    gPID = popen2(BPMPD_CALLER, &gPipeIn, &gPipeOut);
+  }
+}
+
+BPMPDModel::~BPMPDModel()
+{
+  // char text[1] = {123};
+  // write(gPipeIn, text, 1);
+  // // kill(m_pid, SIGKILL); // TODO: WHY DOES THIS KILL THE PARENT PROCESS?!
+  // close(m_pipeIn);
+  // close(m_pipeOut);
+  // m_pipeIn=0;
+  // m_pipeOut=0;
+}
+
+Var BPMPDModel::addVar(const std::string& name)
+{
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  m_lbs.push_back(-BPMPD_BIG);
+  m_ubs.push_back(BPMPD_BIG);
+  return m_vars.back();
+}
+Cnt BPMPDModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  m_cntExprs.push_back(expr);
+  m_cntTypes.push_back(EQ);
+  return m_cnts.back();
+}
+Cnt BPMPDModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  m_cntExprs.push_back(expr);
+  m_cntTypes.push_back(INEQ);
+  return m_cnts.back();
+}
+Cnt BPMPDModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  assert(0 && "NOT IMPLEMENTED");
+  return nullptr;
+}
+void BPMPDModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void BPMPDModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void BPMPDModel::update()
+{
+  {
+    size_t inew = 0;
+    for (unsigned iold = 0; iold < m_vars.size(); ++iold)
+    {
+      const Var& var = m_vars[iold];
+      if (!var.var_rep->removed)
+      {
+        m_vars[inew] = var;
+        m_lbs[inew] = m_lbs[iold];
+        m_ubs[inew] = m_ubs[iold];
+        var.var_rep->index = static_cast<int>(inew);
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    m_vars.resize(inew);
+    m_lbs.resize(inew);
+    m_ubs.resize(inew);
+  }
+  {
+    size_t inew = 0;
+    for (unsigned iold = 0; iold < m_cnts.size(); ++iold)
+    {
+      const Cnt& cnt = m_cnts[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        m_cnts[inew] = cnt;
+        m_cntExprs[inew] = m_cntExprs[iold];
+        m_cntTypes[inew] = m_cntTypes[iold];
+        cnt.cnt_rep->index = static_cast<int>(inew);
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    m_cnts.resize(inew);
+    m_cntExprs.resize(inew);
+    m_cntTypes.resize(inew);
+  }
+}
+
+void BPMPDModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    size_t varind = static_cast<size_t>(vars[i].var_rep->index);
+    m_lbs[varind] = lower[i];
+    m_ubs[varind] = upper[i];
+  }
+}
+DblVec BPMPDModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    size_t varind = static_cast<size_t>(vars[i].var_rep->index);
+    out[i] = m_soln[varind];
+  }
+  return out;
+}
+
+#define DBG(expr)  // cout << #expr << ": " << CSTR(expr) << std::endl
+
+CvxOptStatus BPMPDModel::optimize()
+{
+  update();
+  //
+  //
+  // int    m, n, nz, qn, qnz, acolcnt[maxn+1], acolidx[maxnz], qcolcnt[maxn+1],
+  // qcolidx[maxqnz],
+  //        status[maxn+maxm], code, memsiz;
+  // double acolnzs[maxnz], qcolnzs[maxqnz], rhs[maxm], obj[maxn],
+  // lbound[maxn+maxm],
+  //        ubound[maxn+maxm], primal[maxn+maxm], dual[maxn+maxm], big, opt;
+
+  size_t n = m_vars.size();
+  size_t m = m_cnts.size();
+
+  IntVec acolcnt(n), acolidx, qcolcnt(n), qcolidx, status(m + n);
+  DblVec acolnzs, qcolnzs, rhs(m), obj(n, 0), lbound(m + n), ubound(m + n), primal(m + n), dual(m + n);
+
+  DBG(m_lbs);
+  DBG(m_ubs);
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    lbound[iVar] = fmax(m_lbs[iVar], -BPMPD_BIG);
+    ubound[iVar] = fmin(m_ubs[iVar], BPMPD_BIG);
+  }
+
+  std::vector<IntVec> var2cntinds(n);
+  std::vector<DblVec> var2cntvals(n);
+  for (size_t iCnt = 0; iCnt < m; ++iCnt)
+  {
+    const AffExpr& aff = m_cntExprs[iCnt];
+    // cout << "adding constraint " << aff << endl;
+    IntVec inds = vars2inds(aff.vars);
+
+    for (size_t i = 0; i < aff.vars.size(); ++i)
+    {
+      var2cntinds[static_cast<size_t>(inds[i])].push_back(static_cast<int>(iCnt));
+      var2cntvals[static_cast<size_t>(inds[i])].push_back(aff.coeffs[i]);  // xxx maybe repeated/
+    }
+
+    lbound[n + iCnt] = (m_cntTypes[iCnt] == INEQ) ? -BPMPD_BIG : 0;
+    ubound[n + iCnt] = 0;
+    rhs[iCnt] = -aff.constant;
+  }
+
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    simplify2(var2cntinds[iVar], var2cntvals[iVar]);
+    acolcnt[iVar] = static_cast<int>(var2cntinds[iVar].size());
+    acolidx.insert(acolidx.end(), var2cntinds[iVar].begin(), var2cntinds[iVar].end());
+    acolnzs.insert(acolnzs.end(), var2cntvals[iVar].begin(), var2cntvals[iVar].end());
+  }
+  // cout << CSTR(acolidx) << endl;
+  // cout << CSTR(acolnzs) << endl;
+
+  std::vector<DblVec> var2qcoeffs(n);
+  std::vector<IntVec> var2qinds(n);
+  for (size_t i = 0; i < m_objective.size(); ++i)
+  {
+    size_t idx1 = static_cast<size_t>(m_objective.vars1[i].var_rep->index);
+    size_t idx2 = static_cast<size_t>(m_objective.vars2[i].var_rep->index);
+    if (idx1 < idx2)
+    {
+      var2qinds[idx1].push_back(static_cast<int>(idx2));
+      var2qcoeffs[idx1].push_back(m_objective.coeffs[i]);
+    }
+    else if (idx1 == idx2)
+    {
+      var2qinds[idx1].push_back(static_cast<int>(idx2));
+      var2qcoeffs[idx1].push_back(m_objective.coeffs[i] * 2);
+    }
+    else
+    {
+      var2qinds[idx2].push_back(static_cast<int>(idx1));
+      var2qcoeffs[idx2].push_back(m_objective.coeffs[i]);
+    }
+  }
+
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    simplify2(var2qinds[iVar], var2qcoeffs[iVar]);
+    qcolidx.insert(qcolidx.end(), var2qinds[iVar].begin(), var2qinds[iVar].end());
+    qcolnzs.insert(qcolnzs.end(), var2qcoeffs[iVar].begin(), var2qcoeffs[iVar].end());
+    qcolcnt[iVar] = static_cast<int>(var2qinds[iVar].size());
+  }
+
+  for (size_t i = 0; i < m_objective.affexpr.size(); ++i)
+  {
+    obj[static_cast<size_t>(m_objective.affexpr.vars[i].var_rep->index)] += m_objective.affexpr.coeffs[i];
+  }
+
+#define VECINC(vec)                                                                                                    \
+  for (unsigned i = 0; i < vec.size(); ++i)                                                                            \
+    ++vec[i];
+  VECINC(acolidx);
+  VECINC(qcolidx);
+#undef VECINC
+
+  // cout << "objective: " << m_objective << endl;
+
+  int nz = static_cast<int>(acolnzs.size()), qn = static_cast<int>(n), qnz = static_cast<int>(qcolnzs.size());
+
+  DBG(m);
+  DBG(n);
+  DBG(nz);
+  DBG(qn);
+  DBG(qnz);
+  DBG(acolcnt);
+  DBG(acolidx);
+  DBG(acolnzs);
+  DBG(qcolcnt);
+  DBG(qcolidx);
+  DBG(qcolnzs);
+  DBG(rhs);
+  DBG(obj);
+  DBG(lbound);
+  DBG(ubound);
+
+#if 0
+  bpmpd(&m, &n, &nz, &qn, &qnz, acolcnt.data(), acolidx.data(), acolnzs.data(), qcolcnt.data(), qcolidx.data(), qcolnzs.data(),
+      rhs.data(), obj.data(), lbound.data(), ubound.data(), 
+      primal.data(), dual.data(), status.data(), &BIG, &code, &opt, &memsiz);
+
+  // opt += m_objective.affexpr.constant;
+  m_soln = DblVec(primal.begin(), primal.begin()+n);
+
+
+  if (1) {
+    DBG(primal);
+    DBG(dual);
+    DBG(status);
+    DBG(code);
+    DBG(opt);
+#undef DBG
+
+#else
+
+  bpmpd_io::bpmpd_input bi(static_cast<int>(m),
+                           static_cast<int>(n),
+                           nz,
+                           qn,
+                           qnz,
+                           acolcnt,
+                           acolidx,
+                           acolnzs,
+                           qcolcnt,
+                           qcolidx,
+                           qcolnzs,
+                           rhs,
+                           obj,
+                           lbound,
+                           ubound);
+  bpmpd_io::ser(gPipeIn, bi, bpmpd_io::SER);
+
+  // std::cout << "serialization time:" << end-start << std::endl;
+
+  bpmpd_io::bpmpd_output bo;
+  bpmpd_io::ser(gPipeOut, bo, bpmpd_io::DESER);
+
+  m_soln = DblVec(bo.primal.begin(), bo.primal.begin() + static_cast<long int>(n));
+  int retcode = bo.code;
+
+  if (retcode == 2)
+    return CVX_SOLVED;
+  else if (retcode == 3 || retcode == 4)
+    return CVX_INFEASIBLE;
+  else
+    return CVX_FAILED;
+
+#endif
+
+  // exit(0);
+}
+void BPMPDModel::setObjective(const AffExpr& expr) { m_objective.affexpr = expr; }
+void BPMPDModel::setObjective(const QuadExpr& expr) { m_objective = expr; }
+void BPMPDModel::writeToFile(const std::string& /*fname*/)
+{
+  // assert(0 && "NOT IMPLEMENTED");
+}
+VarVector BPMPDModel::getVars() const { return m_vars; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
new file mode 100644
index 0000000000..5540a31bac
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
@@ -0,0 +1,103 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+
+static inline double sq(double x) { return x * x; }
+namespace sco
+{
+QuadExpr exprMult(const AffExpr& affexpr1, const AffExpr& affexpr2)
+{
+  QuadExpr out;
+  size_t naff1 = affexpr1.coeffs.size();
+  size_t naff2 = affexpr2.coeffs.size();
+  size_t nquad = naff1 * naff2;
+
+  // Multiply the constants of the two expr
+  out.affexpr.constant = affexpr1.constant * affexpr2.constant;
+
+  // Account for vars in each expr multiplied by the constant in the other expr
+  out.affexpr.vars.reserve(naff1 + naff2);
+  out.affexpr.vars.insert(out.affexpr.vars.end(), affexpr1.vars.begin(), affexpr1.vars.end());
+  out.affexpr.vars.insert(out.affexpr.vars.end(), affexpr2.vars.begin(), affexpr2.vars.end());
+  out.affexpr.coeffs.resize(naff1 + naff2);
+  for (size_t i = 0; i < naff1; ++i)
+    out.affexpr.coeffs[i] = affexpr2.constant * affexpr1.coeffs[i];
+  for (size_t i = 0; i < naff2; ++i)
+    out.affexpr.coeffs[i + naff1] = affexpr1.constant * affexpr2.coeffs[i];
+
+  // Account for the vars in each expr that are multipled by another var in the other expr
+  out.coeffs.reserve(nquad);
+  out.vars1.reserve(nquad);
+  out.vars2.reserve(nquad);
+  for (size_t i = 0; i < naff1; ++i)
+  {
+    for (size_t j = 0; j < naff2; ++j)
+    {
+      out.vars1.push_back(affexpr1.vars[i]);
+      out.vars2.push_back(affexpr2.vars[j]);
+      out.coeffs.push_back(affexpr1.coeffs[i] * affexpr2.coeffs[j]);
+    }
+  }
+  return out;
+}
+
+QuadExpr exprSquare(const Var& a)
+{
+  QuadExpr out;
+  out.coeffs.push_back(1);
+  out.vars1.push_back(a);
+  out.vars2.push_back(a);
+  return out;
+}
+
+QuadExpr exprSquare(const AffExpr& affexpr)
+{
+  QuadExpr out;
+  size_t naff = affexpr.coeffs.size();
+  size_t nquad = (naff * (naff + 1)) / 2;
+
+  out.affexpr.constant = sq(affexpr.constant);
+
+  out.affexpr.vars = affexpr.vars;
+  out.affexpr.coeffs.resize(naff);
+  for (size_t i = 0; i < naff; ++i)
+    out.affexpr.coeffs[i] = 2 * affexpr.constant * affexpr.coeffs[i];
+
+  out.coeffs.reserve(nquad);
+  out.vars1.reserve(nquad);
+  out.vars2.reserve(nquad);
+  for (size_t i = 0; i < naff; ++i)
+  {
+    out.vars1.push_back(affexpr.vars[i]);
+    out.vars2.push_back(affexpr.vars[i]);
+    out.coeffs.push_back(sq(affexpr.coeffs[i]));
+    for (size_t j = i + 1; j < naff; ++j)
+    {
+      out.vars1.push_back(affexpr.vars[i]);
+      out.vars2.push_back(affexpr.vars[j]);
+      out.coeffs.push_back(2 * affexpr.coeffs[i] * affexpr.coeffs[j]);
+    }
+  }
+  return out;
+}
+
+AffExpr cleanupAff(const AffExpr& a)
+{
+  AffExpr out;
+  for (size_t i = 0; i < a.size(); ++i)
+  {
+    if (fabs(a.coeffs[i]) > 1e-7)
+    {
+      out.coeffs.push_back(a.coeffs[i]);
+      out.vars.push_back(a.vars[i]);
+    }
+  }
+  out.constant = a.constant;
+  return out;
+}
+
+///////////////////////////////////////////////////////////////
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
new file mode 100644
index 0000000000..07ff89a0b8
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
@@ -0,0 +1,12 @@
+#include <trajopt_sco/expr_vec_ops.hpp>
+namespace sco
+{
+AffExpr varDot(const Eigen::VectorXd& x, const VarVector& v)
+{
+  AffExpr out;
+  out.constant = 0;
+  out.vars = v;
+  out.coeffs = DblVec(x.data(), x.data() + x.size());
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
new file mode 100644
index 0000000000..03bead3e97
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
@@ -0,0 +1,306 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+extern "C" {
+#include "gurobi_c.h"
+}
+#include <iostream>
+#include <map>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/gurobi_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+GRBenv* gEnv;
+
+#if 0
+void simplify(IntVec& inds, DblVec& vals) {
+  // first find the largest element of inds
+  // make an array of that size
+  //
+
+  assert(inds.size() == vals.size());
+  int min_ind = *std::min_element(inds.begin(), inds.end());
+  int max_ind = *std::max_element(inds.begin(), inds.end());
+  int orig_size = inds.size();
+  int work_size = max_ind - min_ind + 1;
+  DblVec work_vals(work_size, 0);
+
+  for (int i=0; i < orig_size; ++i) {
+    work_vals[inds[i] - min_ind] += vals[i];
+  }
+
+
+  int i_new = 0;
+  for (int i=0; i < work_size; ++i) {
+    if (work_vals[i] != 0) {
+      vals[i_new] = work_vals[i];
+      inds[i_new] = i + min_ind;
+      ++i_new;
+    }
+  }
+
+  inds.resize(i_new);
+  vals.resize(i_new);
+
+}
+#endif
+
+#define ENSURE_SUCCESS(expr)                                                                                           \
+  do                                                                                                                   \
+  {                                                                                                                    \
+    bool error = expr;                                                                                                 \
+    if (error)                                                                                                         \
+    {                                                                                                                  \
+      printf("GRB error: %s while evaluating %s at %s:%i\n", GRBgeterrormsg(gEnv), #expr, __FILE__, __LINE__);         \
+      abort();                                                                                                         \
+    }                                                                                                                  \
+  } while (0)
+
+ModelPtr createGurobiModel()
+{
+  ModelPtr out(new GurobiModel());
+  return out;
+}
+
+GurobiModel::GurobiModel()
+{
+  if (!gEnv)
+  {
+    GRBloadenv(&gEnv, nullptr);
+    if (util::GetLogLevel() < util::LevelDebug)
+    {
+      ENSURE_SUCCESS(GRBsetintparam(gEnv, "OutputFlag", 0));
+    }
+  }
+  GRBnewmodel(gEnv, &m_model, "problem", 0, nullptr, nullptr, nullptr, nullptr, nullptr);
+}
+
+Var GurobiModel::addVar(const std::string& name)
+{
+  ENSURE_SUCCESS(GRBaddvar(
+      m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  return m_vars.back();
+}
+
+Var GurobiModel::addVar(const std::string& name, double lb, double ub)
+{
+  ENSURE_SUCCESS(GRBaddvar(m_model, 0, nullptr, nullptr, 0, lb, ub, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  return m_vars.back();
+}
+
+Cnt GurobiModel::addEqCnt(const AffExpr& expr, const std::string& name)
+{
+  LOG_TRACE("adding eq constraint: %s = 0", CSTR(expr));
+  IntVec inds = vars2inds(expr.vars);
+  DblVec vals = expr.coeffs;
+  simplify2(inds, vals);
+  ENSURE_SUCCESS(GRBaddconstr(m_model,
+                              inds.size(),
+                              const_cast<int*>(inds.data()),
+                              const_cast<double*>(vals.data()),
+                              GRB_EQUAL,
+                              -expr.constant,
+                              const_cast<char*>(name.c_str())));
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  return m_cnts.back();
+}
+Cnt GurobiModel::addIneqCnt(const AffExpr& expr, const std::string& name)
+{
+  LOG_TRACE("adding ineq: %s <= 0", CSTR(expr));
+  IntVec inds = vars2inds(expr.vars);
+  DblVec vals = expr.coeffs;
+  simplify2(inds, vals);
+  ENSURE_SUCCESS(GRBaddconstr(
+      m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  return m_cnts.back();
+}
+Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)
+{
+  int numlnz = qexpr.affexpr.size();
+  IntVec linds = vars2inds(qexpr.affexpr.vars);
+  DblVec lvals = qexpr.affexpr.coeffs;
+  IntVec inds1 = vars2inds(qexpr.vars1);
+  IntVec inds2 = vars2inds(qexpr.vars2);
+  ENSURE_SUCCESS(GRBaddqconstr(m_model,
+                               numlnz,
+                               linds.data(),
+                               lvals.data(),
+                               qexpr.size(),
+                               inds1.data(),
+                               inds2.data(),
+                               const_cast<double*>(qexpr.coeffs.data()),
+                               GRB_LESS_EQUAL,
+                               -qexpr.affexpr.constant,
+                               const_cast<char*>(name.c_str())));
+  return Cnt();
+}
+
+void resetIndices(VarVector& vars)
+{
+  for (size_t i = 0; i < vars.size(); ++i)
+    vars[i].var_rep[i].index = i;
+}
+void resetIndices(CntVector& cnts)
+{
+  for (size_t i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep[i].index = i;
+}
+
+void GurobiModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  ENSURE_SUCCESS(GRBdelvars(m_model, inds.size(), inds.data()));
+  for (int i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void GurobiModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  ENSURE_SUCCESS(GRBdelconstrs(m_model, inds.size(), inds.data()));
+  for (int i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+#if 0
+void GurobiModel::setVarBounds(const Var& var, double lower, double upper) {
+  assert(var.var_rep->creator == this);
+  ENSURE_SUCCESS(GRBsetdblattrelement(m_model, GRB_DBL_ATTR_LB, var.var_rep->index, lower));
+  ENSURE_SUCCESS(GRBsetdblattrelement(m_model, GRB_DBL_ATTR_UB, var.var_rep->index, upper));
+}
+#endif
+
+void GurobiModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  assert(vars.size() == lower.size() && vars.size() == upper.size());
+  IntVec inds = vars2inds(vars);
+  ENSURE_SUCCESS(
+      GRBsetdblattrlist(m_model, GRB_DBL_ATTR_LB, inds.size(), inds.data(), const_cast<double*>(lower.data())));
+  ENSURE_SUCCESS(
+      GRBsetdblattrlist(m_model, GRB_DBL_ATTR_UB, inds.size(), inds.data(), const_cast<double*>(upper.data())));
+}
+
+#if 0
+double GurobiModel::getVarValue(const Var& var) const {
+  assert(var.var_rep->creator == this);
+  double out;
+  ENSURE_SUCCESS(GRBgetdblattrelement(m_model, GRB_DBL_ATTR_X, var.var_rep->index, &out));
+  return out;
+}
+#endif
+
+DblVec GurobiModel::getVarValues(const VarVector& vars) const
+{
+  assert((vars.size() == 0) || (vars[0].var_rep->creator == this));
+  IntVec inds = vars2inds(vars);
+  DblVec out(inds.size());
+  ENSURE_SUCCESS(GRBgetdblattrlist(m_model, GRB_DBL_ATTR_X, inds.size(), inds.data(), out.data()));
+  return out;
+}
+
+CvxOptStatus GurobiModel::optimize()
+{
+  ENSURE_SUCCESS(GRBoptimize(m_model));
+  int status;
+  GRBgetintattr(m_model, GRB_INT_ATTR_STATUS, &status);
+  if (status == GRB_OPTIMAL)
+  {
+    double objval;
+    GRBgetdblattr(m_model, GRB_DBL_ATTR_OBJVAL, &objval);
+    LOG_DEBUG("solver objective value: %.3e", objval);
+    return CVX_SOLVED;
+  }
+  else if (status == GRB_INFEASIBLE)
+  {
+    GRBcomputeIIS(m_model);
+    return CVX_INFEASIBLE;
+  }
+  else
+    return CVX_FAILED;
+}
+CvxOptStatus GurobiModel::optimizeFeasRelax()
+{
+  double lbpen = GRB_INFINITY, ubpen = GRB_INFINITY, rhspen = 1;
+  ENSURE_SUCCESS(
+      GRBfeasrelax(m_model, 0 /*sum of viol*/, 0 /*just minimize cost of viol*/, &lbpen, &ubpen, &rhspen, nullptr));
+  return optimize();
+}
+
+void GurobiModel::setObjective(const AffExpr& expr)
+{
+  GRBdelq(m_model);
+
+  int nvars;
+  GRBgetintattr(m_model, GRB_INT_ATTR_NUMVARS, &nvars);
+  assert(nvars == m_vars.size());
+
+  DblVec obj(nvars, 0);
+  for (size_t i = 0; i < expr.size(); ++i)
+  {
+    obj[expr.vars[i].var_rep->index] += expr.coeffs[i];
+  }
+  ENSURE_SUCCESS(GRBsetdblattrarray(m_model, "Obj", 0, nvars, obj.data()));
+  GRBsetdblattr(m_model, "ObjCon", expr.constant);
+}
+
+void GurobiModel::setObjective(const QuadExpr& quad_expr)
+{
+  setObjective(quad_expr.affexpr);
+  IntVec inds1 = vars2inds(quad_expr.vars1);
+  IntVec inds2 = vars2inds(quad_expr.vars2);
+  GRBaddqpterms(m_model,
+                quad_expr.coeffs.size(),
+                const_cast<int*>(inds1.data()),
+                const_cast<int*>(inds2.data()),
+                const_cast<double*>(quad_expr.coeffs.data()));
+}
+
+void GurobiModel::writeToFile(const std::string& fname) { ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str())); }
+void GurobiModel::update()
+{
+  ENSURE_SUCCESS(GRBupdatemodel(m_model));
+
+  {
+    int inew = 0;
+    for (const Var& var : m_vars)
+    {
+      if (!var.var_rep->removed)
+      {
+        m_vars[inew] = var;
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    m_vars.resize(inew);
+  }
+  {
+    int inew = 0;
+    for (const Cnt& cnt : m_cnts)
+    {
+      if (!cnt.cnt_rep->removed)
+      {
+        m_cnts[inew] = cnt;
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    m_cnts.resize(inew);
+  }
+}
+
+VarVector GurobiModel::getVars() const { return m_vars; }
+GurobiModel::~GurobiModel() { ENSURE_SUCCESS(GRBfreemodel(m_model)); }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
new file mode 100644
index 0000000000..1487a74b9e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
@@ -0,0 +1,266 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <cstdio>
+#include <iostream>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+void ConvexObjective::addAffExpr(const AffExpr& affexpr) { exprInc(quad_, affexpr); }
+void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr) { exprInc(quad_, quadexpr); }
+void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
+{
+  Var hinge = model_->addVar("hinge", 0, INFINITY);
+  vars_.push_back(hinge);
+  ineqs_.push_back(affexpr);
+  exprDec(ineqs_.back(), hinge);
+  AffExpr hinge_cost = exprMult(AffExpr(hinge), coeff);
+  exprInc(quad_, hinge_cost);
+}
+
+void ConvexObjective::addAbs(const AffExpr& affexpr, double coeff)
+{
+  Var neg = model_->addVar("neg", 0, INFINITY);
+  Var pos = model_->addVar("pos", 0, INFINITY);
+  vars_.push_back(neg);
+  vars_.push_back(pos);
+  AffExpr neg_plus_pos;
+  neg_plus_pos.coeffs = DblVec(2, coeff);
+  neg_plus_pos.vars.push_back(neg);
+  neg_plus_pos.vars.push_back(pos);
+  exprInc(quad_, neg_plus_pos);
+  AffExpr affeq = affexpr;
+  affeq.vars.push_back(neg);
+  affeq.vars.push_back(pos);
+  affeq.coeffs.push_back(1);
+  affeq.coeffs.push_back(-1);
+  eqs_.push_back(affeq);
+}
+
+void ConvexObjective::addHinges(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    addHinge(ev[i], 1);
+}
+
+void ConvexObjective::addL1Norm(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    addAbs(ev[i], 1);
+}
+
+void ConvexObjective::addL2Norm(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    exprInc(quad_, exprSquare(ev[i]));
+}
+
+void ConvexObjective::addMax(const AffExprVector& ev)
+{
+  Var m = model_->addVar("max", -INFINITY, INFINITY);
+  for (size_t i = 0; i < ev.size(); ++i)
+  {
+    ineqs_.push_back(ev[i]);
+    exprDec(ineqs_.back(), m);
+  }
+}
+
+void ConvexObjective::addConstraintsToModel()
+{
+  cnts_.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+  {
+    cnts_.push_back(model_->addEqCnt(aff, ""));
+  }
+  for (const AffExpr& aff : ineqs_)
+  {
+    cnts_.push_back(model_->addIneqCnt(aff, ""));
+  }
+}
+
+void ConvexObjective::removeFromModel()
+{
+  model_->removeCnts(cnts_);
+  model_->removeVars(vars_);
+  model_ = nullptr;
+}
+ConvexObjective::~ConvexObjective()
+{
+  if (inModel())
+    removeFromModel();
+}
+
+void ConvexConstraints::addEqCnt(const AffExpr& aff) { eqs_.push_back(aff); }
+void ConvexConstraints::addIneqCnt(const AffExpr& aff) { ineqs_.push_back(aff); }
+void ConvexConstraints::addConstraintsToModel()
+{
+  cnts_.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+  {
+    cnts_.push_back(model_->addEqCnt(aff, ""));
+  }
+  for (const AffExpr& aff : ineqs_)
+  {
+    cnts_.push_back(model_->addIneqCnt(aff, ""));
+  }
+}
+
+void ConvexConstraints::removeFromModel()
+{
+  model_->removeCnts(cnts_);
+  model_ = nullptr;
+}
+
+DblVec ConvexConstraints::violations(const DblVec& x)
+{
+  DblVec out;
+  out.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+    out.push_back(fabs(aff.value(x.data())));
+  for (const AffExpr& aff : ineqs_)
+    out.push_back(pospart(aff.value(x.data())));
+  return out;
+}
+double ConvexConstraints::violation(const DblVec& x) { return vecSum(violations(x)); }
+ConvexConstraints::~ConvexConstraints()
+{
+  if (inModel())
+    removeFromModel();
+}
+
+double ConvexObjective::value(const DblVec& x) { return quad_.value(x); }
+DblVec Constraint::violations(const DblVec& x)
+{
+  DblVec val = value(x);
+  DblVec out(val.size());
+
+  if (type() == EQ)
+  {
+    for (size_t i = 0; i < val.size(); ++i)
+      out[i] = fabs(val[i]);
+  }
+  else
+  {  // type() == INEQ
+    for (size_t i = 0; i < val.size(); ++i)
+      out[i] = pospart(val[i]);
+  }
+
+  return out;
+}
+
+double Constraint::violation(const DblVec& x) { return vecSum(violations(x)); }
+OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver)) {}
+VarVector OptProb::createVariables(const std::vector<std::string>& var_names)
+{
+  return createVariables(var_names, DblVec(var_names.size(), -INFINITY), DblVec(var_names.size(), INFINITY));
+}
+
+VarVector OptProb::createVariables(const std::vector<std::string>& var_names, const DblVec& lb, const DblVec& ub)
+{
+  size_t n_add = var_names.size(), n_cur = vars_.size();
+  assert(lb.size() == n_add);
+  assert(ub.size() == n_add);
+  vars_.reserve(n_cur + n_add);
+  lower_bounds_.reserve(n_cur + n_add);
+  upper_bounds_.reserve(n_cur + n_add);
+  for (size_t i = 0; i < var_names.size(); ++i)
+  {
+    vars_.push_back(model_->addVar(var_names[i], lb[i], ub[i]));
+    lower_bounds_.push_back(lb[i]);
+    upper_bounds_.push_back(ub[i]);
+  }
+  model_->update();
+  return VarVector(vars_.end() - static_cast<long int>(n_add), vars_.end());
+}
+
+void OptProb::setLowerBounds(const DblVec& lb)
+{
+  assert(lb.size() == vars_.size());
+  lower_bounds_ = lb;
+}
+
+void OptProb::setUpperBounds(const DblVec& ub)
+{
+  assert(ub.size() == vars_.size());
+  upper_bounds_ = ub;
+}
+
+void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars) { setVec(lower_bounds_, vars, lb); }
+void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars) { setVec(upper_bounds_, vars, ub); }
+void OptProb::addCost(CostPtr cost) { costs_.push_back(cost); }
+void OptProb::addConstraint(ConstraintPtr cnt)
+{
+  if (cnt->type() == EQ)
+    addEqConstraint(cnt);
+  else
+    addIneqConstraint(cnt);
+}
+
+void OptProb::addEqConstraint(ConstraintPtr cnt)
+{
+  assert(cnt->type() == EQ);
+  eqcnts_.push_back(cnt);
+}
+
+void OptProb::addIneqConstraint(ConstraintPtr cnt)
+{
+  assert(cnt->type() == INEQ);
+  ineqcnts_.push_back(cnt);
+}
+
+std::vector<ConstraintPtr> OptProb::getConstraints() const
+{
+  std::vector<ConstraintPtr> out;
+  out.reserve(eqcnts_.size() + ineqcnts_.size());
+  out.insert(out.end(), eqcnts_.begin(), eqcnts_.end());
+  out.insert(out.end(), ineqcnts_.begin(), ineqcnts_.end());
+  return out;
+}
+
+void OptProb::addLinearConstraint(const AffExpr& expr, ConstraintType type)
+{
+  if (type == EQ)
+    model_->addEqCnt(expr, "");
+  else
+    model_->addIneqCnt(expr, "");
+}
+
+DblVec OptProb::getCentralFeasiblePoint(const DblVec& x)
+{
+  assert(x.size() == lower_bounds_.size());
+  DblVec center(x.size());
+  for (unsigned i = 0; i < x.size(); ++i)
+    center[i] = (lower_bounds_[i] + upper_bounds_[i]) / 2;
+  return getClosestFeasiblePoint(center);
+}
+
+DblVec OptProb::getClosestFeasiblePoint(const DblVec& x)
+{
+  LOG_DEBUG("getClosestFeasiblePoint");
+  assert(vars_.size() == x.size());
+  QuadExpr obj;
+  for (unsigned i = 0; i < x.size(); ++i)
+  {
+    exprInc(obj, exprSquare(exprSub(AffExpr(vars_[i]), x[i])));
+  }
+  model_->setVarBounds(vars_, lower_bounds_, upper_bounds_);
+  model_->setObjective(obj);
+  CvxOptStatus status = model_->optimize();
+  if (status != CVX_SOLVED)
+  {
+    model_->writeToFile("/tmp/fail.lp");
+    PRINT_AND_THROW("couldn't find a feasible point. there's probably a "
+                    "problem with variable bounds (e.g. joint limits). wrote "
+                    "to /tmp/fail.lp");
+  }
+  return model_->getVarValues(vars_);
+}
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
new file mode 100644
index 0000000000..79e49e7850
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
@@ -0,0 +1,266 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Eigenvalues>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+
+namespace sco
+{
+const double DEFAULT_EPSILON = 1e-5;
+
+Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars)
+{
+  Eigen::VectorXd out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[static_cast<long unsigned int>(vars[i].var_rep->index)];
+  return out;
+}
+
+DblVec getDblVec(const DblVec& x, const VarVector& vars)
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[static_cast<long unsigned int>(vars[i].var_rep->index)];
+  return out;
+}
+
+AffExpr affFromValGrad(double y, const Eigen::VectorXd& x, const Eigen::VectorXd& dydx, const VarVector& vars)
+{
+  AffExpr aff;
+  aff.constant = y - dydx.dot(x);
+  aff.coeffs = util::toDblVec(dydx);
+  aff.vars = vars;
+  aff = cleanupAff(aff);
+  return aff;
+}
+
+CostFromFunc::CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian)
+  : Cost(name), f_(f), vars_(vars), full_hessian_(full_hessian), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+double CostFromFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  return f_->call(x);
+}
+
+ConvexObjectivePtr CostFromFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+
+  ConvexObjectivePtr out(new ConvexObjective(model));
+  if (!full_hessian_)
+  {
+    double val;
+    Eigen::VectorXd grad, hess;
+    calcGradAndDiagHess(*f_, x, epsilon_, val, grad, hess);
+    hess = hess.cwiseMax(Eigen::VectorXd::Zero(hess.size()));
+    QuadExpr& quad = out->quad_;
+    quad.affexpr.constant = val - grad.dot(x) + .5 * x.dot(hess.cwiseProduct(x));
+    quad.affexpr.vars = vars_;
+    quad.affexpr.coeffs = util::toDblVec(grad - hess.cwiseProduct(x));
+    quad.vars1 = vars_;
+    quad.vars2 = vars_;
+    quad.coeffs = util::toDblVec(hess * .5);
+  }
+  else
+  {
+    double val;
+    Eigen::VectorXd grad;
+    Eigen::MatrixXd hess;
+    calcGradHess(f_, x, epsilon_, val, grad, hess);
+
+    Eigen::MatrixXd pos_hess = Eigen::MatrixXd::Zero(x.size(), x.size());
+    Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> es(hess);
+    Eigen::VectorXd eigvals = es.eigenvalues();
+    Eigen::MatrixXd eigvecs = es.eigenvectors();
+    for (long int i = 0, end = x.size(); i != end; ++i)
+    {  // tricky --- eigen size() is signed
+      if (eigvals(i) > 0)
+        pos_hess += eigvals(i) * eigvecs.col(i) * eigvecs.col(i).transpose();
+    }
+
+    QuadExpr& quad = out->quad_;
+    quad.affexpr.constant = val - grad.dot(x) + .5 * x.dot(pos_hess * x);
+    quad.affexpr.vars = vars_;
+    quad.affexpr.coeffs = util::toDblVec(grad - pos_hess * x);
+
+    size_t nquadterms = static_cast<size_t>((x.size() * (x.size() - 1)) / 2);
+    quad.coeffs.reserve(nquadterms);
+    quad.vars1.reserve(nquadterms);
+    quad.vars2.reserve(nquadterms);
+    for (long int i = 0, end = x.size(); i != end; ++i)
+    {  // tricky --- eigen size() is signed
+      quad.vars1.push_back(vars_[static_cast<size_t>(i)]);
+      quad.vars2.push_back(vars_[static_cast<size_t>(i)]);
+      quad.coeffs.push_back(pos_hess(i, i) / 2);
+      for (long int j = i + 1; j != end; ++j)
+      {  // tricky --- eigen size() is signed
+        quad.vars1.push_back(vars_[static_cast<size_t>(i)]);
+        quad.vars2.push_back(vars_[static_cast<size_t>(j)]);
+        quad.coeffs.push_back(pos_hess(i, j));
+      }
+    }
+  }
+
+  return out;
+}
+
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
+                                 const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type,
+                                 const std::string& name)
+  : Cost(name), f_(f), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
+{
+}
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
+                                 MatrixOfVectorPtr dfdx,
+                                 const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type,
+                                 const std::string& name)
+  : Cost(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
+{
+}
+double CostFromErrFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::VectorXd err = f_->call(x);
+
+  switch (pen_type_)
+  {
+    case SQUARED:
+      err = err.array().square();
+      break;
+    case ABS:
+      err = err.array().abs();
+      break;
+    case HINGE:
+      err = err.cwiseMax(Eigen::VectorXd::Zero(err.size()));
+      break;
+    default:
+      assert(0 && "unreachable");
+  }
+
+  if (coeffs_.size() > 0)
+    err.array() *= coeffs_.array();
+
+  return err.array().sum();
+}
+ConvexObjectivePtr CostFromErrFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::MatrixXd jac = (dfdx_) ? dfdx_->call(x) : calcForwardNumJac(*f_, x, epsilon_);
+  ConvexObjectivePtr out(new ConvexObjective(model));
+  Eigen::VectorXd y = f_->call(x);
+  for (int i = 0; i < jac.rows(); ++i)
+  {
+    AffExpr aff = affFromValGrad(y[i], x, jac.row(i), vars_);
+    double weight = 1;
+    if (coeffs_.size() > 0)
+    {
+      if (coeffs_[i] == 0)
+        continue;
+
+      weight = coeffs_[i];
+    }
+    switch (pen_type_)
+    {
+      case SQUARED:
+      {
+        QuadExpr quad = exprSquare(aff);
+        exprScale(quad, weight);
+        out->addQuadExpr(quad);
+        break;
+      }
+      case ABS:
+      {
+        exprScale(aff, weight);
+        out->addAbs(aff, 1);
+        break;
+      }
+      case HINGE:
+      {
+        exprScale(aff, weight);
+        out->addHinge(aff, 1);
+        break;
+      }
+      default:
+        assert(0 && "unreachable");
+    }
+  }
+  return out;
+}
+
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
+                                             const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             ConstraintType type,
+                                             const std::string& name)
+  : Constraint(name), f_(f), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
+                                             MatrixOfVectorPtr dfdx,
+                                             const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             ConstraintType type,
+                                             const std::string& name)
+  : Constraint(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+DblVec ConstraintFromErrFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::VectorXd err = f_->call(x);
+  if (coeffs_.size() > 0)
+    err.array() *= coeffs_.array();
+  return util::toDblVec(err);
+}
+
+ConvexConstraintsPtr ConstraintFromErrFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::MatrixXd jac = (dfdx_) ? dfdx_->call(x) : calcForwardNumJac(*f_, x, epsilon_);
+  ConvexConstraintsPtr out(new ConvexConstraints(model));
+  Eigen::VectorXd y = f_->call(x);
+  for (int i = 0; i < jac.rows(); ++i)
+  {
+    AffExpr aff = affFromValGrad(y[i], x, jac.row(i), vars_);
+    if (coeffs_.size() > 0)
+    {
+      if (coeffs_[i] == 0)
+        continue;
+      exprScale(aff, coeffs_[i]);
+    }
+    if (type() == INEQ)
+      out->addIneqCnt(aff);
+    else
+      out->addEqCnt(aff);
+  }
+  return out;
+}
+
+std::string AffExprToString(const AffExpr& aff)
+{
+  std::string out;
+  for (size_t i = 0; i < aff.vars.size(); i++)
+  {
+    if (i != 0)
+      out.append(" + ");
+    std::string term = std::to_string(aff.coeffs[i]) + "*" + aff.vars[i].var_rep->name;
+    out.append(term);
+  }
+  out.append(" + " + std::to_string(aff.constant));
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
new file mode 100644
index 0000000000..f7e459aa01
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
@@ -0,0 +1,118 @@
+#include <trajopt_sco/num_diff.hpp>
+
+namespace sco
+{
+ScalarOfVectorPtr ScalarOfVector::construct(const func& f)
+{
+  struct F : public ScalarOfVector
+  {
+    func f;
+    F(const func& _f) : f(_f) {}
+    double operator()(const Eigen::VectorXd& x) const override { return f(x); }
+  };
+  ScalarOfVector* sov = new F(f);  // to avoid erroneous clang warning
+  return ScalarOfVectorPtr(sov);
+}
+VectorOfVectorPtr VectorOfVector::construct(const func& f)
+{
+  struct F : public VectorOfVector
+  {
+    func f;
+    F(const func& _f) : f(_f) {}
+    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return f(x); }
+  };
+  VectorOfVector* vov = new F(f);  // to avoid erroneous clang warning
+  return VectorOfVectorPtr(vov);
+}
+
+Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon)
+{
+  Eigen::VectorXd out(x.size());
+  Eigen::VectorXd xpert = x;
+  double y = f(x);
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon;
+    double ypert = f(xpert);
+    out(i) = (ypert - y) / epsilon;
+    xpert(i) = x(i);
+  }
+  return out;
+}
+Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon)
+{
+  Eigen::VectorXd y = f(x);
+  Eigen::MatrixXd out(y.size(), x.size());
+  Eigen::VectorXd xpert = x;
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon;
+    Eigen::VectorXd ypert = f(xpert);
+    out.col(i) = (ypert - y) / epsilon;
+    xpert(i) = x(i);
+  }
+  return out;
+}
+
+void calcGradAndDiagHess(const ScalarOfVector& f,
+                         const Eigen::VectorXd& x,
+                         double epsilon,
+                         double& y,
+                         Eigen::VectorXd& grad,
+                         Eigen::VectorXd& hess)
+{
+  y = f(x);
+  grad.resize(x.size());
+  hess.resize(x.size());
+  Eigen::VectorXd xpert = x;
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon / 2;
+    double yplus = f(xpert);
+    xpert(i) = x(i) - epsilon / 2;
+    double yminus = f(xpert);
+    grad(i) = (yplus - yminus) / epsilon;
+    hess(i) = (yplus + yminus - 2 * y) / (epsilon * epsilon / 4);
+    xpert(i) = x(i);
+  }
+}
+
+void calcGradHess(ScalarOfVectorPtr f,
+                  const Eigen::VectorXd& x,
+                  double epsilon,
+                  double& y,
+                  Eigen::VectorXd& grad,
+                  Eigen::MatrixXd& hess)
+{
+  y = f->call(x);
+  VectorOfVectorPtr grad_func = forwardNumGrad(f, epsilon);
+  grad = grad_func->call(x);
+  hess = calcForwardNumJac(*grad_func, x, epsilon);
+  hess = (hess + hess.transpose()) / 2;
+}
+
+struct ForwardNumGrad : public VectorOfVector
+{
+  ScalarOfVectorPtr f_;
+  double epsilon_;
+  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
+  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumGrad(*f_, x, epsilon_); }
+};
+
+struct ForwardNumJac : public MatrixOfVector
+{
+  VectorOfVectorPtr f_;
+  double epsilon_;
+  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumJac(*f_, x, epsilon_); }
+};
+
+VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon)
+{
+  return VectorOfVectorPtr(new ForwardNumGrad(f, epsilon));
+}
+MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon)
+{
+  return MatrixOfVectorPtr(new ForwardNumJac(f, epsilon));
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
new file mode 100644
index 0000000000..483147ceb0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
@@ -0,0 +1,491 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <cmath>
+#include <cstdio>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/macros.h>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+std::ostream& operator<<(std::ostream& o, const OptResults& r)
+{
+  o << "Optimization results:" << std::endl
+    << "status: " << statusToString(r.status) << std::endl
+    << "cost values: " << util::Str(r.cost_vals) << std::endl
+    << "constraint violations: " << util::Str(r.cnt_viols) << std::endl
+    << "n func evals: " << r.n_func_evals << std::endl
+    << "n qp solves: " << r.n_qp_solves << std::endl;
+  return o;
+}
+
+//////////////////////////////////////////////////
+////////// private utility functions for  sqp /////////
+//////////////////////////////////////////////////
+
+static DblVec evaluateCosts(const std::vector<CostPtr>& costs, const DblVec& x)
+{
+  DblVec out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->value(x);
+  }
+  return out;
+}
+static DblVec evaluateConstraintViols(const std::vector<ConstraintPtr>& constraints, const DblVec& x)
+{
+  DblVec out(constraints.size());
+  for (size_t i = 0; i < constraints.size(); ++i)
+  {
+    out[i] = constraints[i]->violation(x);
+  }
+  return out;
+}
+static std::vector<ConvexObjectivePtr> convexifyCosts(const std::vector<CostPtr>& costs, const DblVec& x, Model* model)
+{
+  std::vector<ConvexObjectivePtr> out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->convex(x, model);
+  }
+  return out;
+}
+static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts,
+                                                              const DblVec& x,
+                                                              Model* model)
+{
+  std::vector<ConvexConstraintsPtr> out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+  {
+    out[i] = cnts[i]->convex(x, model);
+  }
+  return out;
+}
+
+DblVec evaluateModelCosts(const std::vector<ConvexObjectivePtr>& costs, const DblVec& x)
+{
+  DblVec out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->value(x);
+  }
+  return out;
+}
+DblVec evaluateModelCntViols(const std::vector<ConvexConstraintsPtr>& cnts, const DblVec& x)
+{
+  DblVec out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+  {
+    out[i] = cnts[i]->violation(x);
+  }
+  return out;
+}
+
+static std::vector<std::string> getCostNames(const std::vector<CostPtr>& costs)
+{
+  std::vector<std::string> out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+    out[i] = costs[i]->name();
+  return out;
+}
+static std::vector<std::string> getCntNames(const std::vector<ConstraintPtr>& cnts)
+{
+  std::vector<std::string> out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+    out[i] = cnts[i]->name();
+  return out;
+}
+
+void printCostInfo(const DblVec& old_cost_vals,
+                   const DblVec& model_cost_vals,
+                   const DblVec& new_cost_vals,
+                   const DblVec& old_cnt_vals,
+                   const DblVec& model_cnt_vals,
+                   const DblVec& new_cnt_vals,
+                   const std::vector<std::string>& cost_names,
+                   const std::vector<std::string>& cnt_names,
+                   double merit_coeff)
+{
+  std::printf("%15s | %10s | %10s | %10s | %10s\n", "", "oldexact", "dapprox", "dexact", "ratio");
+  std::printf("%15s | %10s---%10s---%10s---%10s\n", "COSTS", "----------", "----------", "----------", "----------");
+  for (size_t i = 0; i < old_cost_vals.size(); ++i)
+  {
+    double approx_improve = old_cost_vals[i] - model_cost_vals[i];
+    double exact_improve = old_cost_vals[i] - new_cost_vals[i];
+    if (fabs(approx_improve) > 1e-8)
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                  cost_names[i].c_str(),
+                  old_cost_vals[i],
+                  approx_improve,
+                  exact_improve,
+                  exact_improve / approx_improve);
+    else
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
+                  cost_names[i].c_str(),
+                  old_cost_vals[i],
+                  approx_improve,
+                  exact_improve,
+                  "  ------  ");
+  }
+  if (cnt_names.size() == 0)
+    return;
+  std::printf("%15s | %10s---%10s---%10s---%10s\n",
+              "CONSTRAINTS",
+              "----------",
+              "----------",
+              "----------",
+              "---------"
+              "-");
+  for (size_t i = 0; i < old_cnt_vals.size(); ++i)
+  {
+    double approx_improve = old_cnt_vals[i] - model_cnt_vals[i];
+    double exact_improve = old_cnt_vals[i] - new_cnt_vals[i];
+    if (fabs(approx_improve) > 1e-8)
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                  cnt_names[i].c_str(),
+                  merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve,
+                  merit_coeff * exact_improve,
+                  exact_improve / approx_improve);
+    else
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
+                  cnt_names[i].c_str(),
+                  merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve,
+                  merit_coeff * exact_improve,
+                  "  ------  ");
+  }
+}
+
+// todo: use different coeffs for each constraint
+std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts,
+                                            double err_coeff,
+                                            Model* model)
+{
+  std::vector<ConvexObjectivePtr> out;
+  for (const ConvexConstraintsPtr& cnt : cnts)
+  {
+    ConvexObjectivePtr obj(new ConvexObjective(model));
+    for (const AffExpr& aff : cnt->eqs_)
+    {
+      obj->addAbs(aff, err_coeff);
+    }
+    for (const AffExpr& aff : cnt->ineqs_)
+    {
+      obj->addHinge(aff, err_coeff);
+    }
+    out.push_back(obj);
+  }
+  return out;
+}
+
+void Optimizer::addCallback(const Callback& cb) { callbacks_.push_back(cb); }
+void Optimizer::callCallbacks()
+{
+  for (unsigned i = 0; i < callbacks_.size(); ++i)
+  {
+    callbacks_[i](prob_.get(), results_);
+  }
+}
+
+void Optimizer::initialize(const DblVec& x)
+{
+  if (!prob_)
+    PRINT_AND_THROW("need to set the problem before initializing");
+  if (prob_->getVars().size() != x.size())
+    PRINT_AND_THROW(boost::format("initialization vector has wrong length. expected %i got %i") %
+                    prob_->getVars().size() % x.size());
+  results_.clear();
+  results_.x = x;
+}
+
+BasicTrustRegionSQPParameters::BasicTrustRegionSQPParameters()
+{
+  improve_ratio_threshold = 0.25;
+  min_trust_box_size = 1e-4;
+  min_approx_improve = 1e-4;
+  min_approx_improve_frac = -INFINITY;
+  max_iter = 50;
+  trust_shrink_ratio = 0.1;
+  trust_expand_ratio = 1.5;
+  cnt_tolerance = 1e-4;
+  max_merit_coeff_increases = 5;
+  merit_coeff_increase_ratio = 10;
+  max_time = INFINITY;
+  merit_error_coeff = 10;
+  trust_box_size = 1e-1;
+}
+
+BasicTrustRegionSQP::BasicTrustRegionSQP() {}
+BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob) { setProblem(prob); }
+void BasicTrustRegionSQP::setProblem(OptProbPtr prob)
+{
+  Optimizer::setProblem(prob);
+  model_ = prob->getModel();
+}
+
+void BasicTrustRegionSQP::adjustTrustRegion(double ratio) { param_.trust_box_size *= ratio; }
+void BasicTrustRegionSQP::setTrustBoxConstraints(const DblVec& x)
+{
+  const VarVector& vars = prob_->getVars();
+  assert(vars.size() == x.size());
+  const DblVec &lb = prob_->getLowerBounds(), ub = prob_->getUpperBounds();
+  DblVec lbtrust(x.size()), ubtrust(x.size());
+  for (size_t i = 0; i < x.size(); ++i)
+  {
+    lbtrust[i] = fmax(x[i] - param_.trust_box_size, lb[i]);
+    ubtrust[i] = fmin(x[i] + param_.trust_box_size, ub[i]);
+  }
+  model_->setVarBounds(vars, lbtrust, ubtrust);
+}
+
+#if 0
+struct MultiCritFilter {
+  /**
+   * Checks if you're making an improvement on a multidimensional objective
+   * Given a set of past error vectors, the improvement is defined as
+   * min_{olderrvec in past_err_vecs} | olderrvec - errvec |^+
+   */
+  vector<DblVec> errvecs;
+  double improvement(const DblVec& errvec) {
+    double leastImprovement=INFINITY;
+    for (const DblVec& olderrvec : errvecs) {
+      double improvement=0;
+      for (int i=0; i < errvec.size(); ++i) improvement += pospart(olderrvec[i] - errvec[i]);
+      leastImprovement = fmin(leastImprovement, improvement);
+    }
+    return leastImprovement;
+  }
+  void insert(const DblVec& x) {errvecs.push_back(x);}
+  bool empty() {return errvecs.size() > 0;}
+};
+#endif
+
+OptStatus BasicTrustRegionSQP::optimize()
+{
+  std::vector<std::string> cost_names = getCostNames(prob_->getCosts());
+  std::vector<ConstraintPtr> constraints = prob_->getConstraints();
+  std::vector<std::string> cnt_names = getCntNames(constraints);
+
+  if (results_.x.size() == 0)
+    PRINT_AND_THROW("you forgot to initialize!");
+  if (!prob_)
+    PRINT_AND_THROW("you forgot to set the optimization problem");
+
+  results_.x = prob_->getClosestFeasiblePoint(results_.x);
+
+  assert(results_.x.size() == prob_->getVars().size());
+  assert(prob_->getCosts().size() > 0 || constraints.size() > 0);
+
+  OptStatus retval = INVALID;
+
+  for (int merit_increases = 0; merit_increases < param_.max_merit_coeff_increases; ++merit_increases)
+  { /* merit adjustment loop */
+    for (int iter = 1;; ++iter)
+    { /* sqp loop */
+      callCallbacks();
+
+      LOG_DEBUG("current iterate: %s", CSTR(results_.x));
+      LOG_INFO("iteration %i", iter);
+
+      // speedup: if you just evaluated the cost when doing the line search, use
+      // that
+      if (results_.cost_vals.empty() && results_.cnt_viols.empty())
+      {  // only happens on the first iteration
+        results_.cnt_viols = evaluateConstraintViols(constraints, results_.x);
+        results_.cost_vals = evaluateCosts(prob_->getCosts(), results_.x);
+        assert(results_.n_func_evals == 0);
+        ++results_.n_func_evals;
+      }
+
+      // DblVec new_cnt_viols = evaluateConstraintViols(constraints, results_.x);
+      // DblVec new_cost_vals = evaluateCosts(prob_->getCosts(), results_.x);
+      // cout << "costs" << endl;
+      // for (int i=0; i < new_cnt_viols.size(); ++i) {
+      //   cout << cnt_names[i] << " " << new_cnt_viols[i] -
+      //   results_.cnt_viols[i] << endl;
+      // }
+      // for (int i=0; i < new_cost_vals.size(); ++i) {
+      //   cout << cost_names[i] << " " << new_cost_vals[i] -
+      //   results_.cost_vals[i] << endl;
+      // }
+
+      std::vector<ConvexObjectivePtr> cost_models = convexifyCosts(prob_->getCosts(), results_.x, model_.get());
+      std::vector<ConvexConstraintsPtr> cnt_models = convexifyConstraints(constraints, results_.x, model_.get());
+      std::vector<ConvexObjectivePtr> cnt_cost_models = cntsToCosts(cnt_models, param_.merit_error_coeff, model_.get());
+      model_->update();
+      for (ConvexObjectivePtr& cost : cost_models)
+        cost->addConstraintsToModel();
+      for (ConvexObjectivePtr& cost : cnt_cost_models)
+        cost->addConstraintsToModel();
+      model_->update();
+      QuadExpr objective;
+      for (ConvexObjectivePtr& co : cost_models)
+        exprInc(objective, co->quad_);
+      for (ConvexObjectivePtr& co : cnt_cost_models)
+        exprInc(objective, co->quad_);
+
+      //    objective = cleanupExpr(objective);
+      model_->setObjective(objective);
+
+      //    if (logging::filter() >= IPI_LEVEL_DEBUG) {
+      //      DblVec model_cost_vals;
+      //      for (ConvexObjectivePtr& cost : cost_models) {
+      //        model_cost_vals.push_back(cost->value(x));
+      //      }
+      //      LOG_DEBUG("model costs %s should equalcosts  %s",
+      //      printer(model_cost_vals), printer(cost_vals));
+      //    }
+
+      while (param_.trust_box_size >= param_.min_trust_box_size)
+      {
+        setTrustBoxConstraints(results_.x);
+        CvxOptStatus status = model_->optimize();
+        ++results_.n_qp_solves;
+        if (status != CVX_SOLVED)
+        {
+          LOG_ERROR("convex solver failed! set TRAJOPT_LOG_THRESH=DEBUG to see "
+                    "solver output. saving model to /tmp/fail.lp and IIS to "
+                    "/tmp/fail.ilp");
+          model_->writeToFile("/tmp/fail.lp");
+          model_->writeToFile("/tmp/fail.ilp");
+          retval = OPT_FAILED;
+          goto cleanup;
+        }
+        DblVec model_var_vals = model_->getVarValues(model_->getVars());
+
+        DblVec model_cost_vals = evaluateModelCosts(cost_models, model_var_vals);
+        DblVec model_cnt_viols = evaluateModelCntViols(cnt_models, model_var_vals);
+
+        // the n variables of the OptProb happen to be the first n variables in
+        // the Model
+        DblVec new_x(model_var_vals.begin(), model_var_vals.begin() + static_cast<long int>(results_.x.size()));
+
+        if (util::GetLogLevel() >= util::LevelDebug)
+        {
+          DblVec cnt_costs1 = evaluateModelCosts(cnt_cost_models, model_var_vals);
+          DblVec cnt_costs2 = model_cnt_viols;
+          for (unsigned i = 0; i < cnt_costs2.size(); ++i)
+            cnt_costs2[i] *= param_.merit_error_coeff;
+          LOG_DEBUG("SHOULD BE ALMOST THE SAME: %s ?= %s", CSTR(cnt_costs1), CSTR(cnt_costs2));
+          // not exactly the same because cnt_costs1 is based on aux variables,
+          // but they might not be at EXACTLY the right value
+        }
+
+        DblVec new_cost_vals = evaluateCosts(prob_->getCosts(), new_x);
+        DblVec new_cnt_viols = evaluateConstraintViols(constraints, new_x);
+        ++results_.n_func_evals;
+
+        double old_merit = vecSum(results_.cost_vals) + param_.merit_error_coeff * vecSum(results_.cnt_viols);
+        double model_merit = vecSum(model_cost_vals) + param_.merit_error_coeff * vecSum(model_cnt_viols);
+        double new_merit = vecSum(new_cost_vals) + param_.merit_error_coeff * vecSum(new_cnt_viols);
+        double approx_merit_improve = old_merit - model_merit;
+        double exact_merit_improve = old_merit - new_merit;
+        double merit_improve_ratio = exact_merit_improve / approx_merit_improve;
+
+        if (util::GetLogLevel() >= util::LevelInfo)
+        {
+          LOG_INFO(" ");
+          printCostInfo(results_.cost_vals,
+                        model_cost_vals,
+                        new_cost_vals,
+                        results_.cnt_viols,
+                        model_cnt_viols,
+                        new_cnt_viols,
+                        cost_names,
+                        cnt_names,
+                        param_.merit_error_coeff);
+          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                      "TOTAL",
+                      old_merit,
+                      approx_merit_improve,
+                      exact_merit_improve,
+                      merit_improve_ratio);
+        }
+
+        if (approx_merit_improve < -1e-5)
+        {
+          LOG_ERROR("approximate merit function got worse (%.3e). "
+                    "(convexification is probably wrong to zeroth order)",
+                    approx_merit_improve);
+        }
+        if (approx_merit_improve < param_.min_approx_improve)
+        {
+          LOG_INFO(
+              "converged because improvement was small (%.3e < %.3e)", approx_merit_improve, param_.min_approx_improve);
+          retval = OPT_CONVERGED;
+          goto penaltyadjustment;
+        }
+        if (approx_merit_improve / old_merit < param_.min_approx_improve_frac)
+        {
+          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)",
+                   approx_merit_improve / old_merit,
+                   param_.min_approx_improve_frac);
+          retval = OPT_CONVERGED;
+          goto penaltyadjustment;
+        }
+        else if (exact_merit_improve < 0 || merit_improve_ratio < param_.improve_ratio_threshold)
+        {
+          adjustTrustRegion(param_.trust_shrink_ratio);
+          LOG_INFO("shrunk trust region. new box size: %.4f", param_.trust_box_size);
+        }
+        else
+        {
+          results_.x = new_x;
+          results_.cost_vals = new_cost_vals;
+          results_.cnt_viols = new_cnt_viols;
+          adjustTrustRegion(param_.trust_expand_ratio);
+          LOG_INFO("expanded trust region. new box size: %.4f", param_.trust_box_size);
+          break;
+        }
+      }
+
+      if (param_.trust_box_size < param_.min_trust_box_size)
+      {
+        LOG_INFO("converged because trust region is tiny");
+        retval = OPT_CONVERGED;
+        goto penaltyadjustment;
+      }
+      else if (iter >= param_.max_iter)
+      {
+        LOG_INFO("iteration limit");
+        retval = OPT_SCO_ITERATION_LIMIT;
+        goto cleanup;
+      }
+    }
+
+  penaltyadjustment:
+    if (results_.cnt_viols.empty() || vecMax(results_.cnt_viols) < param_.cnt_tolerance)
+    {
+      if (results_.cnt_viols.size() > 0)
+        LOG_INFO("woo-hoo! constraints are satisfied (to tolerance %.2e)", param_.cnt_tolerance);
+      goto cleanup;
+    }
+    else
+    {
+      LOG_INFO("not all constraints are satisfied. increasing penalties");
+      param_.merit_error_coeff *= param_.merit_coeff_increase_ratio;
+      param_.trust_box_size = fmax(param_.trust_box_size, param_.min_trust_box_size / param_.trust_shrink_ratio * 1.5);
+    }
+  }
+  retval = OPT_PENALTY_ITERATION_LIMIT;
+  LOG_INFO("optimization couldn't satisfy all constraints");
+
+cleanup:
+  assert(retval != INVALID && "should never happen");
+  results_.status = retval;
+  results_.total_cost = vecSum(results_.cost_vals);
+  LOG_INFO("\n==================\n%s==================", CSTR(results_));
+  callCallbacks();
+
+  return retval;
+}
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
new file mode 100644
index 0000000000..bd1a18c8c3
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
@@ -0,0 +1,270 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <constants.h>
+#include <cmath>
+#include <Eigen/SparseCore>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/osqp_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+double OSQP_INFINITY = std::numeric_limits<double>::infinity();
+
+ModelPtr createOSQPModel()
+{
+  ModelPtr out(new OSQPModel());
+  return out;
+}
+
+OSQPModel::OSQPModel()
+{
+  // Define Solver settings as default
+  // see https://osqp.org/docs/interfaces/solver_settings.html#solver-settings
+  osqp_set_default_settings(&osqp_settings_);
+  // tuning parameters to be less accurate, but add a polishing step
+  osqp_settings_.eps_abs = 1e-4;
+  osqp_settings_.eps_rel = 1e-6;
+  osqp_settings_.max_iter = 8192;
+  osqp_settings_.polish = 1;
+  osqp_settings_.verbose = false;
+
+  // Initialize data
+  osqp_data_.A = nullptr;
+  osqp_data_.P = nullptr;
+  osqp_workspace_ = nullptr;
+}
+
+OSQPModel::~OSQPModel()
+{
+  // Cleanup
+  if (osqp_workspace_ != nullptr)
+    osqp_cleanup(osqp_workspace_);
+  if (osqp_data_.A != nullptr)
+    c_free(osqp_data_.A);
+  if (osqp_data_.P != nullptr)
+    c_free(osqp_data_.P);
+}
+
+Var OSQPModel::addVar(const std::string& name)
+{
+  vars_.push_back(new VarRep(vars_.size(), name, this));
+  lbs_.push_back(-OSQP_INFINITY);
+  ubs_.push_back(OSQP_INFINITY);
+  return vars_.back();
+}
+
+Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(EQ);
+  return cnts_.back();
+}
+
+Cnt OSQPModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(INEQ);
+  return cnts_.back();
+}
+
+Cnt OSQPModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  throw std::runtime_error("NOT IMPLEMENTED");
+  return Cnt();
+}
+
+void OSQPModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void OSQPModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void OSQPModel::updateObjective()
+{
+  const size_t n = vars_.size();
+  osqp_data_.n = n;
+
+  Eigen::SparseMatrix<double> sm;
+  exprToEigen(objective_, sm, q_, n, true);
+  eigenToCSC(sm, P_row_indices_, P_column_pointers_, P_csc_data_);
+
+  if (osqp_data_.P != nullptr)
+    c_free(osqp_data_.P);
+  osqp_data_.P = csc_matrix(osqp_data_.n,
+                            osqp_data_.n,
+                            P_csc_data_.size(),
+                            P_csc_data_.data(),
+                            P_row_indices_.data(),
+                            P_column_pointers_.data());
+
+  osqp_data_.q = q_.data();
+}
+
+void OSQPModel::updateConstraints()
+{
+  const size_t n = vars_.size();
+  const size_t m = cnts_.size();
+  osqp_data_.m = m + n;
+
+  Eigen::SparseMatrix<double> sm;
+  Eigen::VectorXd v;
+  exprToEigen(cnt_exprs_, sm, v, n);
+  Eigen::SparseMatrix<double> sm_e(m + n, n);
+  Eigen::SparseMatrix<double> sm_e2 = sm;
+  sm.conservativeResize(m + n, Eigen::NoChange_t(n));
+
+  l_.clear();
+  l_.resize(m + n, -OSQP_INFINITY);
+  u_.clear();
+  u_.resize(m + n, OSQP_INFINITY);
+
+  for (int i_cnt = 0; i_cnt < m; ++i_cnt)
+  {
+    l_[i_cnt] = (cnt_types_[i_cnt] == INEQ) ? -OSQP_INFINITY : v[i_cnt];
+    u_[i_cnt] = v[i_cnt];
+  }
+
+  for (int i_bnd = 0; i_bnd < n; ++i_bnd)
+  {
+    l_[i_bnd + m] = fmax(lbs_[i_bnd], -OSQP_INFINITY);
+    u_[i_bnd + m] = fmin(ubs_[i_bnd], OSQP_INFINITY);
+    sm.insert(i_bnd + m, i_bnd) = 1.;
+  }
+
+  eigenToCSC(sm, A_row_indices_, A_column_pointers_, A_csc_data_);
+
+  if (osqp_data_.A != nullptr)
+    c_free(osqp_data_.A);
+  osqp_data_.A = csc_matrix(osqp_data_.m,
+                            osqp_data_.n,
+                            A_csc_data_.size(),
+                            A_csc_data_.data(),
+                            A_row_indices_.data(),
+                            A_column_pointers_.data());
+
+  osqp_data_.l = l_.data();
+  osqp_data_.u = u_.data();
+}
+
+void OSQPModel::createOrUpdateSolver()
+{
+  updateObjective();
+  updateConstraints();
+
+  // TODO atm we are not updating the workspace, but recreating it each time.
+  // In the future, we will checking sparsity did not change and update instead
+  if (osqp_workspace_ != nullptr)
+    osqp_cleanup(osqp_workspace_);
+  // Setup workspace - this should be called only once
+  osqp_workspace_ = osqp_setup(&osqp_data_, &osqp_settings_);
+}
+
+void OSQPModel::update()
+{
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < vars_.size(); ++iold)
+    {
+      const Var& var = vars_[iold];
+      if (!var.var_rep->removed)
+      {
+        vars_[inew] = var;
+        lbs_[inew] = lbs_[iold];
+        ubs_[inew] = ubs_[iold];
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    vars_.resize(inew);
+    lbs_.resize(inew);
+    ubs_.resize(inew);
+  }
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < cnts_.size(); ++iold)
+    {
+      const Cnt& cnt = cnts_[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        cnts_[inew] = cnt;
+        cnt_exprs_[inew] = cnt_exprs_[iold];
+        cnt_types_[inew] = cnt_types_[iold];
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    cnts_.resize(inew);
+    cnt_exprs_.resize(inew);
+    cnt_types_.resize(inew);
+  }
+}
+
+void OSQPModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    lbs_[varind] = lower[i];
+    ubs_[varind] = upper[i];
+  }
+}
+DblVec OSQPModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    out[i] = solution_[varind];
+  }
+  return out;
+}
+
+CvxOptStatus OSQPModel::optimize()
+{
+  update();
+  createOrUpdateSolver();
+
+  // Solve Problem
+  const int retcode = osqp_solve(osqp_workspace_);
+
+  if (retcode == 0)
+  {
+    // opt += m_objective.affexpr.constant;
+    solution_ = DblVec(osqp_workspace_->solution->x, osqp_workspace_->solution->x + vars_.size());
+    int status = osqp_workspace_->info->status_val;
+    if (status == OSQP_SOLVED || status == OSQP_SOLVED_INACCURATE)
+      return CVX_SOLVED;
+    else if (status == OSQP_PRIMAL_INFEASIBLE || status == OSQP_PRIMAL_INFEASIBLE_INACCURATE ||
+             status == OSQP_DUAL_INFEASIBLE || status == OSQP_DUAL_INFEASIBLE_INACCURATE)
+      return CVX_INFEASIBLE;
+  }
+  return CVX_FAILED;
+}
+void OSQPModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
+void OSQPModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void OSQPModel::writeToFile(const std::string& /*fname*/)
+{
+  return;  // NOT IMPLEMENTED
+}
+VarVector OSQPModel::getVars() const { return vars_; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
new file mode 100644
index 0000000000..2316f95d52
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
@@ -0,0 +1,251 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+#include <Eigen/Eigen>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/qpoases_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace qpOASES;
+
+namespace sco
+{
+double QPOASES_INFTY = qpOASES::INFTY;
+
+ModelPtr createqpOASESModel()
+{
+  ModelPtr out(new qpOASESModel());
+  return out;
+}
+
+qpOASESModel::qpOASESModel()
+{
+  // set to be fast. More details at:
+  // https://www.coin-or.org/qpOASES/doc/3.2/doxygen/classOptions.html
+  // https://projects.coin-or.org/qpOASES/browser/stable/3.2/src/Options.cpp#L191
+  qpoases_options_.setToMPC();
+  qpoases_options_.printLevel = qpOASES::PL_NONE;
+  // enable regularisation to deal with degenerate Hessians
+  qpoases_options_.enableRegularisation = qpOASES::BT_TRUE;
+  qpoases_options_.ensureConsistency();
+}
+
+qpOASESModel::~qpOASESModel() {}
+Var qpOASESModel::addVar(const std::string& name)
+{
+  vars_.push_back(new VarRep(vars_.size(), name, this));
+  lb_.push_back(-QPOASES_INFTY);
+  ub_.push_back(QPOASES_INFTY);
+  return vars_.back();
+}
+
+Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(EQ);
+  return cnts_.back();
+}
+
+Cnt qpOASESModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(INEQ);
+  return cnts_.back();
+}
+
+Cnt qpOASESModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  assert(0 && "NOT IMPLEMENTED");
+  return 0;
+}
+
+void qpOASESModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void qpOASESModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void qpOASESModel::updateObjective()
+{
+  const size_t n = vars_.size();
+
+  Eigen::SparseMatrix<double> sm;
+  exprToEigen(objective_, sm, g_, n, true, true);
+  eigenToCSC(sm, H_row_indices_, H_column_pointers_, H_csc_data_);
+
+  H_ = SymSparseMat(vars_.size(), vars_.size(), H_row_indices_.data(), H_column_pointers_.data(), H_csc_data_.data());
+  H_.createDiagInfo();
+}
+
+void qpOASESModel::updateConstraints()
+{
+  const size_t n = vars_.size();
+  const size_t m = cnts_.size();
+
+  lbA_.clear();
+  lbA_.resize(m, -QPOASES_INFTY);
+  ubA_.clear();
+  ubA_.resize(m, QPOASES_INFTY);
+
+  Eigen::SparseMatrix<double> sm;
+  Eigen::VectorXd v;
+  exprToEigen(cnt_exprs_, sm, v, n);
+
+  for (int i_cnt = 0; i_cnt < m; ++i_cnt)
+  {
+    lbA_[i_cnt] = (cnt_types_[i_cnt] == INEQ) ? -QPOASES_INFTY : v[i_cnt];
+    ubA_[i_cnt] = v[i_cnt];
+  }
+
+  eigenToCSC(sm, A_row_indices_, A_column_pointers_, A_csc_data_);
+  A_ = SparseMatrix(cnts_.size(), vars_.size(), A_row_indices_.data(), A_column_pointers_.data(), A_csc_data_.data());
+}
+
+bool qpOASESModel::updateSolver()
+{
+  bool solver_updated = false;
+  if (!qpoases_problem_ || vars_.size() != qpoases_problem_->getNV() || cnts_.size() != qpoases_problem_->getNC())
+  {
+    // Create Problem - this should be called only once
+    qpoases_problem_.reset(new SQProblem(vars_.size(), cnts_.size()));
+    qpoases_problem_->setOptions(qpoases_options_);
+    solver_updated = true;
+  }
+  return solver_updated;
+}
+
+void qpOASESModel::createSolver()
+{
+  qpoases_problem_.reset();
+  updateSolver();
+}
+
+void qpOASESModel::update()
+{
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < vars_.size(); ++iold)
+    {
+      const Var& var = vars_[iold];
+      if (!var.var_rep->removed)
+      {
+        vars_[inew] = var;
+        lb_[inew] = lb_[iold];
+        ub_[inew] = ub_[iold];
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    vars_.resize(inew);
+    lb_.resize(inew, QPOASES_INFTY);
+    ub_.resize(inew, -QPOASES_INFTY);
+  }
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < cnts_.size(); ++iold)
+    {
+      const Cnt& cnt = cnts_[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        cnts_[inew] = cnt;
+        cnt_exprs_[inew] = cnt_exprs_[iold];
+        cnt_types_[inew] = cnt_types_[iold];
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    cnts_.resize(inew);
+    cnt_exprs_.resize(inew);
+    cnt_types_.resize(inew);
+  }
+}
+
+void qpOASESModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    lb_[varind] = lower[i];
+    ub_[varind] = upper[i];
+  }
+}
+DblVec qpOASESModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    out[i] = solution_[varind];
+  }
+  return out;
+}
+
+CvxOptStatus qpOASESModel::optimize()
+{
+  update();
+  updateObjective();
+  updateConstraints();
+  updateSolver();
+  qpOASES::returnValue val = qpOASES::RET_QP_SOLUTION_STARTED;
+
+  // Solve Problem
+  int nWSR = 255;
+  if (qpoases_problem_->isInitialised())
+  {
+    val = qpoases_problem_->hotstart(
+        &H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+  }
+
+  if (val != qpOASES::SUCCESSFUL_RETURN)
+  {
+    // TODO ATM this means we are creating a new solver even if updateSolver
+    //      returned true and the problem is not initialized. Still, it makes
+    //      tests pass.
+    createSolver();
+
+    val = qpoases_problem_->init(&H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+  }
+
+  if (val == qpOASES::SUCCESSFUL_RETURN)
+  {
+    // opt += m_objective.affexpr.constant;
+    solution_.resize(vars_.size(), 0.);
+    val = qpoases_problem_->getPrimalSolution(solution_.data());
+    return CVX_SOLVED;
+  }
+  else if (val == qpOASES::RET_INIT_FAILED_INFEASIBILITY)
+  {
+    return CVX_INFEASIBLE;
+  }
+  else
+  {
+    return CVX_FAILED;
+  }
+}
+void qpOASESModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
+void qpOASESModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void qpOASESModel::writeToFile(const std::string& /*fname*/)
+{
+  return;  // NOT IMPLEMENTED
+}
+VarVector qpOASESModel::getVars() const { return vars_; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
new file mode 100644
index 0000000000..3da51d8af5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
@@ -0,0 +1,305 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <iostream>
+#include <map>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+const std::vector<std::string> ModelType::MODEL_NAMES_ = { "GUROBI", "BPMPD", "OSQP", "QPOASES", "AUTO_SOLVER" };
+
+IntVec vars2inds(const VarVector& vars)
+{
+  IntVec inds(vars.size());
+  for (size_t i = 0; i < inds.size(); ++i)
+    inds[i] = vars[i].var_rep->index;
+  return inds;
+}
+IntVec cnts2inds(const CntVector& cnts)
+{
+  IntVec inds(cnts.size());
+  for (size_t i = 0; i < inds.size(); ++i)
+    inds[i] = cnts[i].cnt_rep->index;
+  return inds;
+}
+
+void simplify2(IntVec& inds, DblVec& vals)
+{
+  typedef std::map<int, double> Int2Double;
+  Int2Double ind2val;
+  for (unsigned i = 0; i < inds.size(); ++i)
+  {
+    if (vals[i] != 0.0)
+      ind2val[inds[i]] += vals[i];
+  }
+  inds.resize(ind2val.size());
+  vals.resize(ind2val.size());
+  long unsigned int i_new = 0;
+  for (Int2Double::value_type& iv : ind2val)
+  {
+    inds[i_new] = iv.first;
+    vals[i_new] = iv.second;
+    ++i_new;
+  }
+}
+
+double AffExpr::value(const double* x) const
+{
+  double out = constant;
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars[i].value(x);
+  }
+  return out;
+}
+double AffExpr::value(const DblVec& x) const
+{
+  double out = constant;
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars[i].value(x);
+  }
+  return out;
+}
+double QuadExpr::value(const DblVec& x) const
+{
+  double out = affexpr.value(x);
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars1[i].value(x) * vars2[i].value(x);
+  }
+  return out;
+}
+double QuadExpr::value(const double* x) const
+{
+  double out = affexpr.value(x);
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars1[i].value(x) * vars2[i].value(x);
+  }
+  return out;
+}
+
+Var Model::addVar(const std::string& name, double lb, double ub)
+{
+  Var v = addVar(name);
+  setVarBounds(v, lb, ub);
+  return v;
+}
+void Model::removeVar(const Var& var)
+{
+  VarVector vars(1, var);
+  removeVars(vars);
+}
+void Model::removeCnt(const Cnt& cnt)
+{
+  CntVector cnts(1, cnt);
+  removeCnts(cnts);
+}
+
+double Model::getVarValue(const Var& var) const
+{
+  VarVector vars(1, var);
+  return getVarValues(vars)[0];
+}
+
+void Model::setVarBounds(const Var& var, double lower, double upper)
+{
+  DblVec lowers(1, lower), uppers(1, upper);
+  VarVector vars(1, var);
+  setVarBounds(vars, lowers, uppers);
+}
+
+std::ostream& operator<<(std::ostream& o, const Var& v)
+{
+  if (v.var_rep != nullptr)
+    o << v.var_rep->name;
+  else
+    o << "nullvar";
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const Cnt& c)
+{
+  o << c.cnt_rep->expr << ((c.cnt_rep->type == EQ) ? " == 0" : " <= 0");
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const AffExpr& e)
+{
+  o << e.constant;
+  for (size_t i = 0; i < e.size(); ++i)
+  {
+    o << " + " << e.coeffs[i] << "*" << e.vars[i];
+  }
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const QuadExpr& e)
+{
+  o << e.affexpr;
+  for (size_t i = 0; i < e.size(); ++i)
+  {
+    o << " + " << e.coeffs[i] << "*" << e.vars1[i] << "*" << e.vars2[i];
+  }
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const ModelType& cs)
+{
+  size_t cs_ivalue_ = static_cast<size_t>(cs.value_);
+  if (cs_ivalue_ > cs.MODEL_NAMES_.size())
+  {
+    std::stringstream conversion_error;
+    conversion_error << "Error converting ModelType to string - "
+                     << "enum value is " << cs_ivalue_ << std::endl;
+    throw std::runtime_error(conversion_error.str());
+  }
+  o << ModelType::MODEL_NAMES_[cs_ivalue_];
+  return o;
+}
+
+ModelType::ModelType() { value_ = ModelType::AUTO_SOLVER; }
+ModelType::ModelType(const ModelType::Value& v) { value_ = v; }
+ModelType::ModelType(const int& v) { value_ = static_cast<Value>(v); }
+ModelType::ModelType(const std::string& s)
+{
+  for (unsigned int i = 0; i < ModelType::MODEL_NAMES_.size(); ++i)
+  {
+    if (s == ModelType::MODEL_NAMES_[i])
+    {
+      value_ = static_cast<ModelType::Value>(i);
+      return;
+    }
+  }
+  PRINT_AND_THROW(boost::format("invalid solver name:\"%s\"") % s);
+}
+
+ModelType::operator int() const { return static_cast<int>(value_); }
+bool ModelType::operator==(const ModelType::Value& a) const { return value_ == a; }
+bool ModelType::operator==(const ModelType& a) const { return value_ == a.value_; }
+bool ModelType::operator!=(const ModelType& a) const { return value_ != a.value_; }
+void ModelType::fromJson(const Json::Value& v)
+{
+  try
+  {
+    std::string ref = v.asString();
+    ModelType cs(ref);
+    value_ = cs.value_;
+  }
+  catch (const std::runtime_error&)
+  {
+    PRINT_AND_THROW(boost::format("expected: %s, got %s") % ("string") % (v));
+  }
+}
+
+std::vector<ModelType> availableSolvers()
+{
+  std::vector<bool> has_solver(ModelType::AUTO_SOLVER, false);
+#ifdef HAVE_GUROBI
+  has_solver[ModelType::GUROBI] = true;
+#endif
+#ifdef HAVE_BPMPD
+  has_solver[ModelType::BPMPD] = true;
+#endif
+#ifdef HAVE_OSQP
+  has_solver[ModelType::OSQP] = true;
+#endif
+#ifdef HAVE_QPOASES
+  has_solver[ModelType::QPOASES] = true;
+#endif
+  size_t n_available_solvers = 0;
+  for (auto i = 0; i < ModelType::AUTO_SOLVER; ++i)
+    if (has_solver[static_cast<size_t>(i)])
+      ++n_available_solvers;
+  std::vector<ModelType> available_solvers(n_available_solvers, ModelType::AUTO_SOLVER);
+
+  size_t j = 0;
+  for (int i = 0; i < static_cast<int>(ModelType::AUTO_SOLVER); ++i)
+    if (has_solver[static_cast<size_t>(i)])
+      available_solvers[j++] = static_cast<ModelType>(i);
+  return available_solvers;
+}
+
+ModelPtr createModel(ModelType model_type)
+{
+#ifdef HAVE_GUROBI
+  extern ModelPtr createGurobiModel();
+#endif
+#ifdef HAVE_BPMPD
+  extern ModelPtr createBPMPDModel();
+#endif
+#ifdef HAVE_OSQP
+  extern ModelPtr createOSQPModel();
+#endif
+#ifdef HAVE_QPOASES
+  extern ModelPtr createqpOASESModel();
+#endif
+
+  char* solver_env = getenv("TRAJOPT_CONVEX_SOLVER");
+
+  ModelType solver = model_type;
+
+  if (solver == ModelType::AUTO_SOLVER)
+  {
+    if (solver_env and std::string(solver_env) != "AUTO_SOLVER")
+    {
+      try
+      {
+        solver = ModelType(std::string(solver_env));
+      }
+      catch (std::runtime_error&)
+      {
+        PRINT_AND_THROW(boost::format("invalid solver \"%s\"specified by TRAJOPT_CONVEX_SOLVER") % solver_env);
+      }
+    }
+    else
+    {
+      solver = availableSolvers()[0];
+    }
+  }
+
+#ifndef HAVE_GUROBI
+  if (solver == ModelType::GUROBI)
+    PRINT_AND_THROW("you didn't build with GUROBI support");
+#endif
+#ifndef HAVE_BPMPD
+  if (solver == ModelType::BPMPD)
+    PRINT_AND_THROW("you don't have BPMPD support on this platform");
+#endif
+#ifndef HAVE_OSQP
+  if (solver == ModelType::OSQP)
+    PRINT_AND_THROW("you don't have OSQP support on this platform");
+#endif
+#ifndef HAVE_QPOASES
+  if (solver == ModelType::QPOASES)
+    PRINT_AND_THROW("you don't have qpOASES support on this platform");
+#endif
+
+#ifdef HAVE_GUROBI
+  if (solver == ModelType::GUROBI)
+    return createGurobiModel();
+#endif
+#ifdef HAVE_BPMPD
+  if (solver == ModelType::BPMPD)
+    return createBPMPDModel();
+#endif
+#ifdef HAVE_OSQP
+  if (solver == ModelType::OSQP)
+    return createOSQPModel();
+#endif
+#ifdef HAVE_QPOASES
+  if (solver == ModelType::QPOASES)
+    return createqpOASESModel();
+#endif
+  std::stringstream solver_instatiation_error;
+  solver_instatiation_error << "Failed to create solver: unknown solver " << solver << std::endl;
+  PRINT_AND_THROW(solver_instatiation_error.str());
+  return ModelPtr();
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
new file mode 100644
index 0000000000..811c80a9ff
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
@@ -0,0 +1,134 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <algorithm>
+#include <Eigen/SparseCore>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+
+namespace sco
+{
+void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector, const int& n_vars)
+{
+  sparse_vector.resize(n_vars);
+  sparse_vector.reserve(static_cast<long int>(expr.size()));
+  for (size_t i = 0; i < expr.size(); ++i)
+  {
+    int i_var_index = expr.vars[i].var_rep->index;
+    if (i_var_index >= n_vars)
+    {
+      std::stringstream msg;
+      msg << "Coefficient " << i << "has index " << i_var_index << " but n_vars is " << n_vars;
+      throw std::runtime_error(msg.str());
+    }
+    if (expr.coeffs[i] != 0.)
+      sparse_vector.coeffRef(i_var_index) += expr.coeffs[i];
+  }
+}
+
+void exprToEigen(const QuadExpr& expr,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars,
+                 const bool& matrix_is_halved,
+                 const bool& force_diagonal)
+{
+  IntVec ind1 = vars2inds(expr.vars1);
+  IntVec ind2 = vars2inds(expr.vars2);
+  sparse_matrix.resize(n_vars, n_vars);
+  sparse_matrix.reserve(static_cast<long int>(2 * expr.size()));
+
+  Eigen::SparseVector<double> vector_sparse;
+  exprToEigen(expr.affexpr, vector_sparse, n_vars);
+  vector = vector_sparse;
+
+  for (size_t i = 0; i < expr.coeffs.size(); ++i)
+  {
+    if (expr.coeffs[i] != 0.0)
+    {
+      if (ind1[i] == ind2[i])
+        sparse_matrix.coeffRef(ind1[i], ind2[i]) += expr.coeffs[i];
+      else
+      {
+        int c, r;
+        if (ind1[i] < ind2[i])
+        {
+          r = ind1[i];
+          c = ind2[i];
+        }
+        else
+        {
+          r = ind2[i];
+          c = ind1[i];
+        }
+        sparse_matrix.coeffRef(r, c) += expr.coeffs[i];
+      }
+    }
+  }
+
+  auto sparse_matrix_T = Eigen::SparseMatrix<double>(sparse_matrix.transpose());
+  sparse_matrix = sparse_matrix + sparse_matrix_T;
+
+  if (!matrix_is_halved)
+    sparse_matrix = 0.5 * sparse_matrix;
+
+  if (force_diagonal)
+    for (int k = 0; k < n_vars; ++k)
+      sparse_matrix.coeffRef(k, k) += 0.0;
+}
+
+void exprToEigen(const AffExprVector& expr_vec,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars)
+{
+  vector.resize(static_cast<long int>(expr_vec.size()));
+  vector.setZero();
+  sparse_matrix.resize(static_cast<long int>(expr_vec.size()), n_vars);
+  sparse_matrix.reserve(static_cast<long int>(expr_vec.size()) * n_vars);
+
+  for (long int i = 0; i < static_cast<long int>(expr_vec.size()); ++i)
+  {
+    const AffExpr& expr = expr_vec[static_cast<size_t>(i)];
+    Eigen::SparseVector<double> expr_vector;
+    exprToEigen(expr, expr_vector, n_vars);
+    for (Eigen::SparseVector<double>::InnerIterator it(expr_vector); it; ++it)
+      sparse_matrix.coeffRef(i, it.index()) = it.value();
+    vector[i] = -expr.constant;
+  }
+}
+
+void tripletsToEigen(const IntVec& rows_i,
+                     const IntVec& cols_j,
+                     const DblVec& values_ij,
+                     Eigen::SparseMatrix<double>& sparse_matrix)
+{
+  typedef Eigen::Triplet<double> T;
+  std::vector<T, Eigen::aligned_allocator<T>> triplets;
+  for (unsigned int i = 0; i < values_ij.size(); ++i)
+    triplets.push_back(T(rows_i[i], cols_j[i], values_ij[i]));
+  sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
+}
+
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
+                     IntVec& rows_i,
+                     IntVec& cols_j,
+                     DblVec& values_ij)
+{
+  auto& sm = sparse_matrix;
+  rows_i.reserve(rows_i.size() + static_cast<size_t>(sm.nonZeros()));
+  cols_j.reserve(cols_j.size() + static_cast<size_t>(sm.nonZeros()));
+  values_ij.reserve(values_ij.size() + static_cast<size_t>(sm.nonZeros()));
+  for (int k = 0; k < sm.outerSize(); ++k)
+  {
+    for (Eigen::SparseMatrix<double>::InnerIterator it(sm, k); it; ++it)
+    {
+      rows_i.push_back(static_cast<int>(it.row()));
+      cols_j.push_back(static_cast<int>(it.col()));
+      values_ij.push_back(it.value());
+    }
+  }
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
new file mode 100644
index 0000000000..09a4895ec7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
@@ -0,0 +1,175 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Dense>
+#include <boost/format.hpp>
+#include <cmath>
+#include <gtest/gtest.h>
+#include <iostream>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_op_overloads.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace util;
+using namespace std;
+using namespace sco;
+using namespace Eigen;
+
+class SQP : public testing::TestWithParam<ModelType>
+{
+protected:
+  SQP() {}
+};
+
+void setupProblem(OptProbPtr& probptr, size_t nvars, ModelType convex_solver)
+{
+  probptr.reset(new OptProb(convex_solver));
+  vector<string> var_names;
+  for (size_t i = 0; i < nvars; ++i)
+  {
+    var_names.push_back((boost::format("x_%i") % i).str());
+  }
+  probptr->createVariables(var_names);
+}
+
+void expectAllNear(const DblVec& x, const DblVec& y, double abstol)
+{
+  EXPECT_EQ(x.size(), y.size());
+  stringstream ss;
+  LOG_INFO("checking %s ?= %s", CSTR(x), CSTR(y));
+  for (size_t i = 0; i < x.size(); ++i)
+    EXPECT_NEAR(x[i], y[i], abstol);
+}
+
+double f_QuadraticSeparable(const VectorXd& x) { return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2); }
+TEST_P(SQP, QuadraticSeparable)
+{
+  // if the problem is exactly a QP, it should be solved in one iteration
+  OptProbPtr prob;
+  setupProblem(prob, 3, GetParam());
+  prob->addCost(CostPtr(new CostFromFunc(ScalarOfVector::construct(&f_QuadraticSeparable), prob->getVars(), "f")));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.trust_box_size = 100;
+  DblVec x = { 3, 4, 5 };
+  solver.initialize(x);
+  OptStatus status = solver.optimize();
+  ASSERT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), { 0, 1, 2 }, 1e-3);
+  // todo: checks on number of iterations and function evaluates
+}
+double f_QuadraticNonseparable(const VectorXd& x) { return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2); }
+TEST_P(SQP, QuadraticNonseparable)
+{
+  OptProbPtr prob;
+  setupProblem(prob, 3, GetParam());
+  prob->addCost(
+      CostPtr(new CostFromFunc(ScalarOfVector::construct(&f_QuadraticNonseparable), prob->getVars(), "f", true)));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.trust_box_size = 100;
+  params.min_trust_box_size = 1e-5;
+  params.min_approx_improve = 1e-6;
+  DblVec x = { 3, 4, 5 };
+  solver.initialize(x);
+  OptStatus status = solver.optimize();
+  ASSERT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), { 1, 7, 2 }, .01);
+  // todo: checks on number of iterations and function evaluates
+}
+
+void testProblem(ScalarOfVectorPtr f,
+                 VectorOfVectorPtr g,
+                 ConstraintType cnt_type,
+                 const DblVec& init,
+                 const DblVec& sol,
+                 ModelType convex_solver)
+{
+  OptProbPtr prob;
+  size_t n = init.size();
+  assert(sol.size() == n);
+  setupProblem(prob, n, convex_solver);
+  prob->addCost(CostPtr(new CostFromFunc(f, prob->getVars(), "f", true)));
+  prob->addConstraint(ConstraintPtr(new ConstraintFromErrFunc(g, prob->getVars(), VectorXd(), cnt_type, "g")));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.max_iter = 1000;
+  params.min_trust_box_size = 1e-5;
+  params.min_approx_improve = 1e-10;
+  params.merit_error_coeff = 1;
+
+  solver.initialize(init);
+  OptStatus status = solver.optimize();
+  EXPECT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), sol, .01);
+}
+// http://www.ai7.uni-bayreuth.de/test_problem_coll.pdf
+
+double f_TP1(const VectorXd& x) { return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+VectorXd g_TP1(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = -1.5 - x(1);
+  return out;
+}
+double f_TP2(const VectorXd& x) { return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+VectorXd g_TP2(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = -1.5 - x(1);
+  return out;
+}
+double f_TP3(const VectorXd& x) { return (x(1) + 1e-5 * sq(x(1) - x(0))); }
+VectorXd g_TP3(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = 0 - x(1);
+  return out;
+}
+double f_TP6(const VectorXd& x) { return sq(1 - x(0)); }
+VectorXd g_TP6(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = 10 * (x(1) - sq(x(0)));
+  return out;
+}
+double f_TP7(const VectorXd& x) { return log(1 + sq(x(0))) - x(1); }
+VectorXd g_TP7(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = sq(1 + sq(x(0))) + sq(x(1)) - 4;
+  return out;
+}
+
+TEST_P(SQP, TP1)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 }, GetParam());
+}
+TEST_P(SQP, TP3)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 }, GetParam());
+}
+TEST_P(SQP, TP6)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 }, GetParam());
+}
+TEST_P(SQP, TP7)
+{
+  testProblem(ScalarOfVector::construct(&f_TP7),
+              VectorOfVector::construct(&g_TP7),
+              EQ,
+              { 2, 2 },
+              { 0., sqrtf(3.) },
+              GetParam());
+}
+
+INSTANTIATE_TEST_CASE_P(AllSolvers, SQP, testing::ValuesIn(availableSolvers()));
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
new file mode 100644
index 0000000000..b9d0d5ae6a
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
@@ -0,0 +1,244 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+#include <gtest/gtest.h>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+extern void simplify2(IntVec& inds, DblVec& vals);
+}
+
+using namespace sco;
+
+class SolverInterface : public testing::TestWithParam<ModelType>
+{
+protected:
+  SolverInterface() {}
+};
+
+TEST(SolverInterface, simplify2)
+{
+  IntVec indices = { 0, 1, 3 };
+  DblVec values = { 1e-7, 1e3, 0., 0., 0. };
+  simplify2(indices, values);
+
+  EXPECT_EQ(indices.size(), 2);
+  EXPECT_EQ(values.size(), 2);
+  EXPECT_TRUE((indices == IntVec{ 0, 1 }));
+  EXPECT_TRUE((values == DblVec{ 1e-7, 1e3 }));
+}
+
+TEST_P(SolverInterface, setup_problem)
+{
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  for (int i = 0; i < 3; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  solver->update();
+
+  AffExpr aff;
+  std::cout << aff << std::endl;
+  for (int i = 0; i < 3; ++i)
+  {
+    exprInc(aff, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff.constant -= 3;
+  std::cout << aff << std::endl;
+  QuadExpr affsquared = exprSquare(aff);
+  solver->setObjective(affsquared);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(affsquared));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(3);
+  for (int i = 0; i < 3; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+  }
+  EXPECT_NEAR(aff.value(soln), 0, 1e-6);
+
+  solver->removeVar(vars[2]);
+  solver->update();
+  EXPECT_EQ(solver->getVars().size(), 2);
+}
+
+// Tests multiplying larger terms
+TEST_P(SolverInterface, DISABLED_ExprMult_test1)  // QuadExpr not PSD
+{
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  for (int i = 0; i < 3; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  for (int i = 3; i < 6; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  solver->update();
+
+  AffExpr aff1;
+  std::cout << aff1 << std::endl;
+  for (int i = 0; i < 3; ++i)
+  {
+    exprInc(aff1, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff1.constant -= 3;
+  std::cout << aff1 << std::endl;
+
+  AffExpr aff2;
+  std::cout << aff2 << std::endl;
+  for (int i = 3; i < 6; ++i)
+  {
+    exprInc(aff2, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff2.constant -= 5;
+
+  std::cout << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(3);
+  for (int i = 0; i < 3; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+  }
+  EXPECT_NEAR(aff1.value(soln), 0, 1e-6);
+
+  solver->removeVar(vars[2]);
+  solver->update();
+  EXPECT_EQ(solver->getVars().size(), 5);
+}
+
+// Tests multiplication with 2 variables: v1=10, v2=20 => (2*v1)(v2) = 400
+TEST_P(SolverInterface, ExprMult_test2)
+{
+  const double v1_val = 10;
+  const double v2_val = 20;
+  const double v1_coeff = 2;
+  const double v2_coeff = 1;
+  const double aff1_const = 0;
+  const double aff2_const = 0;
+
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  vars.push_back(solver->addVar("v1"));
+  vars.push_back(solver->addVar("v2"));
+
+  solver->update();
+
+  AffExpr aff1;
+  AffExpr aff2;
+
+  exprInc(aff1, vars[0]);
+  solver->setVarBounds(vars[0], v1_val, v1_val);
+  aff1.constant = aff1_const;
+  aff1.coeffs[0] = v1_coeff;
+
+  exprInc(aff2, vars[1]);
+  solver->setVarBounds(vars[1], v2_val, v2_val);
+  aff2.constant = aff2_const;
+  aff2.coeffs[0] = v2_coeff;
+
+  std::cout << "aff1: " << aff1 << std::endl;
+  std::cout << "aff2: " << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(2);
+  for (int i = 0; i < 2; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+    std::cout << soln[i] << std::endl;
+  }
+  std::cout << "Result: " << aff12.value(soln) << std::endl;
+  double answer = (v1_coeff * v1_val + aff1_const) * (v2_coeff * v2_val + aff2_const);
+  EXPECT_NEAR(aff12.value(soln), answer, 1e-6);
+}
+
+// Tests multiplication with a constant: v1=10, v2=20 => (3*v1-3)(2*v2-5) = 945
+TEST_P(SolverInterface, ExprMult_test3)
+{
+  const double v1_val = 10;
+  const double v2_val = 20;
+  const double v1_coeff = 3;
+  const double v2_coeff = 2;
+  const double aff1_const = -3;
+  const double aff2_const = -5;
+
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  vars.push_back(solver->addVar("v1"));
+  vars.push_back(solver->addVar("v2"));
+
+  solver->update();
+
+  AffExpr aff1;
+  AffExpr aff2;
+
+  exprInc(aff1, vars[0]);
+  solver->setVarBounds(vars[0], v1_val, v1_val);
+  aff1.constant = aff1_const;
+  aff1.coeffs[0] = v1_coeff;
+
+  exprInc(aff2, vars[1]);
+  solver->setVarBounds(vars[1], v2_val, v2_val);
+  aff2.constant = aff2_const;
+  aff2.coeffs[0] = v2_coeff;
+
+  std::cout << "aff1: " << aff1 << std::endl;
+  std::cout << "aff2: " << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(2);
+  for (int i = 0; i < 2; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+    std::cout << soln[i] << std::endl;
+  }
+  std::cout << "Result: " << aff12.value(soln) << std::endl;
+  double answer = (v1_coeff * v1_val + aff1_const) * (v2_coeff * v2_val + aff2_const);
+  EXPECT_NEAR(aff12.value(soln), answer, 1e-6);
+}
+
+INSTANTIATE_TEST_CASE_P(AllSolvers, SolverInterface, testing::ValuesIn(availableSolvers()));
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
new file mode 100644
index 0000000000..084648dd37
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
@@ -0,0 +1,261 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+#include <gtest/gtest.h>
+#include <Eigen/Core>
+#include <iostream>
+#include <sstream>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace sco;
+
+TEST(solver_utils, exprToEigen)
+{
+  int n_vars = 2;
+  std::vector<VarRepPtr> x_info;
+  VarVector x;
+  for (int i = 0; i < n_vars; ++i)
+  {
+    std::stringstream var_name;
+    var_name << "x_" << i;
+    VarRepPtr x_el(new VarRep(i, var_name.str(), nullptr));
+    x_info.push_back(x_el);
+    x.push_back(Var(x_el.get()));
+  }
+
+  // x_affine = [3, 2]*x + 1
+  AffExpr x_affine;
+  x_affine.vars = x;
+  x_affine.coeffs = DblVec{ 3, 2 };
+  x_affine.constant = 1;
+
+  std::cout << "x_affine=  " << x_affine << std::endl;
+  std::cout << "expecting A = [3, 2];" << std::endl << "          u = [1]" << std::endl;
+  Eigen::MatrixXd m_A_expected(1, n_vars);
+  m_A_expected << 3, 2;
+  Eigen::VectorXd v_u_expected(1);
+  v_u_expected << -1;
+
+  Eigen::SparseVector<double> v_A;
+  exprToEigen(x_affine, v_A, n_vars);
+  ASSERT_EQ(v_A.size(), m_A_expected.cols());
+  Eigen::VectorXd v_A_d = v_A;
+  Eigen::VectorXd m_A_r = m_A_expected.row(0);
+  EXPECT_TRUE(v_A_d.isApprox(m_A_r)) << "error converting x_affine"
+                                     << " to Eigen::SparseVector. "
+                                     << "v_A :" << std::endl
+                                     << v_A << std::endl;
+
+  Eigen::SparseMatrix<double> m_A;
+  Eigen::VectorXd v_u;
+  AffExprVector x_affine_vector(1, x_affine);
+  exprToEigen(x_affine_vector, m_A, v_u, n_vars);
+  ASSERT_EQ(v_u_expected.size(), v_u.size());
+  EXPECT_TRUE(v_u_expected == v_u) << "v_u_expected != v_u" << std::endl << "v_u:" << std::endl << v_u << std::endl;
+  EXPECT_EQ(m_A.nonZeros(), 2) << "m_A.nonZeros() != 2" << std::endl;
+  ASSERT_EQ(m_A.rows(), m_A_expected.rows());
+  ASSERT_EQ(m_A.cols(), m_A_expected.cols());
+  EXPECT_TRUE(m_A.isApprox(m_A_expected)) << "error converting x_affine to "
+                                          << "Eigen::SparseMatrix. m_A :" << std::endl
+                                          << m_A << std::endl;
+
+  QuadExpr x_squared = exprSquare(x_affine);
+  std::cout << "x_squared= " << x_squared << std::endl;
+  std::cout << "expecting Q = [9, 6;" << std::endl
+            << "               6, 4]" << std::endl
+            << "          q = [6, 4]" << std::endl;
+  Eigen::MatrixXd m_Q_expected(2, 2);
+  m_Q_expected << 9, 6, 6, 4;
+  DblVec v_q_expected{ 6, 4 };
+
+  Eigen::SparseMatrix<double> m_Q;
+  Eigen::VectorXd v_q;
+  exprToEigen(x_squared, m_Q, v_q, n_vars);
+  {
+    Eigen::Map<Eigen::VectorXd, Eigen::Unaligned> v_q_e_eig(v_q_expected.data(), v_q_expected.size());
+    ASSERT_EQ(v_q.size(), v_q_e_eig.size());
+    EXPECT_TRUE(v_q_e_eig.isApprox(v_q)) << "v_q_expected != v_q" << std::endl
+                                         << "v_q:" << std::endl
+                                         << v_q << std::endl;
+  }
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 4) << "m_Q.nonZeros() != 4" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true);
+  {
+    Eigen::Map<Eigen::VectorXd, Eigen::Unaligned> v_q_e_eig(v_q_expected.data(), v_q_expected.size());
+    EXPECT_TRUE(v_q_e_eig.isApprox(v_q)) << "v_q_expected != v_q" << std::endl
+                                         << "v_q:" << std::endl
+                                         << v_q << std::endl;
+  }
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << " Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 4) << "m_Q.nonZeros() != 4" << std::endl;
+
+  x_affine.coeffs = DblVec{ 0, 2 };
+  std::cout << "x_affine=  " << x_affine << std::endl;
+  std::cout << "expecting A = [0, 2];" << std::endl;
+  x_squared = exprSquare(x_affine);
+  std::cout << "x_squared= " << x_squared << std::endl;
+  std::cout << "expecting Q = [0, 0;" << std::endl << "               0, 4]" << std::endl;
+  m_Q_expected.setZero();
+  m_Q_expected << 0, 0, 0, 4;
+  exprToEigen(x_squared, m_Q, v_q, n_vars, false, false);
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 1) << "m_Q.nonZeros() != 1" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true, false);
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << " Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 1) << "m_Q.nonZeros() != 1" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, false, true);
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 2) << "m_Q.nonZeros() != 2" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true, true);
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 2) << "m_Q.nonZeros() != 2" << std::endl;
+}
+
+TEST(solver_utils, eigenToTriplets)
+{
+  Eigen::MatrixXd m_Q(2, 2);
+  m_Q << 9, 0, 6, 4;
+  Eigen::SparseMatrix<double> m_Q_sparse_expected = m_Q.sparseView();
+  IntVec m_Q_i, m_Q_j;
+  DblVec m_Q_ij;
+  eigenToTriplets(m_Q_sparse_expected, m_Q_i, m_Q_j, m_Q_ij);
+  Eigen::SparseMatrix<double> m_Q_sparse(2, 2);
+  tripletsToEigen(m_Q_i, m_Q_j, m_Q_ij, m_Q_sparse);
+  EXPECT_TRUE(m_Q_sparse.isApprox(m_Q)) << "m_Q != m_Q_sparse when converting "
+                                        << "m_Q -> triplets -> m_Q_sparse. m_Q:" << std::endl
+                                        << m_Q << std::endl;
+  EXPECT_EQ(m_Q_sparse.nonZeros(), 3) << "m_Q.nonZeros() != 3" << std::endl;
+}
+
+TEST(solver_utils, eigenToCSC)
+{
+  DblVec P;
+  IntVec rows_i;
+  IntVec cols_p;
+  {
+    /*
+     * M = [ 1, 2, 3,
+     *       1, 0, 9,
+     *       1, 8, 0]
+     */
+    Eigen::MatrixXd M(3, 3);
+    M << 1, 2, 3, 1, 0, 9, 1, 8, 0;
+    Eigen::SparseMatrix<double> Ms = M.sparseView();
+
+    eigenToCSC(Ms, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 1, 1, 1, 2, 8, 3, 9 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 0, 1, 2, 0, 2, 0, 1 })) << "bad rows_i:\n" << CSTR(rows_i);
+    EXPECT_TRUE((cols_p == IntVec{ 0, 3, 5, 7 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+  }
+  {
+    /*
+     * M = [ 0, 2, 0,
+     *       7, 0, 0,
+     *       0, 0, 0]
+     */
+    Eigen::SparseMatrix<double> M(3, 3);
+    M.coeffRef(0, 1) = 2;
+    M.coeffRef(1, 0) = 7;
+
+    eigenToCSC(M, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 7, 2 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 1, 0 })) << "rows_i != data_j:\n"
+                                            << CSTR(rows_i) << " vs\n"
+                                            << CSTR((IntVec{ 1, 0 }));
+    EXPECT_TRUE((cols_p == IntVec{ 0, 1, 2, 2 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+
+    std::vector<long long int> rows_i_ll, cols_p_ll;
+    std::vector<long long int> rows_i_ll_exp{ 1, 0 };
+    std::vector<long long int> cols_p_ll_exp{ 0, 1, 2, 2 };
+
+    eigenToCSC(M, rows_i_ll, cols_p_ll, P);
+    EXPECT_TRUE(rows_i_ll.size() == P.size()) << "rows_i_ll.size() != P.size()";
+    EXPECT_TRUE((rows_i_ll == rows_i_ll_exp));
+    EXPECT_TRUE((cols_p_ll == cols_p_ll_exp));
+
+    std::vector<unsigned long long int> rows_i_ull, cols_p_ull;
+    std::vector<unsigned long long int> rows_i_ull_exp{ 1, 0 };
+    std::vector<unsigned long long int> cols_p_ull_exp{ 0, 1, 2, 2 };
+    eigenToCSC(M, rows_i_ull, cols_p_ull, P);
+    EXPECT_TRUE(rows_i_ull.size() == P.size()) << "rows_i_ll.size() != P.size()";
+    EXPECT_TRUE((rows_i_ull == rows_i_ull_exp));
+    EXPECT_TRUE((cols_p_ull == cols_p_ull_exp));
+  }
+  {
+    /*
+     * M = [ 0, 0, 0,
+     *       0, 0, 0,
+     *       0, 6, 0]
+     */
+    Eigen::SparseMatrix<double> M(3, 3);
+    M.coeffRef(2, 1) = 6;
+
+    eigenToCSC(M, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 6 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 2 })) << "rows_i != data_j:\n" << CSTR(rows_i) << " vs\n" << CSTR((IntVec{ 1, 0 }));
+    EXPECT_TRUE((cols_p == IntVec{ 0, 0, 1, 1 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+  }
+}
+
+TEST(solver_utils, eigenToCSC_upper_triangular)
+{
+  /*
+   * M = [ 1, 2, 0,
+   *       2, 4, 0,
+   *       0, 0, 9]
+   */
+  Eigen::MatrixXd M(3, 3);
+  M << 1, 2, 0, 2, 4, 0, 0, 0, 9;
+  Eigen::SparseMatrix<double> Ms = M.sparseView();
+
+  DblVec P;
+  IntVec rows_i;
+  IntVec cols_p;
+  eigenToCSC<Eigen::Upper>(Ms, rows_i, cols_p, P);
+
+  EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+  EXPECT_TRUE((P == DblVec{ 1, 2, 4, 9 })) << "bad P:\n" << CSTR(P);
+  EXPECT_TRUE((rows_i == IntVec{ 0, 0, 1, 2 })) << "rows_i != expected"
+                                                << ":\n"
+                                                << CSTR(rows_i) << " vs\n"
+                                                << CSTR((IntVec{ 0, 0, 1, 2 }));
+  EXPECT_TRUE((cols_p == IntVec{ 0, 1, 3, 4 })) << "cols_p not in "
+                                                << "CRC form:\n"
+                                                << CSTR(cols_p);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/test/unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/unit.cpp
new file mode 100644
index 0000000000..539179562b
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/unit.cpp
@@ -0,0 +1,10 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <gtest/gtest.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
new file mode 100644
index 0000000000..b5601e3116
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt_utils)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system python thread program_options REQUIRED)
+
+set(UTILS_SOURCE_FILES
+    src/stl_to_string.cpp
+    src/clock.cpp
+    src/config.cpp
+    src/logging.cpp
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+#  CATKIN_DEPENDS roscpp
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${Boost_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} ${UTILS_SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} ${Boost_PROGRAM_OPTIONS_LIBRARY})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+ )
diff --git a/moveit_planners/trajopt/trajopt_utils/LICENSE b/moveit_planners/trajopt/trajopt_utils/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
new file mode 100644
index 0000000000..a64c7ee0b5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
@@ -0,0 +1,102 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <class T>
+struct BasicArray
+{
+  int m_nRow;
+  int m_nCol;
+  std::vector<T> m_data;
+
+  BasicArray() : m_nRow(0), m_nCol(0) {}
+  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol) { m_data.resize(m_nRow * m_nCol); }
+  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol) {}
+  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data) {}
+  void resize(int nRow, int nCol)
+  {
+    m_nRow = nRow;
+    m_nCol = nCol;
+    m_data.resize(static_cast<size_t>(m_nRow * m_nCol));
+  }
+
+  int rows() const { return m_nRow; }
+  int cols() const { return m_nCol; }
+  int size() const { return m_data.size(); }
+  BasicArray block(int startRow, int startCol, int nRow, int nCol) const
+  {
+    BasicArray out;
+    out.resize(nRow, nCol);
+    for (int iRow = 0; iRow < nRow; ++iRow)
+    {
+      for (int iCol = 0; iCol < nCol; ++iCol)
+      {
+        out(iRow, iCol) = at(iRow + startRow, iCol + startCol);
+      }
+    }
+    return out;
+  }
+  std::vector<T> rblock(int startRow, int startCol, int nCol) const
+  {
+    std::vector<T> out(static_cast<size_t>(nCol));
+    for (int iCol = 0; iCol < nCol; ++iCol)
+    {
+      out[static_cast<size_t>(iCol)] = at(static_cast<size_t>(startRow), static_cast<size_t>(iCol + startCol));
+    }
+    return out;
+  }
+  std::vector<T> cblock(int startRow, int startCol, int nRow) const
+  {
+    std::vector<T> out(nRow);
+    for (int iRow = 0; iRow < nRow; ++iRow)
+    {
+      out[iRow] = at(iRow + startRow, startCol);
+    }
+    return out;
+  }
+  BasicArray middleRows(int start, int n)
+  {
+    BasicArray out;
+    out.resize(n, m_nCol);
+    for (int i = start; i < start + n; ++i)
+    {
+      for (int j = 0; j < m_nCol; ++j)
+      {
+        out(i, j) = at(i, j);
+      }
+    }
+    return out;
+  }
+  BasicArray topRows(int n) { return middleRows(0, n); }
+  BasicArray bottomRows(int n) { return middleRows(m_nRow - n, n); }
+  const T& at(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  T& at(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  const T& operator()(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  T& operator()(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  std::vector<T> col(int col)
+  {
+    std::vector<T> out;
+    out.reserve(m_nRow);
+    for (int row = 0; row < m_nRow; row++)
+      out.push_back(at(row, col));
+    return out;
+  }
+
+  std::vector<T> row(int row)
+  {
+    std::vector<T> out;
+    out.reserve(static_cast<size_t>(m_nCol));
+    for (int col = 0; col < m_nCol; col++)
+      out.push_back(at(row, col));
+    return out;
+  }
+
+  std::vector<T> flatten() { return m_data; }
+  T* data() { return m_data.data(); }
+  T* data() const { return m_data.data(); }
+};
+}  // namespace util
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
new file mode 100644
index 0000000000..1fcf7c201f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+namespace util
+{
+void StartClock();
+double GetClock();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
new file mode 100644
index 0000000000..5624d42794
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
@@ -0,0 +1,63 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/program_options.hpp>
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace util
+{
+namespace po = boost::program_options;
+
+struct ParameterBase
+{
+  std::string m_name;
+  std::string m_desc;
+  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc) {}
+  virtual void addToBoost(po::options_description&) = 0;
+  virtual ~ParameterBase() {}
+};
+typedef std::shared_ptr<ParameterBase> ParameterBasePtr;
+
+template <typename T>
+struct ParameterVec : ParameterBase
+{
+  std::vector<T>* m_value;
+  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  void addToBoost(po::options_description& od)
+  {
+    od.add_options()(
+        m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(), m_desc.c_str());
+  }
+};
+
+template <typename T>
+struct Parameter : ParameterBase
+{
+  T* m_value;
+  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  void addToBoost(po::options_description& od)
+  {
+    od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value)), m_desc.c_str());
+  }
+};
+
+struct Config
+{
+  std::vector<ParameterBasePtr> params;
+  void add(ParameterBase* param) { params.push_back(ParameterBasePtr(param)); }
+};
+
+struct CommandParser
+{
+  std::vector<Config> configs;
+  void addGroup(const Config& config) { configs.push_back(config); }
+  CommandParser(const Config& config) { addGroup(config); }
+  void read(int argc, char* argv[]);
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
new file mode 100644
index 0000000000..c8b89ceb92
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
@@ -0,0 +1,18 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+inline std::vector<double> toDblVec(const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>& x)
+{
+  return std::vector<double>(x.data(), x.data() + x.size());
+}
+inline Eigen::VectorXd toVectorXd(const std::vector<double>& x)
+{
+  return Eigen::Map<const Eigen::VectorXd>(x.data(), static_cast<long int>(x.size()));
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
new file mode 100644
index 0000000000..ac1e4fccdb
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
@@ -0,0 +1,27 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <typename VectorT>
+VectorT fancySlice(const VectorT& x, const std::vector<int>& inds)
+{
+  VectorT out(inds.size());
+  for (int i = 0; i < inds.size(); ++i)
+    out[i] = x[inds[i]];
+  return out;
+}
+
+template <typename VectorT>
+std::vector<int> flatnonzero(const VectorT& x)
+{
+  std::vector<int> out;
+  for (int i = 0; i < x.size(); ++i)
+    if (x[i] != 0)
+      out.push_back(i);
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
new file mode 100644
index 0000000000..79d7f7550e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
@@ -0,0 +1,48 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <typename VectorT>
+Eigen::VectorXi searchsorted(const VectorT& x, const VectorT& y)
+{
+  // y(i-1) <= x(out(i)) < y(i)
+  int nX = x.size();
+  int nY = y.size();
+
+  Eigen::VectorXi out(nX);
+  int iY = 0;
+  for (int iX = 0; iX < nX; iX++)
+  {
+    while (iY < nY && x[iX] > y[iY])
+      iY++;
+    out(iX) = iY;
+  }
+  return out;
+}
+
+template <typename MatrixT, typename VectorT>
+MatrixT interp2d(const VectorT& xNew, const VectorT& xOld, const MatrixT& yOld)
+{
+  int nNew = xNew.size();
+  int nOld = xOld.size();
+  MatrixT yNew(nNew, yOld.cols());
+  Eigen::VectorXi new2old = searchsorted(xNew, xOld);
+  for (int iNew = 0; iNew < nNew; iNew++)
+  {
+    int iOldAbove = new2old(iNew);
+    if (iOldAbove == 0)
+      yNew.row(iNew) = yOld.row(0);
+    else if (iOldAbove == nOld)
+      yNew.row(iNew) = yOld.row(nOld - 1);
+    else
+    {
+      double t = (xNew(iNew) - xOld(iOldAbove - 1)) / (xOld(iOldAbove) - xOld(iOldAbove - 1));
+      yNew.row(iNew) = yOld.row(iOldAbove - 1) * (1 - t) + yOld.row(iOldAbove) * t;
+    }
+  }
+  return yNew;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
new file mode 100644
index 0000000000..da8251685a
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
@@ -0,0 +1,71 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+enum LogLevel
+{
+  LevelFatal = 0,
+  LevelError = 1,
+  LevelWarn = 2,
+  LevelInfo = 3,
+  LevelDebug = 4,
+  LevelTrace = 5
+};
+
+extern LogLevel gLogLevel;
+inline LogLevel GetLogLevel() { return gLogLevel; }
+#define FATAL_PREFIX "\x1b[31m[FATAL] "
+#define ERROR_PREFIX "\x1b[31m[ERROR] "
+#define WARN_PREFIX "\x1b[33m[WARN] "
+#define INFO_PREFIX "[INFO] "
+#define DEBUG_PREFIX "\x1b[32m[DEBUG] "
+#define TRACE_PREFIX "\x1b[34m[TRACE] "
+#define LOG_SUFFIX "\x1b[0m\n"
+
+#define LOG_FATAL(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelFatal)                                                                         \
+  {                                                                                                                    \
+    printf(FATAL_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_ERROR(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelError)                                                                         \
+  {                                                                                                                    \
+    printf(ERROR_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_WARN(msg, ...)                                                                                             \
+  if (util::GetLogLevel() >= util::LevelWarn)                                                                          \
+  {                                                                                                                    \
+    printf(WARN_PREFIX);                                                                                               \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_INFO(msg, ...)                                                                                             \
+  if (util::GetLogLevel() >= util::LevelInfo)                                                                          \
+  {                                                                                                                    \
+    printf(INFO_PREFIX);                                                                                               \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_DEBUG(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelDebug)                                                                         \
+  {                                                                                                                    \
+    printf(DEBUG_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_TRACE(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelTrace)                                                                         \
+  {                                                                                                                    \
+    printf(TRACE_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
new file mode 100644
index 0000000000..47332a1735
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
@@ -0,0 +1,71 @@
+#pragma once
+#include <iostream>
+
+#define TRAJOPT_IGNORE_WARNINGS_PUSH                                                                                   \
+  _Pragma("GCC diagnostic push") _Pragma("GCC diagnostic ignored \"-Wall\"")                                           \
+      _Pragma("GCC diagnostic ignored \"-Wint-to-pointer-cast\"")                                                      \
+          _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")                                                     \
+              _Pragma("GCC diagnostic ignored \"-Wsuggest-override\"")                                                 \
+                  _Pragma("GCC diagnostic ignored \"-Wconversion\"")                                                   \
+                      _Pragma("GCC diagnostic ignored \"-Wfloat-conversion\"")                                         \
+                          _Pragma("GCC diagnostic ignored \"-Wsign-conversion\"")
+
+#define TRAJOPT_IGNORE_WARNINGS_POP _Pragma("GCC diagnostic pop")
+
+// Generic helper definitions for shared library support
+#if defined _WIN32 || defined __CYGWIN__
+#define TRAJOPT_HELPER_DLL_IMPORT __declspec(dllimport)
+#define TRAJOPT_HELPER_DLL_EXPORT __declspec(dllexport)
+#define TRAJOPT_HELPER_DLL_LOCAL
+#else
+#if __GNUC__ >= 4
+#define TRAJOPT_HELPER_DLL_IMPORT __attribute__((visibility("default")))
+#define TRAJOPT_HELPER_DLL_EXPORT __attribute__((visibility("default")))
+#define TRAJOPT_HELPER_DLL_LOCAL __attribute__((visibility("hidden")))
+#else
+#define TRAJOPT_HELPER_DLL_IMPORT
+#define TRAJOPT_HELPER_DLL_EXPORT
+#define TRAJOPT_HELPER_DLL_LOCAL
+#endif
+#endif
+
+// Now we use the generic helper definitions above to define TRAJOPT_API and TRAJOPT_LOCAL.
+// TRAJOPT_API is used for the public API symbols. It either DLL imports or DLL exports (or does nothing for static
+// build)
+// TRAJOPT_LOCAL is used for non-api symbols.
+
+#define TRAJOPT_DLL
+
+#ifdef TRAJOPT_DLL          // defined if TRAJOPT is compiled as a DLL
+#ifdef TRAJOPT_DLL_EXPORTS  // defined if we are building the TRAJOPT DLL (instead of using it)
+#define TRAJOPT_API TRAJOPT_HELPER_DLL_EXPORT
+#else
+#define TRAJOPT_API TRAJOPT_HELPER_DLL_IMPORT
+#endif  // TRAJOPT_DLL_EXPORTS
+#define TRAJOPT_LOCAL TRAJOPT_HELPER_DLL_LOCAL
+#else  // TRAJOPT_DLL is not defined: this means TRAJOPT is a static lib.
+#define TRAJOPT_API
+#define TRAJOPT_LOCAL
+#endif  // TRAJOPT_DLL
+
+#define PRINT_AND_THROW(s)                                                                                             \
+  do                                                                                                                   \
+  {                                                                                                                    \
+    std::cerr << "\033[1;31mERROR " << s << "\033[0m\n";                                                               \
+    std::cerr << "at " << __FILE__ << ":" << __LINE__ << std::endl;                                                    \
+    std::stringstream ss;                                                                                              \
+    ss << s;                                                                                                           \
+    throw std::runtime_error(ss.str());                                                                                \
+  } while (0)
+#define FAIL_IF_FALSE(expr)                                                                                            \
+  if (!(expr))                                                                                                         \
+  {                                                                                                                    \
+    PRINT_AND_THROW("expected true: " #expr);                                                                          \
+  }
+
+#define ALWAYS_ASSERT(exp)                                                                                             \
+  if (!(exp))                                                                                                          \
+  {                                                                                                                    \
+    printf("%s failed in file %s at line %i\n", #exp, __FILE__, __LINE__);                                             \
+    abort();                                                                                                           \
+  }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
new file mode 100644
index 0000000000..9847eee813
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
@@ -0,0 +1,10 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+float randf() { return (float)rand() / (float)RAND_MAX; }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
new file mode 100644
index 0000000000..e6bbe304fa
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
@@ -0,0 +1,73 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <iostream>
+#include <map>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+// std::string Str(const vector<double>& x);
+// std::string Str(const vector<float>& x);
+// std::string Str(const vector<int>& x);
+
+template <class T>
+std::string Str(const std::vector<T>& x)
+{
+  std::stringstream ss;
+  ss << "(";
+  if (x.size() > 0)
+    ss << x[0];
+  for (size_t i = 1; i < x.size(); ++i)
+    ss << ", " << x[i];
+  ss << ")";
+  return ss.str();
+}
+
+template <class T>
+std::string Str(const std::set<T>& x)
+{
+  std::stringstream ss;
+  ss << "{";
+  typename std::set<T>::const_iterator it = x.begin();
+  if (x.size() > 0)
+  {
+    ss << *it;
+    ++it;
+    for (; it != x.end(); ++it)
+      ss << ", " << *it;
+  }
+  ss << "}";
+  return ss.str();
+}
+
+template <class T>
+std::string Str(const T& x)
+{
+  std::stringstream ss;
+  ss << x;
+  return ss.str();
+}
+#define CSTR(x) util::Str(x).c_str()
+
+template <class K, class V>
+std::string Str(const typename std::map<K, V>& x)
+{
+  std::stringstream ss;
+  ss << "{";
+  typename std::map<K, V>::const_iterator it = x.begin();
+  if (x.size() > 0)
+  {
+    ss << Str(it->first) << " : " << Str(it->second);
+    ++it;
+    for (; it != x.end(); ++it)
+      ss << ", " << Str(it->first) << " : " << Str(it->second);
+  }
+  ss << "}";
+  return ss.str();
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
new file mode 100644
index 0000000000..9af82b3688
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
@@ -0,0 +1,17 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+std::vector<int> arange(int n)
+{
+  std::vector<int> out(static_cast<size_t>(n));
+  for (int i = 0; i < n; ++i)
+    out[static_cast<size_t>(i)] = i;
+  return out;
+}
+
+inline bool doubleEquals(double x, double y, double eps = 1E-5) { return std::abs(x - y) < eps; }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/package.xml b/moveit_planners/trajopt/trajopt_utils/package.xml
new file mode 100644
index 0000000000..0c38901c12
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt_utils</name>
+  <version>0.1.0</version>
+  <description>The trajopt_utils package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt_utils/src/clock.cpp b/moveit_planners/trajopt/trajopt_utils/src/clock.cpp
new file mode 100644
index 0000000000..0ef0f05fc1
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/clock.cpp
@@ -0,0 +1,40 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <sys/time.h>
+#include <time.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/clock.hpp>
+
+namespace util
+{
+static long unsigned int startTime = 0;
+
+/*
+ * Starts the clock!  Call this once at the beginning of the program.
+ * Calling again will reset the clock to 0;  but doing so is not
+ * thread-safe if other threads may be calling GetClock(); (which
+ * is thread-safe since it only reads values and calls thread-safe
+ * functions in the kernel).
+ */
+// time in units of seconds since some time in the past
+void StartClock()
+{
+  // determine start time
+  struct timeval startTimeStruct;
+  gettimeofday(&startTimeStruct, nullptr);
+  startTime = static_cast<unsigned long>(startTimeStruct.tv_sec * 1e6l + startTimeStruct.tv_usec);
+}
+
+/*
+ * Returns the current time since the call to StartClock();
+ */
+double GetClock()
+{
+  struct timeval startTimeStruct;
+  unsigned long int curTime;
+  gettimeofday(&startTimeStruct, nullptr);
+  curTime = static_cast<unsigned long>(startTimeStruct.tv_sec * 1e6l + startTimeStruct.tv_usec);
+  return (1e-6) * static_cast<double>(curTime - startTime);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/config.cpp b/moveit_planners/trajopt/trajopt_utils/src/config.cpp
new file mode 100644
index 0000000000..07b687ff97
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/config.cpp
@@ -0,0 +1,27 @@
+#include <trajopt_utils/config.hpp>
+
+namespace util
+{
+void CommandParser::read(int argc, char* argv[])
+{
+  // create boost options_description based on variables, parser
+  po::options_description od;
+  od.add_options()("help,h", "produce help message");
+  for (std::size_t i = 0; i < configs.size(); ++i)
+  {
+    for (std::size_t j = 0; j < configs[i].params.size(); ++j)
+    {
+      configs[i].params[j]->addToBoost(od);
+    }
+  }
+  po::variables_map vm;
+  po::store(po::command_line_parser(argc, argv).options(od).run(), vm);
+  if (vm.count("help"))
+  {
+    std::cout << "usage: " << argv[0] << " [options]" << std::endl;
+    std::cout << od << std::endl;
+    exit(0);
+  }
+  po::notify(vm);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/logging.cpp b/moveit_planners/trajopt/trajopt_utils/src/logging.cpp
new file mode 100644
index 0000000000..f8510478ac
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/logging.cpp
@@ -0,0 +1,54 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdlib>
+#include <iostream>
+#include <string>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/logging.hpp>
+
+namespace util
+{
+LogLevel gLogLevel;
+
+int LoggingInit()
+{
+  const char* VALID_THRESH_VALUES = "FATAL ERROR WARN INFO DEBUG TRACE";
+
+  char* lvlc = getenv("TRAJOPT_LOG_THRESH");
+  std::string lvlstr;
+  if (lvlc == nullptr)
+  {
+    std::printf("You can set logging level with TRAJOPT_LOG_THRESH. Valid values: "
+                "%s. Defaulting to ERROR\n",
+                VALID_THRESH_VALUES);
+#ifdef NDEBUG
+    lvlstr = "ERROR";
+#else
+    lvlstr = "DEBUG";
+#endif
+  }
+  else
+    lvlstr = std::string(lvlc);
+  if (lvlstr == "FATAL")
+    gLogLevel = LevelFatal;
+  else if (lvlstr == "ERROR")
+    gLogLevel = LevelError;
+  else if (lvlstr == "WARN")
+    gLogLevel = LevelWarn;
+  else if (lvlstr == "INFO")
+    gLogLevel = LevelInfo;
+  else if (lvlstr == "DEBUG")
+    gLogLevel = LevelDebug;
+  else if (lvlstr == "TRACE")
+    gLogLevel = LevelTrace;
+  else
+  {
+    std::printf("Invalid value for environment variable TRAJOPT_LOG_THRESH: %s\n", lvlstr.c_str());
+    std::printf("Valid values: %s\n", VALID_THRESH_VALUES);
+    abort();
+  }
+  return 1;
+}
+int this_is_a_hack_but_rhs_executes_on_library_load = LoggingInit();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
new file mode 100644
index 0000000000..0ac38542bd
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
@@ -0,0 +1,24 @@
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace
+{
+template <class T>
+std::string Str_impl(const std::vector<T>& x)
+{
+  std::stringstream ss;
+  ss << "(";
+  if (x.size() > 0)
+    ss << x[0];
+  for (size_t i = 1; i < x.size(); ++i)
+    ss << ", " << x[i];
+  ss << ")";
+  return ss.str();
+}
+}
+
+namespace util
+{
+std::string Str(const std::vector<double>& x) { return Str_impl(x); }
+std::string Str(const std::vector<float>& x) { return Str_impl(x); }
+std::string Str(const std::vector<int>& x) { return Str_impl(x); }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp b/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp
new file mode 100644
index 0000000000..a991c81bf0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp
@@ -0,0 +1,12 @@
+#include <trajopt_ros/utils/logging.hpp>
+
+int main()
+{
+  LOG_FATAL("fatal");
+  LOG_ERROR("error");
+  LOG_WARN("warn");
+  LOG_INFO("info");
+  LOG_DEBUG("debug");
+  LOG_TRACE("trace");
+  printf("hi\n");
+}

From 5b1017e9e94a503703074d6ab2cdf203945c596d Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 11:19:10 -0600
Subject: [PATCH 570/612] clang format

---
 .../include/trajopt/trajectory_costs.hpp      | 208 +++++++++---------
 .../trajopt/include/trajopt/typedefs.hpp      |  33 +--
 .../trajopt/trajopt/include/trajopt/utils.hpp |  27 ++-
 .../trajopt/trajopt/src/trajectory_costs.cpp  | 136 ++++--------
 moveit_planners/trajopt/trajopt/src/utils.cpp |   5 +-
 .../src/trajopt_interface.cpp                 |  18 +-
 .../include/trajopt_sco/bpmpd_io.hpp          |  34 +--
 .../include/trajopt_sco/expr_op_overloads.hpp | 160 +++++++++++---
 .../include/trajopt_sco/expr_ops.hpp          |  50 ++++-
 .../include/trajopt_sco/modeling.hpp          | 152 ++++++++++---
 .../include/trajopt_sco/modeling_utils.hpp    |  49 +++--
 .../include/trajopt_sco/num_diff.hpp          |  41 ++--
 .../include/trajopt_sco/optimizers.hpp        |  45 +++-
 .../include/trajopt_sco/sco_common.hpp        |  15 +-
 .../include/trajopt_sco/solver_interface.hpp  |  79 +++++--
 .../include/trajopt_sco/solver_utils.hpp      |  26 +--
 .../trajopt/trajopt_sco/src/bpmpd_caller.cpp  |  49 +----
 .../trajopt_sco/src/bpmpd_interface.cpp       |  32 ++-
 .../trajopt/trajopt_sco/src/expr_ops.cpp      |   5 +-
 .../trajopt_sco/src/gurobi_interface.cpp      |  49 ++---
 .../trajopt/trajopt_sco/src/modeling.cpp      |  54 ++++-
 .../trajopt_sco/src/modeling_utils.cpp        |  29 +--
 .../trajopt/trajopt_sco/src/num_diff.cpp      |  50 +++--
 .../trajopt/trajopt_sco/src/optimizers.cpp    | 103 ++++-----
 .../trajopt_sco/src/osqp_interface.cpp        |  27 +--
 .../trajopt_sco/src/qpoases_interface.cpp     |  23 +-
 .../trajopt_sco/src/solver_interface.cpp      |  35 ++-
 .../trajopt/trajopt_sco/src/solver_utils.cpp  |  20 +-
 .../trajopt_sco/test/small-problems-unit.cpp  |  65 +++---
 .../test/solver-interface-unit.cpp            |   4 +-
 .../include/trajopt_utils/basic_array.hpp     |  77 +++++--
 .../include/trajopt_utils/config.hpp          |  35 ++-
 .../include/trajopt_utils/logging.hpp         |   5 +-
 .../include/trajopt_utils/math.hpp            |   5 +-
 .../include/trajopt_utils/vector_ops.hpp      |   5 +-
 .../trajopt_utils/src/stl_to_string.cpp       |  15 +-
 36 files changed, 1020 insertions(+), 745 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
index 5741151f74..c96b150bd2 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
@@ -15,16 +15,17 @@ class TRAJOPT_API JointPosEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointPosEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -48,18 +49,18 @@ class TRAJOPT_API JointPosIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointPosIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -83,17 +84,18 @@ class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targetss,
-                       int& first_step,
-                       int& last_step);
+  JointPosEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targetss,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -113,18 +115,18 @@ class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointPosIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -148,16 +150,17 @@ class TRAJOPT_API JointVelEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointVelEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values using Eigen*/
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -177,18 +180,18 @@ class TRAJOPT_API JointVelIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointVelIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -212,17 +215,18 @@ class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targets,
-                       int& first_step,
-                       int& last_step);
+  JointVelEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -242,18 +246,18 @@ class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointVelIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -277,16 +281,17 @@ class TRAJOPT_API JointAccEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointAccEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointAccEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -306,18 +311,18 @@ class TRAJOPT_API JointAccIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointAccIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -341,17 +346,18 @@ class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targets,
-                       int& first_step,
-                       int& last_step);
+  JointAccEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -371,18 +377,18 @@ class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointAccIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -406,16 +412,17 @@ class TRAJOPT_API JointJerkEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointJerkEqCost(const VarArray& traj,
-                  const Eigen::VectorXd& coeffs,
-                  const Eigen::VectorXd& targets,
-                  int& first_step,
+  JointJerkEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                   int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -435,18 +442,18 @@ class TRAJOPT_API JointJerkIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkIneqCost(const VarArray& traj,
-                    const Eigen::VectorXd& coeffs,
-                    const Eigen::VectorXd& targets,
-                    const Eigen::VectorXd& upper_limits,
-                    const Eigen::VectorXd& lower_limits,
-                    int& first_step,
+  JointJerkIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                    const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                     int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -470,17 +477,18 @@ class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkEqConstraint(const VarArray& traj,
-                        const Eigen::VectorXd& coeffs,
-                        const Eigen::VectorXd& targets,
-                        int& first_step,
-                        int& last_step);
+  JointJerkEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                        int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -500,18 +508,18 @@ class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkIneqConstraint(const VarArray& traj,
-                          const Eigen::VectorXd& coeffs,
-                          const Eigen::VectorXd& targets,
-                          const Eigen::VectorXd& upper_limits,
-                          const Eigen::VectorXd& lower_limits,
-                          int& first_step,
+  JointJerkIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                          const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                           int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
index 28b06f3054..d6ae14e9a9 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
@@ -20,32 +20,23 @@ typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> T
 typedef sco::DblVec DblVec;
 typedef sco::IntVec IntVec;
 
-
 /**  @brief Adds plotting to the CostFromErrFunc class in trajopt_sco */
 class TrajOptCostFromErrFunc : public sco::CostFromErrFunc
 {
 public:
   /// supply error function, obtain derivative numerically
-  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
-                         const sco::VarVector& vars,
-                         const Eigen::VectorXd& coeffs,
-                         sco::PenaltyType pen_type,
-                         const std::string& name)
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f, const sco::VarVector& vars, const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type, const std::string& name)
     : CostFromErrFunc(f, vars, coeffs, pen_type, name)
   {
   }
 
   /// supply error function and gradient
-  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
-                         sco::MatrixOfVectorPtr dfdx,
-                         const sco::VarVector& vars,
-                         const Eigen::VectorXd& coeffs,
-                         sco::PenaltyType pen_type,
-                         const std::string& name)
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f, sco::MatrixOfVectorPtr dfdx, const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs, sco::PenaltyType pen_type, const std::string& name)
     : CostFromErrFunc(f, dfdx, vars, coeffs, pen_type, name)
   {
   }
-
 };
 
 /**  @brief Adds plotting to the ConstraintFromFunc class in trajopt_sco */
@@ -53,25 +44,17 @@ class TrajOptConstraintFromErrFunc : public sco::ConstraintFromErrFunc
 {
 public:
   /// supply error function, obtain derivative numerically
-  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
-                               const sco::VarVector& vars,
-                               const Eigen::VectorXd& coeffs,
-                               sco::ConstraintType type,
-                               const std::string& name)
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f, const sco::VarVector& vars, const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type, const std::string& name)
     : ConstraintFromErrFunc(f, vars, coeffs, type, name)
   {
   }
 
   /// supply error function and gradient
-  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
-                               sco::MatrixOfVectorPtr dfdx,
-                               const sco::VarVector& vars,
-                               const Eigen::VectorXd& coeffs,
-                               sco::ConstraintType type,
-                               const std::string& name)
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f, sco::MatrixOfVectorPtr dfdx, const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs, sco::ConstraintType type, const std::string& name)
     : ConstraintFromErrFunc(f, dfdx, vars, coeffs, type, name)
   {
   }
-
 };
 }
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
index 9d24300402..710f21d42b 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
@@ -9,10 +9,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 namespace trajopt
 {
 template <typename Key, typename Value>
-using AlignedUnorderedMap = std::unordered_map<Key,
-                                               Value,
-                                               std::hash<Key>,
-                                               std::equal_to<Key>,
+using AlignedUnorderedMap = std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>,
                                                Eigen::aligned_allocator<std::pair<const Key, Value>>>;
 
 /**
@@ -21,7 +18,10 @@ Extract trajectory array from solution vector x using indices in array vars
 TrajArray TRAJOPT_API getTraj(const DblVec& x, const VarArray& vars);
 TrajArray TRAJOPT_API getTraj(const DblVec& x, const AffArray& arr);
 
-inline DblVec trajToDblVec(const TrajArray& x) { return DblVec(x.data(), x.data() + x.rows() * x.cols()); }
+inline DblVec trajToDblVec(const TrajArray& x)
+{
+  return DblVec(x.data(), x.data() + x.rows() * x.cols());
+}
 
 /**
  * @brief Appends b to a of type VectorXd
@@ -53,11 +53,8 @@ std::vector<T> singleton(const T& x)
   return std::vector<T>(1, x);
 }
 
-void TRAJOPT_API AddVarArrays(sco::OptProb& prob,
-                              int rows,
-                              const std::vector<int>& cols,
-                              const std::vector<std::string>& name_prefix,
-                              const std::vector<VarArray*>& newvars);
+void TRAJOPT_API AddVarArrays(sco::OptProb& prob, int rows, const std::vector<int>& cols,
+                              const std::vector<std::string>& name_prefix, const std::vector<VarArray*>& newvars);
 
 void TRAJOPT_API AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars);
 
@@ -83,9 +80,7 @@ struct SafetyMarginData
    * @param safety_margin_coeffs A safety margin coefficient vector where each
    * element corresponds to a given timestep.
    */
-  void SetPairSafetyMarginData(const std::string& obj1,
-                               const std::string& obj2,
-                               const double& safety_margin,
+  void SetPairSafetyMarginData(const std::string& obj1, const std::string& obj2, const double& safety_margin,
                                const double& safety_margin_coeff)
   {
     Eigen::Vector2d data(safety_margin, safety_margin_coeff);
@@ -114,7 +109,11 @@ struct SafetyMarginData
     }
   }
 
-  const double& getMaxSafetyMargin() const { return max_safety_margin_; }
+  const double& getMaxSafetyMargin() const
+  {
+    return max_safety_margin_;
+  }
+
 private:
   /// The coeff used during optimization
   /// safety margin: contacts with distance < dist_pen are penalized
diff --git a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
index eaaa1b0fd4..b12fcf925b 100644
--- a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
+++ b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
@@ -23,11 +23,8 @@ namespace trajopt
 //////////// Joint cost functions /////////////////
 
 //////////////////// Position /////////////////////
-JointPosEqCost::JointPosEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointPosEqCost::JointPosEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointPosEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_; ++i)
@@ -60,13 +57,9 @@ sco::ConvexObjectivePtr JointPosEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointPosIneqCost::JointPosIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointPosIneqCost::JointPosIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointPosIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -128,11 +121,8 @@ sco::ConvexObjectivePtr JointPosIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointPosEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -174,13 +164,9 @@ sco::ConvexConstraintsPtr JointPosEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointPosIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -245,11 +231,8 @@ sco::ConvexConstraintsPtr JointPosIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Velocity /////////////////////
-JointVelEqCost::JointVelEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointVelEqCost::JointVelEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointVelEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 1; ++i)
@@ -283,13 +266,9 @@ sco::ConvexObjectivePtr JointVelEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointVelIneqCost::JointVelIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointVelIneqCost::JointVelIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointVelIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -353,11 +332,8 @@ sco::ConvexObjectivePtr JointVelIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointVelEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -400,13 +376,9 @@ sco::ConvexConstraintsPtr JointVelEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointVelIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -473,11 +445,8 @@ sco::ConvexConstraintsPtr JointVelIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Acceleration /////////////////////
-JointAccEqCost::JointAccEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointAccEqCost::JointAccEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointAccEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 2; ++i)
@@ -514,13 +483,9 @@ sco::ConvexObjectivePtr JointAccEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointAccIneqCost::JointAccIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointAccIneqCost::JointAccIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointAccIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -585,11 +550,8 @@ sco::ConvexObjectivePtr JointAccIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointAccEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -635,13 +597,9 @@ sco::ConvexConstraintsPtr JointAccEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointAccIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -710,11 +668,8 @@ sco::ConvexConstraintsPtr JointAccIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Jerk /////////////////////
-JointJerkEqCost::JointJerkEqCost(const VarArray& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 const Eigen::VectorXd& targets,
-                                 int& first_step,
-                                 int& last_step)
+JointJerkEqCost::JointJerkEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                 int& first_step, int& last_step)
   : Cost("JointJerkEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 4; ++i)
@@ -753,13 +708,9 @@ sco::ConvexObjectivePtr JointJerkEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars,
-                                     const Eigen::VectorXd& coeffs,
-                                     const Eigen::VectorXd& targets,
-                                     const Eigen::VectorXd& upper_tols,
-                                     const Eigen::VectorXd& lower_tols,
-                                     int& first_step,
-                                     int& last_step)
+JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                     const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                     const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : Cost("JointJerkIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -826,11 +777,8 @@ sco::ConvexObjectivePtr JointJerkIneqCost::convex(const DblVec& /*x*/, sco::Mode
   return out;
 }
 
-JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             const Eigen::VectorXd& targets,
-                                             int& first_step,
-                                             int& last_step)
+JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                             const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointJerkEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -878,13 +826,9 @@ sco::ConvexConstraintsPtr JointJerkEqConstraint::convex(const DblVec& /*x*/, sco
   return out;
 }
 
-JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars,
-                                                 const Eigen::VectorXd& coeffs,
-                                                 const Eigen::VectorXd& targets,
-                                                 const Eigen::VectorXd& upper_tols,
-                                                 const Eigen::VectorXd& lower_tols,
-                                                 int& first_step,
-                                                 int& last_step)
+JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                                 const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                                 const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointJerkIneq")
   , vars_(vars)
   , coeffs_(coeffs)
diff --git a/moveit_planners/trajopt/trajopt/src/utils.cpp b/moveit_planners/trajopt/trajopt/src/utils.cpp
index 95fb423fbb..dbd87f4fb6 100644
--- a/moveit_planners/trajopt/trajopt/src/utils.cpp
+++ b/moveit_planners/trajopt/trajopt/src/utils.cpp
@@ -35,10 +35,7 @@ TrajArray getTraj(const DblVec& x, const AffArray& arr)
   return out;
 }
 
-void AddVarArrays(sco::OptProb& prob,
-                  int rows,
-                  const IntVec& cols,
-                  const std::vector<std::string>& name_prefix,
+void AddVarArrays(sco::OptProb& prob, int rows, const IntVec& cols, const std::vector<std::string>& name_prefix,
                   const std::vector<VarArray*>& newvars)
 {
   size_t n_arr = name_prefix.size();
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index f721c16c09..c936c30b25 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -239,15 +239,15 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   std::string problem_info_type;
   switch (problem_info.init_info.type)
   {
-  case trajopt::InitInfo::STATIONARY:
-    problem_info_type = "STATIONARY";
-    break;
-  case trajopt::InitInfo::JOINT_INTERPOLATED:
-    problem_info_type = "JOINT_INTERPOLATED";
-    break;
-  case trajopt::InitInfo::GIVEN_TRAJ:
-    problem_info_type = "GIVEN_TRAJ";
-    break;
+    case trajopt::InitInfo::STATIONARY:
+      problem_info_type = "STATIONARY";
+      break;
+    case trajopt::InitInfo::JOINT_INTERPOLATED:
+      problem_info_type = "JOINT_INTERPOLATED";
+      break;
+    case trajopt::InitInfo::GIVEN_TRAJ:
+      problem_info_type = "GIVEN_TRAJ";
+      break;
   }
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.type: " << problem_info_type);
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt: " << problem_info.init_info.dt);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
index f2e6d4a0e9..a9c296970a 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
@@ -70,22 +70,13 @@ struct bpmpd_input
   std::vector<double> qcolnzs;
   std::vector<double> rhs, obj, lbound, ubound;
 
-  bpmpd_input() {}
-  bpmpd_input(int m,
-              int n,
-              int nz,
-              int qn,
-              int qnz,
-              const std::vector<int>& acolcnt,
-              const std::vector<int>& acolidx,
-              const std::vector<double>& acolnzs,
-              const std::vector<int>& qcolcnt,
-              const std::vector<int>& qcolidx,
-              const std::vector<double>& qcolnzs,
-              const std::vector<double>& rhs,
-              const std::vector<double>& obj,
-              const std::vector<double>& lbound,
-              const std::vector<double>& ubound)
+  bpmpd_input()
+  {
+  }
+  bpmpd_input(int m, int n, int nz, int qn, int qnz, const std::vector<int>& acolcnt, const std::vector<int>& acolidx,
+              const std::vector<double>& acolnzs, const std::vector<int>& qcolcnt, const std::vector<int>& qcolidx,
+              const std::vector<double>& qcolnzs, const std::vector<double>& rhs, const std::vector<double>& obj,
+              const std::vector<double>& lbound, const std::vector<double>& ubound)
     : m(m)
     , n(n)
     , nz(nz)
@@ -140,12 +131,11 @@ struct bpmpd_output
   std::vector<int> status;
   int code;
   double opt;
-  bpmpd_output() {}
-  bpmpd_output(const std::vector<double>& primal,
-               const std::vector<double>& dual,
-               const std::vector<int>& status,
-               int code,
-               double opt)
+  bpmpd_output()
+  {
+  }
+  bpmpd_output(const std::vector<double>& primal, const std::vector<double>& dual, const std::vector<int>& status,
+               int code, double opt)
     : primal(primal), dual(dual), status(status), code(code), opt(opt)
   {
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
index 6878b8beb0..70e89ad02e 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
@@ -3,38 +3,134 @@
 
 namespace sco
 {
-inline AffExpr operator+(const Var& x, double y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, double y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, double y) { return exprAdd(x, y); }
-inline AffExpr operator+(const Var& x, const Var& y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, const Var& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, const Var& y) { return exprAdd(x, y); }
-inline AffExpr operator+(const Var& x, const AffExpr& y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, const AffExpr& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const Var& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
-inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
-inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y) { return exprAdd(x, y); }
-inline AffExpr operator-(const Var& x, double y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, double y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, double y) { return exprSub(x, y); }
-inline AffExpr operator-(const Var& x, const Var& y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, const Var& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, const Var& y) { return exprSub(x, y); }
-inline AffExpr operator-(const Var& x, const AffExpr& y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, const AffExpr& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const Var& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
-inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
-inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y) { return exprSub(x, y); }
+inline AffExpr operator+(const Var& x, double y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, double y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, double y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator+(const Var& x, const Var& y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, const Var& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const Var& y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator+(const Var& x, const AffExpr& y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, const AffExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const Var& x, const QuadExpr& y)
+{
+  return exprAdd(QuadExpr(x), y);
+}
+inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y)
+{
+  return exprAdd(QuadExpr(x), y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator-(const Var& x, double y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, double y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, double y)
+{
+  return exprSub(x, y);
+}
+inline AffExpr operator-(const Var& x, const Var& y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, const Var& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const Var& y)
+{
+  return exprSub(x, y);
+}
+inline AffExpr operator-(const Var& x, const AffExpr& y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, const AffExpr& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const Var& x, const QuadExpr& y)
+{
+  return exprSub(QuadExpr(x), y);
+}
+inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y)
+{
+  return exprSub(QuadExpr(x), y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y)
+{
+  return exprSub(x, y);
+}
 ///////////////
 
-inline AffExpr operator*(double a, const Var& b) { return exprMult(b, a); }
-inline AffExpr operator*(double a, const AffExpr& b) { return exprMult(b, a); }
-inline QuadExpr operator*(double a, const QuadExpr& b) { return exprMult(b, a); }
-inline AffExpr operator*(const Var& a, double b) { return exprMult(a, b); }
-inline AffExpr operator*(const AffExpr& a, double b) { return exprMult(a, b); }
-inline QuadExpr operator*(const QuadExpr& a, double b) { return exprMult(a, b); }
-inline AffExpr operator-(const Var& a) { return exprMult(a, -1); }
-inline AffExpr operator-(const AffExpr& a) { return exprMult(a, -1); }
+inline AffExpr operator*(double a, const Var& b)
+{
+  return exprMult(b, a);
+}
+inline AffExpr operator*(double a, const AffExpr& b)
+{
+  return exprMult(b, a);
+}
+inline QuadExpr operator*(double a, const QuadExpr& b)
+{
+  return exprMult(b, a);
+}
+inline AffExpr operator*(const Var& a, double b)
+{
+  return exprMult(a, b);
+}
+inline AffExpr operator*(const AffExpr& a, double b)
+{
+  return exprMult(a, b);
+}
+inline QuadExpr operator*(const QuadExpr& a, double b)
+{
+  return exprMult(a, b);
+}
+inline AffExpr operator-(const Var& a)
+{
+  return exprMult(a, -1);
+}
+inline AffExpr operator-(const AffExpr& a)
+{
+  return exprMult(a, -1);
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
index ac4facc9c1..bb934c6131 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
@@ -21,17 +21,32 @@ inline void exprScale(QuadExpr& q, double a)
 }
 
 // addition
-inline void exprInc(AffExpr& a, double b) { a.constant += b; }
+inline void exprInc(AffExpr& a, double b)
+{
+  a.constant += b;
+}
 inline void exprInc(AffExpr& a, const AffExpr& b)
 {
   a.constant += b.constant;
   a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
   a.vars.insert(a.vars.end(), b.vars.begin(), b.vars.end());
 }
-inline void exprInc(AffExpr& a, const Var& b) { exprInc(a, AffExpr(b)); }
-inline void exprInc(QuadExpr& a, double b) { exprInc(a.affexpr, b); }
-inline void exprInc(QuadExpr& a, const Var& b) { exprInc(a.affexpr, AffExpr(b)); }
-inline void exprInc(QuadExpr& a, const AffExpr& b) { exprInc(a.affexpr, b); }
+inline void exprInc(AffExpr& a, const Var& b)
+{
+  exprInc(a, AffExpr(b));
+}
+inline void exprInc(QuadExpr& a, double b)
+{
+  exprInc(a.affexpr, b);
+}
+inline void exprInc(QuadExpr& a, const Var& b)
+{
+  exprInc(a.affexpr, AffExpr(b));
+}
+inline void exprInc(QuadExpr& a, const AffExpr& b)
+{
+  exprInc(a.affexpr, b);
+}
 inline void exprInc(QuadExpr& a, const QuadExpr& b)
 {
   exprInc(a.affexpr, b.affexpr);
@@ -41,16 +56,31 @@ inline void exprInc(QuadExpr& a, const QuadExpr& b)
 }
 
 // subtraction
-inline void exprDec(AffExpr& a, double b) { a.constant -= b; }
+inline void exprDec(AffExpr& a, double b)
+{
+  a.constant -= b;
+}
 inline void exprDec(AffExpr& a, AffExpr b)
 {
   exprScale(b, -1);
   exprInc(a, b);
 }
-inline void exprDec(AffExpr& a, const Var& b) { exprDec(a, AffExpr(b)); }
-inline void exprDec(QuadExpr& a, double b) { exprDec(a.affexpr, b); }
-inline void exprDec(QuadExpr& a, const Var& b) { exprDec(a.affexpr, b); }
-inline void exprDec(QuadExpr& a, const AffExpr& b) { exprDec(a.affexpr, b); }
+inline void exprDec(AffExpr& a, const Var& b)
+{
+  exprDec(a, AffExpr(b));
+}
+inline void exprDec(QuadExpr& a, double b)
+{
+  exprDec(a.affexpr, b);
+}
+inline void exprDec(QuadExpr& a, const Var& b)
+{
+  exprDec(a.affexpr, b);
+}
+inline void exprDec(QuadExpr& a, const AffExpr& b)
+{
+  exprDec(a.affexpr, b);
+}
 inline void exprDec(QuadExpr& a, QuadExpr b)
 {
   exprScale(b, -1);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
index 2081144679..0db00f76f4 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
@@ -27,7 +27,9 @@ model are removed
 class ConvexObjective
 {
 public:
-  ConvexObjective(Model* model) : model_(model) {}
+  ConvexObjective(Model* model) : model_(model)
+  {
+  }
   void addAffExpr(const AffExpr&);
   void addQuadExpr(const QuadExpr&);
   void addHinge(const AffExpr&, double coeff);
@@ -37,7 +39,10 @@ class ConvexObjective
   void addL2Norm(const AffExprVector&);
   void addMax(const AffExprVector&);
 
-  bool inModel() { return model_ != nullptr; }
+  bool inModel()
+  {
+    return model_ != nullptr;
+  }
   void addConstraintsToModel();
   void removeFromModel();
   double value(const DblVec& x);
@@ -52,8 +57,12 @@ class ConvexObjective
   CntVector cnts_;
 
 private:
-  ConvexObjective() {}
-  ConvexObjective(ConvexObjective&) {}
+  ConvexObjective()
+  {
+  }
+  ConvexObjective(ConvexObjective&)
+  {
+  }
 };
 
 /**
@@ -63,7 +72,9 @@ Actually only affine inequality constraints are currently implemented.
 class ConvexConstraints
 {
 public:
-  ConvexConstraints(Model* model) : model_(model) {}
+  ConvexConstraints(Model* model) : model_(model)
+  {
+  }
   /** Expression that should == 0 */
   void addEqCnt(const AffExpr&);
   /** Expression that should <= 0 */
@@ -73,7 +84,10 @@ class ConvexConstraints
     assert(!inModel());
     model_ = model;
   }
-  bool inModel() { return model_ != nullptr; }
+  bool inModel()
+  {
+    return model_ != nullptr;
+  }
   void addConstraintsToModel();
   void removeFromModel();
 
@@ -87,8 +101,12 @@ class ConvexConstraints
 private:
   Model* model_;
   CntVector cnts_;
-  ConvexConstraints() : model_(nullptr) {}
-  ConvexConstraints(ConvexConstraints&) {}
+  ConvexConstraints() : model_(nullptr)
+  {
+  }
+  ConvexConstraints(ConvexConstraints&)
+  {
+  }
 };
 
 /**
@@ -104,10 +122,20 @@ class Cost
   virtual ConvexObjectivePtr convex(const DblVec& x, Model* model) = 0;
   /** Get problem variables associated with this cost */
   virtual VarVector getVars() = 0;
-  std::string name() { return name_; }
-  void setName(const std::string& name) { name_ = name; }
-  Cost() : name_("unnamed") {}
-  Cost(const std::string& name) : name_(name) {}
+  std::string name()
+  {
+    return name_;
+  }
+  void setName(const std::string& name)
+  {
+    name_ = name;
+  }
+  Cost() : name_("unnamed")
+  {
+  }
+  Cost(const std::string& name) : name_(name)
+  {
+  }
   virtual ~Cost() = default;
 
 protected:
@@ -134,11 +162,24 @@ class Constraint
   double violation(const DblVec& x);
   /** Get problem variables associated with this constraint */
   virtual VarVector getVars() = 0;
-  std::string name() { return name_; }
-  void setName(const std::string& name) { name_ = name; }
-  Constraint() : name_("unnamed") {}
-  Constraint(const std::string& name) : name_(name) {}
-  virtual ~Constraint() {}
+  std::string name()
+  {
+    return name_;
+  }
+  void setName(const std::string& name)
+  {
+    name_ = name;
+  }
+  Constraint() : name_("unnamed")
+  {
+  }
+  Constraint(const std::string& name) : name_(name)
+  {
+  }
+  virtual ~Constraint()
+  {
+  }
+
 protected:
   std::string name_;
 };
@@ -146,17 +187,31 @@ class Constraint
 class EqConstraint : public Constraint
 {
 public:
-  ConstraintType type() override { return EQ; }
-  EqConstraint() : Constraint() {}
-  EqConstraint(const std::string& name) : Constraint(name) {}
+  ConstraintType type() override
+  {
+    return EQ;
+  }
+  EqConstraint() : Constraint()
+  {
+  }
+  EqConstraint(const std::string& name) : Constraint(name)
+  {
+  }
 };
 
 class IneqConstraint : public Constraint
 {
 public:
-  ConstraintType type() override { return INEQ; }
-  IneqConstraint() : Constraint() {}
-  IneqConstraint(const std::string& name) : Constraint(name) {}
+  ConstraintType type() override
+  {
+    return INEQ;
+  }
+  IneqConstraint() : Constraint()
+  {
+  }
+  IneqConstraint(const std::string& name) : Constraint(name)
+  {
+  }
 };
 
 /**
@@ -197,16 +252,47 @@ class OptProb
   DblVec getClosestFeasiblePoint(const DblVec& x);
 
   std::vector<ConstraintPtr> getConstraints() const;
-  const std::vector<CostPtr>& getCosts() { return costs_; }
-  const std::vector<ConstraintPtr>& getIneqConstraints() { return ineqcnts_; }
-  const std::vector<ConstraintPtr>& getEqConstraints() { return eqcnts_; }
-  const DblVec& getLowerBounds() { return lower_bounds_; }
-  const DblVec& getUpperBounds() { return upper_bounds_; }
-  ModelPtr getModel() { return model_; }
-  const VarVector& getVars() { return vars_; }
-  int getNumCosts() { return static_cast<int>(costs_.size()); }
-  int getNumConstraints() { return static_cast<int>(eqcnts_.size() + ineqcnts_.size()); }
-  int getNumVars() { return static_cast<int>(vars_.size()); }
+  const std::vector<CostPtr>& getCosts()
+  {
+    return costs_;
+  }
+  const std::vector<ConstraintPtr>& getIneqConstraints()
+  {
+    return ineqcnts_;
+  }
+  const std::vector<ConstraintPtr>& getEqConstraints()
+  {
+    return eqcnts_;
+  }
+  const DblVec& getLowerBounds()
+  {
+    return lower_bounds_;
+  }
+  const DblVec& getUpperBounds()
+  {
+    return upper_bounds_;
+  }
+  ModelPtr getModel()
+  {
+    return model_;
+  }
+  const VarVector& getVars()
+  {
+    return vars_;
+  }
+  int getNumCosts()
+  {
+    return static_cast<int>(costs_.size());
+  }
+  int getNumConstraints()
+  {
+    return static_cast<int>(eqcnts_.size() + ineqcnts_.size());
+  }
+  int getNumVars()
+  {
+    return static_cast<int>(vars_.size());
+  }
+
 protected:
   ModelPtr model_;
   VarVector vars_;
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
index 32e5580629..c8f19e5b69 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
@@ -38,7 +38,11 @@ class CostFromFunc : public Cost
   CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian = false);
   double value(const DblVec& x) override;
   ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
-  VarVector getVars() override { return vars_; }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   ScalarOfVectorPtr f_;
   VarVector vars_;
@@ -50,21 +54,18 @@ class CostFromErrFunc : public Cost
 {
 public:
   /// supply error function, obtain derivative numerically
-  CostFromErrFunc(VectorOfVectorPtr f,
-                  const VarVector& vars,
-                  const Eigen::VectorXd& coeffs,
-                  PenaltyType pen_type,
+  CostFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs, PenaltyType pen_type,
                   const std::string& name);
   /// supply error function and gradient
-  CostFromErrFunc(VectorOfVectorPtr f,
-                  MatrixOfVectorPtr dfdx,
-                  const VarVector& vars,
-                  const Eigen::VectorXd& coeffs,
-                  PenaltyType pen_type,
-                  const std::string& name);
+  CostFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type, const std::string& name);
   double value(const DblVec& x) override;
   ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
-  VarVector getVars() override { return vars_; }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   VectorOfVectorPtr f_;
   MatrixOfVectorPtr dfdx_;
@@ -78,22 +79,22 @@ class ConstraintFromErrFunc : public Constraint
 {
 public:
   /// supply error function, obtain derivative numerically
-  ConstraintFromErrFunc(VectorOfVectorPtr f,
-                        const VarVector& vars,
-                        const Eigen::VectorXd& coeffs,
-                        ConstraintType type,
+  ConstraintFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs, ConstraintType type,
                         const std::string& name);
   /// supply error function and gradient
-  ConstraintFromErrFunc(VectorOfVectorPtr f,
-                        MatrixOfVectorPtr dfdx,
-                        const VarVector& vars,
-                        const Eigen::VectorXd& coeffs,
-                        ConstraintType type,
-                        const std::string& name);
+  ConstraintFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                        const Eigen::VectorXd& coeffs, ConstraintType type, const std::string& name);
   DblVec value(const DblVec& x) override;
   ConvexConstraintsPtr convex(const DblVec& x, Model* model) override;
-  ConstraintType type() override { return type_; }
-  VarVector getVars() override { return vars_; }
+  ConstraintType type() override
+  {
+    return type_;
+  }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   VectorOfVectorPtr f_;
   MatrixOfVectorPtr dfdx_;
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
index ddcfb07b19..388d30562f 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
@@ -23,8 +23,13 @@ class ScalarOfVector
 {
 public:
   virtual double operator()(const Eigen::VectorXd& x) const = 0;
-  double call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~ScalarOfVector() {}
+  double call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~ScalarOfVector()
+  {
+  }
   typedef std::function<double(Eigen::VectorXd)> func;
   static ScalarOfVectorPtr construct(const func&);
   //  typedef VectorXd (*c_func)(const VectorXd&);
@@ -34,8 +39,13 @@ class VectorOfVector
 {
 public:
   virtual Eigen::VectorXd operator()(const Eigen::VectorXd& x) const = 0;
-  Eigen::VectorXd call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~VectorOfVector() {}
+  Eigen::VectorXd call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~VectorOfVector()
+  {
+  }
   typedef std::function<Eigen::VectorXd(Eigen::VectorXd)> func;
   static VectorOfVectorPtr construct(const func&);
   //  typedef VectorXd (*c_func)(const VectorXd&);
@@ -45,8 +55,13 @@ class MatrixOfVector
 {
 public:
   virtual Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const = 0;
-  Eigen::MatrixXd call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~MatrixOfVector() {}
+  Eigen::MatrixXd call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~MatrixOfVector()
+  {
+  }
   typedef std::function<Eigen::MatrixXd(Eigen::VectorXd)> func;
   static MatrixOfVectorPtr construct(const func&);
   //  typedef VectorMatrixXd (*c_func)(const VectorXd&);
@@ -55,17 +70,9 @@ class MatrixOfVector
 
 Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon);
 Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon);
-void calcGradAndDiagHess(const ScalarOfVector& f,
-                         const Eigen::VectorXd& x,
-                         double epsilon,
-                         double& y,
-                         Eigen::VectorXd& grad,
-                         Eigen::VectorXd& hess);
-void calcGradHess(ScalarOfVectorPtr f,
-                  const Eigen::VectorXd& x,
-                  double epsilon,
-                  double& y,
-                  Eigen::VectorXd& grad,
+void calcGradAndDiagHess(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon, double& y,
+                         Eigen::VectorXd& grad, Eigen::VectorXd& hess);
+void calcGradHess(ScalarOfVectorPtr f, const Eigen::VectorXd& x, double epsilon, double& y, Eigen::VectorXd& grad,
                   Eigen::MatrixXd& hess);
 VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon);
 MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
index 7aed5bb507..6d4d9a3915 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
@@ -20,12 +20,12 @@ enum OptStatus
   OPT_FAILED,
   INVALID
 };
-static const char* OptStatus_strings[] = { "CONVERGED",
-                                           "SCO_ITERATION_LIMIT",
-                                           "PENALTY_ITERATION_LIMIT",
-                                           "FAILED",
+static const char* OptStatus_strings[] = { "CONVERGED", "SCO_ITERATION_LIMIT", "PENALTY_ITERATION_LIMIT", "FAILED",
                                            "INVALID" };
-inline std::string statusToString(OptStatus status) { return OptStatus_strings[status]; }
+inline std::string statusToString(OptStatus status)
+{
+  return OptStatus_strings[status];
+}
 struct OptResults
 {
   DblVec x;  // solution estimate
@@ -43,7 +43,10 @@ struct OptResults
     n_func_evals = 0;
     n_qp_solves = 0;
   }
-  OptResults() { clear(); }
+  OptResults()
+  {
+    clear();
+  }
 };
 std::ostream& operator<<(std::ostream& o, const OptResults& r);
 
@@ -55,10 +58,19 @@ class Optimizer
 public:
   virtual ~Optimizer() = default;
   virtual OptStatus optimize() = 0;
-  virtual void setProblem(OptProbPtr prob) { prob_ = prob; }
+  virtual void setProblem(OptProbPtr prob)
+  {
+    prob_ = prob;
+  }
   void initialize(const DblVec& x);
-  DblVec& x() { return results_.x; }
-  OptResults& results() { return results_; }
+  DblVec& x()
+  {
+    return results_.x;
+  }
+  OptResults& results()
+  {
+    return results_;
+  }
   typedef std::function<void(OptProb*, OptResults&)> Callback;
   void addCallback(const Callback& f);  // called before each iteration
 protected:
@@ -114,9 +126,18 @@ class BasicTrustRegionSQP : public Optimizer
   BasicTrustRegionSQP();
   BasicTrustRegionSQP(OptProbPtr prob);
   void setProblem(OptProbPtr prob) override;
-  void setParameters(const BasicTrustRegionSQPParameters& param) { param_ = param; }
-  const BasicTrustRegionSQPParameters& getParameters() const { return param_; }
-  BasicTrustRegionSQPParameters& getParameters() { return param_; }
+  void setParameters(const BasicTrustRegionSQPParameters& param)
+  {
+    param_ = param;
+  }
+  const BasicTrustRegionSQPParameters& getParameters() const
+  {
+    return param_;
+  }
+  BasicTrustRegionSQPParameters& getParameters()
+  {
+    return param_;
+  }
   OptStatus optimize() override;
 
 protected:
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
index 2233e9fec5..3769654ff7 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
@@ -31,8 +31,14 @@ inline double vecAbsSum(const DblVec& v)
     out += fabs(v[i]);
   return out;
 }
-inline double pospart(double x) { return (x > 0) ? x : 0; }
-inline double sq(double x) { return x * x; }
+inline double pospart(double x)
+{
+  return (x > 0) ? x : 0;
+}
+inline double sq(double x)
+{
+  return x * x;
+}
 inline double vecHingeSum(const DblVec& v)
 {
   double out = 0;
@@ -40,7 +46,10 @@ inline double vecHingeSum(const DblVec& v)
     out += pospart(v[i]);
   return out;
 }
-inline double vecMax(const DblVec& v) { return *std::max_element(v.begin(), v.end()); }
+inline double vecMax(const DblVec& v)
+{
+  return *std::max_element(v.begin(), v.end());
+}
 inline double vecDot(const DblVec& a, const DblVec& b)
 {
   assert(a.size() == b.size());
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
index 8fb2dc7c08..6e7ae0b8cc 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
@@ -72,7 +72,9 @@ class Model
 
   virtual VarVector getVars() const = 0;
 
-  virtual ~Model() {}
+  virtual ~Model()
+  {
+  }
 };
 
 struct VarRep
@@ -90,10 +92,19 @@ struct VarRep
 struct Var
 {
   VarRep* var_rep;
-  Var() : var_rep(nullptr) {}
-  Var(VarRep* var_rep) : var_rep(var_rep) {}
-  Var(const Var& other) : var_rep(other.var_rep) {}
-  double value(const double* x) const { return x[var_rep->index]; }
+  Var() : var_rep(nullptr)
+  {
+  }
+  Var(VarRep* var_rep) : var_rep(var_rep)
+  {
+  }
+  Var(const Var& other) : var_rep(other.var_rep)
+  {
+  }
+  double value(const double* x) const
+  {
+    return x[var_rep->index];
+  }
   double value(const DblVec& x) const
   {
     assert(var_rep->index < static_cast<int>(x.size()));
@@ -103,7 +114,9 @@ struct Var
 
 struct CntRep
 {
-  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator) {}
+  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator)
+  {
+  }
   int index;
   bool removed;
   void* creator;
@@ -114,9 +127,15 @@ struct CntRep
 struct Cnt
 {
   CntRep* cnt_rep;
-  Cnt() : cnt_rep(nullptr) {}
-  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep) {}
-  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep) {}
+  Cnt() : cnt_rep(nullptr)
+  {
+  }
+  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep)
+  {
+  }
+  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep)
+  {
+  }
 };
 
 struct AffExpr
@@ -124,11 +143,22 @@ struct AffExpr
   double constant;
   DblVec coeffs;
   VarVector vars;
-  AffExpr() : constant(0) {}
-  explicit AffExpr(double a) : constant(a) {}
-  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v) {}
-  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars) {}
-  size_t size() const { return coeffs.size(); }
+  AffExpr() : constant(0)
+  {
+  }
+  explicit AffExpr(double a) : constant(a)
+  {
+  }
+  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v)
+  {
+  }
+  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars)
+  {
+  }
+  size_t size() const
+  {
+    return coeffs.size();
+  }
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
@@ -139,11 +169,22 @@ struct QuadExpr
   DblVec coeffs;
   VarVector vars1;
   VarVector vars2;
-  QuadExpr() {}
-  explicit QuadExpr(double a) : affexpr(a) {}
-  explicit QuadExpr(const Var& v) : affexpr(v) {}
-  explicit QuadExpr(const AffExpr& aff) : affexpr(aff) {}
-  size_t size() const { return coeffs.size(); }
+  QuadExpr()
+  {
+  }
+  explicit QuadExpr(double a) : affexpr(a)
+  {
+  }
+  explicit QuadExpr(const Var& v) : affexpr(v)
+  {
+  }
+  explicit QuadExpr(const AffExpr& aff) : affexpr(aff)
+  {
+  }
+  size_t size() const
+  {
+    return coeffs.size();
+  }
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
index 3edbcbdbba..42fcd3e34e 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
@@ -37,12 +37,8 @@ void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector
  * @param [in] force_diagonal if true, we will forcibly add elements to the
  *                            diagonal of the sparse matrix, adding `0.` if needed
  */
-void exprToEigen(const QuadExpr& expr,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
-                 const int& n_vars,
-                 const bool& matrix_is_halved = false,
-                 const bool& force_diagonal = false);
+void exprToEigen(const QuadExpr& expr, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
+                 const int& n_vars, const bool& matrix_is_halved = false, const bool& force_diagonal = false);
 
 /**
  * @brief transform a vector of `AffExpr` to an `Eigen::SparseMatrix` plus an
@@ -61,9 +57,7 @@ void exprToEigen(const QuadExpr& expr,
  *                    It is usually the same for each `expr` in `expr_vec`,
  *                    and equal to `expr.size()`, but it might be larger.
  */
-void exprToEigen(const AffExprVector& expr_vec,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
+void exprToEigen(const AffExprVector& expr_vec, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
                  const int& n_vars = -1);
 /**
  * @brief Converts triplets to an `Eigen::SparseMatrix`.
@@ -75,9 +69,7 @@ void exprToEigen(const AffExprVector& expr_vec,
  *                               be guessing the right size of sparse_matrix from
  *                               a sparse triplet representation.
  */
-void tripletsToEigen(const IntVec& rows_i,
-                     const IntVec& cols_j,
-                     const DblVec& values_ij,
+void tripletsToEigen(const IntVec& rows_i, const IntVec& cols_j, const DblVec& values_ij,
                      Eigen::SparseMatrix<double>& sparse_matrix);
 
 /**
@@ -88,9 +80,7 @@ void tripletsToEigen(const IntVec& rows_i,
  * @param [out] values_ij a vector of values, so that:
  *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
  */
-void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
-                     IntVec& rows_i,
-                     IntVec& cols_j,
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix, IntVec& rows_i, IntVec& cols_j,
                      DblVec& values_ij);
 
 /**
@@ -103,10 +93,8 @@ void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
  * @param [in,out] sparse_matrix input matrix: will be compressed
  */
 template <int eigenUpLoType = 0, typename T>
-void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
-                std::vector<T>& row_indices,
-                std::vector<T>& column_pointers,
-                DblVec& values)
+void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix, std::vector<T>& row_indices,
+                std::vector<T>& column_pointers, DblVec& values)
 {
   Eigen::SparseMatrix<double> sm_t;
   auto sm_ref = std::ref(sparse_matrix);
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
index f61e82b66e..235f359b53 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
@@ -10,28 +10,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_utils/stl_to_string.hpp>
 
 extern "C" {
-extern void bpmpd(int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  double*,
-                  int*,
-                  int*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  int*,
-                  double*,
-                  int*,
-                  double*,
-                  int*);
+extern void bpmpd(int*, int*, int*, int*, int*, int*, int*, double*, int*, int*, double*, double*, double*, double*,
+                  double*, double*, double*, int*, double*, int*, double*, int*);
 }
 
 int main(int /*argc*/, char** /*argv*/)
@@ -74,28 +54,9 @@ int main(int /*argc*/, char** /*argv*/)
     DBG(bi.lbound);
     DBG(bi.ubound);
 
-    bpmpd(&bi.m,
-          &bi.n,
-          &bi.nz,
-          &bi.qn,
-          &bi.qnz,
-          bi.acolcnt.data(),
-          bi.acolidx.data(),
-          bi.acolnzs.data(),
-          bi.qcolcnt.data(),
-          bi.qcolidx.data(),
-          bi.qcolnzs.data(),
-          bi.rhs.data(),
-          bi.obj.data(),
-          bi.lbound.data(),
-          bi.ubound.data(),
-          bo.primal.data(),
-          bo.dual.data(),
-          bo.status.data(),
-          &BIG,
-          &bo.code,
-          &bo.opt,
-          &memsiz);
+    bpmpd(&bi.m, &bi.n, &bi.nz, &bi.qn, &bi.qnz, bi.acolcnt.data(), bi.acolidx.data(), bi.acolnzs.data(),
+          bi.qcolcnt.data(), bi.qcolidx.data(), bi.qcolnzs.data(), bi.rhs.data(), bi.obj.data(), bi.lbound.data(),
+          bi.ubound.data(), bo.primal.data(), bo.dual.data(), bo.status.data(), &BIG, &bo.code, &bo.opt, &memsiz);
 
     bpmpd_io::ser(STDOUT_FILENO, bo, bpmpd_io::SER);
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
index 82679c6982..b17bb6ff2f 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
@@ -475,21 +475,8 @@ CvxOptStatus BPMPDModel::optimize()
 
 #else
 
-  bpmpd_io::bpmpd_input bi(static_cast<int>(m),
-                           static_cast<int>(n),
-                           nz,
-                           qn,
-                           qnz,
-                           acolcnt,
-                           acolidx,
-                           acolnzs,
-                           qcolcnt,
-                           qcolidx,
-                           qcolnzs,
-                           rhs,
-                           obj,
-                           lbound,
-                           ubound);
+  bpmpd_io::bpmpd_input bi(static_cast<int>(m), static_cast<int>(n), nz, qn, qnz, acolcnt, acolidx, acolnzs, qcolcnt,
+                           qcolidx, qcolnzs, rhs, obj, lbound, ubound);
   bpmpd_io::ser(gPipeIn, bi, bpmpd_io::SER);
 
   // std::cout << "serialization time:" << end-start << std::endl;
@@ -511,11 +498,20 @@ CvxOptStatus BPMPDModel::optimize()
 
   // exit(0);
 }
-void BPMPDModel::setObjective(const AffExpr& expr) { m_objective.affexpr = expr; }
-void BPMPDModel::setObjective(const QuadExpr& expr) { m_objective = expr; }
+void BPMPDModel::setObjective(const AffExpr& expr)
+{
+  m_objective.affexpr = expr;
+}
+void BPMPDModel::setObjective(const QuadExpr& expr)
+{
+  m_objective = expr;
+}
 void BPMPDModel::writeToFile(const std::string& /*fname*/)
 {
   // assert(0 && "NOT IMPLEMENTED");
 }
-VarVector BPMPDModel::getVars() const { return m_vars; }
+VarVector BPMPDModel::getVars() const
+{
+  return m_vars;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
index 5540a31bac..eeab09ba62 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
@@ -5,7 +5,10 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/expr_ops.hpp>
 
-static inline double sq(double x) { return x * x; }
+static inline double sq(double x)
+{
+  return x * x;
+}
 namespace sco
 {
 QuadExpr exprMult(const AffExpr& affexpr1, const AffExpr& affexpr2)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
index 03bead3e97..c86dd714d0 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
@@ -83,8 +83,8 @@ GurobiModel::GurobiModel()
 
 Var GurobiModel::addVar(const std::string& name)
 {
-  ENSURE_SUCCESS(GRBaddvar(
-      m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddvar(m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS,
+                           const_cast<char*>(name.c_str())));
   m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
   return m_vars.back();
 }
@@ -102,13 +102,8 @@ Cnt GurobiModel::addEqCnt(const AffExpr& expr, const std::string& name)
   IntVec inds = vars2inds(expr.vars);
   DblVec vals = expr.coeffs;
   simplify2(inds, vals);
-  ENSURE_SUCCESS(GRBaddconstr(m_model,
-                              inds.size(),
-                              const_cast<int*>(inds.data()),
-                              const_cast<double*>(vals.data()),
-                              GRB_EQUAL,
-                              -expr.constant,
-                              const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddconstr(m_model, inds.size(), const_cast<int*>(inds.data()), const_cast<double*>(vals.data()),
+                              GRB_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
   m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
   return m_cnts.back();
 }
@@ -118,8 +113,8 @@ Cnt GurobiModel::addIneqCnt(const AffExpr& expr, const std::string& name)
   IntVec inds = vars2inds(expr.vars);
   DblVec vals = expr.coeffs;
   simplify2(inds, vals);
-  ENSURE_SUCCESS(GRBaddconstr(
-      m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddconstr(m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant,
+                              const_cast<char*>(name.c_str())));
   m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
   return m_cnts.back();
 }
@@ -130,16 +125,8 @@ Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)
   DblVec lvals = qexpr.affexpr.coeffs;
   IntVec inds1 = vars2inds(qexpr.vars1);
   IntVec inds2 = vars2inds(qexpr.vars2);
-  ENSURE_SUCCESS(GRBaddqconstr(m_model,
-                               numlnz,
-                               linds.data(),
-                               lvals.data(),
-                               qexpr.size(),
-                               inds1.data(),
-                               inds2.data(),
-                               const_cast<double*>(qexpr.coeffs.data()),
-                               GRB_LESS_EQUAL,
-                               -qexpr.affexpr.constant,
+  ENSURE_SUCCESS(GRBaddqconstr(m_model, numlnz, linds.data(), lvals.data(), qexpr.size(), inds1.data(), inds2.data(),
+                               const_cast<double*>(qexpr.coeffs.data()), GRB_LESS_EQUAL, -qexpr.affexpr.constant,
                                const_cast<char*>(name.c_str())));
   return Cnt();
 }
@@ -257,14 +244,14 @@ void GurobiModel::setObjective(const QuadExpr& quad_expr)
   setObjective(quad_expr.affexpr);
   IntVec inds1 = vars2inds(quad_expr.vars1);
   IntVec inds2 = vars2inds(quad_expr.vars2);
-  GRBaddqpterms(m_model,
-                quad_expr.coeffs.size(),
-                const_cast<int*>(inds1.data()),
-                const_cast<int*>(inds2.data()),
+  GRBaddqpterms(m_model, quad_expr.coeffs.size(), const_cast<int*>(inds1.data()), const_cast<int*>(inds2.data()),
                 const_cast<double*>(quad_expr.coeffs.data()));
 }
 
-void GurobiModel::writeToFile(const std::string& fname) { ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str())); }
+void GurobiModel::writeToFile(const std::string& fname)
+{
+  ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str()));
+}
 void GurobiModel::update()
 {
   ENSURE_SUCCESS(GRBupdatemodel(m_model));
@@ -301,6 +288,12 @@ void GurobiModel::update()
   }
 }
 
-VarVector GurobiModel::getVars() const { return m_vars; }
-GurobiModel::~GurobiModel() { ENSURE_SUCCESS(GRBfreemodel(m_model)); }
+VarVector GurobiModel::getVars() const
+{
+  return m_vars;
+}
+GurobiModel::~GurobiModel()
+{
+  ENSURE_SUCCESS(GRBfreemodel(m_model));
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
index 1487a74b9e..81a2140b5e 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
@@ -14,8 +14,14 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace sco
 {
-void ConvexObjective::addAffExpr(const AffExpr& affexpr) { exprInc(quad_, affexpr); }
-void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr) { exprInc(quad_, quadexpr); }
+void ConvexObjective::addAffExpr(const AffExpr& affexpr)
+{
+  exprInc(quad_, affexpr);
+}
+void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr)
+{
+  exprInc(quad_, quadexpr);
+}
 void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
 {
   Var hinge = model_->addVar("hinge", 0, INFINITY);
@@ -98,8 +104,14 @@ ConvexObjective::~ConvexObjective()
     removeFromModel();
 }
 
-void ConvexConstraints::addEqCnt(const AffExpr& aff) { eqs_.push_back(aff); }
-void ConvexConstraints::addIneqCnt(const AffExpr& aff) { ineqs_.push_back(aff); }
+void ConvexConstraints::addEqCnt(const AffExpr& aff)
+{
+  eqs_.push_back(aff);
+}
+void ConvexConstraints::addIneqCnt(const AffExpr& aff)
+{
+  ineqs_.push_back(aff);
+}
 void ConvexConstraints::addConstraintsToModel()
 {
   cnts_.reserve(eqs_.size() + ineqs_.size());
@@ -129,14 +141,20 @@ DblVec ConvexConstraints::violations(const DblVec& x)
     out.push_back(pospart(aff.value(x.data())));
   return out;
 }
-double ConvexConstraints::violation(const DblVec& x) { return vecSum(violations(x)); }
+double ConvexConstraints::violation(const DblVec& x)
+{
+  return vecSum(violations(x));
+}
 ConvexConstraints::~ConvexConstraints()
 {
   if (inModel())
     removeFromModel();
 }
 
-double ConvexObjective::value(const DblVec& x) { return quad_.value(x); }
+double ConvexObjective::value(const DblVec& x)
+{
+  return quad_.value(x);
+}
 DblVec Constraint::violations(const DblVec& x)
 {
   DblVec val = value(x);
@@ -156,8 +174,13 @@ DblVec Constraint::violations(const DblVec& x)
   return out;
 }
 
-double Constraint::violation(const DblVec& x) { return vecSum(violations(x)); }
-OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver)) {}
+double Constraint::violation(const DblVec& x)
+{
+  return vecSum(violations(x));
+}
+OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver))
+{
+}
 VarVector OptProb::createVariables(const std::vector<std::string>& var_names)
 {
   return createVariables(var_names, DblVec(var_names.size(), -INFINITY), DblVec(var_names.size(), INFINITY));
@@ -193,9 +216,18 @@ void OptProb::setUpperBounds(const DblVec& ub)
   upper_bounds_ = ub;
 }
 
-void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars) { setVec(lower_bounds_, vars, lb); }
-void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars) { setVec(upper_bounds_, vars, ub); }
-void OptProb::addCost(CostPtr cost) { costs_.push_back(cost); }
+void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars)
+{
+  setVec(lower_bounds_, vars, lb);
+}
+void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars)
+{
+  setVec(upper_bounds_, vars, ub);
+}
+void OptProb::addCost(CostPtr cost)
+{
+  costs_.push_back(cost);
+}
 void OptProb::addConstraint(ConstraintPtr cnt)
 {
   if (cnt->type() == EQ)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
index 79e49e7850..760677f0d3 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
@@ -112,20 +112,13 @@ ConvexObjectivePtr CostFromFunc::convex(const DblVec& xin, Model* model)
   return out;
 }
 
-CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
-                                 const VarVector& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 PenaltyType pen_type,
-                                 const std::string& name)
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type, const std::string& name)
   : Cost(name), f_(f), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
 {
 }
-CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
-                                 MatrixOfVectorPtr dfdx,
-                                 const VarVector& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 PenaltyType pen_type,
-                                 const std::string& name)
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs, PenaltyType pen_type, const std::string& name)
   : Cost(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
 {
 }
@@ -199,20 +192,14 @@ ConvexObjectivePtr CostFromErrFunc::convex(const DblVec& xin, Model* model)
   return out;
 }
 
-ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
-                                             const VarVector& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             ConstraintType type,
-                                             const std::string& name)
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                                             ConstraintType type, const std::string& name)
   : Constraint(name), f_(f), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
 {
 }
 
-ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
-                                             MatrixOfVectorPtr dfdx,
-                                             const VarVector& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             ConstraintType type,
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs, ConstraintType type,
                                              const std::string& name)
   : Constraint(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
 {
diff --git a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
index f7e459aa01..4277cf5035 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
@@ -7,8 +7,13 @@ ScalarOfVectorPtr ScalarOfVector::construct(const func& f)
   struct F : public ScalarOfVector
   {
     func f;
-    F(const func& _f) : f(_f) {}
-    double operator()(const Eigen::VectorXd& x) const override { return f(x); }
+    F(const func& _f) : f(_f)
+    {
+    }
+    double operator()(const Eigen::VectorXd& x) const override
+    {
+      return f(x);
+    }
   };
   ScalarOfVector* sov = new F(f);  // to avoid erroneous clang warning
   return ScalarOfVectorPtr(sov);
@@ -18,8 +23,13 @@ VectorOfVectorPtr VectorOfVector::construct(const func& f)
   struct F : public VectorOfVector
   {
     func f;
-    F(const func& _f) : f(_f) {}
-    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return f(x); }
+    F(const func& _f) : f(_f)
+    {
+    }
+    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override
+    {
+      return f(x);
+    }
   };
   VectorOfVector* vov = new F(f);  // to avoid erroneous clang warning
   return VectorOfVectorPtr(vov);
@@ -54,12 +64,8 @@ Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd
   return out;
 }
 
-void calcGradAndDiagHess(const ScalarOfVector& f,
-                         const Eigen::VectorXd& x,
-                         double epsilon,
-                         double& y,
-                         Eigen::VectorXd& grad,
-                         Eigen::VectorXd& hess)
+void calcGradAndDiagHess(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon, double& y,
+                         Eigen::VectorXd& grad, Eigen::VectorXd& hess)
 {
   y = f(x);
   grad.resize(x.size());
@@ -77,11 +83,7 @@ void calcGradAndDiagHess(const ScalarOfVector& f,
   }
 }
 
-void calcGradHess(ScalarOfVectorPtr f,
-                  const Eigen::VectorXd& x,
-                  double epsilon,
-                  double& y,
-                  Eigen::VectorXd& grad,
+void calcGradHess(ScalarOfVectorPtr f, const Eigen::VectorXd& x, double epsilon, double& y, Eigen::VectorXd& grad,
                   Eigen::MatrixXd& hess)
 {
   y = f->call(x);
@@ -95,16 +97,26 @@ struct ForwardNumGrad : public VectorOfVector
 {
   ScalarOfVectorPtr f_;
   double epsilon_;
-  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
-  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumGrad(*f_, x, epsilon_); }
+  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon)
+  {
+  }
+  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override
+  {
+    return calcForwardNumGrad(*f_, x, epsilon_);
+  }
 };
 
 struct ForwardNumJac : public MatrixOfVector
 {
   VectorOfVectorPtr f_;
   double epsilon_;
-  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumJac(*f_, x, epsilon_); }
+  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon)
+  {
+  }
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override
+  {
+    return calcForwardNumJac(*f_, x, epsilon_);
+  }
 };
 
 VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
index 483147ceb0..d541106c20 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
@@ -58,8 +58,7 @@ static std::vector<ConvexObjectivePtr> convexifyCosts(const std::vector<CostPtr>
   }
   return out;
 }
-static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts,
-                                                              const DblVec& x,
+static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts, const DblVec& x,
                                                               Model* model)
 {
   std::vector<ConvexConstraintsPtr> out(cnts.size());
@@ -104,14 +103,9 @@ static std::vector<std::string> getCntNames(const std::vector<ConstraintPtr>& cn
   return out;
 }
 
-void printCostInfo(const DblVec& old_cost_vals,
-                   const DblVec& model_cost_vals,
-                   const DblVec& new_cost_vals,
-                   const DblVec& old_cnt_vals,
-                   const DblVec& model_cnt_vals,
-                   const DblVec& new_cnt_vals,
-                   const std::vector<std::string>& cost_names,
-                   const std::vector<std::string>& cnt_names,
+void printCostInfo(const DblVec& old_cost_vals, const DblVec& model_cost_vals, const DblVec& new_cost_vals,
+                   const DblVec& old_cnt_vals, const DblVec& model_cnt_vals, const DblVec& new_cnt_vals,
+                   const std::vector<std::string>& cost_names, const std::vector<std::string>& cnt_names,
                    double merit_coeff)
 {
   std::printf("%15s | %10s | %10s | %10s | %10s\n", "", "oldexact", "dapprox", "dexact", "ratio");
@@ -121,53 +115,31 @@ void printCostInfo(const DblVec& old_cost_vals,
     double approx_improve = old_cost_vals[i] - model_cost_vals[i];
     double exact_improve = old_cost_vals[i] - new_cost_vals[i];
     if (fabs(approx_improve) > 1e-8)
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                  cost_names[i].c_str(),
-                  old_cost_vals[i],
-                  approx_improve,
-                  exact_improve,
-                  exact_improve / approx_improve);
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", cost_names[i].c_str(), old_cost_vals[i], approx_improve,
+                  exact_improve, exact_improve / approx_improve);
     else
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
-                  cost_names[i].c_str(),
-                  old_cost_vals[i],
-                  approx_improve,
-                  exact_improve,
-                  "  ------  ");
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n", cost_names[i].c_str(), old_cost_vals[i], approx_improve,
+                  exact_improve, "  ------  ");
   }
   if (cnt_names.size() == 0)
     return;
-  std::printf("%15s | %10s---%10s---%10s---%10s\n",
-              "CONSTRAINTS",
-              "----------",
-              "----------",
-              "----------",
-              "---------"
-              "-");
+  std::printf("%15s | %10s---%10s---%10s---%10s\n", "CONSTRAINTS", "----------", "----------", "----------", "---------"
+                                                                                                             "-");
   for (size_t i = 0; i < old_cnt_vals.size(); ++i)
   {
     double approx_improve = old_cnt_vals[i] - model_cnt_vals[i];
     double exact_improve = old_cnt_vals[i] - new_cnt_vals[i];
     if (fabs(approx_improve) > 1e-8)
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                  cnt_names[i].c_str(),
-                  merit_coeff * old_cnt_vals[i],
-                  merit_coeff * approx_improve,
-                  merit_coeff * exact_improve,
-                  exact_improve / approx_improve);
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", cnt_names[i].c_str(), merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve, merit_coeff * exact_improve, exact_improve / approx_improve);
     else
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
-                  cnt_names[i].c_str(),
-                  merit_coeff * old_cnt_vals[i],
-                  merit_coeff * approx_improve,
-                  merit_coeff * exact_improve,
-                  "  ------  ");
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n", cnt_names[i].c_str(), merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve, merit_coeff * exact_improve, "  ------  ");
   }
 }
 
 // todo: use different coeffs for each constraint
-std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts,
-                                            double err_coeff,
+std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts, double err_coeff,
                                             Model* model)
 {
   std::vector<ConvexObjectivePtr> out;
@@ -187,7 +159,10 @@ std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsP
   return out;
 }
 
-void Optimizer::addCallback(const Callback& cb) { callbacks_.push_back(cb); }
+void Optimizer::addCallback(const Callback& cb)
+{
+  callbacks_.push_back(cb);
+}
 void Optimizer::callCallbacks()
 {
   for (unsigned i = 0; i < callbacks_.size(); ++i)
@@ -224,15 +199,23 @@ BasicTrustRegionSQPParameters::BasicTrustRegionSQPParameters()
   trust_box_size = 1e-1;
 }
 
-BasicTrustRegionSQP::BasicTrustRegionSQP() {}
-BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob) { setProblem(prob); }
+BasicTrustRegionSQP::BasicTrustRegionSQP()
+{
+}
+BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob)
+{
+  setProblem(prob);
+}
 void BasicTrustRegionSQP::setProblem(OptProbPtr prob)
 {
   Optimizer::setProblem(prob);
   model_ = prob->getModel();
 }
 
-void BasicTrustRegionSQP::adjustTrustRegion(double ratio) { param_.trust_box_size *= ratio; }
+void BasicTrustRegionSQP::adjustTrustRegion(double ratio)
+{
+  param_.trust_box_size *= ratio;
+}
 void BasicTrustRegionSQP::setTrustBoxConstraints(const DblVec& x)
 {
   const VarVector& vars = prob_->getVars();
@@ -394,21 +377,10 @@ OptStatus BasicTrustRegionSQP::optimize()
         if (util::GetLogLevel() >= util::LevelInfo)
         {
           LOG_INFO(" ");
-          printCostInfo(results_.cost_vals,
-                        model_cost_vals,
-                        new_cost_vals,
-                        results_.cnt_viols,
-                        model_cnt_viols,
-                        new_cnt_viols,
-                        cost_names,
-                        cnt_names,
-                        param_.merit_error_coeff);
-          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                      "TOTAL",
-                      old_merit,
-                      approx_merit_improve,
-                      exact_merit_improve,
-                      merit_improve_ratio);
+          printCostInfo(results_.cost_vals, model_cost_vals, new_cost_vals, results_.cnt_viols, model_cnt_viols,
+                        new_cnt_viols, cost_names, cnt_names, param_.merit_error_coeff);
+          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", "TOTAL", old_merit, approx_merit_improve,
+                      exact_merit_improve, merit_improve_ratio);
         }
 
         if (approx_merit_improve < -1e-5)
@@ -419,15 +391,14 @@ OptStatus BasicTrustRegionSQP::optimize()
         }
         if (approx_merit_improve < param_.min_approx_improve)
         {
-          LOG_INFO(
-              "converged because improvement was small (%.3e < %.3e)", approx_merit_improve, param_.min_approx_improve);
+          LOG_INFO("converged because improvement was small (%.3e < %.3e)", approx_merit_improve,
+                   param_.min_approx_improve);
           retval = OPT_CONVERGED;
           goto penaltyadjustment;
         }
         if (approx_merit_improve / old_merit < param_.min_approx_improve_frac)
         {
-          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)",
-                   approx_merit_improve / old_merit,
+          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)", approx_merit_improve / old_merit,
                    param_.min_approx_improve_frac);
           retval = OPT_CONVERGED;
           goto penaltyadjustment;
diff --git a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
index bd1a18c8c3..a3dffa4c7b 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
@@ -106,11 +106,7 @@ void OSQPModel::updateObjective()
 
   if (osqp_data_.P != nullptr)
     c_free(osqp_data_.P);
-  osqp_data_.P = csc_matrix(osqp_data_.n,
-                            osqp_data_.n,
-                            P_csc_data_.size(),
-                            P_csc_data_.data(),
-                            P_row_indices_.data(),
+  osqp_data_.P = csc_matrix(osqp_data_.n, osqp_data_.n, P_csc_data_.size(), P_csc_data_.data(), P_row_indices_.data(),
                             P_column_pointers_.data());
 
   osqp_data_.q = q_.data();
@@ -151,11 +147,7 @@ void OSQPModel::updateConstraints()
 
   if (osqp_data_.A != nullptr)
     c_free(osqp_data_.A);
-  osqp_data_.A = csc_matrix(osqp_data_.m,
-                            osqp_data_.n,
-                            A_csc_data_.size(),
-                            A_csc_data_.data(),
-                            A_row_indices_.data(),
+  osqp_data_.A = csc_matrix(osqp_data_.m, osqp_data_.n, A_csc_data_.size(), A_csc_data_.data(), A_row_indices_.data(),
                             A_column_pointers_.data());
 
   osqp_data_.l = l_.data();
@@ -260,11 +252,20 @@ CvxOptStatus OSQPModel::optimize()
   }
   return CVX_FAILED;
 }
-void OSQPModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
-void OSQPModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void OSQPModel::setObjective(const AffExpr& expr)
+{
+  objective_.affexpr = expr;
+}
+void OSQPModel::setObjective(const QuadExpr& expr)
+{
+  objective_ = expr;
+}
 void OSQPModel::writeToFile(const std::string& /*fname*/)
 {
   return;  // NOT IMPLEMENTED
 }
-VarVector OSQPModel::getVars() const { return vars_; }
+VarVector OSQPModel::getVars() const
+{
+  return vars_;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
index 2316f95d52..d3140cf0ee 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
@@ -35,7 +35,9 @@ qpOASESModel::qpOASESModel()
   qpoases_options_.ensureConsistency();
 }
 
-qpOASESModel::~qpOASESModel() {}
+qpOASESModel::~qpOASESModel()
+{
+}
 Var qpOASESModel::addVar(const std::string& name)
 {
   vars_.push_back(new VarRep(vars_.size(), name, this));
@@ -211,8 +213,8 @@ CvxOptStatus qpOASESModel::optimize()
   int nWSR = 255;
   if (qpoases_problem_->isInitialised())
   {
-    val = qpoases_problem_->hotstart(
-        &H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+    val = qpoases_problem_->hotstart(&H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR,
+                                     nullptr);
   }
 
   if (val != qpOASES::SUCCESSFUL_RETURN)
@@ -241,11 +243,20 @@ CvxOptStatus qpOASESModel::optimize()
     return CVX_FAILED;
   }
 }
-void qpOASESModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
-void qpOASESModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void qpOASESModel::setObjective(const AffExpr& expr)
+{
+  objective_.affexpr = expr;
+}
+void qpOASESModel::setObjective(const QuadExpr& expr)
+{
+  objective_ = expr;
+}
 void qpOASESModel::writeToFile(const std::string& /*fname*/)
 {
   return;  // NOT IMPLEMENTED
 }
-VarVector qpOASESModel::getVars() const { return vars_; }
+VarVector qpOASESModel::getVars() const
+{
+  return vars_;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
index 3da51d8af5..0162da16bf 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
@@ -164,9 +164,18 @@ std::ostream& operator<<(std::ostream& o, const ModelType& cs)
   return o;
 }
 
-ModelType::ModelType() { value_ = ModelType::AUTO_SOLVER; }
-ModelType::ModelType(const ModelType::Value& v) { value_ = v; }
-ModelType::ModelType(const int& v) { value_ = static_cast<Value>(v); }
+ModelType::ModelType()
+{
+  value_ = ModelType::AUTO_SOLVER;
+}
+ModelType::ModelType(const ModelType::Value& v)
+{
+  value_ = v;
+}
+ModelType::ModelType(const int& v)
+{
+  value_ = static_cast<Value>(v);
+}
 ModelType::ModelType(const std::string& s)
 {
   for (unsigned int i = 0; i < ModelType::MODEL_NAMES_.size(); ++i)
@@ -180,10 +189,22 @@ ModelType::ModelType(const std::string& s)
   PRINT_AND_THROW(boost::format("invalid solver name:\"%s\"") % s);
 }
 
-ModelType::operator int() const { return static_cast<int>(value_); }
-bool ModelType::operator==(const ModelType::Value& a) const { return value_ == a; }
-bool ModelType::operator==(const ModelType& a) const { return value_ == a.value_; }
-bool ModelType::operator!=(const ModelType& a) const { return value_ != a.value_; }
+ModelType::operator int() const
+{
+  return static_cast<int>(value_);
+}
+bool ModelType::operator==(const ModelType::Value& a) const
+{
+  return value_ == a;
+}
+bool ModelType::operator==(const ModelType& a) const
+{
+  return value_ == a.value_;
+}
+bool ModelType::operator!=(const ModelType& a) const
+{
+  return value_ != a.value_;
+}
 void ModelType::fromJson(const Json::Value& v)
 {
   try
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
index 811c80a9ff..4fbdea121a 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
@@ -28,12 +28,8 @@ void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector
   }
 }
 
-void exprToEigen(const QuadExpr& expr,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
-                 const int& n_vars,
-                 const bool& matrix_is_halved,
-                 const bool& force_diagonal)
+void exprToEigen(const QuadExpr& expr, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
+                 const int& n_vars, const bool& matrix_is_halved, const bool& force_diagonal)
 {
   IntVec ind1 = vars2inds(expr.vars1);
   IntVec ind2 = vars2inds(expr.vars2);
@@ -79,9 +75,7 @@ void exprToEigen(const QuadExpr& expr,
       sparse_matrix.coeffRef(k, k) += 0.0;
 }
 
-void exprToEigen(const AffExprVector& expr_vec,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
+void exprToEigen(const AffExprVector& expr_vec, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
                  const int& n_vars)
 {
   vector.resize(static_cast<long int>(expr_vec.size()));
@@ -100,9 +94,7 @@ void exprToEigen(const AffExprVector& expr_vec,
   }
 }
 
-void tripletsToEigen(const IntVec& rows_i,
-                     const IntVec& cols_j,
-                     const DblVec& values_ij,
+void tripletsToEigen(const IntVec& rows_i, const IntVec& cols_j, const DblVec& values_ij,
                      Eigen::SparseMatrix<double>& sparse_matrix)
 {
   typedef Eigen::Triplet<double> T;
@@ -112,9 +104,7 @@ void tripletsToEigen(const IntVec& rows_i,
   sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
 }
 
-void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
-                     IntVec& rows_i,
-                     IntVec& cols_j,
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix, IntVec& rows_i, IntVec& cols_j,
                      DblVec& values_ij)
 {
   auto& sm = sparse_matrix;
diff --git a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
index 09a4895ec7..7e7356a99e 100644
--- a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
@@ -24,7 +24,9 @@ using namespace Eigen;
 class SQP : public testing::TestWithParam<ModelType>
 {
 protected:
-  SQP() {}
+  SQP()
+  {
+  }
 };
 
 void setupProblem(OptProbPtr& probptr, size_t nvars, ModelType convex_solver)
@@ -47,7 +49,10 @@ void expectAllNear(const DblVec& x, const DblVec& y, double abstol)
     EXPECT_NEAR(x[i], y[i], abstol);
 }
 
-double f_QuadraticSeparable(const VectorXd& x) { return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2); }
+double f_QuadraticSeparable(const VectorXd& x)
+{
+  return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2);
+}
 TEST_P(SQP, QuadraticSeparable)
 {
   // if the problem is exactly a QP, it should be solved in one iteration
@@ -64,7 +69,10 @@ TEST_P(SQP, QuadraticSeparable)
   expectAllNear(solver.x(), { 0, 1, 2 }, 1e-3);
   // todo: checks on number of iterations and function evaluates
 }
-double f_QuadraticNonseparable(const VectorXd& x) { return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2); }
+double f_QuadraticNonseparable(const VectorXd& x)
+{
+  return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2);
+}
 TEST_P(SQP, QuadraticNonseparable)
 {
   OptProbPtr prob;
@@ -84,12 +92,8 @@ TEST_P(SQP, QuadraticNonseparable)
   // todo: checks on number of iterations and function evaluates
 }
 
-void testProblem(ScalarOfVectorPtr f,
-                 VectorOfVectorPtr g,
-                 ConstraintType cnt_type,
-                 const DblVec& init,
-                 const DblVec& sol,
-                 ModelType convex_solver)
+void testProblem(ScalarOfVectorPtr f, VectorOfVectorPtr g, ConstraintType cnt_type, const DblVec& init,
+                 const DblVec& sol, ModelType convex_solver)
 {
   OptProbPtr prob;
   size_t n = init.size();
@@ -111,35 +115,50 @@ void testProblem(ScalarOfVectorPtr f,
 }
 // http://www.ai7.uni-bayreuth.de/test_problem_coll.pdf
 
-double f_TP1(const VectorXd& x) { return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+double f_TP1(const VectorXd& x)
+{
+  return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0));
+}
 VectorXd g_TP1(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = -1.5 - x(1);
   return out;
 }
-double f_TP2(const VectorXd& x) { return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+double f_TP2(const VectorXd& x)
+{
+  return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0));
+}
 VectorXd g_TP2(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = -1.5 - x(1);
   return out;
 }
-double f_TP3(const VectorXd& x) { return (x(1) + 1e-5 * sq(x(1) - x(0))); }
+double f_TP3(const VectorXd& x)
+{
+  return (x(1) + 1e-5 * sq(x(1) - x(0)));
+}
 VectorXd g_TP3(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = 0 - x(1);
   return out;
 }
-double f_TP6(const VectorXd& x) { return sq(1 - x(0)); }
+double f_TP6(const VectorXd& x)
+{
+  return sq(1 - x(0));
+}
 VectorXd g_TP6(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = 10 * (x(1) - sq(x(0)));
   return out;
 }
-double f_TP7(const VectorXd& x) { return log(1 + sq(x(0))) - x(1); }
+double f_TP7(const VectorXd& x)
+{
+  return log(1 + sq(x(0))) - x(1);
+}
 VectorXd g_TP7(const VectorXd& x)
 {
   VectorXd out(1);
@@ -149,26 +168,22 @@ VectorXd g_TP7(const VectorXd& x)
 
 TEST_P(SQP, TP1)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 },
+              GetParam());
 }
 TEST_P(SQP, TP3)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 },
+              GetParam());
 }
 TEST_P(SQP, TP6)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 },
+              GetParam());
 }
 TEST_P(SQP, TP7)
 {
-  testProblem(ScalarOfVector::construct(&f_TP7),
-              VectorOfVector::construct(&g_TP7),
-              EQ,
-              { 2, 2 },
-              { 0., sqrtf(3.) },
+  testProblem(ScalarOfVector::construct(&f_TP7), VectorOfVector::construct(&g_TP7), EQ, { 2, 2 }, { 0., sqrtf(3.) },
               GetParam());
 }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
index b9d0d5ae6a..6f118b1e3c 100644
--- a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
@@ -20,7 +20,9 @@ using namespace sco;
 class SolverInterface : public testing::TestWithParam<ModelType>
 {
 protected:
-  SolverInterface() {}
+  SolverInterface()
+  {
+  }
 };
 
 TEST(SolverInterface, simplify2)
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
index a64c7ee0b5..e9e6413e62 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
@@ -13,10 +13,19 @@ struct BasicArray
   int m_nCol;
   std::vector<T> m_data;
 
-  BasicArray() : m_nRow(0), m_nCol(0) {}
-  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol) { m_data.resize(m_nRow * m_nCol); }
-  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol) {}
-  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data) {}
+  BasicArray() : m_nRow(0), m_nCol(0)
+  {
+  }
+  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol)
+  {
+    m_data.resize(m_nRow * m_nCol);
+  }
+  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol)
+  {
+  }
+  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data)
+  {
+  }
   void resize(int nRow, int nCol)
   {
     m_nRow = nRow;
@@ -24,9 +33,18 @@ struct BasicArray
     m_data.resize(static_cast<size_t>(m_nRow * m_nCol));
   }
 
-  int rows() const { return m_nRow; }
-  int cols() const { return m_nCol; }
-  int size() const { return m_data.size(); }
+  int rows() const
+  {
+    return m_nRow;
+  }
+  int cols() const
+  {
+    return m_nCol;
+  }
+  int size() const
+  {
+    return m_data.size();
+  }
   BasicArray block(int startRow, int startCol, int nRow, int nCol) const
   {
     BasicArray out;
@@ -71,12 +89,30 @@ struct BasicArray
     }
     return out;
   }
-  BasicArray topRows(int n) { return middleRows(0, n); }
-  BasicArray bottomRows(int n) { return middleRows(m_nRow - n, n); }
-  const T& at(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  T& at(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  const T& operator()(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  T& operator()(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  BasicArray topRows(int n)
+  {
+    return middleRows(0, n);
+  }
+  BasicArray bottomRows(int n)
+  {
+    return middleRows(m_nRow - n, n);
+  }
+  const T& at(int row, int col) const
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  T& at(int row, int col)
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  const T& operator()(int row, int col) const
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  T& operator()(int row, int col)
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
   std::vector<T> col(int col)
   {
     std::vector<T> out;
@@ -95,8 +131,17 @@ struct BasicArray
     return out;
   }
 
-  std::vector<T> flatten() { return m_data; }
-  T* data() { return m_data.data(); }
-  T* data() const { return m_data.data(); }
+  std::vector<T> flatten()
+  {
+    return m_data;
+  }
+  T* data()
+  {
+    return m_data.data();
+  }
+  T* data() const
+  {
+    return m_data.data();
+  }
 };
 }  // namespace util
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
index 5624d42794..54b5a4a598 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
@@ -18,9 +18,13 @@ struct ParameterBase
 {
   std::string m_name;
   std::string m_desc;
-  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc) {}
+  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc)
+  {
+  }
   virtual void addToBoost(po::options_description&) = 0;
-  virtual ~ParameterBase() {}
+  virtual ~ParameterBase()
+  {
+  }
 };
 typedef std::shared_ptr<ParameterBase> ParameterBasePtr;
 
@@ -28,11 +32,13 @@ template <typename T>
 struct ParameterVec : ParameterBase
 {
   std::vector<T>* m_value;
-  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value)
+  {
+  }
   void addToBoost(po::options_description& od)
   {
-    od.add_options()(
-        m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(), m_desc.c_str());
+    od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(),
+                     m_desc.c_str());
   }
 };
 
@@ -40,7 +46,9 @@ template <typename T>
 struct Parameter : ParameterBase
 {
   T* m_value;
-  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value)
+  {
+  }
   void addToBoost(po::options_description& od)
   {
     od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value)), m_desc.c_str());
@@ -50,14 +58,23 @@ struct Parameter : ParameterBase
 struct Config
 {
   std::vector<ParameterBasePtr> params;
-  void add(ParameterBase* param) { params.push_back(ParameterBasePtr(param)); }
+  void add(ParameterBase* param)
+  {
+    params.push_back(ParameterBasePtr(param));
+  }
 };
 
 struct CommandParser
 {
   std::vector<Config> configs;
-  void addGroup(const Config& config) { configs.push_back(config); }
-  CommandParser(const Config& config) { addGroup(config); }
+  void addGroup(const Config& config)
+  {
+    configs.push_back(config);
+  }
+  CommandParser(const Config& config)
+  {
+    addGroup(config);
+  }
   void read(int argc, char* argv[]);
 };
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
index da8251685a..482c193d1a 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
@@ -17,7 +17,10 @@ enum LogLevel
 };
 
 extern LogLevel gLogLevel;
-inline LogLevel GetLogLevel() { return gLogLevel; }
+inline LogLevel GetLogLevel()
+{
+  return gLogLevel;
+}
 #define FATAL_PREFIX "\x1b[31m[FATAL] "
 #define ERROR_PREFIX "\x1b[31m[ERROR] "
 #define WARN_PREFIX "\x1b[33m[WARN] "
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
index 9847eee813..1c71ef8f1c 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
@@ -6,5 +6,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace util
 {
-float randf() { return (float)rand() / (float)RAND_MAX; }
+float randf()
+{
+  return (float)rand() / (float)RAND_MAX;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
index 9af82b3688..5a17476b3b 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
@@ -13,5 +13,8 @@ std::vector<int> arange(int n)
   return out;
 }
 
-inline bool doubleEquals(double x, double y, double eps = 1E-5) { return std::abs(x - y) < eps; }
+inline bool doubleEquals(double x, double y, double eps = 1E-5)
+{
+  return std::abs(x - y) < eps;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
index 0ac38542bd..ab8e0b9c2e 100644
--- a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
+++ b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
@@ -18,7 +18,16 @@ std::string Str_impl(const std::vector<T>& x)
 
 namespace util
 {
-std::string Str(const std::vector<double>& x) { return Str_impl(x); }
-std::string Str(const std::vector<float>& x) { return Str_impl(x); }
-std::string Str(const std::vector<int>& x) { return Str_impl(x); }
+std::string Str(const std::vector<double>& x)
+{
+  return Str_impl(x);
+}
+std::string Str(const std::vector<float>& x)
+{
+  return Str_impl(x);
+}
+std::string Str(const std::vector<int>& x)
+{
+  return Str_impl(x);
+}
 }

From e708d4fbf6a9d9269fa15e65ebe896fd9fe9531a Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 11:32:36 -0600
Subject: [PATCH 571/612] removed trajopt_test_support from package.xml

---
 moveit_planners/trajopt/trajopt/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt/package.xml b/moveit_planners/trajopt/trajopt/package.xml
index d17422a2a7..ce1731dff7 100644
--- a/moveit_planners/trajopt/trajopt/package.xml
+++ b/moveit_planners/trajopt/trajopt/package.xml
@@ -17,7 +17,6 @@
   <test_depend>gtest</test_depend>
   <test_depend>rostest</test_depend>
   <test_depend>roslib</test_depend>
-  <test_depend>trajopt_test_support</test_depend>
   <test_depend>libpcl-all-dev</test_depend>
   <test_depend>pcl_conversions</test_depend>
   <test_depend>pr2_description</test_depend>

From e19cb384f7ff9b53747fcdacc05332e376569b3c Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 12:16:16 -0600
Subject: [PATCH 572/612] fixed travis errors

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt       |  1 -
 .../trajopt/trajopt_interface/CMakeLists.txt         | 12 ++++--------
 .../trajopt/trajopt_interface/package.xml            |  5 ++++-
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt   |  1 -
 4 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index 3e6b065bc2..e3238047dc 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -33,7 +33,6 @@ catkin_package(
     ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
-    ${JSONCPP_LIBRARIES}
   CATKIN_DEPENDS
     trajopt_sco
     trajopt_utils
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index b415435f4e..58f51389a5 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -78,14 +78,10 @@ target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIB
 
 # Mark executables and/or libraries for installation
 install(
-  TARGETS
-    moveit_trajopt_planner_plugin
-  ARCHIVE DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION
-    ${CATKIN_PACKAGE_BIN_DESTINATION}
+  TARGETS ${PROJECT_NAME} moveit_trajopt_planner_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 # Mark cpp header files for installation
diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index 87ea353d90..4c409e541f 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -24,7 +24,10 @@
   <depend>roscpp</depend>
   <depend>rosparam_shortcuts</depend>
   <depend>trajopt</depend>
-
+  <depend>trajopt_sco</depend>
+  <depend>trajopt_utils</depend>    
+  <depend>rostest</depend>
+  
   <export>
     <moveit_core plugin="${prefix}/trajopt_interface_plugin_description.xml"/>
   </export>
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 037c11ae27..a77672afab 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -34,7 +34,6 @@ catkin_package(
     ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
-    ${JSONCPP_LIBRARIES}
   CATKIN_DEPENDS trajopt_utils
   DEPENDS
     EIGEN3

From d469d045d6354b714b0a699ea70f546320b7acb7 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 16:18:44 -0600
Subject: [PATCH 573/612] addressed Dave's comments

---
 .../trajopt/trajopt/CMakeLists.txt            | 21 +++++++------------
 .../trajopt/src/problem_description.cpp       |  2 +-
 .../trajopt/trajopt_sco/CMakeLists.txt        |  2 +-
 moveit_planners/trajopt/trajopt_sco/README.md |  3 +++
 .../trajopt/trajopt_utils/CMakeLists.txt      |  2 +-
 .../trajopt/trajopt_utils/README.md           |  3 +++
 6 files changed, 17 insertions(+), 16 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt_sco/README.md
 create mode 100644 moveit_planners/trajopt/trajopt_utils/README.md

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index e3238047dc..d6fffa7713 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -15,18 +15,6 @@ find_package(Boost COMPONENTS system python thread program_options REQUIRED)
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
 
-link_directories(
-    /usr/local/lib
-    /usr/local/lib64
-)
-
-set(TRAJOPT_SOURCE_FILES
-    src/trajectory_costs.cpp
-    src/kinematic_terms.cpp
-    src/problem_description.cpp
-    src/utils.cpp
-)
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -50,6 +38,13 @@ include_directories(
   SYSTEM ${JSONCPP_INCLUDE_DIRS}
 )
 
+set(TRAJOPT_SOURCE_FILES
+    src/trajectory_costs.cpp
+    src/kinematic_terms.cpp
+    src/problem_description.cpp
+    src/utils.cpp
+)
+
 add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARY} ${JSONCPP_LIBRARIES} ${catkin_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
@@ -65,5 +60,5 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 4f1625b965..61c5f93a79 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -551,7 +551,7 @@ void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>
                                trajopt::TrajArray& init_traj)
 {
   Eigen::VectorXd current_pos(current_joint_values.size());
-  for (int joint_index = 0; joint_index < current_joint_values.size(); ++joint_index)
+  for (std::size_t joint_index = 0; joint_index < current_joint_values.size(); ++joint_index)
   {
     current_pos(joint_index) = current_joint_values[joint_index];
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index a77672afab..daf99f9099 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -118,7 +118,7 @@ install(
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
 
 if (CATKIN_ENABLE_TESTING)
diff --git a/moveit_planners/trajopt/trajopt_sco/README.md b/moveit_planners/trajopt/trajopt_sco/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
index b5601e3116..2e06312d7c 100644
--- a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -45,5 +45,5 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt_utils/README.md b/moveit_planners/trajopt/trajopt_utils/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file

From 8a8ad3ecd92811ab481d547190e0fcc3a4cad9aa Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Thu, 19 Sep 2019 18:59:14 +0300
Subject: [PATCH 574/612] Enable installing .hpp files

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt       | 1 -
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt   | 1 -
 moveit_planners/trajopt/trajopt_utils/CMakeLists.txt | 1 -
 3 files changed, 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index d6fffa7713..f888a13a12 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -60,5 +60,4 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
-  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index daf99f9099..d1a2e32192 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -118,7 +118,6 @@ install(
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  EXCLUDE
  )
 
 if (CATKIN_ENABLE_TESTING)
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
index 2e06312d7c..478b1ca414 100644
--- a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -45,5 +45,4 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  EXCLUDE
  )

From 354d660c9c870aaf202b8c59bd52da1b71d7072c Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Thu, 19 Sep 2019 23:12:33 +0300
Subject: [PATCH 575/612] Fix catkin_lint errors

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt           | 1 -
 moveit_planners/trajopt/trajopt_interface/CMakeLists.txt | 1 +
 moveit_planners/trajopt/trajopt_interface/package.xml    | 4 +++-
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt       | 1 -
 moveit_planners/trajopt/trajopt_sco/package.xml          | 2 ++
 5 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index f888a13a12..3536268e5a 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -18,7 +18,6 @@ pkg_check_modules(JSONCPP jsoncpp)
 catkin_package(
   INCLUDE_DIRS
     include
-    ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 58f51389a5..8f2eeba8d2 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -22,6 +22,7 @@ find_package(catkin REQUIRED
       trajopt
       trajopt_sco
       trajopt_utils
+      rosparam_shortcuts
 )
 
 catkin_package(
diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index 4c409e541f..6c94a891f0 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -26,7 +26,9 @@
   <depend>trajopt</depend>
   <depend>trajopt_sco</depend>
   <depend>trajopt_utils</depend>    
-  <depend>rostest</depend>
+
+  <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
   
   <export>
     <moveit_core plugin="${prefix}/trajopt_interface_plugin_description.xml"/>
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index d1a2e32192..1b7712f382 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -31,7 +31,6 @@ endif()
 catkin_package(
   INCLUDE_DIRS
     include
-    ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS trajopt_utils
diff --git a/moveit_planners/trajopt/trajopt_sco/package.xml b/moveit_planners/trajopt/trajopt_sco/package.xml
index 2198ffb689..eaba8862f4 100644
--- a/moveit_planners/trajopt/trajopt_sco/package.xml
+++ b/moveit_planners/trajopt/trajopt_sco/package.xml
@@ -9,6 +9,8 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>trajopt_utils</depend>
 
+  <test_depend>rosunit</test_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

From 73587fa5c11eb2ce5db5d807942e569d7610e7e5 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 10:57:56 +0300
Subject: [PATCH 576/612] Update included header files - Correct namespace

---
 .../trajopt/trajopt_interface/test/trajectory_test.cpp      | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index 49dd079500..234a629c95 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -29,8 +29,8 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/kinematic_terms.h>
+#include <trajopt/problem_description.h>
+#include <trajopt/kinematic_terms.h>
 
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/move_group_interface/move_group_interface.h>
@@ -67,7 +67,7 @@ TEST_F(TrajectoryTest, concatVectorValidation)
 {
   std::vector<double> vec_a = { 1, 2, 3, 4, 5 };
   std::vector<double> vec_b = { 6, 7, 8, 9, 10 };
-  std::vector<double> vec_c = trajopt_interface::concatVector(vec_a, vec_b);
+  std::vector<double> vec_c = trajopt::concatVector(vec_a, vec_b);
   EXPECT_EQ(vec_c.size(), vec_a.size() + vec_b.size());
 
   // Check if the output of concatVector is correct.

From 43e107c89cf9f94d9ffd465a7fa18b436e288fac Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 18:13:46 +0300
Subject: [PATCH 577/612] Update CMakeLists.txt

---
 moveit_planners/trajopt/trajopt_interface/CMakeLists.txt | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 8f2eeba8d2..85247d2e5f 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -22,7 +22,6 @@ find_package(catkin REQUIRED
       trajopt
       trajopt_sco
       trajopt_utils
-      rosparam_shortcuts
 )
 
 catkin_package(
@@ -36,7 +35,6 @@ catkin_package(
       moveit_core
       moveit_visual_tools
       moveit_ros_planning_interface
-      rosparam_shortcuts
 )
 
 # The following include_directory should have include folder of the new planner.
@@ -111,4 +109,4 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
   )
 
-endif()
\ No newline at end of file
+endif()

From b798cd714fb2a2a7e44e103f523de12a59a42cf4 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 18:13:54 +0300
Subject: [PATCH 578/612] Update package.xml

---
 moveit_planners/trajopt/trajopt_interface/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index 6c94a891f0..6d35ebdba1 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -22,7 +22,6 @@
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_visual_tools</depend>
   <depend>roscpp</depend>
-  <depend>rosparam_shortcuts</depend>
   <depend>trajopt</depend>
   <depend>trajopt_sco</depend>
   <depend>trajopt_utils</depend>    

From 8303c55a2fa13636cda6869be05c5c5268cd3b1d Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sun, 22 Sep 2019 15:54:53 -0600
Subject: [PATCH 579/612] added README.md to trajopt package

---
 moveit_planners/trajopt/trajopt/README.md | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 moveit_planners/trajopt/trajopt/README.md

diff --git a/moveit_planners/trajopt/trajopt/README.md b/moveit_planners/trajopt/trajopt/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file

From 756a4cfce52aa580c782632df311e13ac1a410f0 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 27 Sep 2019 11:59:39 -0600
Subject: [PATCH 580/612] marked override

---
 .../trajopt/trajopt/include/trajopt/kinematic_terms.h         | 4 ++--
 moveit_planners/trajopt/trajopt/src/problem_description.cpp   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
index 8149180af3..b8daa7515e 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
@@ -82,12 +82,12 @@ struct JointVelErrCalculator : sco::VectorOfVector
   {
   }
 
-  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
+  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const override;
 };
 
 struct JointVelJacobianCalculator : sco::MatrixOfVector
 {
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const override;
 };
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 61c5f93a79..9a3e51efaf 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -88,7 +88,7 @@ TrajOptProblem::TrajOptProblem(const ProblemInfo& problem_info)
   const moveit::core::JointModelGroup* joint_model_group = current_state.getJointModelGroup(planning_group_);
 
   moveit::core::JointBoundsVector bounds = joint_model_group->getActiveJointModelsBounds();
-  dof_ = joint_model_group->getActiveJointModelNames().size();  // or bounds.size();
+  dof_ = static_cast<int>(joint_model_group->getActiveJointModelNames().size());  // or bounds.size();
 
   int n_steps = problem_info.basic_info.n_steps;
 

From 8ec4425e4fb5b0dbd803dd358fc4947245d88afa Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sun, 27 Oct 2019 18:07:42 -0600
Subject: [PATCH 581/612] added the reference trajectory; before, it was
 hard-coded

---
 .../src/trajopt_interface.cpp                 | 35 ++++++++++++-------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index c936c30b25..03881067d4 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -118,26 +118,35 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Create ProblemInfo");
   trajopt::ProblemInfo problem_info(planning_scene, req.group_name);
-
   setProblemInfoParam(problem_info);
 
-  ROS_INFO(" ======================================= Populate init info, hard-coded");
-  // TODO: init info should be defined by user. To this end, we need to add seed trajectories to MotionPlanRequest.
-  // JOINT_INTERPOLATED: data is the current joint values
-  // GIVEN_TRAJ: data is the joint values of the current state copied to all timesteps
-  Eigen::VectorXd current_joint_values_eigen(dof);
-  for (int joint_index = 0; joint_index < dof; ++joint_index)
-  {
-    current_joint_values_eigen(joint_index) = current_joint_values[joint_index];
-  }
-
+  ROS_INFO(" ======================================= Populate init info");
+  // For type JOINT_INTERPOLATED, we need the configuration of the robot at one state (which should be the goal), we do
+  // not need the robot configuration along the whole trajectory. That is why we need one index which is 0 for "points[]"
   if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
-    problem_info.init_info.data = current_joint_values_eigen;
+    Eigen::VectorXd initial_joint_values_eigen(dof); 
+    for (int joint_index = 0; joint_index < dof; ++joint_index)
+    {
+      initial_joint_values_eigen(joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[0].positions[joint_index];
+    }
+    
+    problem_info.init_info.data =  initial_joint_values_eigen;
   }
   else if (problem_info.init_info.type == trajopt::InitInfo::GIVEN_TRAJ)
   {
-    problem_info.init_info.data = current_joint_values_eigen.transpose().replicate(problem_info.basic_info.n_steps, 1);
+    int num_steps = problem_info.basic_info.n_steps;
+    trajopt::TrajArray init_traj;
+    init_traj.resize(num_steps, dof);
+    for (std::size_t step = 0; step < num_steps; ++num_steps)
+    {
+      for (std::size_t joint_index = 0; joint_index < dof; ++joint_index )
+	{
+	  init_traj(step, joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[step].positions[joint_index];
+	}
+    }
+    
+    problem_info.init_info.data = init_traj;
   }
 
   ROS_INFO(" ======================================= Create Constraints");

From b01c9db91afbe31b9742b6b804404ae1dd54a89e Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Wed, 6 Nov 2019 18:22:05 -0700
Subject: [PATCH 582/612] find osqp locally

---
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 1b7712f382..14826bab2b 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -3,13 +3,17 @@ project(trajopt_sco)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
+set(osqp_DIR "/home/omid/osqp/build")
+message(WARNING "osqp_dir ---------------> ${osqp_DIR}")
+
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
 find_package(catkin REQUIRED COMPONENTS trajopt_utils)
 find_package(GUROBI QUIET)
-find_package(osqp QUIET)
+find_package(osqp)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
+
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
 

From 644c183ec9ce7bca6ab4c8840499a5607dbdfed5 Mon Sep 17 00:00:00 2001
From: Mark Moll <mark@picknik.ai>
Date: Fri, 8 Nov 2019 23:15:49 -0600
Subject: [PATCH 583/612] remove unlicensed binaries for BPMPD, make OSQP the
 default QP solver

Since OSQP is not available via apt and the dependency on OSQP is not
exposed, we just download and install OSQP in the build dir via CMake's
ExternalProject module.
---
 .../trajopt_sco/3rdpartylib/bpmpd_linux32.a   | Bin 532260 -> 0 bytes
 .../trajopt_sco/3rdpartylib/bpmpd_linux64.a   | Bin 740972 -> 0 bytes
 .../trajopt/trajopt_sco/CMakeLists.txt        |  27 ++++++++++--------
 3 files changed, 15 insertions(+), 12 deletions(-)
 delete mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
 delete mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a

diff --git a/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a b/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
deleted file mode 100644
index 52720f64e7eeb41975d20ba6b10060e380e6fc8b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 14826bab2b..efbe874dae 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -3,13 +3,23 @@ project(trajopt_sco)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
-set(osqp_DIR "/home/omid/osqp/build")
-message(WARNING "osqp_dir ---------------> ${osqp_DIR}")
+include(ExternalProject)
+
+ExternalProject_Add(osqp
+    PREFIX osqp
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=osqp-install
+    # Github tar balls don't code in submodules, so need to
+    # download via git
+    GIT_REPOSITORY https://github.com/oxfordcontrol/osqp.git 
+    GIT_TAG v0.5.0 # currently, not compatible with v0.6.0
+)
+find_package(osqp CONFIG 
+    PATHS "${CMAKE_CURRENT_BINARY_DIR}/osqp/src/osqp-build/osqp-install"
+    NO_DEFAULT_PATH)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
 find_package(catkin REQUIRED COMPONENTS trajopt_utils)
 find_package(GUROBI QUIET)
-find_package(osqp)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
@@ -28,9 +38,8 @@ set(SCO_SOURCE_FILES
     src/num_diff.cpp
 )
 
-if (NOT APPLE)
-  set (HAVE_BPMPD TRUE)
-endif()
+find_library(BPMPD_LIBRARY bpmpd)
+option(HAVE_BPMPD "Whether the BPMPD library is installed" BPMPD_LIBRARY)
 
 catkin_package(
   INCLUDE_DIRS
@@ -52,12 +61,6 @@ include_directories(
 if (HAVE_BPMPD)
   add_executable(bpmpd_caller src/bpmpd_caller.cpp)
 
-  if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64 bits
-        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux64.a")
-  else()
-        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux32.a")
-  endif()
-
   target_link_libraries(bpmpd_caller ${BPMPD_LIBRARY} -static)
   target_compile_options(bpmpd_caller PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
 

From 61606703889e92a4bb20c6f457a47e5256da0581 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sun, 10 Nov 2019 17:02:20 -0700
Subject: [PATCH 584/612] fixed license

---
 .../trajopt/include/trajopt/kinematic_terms.h | 36 +++++++++++++++++++
 .../include/trajopt/problem_description.h     | 36 +++++++++++++++++++
 .../trajopt/trajopt/src/kinematic_terms.cpp   | 36 +++++++++++++++++++
 .../trajopt_planning_context.h                | 36 +++++++++++++++++++
 .../src/trajopt_interface.cpp                 |  2 +-
 .../src/trajopt_planner_manager.cpp           |  2 +-
 .../src/trajopt_planning_context.cpp          | 36 +++++++++++++++++++
 7 files changed, 182 insertions(+), 2 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
index b8daa7515e..93c305fc95 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
 #pragma once
 
 #include <moveit/planning_scene/planning_scene.h>
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 9e56462cac..22d3d60f1c 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
 #pragma once
 
 #include <trajopt/common.hpp>
diff --git a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
index 4559e5b8a1..09e6daeadf 100644
--- a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
 #include <Eigen/Geometry>
 #include <boost/format.hpp>
 
diff --git a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
index 6241d09396..d028af67ef 100644
--- a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
 #pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 03881067d4..bba9c9e00f 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, Inc.
+ *  Copyright (c) 2019, PickNik, LLC.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
index dda52869f5..681ec04205 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik LLC
+ *  Copyright (c) 2019, PickNik, LLC
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
index 28594f0465..1e6a41b3cb 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
@@ -1,3 +1,39 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
 #include <moveit/robot_state/conversions.h>
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit_msgs/MotionPlanRequest.h>

From 096a511e1efa59d8a0458b9c0c04717299548b68 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Thu, 14 Nov 2019 18:16:28 -0700
Subject: [PATCH 585/612] clang format

---
 .../src/trajopt_interface.cpp                 | 23 +++++++++++--------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index bba9c9e00f..1953d33689 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -122,16 +122,18 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Populate init info");
   // For type JOINT_INTERPOLATED, we need the configuration of the robot at one state (which should be the goal), we do
-  // not need the robot configuration along the whole trajectory. That is why we need one index which is 0 for "points[]"
+  // not need the robot configuration along the whole trajectory. That is why we need one index which is 0 for
+  // "points[]"
   if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
-    Eigen::VectorXd initial_joint_values_eigen(dof); 
+    Eigen::VectorXd initial_joint_values_eigen(dof);
     for (int joint_index = 0; joint_index < dof; ++joint_index)
     {
-      initial_joint_values_eigen(joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[0].positions[joint_index];
+      initial_joint_values_eigen(joint_index) =
+          req.reference_trajectories[0].joint_trajectory[0].points[0].positions[joint_index];
     }
-    
-    problem_info.init_info.data =  initial_joint_values_eigen;
+
+    problem_info.init_info.data = initial_joint_values_eigen;
   }
   else if (problem_info.init_info.type == trajopt::InitInfo::GIVEN_TRAJ)
   {
@@ -140,12 +142,13 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     init_traj.resize(num_steps, dof);
     for (std::size_t step = 0; step < num_steps; ++num_steps)
     {
-      for (std::size_t joint_index = 0; joint_index < dof; ++joint_index )
-	{
-	  init_traj(step, joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[step].positions[joint_index];
-	}
+      for (std::size_t joint_index = 0; joint_index < dof; ++joint_index)
+      {
+        init_traj(step, joint_index) =
+            req.reference_trajectories[0].joint_trajectory[0].points[step].positions[joint_index];
+      }
     }
-    
+
     problem_info.init_info.data = init_traj;
   }
 

From 6da7a173117ea53857d8280d00e0466afbc3a56e Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Tue, 19 Nov 2019 09:43:37 -0700
Subject: [PATCH 586/612] correctedd num_steps in the loop

---
 .../trajopt/trajopt_interface/src/trajopt_interface.cpp         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 1953d33689..9743980248 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -140,7 +140,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     int num_steps = problem_info.basic_info.n_steps;
     trajopt::TrajArray init_traj;
     init_traj.resize(num_steps, dof);
-    for (std::size_t step = 0; step < num_steps; ++num_steps)
+    for (std::size_t step = 0; step < num_steps; ++step)
     {
       for (std::size_t joint_index = 0; joint_index < dof; ++joint_index)
       {

From 50b9b7b21993d0ca6ca348bd243d402b2fa24a38 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Wed, 20 Nov 2019 13:34:14 -0700
Subject: [PATCH 587/612] When using motion planning display in rviz, the
 reference trajectory is not set. Check this and warn the user if ref traj is
 empty trajectory_test not working yet

---
 .../src/trajopt_interface.cpp                 |  36 ++++-
 .../test/trajectory_test.cpp                  | 146 +++++++++++-------
 .../test/trajectory_test.test                 |  53 ++++++-
 3 files changed, 165 insertions(+), 70 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 9743980248..a23a53d2ab 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -121,16 +121,35 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   setProblemInfoParam(problem_info);
 
   ROS_INFO(" ======================================= Populate init info");
+  // Check if the reference trajectoriy is empty when init_info.type is not set to STATIONARY
+  if (problem_info.init_info.type != trajopt::InitInfo::STATIONARY)
+  {
+    if (req.reference_trajectories.empty())
+    {
+      ROS_ERROR_STREAM_NAMED(name_, "reference_trajectoies is empty. If you are using Motion Planning Display in RViz, "
+                                    "set init_info.type in the yaml file to STATIONARY");
+      res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
+      return false;
+    }
+    else if (req.reference_trajectories[0].joint_trajectory.empty())
+    {
+      ROS_ERROR_STREAM_NAMED(name_, "joint_trajectory is empty. If you are using Motion Planning Display in RViz, set "
+                                    "init_info.type in the yaml file to STATIONARY");
+      res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
+      return false;
+    }
+  }
+
   // For type JOINT_INTERPOLATED, we need the configuration of the robot at one state (which should be the goal), we do
-  // not need the robot configuration along the whole trajectory. That is why we need one index which is 0 for
-  // "points[]"
+  // not need the robot configuration along the whole trajectory. That is why the last element of points, i.e.
+  // poinst.back() is considered.
   if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
     Eigen::VectorXd initial_joint_values_eigen(dof);
     for (int joint_index = 0; joint_index < dof; ++joint_index)
     {
       initial_joint_values_eigen(joint_index) =
-          req.reference_trajectories[0].joint_trajectory[0].points[0].positions[joint_index];
+          req.reference_trajectories[0].joint_trajectory[0].points.back().positions[joint_index];
     }
 
     problem_info.init_info.data = initial_joint_values_eigen;
@@ -290,7 +309,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   ROS_INFO(" ======================================= TrajOpt Solution");
   trajopt::TrajArray opt_solution = trajopt::getTraj(opt.x(), trajopt_problem_->GetVars());
 
-  // assume that the trajectory is now optimized, fill in the output structure:
+  // Assume that the trajectory is now optimized, fill in the output structure:
   ROS_INFO_STREAM_NAMED("num_rows", opt_solution.rows());
   ROS_INFO_STREAM_NAMED("num_cols", opt_solution.cols());
 
@@ -298,9 +317,9 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   res.trajectory[0].joint_trajectory.joint_names = group_joint_names;
   res.trajectory[0].joint_trajectory.header = req.start_state.joint_state.header;
 
-  // fill in the entire trajectory
+  // Fill in the entire trajectory
   res.trajectory[0].joint_trajectory.points.resize(opt_solution.rows());
-  for (int i = 0; i < opt_solution.rows(); i++)
+  for (size_t i = 0; i < opt_solution.rows(); i++)
   {
     res.trajectory[0].joint_trajectory.points[i].positions.resize(opt_solution.cols());
     for (size_t j = 0; j < opt_solution.cols(); j++)
@@ -321,8 +340,9 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   for (int jn = 0; jn < res.trajectory[0].joint_trajectory.points.back().positions.size(); ++jn)
   {
-    ROS_INFO_STREAM_NAMED("joint_value", res.trajectory[0].joint_trajectory.points.back().positions[jn]
-                                             << "   " << req.goal_constraints.back().joint_constraints[jn].position);
+    ROS_INFO_STREAM_NAMED("joint_value",
+                          "response: " << res.trajectory[0].joint_trajectory.points.back().positions[jn]
+                                       << "   goal: " << req.goal_constraints.back().joint_constraints[jn].position);
   }
 
   bool constraints_are_ok = true;
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index 234a629c95..8483f16bd6 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -21,16 +21,17 @@
 // Testing
 #include <gtest/gtest.h>
 
-#include <trajopt/common.hpp>
-
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
 #include <trajopt/problem_description.h>
 #include <trajopt/kinematic_terms.h>
+#include <trajopt/common.hpp>
 
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/move_group_interface/move_group_interface.h>
@@ -38,6 +39,10 @@
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit_msgs/MotionPlanResponse.h>
 
+#include <tf2/utils.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/transform_listener.h>
+
 class TrajectoryTest : public ::testing::Test
 {
 public:
@@ -90,40 +95,83 @@ TEST_F(TrajectoryTest, goalTolerance)
 {
   const std::string NODE_NAME = "trajectory_test";
 
-  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
-  moveit::core::RobotStatePtr current_state(new moveit::core::RobotState(robot_model_));
-  current_state->setToDefaultValues();
+  // Create a planing scene monitor
+  planning_scene_monitor::PlanningSceneMonitorPtr psm(
+      new planning_scene_monitor::PlanningSceneMonitor("robot_description"));
+
+  psm->startSceneMonitor();
+  psm->startWorldGeometryMonitor();
+  psm->startStateMonitor();
 
-  const moveit::core::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
-  EXPECT_NE(joint_model_group, nullptr);
+  // Create a RobotState to keep track of the current robot pose and planning group
+  robot_state::RobotStatePtr robot_state(
+      new robot_state::RobotState(planning_scene_monitor::LockedPlanningSceneRO(psm)->getCurrentState()));
+  robot_state->setToDefaultValues();
+  robot_state->update();
+
+  // Create JointModelGroup
+  const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
   const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-  EXPECT_EQ(joint_names.size(), 7);
+  const std::vector<std::string>& link_model_names = joint_model_group->getLinkModelNames();
+  ROS_INFO_NAMED(NODE_NAME, "end effector name %s\n", link_model_names.back().c_str());
 
   planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model_));
 
+  // Set the planner
+  std::string planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+  node_handle_.setParam("planning_plugin", planner_plugin_name);
+
+  // Create pipeline
+  planning_pipeline::PlanningPipelinePtr planning_pipeline(
+      new planning_pipeline::PlanningPipeline(robot_model_, node_handle_, "planning_plugin", "request_adapters"));
+
+  // Current state
+  std::vector<double> current_joint_values = { 0, 0, 0, -1.5, 0, 0.6, 0.9 };
+  robot_state->setJointGroupPositions(joint_model_group, current_joint_values);
+  geometry_msgs::Pose pose_msg_current;
+  const Eigen::Isometry3d& end_effector_transform_current =
+      robot_state->getGlobalLinkTransform(link_model_names.back());
+  pose_msg_current = tf2::toMsg(end_effector_transform_current);
+
   // Create response and request
   planning_interface::MotionPlanRequest req;
   planning_interface::MotionPlanResponse res;
 
+  std::vector<std::string> keys;
+  node_handle_.getParamNames(keys);
+  for (std::string key : keys)
+  {
+    std::cerr << key << std::endl;
+  }
+
   // Set start state
-  // ======================================================================================
+  // ========================================================================================
   std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+<<<<<<< HEAD
   moveit::core::RobotStatePtr start_state(new moveit::core::RobotState(robot_model_));
   start_state->setJointGroupPositions(joint_model_group, start_joint_values);
   start_state->update();
+=======
+  robot_state->setJointGroupPositions(joint_model_group, start_joint_values);
+  robot_state->update();
+>>>>>>> When using motion planning display in rviz, the reference trajectory is not set. Check this and warn the user if ref traj is empty
 
   req.start_state.joint_state.name = joint_names;
   req.start_state.joint_state.position = start_joint_values;
   req.goal_constraints.clear();
   req.group_name = PLANNING_GROUP;
 
-  // Set the goal state and joints tolerance
+  geometry_msgs::Pose pose_msg_start;
+  const Eigen::Isometry3d& end_effector_transform_start = robot_state->getGlobalLinkTransform(link_model_names.back());
+  pose_msg_start = tf2::toMsg(end_effector_transform_start);
+
+  // Set the goal state
   // ========================================================================================
-  moveit::core::RobotStatePtr goal_state(new moveit::core::RobotState(robot_model_));
   std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
-  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
-  goal_state->update();
-  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
+  robot_state->setJointGroupPositions(joint_model_group, goal_joint_values);
+  robot_state->update();
+  moveit_msgs::Constraints joint_goal =
+      kinematic_constraints::constructGoalConstraints(*robot_state, joint_model_group);
   req.goal_constraints.push_back(joint_goal);
   req.goal_constraints[0].name = "goal_pos";
   // Set joint tolerance
@@ -134,59 +182,39 @@ TEST_F(TrajectoryTest, goalTolerance)
     req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
   }
 
-  // Load planner
-  // ======================================================================================
-  // We will now construct a loader to load a planner, by name.
-  // Note that we are using the ROS pluginlib library here.
-  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
-  planning_interface::PlannerManagerPtr planner_instance;
-
-  std::string planner_plugin_name = "trajopt_interface/TrajOptPlanner";
-  node_handle_.setParam("planning_plugin", planner_plugin_name);
+  geometry_msgs::Pose pose_msg_goal;
+  const Eigen::Isometry3d& end_effector_transform_goal = robot_state->getGlobalLinkTransform(link_model_names.back());
+  pose_msg_goal = tf2::toMsg(end_effector_transform_goal);
 
-  // Make sure the planner plugin is loaded
-  EXPECT_TRUE(node_handle_.getParam("planning_plugin", planner_plugin_name));
-  try
-  {
-    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-        "moveit_core", "planning_interface::PlannerManager"));
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    ROS_FATAL_STREAM_NAMED(NODE_NAME, "Exception while creating planning plugin loader " << ex.what());
-  }
-  try
+  // Reference Trajectory. The type should be defined in the yaml file.
+  // ========================================================================================
+  // type: JOINT_INTERPOLATED
+  req.reference_trajectories.resize(1);
+  req.reference_trajectories[0].joint_trajectory.resize(1);
+  req.reference_trajectories[0].joint_trajectory[0].joint_names = joint_names;
+  req.reference_trajectories[0].joint_trajectory[0].points.resize(1);
+  req.reference_trajectories[0].joint_trajectory[0].points[0].positions = goal_joint_values;
+
+  // Solve the problem
+  // ========================================================================================
   {
-    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
-    if (!planner_instance->initialize(robot_model_, node_handle_.getNamespace()))
-      ROS_FATAL_STREAM_NAMED(NODE_NAME, "Could not initialize planner instance");
-    ROS_INFO_STREAM_NAMED(NODE_NAME, "Using planning interface '" << planner_instance->getDescription() << "'");
+    planning_scene_monitor::LockedPlanningSceneRO lscene(psm);
+    // Now, call the pipeline and check whether planning was successful.
+    planning_pipeline->generatePlan(lscene, req, res);
   }
-  catch (pluginlib::PluginlibException& ex)
+
+  // Check that the planning was successful
+  if (res.error_code_.val != res.error_code_.SUCCESS)
   {
-    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
-    std::stringstream ss;
-    for (std::size_t i = 0; i < classes.size(); ++i)
-      ss << classes[i] << " ";
-    ROS_ERROR_STREAM_NAMED(NODE_NAME, "Exception while loading planner '" << planner_plugin_name << "': " << ex.what()
-                                                                          << std::endl
-                                                                          << "Available plugins: " << ss.str());
+    ROS_ERROR_STREAM_NAMED(NODE_NAME, "Could not compute plan successfully");
+    return;
   }
 
-  // Creat planning context
-  // ========================================================================================
-  planning_interface::PlanningContextPtr context =
-      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-
-  context->solve(res);
-  EXPECT_EQ(res.error_code_.val, res.error_code_.SUCCESS);
-
-  moveit_msgs::MotionPlanResponse response;
-  res.getMessage(response);
-
   // Check the difference between the last step in the solution and the goal
   // ========================================================================================
-  std::vector<double> joints_values_last_step = response.trajectory.joint_trajectory.points.back().positions;
+  moveit_msgs::RobotTrajectory solution_trajectory;
+  res.trajectory_->getRobotTrajectoryMsg(solution_trajectory);
+  std::vector<double> joints_values_last_step = solution_trajectory.joint_trajectory.points.back().positions;
 
   for (std::size_t joint_index = 0; joint_index < joints_values_last_step.size(); ++joint_index)
   {
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
index bec08fda3d..450eec2d62 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
@@ -1,10 +1,57 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
 
-  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
+  <rosparam ns="trajectory_test" command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
 
-    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
 
-  </test>
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+  <arg name="pipeline" default="trajopt" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="rviz_tutorial" default="false" />
+  <arg name="use_gui" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="$(arg use_gui)"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <!--include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"  />
+  </include-->
+
+
+  <!-- Unit Test /-->
+  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="" />
 
 </launch>

From b2622c221b23968ad582300ae7d915e0a0c2f40e Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 16 Dec 2019 11:51:26 -0700
Subject: [PATCH 588/612] run demo from panda_moveit_config befire running the
 test

---
 .../test/trajectory_test.test                 | 60 +++----------------
 1 file changed, 8 insertions(+), 52 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
index 450eec2d62..e61e272f40 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
@@ -1,57 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
 
-  <rosparam ns="trajectory_test" command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
-
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-  <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-  <arg name="pipeline" default="trajopt" />
-
-  <!--
-  By default, hide joint_state_publisher's GUI
-
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
-  The latter one maintains and publishes the current joint configuration of the simulated robot.
-  It also provides a GUI to move the simulated robot around "manually".
-  This corresponds to moving around the real robot without the use of MoveIt.
-  -->
-  <arg name="rviz_tutorial" default="false" />
-  <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- If needed, broadcast static tf for robot root -->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
-
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="/use_gui" value="$(arg use_gui)"/>
-    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
-  </node>
-  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
-
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
-  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <!--include file="$(find panda_moveit_config)/launch/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="pipeline" value="$(arg pipeline)"  />
-  </include-->
-
-
-  <!-- Unit Test /-->
-  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="" />
+  <!-- Run panda_moveit_config -->
+  <!--include file="$(find moveit_planners_trajopt)/test/panda_launch.launch"/-->
+  <include file="$(find panda_moveit_config)/launch/demo.launch"/>
+
+  <!-- Run Test -->
+  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+  </test>
 
 </launch>

From c312079e93e5daad427ed5aa834a4377b468a920 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 16 Dec 2019 17:58:57 -0700
Subject: [PATCH 589/612] Fixed the test. changed the type to interpolated.

---
 .../src/trajopt_interface.cpp                 |  2 +-
 .../trajopt_interface/test/joint_limits.yaml  | 55 ++++++++++++++++++
 .../trajopt_interface/test/panda.launch       | 46 +++++++++++++++
 .../test/trajectory_test.cpp                  | 21 +++----
 .../test/trajectory_test.test                 |  8 +--
 .../test/trajopt_planning.yaml                | 58 +++++++++++++++++++
 6 files changed, 173 insertions(+), 17 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/joint_limits.yaml
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/panda.launch
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/trajopt_planning.yaml

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index a23a53d2ab..96f04b8a93 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -78,7 +78,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     res.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
     return false;
   }
-
+  
   ROS_INFO(" ======================================= Extract current state information");
   ros::WallTime start_time = ros::WallTime::now();
   moveit::core::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
diff --git a/moveit_planners/trajopt/trajopt_interface/test/joint_limits.yaml b/moveit_planners/trajopt/trajopt_interface/test/joint_limits.yaml
new file mode 100644
index 0000000000..a2f08edd3b
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/joint_limits.yaml
@@ -0,0 +1,55 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+
+# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
+# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
+# to max accel in 1 ms) the acceleration limits are the ones that satisfy
+# max_jerk = (max_acceleration - min_acceleration) / 0.001
+
+joint_limits:
+  panda_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 3.75
+  panda_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 1.875
+  panda_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 2.5
+  panda_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 3.125
+  panda_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 3.75
+  panda_joint6:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 5
+  panda_joint7:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 5
+  panda_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.1
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.1
+    has_acceleration_limits: false
+    max_acceleration: 0
diff --git a/moveit_planners/trajopt/trajopt_interface/test/panda.launch b/moveit_planners/trajopt/trajopt_interface/test/panda.launch
new file mode 100644
index 0000000000..5f824c22e3
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/panda.launch
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+
+  <arg name="use_gui" default="false" />
+
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'"/>
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find moveit_planners_trajopt)/test/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+  </group>
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- trajOpt Plugin for MoveIt -->
+  <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam ns="trajectory_test" command="load" file="$(find moveit_planners_trajopt)/test/trajopt_planning.yaml"/>
+
+</launch>
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index 8483f16bd6..e58cf1d0ad 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -29,14 +29,14 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+
 #include <trajopt/problem_description.h>
 #include <trajopt/kinematic_terms.h>
 #include <trajopt/common.hpp>
 
 #include <moveit/kinematic_constraints/utils.h>
-#include <moveit/move_group_interface/move_group_interface.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit_msgs/MotionPlanResponse.h>
 
 #include <tf2/utils.h>
@@ -45,8 +45,9 @@
 
 class TrajectoryTest : public ::testing::Test
 {
+
 public:
-  TrajectoryTest()
+  TrajectoryTest() 
   {
   }
 
@@ -70,6 +71,13 @@ class TrajectoryTest : public ::testing::Test
 
 TEST_F(TrajectoryTest, concatVectorValidation)
 {
+  std::vector<std::string> keys;
+  node_handle_.getParamNames(keys);
+  for (std::string key : keys)
+  {
+    std::cerr << key << std::endl;
+  }
+
   std::vector<double> vec_a = { 1, 2, 3, 4, 5 };
   std::vector<double> vec_b = { 6, 7, 8, 9, 10 };
   std::vector<double> vec_c = trajopt::concatVector(vec_a, vec_b);
@@ -137,13 +145,6 @@ TEST_F(TrajectoryTest, goalTolerance)
   planning_interface::MotionPlanRequest req;
   planning_interface::MotionPlanResponse res;
 
-  std::vector<std::string> keys;
-  node_handle_.getParamNames(keys);
-  for (std::string key : keys)
-  {
-    std::cerr << key << std::endl;
-  }
-
   // Set start state
   // ========================================================================================
   std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
index e61e272f40..46432b0b86 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
@@ -1,13 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
 
-  <!-- Run panda_moveit_config -->
-  <!--include file="$(find moveit_planners_trajopt)/test/panda_launch.launch"/-->
-  <include file="$(find panda_moveit_config)/launch/demo.launch"/>
+  <include file="$(find moveit_planners_trajopt)/test/panda.launch"/>
 
   <!-- Run Test -->
-  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
-  </test>
+  <test pkg="moveit_planners_trajopt" type="trajectory_test" test-name="trajectory_test" time-limit="300" args="" />
 
 </launch>
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajopt_planning.yaml b/moveit_planners/trajopt/trajopt_interface/test/trajopt_planning.yaml
new file mode 100644
index 0000000000..5bc754f01d
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajopt_planning.yaml
@@ -0,0 +1,58 @@
+trajopt_param:
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
+  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
+  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
+  max_iter: 100                   # The max number of iterations
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
+  max_time: .inf                  # not yet implemented
+  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
+  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
+
+problem_info:
+  basic_info:
+    n_steps: 20                # 2 * steps_per_phase
+    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
+    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
+    start_fixed: true          # if true, start pose is the current pose at timestep = 0
+    # if false, the start pose is the one given by req.start_state
+    use_time: false            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
+    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
+    convex_solver: 3           # which convex solver to use
+    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
+
+  init_info:
+    type: 2                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
+    dt: 0.5
+
+joint_pos_term_info:
+  start_pos:   # from req.start_state
+    name: start_pos
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied.
+    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
+    # to be ignored and only the current pose would be the constraint at timestep = 0.
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  middle_pos:
+    name: middle_pos
+    first_timestep: 15
+    last_timestep: 15
+    term_type: 2
+  goal_pos:
+    name: goal_pos
+    first_timestep: 19
+    last_timestep: 19
+    term_type: 2
+  goal_tmp:               # If the constraint from request does not have any name, for example when using MotionPlanning Display in Rviz,
+  # goal_tmp is assigned as the name of the constraint.
+  # In this case: start_fixed = false and start_pos should be applied at timestep 0
+  # OR: start_fixed = true and start_pos can be applies at any timestep
+    name: goal_tmp
+    first_timestep: 19  # n_steps - 1
+    last_timestep: 19   # n_steps - 1
+    term_type: 2

From 8561c64218531c896f409fdf7fca384ef0441e86 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 16 Dec 2019 20:00:12 -0700
Subject: [PATCH 590/612] clang format

---
 .../trajopt/trajopt_interface/src/trajopt_interface.cpp        | 2 +-
 .../trajopt/trajopt_interface/test/trajectory_test.cpp         | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 96f04b8a93..a23a53d2ab 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -78,7 +78,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     res.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
     return false;
   }
-  
+
   ROS_INFO(" ======================================= Extract current state information");
   ros::WallTime start_time = ros::WallTime::now();
   moveit::core::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index e58cf1d0ad..1b7d4b0d68 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -45,9 +45,8 @@
 
 class TrajectoryTest : public ::testing::Test
 {
-
 public:
-  TrajectoryTest() 
+  TrajectoryTest()
   {
   }
 

From 8698f52536240290339472b63c7a86a3dc31db02 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 16 Dec 2019 20:50:42 -0700
Subject: [PATCH 591/612] moved all the files from pand_mvoit_config and
 franka_description into the test

---
 .../trajopt_interface/test/kinematics.yaml    |   4 +
 .../trajopt_interface/test/panda.launch       |   6 +-
 .../test/semantic/panda_arm.srdf.xacro        |   9 +
 .../test/semantic/panda_arm.xacro             |  46 +++++
 .../test/urdf/panda_arm.urdf.xacro            |   5 +
 .../test/urdf/panda_arm.xacro                 | 171 ++++++++++++++++++
 6 files changed, 238 insertions(+), 3 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/kinematics.yaml
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.srdf.xacro
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.xacro
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.urdf.xacro
 create mode 100644 moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.xacro

diff --git a/moveit_planners/trajopt/trajopt_interface/test/kinematics.yaml b/moveit_planners/trajopt/trajopt_interface/test/kinematics.yaml
new file mode 100644
index 0000000000..e721385b75
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/kinematics.yaml
@@ -0,0 +1,4 @@
+panda_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
diff --git a/moveit_planners/trajopt/trajopt_interface/test/panda.launch b/moveit_planners/trajopt/trajopt_interface/test/panda.launch
index 5f824c22e3..bba22d9f57 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/panda.launch
+++ b/moveit_planners/trajopt/trajopt_interface/test/panda.launch
@@ -10,10 +10,10 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_trajopt)/test/urdf/panda_arm.urdf.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'"/>
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find moveit_planners_trajopt)/test/semantic/panda_arm.srdf.xacro'"/>
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
@@ -22,7 +22,7 @@
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_planners_trajopt)/test/kinematics.yaml"/>
   </group>
 
   <!-- We do not have a robot connected, so publish fake joint states -->
diff --git a/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.srdf.xacro b/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.srdf.xacro
new file mode 100644
index 0000000000..a833871996
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.srdf.xacro
@@ -0,0 +1,9 @@
+<?xml version='1.0' encoding='utf-8'?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find moveit_planners_trajopt)/test/semantic/panda_arm.xacro" />
+  <xacro:panda_arm />
+</robot>
diff --git a/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.xacro b/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.xacro
new file mode 100644
index 0000000000..092b68fa0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/semantic/panda_arm.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:macro name="panda_arm">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm">
+      <chain base_link="panda_link0" tip_link="panda_link8" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="ready" group="panda_arm">
+      <joint name="panda_joint1" value="0" />
+      <joint name="panda_joint2" value="-0.785" />
+      <joint name="panda_joint3" value="0" />
+      <joint name="panda_joint4" value="-2.356" />
+      <joint name="panda_joint5" value="0" />
+      <joint name="panda_joint6" value="1.571" />
+      <joint name="panda_joint7" value="0.785" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
+    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
+    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
+    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
+    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
+    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
+    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
+    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
+    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
+    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
+    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
+    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
+    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
+    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
+    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
+    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
+    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
+  </xacro:macro>
+</robot>
diff --git a/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.urdf.xacro b/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.urdf.xacro
new file mode 100644
index 0000000000..9987fadb50
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.urdf.xacro
@@ -0,0 +1,5 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find moveit_planners_trajopt)/test/urdf/panda_arm.xacro" />
+  <xacro:panda_arm />
+</robot>
diff --git a/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.xacro b/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.xacro
new file mode 100644
index 0000000000..672c881caa
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_interface/test/urdf/panda_arm.xacro
@@ -0,0 +1,171 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:macro name="panda_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0'">
+    <xacro:unless value="${not connected_to}">
+      <joint name="${arm_id}_joint_${connected_to}" type="fixed">
+        <parent link="${connected_to}"/>
+        <child link="${arm_id}_link0"/>
+        <origin rpy="${rpy}" xyz="${xyz}"/>
+      </joint>
+    </xacro:unless>
+    <link name="${arm_id}_link0">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link0.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link0.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${arm_id}_link1">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link1.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint1" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+      <origin rpy="0 0 0" xyz="0 0 0.333"/>
+      <parent link="${arm_id}_link0"/>
+      <child link="${arm_id}_link1"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    </joint>
+    <link name="${arm_id}_link2">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link2.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint2" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+      <origin rpy="${-pi/2} 0 0" xyz="0 0 0"/>
+      <parent link="${arm_id}_link1"/>
+      <child link="${arm_id}_link2"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    </joint>
+    <link name="${arm_id}_link3">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link3.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link3.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint3" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+      <origin rpy="${pi/2} 0 0" xyz="0 -0.316 0"/>
+      <parent link="${arm_id}_link2"/>
+      <child link="${arm_id}_link3"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    </joint>
+    <link name="${arm_id}_link4">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link4.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link4.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint4" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+      <origin rpy="${pi/2} 0 0" xyz="0.0825 0 0"/>
+      <parent link="${arm_id}_link3"/>
+      <child link="${arm_id}_link4"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    </joint>
+    <link name="${arm_id}_link5">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link5.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link5.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint5" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+      <origin rpy="${-pi/2} 0 0" xyz="-0.0825 0.384 0"/>
+      <parent link="${arm_id}_link4"/>
+      <child link="${arm_id}_link5"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    </joint>
+    <link name="${arm_id}_link6">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link6.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link6.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint6" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+      <origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
+      <parent link="${arm_id}_link5"/>
+      <child link="${arm_id}_link6"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    </joint>
+    <link name="${arm_id}_link7">
+      <visual>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/visual/link7.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/collision/link7.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint7" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+      <origin rpy="${pi/2} 0 0" xyz="0.088 0 0"/>
+      <parent link="${arm_id}_link6"/>
+      <child link="${arm_id}_link7"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    </joint>
+    <link name="${arm_id}_link8"/>
+    <joint name="${arm_id}_joint8" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0.107"/>
+      <parent link="${arm_id}_link7"/>
+      <child link="${arm_id}_link8"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+  </xacro:macro>
+</robot>

From a01ce255b53df184834fbb1bb9371c3425fd219d Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid.github@gmail.com>
Date: Sun, 1 Mar 2020 20:23:13 -0700
Subject: [PATCH 592/612] Update moveit_planners/trajopt/trajopt/CMakeLists.txt

Co-Authored-By: Ayush Garg <ayushgargdroid@gmail.com>
---
 moveit_planners/trajopt/trajopt/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index 3536268e5a..cc15c7988c 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -4,6 +4,7 @@ project(trajopt)
 add_compile_options(-std=c++11 -Wall -Wextra)
 
 find_package(catkin REQUIRED COMPONENTS
+  moveit_core
   trajopt_sco
   trajopt_utils
   roscpp

From 9ccfc5f9c1b1da6fa98812df3801c5c858c4a746 Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid.github@gmail.com>
Date: Sun, 1 Mar 2020 20:23:49 -0700
Subject: [PATCH 593/612] Update moveit_planners/trajopt/trajopt/CMakeLists.txt

Co-Authored-By: Ayush Garg <ayushgargdroid@gmail.com>
---
 moveit_planners/trajopt/trajopt/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index cc15c7988c..ff92e6ea2b 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -22,6 +22,7 @@ catkin_package(
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS
+    moveit_core
     trajopt_sco
     trajopt_utils
     roscpp

From 748be0af59ba36d7b5bdc932ca83970424db89ce Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid.github@gmail.com>
Date: Sun, 1 Mar 2020 20:24:49 -0700
Subject: [PATCH 594/612] Update moveit_planners/trajopt/trajopt/package.xml

Co-Authored-By: Ayush Garg <ayushgargdroid@gmail.com>
---
 moveit_planners/trajopt/trajopt/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_planners/trajopt/trajopt/package.xml b/moveit_planners/trajopt/trajopt/package.xml
index ce1731dff7..f48c24f154 100644
--- a/moveit_planners/trajopt/trajopt/package.xml
+++ b/moveit_planners/trajopt/trajopt/package.xml
@@ -13,6 +13,7 @@
   <depend>trajopt_sco</depend>
   <depend>trajopt_utils</depend>
   <depend>roscpp</depend>
+  <depend>moveit_core</depend>
 
   <test_depend>gtest</test_depend>
   <test_depend>rostest</test_depend>

From df0fdc65f0ee38cfe841382fe5f6347a011df938 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 23 Mar 2020 18:10:36 -0600
Subject: [PATCH 595/612] rebased

---
 .../trajopt/trajopt_interface/test/trajectory_test.cpp      | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index 1b7d4b0d68..3719a5e64c 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -147,14 +147,10 @@ TEST_F(TrajectoryTest, goalTolerance)
   // Set start state
   // ========================================================================================
   std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
-<<<<<<< HEAD
+
   moveit::core::RobotStatePtr start_state(new moveit::core::RobotState(robot_model_));
   start_state->setJointGroupPositions(joint_model_group, start_joint_values);
   start_state->update();
-=======
-  robot_state->setJointGroupPositions(joint_model_group, start_joint_values);
-  robot_state->update();
->>>>>>> When using motion planning display in rviz, the reference trajectory is not set. Check this and warn the user if ref traj is empty
 
   req.start_state.joint_state.name = joint_names;
   req.start_state.joint_state.position = start_joint_values;

From 53633ff711579686c12352bf7c20f168caaa9cef Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sat, 28 Mar 2020 23:31:12 -0600
Subject: [PATCH 596/612] osqp installed from trajopt_utils instead of
 trajopt_sco

osqp_FOUND is false if osqp is pulled in trajopt_sco. osqp can not be found from the same CMakeLists that was used to pull down its repo and install it in build directory. A workaround is to install osqp from trajopt_utils and check if it exists in trajopt_sco. trajopt_sco is dependent on trajopt_utils

Another fix:  trajopt_problem_ from trajopt_interface needed to be corrected as a shared_pointer.
---
 .../src/trajopt_interface.cpp                 |  7 ++++---
 .../src/trajopt_planning_context.cpp          |  2 +-
 .../trajopt/trajopt_sco/CMakeLists.txt        | 21 +++++++------------
 .../trajopt/trajopt_utils/CMakeLists.txt      | 12 ++++++++++-
 4 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index a23a53d2ab..cffc6f102f 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -58,7 +58,8 @@ namespace trajopt_interface
 {
 TrajOptInterface::TrajOptInterface(const ros::NodeHandle& nh) : nh_(nh), name_("TrajOptInterface")
 {
-  trajopt_problem_ = trajopt::TrajOptProblemPtr(new trajopt::TrajOptProblem);
+  ROS_INFO_STREAM_NAMED(name_, "TrajOptInterface is constructed");
+  trajopt_problem_ = trajopt::TrajOptProblemPtr();
   setDefaultTrajOPtParams();
 
   // TODO: callbacks should be defined by the user
@@ -69,7 +70,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
                              const planning_interface::MotionPlanRequest& req,
                              moveit_msgs::MotionPlanDetailedResponse& res)
 {
-  ROS_INFO(" ======================================= From trajopt_interface, solve is called");
+  ROS_INFO_STREAM_NAMED(name_, "solve is called");
   setTrajOptParams(params_);
 
   if (!planning_scene)
@@ -79,7 +80,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     return false;
   }
 
-  ROS_INFO(" ======================================= Extract current state information");
+  ROS_INFO_STREAM_NAMED(name_, "Extract current state information");
   ros::WallTime start_time = ros::WallTime::now();
   moveit::core::RobotModelConstPtr robot_model = planning_scene->getRobotModel();
   bool robot_model_ok = static_cast<bool>(robot_model);
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
index 1e6a41b3cb..04d65150c9 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
@@ -52,7 +52,7 @@ TrajOptPlanningContext::TrajOptPlanningContext(const std::string& context_name,
                                                const moveit::core::RobotModelConstPtr& model)
   : planning_interface::PlanningContext(context_name, group_name), robot_model_(model)
 {
-  ROS_INFO(" ======================================= TrajOptPlanningContext is constructed");
+  ROS_INFO_STREAM_NAMED(name_, "TrajOptPlanningContext is constructed");
   trajopt_interface_ = TrajOptInterfacePtr(new TrajOptInterface());
 }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index efbe874dae..76c0812b41 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -3,26 +3,19 @@ project(trajopt_sco)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
-include(ExternalProject)
-
-ExternalProject_Add(osqp
-    PREFIX osqp
-    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=osqp-install
-    # Github tar balls don't code in submodules, so need to
-    # download via git
-    GIT_REPOSITORY https://github.com/oxfordcontrol/osqp.git 
-    GIT_TAG v0.5.0 # currently, not compatible with v0.6.0
-)
-find_package(osqp CONFIG 
-    PATHS "${CMAKE_CURRENT_BINARY_DIR}/osqp/src/osqp-build/osqp-install"
-    NO_DEFAULT_PATH)
-
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
 find_package(catkin REQUIRED COMPONENTS trajopt_utils)
 find_package(GUROBI QUIET)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
+find_package(osqp CONFIG 
+    PATHS "${CMAKE_CURRENT_BINARY_DIR}/../trajopt_utils/osqp/src/osqp-build/osqp-install"
+    NO_DEFAULT_PATH)
+
+if(!${osqp_FOUND})
+	message([FATAL_ERROR] "OSQP was not found. Check trajopt_utils CMakeLists to make sure OSQP is installed in build directory")
+endif()
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
index 478b1ca414..c7beec9325 100644
--- a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -3,8 +3,18 @@ project(trajopt_utils)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
-find_package(catkin REQUIRED COMPONENTS)
+include(ExternalProject)
+
+ExternalProject_Add(osqp
+    PREFIX osqp
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=osqp-install
+    # Github tar balls don't code in submodules, so need to
+    # download via git
+    GIT_REPOSITORY https://github.com/oxfordcontrol/osqp.git 
+    GIT_TAG v0.5.0 # currently, not compatible with v0.6.0
+)
 
+find_package(catkin REQUIRED COMPONENTS)
 find_package(Eigen3 REQUIRED)
 find_package(Boost COMPONENTS system python thread program_options REQUIRED)
 

From fae7ddece2bf239b2ba45632a26ef29775c92e9c Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Tue, 26 May 2020 17:13:52 -0600
Subject: [PATCH 597/612] download osqp during configuration - from Jafar's PR

---
 .../trajopt/trajopt_sco/CMakeLists.txt        | 23 ++++++++++++++-----
 .../trajopt/trajopt_sco/osqp_configure.in     | 14 +++++++++++
 2 files changed, 31 insertions(+), 6 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt_sco/osqp_configure.in

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 76c0812b41..30a992ed93 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -3,19 +3,30 @@ project(trajopt_sco)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
+# Download and unpack osqp at configure time
+configure_file(osqp_configure.in
+               ${CMAKE_CURRENT_BINARY_DIR}/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+
+find_package(osqp CONFIG
+    PATHS "${CMAKE_CURRENT_BINARY_DIR}/osqp/src/osqp-build/osqp-install"
+    NO_DEFAULT_PATH)
+
+if(!${osqp_FOUND})
+  message([FATAL_ERROR] "OSQP was not found. Check trajopt_utils CMakeLists to make sure OSQP is installed in build directory")
+endif()
+
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
 find_package(catkin REQUIRED COMPONENTS trajopt_utils)
 find_package(GUROBI QUIET)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
-find_package(osqp CONFIG 
-    PATHS "${CMAKE_CURRENT_BINARY_DIR}/../trajopt_utils/osqp/src/osqp-build/osqp-install"
-    NO_DEFAULT_PATH)
 
-if(!${osqp_FOUND})
-	message([FATAL_ERROR] "OSQP was not found. Check trajopt_utils CMakeLists to make sure OSQP is installed in build directory")
-endif()
+
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
diff --git a/moveit_planners/trajopt/trajopt_sco/osqp_configure.in b/moveit_planners/trajopt/trajopt_sco/osqp_configure.in
new file mode 100644
index 0000000000..655e362901
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/osqp_configure.in
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.2)
+
+project(osqp)
+
+include(ExternalProject)
+
+ExternalProject_Add(osqp
+    PREFIX osqp
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=osqp-install
+    # Github tar balls don't code in submodules, so need to
+    # download via git
+    GIT_REPOSITORY https://github.com/oxfordcontrol/osqp.git
+    GIT_TAG v0.5.0 # currently, not compatible with v0.6.0
+) 
\ No newline at end of file

From 08d177dc66b3c954b95b1241ffd36f90d5a55aa8 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Tue, 2 Jun 2020 20:01:21 -0600
Subject: [PATCH 598/612] working on CollisionCost

---
 .../trajopt/trajopt/CMakeLists.txt            |   1 +
 .../include/trajopt/collision_terms.hpp       | 131 ++++++
 .../include/trajopt/problem_description.h     |  33 ++
 .../trajopt/trajopt/src/collision_terms.cpp   | 384 ++++++++++++++++++
 .../trajopt/src/problem_description.cpp       |  56 +++
 5 files changed, 605 insertions(+)
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/src/collision_terms.cpp

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index ff92e6ea2b..478a71b07f 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -44,6 +44,7 @@ set(TRAJOPT_SOURCE_FILES
     src/kinematic_terms.cpp
     src/problem_description.cpp
     src/utils.cpp
+    src/collision_terms.cpp
 )
 
 add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp
new file mode 100644
index 0000000000..c6fe43ab13
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp
@@ -0,0 +1,131 @@
+#pragma once
+
+#include <trajopt/cache.hxx>
+#include <trajopt/common.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/sco_fwd.hpp>
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_scene/planning_scene.h>
+
+namespace trajopt
+{
+// template <typename T>
+// using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
+
+struct CollisionEvaluator
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+                     SafetyMarginDataConstPtr safety_margin_data)
+    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data)
+  {
+  }
+  virtual ~CollisionEvaluator() = default;
+  virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
+  virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
+  virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
+  // virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
+  virtual sco::VarVector GetVars() = 0;
+
+  // I think we do not use cache in MoveIt, so we can delete this???
+  // I am going to use CalcCollisions straight without using this Cached function
+  // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
+  
+  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+  // Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
+
+protected:
+  
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+
+  SafetyMarginDataConstPtr safety_margin_data_;
+
+private:
+  CollisionEvaluator() {}
+};
+
+typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
+
+struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
+{
+public:
+  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+                                   SafetyMarginDataConstPtr safety_margin_data,
+                                   const sco::VarVector& vars);
+  /**
+  @brief linearize all contact distances in terms of robot dofs
+  ;
+  Do a collision check between robot and environment.
+  For each contact generated, return a linearization of the signed distance
+  function.
+  */
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
+  /**
+   * Same as CalcDistExpressions, but just the distances--not the expressions
+   */
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) override;
+  sco::VarVector GetVars() override { return m_vars; }
+private:
+  sco::VarVector m_vars;
+};
+
+struct CastCollisionEvaluator : public CollisionEvaluator
+{
+public:
+  CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+                         SafetyMarginDataConstPtr safety_margin_data,
+                         const sco::VarVector& vars0,
+                         const sco::VarVector& vars1);
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x,  std::vector<collision_detection::Contact>& dist_results) override;
+  sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
+private:
+  sco::VarVector m_vars0;
+  sco::VarVector m_vars1;
+};
+
+// sco::Cost does not depend on tesseract. So whatever dependency is there should be here
+class TRAJOPT_API CollisionCost : public sco::Cost
+{
+public:
+  /* constructor for single timestep. 
+     This constructor initializes m_calc which is type of CollisionEvaluator */
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+                SafetyMarginDataConstPtr safety_margin_data,
+                const sco::VarVector& vars);
+  /* constructor for cast cost */
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+                SafetyMarginDataConstPtr safety_margin_data,
+                const sco::VarVector& vars0,
+                const sco::VarVector& vars1);
+  virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  virtual double value(const DblVec&) override;
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
+private:
+  CollisionEvaluatorPtr m_calc;
+};
+
+class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
+{
+public:
+  /* constructor for single timestep */
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+                      SafetyMarginDataConstPtr safety_margin_data,
+                      const sco::VarVector& vars);
+  /* constructor for cast cost */
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+                      SafetyMarginDataConstPtr safety_margin_data,
+                      const sco::VarVector& vars0,
+                      const sco::VarVector& vars1);
+  virtual sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  virtual DblVec value(const DblVec&) override;
+  void Plot(const DblVec& x);
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
+private:
+  CollisionEvaluatorPtr m_calc;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 22d3d60f1c..9f078e5ed7 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -397,6 +397,39 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
+struct CollisionTermInfo : public TermInfo
+{
+  /** @brief first_step and last_step are inclusive */
+  int first_step, last_step;
+
+  /** @brief Indicate if continuous collision checking should be used. */
+  bool continuous;
+
+  /** @brief for continuous-time penalty, use swept-shape between timesteps t and t+gap */
+  /** @brief (gap=1 by default) */
+  int gap;
+
+  /** @brief Contains distance penalization data: Safety Margin, Coeff used during */
+  /** @brief optimization, etc. */
+  std::vector<SafetyMarginDataPtr> info;
+
+  /** @brief Used to add term to pci from json */
+  // void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
+
+  CollisionTermInfo() : TermInfo(TT_COST | TT_CNT) 
+  {
+  }
+
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void addObjectiveTerms(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new CollisionTermInfo());
+    return out;
+  }
+};
+
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj);
 
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
new file mode 100644
index 0000000000..32f2b639b6
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -0,0 +1,384 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/functional/hash.hpp>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/collision_terms.hpp>
+#include <trajopt/utils.hpp>
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/expr_vec_ops.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace trajopt
+{
+
+void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist_results, DblVec& dists)
+{
+  dists.clear();
+  dists.reserve(dist_results.size());
+
+  // how to get distance from MoveIt to feed dists
+  for (auto i = 0u; i < dist_results.size(); ++i)
+    dists.push_back(dist_results[i].distance);
+}
+
+// directly related to equation 16 in the TrajOpt paper (the version I have)
+void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_results,
+                                     const tesseract::BasicEnvConstPtr env,
+                                     const tesseract::BasicKinConstPtr manip,
+                                     const sco::VarVector& vars,
+                                     const DblVec& x,
+                                     sco::AffExprVector& exprs,
+                                     bool isTimestep1)
+{
+  // we are trying to fill up exprs which should be the signed distance
+  // typedef std::vector<Var> VarVector
+
+  Eigen::VectorXd dofvals = sco::getVec(x, vars);
+  const std::vector<std::string>& link_names = manip->getLinkNames();
+
+  // All collision data is in world corrdinate system. This provides the
+  // transfrom for converting data between world frame and manipulator
+  // frame.
+  tesseract::EnvStateConstPtr state = env->getState();
+  Eigen::Isometry3d change_base = state->transforms.at(manip->getBaseLinkName());
+  assert(change_base.isApprox(env->getState(manip->getJointNames(), dofvals)->transforms.at(manip->getBaseLinkName())));
+
+  exprs.clear();
+  exprs.reserve(dist_results.size());
+  for (auto i = 0u; i < dist_results.size(); ++i)
+  {
+    // => for each ContactResult in ContactResultVector
+    const tesseract::ContactResult& res = dist_results[i];
+
+    // => get the distance between the bodies (ContactResult.distance)
+    sco::AffExpr dist(res.distance);
+
+    Eigen::VectorXd dist_grad_a, dist_grad_b;
+    // => find the name of linkA in collision
+    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), res.link_names[0]);
+    if (itA != link_names.end())
+    {
+      // => create a jacobian matrix
+      Eigen::MatrixXd jac;
+      jac.resize(6, manip->numJoints());
+      // ??? calculate jacobian matrix in MoveIt for linkA
+      manip->calcJacobian(jac, change_base, dofvals, res.link_names[0], *state, res.nearest_points[0]);
+      dist_grad_a = -res.normal.transpose() * jac.topRows(3);
+      sco::exprInc(dist, sco::varDot(dist_grad_a, vars));
+      sco::exprInc(dist, -dist_grad_a.dot(dofvals));
+    }
+
+    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), res.link_names[1]);
+    if (itB != link_names.end())
+    {
+      Eigen::MatrixXd jac;
+      jac.resize(6, manip->numJoints());
+      manip->calcJacobian(jac,
+                          change_base,
+                          dofvals,
+                          res.link_names[1],
+                          *state,
+                          (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
+                              res.cc_nearest_points[1] :
+                              res.nearest_points[1]);
+      dist_grad_b = res.normal.transpose() * jac.topRows(3);
+      sco::exprInc(dist, sco::varDot(dist_grad_b, vars));
+      sco::exprInc(dist, -dist_grad_b.dot(dofvals));
+    }
+
+    if (itA != link_names.end() || itB != link_names.end())
+    {
+      exprs.push_back(dist);
+    }
+  }
+}
+
+void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_results,
+                                     const tesseract::BasicEnvConstPtr env,
+                                     const tesseract::BasicKinConstPtr manip,
+                                     const sco::VarVector& vars0,
+                                     const sco::VarVector& vars1,
+                                     const DblVec& x,
+                                     sco::AffExprVector& exprs)
+{
+  sco::AffExprVector exprs0, exprs1;
+  CollisionsToDistanceExpressions(dist_results, env, manip, vars0, x, exprs0, false);
+  CollisionsToDistanceExpressions(dist_results, env, manip, vars1, x, exprs1, true);
+
+  exprs.resize(exprs0.size());
+  for (std::size_t i = 0; i < exprs0.size(); ++i)
+  {
+    assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
+    sco::exprScale(exprs0[i], (1 - dist_results[i].cc_time));
+    sco::exprScale(exprs1[i], dist_results[i].cc_time);
+    exprs[i] = sco::AffExpr(0);
+    sco::exprInc(exprs[i], exprs0[i]);
+    sco::exprInc(exprs[i], exprs1[i]);
+    sco::cleanupAff(exprs[i]);
+  }
+}
+
+// inline size_t hash(const DblVec& x) { return boost::hash_range(x.begin(), x.end()); }
+// // void CollisionEvaluator::GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector& dist_results)
+// void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+// {
+//   size_t key = hash(sco::getDblVec(x, GetVars()));
+//   tesseract::ContactResultVector* it = m_cache.get(key);
+//   if (it != nullptr)
+//   {
+//     LOG_DEBUG("using cached collision check\n");
+//     dist_results = *it;
+//   }
+//   else
+//   {
+//     LOG_DEBUG("not using cached collision check\n");
+//     CalcCollisions(x, dist_results);
+//     m_cache.put(key, dist_results);
+//   }
+// }
+
+SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+                                                                   SafetyMarginDataConstPtr safety_margin_data,
+                                                                   const sco::VarVector& vars)
+  : CollisionEvaluator(planning_scene, manip, env, safety_margin_data), m_vars(vars)
+{
+  // contact_manager_ = env_->getDiscreteContactManager();
+  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+                                                0.04);  // The original implementation added a margin of 0.04;
+}
+
+//void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results)
+void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+{
+  // tesseract::ContactResultMap contacts;
+  // tesseract::EnvStatePtr state = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars));
+
+  collision_detection::CollisionRequest collision_request;
+  collision_detection::CollisionResult collision_result;
+  planning_scene->checkCollision(collision_request, collision_result);
+
+  // for (const auto& link_name : manip_->getLinkNames())
+  //   contact_manager_->setCollisionObjectsTransform(link_name, state->transforms[link_name]);
+
+  //contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
+  // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
+  // this moveContactResultsMapToContactResultsVector moves the elements of ContactResultVector
+  // of each ContactResultMap in contacts to one ContactResultVector called dist_results
+
+  // moveContactResultsMapToContactResultsVector does the following:
+  // it gets the ContactResultVector of contacts and move them to dist_result
+  
+  // tesseract
+  // ContactResultMap => AlignedMap<std::pair<std::string, std::string>, ContactResultVector>
+  // ContactResultVector: is an array of ContactResult msg
+  // ContactResult: 
+  //            distance
+  //            array of two (link_names )
+  // MoveIt:
+  // CollisionResult:
+  //          distance (min distance among all collision pairs) (double)
+  //          contact_count (number of contacts) 
+  //          ContactMap
+  //          
+  // ContactMap => std::map<std::pair<std::string, std::string>, std::vector<Contact> > 
+  // Contact:
+  //          pos (contact position)
+  //          normal (normal unit vector at contact)
+  //          depth (penetration between bodies)
+  //          body_name_1
+  //          body_name_2
+  // 
+  
+  // Fill dist_result with all the Contacts of all the collision pairs
+  for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
+  {
+      ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
+      // std::move(it->second.begin(), it->second.end(), dist_results)      
+      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+  }
+
+}
+
+void SingleTimestepCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
+{
+  std::vector<collision_detection::Contact> dist_results;
+  // GetCollisionsCached(x, dist_results);
+  CalcCollisions(x, dist_results);
+  CollisionsToDistances(dist_results, dists);
+}
+
+void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
+{
+  std::vector<collision_detection::Contact> dist_results;
+  // GetCollisionsCached(x, dist_results);
+  CalcCollisions(x, dist_results);
+  CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars, x, exprs, false);
+
+  LOG_DEBUG("%ld distance expressions\n", exprs.size());
+}
+
+
+////////////////////////////////////////
+
+CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+                                               SafetyMarginDataConstPtr safety_margin_data,
+                                               const sco::VarVector& vars0,
+                                               const sco::VarVector& vars1)
+  : CollisionEvaluator(planning_scene, safety_margin_data), m_vars0(vars0), m_vars1(vars1)
+{
+  // contact_manager_ = env_->getContinuousContactManager();
+  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+                                                0.04);  // The original implementation added a margin of 0.04;
+}
+
+void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results& dist_results)
+{
+  // tesseract::ContactResultMap contacts;
+  // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
+  // tesseract::EnvStatePtr state1 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars1));
+  // for (const auto& link_name : manip_->getLinkNames())
+  //   contact_manager_->setCollisionObjectsTransform(
+  //       link_name, state0->transforms[link_name], state1->transforms[link_name]);
+
+  // contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
+  // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
+
+  // similar to CalcCollisions from SingleTimestep...
+}
+void CastCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
+{
+  std::vector<collision_detection::Contact> dist_results;
+  // GetCollisionsCached(x, dist_results);
+  CalcCollisions(x, dist_results);
+  CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars0, m_vars1, x, exprs);
+}
+void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
+{
+  std::vector<collision_detection::Contact> dist_results;
+  // GetCollisionsCached(x, dist_results);
+  CalcCollisions(x, dist_results);
+  CollisionsToDistances(dist_results, dists);
+}
+
+//////////////////////////////////////////
+
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+                             SafetyMarginDataConstPtr safety_margin_data,
+                             const sco::VarVector& vars)
+  : Cost("collision"), m_calc(new SingleTimestepCollisionEvaluator(planning_scene, safety_margin_data, vars))
+{
+}
+
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+                             SafetyMarginDataConstPtr safety_margin_data,
+                             const sco::VarVector& vars0,
+                             const sco::VarVector& vars1)
+  : Cost("cast_collision"), m_calc(new CastCollisionEvaluator(planning_scene, safety_margin_data, vars0, vars1))
+{
+}
+
+sco::ConvexObjectivePtr CollisionCost::convex(const sco::DblVec& x, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  sco::AffExprVector exprs;
+  m_calc->CalcDistExpressions(x, exprs);
+
+  std::vector<collision_detection::Contact> dist_results;
+  // m_calc->GetCollisionsCached(x, dist_results);
+  m_calc->CalcCollisions(x, dist_results);
+  for (std::size_t i = 0; i < exprs.size(); ++i)
+  {
+    //??? link_name from dist_results in MoveIt 
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
+
+    sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
+    out->addHinge(viol, data[1]);
+  }
+  return out;
+}
+
+double CollisionCost::value(const sco::DblVec& x)
+{
+  DblVec dists;
+  m_calc->CalcDists(x, dists);
+
+  std::vector<collision_detection::Contact> dist_results;
+  // m_calc->GetCollisionsCached(x, dist_results);
+  m_calc->CalcCollisions(x, dist_results);
+  double out = 0;
+  for (std::size_t i = 0; i < dists.size(); ++i)
+  {
+    //??? link_name from dist_results in MoveIt 
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
+    out += sco::pospart(data[0] - dists[i]) * data[1];
+  }
+  return out;
+}
+
+// ALMOST EXACTLY COPIED FROM CollisionCost
+
+CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+                                         SafetyMarginDataConstPtr safety_margin_data,
+                                         const sco::VarVector& vars)
+  : m_calc(new SingleTimestepCollisionEvaluator(planning_scene, safety_margin_data, vars))
+{
+  name_ = "collision";
+}
+
+CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+                                         SafetyMarginDataConstPtr safety_margin_data,
+                                         const sco::VarVector& vars0,
+                                         const sco::VarVector& vars1)
+  : m_calc(new CastCollisionEvaluator(planning_scene, safety_margin_data, vars0, vars1))
+{
+  name_ = "collision";
+}
+
+sco::ConvexConstraintsPtr CollisionConstraint::convex(const sco::DblVec& x, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  sco::AffExprVector exprs;
+  m_calc->CalcDistExpressions(x, exprs);
+
+  std::vector<collision_detection::Contact> dist_results;
+  // m_calc->GetCollisionsCached(x, dist_results);
+  m_calc->CalcCollisions(x, dist_results);
+  for (std::size_t i = 0; i < exprs.size(); ++i)
+  {
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
+
+    sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
+    out->addIneqCnt(sco::exprMult(viol, data[1]));
+  }
+  return out;
+}
+
+DblVec CollisionConstraint::value(const sco::DblVec& x)
+{
+  DblVec dists;
+  m_calc->CalcDists(x, dists);
+
+  std::vector<collision_detection::Contact> dist_results;
+  // m_calc->GetCollisionsCached(x, dist_results);
+  m_calc->CalcCollisions(x, dist_results);
+  DblVec out(dists.size());
+  for (std::size_t i = 0; i < dists.size(); ++i)
+  {
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
+
+    out[i] = sco::pospart(data[0] - dists[i]) * data[1];
+  }
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 9a3e51efaf..a5d7d94932 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -547,6 +547,62 @@ void JointVelTermInfo::addObjectiveTerms(TrajOptProblem& prob)
   }
 }
 
+void CollisionTermInfo::hatch(TrajOptProblem& prob)
+{
+  //int n_dof = static_cast<int>(prob.GetKin()->numJoints());
+  unsigned int n_dof = prob.GetNumDOF();
+
+  if (term_type == TT_COST)
+  {
+    if (continuous)
+    {
+      for (int i = first_step; i <= last_step - gap; ++i)
+      {
+        prob.addCost(sco::CostPtr(new CollisionCost(prob.GetKin(),
+                                                    prob.GetEnv(),
+                                                    info[static_cast<size_t>(i - first_step)],
+                                                    prob.GetVarRow(i, 0, n_dof),
+                                                    prob.GetVarRow(i + gap, 0, n_dof))));
+        prob.getCosts().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
+      }
+    }
+    else
+    {
+      for (int i = first_step; i <= last_step; ++i)
+      {
+        prob.addCost(sco::CostPtr(new CollisionCost(
+            prob.GetKin(), prob.GetEnv(), info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
+        prob.getCosts().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
+      }
+    }
+  }
+  else
+  {  // ALMOST COPIED
+    if (continuous)
+    {
+      for (int i = first_step; i < last_step; ++i)
+      {
+        prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(prob.GetKin(),
+                                                                          prob.GetEnv(),
+                                                                          info[static_cast<size_t>(i - first_step)],
+                                                                          prob.GetVarRow(i, 0, n_dof),
+                                                                          prob.GetVarRow(i + 1, 0, n_dof))));
+        prob.getIneqConstraints().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
+      }
+    }
+    else
+    {
+      for (int i = first_step; i <= last_step; ++i)
+      {
+        prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(
+            prob.GetKin(), prob.GetEnv(), info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
+        prob.getIneqConstraints().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
+      }
+    }
+  }
+}
+
+
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj)
 {

From 3fb27ffc91f9ca8ef86710411bd2d1c23082562f Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 8 Jun 2020 14:49:59 -0600
Subject: [PATCH 599/612] working on finding the right value for distances
 between collision objects. Contact type has a depth memeber but in tesseract,
 they use distance member in their ContactResult type

---
 .../trajopt/trajopt/src/collision_terms.cpp   | 27 +++++++++++--------
 1 file changed, 16 insertions(+), 11 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 32f2b639b6..fa8dbd44a6 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -27,19 +27,24 @@ void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist
 }
 
 // directly related to equation 16 in the TrajOpt paper (the version I have)
-void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_results,
-                                     const tesseract::BasicEnvConstPtr env,
-                                     const tesseract::BasicKinConstPtr manip,
+// tesseract::ContactResultVector& dist_results
+void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
+                                     planning_scene::PlanningSceneConstPtr planning_scene,
                                      const sco::VarVector& vars,
                                      const DblVec& x,
                                      sco::AffExprVector& exprs,
                                      bool isTimestep1)
 {
-  // we are trying to fill up exprs which should be the signed distance
+  // we are trying to fill up exprs which should be the signed distance expression ???
+  // typedef std::vector<AffExpr> AffExprVector
+  // AffExpr is struct in solver_interface.h
+
   // typedef std::vector<Var> VarVector
+  // typedef std:vector<double> DblVec
 
   Eigen::VectorXd dofvals = sco::getVec(x, vars);
-  const std::vector<std::string>& link_names = manip->getLinkNames();
+  // const std::vector<std::string>& link_names = manip->getLinkNames();
+  const std::vector<std::string>& link_names = planning_scene->getRobotModel()->getLinkModelNames();
 
   // All collision data is in world corrdinate system. This provides the
   // transfrom for converting data between world frame and manipulator
@@ -53,7 +58,8 @@ void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_
   for (auto i = 0u; i < dist_results.size(); ++i)
   {
     // => for each ContactResult in ContactResultVector
-    const tesseract::ContactResult& res = dist_results[i];
+    // const tesseract::ContactResult& res = dist_results[i];
+    const std::vector<collision_detection::Contact>& res = dist_results[i];
 
     // => get the distance between the bodies (ContactResult.distance)
     sco::AffExpr dist(res.distance);
@@ -171,10 +177,7 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   // this moveContactResultsMapToContactResultsVector moves the elements of ContactResultVector
   // of each ContactResultMap in contacts to one ContactResultVector called dist_results
 
-  // moveContactResultsMapToContactResultsVector does the following:
-  // it gets the ContactResultVector of contacts and move them to dist_result
-  
-  // tesseract
+  // tesseract:
   // ContactResultMap => AlignedMap<std::pair<std::string, std::string>, ContactResultVector>
   // ContactResultVector: is an array of ContactResult msg
   // ContactResult: 
@@ -195,7 +198,9 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   //          body_name_2
   // 
   
-  // Fill dist_result with all the Contacts of all the collision pairs
+  // Fill dist_result with all the Contacts of all the collision pairs. Each pair has a vector of contacts
+  // and we have many pairs. Here we are putting all of these contact to one big vector. Not sure why that is ???
+  // This happens in moveContactResultsMapToContactResultsVector
   for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());

From 951923636947eb54bca28b33efbca6f383f1a9e9 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Tue, 9 Jun 2020 20:42:34 -0600
Subject: [PATCH 600/612] adjusted more parts of the code for MoveIt but what
 is left is how I calculate cc_nearest_points in MoveIt, Contact type does not
 have such a thing

---
 .../trajopt/trajopt/src/collision_terms.cpp   | 142 +++++++++++++-----
 .../trajopt/src/problem_description.cpp       |   2 +-
 .../trajopt/trajopt_sco/src/expr_vec_ops.cpp  |   2 +-
 3 files changed, 110 insertions(+), 36 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index fa8dbd44a6..52fa9b997a 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -22,8 +22,10 @@ void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist
   dists.reserve(dist_results.size());
 
   // how to get distance from MoveIt to feed dists
+  // for (auto i = 0u; i < dist_results.size(); ++i)
+  //   dists.push_back(dist_results[i].distance);
   for (auto i = 0u; i < dist_results.size(); ++i)
-    dists.push_back(dist_results[i].distance);
+    dists.push_back(dist_results[i].depth);
 }
 
 // directly related to equation 16 in the TrajOpt paper (the version I have)
@@ -37,7 +39,8 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 {
   // we are trying to fill up exprs which should be the signed distance expression ???
   // typedef std::vector<AffExpr> AffExprVector
-  // AffExpr is struct in solver_interface.h
+  // AffExpr is struct in solver_interface.h:
+  //        constant, coeffs, vars
 
   // typedef std::vector<Var> VarVector
   // typedef std:vector<double> DblVec
@@ -49,20 +52,31 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   // All collision data is in world corrdinate system. This provides the
   // transfrom for converting data between world frame and manipulator
   // frame.
-  tesseract::EnvStateConstPtr state = env->getState();
-  Eigen::Isometry3d change_base = state->transforms.at(manip->getBaseLinkName());
-  assert(change_base.isApprox(env->getState(manip->getJointNames(), dofvals)->transforms.at(manip->getBaseLinkName())));
+  // tesseract::EnvStateConstPtr state = env->getState();
+  // Eigen::Isometry3d change_base = state->transforms.at(manip->getBaseLinkName());
+  // assert(change_base.isApprox(env->getState(manip->getJointNames(), dofvals)->transforms.at(manip->getBaseLinkName())));
+
+  moveit::core::RobotState& robot_state = planning_scene->getCurrentState();
+  const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
+  const LinkModel* link_1(res.body_name_1); // link_names[0] 
+  const LinkModel* link_2(res.body_name_2); // link_names[1] 
+  std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
+  int group_dof = group_joint_names.size();
 
   exprs.clear();
   exprs.reserve(dist_results.size());
   for (auto i = 0u; i < dist_results.size(); ++i)
   {
-    // => for each ContactResult in ContactResultVector
+    // => for each ContactResult in the total ContactResultVector that contains all the contacts of each pair and all the pairs
     // const tesseract::ContactResult& res = dist_results[i];
-    const std::vector<collision_detection::Contact>& res = dist_results[i];
+    const collision_detection::Contact& res = dist_results[i];
 
-    // => get the distance between the bodies (ContactResult.distance)
-    sco::AffExpr dist(res.distance);
+    // ContactResult in the original trajopt has two bodies and a distance
+    // In MoveIt, we have Contact (corresponding to ContactResult in tesseract) type
+    // which has depth (penetration between bodies). I am going to use this depth 
+    // sco::AffExpr dist(res.distance);
+    sco::AffExpr dist(res.depth); // depth could be positive or negative, if I use bullet
+    // is that a problem here?
 
     Eigen::VectorXd dist_grad_a, dist_grad_b;
     // => find the name of linkA in collision
@@ -71,27 +85,86 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     {
       // => create a jacobian matrix
       Eigen::MatrixXd jac;
-      jac.resize(6, manip->numJoints());
-      // ??? calculate jacobian matrix in MoveIt for linkA
-      manip->calcJacobian(jac, change_base, dofvals, res.link_names[0], *state, res.nearest_points[0]);
+      jac.resize(6, group_dof);
+
+   /* Compute the Jacobian with reference to a particular point on a given link, for a specified group.
+   *  - group: The group to compute the Jacobian for
+   *  - link_name: The name of the link
+   *  - reference_point_position: The reference point position (with respect to the link specified in link_name)
+   *  - jacobian: The resultant jacobian
+   *  - use_quaternion_representation Flag indicating if the Jacobian should use a quaternion representation
+   * (default is false)
+   *  - return True if jacobian was successfully computed, false otherwise
+   */
+      bool succeed = robot_state.getJacobian(
+                                      joint_model_group,
+                                      link_1, 
+                                      res.nearest_points[0],
+                                      jac);
+      
+   /**
+   *  Calculated jacobian at a link given joint angles
+   *  jac: jacobian Output jacobian for a given link
+   *  change_base: The transform from the base frame of the manipulator to the desired frame.
+   *  joint_angles: Input vector of joint angles
+   *  link_name: Name of link to calculate jacobian
+   *  state: The state of the environment
+   *  link_point: Point in the base frame for which to calculate the jacobian about
+   *  output is a bool: True if calculation successful, False if anything is wrong (including uninitialized BasicKin)
+   */
+      // manip->calcJacobian(jac, 
+      //                     change_base,
+      //                     dofvals, 
+      //                     res.link_names[0],
+      //                     *state,
+      //                     res.nearest_points[0]);
+
       dist_grad_a = -res.normal.transpose() * jac.topRows(3);
-      sco::exprInc(dist, sco::varDot(dist_grad_a, vars));
+      // this means: [normal . jac(1:3,1), normal . jac(1:3,2), normal . jac(1:3,3)]
+      // in the paper: nT * J_PA 
+
+      sco::exprInc(dist, sco::varDot(dist_grad_a, vars)); 
+      // varDot: creates an AffExpr with constant = 0, vars = second arg and coeffs = first arg
+      // exprInc: adds the second arg to the first one
+      
       sco::exprInc(dist, -dist_grad_a.dot(dofvals));
+      // -dist_grad_a (dot_product) dofvals
     }
 
     std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), res.link_names[1]);
     if (itB != link_names.end())
     {
       Eigen::MatrixXd jac;
-      jac.resize(6, manip->numJoints());
-      manip->calcJacobian(jac,
-                          change_base,
-                          dofvals,
-                          res.link_names[1],
-                          *state,
-                          (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
-                              res.cc_nearest_points[1] :
-                              res.nearest_points[1]);
+      jac.resize(6, group_dof);
+
+    // how do I calculate cc_nearest_points, Contact in MoveIt does not have such a thing
+    bool succeed = robot_state.getJacobian(
+                  joint_model_group,
+                  link_2, 
+                  (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
+                   res.cc_nearest_points[1] :
+                   res.nearest_points[1], 
+                  jac);
+
+    // depending on ContinousCollisionType
+    // enum ContinouseCollisionType
+    // {
+    //   CCType_None,
+    //   CCType_Time0,
+    //   CCType_Time1,
+    //   CCType_Between
+    // };
+
+    // manip->calcJacobian(jac,
+    //                     change_base,
+    //                     dofvals,
+    //                     res.link_names[1],
+    //                     *state,
+    //                     (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
+    //                         res.cc_nearest_points[1] :
+    //                         res.nearest_points[1]);
+    
+     
       dist_grad_b = res.normal.transpose() * jac.topRows(3);
       sco::exprInc(dist, sco::varDot(dist_grad_b, vars));
       sco::exprInc(dist, -dist_grad_b.dot(dofvals));
@@ -105,21 +178,20 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 }
 
 void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_results,
-                                     const tesseract::BasicEnvConstPtr env,
-                                     const tesseract::BasicKinConstPtr manip,
+                                     planning_scene::PlanningSceneConstPtr planning_scene,
                                      const sco::VarVector& vars0,
                                      const sco::VarVector& vars1,
                                      const DblVec& x,
                                      sco::AffExprVector& exprs)
 {
   sco::AffExprVector exprs0, exprs1;
-  CollisionsToDistanceExpressions(dist_results, env, manip, vars0, x, exprs0, false);
-  CollisionsToDistanceExpressions(dist_results, env, manip, vars1, x, exprs1, true);
+  CollisionsToDistanceExpressions(dist_results, planning_scene, vars0, x, exprs0, false);
+  CollisionsToDistanceExpressions(dist_results, planning_scene, vars1, x, exprs1, true);
 
   exprs.resize(exprs0.size());
   for (std::size_t i = 0; i < exprs0.size(); ++i)
   {
-    assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
+    //assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
     sco::exprScale(exprs0[i], (1 - dist_results[i].cc_time));
     sco::exprScale(exprs1[i], dist_results[i].cc_time);
     exprs[i] = sco::AffExpr(0);
@@ -151,7 +223,7 @@ void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_
 SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
                                                                    SafetyMarginDataConstPtr safety_margin_data,
                                                                    const sco::VarVector& vars)
-  : CollisionEvaluator(planning_scene, manip, env, safety_margin_data), m_vars(vars)
+  : CollisionEvaluator(planning_scene, safety_margin_data), m_vars(vars)
 {
   // contact_manager_ = env_->getDiscreteContactManager();
   // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
@@ -174,6 +246,7 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
 
   //contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
   // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
+  // ContactTestTypes::ALL = > Return all contacts for a pair of objects
   // this moveContactResultsMapToContactResultsVector moves the elements of ContactResultVector
   // of each ContactResultMap in contacts to one ContactResultVector called dist_results
 
@@ -197,6 +270,7 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   //          body_name_1
   //          body_name_2
   // 
+
   
   // Fill dist_result with all the Contacts of all the collision pairs. Each pair has a vector of contacts
   // and we have many pairs. Here we are putting all of these contact to one big vector. Not sure why that is ???
@@ -301,8 +375,8 @@ sco::ConvexObjectivePtr CollisionCost::convex(const sco::DblVec& x, sco::Model*
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
     //??? link_name from dist_results in MoveIt 
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
-                                                                                         dist_results[i].link_names[1]);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
+                                                                                         dist_results[i].body_name_2);
 
     sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
     out->addHinge(viol, data[1]);
@@ -322,8 +396,8 @@ double CollisionCost::value(const sco::DblVec& x)
   for (std::size_t i = 0; i < dists.size(); ++i)
   {
     //??? link_name from dist_results in MoveIt 
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
-                                                                                         dist_results[i].link_names[1]);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
+                                                                                         dist_results[i].body_name_2);
     out += sco::pospart(data[0] - dists[i]) * data[1];
   }
   return out;
@@ -359,8 +433,8 @@ sco::ConvexConstraintsPtr CollisionConstraint::convex(const sco::DblVec& x, sco:
   m_calc->CalcCollisions(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
-                                                                                         dist_results[i].link_names[1]);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
+                                                                                         dist_results[i].body_name_1);
 
     sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
     out->addIneqCnt(sco::exprMult(viol, data[1]));
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index a5d7d94932..6ca0d24d68 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -547,7 +547,7 @@ void JointVelTermInfo::addObjectiveTerms(TrajOptProblem& prob)
   }
 }
 
-void CollisionTermInfo::hatch(TrajOptProblem& prob)
+void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
 {
   //int n_dof = static_cast<int>(prob.GetKin()->numJoints());
   unsigned int n_dof = prob.GetNumDOF();
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
index 07ff89a0b8..a3ce509fc0 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
@@ -6,7 +6,7 @@ AffExpr varDot(const Eigen::VectorXd& x, const VarVector& v)
   AffExpr out;
   out.constant = 0;
   out.vars = v;
-  out.coeffs = DblVec(x.data(), x.data() + x.size());
+  out.coeffs = DblVec(x.data(), x.data() + x.size()); // this creates a vector<double>
   return out;
 }
 }

From 30b4cb0654d9b0b692eef28d3b321955deda48e9 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Thu, 11 Feb 2021 22:19:08 -0700
Subject: [PATCH 601/612] start adding collision temrs

---
 .../trajopt/include/trajopt/basic_types.h     | 359 ++++++++++++++++++
 .../trajopt/include/trajopt/collision_terms.h | 141 +++++++
 .../include/trajopt/problem_description.h     |   4 +-
 .../trajopt/trajopt/src/collision_terms.cpp   |   3 +-
 .../trajopt/src/problem_description.cpp       |   4 +-
 5 files changed, 506 insertions(+), 5 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
new file mode 100644
index 0000000000..fb7a36e969
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
@@ -0,0 +1,359 @@
+/**
+ * @file basic_types.h
+ * @brief The tesseract_core package types.
+ *
+ * @author Levi Armstrong
+ * @date April 15, 2018
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2013, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef TESSERACT_CORE_BASIC_TYPES_H
+#define TESSERACT_CORE_BASIC_TYPES_H
+
+#include <tesseract_core/macros.h>
+TESSERACT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <Eigen/StdVector>
+#include <geometric_shapes/shapes.h>
+#include <unordered_map>
+#include <vector>
+#include <memory>
+#include <functional>
+#include <map>
+TESSERACT_IGNORE_WARNINGS_POP
+
+namespace trajopt
+{
+template <typename T>
+using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
+// aligned_allocator provides at least 16 bytes alignment and more
+
+
+template <typename Key, typename Value>
+using AlignedMap = std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+template <typename Key, typename Value>
+using AlignedUnorderedMap = std::unordered_map<Key,
+                                               Value,
+                                               std::hash<Key>,
+                                               std::equal_to<Key>,
+                                               Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+using VectorIsometry3d = AlignedVector<Eigen::Isometry3d>;
+using VectorVector4d = AlignedVector<Eigen::Vector4d>;
+using VectorVector3d = std::vector<Eigen::Vector3d>;
+using TransformMap = AlignedMap<std::string, Eigen::Isometry3d>;
+
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> TrajArray;
+
+struct AllowedCollisionMatrix
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  virtual ~AllowedCollisionMatrix() = default;
+
+  /**
+   * @brief Disable collision between two collision objects
+   * @param obj1 Collision object name
+   * @param obj2 Collision object name
+   * @param reason The reason for disabling collison
+   */
+  virtual void addAllowedCollision(const std::string& link_name1,
+                                   const std::string& link_name2,
+                                   const std::string& reason)
+  {
+    auto link_pair = makeOrderedLinkPair(link_name1, link_name2);
+    lookup_table_[link_pair] = reason;
+  }
+
+  /**
+   * @brief Remove disabled collision pair from allowed collision matrix
+   * @param obj1 Collision object name
+   * @param obj2 Collision object name
+   */
+  virtual void removeAllowedCollision(const std::string& link_name1, const std::string& link_name2)
+  {
+    auto link_pair = makeOrderedLinkPair(link_name1, link_name2);
+    lookup_table_.erase(link_pair);
+  }
+
+  /**
+   * @brief This checks if two links are allowed to be in collision
+   * @param link_name1 First link name
+   * @param link_name2 Second link anme
+   * @return True if allowed to be in collision, otherwise false
+   */
+  virtual bool isCollisionAllowed(const std::string& link_name1, const std::string& link_name2) const
+  {
+    auto link_pair = makeOrderedLinkPair(link_name1, link_name2);
+    return (lookup_table_.find(link_pair) != lookup_table_.end());
+  }
+
+  /**
+   * @brief Clears the list of allowed collisions, so that no collision will be
+   *        allowed.
+   */
+  void clearAllowedCollisions() { lookup_table_.clear(); }
+private:
+  typedef std::pair<const std::string, const std::string> LinkNamesPair;
+  struct PairHash
+  {
+    std::size_t operator()(const LinkNamesPair& pair) const
+    {
+      return std::hash<std::string>()(pair.first + pair.second);
+    }
+  };
+  typedef std::unordered_map<LinkNamesPair, std::string, PairHash> AllowedCollisionEntries;
+  AllowedCollisionEntries lookup_table_;
+
+  /**
+   * @brief Create a pair of strings, where the pair.first is always <= pair.second
+   * @param link_name1 First link name
+   * @param link_name2 Second link anme
+   * @return LinkNamesPair a lexicographically sorted pair of strings
+   */
+  static inline LinkNamesPair makeOrderedLinkPair(const std::string& link_name1, const std::string& link_name2)
+  {
+    if (link_name1 <= link_name2)
+      return std::make_pair(link_name1, link_name2);
+    else
+      return std::make_pair(link_name2, link_name1);
+  }
+
+public:
+  /**
+   * @brief Clears the list of allowed collisions
+   * @return AllowedCollisionEntries an unordered map containing all allowed
+   *         collision entries. The keys of the unordered map are a std::pair
+   *         of the link names in the allowed collision pair.
+   */
+  const AllowedCollisionEntries& getAllAllowedCollisions() const { return lookup_table_; }
+};
+typedef std::shared_ptr<AllowedCollisionMatrix> AllowedCollisionMatrixPtr;
+typedef std::shared_ptr<const AllowedCollisionMatrix> AllowedCollisionMatrixConstPtr;
+
+/**
+ * @brief Should return true if contact allowed, otherwise false.
+ *
+ * Also the order of strings should not matter, the function should handled by the function.
+ */
+typedef std::function<bool(const std::string&, const std::string&)> IsContactAllowedFn;
+
+namespace CollisionObjectTypes
+{
+enum CollisionObjectType
+{
+  UseShapeType = 0, /**< @brief Infer the type from the type specified in the shapes::Shape class */
+
+  // These convert the meshes to custom collision objects
+  ConvexHull =
+      1, /**< @brief Use the mesh in shapes::Shape but make it a convex hulls collision object. (if not convex it will
+            be converted) */
+  MultiSphere = 2, /**< @brief Use the mesh and represent it by multiple spheres collision object */
+  SDF = 3          /**< @brief Use the mesh and rpresent it by a signed distance fields collision object */
+};
+}
+typedef CollisionObjectTypes::CollisionObjectType CollisionObjectType;
+typedef std::vector<CollisionObjectType> CollisionObjectTypeVector;
+
+namespace BodyTypes
+{
+enum BodyType
+{
+  ROBOT_LINK = 0,    /**< @brief These are links at the creation of the environment */
+  ROBOT_ATTACHED = 1 /**< @brief These are links that are added after initial creation */
+};
+}
+typedef BodyTypes::BodyType BodyType;
+
+namespace ContinouseCollisionTypes
+{
+enum ContinouseCollisionType
+{
+  CCType_None,
+  CCType_Time0,
+  CCType_Time1,
+  CCType_Between
+};
+}
+typedef ContinouseCollisionTypes::ContinouseCollisionType ContinouseCollisionType;
+
+namespace ContactTestTypes
+{
+enum ContactTestType
+{
+  FIRST = 0,   /**< Return at first contact for any pair of objects */
+  CLOSEST = 1, /**< Return the global minimum for a pair of objects */
+  ALL = 2,     /**< Return all contacts for a pair of objects */
+  LIMITED = 3  /**< Return limited set of contacts for a pair of objects */
+};
+}
+typedef ContactTestTypes::ContactTestType ContactTestType;
+
+struct ContactResult
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  double distance;
+  int type_id[2];
+  std::string link_names[2];
+  Eigen::Vector3d nearest_points[2]; // this is an array of two elements of type Vector3d
+  Eigen::Vector3d normal;
+
+  Eigen::Vector3d cc_nearest_points[2];
+  // this is used when performing continous collision checking. so it should be the nearest point on the 
+  // swept volume of a robot's link and an obstacle (obstacle coul be fixed in space or moving. in the case
+  // of moving, we should calculate the swpet volume of the obstacle too, I guess?)
+
+  double cc_time;
+  ContinouseCollisionType cc_type;
+
+  ContactResult() { clear(); }
+  /// Clear structure data
+  void clear()
+  {
+    distance = std::numeric_limits<double>::max();
+    nearest_points[0].setZero();
+    nearest_points[1].setZero();
+    link_names[0] = "";
+    link_names[1] = "";
+    type_id[0] = 0;
+    type_id[1] = 0;
+    normal.setZero();
+    cc_nearest_points[0].setZero();
+    cc_nearest_points[1].setZero();
+    cc_time = -1;
+    cc_type = ContinouseCollisionType::CCType_None;
+  }
+};
+
+// ContactResultVector: is an aligned vector which works with memory. It is a vector containing ContactResult
+typedef AlignedVector<ContactResult> ContactResultVector;
+typedef AlignedMap<std::pair<std::string, std::string>, ContactResultVector> ContactResultMap;
+
+/// Contact test data and query results information
+struct ContactTestData
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  ContactTestData(const std::vector<std::string>& active,
+                  const double& contact_distance,
+                  const IsContactAllowedFn& fn,
+                  const ContactTestType& type,
+                  ContactResultMap& res)
+    : active(active), contact_distance(contact_distance), fn(fn), type(type), res(res), done(false)
+  {
+  }
+
+  const std::vector<std::string>& active;
+  const double& contact_distance;
+  const IsContactAllowedFn& fn;
+  const ContactTestType& type;
+
+  /// Destance query results information
+  ContactResultMap& res;
+
+  /// Indicate if search is finished
+  bool done;
+};
+
+static inline void moveContactResultsMapToContactResultsVector(ContactResultMap& contact_map,
+                                                               ContactResultVector& contact_vector)
+{
+  std::size_t size = 0;
+  for (const auto& contact : contact_map)
+    size += contact.second.size();
+
+  contact_vector.reserve(size);
+  for (auto& contact : contact_map)
+    std::move(contact.second.begin(), contact.second.end(), std::back_inserter(contact_vector));
+}
+
+/** @brief This holds a state of the environment */
+struct EnvState
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  std::unordered_map<std::string, double> joints;
+  TransformMap transforms;
+};
+typedef std::shared_ptr<EnvState> EnvStatePtr;
+typedef std::shared_ptr<const EnvState> EnvStateConstPtr;
+
+/**< @brief Information on how the object is attached to the environment */
+struct AttachedBodyInfo
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  AttachedBodyInfo() : transform(Eigen::Isometry3d::Identity()) {}
+  std::string object_name;              /**< @brief The name of the AttachableObject being used */
+  std::string parent_link_name;         /**< @brief The name of the link to attach the body */
+  Eigen::Isometry3d transform;          /**< @brief The transform between parent link and object */
+  std::vector<std::string> touch_links; /**< @brief The names of links which the attached body is allowed to be in
+                                           contact with */
+};
+
+/** @brief Contains visual geometry data */
+struct VisualObjectGeometry
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  std::vector<shapes::ShapeConstPtr> shapes; /**< @brief The shape */
+  VectorIsometry3d shape_poses;              /**< @brief The pose of the shape */
+  VectorVector4d shape_colors;               /**< @brief (Optional) The shape color (R, G, B, A) */
+};
+
+/** @brief Contains visual geometry data */
+struct CollisionObjectGeometry : public VisualObjectGeometry
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  CollisionObjectTypeVector
+      collision_object_types; /**< @brief The collision object type. This is used by the collision libraries */
+};
+
+/** @brief Contains data about an attachable object */
+struct AttachableObject
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  std::string name;            /**< @brief The name of the attachable object (aka. link name and must be unique) */
+  VisualObjectGeometry visual; /**< @brief The objects visual geometry */
+  CollisionObjectGeometry collision; /**< @brief The objects collision geometry */
+};
+typedef std::shared_ptr<AttachableObject> AttachableObjectPtr;
+typedef std::shared_ptr<const AttachableObject> AttachableObjectConstPtr;
+
+/** @brief ObjectColorMap Stores Object color in a 4d vector as RGBA*/
+struct ObjectColor
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  VectorVector4d visual;
+  VectorVector4d collision;
+};
+typedef AlignedUnorderedMap<std::string, ObjectColor> ObjectColorMap;
+typedef std::shared_ptr<ObjectColorMap> ObjectColorMapPtr;
+typedef std::shared_ptr<const ObjectColorMap> ObjectColorMapConstPtr;
+typedef AlignedUnorderedMap<std::string, AttachedBodyInfo> AttachedBodyInfoMap;
+typedef std::unordered_map<std::string, AttachableObjectConstPtr> AttachableObjectConstPtrMap;
+}
+
+#endif  // TESSERACT_CORE_BASIC_TYPES_H
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
new file mode 100644
index 0000000000..6884cf6aa1
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -0,0 +1,141 @@
+#pragma once
+#include <tesseract_core/basic_env.h>
+#include <tesseract_core/basic_kin.h>
+#include <trajopt/cache.hxx>
+#include <trajopt/common.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/sco_fwd.hpp>
+
+namespace trajopt
+{
+struct CollisionEvaluator
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  CollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                     tesseract::BasicEnvConstPtr env,
+                     SafetyMarginDataConstPtr safety_margin_data)
+    : env_(env), manip_(manip), safety_margin_data_(safety_margin_data)
+  {
+  }
+  virtual ~CollisionEvaluator() = default;
+  virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
+  virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
+  virtual void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) = 0;
+  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
+  //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
+  virtual sco::VarVector GetVars() = 0;
+
+  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+  
+  Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
+  // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
+  // I do not understand what it is doing exactly though
+
+  // what is ContactResultVector?
+  // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
+  // now what is ContactResult? it has all the informatin related to contact between two bodies
+
+  // so I need to find the similar type to ContactResult in MoveIt
+
+protected:
+  tesseract::BasicEnvConstPtr env_;
+  tesseract::BasicKinConstPtr manip_;
+  SafetyMarginDataConstPtr safety_margin_data_;
+
+private:
+  CollisionEvaluator() {}
+};
+
+typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
+
+struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
+{
+public:
+  SingleTimestepCollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                                   tesseract::BasicEnvConstPtr env,
+                                   SafetyMarginDataConstPtr safety_margin_data,
+                                   const sco::VarVector& vars);
+  /**
+  @brief linearize all contact distances in terms of robot dofs
+  ;
+  Do a collision check between robot and environment.
+  For each contact generated, return a linearization of the signed distance
+  function
+  */
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
+  /**
+   * Same as CalcDistExpressions, but just the distances--not the expressions
+   */
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  sco::VarVector GetVars() override { return m_vars; }
+private:
+  sco::VarVector m_vars;
+  tesseract::DiscreteContactManagerBasePtr contact_manager_;
+};
+
+struct CastCollisionEvaluator : public CollisionEvaluator
+{
+public:
+  CastCollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                         tesseract::BasicEnvConstPtr env,
+                         SafetyMarginDataConstPtr safety_margin_data,
+                         const sco::VarVector& vars0,
+                         const sco::VarVector& vars1);
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
+private:
+  sco::VarVector m_vars0;
+  sco::VarVector m_vars1;
+  tesseract::ContinuousContactManagerBasePtr contact_manager_;
+};
+
+class TRAJOPT_API CollisionCost : public sco::Cost, public Plotter
+{
+public:
+  /* constructor for single timestep */
+  CollisionCost(tesseract::BasicKinConstPtr manip,
+                tesseract::BasicEnvConstPtr env,
+                SafetyMarginDataConstPtr safety_margin_data,
+                const sco::VarVector& vars);
+  /* constructor for cast cost */
+  CollisionCost(tesseract::BasicKinConstPtr manip,
+                tesseract::BasicEnvConstPtr env,
+                SafetyMarginDataConstPtr safety_margin_data,
+                const sco::VarVector& vars0,
+                const sco::VarVector& vars1);
+  virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  virtual double value(const DblVec&) override;
+  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x) override;
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
+private:
+  CollisionEvaluatorPtr m_calc;
+};
+
+class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
+{
+public:
+  /* constructor for single timestep */
+  CollisionConstraint(tesseract::BasicKinConstPtr manip,
+                      tesseract::BasicEnvConstPtr env,
+                      SafetyMarginDataConstPtr safety_margin_data,
+                      const sco::VarVector& vars);
+  /* constructor for cast cost */
+  CollisionConstraint(tesseract::BasicKinConstPtr manip,
+                      tesseract::BasicEnvConstPtr env,
+                      SafetyMarginDataConstPtr safety_margin_data,
+                      const sco::VarVector& vars0,
+                      const sco::VarVector& vars1);
+  virtual sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  virtual DblVec value(const DblVec&) override;
+  void Plot(const DblVec& x);
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
+private:
+  CollisionEvaluatorPtr m_calc;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 9f078e5ed7..101f9edd37 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -383,9 +383,7 @@ struct JointVelTermInfo : public TermInfo
   int last_step = -1;
 
   /** @brief Initialize term with it's supported types */
-  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
-  {
-  }
+  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME){}
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void addObjectiveTerms(TrajOptProblem& prob) override;
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 52fa9b997a..306a5d7cf1 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -169,6 +169,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
       sco::exprInc(dist, sco::varDot(dist_grad_b, vars));
       sco::exprInc(dist, -dist_grad_b.dot(dofvals));
     }
+    // DebugPrintInfo(res, dist_grad_a, dist_grad_b, dofvals, i == 0);
 
     if (itA != link_names.end() || itB != link_names.end())
     {
@@ -191,7 +192,7 @@ void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_
   exprs.resize(exprs0.size());
   for (std::size_t i = 0; i < exprs0.size(); ++i)
   {
-    //assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
+    assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
     sco::exprScale(exprs0[i], (1 - dist_results[i].cc_time));
     sco::exprScale(exprs1[i], dist_results[i].cc_time);
     exprs[i] = sco::AffExpr(0);
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 6ca0d24d68..3fb319f3a1 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -557,7 +557,7 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
     if (continuous)
     {
       for (int i = first_step; i <= last_step - gap; ++i)
-      {
+      { // ??????????
         prob.addCost(sco::CostPtr(new CollisionCost(prob.GetKin(),
                                                     prob.GetEnv(),
                                                     info[static_cast<size_t>(i - first_step)],
@@ -602,6 +602,8 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
   }
 }
 
+// ----------------
+
 
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj)

From cf1a0afcda9a48920f1d2679fcc69149485b44c2 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Thu, 11 Feb 2021 22:31:33 -0700
Subject: [PATCH 602/612] changed header extension

---
 .../trajopt/include/trajopt/collision_terms.h | 74 ++++++++-----------
 ...ision_terms.hpp => collision_terms.h~HEAD} | 74 +++++++++++--------
 2 files changed, 74 insertions(+), 74 deletions(-)
 rename moveit_planners/trajopt/trajopt/include/trajopt/{collision_terms.hpp => collision_terms.h~HEAD} (57%)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index 6884cf6aa1..c6fe43ab13 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -1,46 +1,45 @@
 #pragma once
-#include <tesseract_core/basic_env.h>
-#include <tesseract_core/basic_kin.h>
+
 #include <trajopt/cache.hxx>
 #include <trajopt/common.hpp>
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/sco_fwd.hpp>
 
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_scene/planning_scene.h>
+
 namespace trajopt
 {
+// template <typename T>
+// using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
+
 struct CollisionEvaluator
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                     tesseract::BasicEnvConstPtr env,
+  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
                      SafetyMarginDataConstPtr safety_margin_data)
-    : env_(env), manip_(manip), safety_margin_data_(safety_margin_data)
+    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data)
   {
   }
   virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
-  virtual void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) = 0;
-  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
-  //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
+  virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
+  // virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
   virtual sco::VarVector GetVars() = 0;
 
-  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+  // I think we do not use cache in MoveIt, so we can delete this???
+  // I am going to use CalcCollisions straight without using this Cached function
+  // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
   
-  Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
-  // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
-  // I do not understand what it is doing exactly though
-
-  // what is ContactResultVector?
-  // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
-  // now what is ContactResult? it has all the informatin related to contact between two bodies
-
-  // so I need to find the similar type to ContactResult in MoveIt
+  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+  // Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
 
 protected:
-  tesseract::BasicEnvConstPtr env_;
-  tesseract::BasicKinConstPtr manip_;
+  
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+
   SafetyMarginDataConstPtr safety_margin_data_;
 
 private:
@@ -52,8 +51,7 @@ typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
 struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  SingleTimestepCollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                                   tesseract::BasicEnvConstPtr env,
+  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
                                    SafetyMarginDataConstPtr safety_margin_data,
                                    const sco::VarVector& vars);
   /**
@@ -61,57 +59,51 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
   ;
   Do a collision check between robot and environment.
   For each contact generated, return a linearization of the signed distance
-  function
+  function.
   */
   void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   /**
    * Same as CalcDistExpressions, but just the distances--not the expressions
    */
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) override;
   sco::VarVector GetVars() override { return m_vars; }
 private:
   sco::VarVector m_vars;
-  tesseract::DiscreteContactManagerBasePtr contact_manager_;
 };
 
 struct CastCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  CastCollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                         tesseract::BasicEnvConstPtr env,
+  CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
                          SafetyMarginDataConstPtr safety_margin_data,
                          const sco::VarVector& vars0,
                          const sco::VarVector& vars1);
   void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  void CalcCollisions(const DblVec& x,  std::vector<collision_detection::Contact>& dist_results) override;
   sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
 private:
   sco::VarVector m_vars0;
   sco::VarVector m_vars1;
-  tesseract::ContinuousContactManagerBasePtr contact_manager_;
 };
 
-class TRAJOPT_API CollisionCost : public sco::Cost, public Plotter
+// sco::Cost does not depend on tesseract. So whatever dependency is there should be here
+class TRAJOPT_API CollisionCost : public sco::Cost
 {
 public:
-  /* constructor for single timestep */
-  CollisionCost(tesseract::BasicKinConstPtr manip,
-                tesseract::BasicEnvConstPtr env,
+  /* constructor for single timestep. 
+     This constructor initializes m_calc which is type of CollisionEvaluator */
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionCost(tesseract::BasicKinConstPtr manip,
-                tesseract::BasicEnvConstPtr env,
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars0,
                 const sco::VarVector& vars1);
   virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   virtual double value(const DblVec&) override;
-  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x) override;
   sco::VarVector getVars() override { return m_calc->GetVars(); }
 private:
   CollisionEvaluatorPtr m_calc;
@@ -121,13 +113,11 @@ class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
 {
 public:
   /* constructor for single timestep */
-  CollisionConstraint(tesseract::BasicKinConstPtr manip,
-                      tesseract::BasicEnvConstPtr env,
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionConstraint(tesseract::BasicKinConstPtr manip,
-                      tesseract::BasicEnvConstPtr env,
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars0,
                       const sco::VarVector& vars1);
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD
similarity index 57%
rename from moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp
rename to moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD
index c6fe43ab13..6884cf6aa1 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD
@@ -1,45 +1,46 @@
 #pragma once
-
+#include <tesseract_core/basic_env.h>
+#include <tesseract_core/basic_kin.h>
 #include <trajopt/cache.hxx>
 #include <trajopt/common.hpp>
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/sco_fwd.hpp>
 
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/planning_scene/planning_scene.h>
-
 namespace trajopt
 {
-// template <typename T>
-// using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
-
 struct CollisionEvaluator
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                     tesseract::BasicEnvConstPtr env,
                      SafetyMarginDataConstPtr safety_margin_data)
-    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data)
+    : env_(env), manip_(manip), safety_margin_data_(safety_margin_data)
   {
   }
   virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
-  virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
-  // virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
+  virtual void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) = 0;
+  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
+  //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
   virtual sco::VarVector GetVars() = 0;
 
-  // I think we do not use cache in MoveIt, so we can delete this???
-  // I am going to use CalcCollisions straight without using this Cached function
-  // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
-  
   const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
-  // Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
-
-protected:
   
-  planning_scene::PlanningSceneConstPtr planning_scene_;
+  Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
+  // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
+  // I do not understand what it is doing exactly though
+
+  // what is ContactResultVector?
+  // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
+  // now what is ContactResult? it has all the informatin related to contact between two bodies
+
+  // so I need to find the similar type to ContactResult in MoveIt
 
+protected:
+  tesseract::BasicEnvConstPtr env_;
+  tesseract::BasicKinConstPtr manip_;
   SafetyMarginDataConstPtr safety_margin_data_;
 
 private:
@@ -51,7 +52,8 @@ typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
 struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  SingleTimestepCollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                                   tesseract::BasicEnvConstPtr env,
                                    SafetyMarginDataConstPtr safety_margin_data,
                                    const sco::VarVector& vars);
   /**
@@ -59,51 +61,57 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
   ;
   Do a collision check between robot and environment.
   For each contact generated, return a linearization of the signed distance
-  function.
+  function
   */
   void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   /**
    * Same as CalcDistExpressions, but just the distances--not the expressions
    */
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
   sco::VarVector GetVars() override { return m_vars; }
 private:
   sco::VarVector m_vars;
+  tesseract::DiscreteContactManagerBasePtr contact_manager_;
 };
 
 struct CastCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  CastCollisionEvaluator(tesseract::BasicKinConstPtr manip,
+                         tesseract::BasicEnvConstPtr env,
                          SafetyMarginDataConstPtr safety_margin_data,
                          const sco::VarVector& vars0,
                          const sco::VarVector& vars1);
   void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x,  std::vector<collision_detection::Contact>& dist_results) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
   sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
 private:
   sco::VarVector m_vars0;
   sco::VarVector m_vars1;
+  tesseract::ContinuousContactManagerBasePtr contact_manager_;
 };
 
-// sco::Cost does not depend on tesseract. So whatever dependency is there should be here
-class TRAJOPT_API CollisionCost : public sco::Cost
+class TRAJOPT_API CollisionCost : public sco::Cost, public Plotter
 {
 public:
-  /* constructor for single timestep. 
-     This constructor initializes m_calc which is type of CollisionEvaluator */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+  /* constructor for single timestep */
+  CollisionCost(tesseract::BasicKinConstPtr manip,
+                tesseract::BasicEnvConstPtr env,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionCost(tesseract::BasicKinConstPtr manip,
+                tesseract::BasicEnvConstPtr env,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars0,
                 const sco::VarVector& vars1);
   virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   virtual double value(const DblVec&) override;
+  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x) override;
   sco::VarVector getVars() override { return m_calc->GetVars(); }
 private:
   CollisionEvaluatorPtr m_calc;
@@ -113,11 +121,13 @@ class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
 {
 public:
   /* constructor for single timestep */
-  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionConstraint(tesseract::BasicKinConstPtr manip,
+                      tesseract::BasicEnvConstPtr env,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionConstraint(tesseract::BasicKinConstPtr manip,
+                      tesseract::BasicEnvConstPtr env,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars0,
                       const sco::VarVector& vars1);

From b1fb90516b4c9f204c2bd588955a9ba50ea38708 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 12 Feb 2021 15:47:11 -0700
Subject: [PATCH 603/612] adjusted CalcCollisions and CollisionstoDistance and
 CollisionsToDistanceExpressions

---
 .../trajopt/include/trajopt/basic_types.h     |  36 ++++
 .../trajopt/include/trajopt/collision_terms.h |  21 ++-
 .../trajopt/trajopt/src/collision_terms.cpp   | 178 +++++++++++-------
 .../trajopt_sco/src/modeling_utils.cpp        |   1 +
 4 files changed, 162 insertions(+), 74 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
index fb7a36e969..6af8a8d8bf 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
@@ -244,6 +244,42 @@ struct ContactResult
   }
 };
 
+// struct Contact
+// {
+//   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+//   /** \brief contact position */
+//   Eigen::Vector3d pos;
+
+//   /** \brief normal unit vector at contact */
+//   Eigen::Vector3d normal;
+
+//   /** \brief depth (penetration between bodies) */
+//   double depth;
+
+//   /** \brief The id of the first body involved in the contact */
+//   std::string body_name_1;
+
+//   /** \brief The type of the first body involved in the contact */
+//   BodyType body_type_1;
+
+//   /** \brief The id of the second body involved in the contact */
+//   std::string body_name_2;
+
+//   /** \brief The type of the second body involved in the contact */
+//   BodyType body_type_2;
+
+//   /** \brief The distance percentage between casted poses until collision.
+//    *
+//    *  If the value is 0, then the collision occured in the start pose. If the value is 1, then the collision occured in
+//    *  the end pose. */
+//   double percent_interpolation;
+
+//   /** \brief The two nearest points connecting the two bodies */
+//   Eigen::Vector3d nearest_points[2];
+// };
+
+
 // ContactResultVector: is an aligned vector which works with memory. It is a vector containing ContactResult
 typedef AlignedVector<ContactResult> ContactResultVector;
 typedef AlignedMap<std::pair<std::string, std::string>, ContactResultVector> ContactResultMap;
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index c6fe43ab13..c38de41ba9 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -26,15 +26,26 @@ struct CollisionEvaluator
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
   virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
-  // virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
+  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
+  //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
   virtual sco::VarVector GetVars() = 0;
 
+  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+
+
   // I think we do not use cache in MoveIt, so we can delete this???
   // I am going to use CalcCollisions straight without using this Cached function
   // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
   
-  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
   // Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
+  // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
+  // I do not understand what it is doing exactly though
+  // it is creating a buffer of ContactResultVector
+  Cache<size_t, std::vector<collision_detection::Contact>, 10> m_cache;
+
+  // what is ContactResultVector?
+  // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
+  // now what is ContactResult? it has all the informatin related to contact between two bodies
 
 protected:
   
@@ -84,8 +95,10 @@ struct CastCollisionEvaluator : public CollisionEvaluator
   void CalcCollisions(const DblVec& x,  std::vector<collision_detection::Contact>& dist_results) override;
   sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
 private:
-  sco::VarVector m_vars0;
-  sco::VarVector m_vars1;
+// for castcollision, swpt volume, we need two states
+  sco::VarVector m_vars0; // contains joint values for state 0
+  sco::VarVector m_vars1; // contains joint values for state 1
+
 };
 
 // sco::Cost does not depend on tesseract. So whatever dependency is there should be here
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 306a5d7cf1..9d241ff491 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -16,6 +16,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 namespace trajopt
 {
 
+// converts a vector of contacts to a vector of distances
 void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist_results, DblVec& dists)
 {
   dists.clear();
@@ -24,6 +25,7 @@ void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist
   // how to get distance from MoveIt to feed dists
   // for (auto i = 0u; i < dist_results.size(); ++i)
   //   dists.push_back(dist_results[i].distance);
+
   for (auto i = 0u; i < dist_results.size(); ++i)
     dists.push_back(dist_results[i].depth);
 }
@@ -45,7 +47,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   // typedef std::vector<Var> VarVector
   // typedef std:vector<double> DblVec
 
-  Eigen::VectorXd dofvals = sco::getVec(x, vars);
+  Eigen::VectorXd dofvals = sco::getVec(x, vars); // joint values
   // const std::vector<std::string>& link_names = manip->getLinkNames();
   const std::vector<std::string>& link_names = planning_scene->getRobotModel()->getLinkModelNames();
 
@@ -58,8 +60,6 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 
   moveit::core::RobotState& robot_state = planning_scene->getCurrentState();
   const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-  const LinkModel* link_1(res.body_name_1); // link_names[0] 
-  const LinkModel* link_2(res.body_name_2); // link_names[1] 
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
   int group_dof = group_joint_names.size();
 
@@ -71,6 +71,9 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     // const tesseract::ContactResult& res = dist_results[i];
     const collision_detection::Contact& res = dist_results[i];
 
+    const LinkModel* link_1(res.body_name_1); // link_names[0] 
+    const LinkModel* link_2(res.body_name_2); // link_names[1] 
+
     // ContactResult in the original trajopt has two bodies and a distance
     // In MoveIt, we have Contact (corresponding to ContactResult in tesseract) type
     // which has depth (penetration between bodies). I am going to use this depth 
@@ -102,7 +105,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
                                       res.nearest_points[0],
                                       jac);
       
-   /**
+   /** tesseract:
    *  Calculated jacobian at a link given joint angles
    *  jac: jacobian Output jacobian for a given link
    *  change_base: The transform from the base frame of the manipulator to the desired frame.
@@ -141,29 +144,11 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     bool succeed = robot_state.getJacobian(
                   joint_model_group,
                   link_2, 
-                  (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
+                  (isTimestep1 && (res.cc_type == trajopt::ContinouseCollisionType::CCType_Between)) ?
                    res.cc_nearest_points[1] :
                    res.nearest_points[1], 
                   jac);
-
-    // depending on ContinousCollisionType
-    // enum ContinouseCollisionType
-    // {
-    //   CCType_None,
-    //   CCType_Time0,
-    //   CCType_Time1,
-    //   CCType_Between
-    // };
-
-    // manip->calcJacobian(jac,
-    //                     change_base,
-    //                     dofvals,
-    //                     res.link_names[1],
-    //                     *state,
-    //                     (isTimestep1 && (res.cc_type == tesseract::ContinouseCollisionType::CCType_Between)) ?
-    //                         res.cc_nearest_points[1] :
-    //                         res.nearest_points[1]);
-    
+   
      
       dist_grad_b = res.normal.transpose() * jac.topRows(3);
       sco::exprInc(dist, sco::varDot(dist_grad_b, vars));
@@ -202,55 +187,82 @@ void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_
   }
 }
 
-// inline size_t hash(const DblVec& x) { return boost::hash_range(x.begin(), x.end()); }
-// // void CollisionEvaluator::GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector& dist_results)
-// void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
-// {
-//   size_t key = hash(sco::getDblVec(x, GetVars()));
-//   tesseract::ContactResultVector* it = m_cache.get(key);
-//   if (it != nullptr)
-//   {
-//     LOG_DEBUG("using cached collision check\n");
-//     dist_results = *it;
-//   }
-//   else
-//   {
-//     LOG_DEBUG("not using cached collision check\n");
-//     CalcCollisions(x, dist_results);
-//     m_cache.put(key, dist_results);
-//   }
-// }
+inline size_t hash(const DblVec& x) { return boost::hash_range(x.begin(), x.end()); }
+void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+{
+  size_t key = hash(sco::getDblVec(x, GetVars()));
+  // tesseract::ContactResultVector* it = m_cache.get(key);
+  std::vector<collision_detection::Contact>* it = m_cache.get(key);
+  
+  if (it != nullptr)
+  {
+    LOG_DEBUG("using cached collision check\n");
+    dist_results = *it;
+  }
+  else
+  {
+    LOG_DEBUG("not using cached collision check\n");
+    CalcCollisions(x, dist_results);
+    m_cache.put(key, dist_results);
+  }
+}
 
 SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
                                                                    SafetyMarginDataConstPtr safety_margin_data,
                                                                    const sco::VarVector& vars)
   : CollisionEvaluator(planning_scene, safety_margin_data), m_vars(vars)
 {
-  // contact_manager_ = env_->getDiscreteContactManager();
-  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
-  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
-                                                0.04);  // The original implementation added a margin of 0.04;
+  contact_manager_ = env_->getDiscreteContactManager();
+  contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+                                               0.04);  // The original implementation added a margin of 0.04;
 }
 
+// So, each pair has a vector of contacts, and this functions puts all of these vectors of all pairs to one big vector called dist_results
 //void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results)
 void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
 {
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars));
-
-  collision_detection::CollisionRequest collision_request;
-  collision_detection::CollisionResult collision_result;
-  planning_scene->checkCollision(collision_request, collision_result);
+  // ===> getVec is defined as:
+  // Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars) and
+  // DblVec is vector<double>
+  // VarVec is vector<Var>
+  // Var has VarRep (look in solver_interface) member which has properties like name and index 
+  // getVec extracts the index of VarRep of each Var of a VarVector and finds the element in DblVec with the 
+  // same index and creates the output as VectorXd. 
+  // Finally, getState(joint_names, joint_values)
+  // So, input x of this function, CalcCollisions, is represting the joint values 
+  // joint_values = sco::getVec(x, m_vars);
+
+  // So, I guess I need to set the robot state based on these joint values
+  Eigen::VectorXd joint_values = sco::getVec(x, m_vars);
+  std::vector<double> joint_values_DblVec = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
+  // TODO: set the state of the robot based on this joing values:
+  planning_scene->...
 
   // for (const auto& link_name : manip_->getLinkNames())
   //   contact_manager_->setCollisionObjectsTransform(link_name, state->transforms[link_name]);
+  // ====>
+  // setCollisionObjectTransform sets the transform of a collision object.
+  // contact manager has collision objects and has functions to remove/add them or 
+  // set their transforms. This is basically adding all the robot links as collision objects
+  // We already have this in planning_scene, calling fcl or bullet would consider all the robot links as collision object? 
 
   //contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
+  // ====> ContactTestTypes::ALL = > Return all contacts for a pair of objects
+
   // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
-  // ContactTestTypes::ALL = > Return all contacts for a pair of objects
-  // this moveContactResultsMapToContactResultsVector moves the elements of ContactResultVector
+  // ====> moveContactResultsMapToContactResultsVector moves the elements of ContactResultVector
   // of each ContactResultMap in contacts to one ContactResultVector called dist_results
 
+  // ===> for MoveIt
+  collision_detection::CollisionRequest collision_request;
+  collision_detection::CollisionResult collision_result;
+  planning_scene->checkCollision(collision_request, collision_result);
+  // ====> checkCollision will check for both self-collisions and for collisions with the environment
+
   // tesseract:
   // ContactResultMap => AlignedMap<std::pair<std::string, std::string>, ContactResultVector>
   // ContactResultVector: is an array of ContactResult msg
@@ -285,19 +297,18 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
 
 }
 
+// so, given a set of joint values called x, this function converts the vector of contacts to the vector of distances
 void SingleTimestepCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 {
   std::vector<collision_detection::Contact> dist_results;
-  // GetCollisionsCached(x, dist_results);
-  CalcCollisions(x, dist_results);
+  GetCollisionsCached(x, dist_results); 
   CollisionsToDistances(dist_results, dists);
 }
 
 void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
 {
   std::vector<collision_detection::Contact> dist_results;
-  // GetCollisionsCached(x, dist_results);
-  CalcCollisions(x, dist_results);
+  GetCollisionsCached(x, dist_results);
   CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars, x, exprs, false);
 
   LOG_DEBUG("%ld distance expressions\n", exprs.size());
@@ -312,38 +323,67 @@ CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneCons
                                                const sco::VarVector& vars1)
   : CollisionEvaluator(planning_scene, safety_margin_data), m_vars0(vars0), m_vars1(vars1)
 {
-  // contact_manager_ = env_->getContinuousContactManager();
-  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
-  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+  contact_manager_ = env_->getContinuousContactManager();
+  contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
                                                 0.04);  // The original implementation added a margin of 0.04;
 }
 
+// similar to CalcCollisions from SingleTimestepCollisionEvaluator except we need two states because it is the 
+// swept volume?
 void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results& dist_results)
 {
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
   // tesseract::EnvStatePtr state1 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars1));
+  // ===> so far they create two states based on two sets of joint values
+
   // for (const auto& link_name : manip_->getLinkNames())
-  //   contact_manager_->setCollisionObjectsTransform(
-  //       link_name, state0->transforms[link_name], state1->transforms[link_name]);
+  //   contact_manager_->setCollisionObjectsTransform(link_name, state0->transforms[link_name], state1->transforms[link_name]);
+  // ===>>> in here, they add two collision transforms for each link
 
+  // ===>>> in the folloinwg, considering two collision transforms for each link, they calculate all the contacts among them
   // contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
   // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
 
-  // similar to CalcCollisions from SingleTimestep...
+  // =====>>> So, I need to do it for two states as well.
+  Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars0);
+  std::vector<double> joint_values_DblVec_1 = std::vector<double>(joint_values_state_1.data(), joint_values_state_1.data() + joint_values_state_1.size());  
+  collision_detection::CollisionRequest collision_request_1;
+  collision_detection::CollisionResult collision_result_1;
+  planning_scene->checkCollision(collision_request_1, collision_result_1);
+  // TODO: set the state of the robot based on this joing values:
+  planning_scene->...
+  for (it = collision_result_1.contacts.begin(); it != collision_result_1.contacts.end(); ++it)
+  {
+      ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
+      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+  }
+
+  Eigen::VectorXd joint_values_state_2 = sco::getVec(x, m_vars1);
+  std::vector<double> joint_values_DblVec_2 = std::vector<double>(joint_values_state_2.data(), joint_values_state_2.data() + joint_values_state_2.size());
+  collision_detection::CollisionRequest collision_request_2;
+  collision_detection::CollisionResult collision_result_2;
+  planning_scene->checkCollision(collision_request_2, collision_result_2);
+  // TODO: set the state of the robot based on this joing values:
+  planning_scene->...
+  for (it = collision_result_2.contacts.begin(); it != collision_result_2.contacts.end(); ++it)
+  {
+      ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
+      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+  }
 }
+
 void CastCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
 {
   std::vector<collision_detection::Contact> dist_results;
-  // GetCollisionsCached(x, dist_results);
-  CalcCollisions(x, dist_results);
+  GetCollisionsCached(x, dist_results);
   CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars0, m_vars1, x, exprs);
 }
 void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 {
   std::vector<collision_detection::Contact> dist_results;
-  // GetCollisionsCached(x, dist_results);
-  CalcCollisions(x, dist_results);
+  GetCollisionsCached(x, dist_results);
   CollisionsToDistances(dist_results, dists);
 }
 
@@ -391,8 +431,7 @@ double CollisionCost::value(const sco::DblVec& x)
   m_calc->CalcDists(x, dists);
 
   std::vector<collision_detection::Contact> dist_results;
-  // m_calc->GetCollisionsCached(x, dist_results);
-  m_calc->CalcCollisions(x, dist_results);
+  m_calc->GetCollisionsCached(x, dist_results);
   double out = 0;
   for (std::size_t i = 0; i < dists.size(); ++i)
   {
@@ -430,8 +469,7 @@ sco::ConvexConstraintsPtr CollisionConstraint::convex(const sco::DblVec& x, sco:
   m_calc->CalcDistExpressions(x, exprs);
 
   std::vector<collision_detection::Contact> dist_results;
-  // m_calc->GetCollisionsCached(x, dist_results);
-  m_calc->CalcCollisions(x, dist_results);
+  m_calc->GetCollisionsCached(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
     const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
index 760677f0d3..421d3e79e5 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
@@ -13,6 +13,7 @@ namespace sco
 {
 const double DEFAULT_EPSILON = 1e-5;
 
+// convert a VarVector to a DblVec. Var has more properties than a single double 
 Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars)
 {
   Eigen::VectorXd out(vars.size());

From b3dab652c643cc687c1be3012c305617ddb5d329 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 12 Feb 2021 20:39:52 -0700
Subject: [PATCH 604/612] no tesseract but the functionality should be tested

---
 .../trajopt/include/trajopt/basic_types.h     |  8 +-
 .../trajopt/include/trajopt/collision_terms.h | 26 ++---
 .../trajopt/trajopt/src/collision_terms.cpp   | 96 ++++++++++---------
 3 files changed, 67 insertions(+), 63 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
index 6af8a8d8bf..6227831c92 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
@@ -23,11 +23,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-#ifndef TESSERACT_CORE_BASIC_TYPES_H
-#define TESSERACT_CORE_BASIC_TYPES_H
 
-#include <tesseract_core/macros.h>
-TESSERACT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <Eigen/StdVector>
@@ -37,7 +33,8 @@ TESSERACT_IGNORE_WARNINGS_PUSH
 #include <memory>
 #include <functional>
 #include <map>
-TESSERACT_IGNORE_WARNINGS_POP
+
+//#include <moveit/planning_scene/planning_scene.h>
 
 namespace trajopt
 {
@@ -392,4 +389,3 @@ typedef AlignedUnorderedMap<std::string, AttachedBodyInfo> AttachedBodyInfoMap;
 typedef std::unordered_map<std::string, AttachableObjectConstPtr> AttachableObjectConstPtrMap;
 }
 
-#endif  // TESSERACT_CORE_BASIC_TYPES_H
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index c38de41ba9..2742ad4ad8 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -6,7 +6,8 @@
 #include <trajopt_sco/sco_fwd.hpp>
 
 #include <moveit/robot_model/robot_model.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.h> 
+#include <moveit/collision_detection/collision_common.h>
 
 namespace trajopt
 {
@@ -17,16 +18,16 @@ struct CollisionEvaluator
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                      SafetyMarginDataConstPtr safety_margin_data)
-    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data)
+    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data), planning_group_(planning_group)
   {
   }
   virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
   virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
-  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
+  void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
   //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
   virtual sco::VarVector GetVars() = 0;
 
@@ -50,7 +51,7 @@ struct CollisionEvaluator
 protected:
   
   planning_scene::PlanningSceneConstPtr planning_scene_;
-
+  std::string planning_group_; 
   SafetyMarginDataConstPtr safety_margin_data_;
 
 private:
@@ -62,12 +63,11 @@ typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
 struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                                    SafetyMarginDataConstPtr safety_margin_data,
                                    const sco::VarVector& vars);
   /**
-  @brief linearize all contact distances in terms of robot dofs
-  ;
+  @brief linearize all contact distances in terms of robot dofs;
   Do a collision check between robot and environment.
   For each contact generated, return a linearization of the signed distance
   function.
@@ -86,7 +86,7 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 struct CastCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+  CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                          SafetyMarginDataConstPtr safety_margin_data,
                          const sco::VarVector& vars0,
                          const sco::VarVector& vars1);
@@ -107,11 +107,11 @@ class TRAJOPT_API CollisionCost : public sco::Cost
 public:
   /* constructor for single timestep. 
      This constructor initializes m_calc which is type of CollisionEvaluator */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars0,
                 const sco::VarVector& vars1);
@@ -126,11 +126,11 @@ class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
 {
 public:
   /* constructor for single timestep */
-  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+  CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars0,
                       const sco::VarVector& vars1);
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 9d241ff491..3b45cbd1a0 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -131,7 +131,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
       // exprInc: adds the second arg to the first one
       
       sco::exprInc(dist, -dist_grad_a.dot(dofvals));
-      // -dist_grad_a (dot_product) dofvals
+      // the above means: -dist_grad_a (dot_product) dofvals
     }
 
     std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), res.link_names[1]);
@@ -163,7 +163,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   }
 }
 
-void CollisionsToDistanceExpressions(const tesseract::ContactResultVector& dist_results,
+void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
                                      planning_scene::PlanningSceneConstPtr planning_scene,
                                      const sco::VarVector& vars0,
                                      const sco::VarVector& vars1,
@@ -208,15 +208,16 @@ void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collis
   }
 }
 
-SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
-                                                                   SafetyMarginDataConstPtr safety_margin_data,
-                                                                   const sco::VarVector& vars)
-  : CollisionEvaluator(planning_scene, safety_margin_data), m_vars(vars)
+SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(
+                planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+                SafetyMarginDataConstPtr safety_margin_data,
+                const sco::VarVector& vars)
+  : CollisionEvaluator(planning_scene, planning_group, safety_margin_data), m_vars(vars)
 {
-  contact_manager_ = env_->getDiscreteContactManager();
-  contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
-  contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
-                                               0.04);  // The original implementation added a margin of 0.04;
+  // contact_manager_ = env_->getDiscreteContactManager();
+  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+  //                                              0.04);  // The original implementation added a margin of 0.04;
 }
 
 // So, each pair has a vector of contacts, and this functions puts all of these vectors of all pairs to one big vector called dist_results
@@ -239,8 +240,11 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   // So, I guess I need to set the robot state based on these joint values
   Eigen::VectorXd joint_values = sco::getVec(x, m_vars);
   std::vector<double> joint_values_DblVec = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
-  // TODO: set the state of the robot based on this joing values:
-  planning_scene->...
+  robot_state::RobotState& rob_state = planning_scene_->getCurrentStateNonConst();
+  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
+  rob_state.setToDefaultValues();
+  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec);
+  rob_state.update();
 
   // for (const auto& link_name : manip_->getLinkNames())
   //   contact_manager_->setCollisionObjectsTransform(link_name, state->transforms[link_name]);
@@ -260,7 +264,7 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   // ===> for MoveIt
   collision_detection::CollisionRequest collision_request;
   collision_detection::CollisionResult collision_result;
-  planning_scene->checkCollision(collision_request, collision_result);
+  planning_scene_->checkCollision(collision_request, collision_result);
   // ====> checkCollision will check for both self-collisions and for collisions with the environment
 
   // tesseract:
@@ -317,11 +321,11 @@ void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco:
 
 ////////////////////////////////////////
 
-CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene,
+CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                                                SafetyMarginDataConstPtr safety_margin_data,
                                                const sco::VarVector& vars0,
                                                const sco::VarVector& vars1)
-  : CollisionEvaluator(planning_scene, safety_margin_data), m_vars0(vars0), m_vars1(vars1)
+  : CollisionEvaluator(planning_scene, planning_group, safety_margin_data), m_vars0(vars0), m_vars1(vars1)
 {
   contact_manager_ = env_->getContinuousContactManager();
   contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
@@ -346,28 +350,34 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collisi
   // contact_manager_->contactTest(contacts, tesseract::ContactTestTypes::ALL);
   // tesseract::moveContactResultsMapToContactResultsVector(contacts, dist_results);
 
+  // In MoveIt we do have a checkCollision function that gets the two states in continous manner
+  // when using Bullet that function will be overriden by a real continous collision checking process
+  // All I have to do here is use that function for two 
+
   // =====>>> So, I need to do it for two states as well.
-  Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars0);
+  Eigen::VectorXd joint_values_state_0 = sco::getVec(x, m_vars0);
+  std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());  
+  robot_state::RobotState& robot_state = planning_scene_->getCurrentStateNonConst();
+  const std::string PLANNING_GROUP = "panda_arm";
+  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
+  robot_state.setToDefaultValues();
+  robot_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
+  robot_state.update();
+  robot_state::RobotState robot_state_previous(robot_state);
+
+  Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars1);
   std::vector<double> joint_values_DblVec_1 = std::vector<double>(joint_values_state_1.data(), joint_values_state_1.data() + joint_values_state_1.size());  
-  collision_detection::CollisionRequest collision_request_1;
-  collision_detection::CollisionResult collision_result_1;
-  planning_scene->checkCollision(collision_request_1, collision_result_1);
-  // TODO: set the state of the robot based on this joing values:
-  planning_scene->...
-  for (it = collision_result_1.contacts.begin(); it != collision_result_1.contacts.end(); ++it)
-  {
-      ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
-      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
-  }
+  robot_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
+  robot_state.update();
+
+  // check collision between two states
+  collision_detection::CollisionRequest collision_request;
+  collision_detection::CollisionResult collision_result;
+  planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, 
+                                        collision_result, robot_state, robot_state_before);
 
-  Eigen::VectorXd joint_values_state_2 = sco::getVec(x, m_vars1);
-  std::vector<double> joint_values_DblVec_2 = std::vector<double>(joint_values_state_2.data(), joint_values_state_2.data() + joint_values_state_2.size());
-  collision_detection::CollisionRequest collision_request_2;
-  collision_detection::CollisionResult collision_result_2;
-  planning_scene->checkCollision(collision_request_2, collision_result_2);
-  // TODO: set the state of the robot based on this joing values:
-  planning_scene->...
-  for (it = collision_result_2.contacts.begin(); it != collision_result_2.contacts.end(); ++it)
+  
+  for (it = collision_result_1.contacts.begin(); it != collision_result_1.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
       dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
@@ -389,18 +399,18 @@ void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 
 //////////////////////////////////////////
 
-CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                              SafetyMarginDataConstPtr safety_margin_data,
                              const sco::VarVector& vars)
-  : Cost("collision"), m_calc(new SingleTimestepCollisionEvaluator(planning_scene, safety_margin_data, vars))
+  : Cost("collision"), m_calc(new SingleTimestepCollisionEvaluator(planning_scene, planning_group, safety_margin_data, vars))
 {
 }
 
-CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene,
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                              SafetyMarginDataConstPtr safety_margin_data,
                              const sco::VarVector& vars0,
                              const sco::VarVector& vars1)
-  : Cost("cast_collision"), m_calc(new CastCollisionEvaluator(planning_scene, safety_margin_data, vars0, vars1))
+  : Cost("cast_collision"), m_calc(new CastCollisionEvaluator(planning_scene, planning_group, safety_margin_data, vars0, vars1))
 {
 }
 
@@ -411,8 +421,7 @@ sco::ConvexObjectivePtr CollisionCost::convex(const sco::DblVec& x, sco::Model*
   m_calc->CalcDistExpressions(x, exprs);
 
   std::vector<collision_detection::Contact> dist_results;
-  // m_calc->GetCollisionsCached(x, dist_results);
-  m_calc->CalcCollisions(x, dist_results);
+  m_calc->GetCollisionsCached(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
     //??? link_name from dist_results in MoveIt 
@@ -445,7 +454,7 @@ double CollisionCost::value(const sco::DblVec& x)
 
 // ALMOST EXACTLY COPIED FROM CollisionCost
 
-CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group, 
                                          SafetyMarginDataConstPtr safety_margin_data,
                                          const sco::VarVector& vars)
   : m_calc(new SingleTimestepCollisionEvaluator(planning_scene, safety_margin_data, vars))
@@ -453,7 +462,7 @@ CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr p
   name_ = "collision";
 }
 
-CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene,
+CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
                                          SafetyMarginDataConstPtr safety_margin_data,
                                          const sco::VarVector& vars0,
                                          const sco::VarVector& vars1)
@@ -487,8 +496,7 @@ DblVec CollisionConstraint::value(const sco::DblVec& x)
   m_calc->CalcDists(x, dists);
 
   std::vector<collision_detection::Contact> dist_results;
-  // m_calc->GetCollisionsCached(x, dist_results);
-  m_calc->CalcCollisions(x, dist_results);
+  m_calc->GetCollisionsCached(x, dist_results);
   DblVec out(dists.size());
   for (std::size_t i = 0; i < dists.size(); ++i)
   {

From 0e167b164713495842c7a6e376bccca6ee5a7bb9 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 12 Feb 2021 20:48:46 -0700
Subject: [PATCH 605/612] clean

---
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 30a992ed93..3f7094bf65 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -25,9 +25,6 @@ find_package(GUROBI QUIET)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
-
-
-
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
 

From 08fc6237410f5fbbd342e0fa27ce1fd67366683d Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 12 Feb 2021 21:22:26 -0700
Subject: [PATCH 606/612] replace GetKin() with GetPlanningScene

---
 .../include/trajopt/problem_description.h       |  4 ++++
 .../trajopt/trajopt/src/problem_description.cpp | 17 ++++++++++-------
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 101f9edd37..a798330b30 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -260,6 +260,10 @@ class TrajOptProblem : public sco::OptProb
   {
     return planning_scene_;
   }
+  std::string GetPlanningGroup()
+  {
+    return planning_group_;
+  }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
     matrix_init_traj = x;
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 3fb319f3a1..d94710fb27 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -557,9 +557,9 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
     if (continuous)
     {
       for (int i = first_step; i <= last_step - gap; ++i)
-      { // ??????????
-        prob.addCost(sco::CostPtr(new CollisionCost(prob.GetKin(),
-                                                    prob.GetEnv(),
+      { 
+        prob.addCost(sco::CostPtr(new CollisionCost(prob.GetPlanningScene(),
+                                                    prob.GetPlanningGroup(),
                                                     info[static_cast<size_t>(i - first_step)],
                                                     prob.GetVarRow(i, 0, n_dof),
                                                     prob.GetVarRow(i + gap, 0, n_dof))));
@@ -571,7 +571,8 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
       for (int i = first_step; i <= last_step; ++i)
       {
         prob.addCost(sco::CostPtr(new CollisionCost(
-            prob.GetKin(), prob.GetEnv(), info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
+            prob.GetPlanningScene(), prob.GetPlanningGroup(), 
+            info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
         prob.getCosts().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
       }
     }
@@ -582,8 +583,9 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
     {
       for (int i = first_step; i < last_step; ++i)
       {
-        prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(prob.GetKin(),
-                                                                          prob.GetEnv(),
+        prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(
+                                                                          prob.GetPlanningScene(),
+                                                                          prob.GetPlanningGroup(),
                                                                           info[static_cast<size_t>(i - first_step)],
                                                                           prob.GetVarRow(i, 0, n_dof),
                                                                           prob.GetVarRow(i + 1, 0, n_dof))));
@@ -595,7 +597,8 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
       for (int i = first_step; i <= last_step; ++i)
       {
         prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(
-            prob.GetKin(), prob.GetEnv(), info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
+            prob.GetPlanningScene(), prob.GetPlanningGroup(),
+            info[static_cast<size_t>(i - first_step)], prob.GetVarRow(i, 0, n_dof))));
         prob.getIneqConstraints().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
       }
     }

From 15b40b5634e1a07a6b8db54d07338ab9bc7bd467 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sat, 13 Feb 2021 10:22:50 -0700
Subject: [PATCH 607/612] comment

---
 moveit_planners/trajopt/trajopt/src/collision_terms.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 3b45cbd1a0..9b195b1ed0 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -377,6 +377,11 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collisi
                                         collision_result, robot_state, robot_state_before);
 
   
+  // ????????
+  // should I extract the signed distance from collision_result for this swept volume collision
+  // checking? I need cc_nearest_points in CollisiontoDistanceExpression function
+
+
   for (it = collision_result_1.contacts.begin(); it != collision_result_1.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());

From 96b9e08952fe341f41b3af297d51c4c656b866c2 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 15 Feb 2021 10:48:44 -0700
Subject: [PATCH 608/612] added a conversion between Contact from MoveIt and
 ContactResult from tesseract

---
 .../trajopt/include/trajopt/basic_types.h     | 58 +++++++---------
 .../trajopt/trajopt/include/trajopt/cache.hxx |  2 +-
 .../trajopt/include/trajopt/collision_terms.h | 10 ++-
 .../trajopt/trajopt/src/collision_terms.cpp   | 66 ++++++++++++-------
 .../trajopt/src/problem_description.cpp       | 14 ++--
 5 files changed, 83 insertions(+), 67 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
index 6227831c92..c73c85c352 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
@@ -239,43 +239,31 @@ struct ContactResult
     cc_time = -1;
     cc_type = ContinouseCollisionType::CCType_None;
   }
-};
-
-// struct Contact
-// {
-//   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-//   /** \brief contact position */
-//   Eigen::Vector3d pos;
-
-//   /** \brief normal unit vector at contact */
-//   Eigen::Vector3d normal;
-
-//   /** \brief depth (penetration between bodies) */
-//   double depth;
-
-//   /** \brief The id of the first body involved in the contact */
-//   std::string body_name_1;
-
-//   /** \brief The type of the first body involved in the contact */
-//   BodyType body_type_1;
 
-//   /** \brief The id of the second body involved in the contact */
-//   std::string body_name_2;
-
-//   /** \brief The type of the second body involved in the contact */
-//   BodyType body_type_2;
-
-//   /** \brief The distance percentage between casted poses until collision.
-//    *
-//    *  If the value is 0, then the collision occured in the start pose. If the value is 1, then the collision occured in
-//    *  the end pose. */
-//   double percent_interpolation;
-
-//   /** \brief The two nearest points connecting the two bodies */
-//   Eigen::Vector3d nearest_points[2];
-// };
+  // convert collision_detection::Contact from MoveIt to trajopt::ContactResult (from tesseract)
+  ContactResult(collision_detection::Contact moveit_contact,
+                Eigen::Vector3d moveit_cc_nearest_points,
+                double moveit_cc_time,
+                ContinouseCollisionType moviet_cc_type)
+  {
+    distance = moveit_contact.depth;
+    nearest_points[0] = moveit_contact.nearest_points[0];
+    nearest_points[1] = moveit_contact.nearest_points[1];
+    link_names[0] = moveit_contact.body_name_1;
+    link_names[1] = moveit_contact.body_name_2;
+    // in tesseaerct_message: type_id # ROBOT_LINK = 0, ROBOT_ATTACHED = 1
+    type_id[0] = (moveit_contact.body_type_1 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1);
+    type_id[1] = (moveit_contact.body_type_2 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1);;
+    normal = moveit_contact.normal;
+    // to find out the correct information for the following, I probably need to look at 
+    // tesseract_collision/bullet_utils.h
+    cc_nearest_points[0] = moveit_cc_nearest_points[0]; // ???
+    cc_nearest_points[1] = moveit_cc_nearest_points[1]; // ???
+    cc_time = moveit_cc_time;
+    cc_type = moveit_cc_type;
 
+  }
+};
 
 // ContactResultVector: is an aligned vector which works with memory. It is a vector containing ContactResult
 typedef AlignedVector<ContactResult> ContactResultVector;
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
index 7fc8edaa1c..517da41c75 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
@@ -4,7 +4,7 @@ template <class KeyT, class ValueT, unsigned bufsize>
 class Cache
 {
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+//  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   KeyT keybuf[bufsize];    // circular buffer
   ValueT valbuf[bufsize];  // circular buffer
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index 2742ad4ad8..0c1340059d 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -26,6 +26,7 @@ struct CollisionEvaluator
   virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
+  // calculate the collision in planning scene
   virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
   void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
   //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
@@ -33,6 +34,13 @@ struct CollisionEvaluator
 
   const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
 
+  // CaclCollisions() : calculates the collisions in the scene
+  // CollisionsToDistance(): converts collisions contacts in the scenes to distances
+  // CollisionToDistanceExpressions(): is where acttual linearized math expressions is created
+  // CalcDistExpressions(): 
+  
+  // CalcDists():
+  // Value(): calls CalcDists()
 
   // I think we do not use cache in MoveIt, so we can delete this???
   // I am going to use CalcCollisions straight without using this Cached function
@@ -77,7 +85,7 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
    * Same as CalcDistExpressions, but just the distances--not the expressions
    */
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) override;
+  void CalcCollisions(const DblVec& x, std::vector<trajopt::CollisionResult>& dist_results) override;
   sco::VarVector GetVars() override { return m_vars; }
 private:
   sco::VarVector m_vars;
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 9b195b1ed0..056c6599c7 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -3,7 +3,8 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <boost/functional/hash.hpp>
 TRAJOPT_IGNORE_WARNINGS_POP
 
-#include <trajopt/collision_terms.hpp>
+#include <trajopt/collision_terms.h>
+#include <trajopt/basic_types.h>
 #include <trajopt/utils.hpp>
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_sco/expr_vec_ops.hpp>
@@ -31,9 +32,13 @@ void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist
 }
 
 // directly related to equation 16 in the TrajOpt paper (the version I have)
-// tesseract::ContactResultVector& dist_results
+// this function goes over all the contact in dist_results and calcualte the jac of the first link in contact
+// at the nearest point. Also it calculates the jac of the second link at the nearest point
+// However, if the collision type is set to CCType_Between, then the cc_nearest_point is used only for the 
+// second link's jacobian calculations.
 void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
                                      planning_scene::PlanningSceneConstPtr planning_scene,
+                                     std::string planning_group,
                                      const sco::VarVector& vars,
                                      const DblVec& x,
                                      sco::AffExprVector& exprs,
@@ -58,10 +63,10 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   // Eigen::Isometry3d change_base = state->transforms.at(manip->getBaseLinkName());
   // assert(change_base.isApprox(env->getState(manip->getJointNames(), dofvals)->transforms.at(manip->getBaseLinkName())));
 
-  moveit::core::RobotState& robot_state = planning_scene->getCurrentState();
-  const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
+  const moveit::core::RobotState robot_state = planning_scene->getCurrentState();
+  const robot_state::JointModelGroup* joint_model_group = robot_state.getJointModelGroup(planning_group);
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
-  int group_dof = group_joint_names.size();
+  int group_dof = (int)group_joint_names.size();
 
   exprs.clear();
   exprs.reserve(dist_results.size());
@@ -71,8 +76,12 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     // const tesseract::ContactResult& res = dist_results[i];
     const collision_detection::Contact& res = dist_results[i];
 
-    const LinkModel* link_1(res.body_name_1); // link_names[0] 
-    const LinkModel* link_2(res.body_name_2); // link_names[1] 
+    const moveit::core::LinkModel* link_0 = robot_state.getLinkModel(res.body_name_1); // link_names[0] 
+    const moveit::core::LinkModel* link_1 = robot_state.getLinkModel(res.body_name_2); // link_names[1] 
+
+    // cc_type is a member of ContactResult in tesseract and by defualt (in clear() function) is set
+    // to cc_type = ContinouseCollisionType::CCType_None; I do the same here:
+    trajopt::ContinouseCollisionType cc_type = ContinouseCollisionType::CCType_None;
 
     // ContactResult in the original trajopt has two bodies and a distance
     // In MoveIt, we have Contact (corresponding to ContactResult in tesseract) type
@@ -83,7 +92,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 
     Eigen::VectorXd dist_grad_a, dist_grad_b;
     // => find the name of linkA in collision
-    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), res.link_names[0]);
+    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), link_0);
     if (itA != link_names.end())
     {
       // => create a jacobian matrix
@@ -101,9 +110,12 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
    */
       bool succeed = robot_state.getJacobian(
                                       joint_model_group,
-                                      link_1, 
+                                      link_0, 
                                       res.nearest_points[0],
                                       jac);
+  // joint values are fixed, we are chaning links in contacts to calculate the jacobian
+
+  // what does it meant to caluclate a jacobian at a given link and point ????????
       
    /** tesseract:
    *  Calculated jacobian at a link given joint angles
@@ -134,7 +146,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
       // the above means: -dist_grad_a (dot_product) dofvals
     }
 
-    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), res.link_names[1]);
+    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), link_1);
     if (itB != link_names.end())
     {
       Eigen::MatrixXd jac;
@@ -143,12 +155,14 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     // how do I calculate cc_nearest_points, Contact in MoveIt does not have such a thing
     bool succeed = robot_state.getJacobian(
                   joint_model_group,
-                  link_2, 
-                  (isTimestep1 && (res.cc_type == trajopt::ContinouseCollisionType::CCType_Between)) ?
+                  link_1, 
+                  (isTimestep1 && (cc_type == trajopt::ContinouseCollisionType::CCType_Between)) ?
                    res.cc_nearest_points[1] :
                    res.nearest_points[1], 
                   jac);
    
+    
+
      
       dist_grad_b = res.normal.transpose() * jac.topRows(3);
       sco::exprInc(dist, sco::varDot(dist_grad_b, vars));
@@ -163,20 +177,23 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   }
 }
 
+// This function creates affine expression
 void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
                                      planning_scene::PlanningSceneConstPtr planning_scene,
+                                     std::string planning_group,
                                      const sco::VarVector& vars0,
                                      const sco::VarVector& vars1,
                                      const DblVec& x,
                                      sco::AffExprVector& exprs)
 {
   sco::AffExprVector exprs0, exprs1;
-  CollisionsToDistanceExpressions(dist_results, planning_scene, vars0, x, exprs0, false);
-  CollisionsToDistanceExpressions(dist_results, planning_scene, vars1, x, exprs1, true);
+  CollisionsToDistanceExpressions(dist_results, planning_scene, planning_group, vars0, x, exprs0, false);
+  CollisionsToDistanceExpressions(dist_results, planning_scene, planning_group, vars1, x, exprs1, true);
 
   exprs.resize(exprs0.size());
   for (std::size_t i = 0; i < exprs0.size(); ++i)
   {
+    // ??? dist_result: contact in MoveIt does not have cc_time
     assert(dist_results[i].cc_time >= 0.0 && dist_results[i].cc_time <= 1.0);
     sco::exprScale(exprs0[i], (1 - dist_results[i].cc_time));
     sco::exprScale(exprs1[i], dist_results[i].cc_time);
@@ -313,7 +330,7 @@ void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco:
 {
   std::vector<collision_detection::Contact> dist_results;
   GetCollisionsCached(x, dist_results);
-  CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars, x, exprs, false);
+  CollisionsToDistanceExpressions(dist_results, planning_scene_, planning_group_, m_vars, x, exprs, false);
 
   LOG_DEBUG("%ld distance expressions\n", exprs.size());
 }
@@ -335,7 +352,7 @@ CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneCons
 
 // similar to CalcCollisions from SingleTimestepCollisionEvaluator except we need two states because it is the 
 // swept volume?
-void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results& dist_results)
+void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<trajopt::ContactResult>& dist_results)
 {
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
@@ -358,7 +375,6 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collisi
   Eigen::VectorXd joint_values_state_0 = sco::getVec(x, m_vars0);
   std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());  
   robot_state::RobotState& robot_state = planning_scene_->getCurrentStateNonConst();
-  const std::string PLANNING_GROUP = "panda_arm";
   const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
   robot_state.setToDefaultValues();
   robot_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
@@ -372,19 +388,21 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collisi
 
   // check collision between two states
   collision_detection::CollisionRequest collision_request;
+  // ??????? should we set the planning group in collision_request?
   collision_detection::CollisionResult collision_result;
   planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, 
-                                        collision_result, robot_state, robot_state_before);
+                                        collision_result, robot_state, robot_state_previous);
 
-  
-  // ????????
-  // should I extract the signed distance from collision_result for this swept volume collision
-  // checking? I need cc_nearest_points in CollisiontoDistanceExpression function
 
+  // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here
+  
 
-  for (it = collision_result_1.contacts.begin(); it != collision_result_1.contacts.end(); ++it)
+  for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
+
+
+
       dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
   }
 }
@@ -393,7 +411,7 @@ void CastCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVe
 {
   std::vector<collision_detection::Contact> dist_results;
   GetCollisionsCached(x, dist_results);
-  CollisionsToDistanceExpressions(dist_results, env_, manip_, m_vars0, m_vars1, x, exprs);
+  CollisionsToDistanceExpressions(dist_results, planning_scene_, planning_group_, m_vars0, m_vars1, x, exprs);
 }
 void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 {
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index d94710fb27..4a1bb292d9 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -50,6 +50,7 @@
 #include <trajopt/trajectory_costs.hpp>
 #include <trajopt/kinematic_terms.h>
 #include "trajopt/problem_description.h"
+#include "trajopt/collision_terms.h"
 
 /**
  * @brief Checks the size of the parameter given and throws if incorrect
@@ -548,7 +549,8 @@ void JointVelTermInfo::addObjectiveTerms(TrajOptProblem& prob)
 }
 
 void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
-{
+{  
+
   //int n_dof = static_cast<int>(prob.GetKin()->numJoints());
   unsigned int n_dof = prob.GetNumDOF();
 
@@ -584,11 +586,11 @@ void CollisionTermInfo::addObjectiveTerms(TrajOptProblem& prob)
       for (int i = first_step; i < last_step; ++i)
       {
         prob.addIneqConstraint(sco::ConstraintPtr(new CollisionConstraint(
-                                                                          prob.GetPlanningScene(),
-                                                                          prob.GetPlanningGroup(),
-                                                                          info[static_cast<size_t>(i - first_step)],
-                                                                          prob.GetVarRow(i, 0, n_dof),
-                                                                          prob.GetVarRow(i + 1, 0, n_dof))));
+                                                            prob.GetPlanningScene(),
+                                                            prob.GetPlanningGroup(),
+                                                            info[static_cast<size_t>(i - first_step)],
+                                                            prob.GetVarRow(i, 0, n_dof),
+                                                            prob.GetVarRow(i + 1, 0, n_dof))));
         prob.getIneqConstraints().back()->setName((boost::format("%s_%i") % name.c_str() % i).str());
       }
     }

From 83dd55189d6f715bac333bf14e09ca710339e0d9 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 15 Feb 2021 10:56:05 -0700
Subject: [PATCH 609/612] test

---
 moveit_planners/trajopt/trajopt/src/collision_terms.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 056c6599c7..9273bd51a6 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -394,7 +394,7 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<trajopt
                                         collision_result, robot_state, robot_state_previous);
 
 
-  // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here
+  // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here. test
   
 
   for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)

From bb46e3a1ce2e64f47f4c38875b01543a4e76150d Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Mon, 15 Feb 2021 21:50:35 -0700
Subject: [PATCH 610/612] use PlanningScene

---
 .../trajopt/include/trajopt/basic_types.h     |  14 +-
 .../trajopt/trajopt/include/trajopt/cache.hxx |   3 +-
 .../trajopt/include/trajopt/collision_terms.h |  14 +-
 .../trajopt/trajopt/src/collision_terms.cpp   | 150 +++++++++++-------
 4 files changed, 108 insertions(+), 73 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
index c73c85c352..bede4010c9 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/basic_types.h
@@ -34,6 +34,7 @@
 #include <functional>
 #include <map>
 
+#include <moveit/collision_detection/collision_common.h>
 //#include <moveit/planning_scene/planning_scene.h>
 
 namespace trajopt
@@ -242,9 +243,9 @@ struct ContactResult
 
   // convert collision_detection::Contact from MoveIt to trajopt::ContactResult (from tesseract)
   ContactResult(collision_detection::Contact moveit_contact,
-                Eigen::Vector3d moveit_cc_nearest_points,
+                Eigen::Vector3d moveit_cc_nearest_points[2],
                 double moveit_cc_time,
-                ContinouseCollisionType moviet_cc_type)
+                ContinouseCollisionType moveit_cc_type)
   {
     distance = moveit_contact.depth;
     nearest_points[0] = moveit_contact.nearest_points[0];
@@ -252,16 +253,15 @@ struct ContactResult
     link_names[0] = moveit_contact.body_name_1;
     link_names[1] = moveit_contact.body_name_2;
     // in tesseaerct_message: type_id # ROBOT_LINK = 0, ROBOT_ATTACHED = 1
-    type_id[0] = (moveit_contact.body_type_1 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1);
-    type_id[1] = (moveit_contact.body_type_2 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1);;
+    type_id[0] = (moveit_contact.body_type_1 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1;
+    type_id[1] = (moveit_contact.body_type_2 == collision_detection::BodyTypes::Type::ROBOT_LINK) ? 0 : 1;
     normal = moveit_contact.normal;
     // to find out the correct information for the following, I probably need to look at 
     // tesseract_collision/bullet_utils.h
-    cc_nearest_points[0] = moveit_cc_nearest_points[0]; // ???
-    cc_nearest_points[1] = moveit_cc_nearest_points[1]; // ???
+    cc_nearest_points[0] = moveit_cc_nearest_points[0]; 
+    cc_nearest_points[1] = moveit_cc_nearest_points[1]; 
     cc_time = moveit_cc_time;
     cc_type = moveit_cc_type;
-
   }
 };
 
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
index 517da41c75..c527ace0e0 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
@@ -1,10 +1,11 @@
 #pragma once
+#include <algorithm> 
 
 template <class KeyT, class ValueT, unsigned bufsize>
 class Cache
 {
 public:
-//  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  //EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   KeyT keybuf[bufsize];    // circular buffer
   ValueT valbuf[bufsize];  // circular buffer
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index 0c1340059d..ff34a624bf 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -4,11 +4,13 @@
 #include <trajopt/common.hpp>
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt/basic_types.h>
 
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h> 
 #include <moveit/collision_detection/collision_common.h>
 
+
 namespace trajopt
 {
 // template <typename T>
@@ -27,8 +29,8 @@ struct CollisionEvaluator
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
   // calculate the collision in planning scene
-  virtual void CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results) = 0;
-  void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
+  virtual void CalcCollisions(const DblVec& x, ContactResultVector& dist_results) = 0;
+  void GetCollisionsCached(const DblVec& x, ContactResultVector& dist_results);
   //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
   virtual sco::VarVector GetVars() = 0;
 
@@ -46,11 +48,11 @@ struct CollisionEvaluator
   // I am going to use CalcCollisions straight without using this Cached function
   // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
   
-  // Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
+  Cache<size_t, trajopt::ContactResultVector, 10> m_cache;
   // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
   // I do not understand what it is doing exactly though
   // it is creating a buffer of ContactResultVector
-  Cache<size_t, std::vector<collision_detection::Contact>, 10> m_cache;
+  // Cache<size_t, std::vector<collision_detection::Contact>, 10> m_cache;
 
   // what is ContactResultVector?
   // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
@@ -85,7 +87,7 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
    * Same as CalcDistExpressions, but just the distances--not the expressions
    */
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, std::vector<trajopt::CollisionResult>& dist_results) override;
+  void CalcCollisions(const DblVec& x, ContactResultVector& dist_results) override;
   sco::VarVector GetVars() override { return m_vars; }
 private:
   sco::VarVector m_vars;
@@ -100,7 +102,7 @@ struct CastCollisionEvaluator : public CollisionEvaluator
                          const sco::VarVector& vars1);
   void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x,  std::vector<collision_detection::Contact>& dist_results) override;
+  void CalcCollisions(const DblVec& x,  ContactResultVector& dist_results) override;
   sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
 private:
 // for castcollision, swpt volume, we need two states
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 9273bd51a6..837b124674 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -4,7 +4,7 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt/collision_terms.h>
-#include <trajopt/basic_types.h>
+//#include <trajopt/basic_types.h>
 #include <trajopt/utils.hpp>
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_sco/expr_vec_ops.hpp>
@@ -14,21 +14,23 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_utils/logging.hpp>
 #include <trajopt_utils/stl_to_string.hpp>
 
+#include <moveit/collision_detection/collision_common.h>
+
 namespace trajopt
 {
 
 // converts a vector of contacts to a vector of distances
-void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist_results, DblVec& dists)
+void CollisionsToDistances(const trajopt::ContactResultVector& dist_results, DblVec& dists)
 {
   dists.clear();
   dists.reserve(dist_results.size());
 
   // how to get distance from MoveIt to feed dists
-  // for (auto i = 0u; i < dist_results.size(); ++i)
-  //   dists.push_back(dist_results[i].distance);
-
   for (auto i = 0u; i < dist_results.size(); ++i)
-    dists.push_back(dist_results[i].depth);
+    dists.push_back(dist_results[i].distance);
+
+  // for (auto i = 0u; i < dist_results.size(); ++i)
+  //   dists.push_back(dist_results[i].depth);
 }
 
 // directly related to equation 16 in the TrajOpt paper (the version I have)
@@ -36,7 +38,7 @@ void CollisionsToDistances(const std::vector<collision_detection::Contact>& dist
 // at the nearest point. Also it calculates the jac of the second link at the nearest point
 // However, if the collision type is set to CCType_Between, then the cc_nearest_point is used only for the 
 // second link's jacobian calculations.
-void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
+void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_results,
                                      planning_scene::PlanningSceneConstPtr planning_scene,
                                      std::string planning_group,
                                      const sco::VarVector& vars,
@@ -74,10 +76,10 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
   {
     // => for each ContactResult in the total ContactResultVector that contains all the contacts of each pair and all the pairs
     // const tesseract::ContactResult& res = dist_results[i];
-    const collision_detection::Contact& res = dist_results[i];
+    const trajopt::ContactResult& res = dist_results[i];
 
-    const moveit::core::LinkModel* link_0 = robot_state.getLinkModel(res.body_name_1); // link_names[0] 
-    const moveit::core::LinkModel* link_1 = robot_state.getLinkModel(res.body_name_2); // link_names[1] 
+    const moveit::core::LinkModel* link_0 = robot_state.getLinkModel(res.link_names[0]);  
+    const moveit::core::LinkModel* link_1 = robot_state.getLinkModel(res.link_names[1]); 
 
     // cc_type is a member of ContactResult in tesseract and by defualt (in clear() function) is set
     // to cc_type = ContinouseCollisionType::CCType_None; I do the same here:
@@ -86,13 +88,13 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
     // ContactResult in the original trajopt has two bodies and a distance
     // In MoveIt, we have Contact (corresponding to ContactResult in tesseract) type
     // which has depth (penetration between bodies). I am going to use this depth 
-    // sco::AffExpr dist(res.distance);
-    sco::AffExpr dist(res.depth); // depth could be positive or negative, if I use bullet
+    sco::AffExpr dist(res.distance);
+    // sco::AffExpr dist(res.depth); // depth could be positive or negative, if I use bullet
     // is that a problem here?
 
     Eigen::VectorXd dist_grad_a, dist_grad_b;
     // => find the name of linkA in collision
-    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), link_0);
+    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), link_0->getName());
     if (itA != link_names.end())
     {
       // => create a jacobian matrix
@@ -146,7 +148,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
       // the above means: -dist_grad_a (dot_product) dofvals
     }
 
-    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), link_1);
+    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), link_1->getName());
     if (itB != link_names.end())
     {
       Eigen::MatrixXd jac;
@@ -178,7 +180,7 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 }
 
 // This function creates affine expression
-void CollisionsToDistanceExpressions(const std::vector<collision_detection::Contact>& dist_results,
+void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_results,
                                      planning_scene::PlanningSceneConstPtr planning_scene,
                                      std::string planning_group,
                                      const sco::VarVector& vars0,
@@ -205,12 +207,11 @@ void CollisionsToDistanceExpressions(const std::vector<collision_detection::Cont
 }
 
 inline size_t hash(const DblVec& x) { return boost::hash_range(x.begin(), x.end()); }
-void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
-void CollisionEvaluator::GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+
+void CollisionEvaluator::GetCollisionsCached(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
   size_t key = hash(sco::getDblVec(x, GetVars()));
-  // tesseract::ContactResultVector* it = m_cache.get(key);
-  std::vector<collision_detection::Contact>* it = m_cache.get(key);
+  trajopt::ContactResultVector* it = m_cache.get(key);
   
   if (it != nullptr)
   {
@@ -239,7 +240,7 @@ SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(
 
 // So, each pair has a vector of contacts, and this functions puts all of these vectors of all pairs to one big vector called dist_results
 //void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results)
-void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<collision_detection::Contact>& dist_results)
+void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars));
@@ -257,8 +258,8 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   // So, I guess I need to set the robot state based on these joint values
   Eigen::VectorXd joint_values = sco::getVec(x, m_vars);
   std::vector<double> joint_values_DblVec = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
-  robot_state::RobotState& rob_state = planning_scene_->getCurrentStateNonConst();
-  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
+  moveit::core::RobotState rob_state = planning_scene_->getCurrentState();
+  const moveit::core::JointModelGroup* joint_model_group = rob_state.getJointModelGroup(planning_group_);
   rob_state.setToDefaultValues();
   rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec);
   rob_state.update();
@@ -309,11 +310,24 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
   // Fill dist_result with all the Contacts of all the collision pairs. Each pair has a vector of contacts
   // and we have many pairs. Here we are putting all of these contact to one big vector. Not sure why that is ???
   // This happens in moveContactResultsMapToContactResultsVector
-  for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
+  for (auto it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
-      // std::move(it->second.begin(), it->second.end(), dist_results)      
-      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+      
+      std::vector<collision_detection::Contact> contact_vector = it->second;
+      for(size_t k = 0; k < contact_vector.size(); ++k)
+      {
+        // convert Contact from MoveIt to ContactResult ????
+        Eigen::Vector3d moveit_cc_nearest_points[2] = contact_vector[k].nearest_points;
+        double moveit_cc_time = -1;
+        trajopt::ContinouseCollisionType moviet_cc_type = trajopt::ContinouseCollisionType::CCType_None;
+
+        ContactResult contact_result(contact_vector[k],
+                                     moveit_cc_nearest_points,
+                                     moveit_cc_time,
+                                     moviet_cc_type);
+        dist_results.push_back(contact_result);
+      }
   }
 
 }
@@ -321,14 +335,14 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, std::vect
 // so, given a set of joint values called x, this function converts the vector of contacts to the vector of distances
 void SingleTimestepCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 {
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   GetCollisionsCached(x, dist_results); 
   CollisionsToDistances(dist_results, dists);
 }
 
 void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
 {
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   GetCollisionsCached(x, dist_results);
   CollisionsToDistanceExpressions(dist_results, planning_scene_, planning_group_, m_vars, x, exprs, false);
 
@@ -344,15 +358,15 @@ CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneCons
                                                const sco::VarVector& vars1)
   : CollisionEvaluator(planning_scene, planning_group, safety_margin_data), m_vars0(vars0), m_vars1(vars1)
 {
-  contact_manager_ = env_->getContinuousContactManager();
-  contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
-  contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
-                                                0.04);  // The original implementation added a margin of 0.04;
+  // contact_manager_ = env_->getContinuousContactManager();
+  // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
+  // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
+  //                                               0.04);  // The original implementation added a margin of 0.04;
 }
 
 // similar to CalcCollisions from SingleTimestepCollisionEvaluator except we need two states because it is the 
 // swept volume?
-void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<trajopt::ContactResult>& dist_results)
+void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
@@ -374,48 +388,66 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, std::vector<trajopt
   // =====>>> So, I need to do it for two states as well.
   Eigen::VectorXd joint_values_state_0 = sco::getVec(x, m_vars0);
   std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());  
-  robot_state::RobotState& robot_state = planning_scene_->getCurrentStateNonConst();
-  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
-  robot_state.setToDefaultValues();
-  robot_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
-  robot_state.update();
-  robot_state::RobotState robot_state_previous(robot_state);
+  robot_state::RobotState rob_state = planning_scene_->getCurrentState();
+  const moveit::core::JointModelGroup* joint_model_group = rob_state.getJointModelGroup(planning_group_);
+  rob_state.setToDefaultValues();
+  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
+  rob_state.update();
+  robot_state::RobotState rob_state_previous(rob_state);
 
   Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars1);
   std::vector<double> joint_values_DblVec_1 = std::vector<double>(joint_values_state_1.data(), joint_values_state_1.data() + joint_values_state_1.size());  
-  robot_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
-  robot_state.update();
+  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
+  rob_state.update();
 
   // check collision between two states
   collision_detection::CollisionRequest collision_request;
   // ??????? should we set the planning group in collision_request?
   collision_detection::CollisionResult collision_result;
   planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, 
-                                        collision_result, robot_state, robot_state_previous);
+                                        collision_result, rob_state, rob_state_previous);
 
 
   // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here. test
   
+  // when we use bullet in MoveIt, CollisionResult returns all the contacts in the scene by ContactMap data type.
+  // ContactMap < <link_1, link_2>, vector<contact>>
+  // when using bullet, vector<Contact> has only one member while fcl might return multiple contact points for 
+  // each pair in contact
 
-  for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
+  for (auto it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
 
-
-
-      dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+      // using bullet returns one contact point per pair of contact objects but just in case, I traverse through
+      // all the element of the vector<collision_detection::Contact>
+      std::vector<collision_detection::Contact> contact_vector = it->second;
+      for(size_t k = 0; k < contact_vector.size(); ++k)
+      {
+        // convert Contact from MoveIt to ContactResult ????
+        Eigen::Vector3d moveit_cc_nearest_points[2] = contact_vector[k].nearest_points;
+        double moveit_cc_time = 0.5;
+        trajopt::ContinouseCollisionType moviet_cc_type = trajopt::ContinouseCollisionType::CCType_Between;
+
+        ContactResult contact_result(contact_vector[k],
+                                     moveit_cc_nearest_points,
+                                     moveit_cc_time,
+                                     moviet_cc_type);
+        dist_results.push_back(contact_result);
+      }
+      // dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
   }
 }
 
 void CastCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs)
 {
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   GetCollisionsCached(x, dist_results);
   CollisionsToDistanceExpressions(dist_results, planning_scene_, planning_group_, m_vars0, m_vars1, x, exprs);
 }
 void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 {
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   GetCollisionsCached(x, dist_results);
   CollisionsToDistances(dist_results, dists);
 }
@@ -443,13 +475,13 @@ sco::ConvexObjectivePtr CollisionCost::convex(const sco::DblVec& x, sco::Model*
   sco::AffExprVector exprs;
   m_calc->CalcDistExpressions(x, exprs);
 
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   m_calc->GetCollisionsCached(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
     //??? link_name from dist_results in MoveIt 
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
-                                                                                         dist_results[i].body_name_2);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
 
     sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
     out->addHinge(viol, data[1]);
@@ -462,14 +494,14 @@ double CollisionCost::value(const sco::DblVec& x)
   DblVec dists;
   m_calc->CalcDists(x, dists);
 
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   m_calc->GetCollisionsCached(x, dist_results);
   double out = 0;
   for (std::size_t i = 0; i < dists.size(); ++i)
   {
     //??? link_name from dist_results in MoveIt 
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
-                                                                                         dist_results[i].body_name_2);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
     out += sco::pospart(data[0] - dists[i]) * data[1];
   }
   return out;
@@ -480,7 +512,7 @@ double CollisionCost::value(const sco::DblVec& x)
 CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group, 
                                          SafetyMarginDataConstPtr safety_margin_data,
                                          const sco::VarVector& vars)
-  : m_calc(new SingleTimestepCollisionEvaluator(planning_scene, safety_margin_data, vars))
+  : m_calc(new SingleTimestepCollisionEvaluator(planning_scene, planning_group, safety_margin_data, vars))
 {
   name_ = "collision";
 }
@@ -489,7 +521,7 @@ CollisionConstraint::CollisionConstraint(planning_scene::PlanningSceneConstPtr p
                                          SafetyMarginDataConstPtr safety_margin_data,
                                          const sco::VarVector& vars0,
                                          const sco::VarVector& vars1)
-  : m_calc(new CastCollisionEvaluator(planning_scene, safety_margin_data, vars0, vars1))
+  : m_calc(new CastCollisionEvaluator(planning_scene, planning_group, safety_margin_data, vars0, vars1))
 {
   name_ = "collision";
 }
@@ -500,12 +532,12 @@ sco::ConvexConstraintsPtr CollisionConstraint::convex(const sco::DblVec& x, sco:
   sco::AffExprVector exprs;
   m_calc->CalcDistExpressions(x, exprs);
 
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   m_calc->GetCollisionsCached(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
-    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].body_name_1,
-                                                                                         dist_results[i].body_name_1);
+    const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
+                                                                                         dist_results[i].link_names[1]);
 
     sco::AffExpr viol = sco::exprSub(sco::AffExpr(data[0]), exprs[i]);
     out->addIneqCnt(sco::exprMult(viol, data[1]));
@@ -518,7 +550,7 @@ DblVec CollisionConstraint::value(const sco::DblVec& x)
   DblVec dists;
   m_calc->CalcDists(x, dists);
 
-  std::vector<collision_detection::Contact> dist_results;
+  trajopt::ContactResultVector dist_results;
   m_calc->GetCollisionsCached(x, dist_results);
   DblVec out(dists.size());
   for (std::size_t i = 0; i < dists.size(); ++i)

From 74178666f2440925dda026ad4d0b6097af137f58 Mon Sep 17 00:00:00 2001
From: Omid <homidari@gmail.com>
Date: Fri, 30 Apr 2021 08:00:27 -0600
Subject: [PATCH 611/612] implemented planning scene for collision term too. It
 seems to be correct. Just used it with FCL and singletimestep not continous
 collision checking yet.

---
 .../trajopt/include/trajopt/collision_terms.h |  32 ++--
 .../include/trajopt/collision_terms.h~HEAD    | 141 -----------------
 .../include/trajopt/problem_description.h     |  16 +-
 .../trajopt/trajopt/include/trajopt/utils.hpp |  17 ++
 .../trajopt/trajopt/src/collision_terms.cpp   | 149 ++++++++++++++----
 .../trajopt/src/problem_description.cpp       |   3 +
 .../src/trajopt_interface.cpp                 |  20 ++-
 .../src/trajopt_planner_manager.cpp           |  11 +-
 .../src/trajopt_planning_context.cpp          |   1 +
 9 files changed, 190 insertions(+), 200 deletions(-)
 delete mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index ff34a624bf..348d53e52c 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -20,10 +20,17 @@ struct CollisionEvaluator
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  CollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+  CollisionEvaluator(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                      SafetyMarginDataConstPtr safety_margin_data)
-    : planning_scene_(planning_scene), safety_margin_data_(safety_margin_data), planning_group_(planning_group)
+    :safety_margin_data_(safety_margin_data), planning_group_(planning_group)
   {
+    // we need a child of planning scene so I can do the changing robot states and do collsiiong detenction    
+    planning_scene_ = planning_scene->diff();
+    // planning_scene_->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create(), true);
+
+
+    // OR
+    //planning_scene_ = planning_scene::PlanningScene::clone(planning_scene);
   }
   virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
@@ -44,10 +51,6 @@ struct CollisionEvaluator
   // CalcDists():
   // Value(): calls CalcDists()
 
-  // I think we do not use cache in MoveIt, so we can delete this???
-  // I am going to use CalcCollisions straight without using this Cached function
-  // void GetCollisionsCached(const DblVec& x, std::vector<collision_detection::Contact>& dist_results);
-  
   Cache<size_t, trajopt::ContactResultVector, 10> m_cache;
   // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
   // I do not understand what it is doing exactly though
@@ -59,8 +62,15 @@ struct CollisionEvaluator
   // now what is ContactResult? it has all the informatin related to contact between two bodies
 
 protected:
-  
-  planning_scene::PlanningSceneConstPtr planning_scene_;
+  //from MoveIt macros:
+  // typedef std::shared_ptr<const PlanningScene> PlanningSceneConstPtr;
+  // the object the pointer is pointing to is const, i.e. the planning scene is constant
+  // Also, PlanningScen is noncopyable
+  // setActiveCollisionDetector is a non-const member of PlanningScene which is not accisible from 
+  // a PlanningSceneConstPtr. So I have to deal with the const ptr of planning scene here and 
+  // let the user set the collision detector to bullet
+
+  planning_scene::PlanningScenePtr planning_scene_;
   std::string planning_group_; 
   SafetyMarginDataConstPtr safety_margin_data_;
 
@@ -73,7 +83,7 @@ typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
 struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 {
 public:
-  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+  SingleTimestepCollisionEvaluator(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                                    SafetyMarginDataConstPtr safety_margin_data,
                                    const sco::VarVector& vars);
   /**
@@ -117,11 +127,11 @@ class TRAJOPT_API CollisionCost : public sco::Cost
 public:
   /* constructor for single timestep. 
      This constructor initializes m_calc which is type of CollisionEvaluator */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+  CollisionCost(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars);
   /* constructor for cast cost */
-  CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+  CollisionCost(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars0,
                 const sco::VarVector& vars1);
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD
deleted file mode 100644
index 6884cf6aa1..0000000000
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h~HEAD
+++ /dev/null
@@ -1,141 +0,0 @@
-#pragma once
-#include <tesseract_core/basic_env.h>
-#include <tesseract_core/basic_kin.h>
-#include <trajopt/cache.hxx>
-#include <trajopt/common.hpp>
-#include <trajopt_sco/modeling.hpp>
-#include <trajopt_sco/sco_fwd.hpp>
-
-namespace trajopt
-{
-struct CollisionEvaluator
-{
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  CollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                     tesseract::BasicEnvConstPtr env,
-                     SafetyMarginDataConstPtr safety_margin_data)
-    : env_(env), manip_(manip), safety_margin_data_(safety_margin_data)
-  {
-  }
-  virtual ~CollisionEvaluator() = default;
-  virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
-  virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
-  virtual void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) = 0;
-  void GetCollisionsCached(const DblVec& x, tesseract::ContactResultVector&);
-  //virtual void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) = 0;
-  virtual sco::VarVector GetVars() = 0;
-
-  const SafetyMarginDataConstPtr getSafetyMarginData() const { return safety_margin_data_; }
-  
-  Cache<size_t, tesseract::ContactResultVector, 10> m_cache;
-  // this calss is not dependent to any  tesseract stuff, I just need to figure out ContactResulVector that is passed to it
-  // I do not understand what it is doing exactly though
-
-  // what is ContactResultVector?
-  // is an aligned vector which works with memory. Basically, it is a vector containing ContactResult
-  // now what is ContactResult? it has all the informatin related to contact between two bodies
-
-  // so I need to find the similar type to ContactResult in MoveIt
-
-protected:
-  tesseract::BasicEnvConstPtr env_;
-  tesseract::BasicKinConstPtr manip_;
-  SafetyMarginDataConstPtr safety_margin_data_;
-
-private:
-  CollisionEvaluator() {}
-};
-
-typedef std::shared_ptr<CollisionEvaluator> CollisionEvaluatorPtr;
-
-struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
-{
-public:
-  SingleTimestepCollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                                   tesseract::BasicEnvConstPtr env,
-                                   SafetyMarginDataConstPtr safety_margin_data,
-                                   const sco::VarVector& vars);
-  /**
-  @brief linearize all contact distances in terms of robot dofs
-  ;
-  Do a collision check between robot and environment.
-  For each contact generated, return a linearization of the signed distance
-  function
-  */
-  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
-  /**
-   * Same as CalcDistExpressions, but just the distances--not the expressions
-   */
-  void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
-  sco::VarVector GetVars() override { return m_vars; }
-private:
-  sco::VarVector m_vars;
-  tesseract::DiscreteContactManagerBasePtr contact_manager_;
-};
-
-struct CastCollisionEvaluator : public CollisionEvaluator
-{
-public:
-  CastCollisionEvaluator(tesseract::BasicKinConstPtr manip,
-                         tesseract::BasicEnvConstPtr env,
-                         SafetyMarginDataConstPtr safety_margin_data,
-                         const sco::VarVector& vars0,
-                         const sco::VarVector& vars1);
-  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
-  void CalcDists(const DblVec& x, DblVec& exprs) override;
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
-  sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
-private:
-  sco::VarVector m_vars0;
-  sco::VarVector m_vars1;
-  tesseract::ContinuousContactManagerBasePtr contact_manager_;
-};
-
-class TRAJOPT_API CollisionCost : public sco::Cost, public Plotter
-{
-public:
-  /* constructor for single timestep */
-  CollisionCost(tesseract::BasicKinConstPtr manip,
-                tesseract::BasicEnvConstPtr env,
-                SafetyMarginDataConstPtr safety_margin_data,
-                const sco::VarVector& vars);
-  /* constructor for cast cost */
-  CollisionCost(tesseract::BasicKinConstPtr manip,
-                tesseract::BasicEnvConstPtr env,
-                SafetyMarginDataConstPtr safety_margin_data,
-                const sco::VarVector& vars0,
-                const sco::VarVector& vars1);
-  virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
-  virtual double value(const DblVec&) override;
-  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x) override;
-  sco::VarVector getVars() override { return m_calc->GetVars(); }
-private:
-  CollisionEvaluatorPtr m_calc;
-};
-
-class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
-{
-public:
-  /* constructor for single timestep */
-  CollisionConstraint(tesseract::BasicKinConstPtr manip,
-                      tesseract::BasicEnvConstPtr env,
-                      SafetyMarginDataConstPtr safety_margin_data,
-                      const sco::VarVector& vars);
-  /* constructor for cast cost */
-  CollisionConstraint(tesseract::BasicKinConstPtr manip,
-                      tesseract::BasicEnvConstPtr env,
-                      SafetyMarginDataConstPtr safety_margin_data,
-                      const sco::VarVector& vars0,
-                      const sco::VarVector& vars1);
-  virtual sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
-  virtual DblVec value(const DblVec&) override;
-  void Plot(const DblVec& x);
-  sco::VarVector getVars() override { return m_calc->GetVars(); }
-private:
-  CollisionEvaluatorPtr m_calc;
-};
-}
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index a798330b30..30b335272d 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -88,6 +88,9 @@ MOVEIT_CLASS_FORWARD(CartPoseTermInfo);  // Defines CartPoseTermInfoPtr, ConstPt
 struct JointVelTermInfo;
 MOVEIT_CLASS_FORWARD(JointVelTermInfo);  // Defines JointVelTermInfoPtr, ConstPtr, WeakPtr... etc
 
+struct CollisionTermInfo;
+MOVEIT_CLASS_FORWARD(CollisionTermInfo);  // Defines JointVelTermInfoPtr, ConstPtr, WeakPtr... etc
+
 struct ProblemInfo;
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
@@ -256,7 +259,7 @@ class TrajOptProblem : public sco::OptProb
   {
     return dof_;
   }
-  planning_scene::PlanningSceneConstPtr GetPlanningScene()
+  planning_scene::PlanningSceneConstPtr& GetPlanningScene()
   {
     return planning_scene_;
   }
@@ -415,13 +418,6 @@ struct CollisionTermInfo : public TermInfo
   /** @brief optimization, etc. */
   std::vector<SafetyMarginDataPtr> info;
 
-  /** @brief Used to add term to pci from json */
-  // void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
-
-  CollisionTermInfo() : TermInfo(TT_COST | TT_CNT) 
-  {
-  }
-
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void addObjectiveTerms(TrajOptProblem& prob) override;
 
@@ -430,6 +426,10 @@ struct CollisionTermInfo : public TermInfo
     TermInfoPtr out(new CollisionTermInfo());
     return out;
   }
+
+  CollisionTermInfo() : TermInfo(TT_COST | TT_CNT) 
+  {
+  }
 };
 
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
index 710f21d42b..c517dfe4bd 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
@@ -6,6 +6,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt/typedefs.hpp>
 
+#include <iostream>
+
 namespace trajopt
 {
 template <typename Key, typename Value>
@@ -149,4 +151,19 @@ inline std::vector<SafetyMarginDataPtr> createSafetyMarginDataVector(int num_ele
   }
   return info;
 }
+
+/**
+ * Print a vector
+ * */
+template <typename K>
+void printVector(std::string str, std::vector<K> v)
+{
+  std::stringstream ss;
+  ss << str << " ";
+  for (std::size_t i = 0; i < v.size(); ++i)
+      ss << v[i] << " ";
+
+  std::cout << ss.str() << std::endl;
+}
+
 }
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index 837b124674..bb68868ba0 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -15,6 +15,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_utils/stl_to_string.hpp>
 
 #include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
+
 
 namespace trajopt
 {
@@ -34,8 +36,8 @@ void CollisionsToDistances(const trajopt::ContactResultVector& dist_results, Dbl
 }
 
 // directly related to equation 16 in the TrajOpt paper (the version I have)
-// this function goes over all the contact in dist_results and calcualte the jac of the first link in contact
-// at the nearest point. Also it calculates the jac of the second link at the nearest point
+// this function goes over all the contact in dist_results and calcualte the jac of the first-link-in-contact
+// at the nearest point. Also it calculates the jac of the second-link-in-contact at the nearest point
 // However, if the collision type is set to CCType_Between, then the cc_nearest_point is used only for the 
 // second link's jacobian calculations.
 void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_results,
@@ -68,8 +70,9 @@ void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_re
   const moveit::core::RobotState robot_state = planning_scene->getCurrentState();
   const robot_state::JointModelGroup* joint_model_group = robot_state.getJointModelGroup(planning_group);
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
+  // trajopt::printVector("===>>> group joint names", group_joint_names);
   int group_dof = (int)group_joint_names.size();
-
+  
   exprs.clear();
   exprs.reserve(dist_results.size());
   for (auto i = 0u; i < dist_results.size(); ++i)
@@ -78,9 +81,6 @@ void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_re
     // const tesseract::ContactResult& res = dist_results[i];
     const trajopt::ContactResult& res = dist_results[i];
 
-    const moveit::core::LinkModel* link_0 = robot_state.getLinkModel(res.link_names[0]);  
-    const moveit::core::LinkModel* link_1 = robot_state.getLinkModel(res.link_names[1]); 
-
     // cc_type is a member of ContactResult in tesseract and by defualt (in clear() function) is set
     // to cc_type = ContinouseCollisionType::CCType_None; I do the same here:
     trajopt::ContinouseCollisionType cc_type = ContinouseCollisionType::CCType_None;
@@ -94,13 +94,16 @@ void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_re
 
     Eigen::VectorXd dist_grad_a, dist_grad_b;
     // => find the name of linkA in collision
-    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), link_0->getName());
+    std::vector<std::string>::const_iterator itA = std::find(link_names.begin(), link_names.end(), res.link_names[0]);
     if (itA != link_names.end())
     {
       // => create a jacobian matrix
       Eigen::MatrixXd jac;
       jac.resize(6, group_dof);
 
+      const moveit::core::LinkModel* link_0 = robot_state.getLinkModel(res.link_names[0]);  
+
+
    /* Compute the Jacobian with reference to a particular point on a given link, for a specified group.
    *  - group: The group to compute the Jacobian for
    *  - link_name: The name of the link
@@ -148,12 +151,15 @@ void CollisionsToDistanceExpressions(const trajopt::ContactResultVector& dist_re
       // the above means: -dist_grad_a (dot_product) dofvals
     }
 
-    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), link_1->getName());
+    std::vector<std::string>::const_iterator itB = std::find(link_names.begin(), link_names.end(), res.link_names[1]);
     if (itB != link_names.end())
     {
       Eigen::MatrixXd jac;
       jac.resize(6, group_dof);
 
+      const moveit::core::LinkModel* link_1 = robot_state.getLinkModel(res.link_names[1]); 
+
+
     // how do I calculate cc_nearest_points, Contact in MoveIt does not have such a thing
     bool succeed = robot_state.getJacobian(
                   joint_model_group,
@@ -227,7 +233,7 @@ void CollisionEvaluator::GetCollisionsCached(const DblVec& x, trajopt::ContactRe
 }
 
 SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(
-                planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+                planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars)
   : CollisionEvaluator(planning_scene, planning_group, safety_margin_data), m_vars(vars)
@@ -258,11 +264,40 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
   // So, I guess I need to set the robot state based on these joint values
   Eigen::VectorXd joint_values = sco::getVec(x, m_vars);
   std::vector<double> joint_values_DblVec = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
-  moveit::core::RobotState rob_state = planning_scene_->getCurrentState();
+  // the following robot state will be a copy not a pointer so it wont make any change in the planning scene
+  moveit::core::RobotState& rob_state = planning_scene_->getCurrentStateNonConst();
   const moveit::core::JointModelGroup* joint_model_group = rob_state.getJointModelGroup(planning_group_);
-  rob_state.setToDefaultValues();
+  // rob_state.setToDefaultValues();
   rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec);
-  rob_state.update();
+  rob_state.update();	 
+  // Here is the point: I created a copy of the robot_state from planning_scene_->getCurrentState()
+  // and updated that copy but that does not change anything in the planning_scene_
+  // as it is a const pointer. const pointer planning scene comes from planning_context and
+  // I can not change that.
+  // planning_scene->setCurrentState(rob_state);
+  std::vector<double> vv;
+  planning_scene_->getCurrentState().copyJointGroupPositions(joint_model_group, vv);
+  // trajopt::printVector("current state joint values: ", vv);
+
+  // std::cout << "===>>> collision detection name: " << planning_scene_->getActiveCollisionDetectorName() << std::endl;
+  // std::cout << "planning scene's name: " << planning_scene_->getName() << std::endl;
+
+  // does planning_scene include the collision box?
+  // std::vector<moveit_msgs::CollisionObject> collision_objs;
+  // planning_scene_->getCollisionObjectMsgs(collision_objs);
+  // for(std::size_t z = 0; z < collision_objs.size(); ++z)
+  //   std::cout << "===>>> name of the collision object: " << collision_objs[z].id << " ";
+  // std::cout << std::endl;
+  
+  // std::cout << "===>>> robot model: " << std::endl;
+  // std::cout << "name: " << planning_scene_->getRobotModel()->getName() << std::endl;
+  // std::cout << "root joint: " <<  planning_scene_->getRobotModel()->getRootJointName() << std::endl;
+  // std::cout << "root link: " <<  planning_scene_->getRobotModel()->getRootLinkName() << std::endl;
+  // std::cout << "joint name: " <<  planning_scene_->getRobotModel()->getJointModelNames()[0] << std::endl;
+
+  // std::vector<std::string> lnames = planning_scene_->getRobotModel()->getLinkModelNames(); 
+  // trajopt::printVector("link model names: ", lnames);
+
 
   // for (const auto& link_name : manip_->getLinkNames())
   //   contact_manager_->setCollisionObjectsTransform(link_name, state->transforms[link_name]);
@@ -282,8 +317,24 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
   // ===> for MoveIt
   collision_detection::CollisionRequest collision_request;
   collision_detection::CollisionResult collision_result;
+  collision_request.group_name = planning_group_;
+  // collision_request.distance = true; // If true, compute proximity distance 
+  collision_request.contacts = true; // If true, compute contacts. Otherwise only a binary collision yes/no is reported
+  // collision_request.max_contacts = 100;
+  // collision_request.max_contacts_per_pair = 5;
+  // collision_request.verbose = false;
+
+  // planning_scene_->printKnownObjects();
+  // collision_objs[0].operation == moveit_msgs::CollisionObject::REMOVE;
+  // planning_scene_->processCollisionObjectMsg(collision_objs[0]);
+  // collision_objs[0].operation == moveit_msgs::CollisionObject::ADD;
+  // planning_scene_->processCollisionObjectMsg(collision_objs[0]);
+
   planning_scene_->checkCollision(collision_request, collision_result);
+  // planning_scene->checkCollision(collision_request, collision_result, rob_state);
   // ====> checkCollision will check for both self-collisions and for collisions with the environment
+  // std::cout << "+++++++++++++++ single time step in collision -------- " << collision_result.collision << std::endl;
+  // std::cout << "+++++++++++++++ number of contacts ------------------- " << collision_result.contact_count << std::endl;
 
   // tesseract:
   // ContactResultMap => AlignedMap<std::pair<std::string, std::string>, ContactResultVector>
@@ -317,8 +368,10 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
       std::vector<collision_detection::Contact> contact_vector = it->second;
       for(size_t k = 0; k < contact_vector.size(); ++k)
       {
-        // convert Contact from MoveIt to ContactResult ????
-        Eigen::Vector3d moveit_cc_nearest_points[2] = contact_vector[k].nearest_points;
+        // convert Contact from MoveIt to ContactResult 
+        Eigen::Vector3d moveit_cc_nearest_points[2];
+        moveit_cc_nearest_points[0].setZero();
+        moveit_cc_nearest_points[1].setZero();
         double moveit_cc_time = -1;
         trajopt::ContinouseCollisionType moviet_cc_type = trajopt::ContinouseCollisionType::CCType_None;
 
@@ -345,7 +398,6 @@ void SingleTimestepCollisionEvaluator::CalcDistExpressions(const DblVec& x, sco:
   trajopt::ContactResultVector dist_results;
   GetCollisionsCached(x, dist_results);
   CollisionsToDistanceExpressions(dist_results, planning_scene_, planning_group_, m_vars, x, exprs, false);
-
   LOG_DEBUG("%ld distance expressions\n", exprs.size());
 }
 
@@ -362,12 +414,14 @@ CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneCons
   // contact_manager_->setActiveCollisionObjects(manip_->getLinkNames());
   // contact_manager_->setContactDistanceThreshold(safety_margin_data_->getMaxSafetyMargin() +
   //                                               0.04);  // The original implementation added a margin of 0.04;
+
 }
 
 // similar to CalcCollisions from SingleTimestepCollisionEvaluator except we need two states because it is the 
 // swept volume?
 void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
+    std::cout << "CastCollisionEvaluator::CalcCollisions() is calleeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeed" << std::endl;
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
   // tesseract::EnvStatePtr state1 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars1));
@@ -386,28 +440,52 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
   // All I have to do here is use that function for two 
 
   // =====>>> So, I need to do it for two states as well.
+  // x has joint valus for all time steps: [j1_0 j2_0 ... j7_0, j1_1 j2_1 ... j7_1 ... j1_n j2_n ... j7_n]
   Eigen::VectorXd joint_values_state_0 = sco::getVec(x, m_vars0);
-  std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());  
-  robot_state::RobotState rob_state = planning_scene_->getCurrentState();
-  const moveit::core::JointModelGroup* joint_model_group = rob_state.getJointModelGroup(planning_group_);
-  rob_state.setToDefaultValues();
-  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
-  rob_state.update();
-  robot_state::RobotState rob_state_previous(rob_state);
+  std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());
+
+  // planning_scene::PlanningScenePtr planning_scene = planning_scene_->diff();
+
+  robot_state::RobotStatePtr rob_state(new robot_state::RobotState(planning_scene_->getCurrentStateNonConst())); 
+  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
+
+  collision_detection::CollisionRequest collision_request;
+  collision_detection::CollisionResult collision_result;
+  collision_request.group_name = planning_group_;
+  collision_request.distance = true;
+  collision_request.contacts = true;
+  collision_request.max_contacts = 100;
+  collision_request.max_contacts_per_pair = 5;
+  collision_request.verbose = false;
+
+  rob_state->setToDefaultValues();
+  rob_state->setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
+  rob_state->update();
+  robot_state::RobotState rob_state_previous(*rob_state);
+
+  Eigen::VectorXd first_values;
+  rob_state->copyJointGroupPositions(joint_model_group, first_values);
+  std::cout << "===>>> first state joint values: " << first_values.transpose() << std::endl;
 
   Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars1);
   std::vector<double> joint_values_DblVec_1 = std::vector<double>(joint_values_state_1.data(), joint_values_state_1.data() + joint_values_state_1.size());  
-  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
-  rob_state.update();
+  rob_state->setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
+  rob_state->update();
+
+  Eigen::VectorXd second_values;
+  rob_state->copyJointGroupPositions(joint_model_group, second_values);
+  std::cout << "===>>> second state joint values: " << second_values.transpose() << std::endl;
 
   // check collision between two states
-  collision_detection::CollisionRequest collision_request;
-  // ??????? should we set the planning group in collision_request?
-  collision_detection::CollisionResult collision_result;
-  planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, 
-                                        collision_result, rob_state, rob_state_previous);
+  planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, collision_result,
+                                                         *rob_state, rob_state_previous);
+
+  std::cout << "---------- in continous collision -------- " << collision_result.collision << std::endl;
 
+  // std::cout << "+++++++++++++++ start state is in collision? " << collision_res.collision << std::endl;
+  // std::cout << "+++++++++++++++ number of contacts " << collision_res.contact_count << std::endl;
 
+    
   // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here. test
   
   // when we use bullet in MoveIt, CollisionResult returns all the contacts in the scene by ContactMap data type.
@@ -415,6 +493,8 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
   // when using bullet, vector<Contact> has only one member while fcl might return multiple contact points for 
   // each pair in contact
 
+
+
   for (auto it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
   {
       ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
@@ -424,7 +504,7 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
       std::vector<collision_detection::Contact> contact_vector = it->second;
       for(size_t k = 0; k < contact_vector.size(); ++k)
       {
-        // convert Contact from MoveIt to ContactResult ????
+        // convert Contact from MoveIt to ContactResult in tesseract:
         Eigen::Vector3d moveit_cc_nearest_points[2] = contact_vector[k].nearest_points;
         double moveit_cc_time = 0.5;
         trajopt::ContinouseCollisionType moviet_cc_type = trajopt::ContinouseCollisionType::CCType_Between;
@@ -434,8 +514,12 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
                                      moveit_cc_time,
                                      moviet_cc_type);
         dist_results.push_back(contact_result);
+
+        std::cout << " ******* " << contact_vector[k].nearest_points[0] << std::endl;
+        std::cout << " ******* " << contact_vector[k].nearest_points[1] << std::endl;
       }
       // dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
+      std::cout << "----------------- *************** ---------------" << std::endl;
   }
 }
 
@@ -454,14 +538,14 @@ void CastCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists)
 
 //////////////////////////////////////////
 
-CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                              SafetyMarginDataConstPtr safety_margin_data,
                              const sco::VarVector& vars)
   : Cost("collision"), m_calc(new SingleTimestepCollisionEvaluator(planning_scene, planning_group, safety_margin_data, vars))
 {
 }
 
-CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr planning_scene, std::string planning_group,
+CollisionCost::CollisionCost(planning_scene::PlanningSceneConstPtr& planning_scene, std::string planning_group,
                              SafetyMarginDataConstPtr safety_margin_data,
                              const sco::VarVector& vars0,
                              const sco::VarVector& vars1)
@@ -479,7 +563,6 @@ sco::ConvexObjectivePtr CollisionCost::convex(const sco::DblVec& x, sco::Model*
   m_calc->GetCollisionsCached(x, dist_results);
   for (std::size_t i = 0; i < exprs.size(); ++i)
   {
-    //??? link_name from dist_results in MoveIt 
     const Eigen::Vector2d& data = m_calc->getSafetyMarginData()->getPairSafetyMarginData(dist_results[i].link_names[0],
                                                                                          dist_results[i].link_names[1]);
 
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 4a1bb292d9..319e2515be 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -191,6 +191,7 @@ TrajOptProblemPtr ConstructProblem(const ProblemInfo& pci)
 
   std::vector<double> current_joint_values;
   current_state.copyJointGroupPositions(joint_model_group, current_joint_values);
+  // trajopt::printVector("===>> from problem_description: ", current_joint_values);
 
   trajopt::TrajArray init_traj;
   generateInitialTrajectory(pci, current_joint_values, init_traj);
@@ -258,11 +259,13 @@ TrajOptProblemPtr ConstructProblem(const ProblemInfo& pci)
 
   for (const TermInfoPtr& ci : pci.cost_infos)
   {
+    ROS_INFO("problem description: the name of the cost: %s", ci->name.c_str());
     ci->addObjectiveTerms(*prob);
   }
 
   for (const TermInfoPtr& ci : pci.cnt_infos)
   {
+    ROS_INFO("problem description:: the name of the constraint: %s", ci->name.c_str());
     ci->addObjectiveTerms(*prob);
   }
   return prob;
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index cffc6f102f..a048d6b538 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -36,7 +36,7 @@
 
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/robot_state/conversions.h>
-
+#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
 #include <moveit_msgs/MotionPlanRequest.h>
 
 #include <trajopt_sco/sco_common.hpp>
@@ -97,8 +97,9 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   int dof = group_joint_names.size();
   std::vector<double> current_joint_values;
   current_state->copyJointGroupPositions(joint_model_group, current_joint_values);
+  trajopt::printVector("===>>> from interface upper:): ", current_joint_values);
 
-  // Current state is different from star state in general
+   // Current state is different from star state in general
   ROS_INFO(" ======================================= Extract start state infromation");
   trajopt::DblVec start_joint_values = extractStartJointValues(req, group_joint_names);
 
@@ -242,6 +243,18 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   joint_vel->term_type = trajopt::TT_COST;
   problem_info.cost_infos.push_back(joint_vel);
 
+  ROS_INFO(" ======================================= Collision Cost, hard-coded");
+  // TODO: should be defined by user, its parametes should be added to trajopt_planning.yaml
+  trajopt::CollisionTermInfoPtr collision(new trajopt::CollisionTermInfo);
+  collision->name = "collision";
+  collision->term_type = trajopt::TT_COST;
+  collision->continuous = false;
+  collision->first_step = 0;
+  collision->last_step = problem_info.basic_info.n_steps - 1;
+  collision->gap = 1;
+  collision->info = trajopt::createSafetyMarginDataVector(problem_info.basic_info.n_steps, 0.025, 40);
+  problem_info.cost_infos.push_back(collision);
+
   ROS_INFO(" ======================================= Visibility Constraints");
   if (!req.goal_constraints[0].visibility_constraints.empty())
   {
@@ -295,10 +308,9 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   opt.setParameters(params_);
   opt.initialize(trajopt::trajToDblVec(trajopt_problem_->GetInitTraj()));
-
+  
   // Add all callbacks
   for (const sco::Optimizer::Callback& callback : optimizer_callbacks_)
-
   {
     opt.addCallback(callback);
   }
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
index 681ec04205..24bda1cb52 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
@@ -95,6 +95,14 @@ class TrajOptPlannerManager : public planning_interface::PlannerManager
     ROS_INFO(" ======================================= getPlanningContext() is called ");
     error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
 
+    std::string collision_detector = planning_scene->getActiveCollisionDetectorName();
+    ROS_INFO(" ======================================= collision detector is set to %s", collision_detector.c_str());
+    if( collision_detector != "Bullet")
+    {
+      ROS_WARN("Colllision detector used in trajopt must be Bullet"); // change this to ROS_ERROR afte I figure out how to use bullet instead of FCL
+      // TODO: sholuld I just force bullet using diff() and setActiveColisionDetector()
+    }
+
     if (req.group_name.empty())
     {
       ROS_ERROR("No group specified to plan for");
@@ -112,9 +120,6 @@ class TrajOptPlannerManager : public planning_interface::PlannerManager
     // create PlanningScene using hybrid collision detector
     planning_scene::PlanningScenePtr ps = planning_scene->diff();
 
-    // set FCL for the collision
-    ps->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create(), true);
-
     // retrieve and configure existing context
     const TrajOptPlanningContextPtr& context = planning_contexts_.at(req.group_name);
 
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
index 04d65150c9..c12135c65b 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
@@ -59,6 +59,7 @@ TrajOptPlanningContext::TrajOptPlanningContext(const std::string& context_name,
 bool TrajOptPlanningContext::solve(planning_interface::MotionPlanDetailedResponse& res)
 {
   moveit_msgs::MotionPlanDetailedResponse res_msg;
+
   bool trajopt_solved = trajopt_interface_->solve(planning_scene_, request_, res_msg);
 
   if (trajopt_solved)

From 1a28fa36503e05e541a93087fd091a23d5ef60b3 Mon Sep 17 00:00:00 2001
From: Omid <homidari@gmail.com>
Date: Sun, 2 May 2021 03:53:58 -0600
Subject: [PATCH 612/612] woo-hoo! Now CollisionTermInfo of trajopt is
 implemented.

This version successfully uses Bullet collision detector from MoveIt to do the collsion checking and find singed distances. There are a lot of changes in different
files but the most changes are done in collision_terms.cpp

Things left to do:
1. This implementation is hard-coded. But it is easy to change this to a version that the user can enter a CollisionTermInfo.
Currently this is done in trajopt_interface.cpp but it should be defined by user, its parametes should be added to setup.yaml as well.

2. It needs cleanup in the code base.

3. The PlanningScene that motion planners have acces to is a ConsPtr but we need to make changes in RobotState to be able to check collision. To this end,
a child of the original PlanningScene is used through diff() function. For some reason, I can not use "checkCollision" function on this planning scene child.
It turned out if I remove all the objects from the child and add them again, "checkCollision" operates correctly
---
 .../trajopt/include/trajopt/collision_terms.h | 16 +++-
 .../trajopt/trajopt/src/collision_terms.cpp   | 75 ++++++++-----------
 .../trajopt/src/problem_description.cpp       |  1 +
 .../src/trajopt_interface.cpp                 | 37 ++++++---
 .../trajopt/trajopt_sco/src/optimizers.cpp    | 12 ++-
 5 files changed, 79 insertions(+), 62 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
index 348d53e52c..b8c4bf553a 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/collision_terms.h
@@ -9,6 +9,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h> 
 #include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/world.h>
 
 
 namespace trajopt
@@ -26,10 +27,17 @@ struct CollisionEvaluator
   {
     // we need a child of planning scene so I can do the changing robot states and do collsiiong detenction    
     planning_scene_ = planning_scene->diff();
-    // planning_scene_->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create(), true);
-
-
-    // OR
+    // remove/add magic objects in planning scene
+    std::vector<std::string> objectIds = planning_scene_->getWorld()->getObjectIds();
+    for (auto objectId : objectIds)
+    {
+      collision_detection::World::ObjectConstPtr objPtr = planning_scene_->getWorld()->getObject(objectId);
+      planning_scene_->getWorldNonConst()->removeObject(objectId);  
+      planning_scene_->getWorldNonConst()->addToObject(objPtr->id_, objPtr->shapes_, objPtr->shape_poses_);
+    }
+    
+
+    // OR ?
     //planning_scene_ = planning_scene::PlanningScene::clone(planning_scene);
   }
   virtual ~CollisionEvaluator() = default;
diff --git a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
index bb68868ba0..cb290304d6 100644
--- a/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/collision_terms.cpp
@@ -16,7 +16,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <moveit/collision_detection/collision_common.h>
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
-
+#include <moveit/collision_detection/world.h>
 
 namespace trajopt
 {
@@ -245,7 +245,6 @@ SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(
 }
 
 // So, each pair has a vector of contacts, and this functions puts all of these vectors of all pairs to one big vector called dist_results
-//void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results)
 void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
   // tesseract::ContactResultMap contacts;
@@ -288,7 +287,10 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
   // for(std::size_t z = 0; z < collision_objs.size(); ++z)
   //   std::cout << "===>>> name of the collision object: " << collision_objs[z].id << " ";
   // std::cout << std::endl;
-  
+
+  // std::vector<std::string> obj_ids = planning_scene_->getWorld()->getObjectIds();
+  // trajopt::printVector("world object ids: ", obj_ids);
+
   // std::cout << "===>>> robot model: " << std::endl;
   // std::cout << "name: " << planning_scene_->getRobotModel()->getName() << std::endl;
   // std::cout << "root joint: " <<  planning_scene_->getRobotModel()->getRootJointName() << std::endl;
@@ -320,21 +322,16 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
   collision_request.group_name = planning_group_;
   // collision_request.distance = true; // If true, compute proximity distance 
   collision_request.contacts = true; // If true, compute contacts. Otherwise only a binary collision yes/no is reported
-  // collision_request.max_contacts = 100;
-  // collision_request.max_contacts_per_pair = 5;
-  // collision_request.verbose = false;
+  collision_request.max_contacts = 100;
+  collision_request.max_contacts_per_pair = 5;
+  collision_request.verbose = false;
 
   // planning_scene_->printKnownObjects();
-  // collision_objs[0].operation == moveit_msgs::CollisionObject::REMOVE;
-  // planning_scene_->processCollisionObjectMsg(collision_objs[0]);
-  // collision_objs[0].operation == moveit_msgs::CollisionObject::ADD;
-  // planning_scene_->processCollisionObjectMsg(collision_objs[0]);
 
-  planning_scene_->checkCollision(collision_request, collision_result);
-  // planning_scene->checkCollision(collision_request, collision_result, rob_state);
+  planning_scene_->checkCollision(collision_request, collision_result, rob_state);
   // ====> checkCollision will check for both self-collisions and for collisions with the environment
-  // std::cout << "+++++++++++++++ single time step in collision -------- " << collision_result.collision << std::endl;
-  // std::cout << "+++++++++++++++ number of contacts ------------------- " << collision_result.contact_count << std::endl;
+  LOG_DEBUG("single time step in collision? %s", collision_result.collision ? "true" : "false");
+  LOG_DEBUG("contact count: %i", collision_result.contact_count);
 
   // tesseract:
   // ContactResultMap => AlignedMap<std::pair<std::string, std::string>, ContactResultVector>
@@ -382,7 +379,6 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::
         dist_results.push_back(contact_result);
       }
   }
-
 }
 
 // so, given a set of joint values called x, this function converts the vector of contacts to the vector of distances
@@ -421,7 +417,6 @@ CastCollisionEvaluator::CastCollisionEvaluator(planning_scene::PlanningSceneCons
 // swept volume?
 void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactResultVector& dist_results)
 {
-    std::cout << "CastCollisionEvaluator::CalcCollisions() is calleeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeed" << std::endl;
   // tesseract::ContactResultMap contacts;
   // tesseract::EnvStatePtr state0 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars0));
   // tesseract::EnvStatePtr state1 = env_->getState(manip_->getJointNames(), sco::getVec(x, m_vars1));
@@ -444,48 +439,43 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
   Eigen::VectorXd joint_values_state_0 = sco::getVec(x, m_vars0);
   std::vector<double> joint_values_DblVec_0 = std::vector<double>(joint_values_state_0.data(), joint_values_state_0.data() + joint_values_state_0.size());
 
-  // planning_scene::PlanningScenePtr planning_scene = planning_scene_->diff();
-
-  robot_state::RobotStatePtr rob_state(new robot_state::RobotState(planning_scene_->getCurrentStateNonConst())); 
-  const moveit::core::JointModelGroup* joint_model_group = rob_state->getJointModelGroup(planning_group_);
+  moveit::core::RobotState& rob_state = planning_scene_->getCurrentStateNonConst();
+  const moveit::core::JointModelGroup* joint_model_group = rob_state.getJointModelGroup(planning_group_);
 
   collision_detection::CollisionRequest collision_request;
   collision_detection::CollisionResult collision_result;
   collision_request.group_name = planning_group_;
-  collision_request.distance = true;
+  // collision_request.distance = true;
   collision_request.contacts = true;
   collision_request.max_contacts = 100;
   collision_request.max_contacts_per_pair = 5;
   collision_request.verbose = false;
 
-  rob_state->setToDefaultValues();
-  rob_state->setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
-  rob_state->update();
-  robot_state::RobotState rob_state_previous(*rob_state);
+  rob_state.setToDefaultValues();
+  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_0);
+  rob_state.update();
+  robot_state::RobotState rob_state_previous(rob_state);
 
-  Eigen::VectorXd first_values;
-  rob_state->copyJointGroupPositions(joint_model_group, first_values);
-  std::cout << "===>>> first state joint values: " << first_values.transpose() << std::endl;
+  // Eigen::VectorXd first_values;
+  // rob_state.copyJointGroupPositions(joint_model_group, first_values);
+  // std::cout << "===>>> first state joint values: " << first_values.transpose() << std::endl;
 
   Eigen::VectorXd joint_values_state_1 = sco::getVec(x, m_vars1);
   std::vector<double> joint_values_DblVec_1 = std::vector<double>(joint_values_state_1.data(), joint_values_state_1.data() + joint_values_state_1.size());  
-  rob_state->setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
-  rob_state->update();
+  rob_state.setJointGroupPositions(joint_model_group, joint_values_DblVec_1);
+  rob_state.update();
 
-  Eigen::VectorXd second_values;
-  rob_state->copyJointGroupPositions(joint_model_group, second_values);
-  std::cout << "===>>> second state joint values: " << second_values.transpose() << std::endl;
+  // Eigen::VectorXd second_values;
+  // rob_state.copyJointGroupPositions(joint_model_group, second_values);
+  // std::cout << "===>>> second state joint values: " << second_values.transpose() << std::endl;
 
   // check collision between two states
   planning_scene_->getCollisionEnv()->checkRobotCollision(collision_request, collision_result,
-                                                         *rob_state, rob_state_previous);
-
-  std::cout << "---------- in continous collision -------- " << collision_result.collision << std::endl;
+                                                         rob_state, rob_state_previous);
 
-  // std::cout << "+++++++++++++++ start state is in collision? " << collision_res.collision << std::endl;
-  // std::cout << "+++++++++++++++ number of contacts " << collision_res.contact_count << std::endl;
-
-    
+  LOG_DEBUG("single time step in collision? %s", collision_result.collision ? "true" : "false");
+  LOG_DEBUG("contact count: %i", collision_result.contact_count);
+   
   // ????? I have to calculate: cc_time, cc_type and cc_nearest_points here. test
   
   // when we use bullet in MoveIt, CollisionResult returns all the contacts in the scene by ContactMap data type.
@@ -514,12 +504,7 @@ void CastCollisionEvaluator::CalcCollisions(const DblVec& x, trajopt::ContactRes
                                      moveit_cc_time,
                                      moviet_cc_type);
         dist_results.push_back(contact_result);
-
-        std::cout << " ******* " << contact_vector[k].nearest_points[0] << std::endl;
-        std::cout << " ******* " << contact_vector[k].nearest_points[1] << std::endl;
       }
-      // dist_results.insert(dist_results.end(), it->second.begin(), it->second.end())
-      std::cout << "----------------- *************** ---------------" << std::endl;
   }
 }
 
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 319e2515be..a2eab2d8cd 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -656,6 +656,7 @@ void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>
   // Currently all trajectories are generated without time then appended here
   if (pci.basic_info.use_time)
   {
+    std::cout << "heeeeeeeeeeeeeeeeeeeeeeeer " << std::endl;
     // add on time (default to 1 sec)
     init_traj.conservativeResize(Eigen::NoChange_t(), init_traj.cols() + 1);
 
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index a048d6b538..68999ab353 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -185,7 +185,6 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   if (!req.goal_constraints[0].position_constraints.empty() && !req.goal_constraints[0].orientation_constraints.empty())
   {
     trajopt::CartPoseTermInfoPtr cart_goal_pos(new trajopt::CartPoseTermInfo);
-
     // TODO: Feed cart_goal_pos with request information and the needed param to the setup.yaml file
     // TODO: Multiple Cartesian constraints
 
@@ -231,7 +230,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   setJointPoseTermInfoParams(joint_start_pos, "start_pos");
   problem_info.cnt_infos.push_back(joint_start_pos);
 
-  ROS_INFO(" ======================================= Velocity Constraints, hard-coded");
+  ROS_INFO(" ======================================= Velocity Cost, hard-coded");
   // TODO: should be defined by user, its parametes should be added to setup.yaml
   trajopt::JointVelTermInfoPtr joint_vel(new trajopt::JointVelTermInfo);
 
@@ -239,16 +238,34 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   joint_vel->targets = std::vector<double>(dof, 0.0);
   joint_vel->first_step = 0;
   joint_vel->last_step = problem_info.basic_info.n_steps - 1;
-  joint_vel->name = "joint_vel";
+  joint_vel->name = "joint_velocity";
   joint_vel->term_type = trajopt::TT_COST;
   problem_info.cost_infos.push_back(joint_vel);
 
+  ROS_INFO(" ======================================= Velocity Constraint, hard-coded");
+  // TODO: should be defined by user, its parametes should be added to setup.yaml
+  trajopt::JointVelTermInfoPtr joint_vel_cnt(new trajopt::JointVelTermInfo);
+
+  // Add a velocity cnt with time to insure that robot dynamics are obeyed
+  std::vector<double> vel_lower_lim{ 0, 0, 0, 0, 0, 0, 0 };
+  std::vector<double> vel_upper_lim{ 150 *3.14/180, 150 *3.14/180, 150 *3.14/180, 150 *3.14/180, 180 *3.14/180, 180 *3.14/180, 180 *3.14/180};
+
+  joint_vel_cnt->targets = std::vector<double>(dof, 0.0);
+  joint_vel_cnt->coeffs = std::vector<double>(dof, 50.0);
+  joint_vel_cnt->lower_tols = vel_lower_lim;
+  joint_vel_cnt->upper_tols = vel_upper_lim;
+  joint_vel_cnt->term_type = (trajopt::TT_CNT | trajopt::TT_USE_TIME);
+  joint_vel_cnt->first_step = 0;
+  joint_vel_cnt->last_step = problem_info.basic_info.n_steps - 1;
+  joint_vel_cnt->name = "joint_velocity_cnt";
+  // problem_info.cnt_infos.push_back(joint_vel_cnt);
+
   ROS_INFO(" ======================================= Collision Cost, hard-coded");
   // TODO: should be defined by user, its parametes should be added to trajopt_planning.yaml
   trajopt::CollisionTermInfoPtr collision(new trajopt::CollisionTermInfo);
   collision->name = "collision";
   collision->term_type = trajopt::TT_COST;
-  collision->continuous = false;
+  collision->continuous = true;
   collision->first_step = 0;
   collision->last_step = problem_info.basic_info.n_steps - 1;
   collision->gap = 1;
@@ -367,12 +384,12 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
              constraint.tolerance_above);
     constraints_are_ok = constraints_are_ok and joint_cnt.configure(constraint);
     constraints_are_ok = constraints_are_ok and joint_cnt.decide(last_state).satisfied;
-    if (not constraints_are_ok)
-    {
-      ROS_ERROR_STREAM_NAMED("trajopt_planner", "Goal constraints are violated: " << constraint.joint_name);
-      res.error_code.val = moveit_msgs::MoveItErrorCodes::GOAL_CONSTRAINTS_VIOLATED;
-      return false;
-    }
+    // if (not constraints_are_ok)
+    // {
+    //   ROS_ERROR_STREAM_NAMED("trajopt_planner", "Goal constraints are violated: " << constraint.joint_name);
+    //   res.error_code.val = moveit_msgs::MoveItErrorCodes::GOAL_CONSTRAINTS_VIOLATED;
+    //   return false;
+    // }
     joint_cnt_index = joint_cnt_index + 1;
   }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
index d541106c20..0d07502ca4 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
@@ -270,9 +270,15 @@ OptStatus BasicTrustRegionSQP::optimize()
 
   OptStatus retval = INVALID;
 
-  for (int merit_increases = 0; merit_increases < param_.max_merit_coeff_increases; ++merit_increases)
+
+  //Strategy: with a start merit_increase value, start iteration (iter = 1). if the trust region is expanded, it goes to the next iteration (iter = 2)
+  // if the improv is not good enough, it stays in the while loop (it does not go to the next iter) and keep shrinking the trust region. if by this
+  // decreasing the improv is not achieved, then it says it is converged becasue the trust region is tiny. Then it increase the merit_increase and repeat 
+  // the process
+  for (int merit_increases = 0; merit_increases < param_.max_merit_coeff_increases; ++merit_increases) // I think: PenaltyIteration
   { /* merit adjustment loop */
-    for (int iter = 1;; ++iter)
+    LOG_INFO("merit increases: %i", merit_increases);
+    for (int iter = 1;; ++iter) // I think: ConvexifyIteration
     { /* sqp loop */
       callCallbacks();
 
@@ -328,7 +334,7 @@ OptStatus BasicTrustRegionSQP::optimize()
       //      printer(model_cost_vals), printer(cost_vals));
       //    }
 
-      while (param_.trust_box_size >= param_.min_trust_box_size)
+      while (param_.trust_box_size >= param_.min_trust_box_size) // I think: TrustRegionIteration
       {
         setTrustBoxConstraints(results_.x);
         CvxOptStatus status = model_->optimize();